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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Collaborative Autonomous Logistics

This video shows a demonstration of collaborative autonomous logistics. Turtlebot, a 1-g stand-in for Astrobee, carried REALM sensors around a mockup of ISS in ARGOS to autonomously survey for a cargo bag stowed in a drawer. It provided the location of the bag to Robonaut, which then autonomously climbed across the mockup to the drawer. Robonaut then used the Affordance Template manipulation framework to localize and open the drawer and then again localize and retrieve the cargo bag.

Badger, Julia M.↗
NASA NTRS1973

Potential teleoperator applications in manned aerospace systems

The trend of teleoperator development is toward digital computer controlled systems which utilize local sensor-computer-actuator loops to avoid obstacles and to sense manipulator grip-and-slip. The potential applications of advanced teleoperator technology to manned aerospace systems include long manipulator booms to be mounted on the shuttle. These can transfer cargo from the space shuttle and can acquire and retrieve objects in space. Free-flying teleoperators capable of acquiring, inspecting, repairing or refurbishing satellites in orbit are another space application. Another potential application of teleoperator technology is the concept of using an anthropomorphous teleoperator in lieu of man to control aircraft or spacecraft normally controlled by a human pilot.

Johnsen, E. G.↗
NASA NTRS1983

Computer graphics applications to crew displays

Astronauts are provided much data and information via the monochrome CRT displays on the orbiter. For this project two areas were investigated for the possible introduction of computer graphics to enhance and extend the utility of these displays. One involved reviewing the current orbiter displays and identifying those which could be improved via computer graphics. As an example, the tabular data on electrical power distribution and control was enhanced by the addition of color and bar charts. The other dealt with the development of an aid to berthing a payload with the Remote Manipulator System (RMS). This aid consists of a graphics display of the top, front and side views of the payload and cargo bay and point of resolution (POR) position and attitude data for the current location of the payload. The initial implementation was on an IBM PC clone. The demonstration software installed in the Johnson Space Center Manipulator Development Facility (MD) was reviewed. Due to current hardware limitations, the MDF verision is slow, i.e., about a 40+ seond update rate and, hence, not real-time. Despite this fact, the evaluation of this additional visual cue as an RMS operator aid indicates that this display, with modifications for speed, etc., can assist the crew. Further development is appropriate.

Wyzkoski, J.↗
NASA NTRS1987

Reducing shuttle-payload dynamic interaction with notch filters

The use of notch filters centered on the estimated bending frequencies to reduce the effect of low-frequency Shuttle-payload dynamic interaction is investigated. The Shuttle-payload dynamics that are studied are with payloads attached to the Shuttle Remote Manipulator System (RMS). Other payload-orbiter connection such as payloads pivoted out of the cargo bay on a tilt table can lead to low-frequency bending modes. Payloads attached to the RMS will, however, present greater problems in that the bending modes will be hard to predict and will tend to vary with time as the RMS changes in orientation.

Appleby, Brent D.↗
NASA NTRS1996

Launch Deployment Assembly Human Engineering Analysis

This report documents the human engineering analysis performed by the Systems Branch in support of the 6A cargo element design. The human engineering analysis is limited to the extra vehicular activities (EVA) which are involved in removal of various cargo items from the LDA and specific activities concerning deployment of the Space Station Remote Manipulator System (SSRMS).

Loughead, T.↗
NASA NTRS1973

Free-flying teleoperator requirements and conceptual design.

A teleoperator, as defined by NASA, is a remotely controlled cybernetic man-machine system designed to augment and extend man's sensory, manipulative, and cognitive capabilities. Teleoperator systems can fulfill an important function in the Space Shuttle program. They can retrieve automated satellites for refurbishment and reuse. Cargo can be transferred over short or large distances and orbital operations can be supported. A requirements analysis is discussed, giving attention to the teleoperator spacecraft, docking and stowage systems, display and controls, propulsion, guidance, navigation, control, the manipulators, the video system, the electrical power, and aspects of communication and data management. Questions of concept definition and evaluation are also examined.

Onega, G. T.↗
NASA NTRS2006

STS-121: Discovery Mission Overview Briefing

Tony Ceccacci, Lead STS-121 Space Shuttle Flight director, and Rick LaBrode, Lead STS-121 ULF 1.1 International Space Station Flight Director, are shown in this STS-121 Discovery mission overview. Ceccacci begins with an overview of the mission and gives the mission goals. He also presents various slides of the STS-121 payload that includes: 1) Orbiter Docking System; 2) Integrated Cargo Carrier (ICC); 3) Multipurpose Logistics Module (MPLM); 4) TPS Sample Box Assembly; 5) Shuttle Remote Manipulator System (SRMS); and 6) Orbiter Boom Sensor System (OBSS). He shows a video presentation on the various processes involved in the inspections of the Orbiter that include: 1) Unberthing OBSS; 2) Starboard wing leading edge survey; 3) Wing leading edge passes; 4) Nose cap surveys; 5) Port side surveys; and 6) Docking with the International Space Station. Ceccacci ends his presentation with discussing the work performed from flight day 1 to flight day 14. Rick LaBrode begins with discussing the on-orbit status of the Expedition 13 crew. He then presents a video of the MPLM installation, forward hatch of MPLM, resupply stowage platform, resupply stowage racks, and Oxygen Generator System (OGS) rack. Questions are answered from the media.

