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At least 451 records · Page 25

An International Strategy for Human Exploration of the Moon: The International Space Exploration Coordination Group (ISECG) Reference Architecture for Human Lunar Exploration

The International Space Exploration Coordination Group (ISECG) was established in response to The Global Exploration Strategy: The Framework for Coordination developed by fourteen space agencies and released in May 2007. Several ISECG participating space agencies have been studying concepts for human exploration of the moon that allow individual and collective goals and objectives to be met. This 18 month study activity culminated with the development of the ISECG Reference Architecture for Human Lunar Exploration. The reference architecture is a series of elements delivered over time in a flexible and evolvable campaign. This paper will describe the reference architecture and how it will inform near-term and long-term programmatic planning within interested agencies. The reference architecture is intended to serve as a global point of departure conceptual architecture that enables individual agency investments in technology development and demonstration, International Space Station research and technology demonstration, terrestrial analog studies, and robotic precursor missions to contribute towards the eventual implementation of a human lunar exploration scenario which reflects the concepts and priorities established to date. It also serves to create opportunities for partnerships that will support evolution of this concept and its eventual realization. The ISECG Reference Architecture for Human Lunar Exploration (commonly referred to as the lunar gPoD) reflects the agency commitments to finding an effective balance between conducting important scientific investigations of and from the moon, as well as demonstrating and mastering the technologies and capabilities to send humans farther into the Solar System. The lunar gPoD begins with a robust robotic precursor phase that demonstrates technologies and capabilities considered important for the success of the campaign. Robotic missions will inform the human missions and buy down risks. Human exploration will start with a thorough scientific investigation of the polar region while allowing the ability to demonstrate and validate the systems needed to take humans on more ambitious lunar exploration excursions. The ISECG Reference Architecture for Human Lunar Exploration serves as a model for future cooperation and is documented in a summary report and a comprehensive document that also describes the collaborative international process that led to its development. ISECG plans to continue with architecture studies such as this to examine an open transportation architecture and other destinations, with expanded participation from ISECG agencies, as it works to inform international partnerships and advance the Global Exploration Strategy.

Laurini, Kathleen C.↗

Human-Robot Control Strategies for the NASA/DARPA Robonaut

The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system, Robonaut, is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires, grasping handrails to move along space station mockups, and mating connectors. More recently, developments in autonomous control and perception for Robonaut have enabled dexterous, real-time man-machine interaction. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. A versatile, vision-based algorithm for matching range silhouettes is used for monitoring human activity as well as estimating tool pose.

Diftler, M. A.↗

NASA Tech Briefs, June 2006

Topics covered include: Magnetic-Field-Response Measurement-Acquisition System; Platform for Testing Robotic Vehicles on Simulated Terrain; Interferometer for Low-Uncertainty Vector Metrology; Rayleigh Scattering for Measuring Flow in a Nozzle Testing Facility; "Virtual Feel" Capaciflectors; FETs Based on Doped Polyaniline/Polyethylene Oxide Fibers; Miniature Housings for Electronics With Standard Interfaces; Integrated Modeling Environment; Modified Recursive Hierarchical Segmentation of Data; Sizing Structures and Predicting Weight of a Spacecraft; Stress Testing of Data-Communication Networks; Framework for Flexible Security in Group Communications; Software for Collaborative Use of Large Interactive Displays; Microsphere Insulation Panels; Single-Wall Carbon Nanotube Anodes for Lithium Cells; Tantalum-Based Ceramics for Refractory Composites; Integral Flexure Mounts for Metal Mirrors for Cryogenic Use; Templates for Fabricating Nanowire/Nanoconduit- Based Devices; Measuring Vapors To Monitor the State of Cure of a Resin; Partial-Vacuum-Gasketed Electrochemical Corrosion Cell; Theodolite Ring Lights; Integrating Terrain Maps Into a Reactive Navigation Strategy; Reducing Centroid Error Through Model-Based Noise Reduction; Adaptive Modeling Language and Its Derivatives; Stable Satellite Orbits for Global Coverage of the Moon; and Low-Cost Propellant Launch From a Tethered Balloon

Source record↗

Solar Sail Propulsion for Interplanetary Small Spacecraft

NASA is developing solar sail propulsion for use by small robotic interplanetary spacecraft. Solar sails use sunlight to derive useful thrust by reflecting solar photons from a large, mirror-like sail made of a lightweight, highly reflective material. Using reflected sunlight to obtain thrust instead of relying on the use of reaction mass has many advantages for exploring the inner solar system, including extremely large total delta V (velocity difference) and significant launch window flexibility.

