Climatology and variability of trace gases in extratropical double‐tropopause regions from MLS, HIRDLS, and ACE‐FTS measurements
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M. J. Schwartz↗
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Trends in atmospheric composition between 2004–2023 using version 5 ACE-FTS data
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Matthew Schmidt↗
The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot
The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.
Task Performance and Analysis↗
Flight telerobotic servicer
Viewgraphs on the Space Station Flight Telerobotic Servicer (SSFTS) are presented. Topics covered include: SSFTS design; SSFTS elements; FTS mission requirements; FTS general requirements; flight telerobotic servicer - telerobot; FTS manipulator; force-torque transducer; end effector changeout mechanism; flight telerobotic servicer - end-of-arm tooling; user interfaces; FTS data management and processing; control subsystem; FTS vision subsystem and camera positioning assembly; FTS workstation display assembly panel; mini-master hand controller; and FTS NASREM system architecture.
Haley, Dennis↗
Selective hydrogenation of CO 2 and CO over potassium promoted Co/ZSM-5
The utilization of CO 2 as a C 1 feedstock for synthesis of value-added chemicals and fuels could both mitigate the negative effects associated with increasing CO 2 emissions and decrease dependence on fossil fuels as part of a future circular carbon economy. Co-based catalysts have been well-developed for Fischer-Tropsch synthesis (FTS), but replacing the CO reactant with CO 2 (CO 2 -FTS) typically results in low selectivity toward desirable light olefins. To better understand the structure-property relationships of Co-based catalysts, and extend promising FTS results to CO 2 -FTS, we have studied the effect of a potassium promoter and acidic properties of ZSM-5 on catalytic performance. The selectivity of FTS and CO 2 -FTS is shown to be a strong function of Si/Al ratio in co-impregnated catalysts, with findings supported by in situ XAFS and FTIR, demonstrating light olefin selectivity can be tuned by Si/Al ratio and the method of introducing the K promoter.
36 MATERIALS SCIENCE↗
The ORNL Moderator Test Station Science Case
Oak Ridge National Laboratory (ORNL) hosts two world-leading slow neutron sources, the Spallation Neutron Source (SNS) and the High Flux Isotope Reactor (HFIR), and is currently developing the technical design for a Second Target Station (STS) for the SNS. Upon completion of the STS project, ORNL will be uniquely positioned to optimize each of its three neutron sources, the SNS First Target Station (FTS), the STS, and HFIR, in a complementary way. Among the essential aspects of a re-imagined FTS and the current STS design are high-brightness parahydrogen moderators—moderators which are optimized for high per-unit-area neutron brightness rather than integrated-across-large-area neutron intensity. The high-brightness moderators proposed for the STS will, for the brightness metric, significantly outperform the coupled moderators currently on the FTS for appropriately optimized neutron beamlines, provided the moderating hydrogen is converted to near-equilibrium levels of parahydrogen (approximately 99.8% at 20 K). The original FTS moderators, by contrast, were conservatively designed to be relatively insensitive to the exact ortho:para ratio, with a consequent loss in performance. As a result, a redesign of the FTS moderators assuming fully converted parahydrogen could result in significant performance improvements on the FTS coupled moderators, and more consistent performance over time for all hydrogen moderators. This “parahydrogen problem” is a long-standing challenge for the effective implementation of hydrogen cold moderators at high-power neutron sources. In addition, the development of new moderator concepts, whether based on previously unused materials, structured heterogeneous arrays, or even simply on changes in overall shape and size is significantly restricted at a large-scale production facility intended to use the resulting neutron beams. Accordingly, moderators for production neutron sources are often designed in a very conservative, low-risk fashion, even though this compromises the absolute neutronic performance. Advanced moderator concepts worthy of study include features that could not be tested without redesigning and redeploying the entire existing reflector, shielding, and neutron beamline installation, making such development efforts far more expensive than building a stand-alone test facility.