Source record↗
NASA NTRS1988

Space spider crane

A space spider crane for the movement, placement, and or assembly of various components on or in the vicinity of a space structure is described. As permanent space structures are utilized by the space program, a means will be required to transport cargo and perform various repair tasks. A space spider crane comprising a small central body with attached manipulators and legs fulfills this requirement. The manipulators may be equipped with constant pressure gripping end effectors or tools to accomplish various repair tasks. The legs are also equipped with constant pressure gripping end effectors to grip the space structure. Control of the space spider crane may be achieved either by computer software or a remotely situated human operator, who maintains visual contact via television cameras mounted on the space spider crane. One possible walking program consists of a parallel motion walking program whereby the small central body alternatively leans forward and backward relative to end effectors.

Macconochie, Ian O.↗
NASA NTRS1988

Orbiter environment at S- and Ku-band frequencies

Detailed measurements of the electric field strength associated with the Ku-band radar and S-band communication link were made by the Plasma Diagnostics Package (PDP) on STS 51F. These measurements were made while the PDP was attached to the Remote Manipulation System arm and again while the PDP was released as a subsatellite. The results indicate that cargo elements that remain inside of the scan limits of the radar should experience fields less than 2 V/m and that elements that may encounter the main beam can use 300 V/m as a design guideline with adequate safety margin. S-band fields tended to be several dB lower than worst-case predictions. Safe design practice indicates that an electric field E = 100/r (r in meters) should be used as a guideline for deployable systems. S-band electric fields within the cargo bay envelope should be less than 2 V/m even with edge diffraction effects and reflections from other payloads taken into account. The absolute accuracy of these measurements is about 2 dB.

Murphy, G. B.↗
NASA NTRS1980

A versatile tunnel acts as a flexible duct

Tunnel activated by cable assembly can be expanded, contracted, and bent similar to flexible duct without uncoupling at either end. Tunnel was developed to join reusable space vehicle with cargo module and could be modified to be used as hydraulic or pneumatic hose or duct connecting complex moveable joints in remote manipulators and earth moving machinery.

Brown, N. D.↗
NASA NTRS2010

Lunar Lander Offloading Operations Using a Heavy-Lift Lunar Surface Manipulator System

This study investigates the feasibility of using a heavy-lift variant of the Lunar Surface Manipulator System (LSMS-H) to lift and handle a 12 metric ton payload. Design challenges and requirements particular to handling heavy cargo were examined. Differences between the previously developed first-generation LSMS and the heavy-lift version are highlighted. An in-depth evaluation of the tip-over risk during LSMS-H operations has been conducted using the Synergistic Engineering Environment and potential methods to mitigate that risk are identified. The study investigated three specific offloading scenarios pertinent to current Lunar Campaign studies. The first involved offloading a large element, such as a habitat or logistics module, onto a mobility chassis with a lander-mounted LSMS-H and offloading that payload from the chassis onto the lunar surface with a surface-mounted LSMS-H. The second scenario involved offloading small pressurized rovers with a lander-mounted LSMS-H. The third scenario involved offloading cargo from a third-party lander, such as the proposed ESA cargo lander, with a chassis-mounted LSMS-H. In all cases, the analyses show that the LSMS-H can perform the required operations safely. However, Chariot-mounted operations require the addition of stabilizing outriggers, and when operating from the Lunar surface, LSMS-H functionality is enhanced by adding a simple ground anchoring system.

Jefferies, Sharon A.↗
NASA NTRS1984

Repairing Solar Max: The Solar Maximum Repair Mission

Technology and procedures designed for replacing a faulty attitude control module and scientific instruments on the only orbiting solar observatory are described. The rationale for the repair mission is given and the operations of the flight support system within the cargo bay of the space shuttle are discussed. The use of the manned maneuvering unit in capturing the satellite and of the remote manipulator arm in berthing it are discussed, as well as the space tools to be used for repair operations. The space crew and their responsibilities are identified.

Mcmahan, T.↗
NASA NTRS1989

A comparison of the Shuttle remote manipulator system and the Space Station Freedom mobile servicing center

The Shuttle Remote Manipulator System is a mature system which has successfully completed 18 flights. Its primary functional design driver was the capability to deploy and retrieve payloads from the Orbiter cargo bay. The Space Station Freedom Mobile Servicing Center is still in the requirements definition and early design stage. Its primary function design drivers are the capabilities: to support Space Station construction and assembly tasks; to provide external transportation about the Space Station; to provide handling capabilities for the Orbiter, free flyers, and payloads; to support attached payload servicing in the extravehicular environment; and to perform scheduled and un-scheduled maintenance on the Space Station. The differences between the two systems in the area of geometric configuration, mobility, sensor capabilities, control stations, control algorithms, handling performance, end effector dexterity, and fault tolerance are discussed.