Asteroid↗

Resource Prospector (RP): A Cost-Effective Lunar Resource Pathfinder

Resource Prospector (RP) is an in-situ resource utilization (ISRU) technology demonstration mission under study by the NASA Human Exploration and Operations Mission Directorates (HEOMD). This clever mission is currently planned to launch in 2020 and will demonstrate extraction of oxygen, water and other volatiles, as well measure mineralogical content such as silicon and light metals, like aluminum and titanium, from lunar regolith. Expanding human presence beyond low-Earth orbit to asteroids and Mars will require the maximum possible use of local materials, so-called in-situ resources, and the moon presents a unique destination to conduct robotic investigations that advance ISRU capabilities, as well as providing significant exploration and science value. This mission is equally important; however, for how it executes as a risk-tolerant, cost-effective mission. RP follows on the path-finding approaches of the Lunar Crater Observation and Sensing Satellite (LCROSS) mission. The LCROSS mission confirmed the presence of water-ice on the moon, but also established a new lightweight-approach to project and mission execution which was considerably cheaper and faster than traditional NASA missions. RP has been designated as a Class D mission, just as LCROSS. This mission classification is the most risk-tolerant class of mission within the NASA risk framework and as such, is given more latitude to accept higher-levels of residual risk. The intention is that by saving monies normally spent attempting to assure a single missions success, more missions can be funded. A well-designed portfolio can accept occasional mission failure, as it still gets more done for the same investment of resources. This classification enables tailoring the NASA Policy Requirements (NPRs) to lighter-weight approaches to mission management and execution. RP is also studying both international and commercial partnerships as a means to maximize return on the investment. International partnerships provide both capabilities synergies and cost-sharing opportunities, while the evolving new space commercial options are revealing new approaches to acquiring cost-effective services, including the benefits of bundling services. Even the world of launch vehicles is changing, offering much less expensive access to space, especially if NASA is able to be flexible in how it approaches mission assurance. Finally, leveraging investments being made elsewhere within a program portfolio, can enable cost-savings by enabling two applications with one investment. RP will be the next pathfinder mission to both enable exploration capabilities for future missions, and continue to evolve cost-effective approaches for NASA.

Lunar↗

A Sustainable Multi-Dimensional Printable Material

Polymeric materials are usually tailored for specific functionality. A single polymer exhibiting multiple simultaneous functionalities often requires intricate molecular architecture, which is difficult to manufacture at scale because of its complex synthesis routes. In this work, a facile, partly renewable composition—prepared via reactive melt processing—that induces tunable functionalities such as 3D printability, shape recovery, and self-healing while exhibiting satisfactory mechanical properties is reported. The system with a hydrogen-bonded 3D network consists of thermally reversible nano-scale agglomerates of sustainable, rigid phenolic oligomers and crystallizable flexible polymer. Local molecular mobility and temperature-dependent relaxation and recovery of the non-equilibrium networked states enable exploiting these simultaneous functionalities. Transitions involving solidification and structure stabilization at ambient temperature spanning several hours after preheating only at 70 °C directly contrast typical thermoplastic or thermoplastic elastomer behaviors. Results from this study can inform the design of future rheology modifiers and materials for soft robotics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Stability analysis of position and force control problems for robot arms

A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available. An explanation of instability is given for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved via the integral force feedback.

Wen, John T.↗

Additively Manufactured Ink-based Cell Batteries for Flexible Conformational Applications

With the rise of additively manufactured electronics, the importance of thin, flexible printed batteries has increased for shape-conformal electronics. Traditionally, battery cells such as industry-standard lithium-ion batteries, have been rigid and therefore unable to conform to time-variant surfaces such as smart cards/RFID devices, disposable battery-powered skin patches, foldable electronic devices, and IoT nodes. Aligned with the effort to advance technologies on printed electronics for habitat systems and advanced manufacturing, this proof-of-concept will focus on printing a 50 mAh Zn-Ag battery implementing a DIW Technique. After prototype manufacturing, electrical and environmental testing on the flexible battery cell will be conducted to the evaluate energy and power density over 50 charge cycles under standard atmosphere conditions. The project aims to provide PCB designers, fabricators, and assemblers an integrated battery package to eliminate external batteries, external wiring and connectors, and conformational complexity. Potential end uses of the printed battery process will be within Martian and lunar habitat systems, Gateway, and surface vehicles, or aerial robots where space and geometry is a restriction.