21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
A Moderator Test Station at ORNL
Oak Ridge National Laboratory (ORNL) hosts two world-leading slow neutron sources, the Spallation Neutron Source (SNS) and the High Flux Isotope Reactor (HFIR), and is currently developing the technical design for a Second Target Station (STS) for the SNS. Upon completion of the STS project, ORNL will be uniquely positioned to optimize each of its three neutron sources, the SNS First Target Station (FTS), the STS, and HFIR, in a complementary way. Among the essential aspects of a reimagined FTS and the current STS concept are high-brightness parahydrogen moderators—moderators which are optimized for high per-unit-area neutron brightness rather than integrated-across-large-area neutron intensity. The high-brightness moderators proposed for the STS will significantly outperform the coupled moderators currently on the FTS for appropriately optimized neutron beamlines, provided the moderating hydrogen is converted to near-equilibrium levels of parahydrogen (approximately 99.8% at 20 K). The original FTS moderators, by contrast, were conservatively designed to be relatively insensitive to the exact ortho:para ratio, with a consequent loss in performance. As a result, a redesign of the FTS moderators assuming fully converted parahydrogen could result in significant performance improvements on the FTS coupled moderators, and more consistent performance over time for all hydrogen moderators. This “parahydrogen problem” is a long-standing challenge for the effective implementation of hydrogen cold moderators at high-power neutron sources. In addition, the development of new moderator concepts, whether based on previously unused materials, structured heterogeneous arrays, or even simply on changes in overall shape and size is significantly restricted at a large-scale production facility intended to use the neutron beams so produced. Accordingly, moderators for production neutron sources are often designed in a very conservative, low-risk fashion, even though this compromises the absolute neutronic performance. Advanced moderator concepts worthy of study include features that could not be tested without redesigning and redeploying the entire existing reflector, shielding, and neutron beamline installation, making such development efforts far more expensive than building a stand-alone test facility. We propose a Moderator Test Station (MTS) at the SNS with which we will verify such performance gains and test new moderator concepts. These concepts include both high-brightness and large-volume parahydrogen moderators, as well as moderators with tailored ortho:para hydrogen levels, heterogeneous moderator concepts such as the convoluted moderator or pelletized moderators, and moderators made of materials like ammonia, ethane, and oxygen clathrates, which have not been widely tested let alone deployed at neutron source facilities.
42 ENGINEERING↗
The flight telerobotic servicer Tinman concept: System design drivers and task analysis
A study was conducted to develop a preliminary definition of the Flight Telerobotic Servicer (FTS) that could be used to understand the operational concepts and scenarios for the FTS. Called the Tinman, this design concept was also used to begin the process of establishing resources and interfaces for the FTS on Space Station Freedom, the National Space Transportation System shuttle orbiter, and the Orbital Maneuvering vehicle. Starting with an analysis of the requirements and task capabilities as stated in the Phase B study requirements document, the study identified eight major design drivers for the FTS. Each of these design drivers and their impacts on the Tinman design concept are described. Next, the planning that is currently underway for providing resources for the FTS on Space Station Freedom is discussed, including up to 2000 W of peak power, up to four color video channels, and command and data rates up to 500 kbps between the telerobot and the control station. Finally, an example is presented to show how the Tinman design concept was used to analyze task scenarios and explore the operational capabilities of the FTS. A structured methodology using a standard terminology consistent with the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) was developed for this analysis.
Andary, J. F.↗
Research and development activities at the Goddard Space Flight Center for the flight telerobotic servicer project
The Flight Telerobotic Servicer (FTS) is being developed by the Goddard Space Flight Center (GSFC) for performing a variety of assembly, servicing, inspection and maintenance tasks on the Space Station. The Project Office at GSFC has tasked the Engineering Directorate to assemble a robotics research and development program which will support the FTS project. The activities center around support for the Development Test Flight (DTF) on the Space Shuttle and investigations of operational problems associated with the FTS on Space Station Freedom. For the DTF, areas such as control algorithms, safety systems, and end-effectors will be developed. For FTS operations, the emphasis will be to develop a dual-arm bi-lateral force-reflecting teleoperator and use it as an FTS Operational Simulator (FTSOS). The simulator will be used to investigate operational techniques, camera configurations, operator interfacing, orbital replacement unit (ORU) designs, end-effector designs, and training techniques. After a series of test activities, reports will be generated for input to the DTF and FTS designs.
Ollendorf, Stanford↗
The flight telerobotic servicer and technology transfer
The Flight Telerobotic Servicer (FTS) project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station Freedom (SSF). The FTS will provide a telerobotic capability in the early phases of the SSF program and will be employed for assembly, maintenance, and inspection applications. The current state of space technology and the general nature of the FTS tasks dictate that the FTS be designed with sophisticated teleoperational capabilities for its internal primary operating mode. However, technologies such as advanced computer vision and autonomous planning techniques would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Another objective of the FTS program is to accelerate technology transfer from research to U.S. industry.
Andary, James F.↗
Evolution of the Flight Telerobotic Servicer
The Flight Telerobotic Servicer (FTS) is a two-armed manipulator which will be used to build and maintain Space Station Freedom. One of the goals of the project is to be able to upgrade the capabilities of the FTS by incorporating new technology. To achieve this goal, the FTS is using the NASA/NIST Standard Reference Model for Telerobot Control System Architecture (NASREM) for its functional architecture. While using NASREM helps integrate new technology into the system, the decisions concerning the precise technology needing development must be addressed. In this paper, an approach to the technological evolution of the FTS will be explored. The approach begins with detailed scripts of representative FTS activities. These scripts are analyzed to determine the generic or common actions performed by the FTS. Then, technological alternatives are described in terms of a decision tree format.