Taylor, Edith C.↗
NASA NTRS2023

Magik Animation of Robotic Operations for Flight SpaceX-29 to ISS

The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for the SpaceX (SpX)-29 flight. The animation also displays the current ISS configuration at the time of the flight. Flight SpX-29 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Forward (N2F) International Docking Adapter (IDA) and consists of the delivery of AWE (Atmospheric Waves Experiment) and Integrated LCRD LEO User Modem Amplifier optical communications Terminal (ILLUMA-T). Robotic operations shown include the Special Purpose Dexterous Manipulator (SPDM) Trunk extraction of ILLUMA-T and maneuvering to the JEM RMS Handoff position, the SPDM Trunk extraction of AWE, maneuvering to Express Logistics Carrier (ELC) 1 Site 3 to remove Space Test Program - Houston 5 (STP-H5), and the installation of AWE to ELC-1 Site 3. There is no disposal payload for this flight.

EVR↗
NASA NTRSDate not supplied

Performance Evaluation of a Cartesian Move Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of cable-actuated cranes, designed for surface operations on the Moon and Mars. Its structural design focuses on three fundamental traits for space environments: a high payload-to-mass ratio to reduce launch costs, compactness for space travel in reduced cargo bays, and self-erecting capabilities for operations before astronauts arrive. The resulting design confers nonlinear and switched dynamics to the LSMS, making these cranes an interesting challenge for autonomous and teleoperated applications. One of the protocols required for these applications is a Cartesian move algorithm. This algorithm is responsible for placing the end effector of the crane at a desired location, specified in Cartesian coordinates. This paper evaluates the performance of a Cartesian move algorithm developed for the LSMS at the NASA Langley Research Center. To this end, several payload manipulation tasks were performed with LSMS-L35, the smallest version within the LSMS family. The evaluated algorithm can place the end effector with accuracy, as shown in the hardware and simulation tests.

cable-actuated↗
NASA NTRS1999

On Orbit Testing of the Video Guidance Sensor

The Video Guidance Sensor (VGS), part of NASA's Automated Rendezvous and Capture program, was flown on Shuttle mission STS-95 in October of 1998 to orbitally test the functional characteristics of the VGS. This was the second flight of the VGS (the first flight was in 1997 on STS-87), and this time long-range tracking data was gathered during the experiment. The flight experiment sensor was designed to operate from 1.5 meter range out to 110 meter range, with a field-of-view of 16 X 21 degrees. The VGS tracked its target at a 5 Hz rate and returned 6-degree-of-freedom information on the target's position and attitude relative to the sensor. The VGS was mounted in the Shuttle cargo bay, and its target was mounted on the Spartan spacecraft being carried on this mission. The orbital testing of the VGS included operations with the target on the Shuttle's Remote Manipulator System (RMS) at the start of the 10-day mission, long-range data during the Shuttle rendezvous with the Spartan two days later, and some more RMS operations later in the mission. The data returned from the orbital testing included VGS diagnostics, acquisition, and tracking data, RMS positions, hand-held laser range data, tapes of the data from the VGS video camera, and orbital positioning data from the Spartan and the Shuttle to allow correlation of the VGS data with orbital best-estimate-of-truth data. The Video Guidance Sensor performed well in all phases of the testing, and the VGS is being incorporated into the ground testing of a complete automated rendezvous and docking system. Work on the development of the next generation VGS is continuing

Howard, Richard T.↗
NASA NTRS2020

MAGIK Animation of Robotic Operations for Flight SpaceX-22 to ISS

The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for the SpaceX (SpX)-22 flight. The animation also displays the current ISS configuration at the time of the flight. Flight SpX-22 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the ISS Power Augmentation (IPA) Carrier. Robotic operations shown include the Space Station Remote Manipulator System (SSRMS) Trunk extraction of the IPA Carrier and maneuvering to the install position on the Payload ORU (Orbital Replacement Unit) Accommodation (POA). There is no disposal payload for this flight.

Alexander Radford Fryer↗
NASA NTRS2024

MAGIK Animation of Robotic Operations for Flight SpaceX-30 to ISS

The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for the SpaceX (SpX)-30 flight. Shown EVR activities are preliminary and final operations will be developed by Flight Operations Directorate (FOD) Robotics (ROBO). The animation also displays the current ISS configuration at the time of the flight. Flight SpX-30 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the Pump Module (PM) Integrated Assembly (IA). Robotic operations shown include the Special Purpose Dexterous Manipulator (SPDM) based on the Space Station Remote Manipulator System (SSRMS) for Trunk extraction of the PM IA, maneuvering to the External Stowage Platform 3 (ESP-3), temporary removal of the Control Moment Gyro (CMG) from ESP-3 Site 4, install of the PM IA at ESP-3 Site 3 and re-install of the CMG to ESP-3 Site4. There is no disposal payload for this flight.

ISS↗