Printed Electronics↗

Robotic Lunar Landers for Science and Exploration

The MSFC/APL Robotic Lunar Landing Project (RLLDP) team has developed lander concepts encompassing a range of mission types and payloads for science, exploration, and technology demonstration missions: (1) Developed experience and expertise in lander systems, (2) incorporated lessons learned from previous efforts to improve the fidelity of mission concepts, analysis tools, and test beds Mature small and medium lander designs concepts have been developed: (1) Share largely a common design architecture. (2) Flexible for a large number of mission and payload options. High risk development areas have been successfully addressed Landers could be selected for a mission with much of the concept formulation phase work already complete

Cohen, Barbara A.↗

Project Freebird: An orbital transfer vehicle

Freebird is a space-based orbital transfer vehicle designed to repair and deorbit orbital assets. Freebird is based at International Space Station Alpha (ISSA) at an inclination of 51.6 deg and is capable of three types of missions: crewed and teleoperated LEO missions, and extended robotic missions. In a crewed local configuration, the vehicle can visit inclinations between 30.8 deg and 72.4 deg at altitudes close to 390 km. Adding extra fuel tanks extends this range of inclination up to 84.9 deg and down to 18.3 deg. Furthermore, removing the crew module, using the vehicle in a teleoperated manner, and operating with extra fuel tanks allows missions to polar and geosynchronous orbits. To allow for mission flexibility, the vehicle was designed in a semimodular configuration. The major system components include a crew module, a 'smart box' (which contains command, communications, guidance, and navigation equipment), a propulsion pack, extra fuel tanks, and a vehicle storage facility (VSF) for storage purposes. To minimize risk as well as development time and cost, the vehicle was designed using only proven technology or technology which is expected to be flight-qualified in time for the intended launch date of 2002. And, because Freebird carries crew and operates near the space station, it must meet or exceed the NASA reliability standard of 0.994, as well as other standard requirements for such vehicles. The Freebird program was conceived and designed as a way to provide important and currently unavailable satellite repair and replacement services of a value equal to or exceeding operational costs.

Aneses, Carlos A.↗

The NASA/OAST telerobot testbed architecture

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.

Matijevic, J. R.↗

The US Space Station programme

The Manned Space Station (MSS) involves NASA, and other countries, in the operation, maintenance and expansion of a permanent space facility. The extensive use of automation and robotics will advance those fields, and experimentation will be carried out in scientific and potentially commercial projects. The MSS will provide a base for astronomical observations, spacecraft assembly, refurbishment and repair, transportation intersection, staging for interplanetary exploration, and storage. Finally, MSS operations will be performed semi-autonomously from ground control. Phase B analysis is nearing completion, and precedes hardware development. Studies are being performed on generic advanced technologies which can reliably and flexibly be incorporated into the MSS, such as attitude control and stabilization, power, thermal, environmental and life support control, auxiliary propulsion, data management, etc. Guidelines are also being formulated regarding the areas of participation by other nations.

Hodge, J. D.↗

Application of model reference adaptive control to a flexible remote manipulator arm

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Meldrum, D. R.↗

Controls of interaction dynamics of orbital assembly

Building structures and spacecraft in orbit will require technologies for positioning, docking/berthing, and joining orbital structures. A fundamental problem underlying the operation of docking and berthing is that of controlling the contact dynamics of mechanical structures actuated by active mechanisms such as robotic devices. Control systems must be designed to control these active mechanisms so that both the free space motions and contact motions are stable and satisfy specifications on position accuracy and bounds on contact forces. For the large orbital structures of the future, the problem of interactive dynamics and control is fundamentally different in several ways than it was for spacecraft docking in the past. First, future space structures must be treated as flexible structures - the operations of docking, berthing, and assembly will need to respect the vibrations of the structures. Second, the assembly of these structures will require multiple-point contact, rather than the essentially single-point positioning of conventional spacecraft docking. Third, some assembly operations require the subassemblies to be brought and held in contact so that successful joining can be accomplished. A preliminary study of contact stability and compliance control design has resulted in the development of an analytical method and a design method to analyze stability. The analytical method analyzes the problem of stability when an actively-controlled structure contacts a passive structure. This method makes it possible to accurately estimate the stiffness of the passive structures with which the contact motion will become unstable. The analytic results suggest that passivity is neither achievable in practice, nor necessary as a design concept. A contact control system need only be passive up to a certain frequency; beyond that frequency the system can be stabilized with sufficiently small gains. With this concept the Center developed a design methodology for achieving desired compliant contact motions. This design method is based on H-infinity norm optimization, which makes it possible to consider both driving point mechanical impedance and systems robustness to modeling uncertainty. A laboratory facility was set up to verify experimentally the analytical and design theory.

Su, Renjeng↗

Space Weather Models, Tools and Services at the Community Coordinated Modeling Center

The Community Coordinated Modeling center (CCMC) is a multi-agency partnership to support the research and developmental work necessary to substantially increase space weather modeling capabilities and to facilitate advanced models deployment in forecasting operations. The CCMC conducts unbiased model testing and validation and evaluates model readiness for operational environment. Space weather models and coupled model chains hosted at the CCMC range from the solar corona to the Earth's upper atmosphere. CCMC has developed a number of real-time modeling systems, as well as a large number of modeling and data products tailored to address the space weather needs of NASA's robotic missions. The presentation will demonstrate the rapid progress towards development the system allowing using products derived from space weather models in applications associated with National Space Weather needs. The adaptable Integrated Space Weather Analysis (ISWA) System developed at CCMC for NASA-relevant space weather information combines forecasts based on advanced space weather models hosted at CCMC with concurrent space environment information. The system is also enabling post-impact analysis and flexible dissemination of space weather information.

Kuznetsova, M. M.↗

Hardware interface for isolation of vibrations in flexible manipulators: Development and applications

NASA's Langley Research Center (LaRC) is addressing the problem of isolating the vibrations of the Shuttle remote manipulator system (RMS) from its end-effector and/or payload by modeling an RMS flat-floor simulator with a dynamic payload. Analysis of the model can lead to control techniques that will improve the speed, accuracy, and safety of the RMS in capturing satellites and eventually facilitate berthing with the space station. Rockwell International Corporation, also involved in vibration isolation, has developed a hardware interface unit to isolate the end-effector from the vibrations of an arm on a Shuttle robotic tile processing system (RTPS). To apply the RTPS isolation techniques to long-reach arms like the RMS, engineers have modeled the dynamics of the hardware interface unit with simulation software. By integrating the Rockwell interface model with the NASA LaRC RMS simulator model, investigators can study the use of a hardware interface to isolate dynamic payloads from the RMS. The interface unit uses both active and passive compliance and damping for vibration isolation. Thus equipped, the RMS could be used as a telemanipulator with control characteristics for capture and berthing operations. The hardware interface also has applications in industry.

Manouchehri, Davoud↗

A Cis-Lunar Propellant Infrastructure for Flexible Path Exploration and Space Commerce

This paper describes a space infrastructure concept that exploits lunar water for propellant production and delivers it to users in cis-lunar space. The goal is to provide responsive economical space transportation to destinations beyond low Earth orbit (LEO) and enable in-space commerce. This is a game changing concept that could fundamentally affect future space operations, provide greater access to space beyond LEO, and broaden participation in space exploration. The challenge is to minimize infrastructure development cost while achieving a low operational cost. This study discusses the evolutionary development of the infrastructure from a very modest robotic operation to one that is capable of supporting human operations. The cis-lunar infrastructure involves a mix of technologies including cryogenic propellant production, reusable lunar landers, propellant tankers, orbital transfer vehicles, aerobraking technologies, and electric propulsion. This cislunar propellant infrastructure replaces Earth-launched propellants for missions beyond LEO. It enables users to reach destinations with smaller launchers or effectively multiplies the user s existing payload capacity. Users can exploit the expanded capacity to launch logistics material that can then be traded with the infrastructure for propellants. This mutually beneficial trade between the cis-lunar infrastructure and propellant users forms the basis of in-space commerce.

Oeftering, Richard C.↗

Simulation and control problems in elastic robots

Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.

Tadikonda, S. S. K.↗