Lumia, Ronald↗
Programmable display pushbuttons on the Space Station's telerobot control panel
The Man-Systems Telerobotics Laboratory at NASA's Johnson Space Center and supported by Lockheed, is working to ensure that the Flight Telerobotic Servicer (FTS) to be used on the Space Shuttle (Orbiter) and the Space Station has a well designed user interface from a Human Factors perspective. The FTS, which is a project led by NASA's Goddard Space Flight Center, will be a telerobot used for Space Station construction, maintenance, and satellite repair. It will be directly controlled from workstations on the Orbiter and the Space Station and monitored from a ground workstation. The FTS will eventually evolve into a more autonomous system, but in the short-term the system will be manually operated (teleoperated) for many tasks. This emphasizes the importance of the human/telerobot interface on this system. This phase of the FTS workstation evaluation covers a preliminary study of programmable display pushbuttons (PDP's). The PDP is constructed of a matrix of directly addressable electroluminescent (EL) pixels which can be used to form dot-matrix characters. PDP's can be used to display more than one message and to control more than one function. Since the PDP's have these features, then a single PDP may possibly replace the use of many single-function pushbuttons, rotary switches, and toggle switches, thus using less panel space. It is of interest to determine if PDP's can be used to adequately perform complex hierarchically structured task sequences. The objective of this investigation was to compare the performance of experienced and inexperienced Remote Manipulator System (RMS) operators while performing an RMS like task on simulated PDP and non-PDP computer prototypes so that guidelines governing the use of programmable display pushbuttons on the FTS workstation could be created. The functionality of the RMS on the Orbiter was used as a model for this evaluation since the functionality of the FTS at the time of this writing has not been solidified.
Stuart, Mark A.↗
Seasonal and Diurnal Opportunities for XCH4, XCO2, and XCO for the Amazonian Rainforest Region Allowing Sampling and Validation
There is considerable interest in the aggregate methane emissions from the Amazon and similar moist tropical regions, and XCH4 measurements are well suited to constrain sources to the global atmosphere. Similarly, XCO2 measurements constrain CO2 in the region. XCO helps to partition CO2 patterns among burning and respiration processes. GeoCarb may allow these column measurements over the Western Hemisphere, but satellite retrieval require exacting calibration and validation by sun-focused Fourier transform spectrometers (FTS). The rarity of sufficiently large gaps in the cloud cover over the Amazon and similar rainforests restricts the validation opportunities for useful FTS observations and even more the opportunities for accurate retrievals. TropOMI observational statistics are extremely poor for the region. We have used two data sources to evaluate FTS opportunities at Manaus, Brazil, an FTS operated for 8 months near Manaus by Mavendra Dubey, and also sun-photometer measurements at several stations. The promise of using data from other satellites, e.g. GOES-16 ( (Geostationary Operational Environmental Satellite) and CALIOP (Cloud-Aerosol LIdar with Orthogonal Polarization gaps and aerosol layering will be described. We report initial results on five questions: (1) how frequent are observing opportunities of FTS?, (2) What evidence is there that gaps in clouds are wide enough for satellite retrievals at an appropriate accuracy, (3) What is the diurnal and seasonal variability of cloud gaps?, and (4) What limitations are currently suggested for unbiased FTS measurement of XCH4 due to diurnal effects, and (5) What evidence is there for incidence of problematic high aerosol extinction at higher layers of the troposphere (800 hPa to 120 hPa) which alter the XCH4 light-paths?
Chatfield, Robert↗
Integrating HPC simulations and physical experiments to characterize the effects of gamma radiation on seismic protective devices
Seismic protective systems, composed of seismic isolators and dampers, can substantially reduce the effects of earthquake shaking on nuclear power plants and components therein. To enable the use of these devices to protect equipment inside a plant and close to a source of radiation, the U.S. Department of Energy (DOE) funded a project at the Idaho National Laboratory (INL) and the University at Buffalo to characterize the effects of absorbed gamma dose on their mechanical properties. An early task in the project was to determine the exposure time required in the INL Foss Therapy Services (FTS) 60 Co gamma irradiator to achieve a target absorbed dose in the materials used to construct isolators and dampers, including fluids, polymers, composites, and metals. This task required the novel integration of high-performance computing (HPC), Monte Carlo N-Particle (MCNP) simulations, and irradiation experiments using Fricke dosimetry. An MCNP model of the FTS irradiator at INL was developed and validated using Fricke dosimetry. Simulations of three experiments in the irradiator, two with Fricke vials only and one with Fricke vials and a large-size isolator, predicted the Fricke-measured absorbed dose rate to within 15% in all three cases, providing high confidence in the calculation of the gamma dose absorbed in the materials comprising the seismic protective devices. The simulations demonstrated that the effects of photon scattering on absorbed dose rate in the FTS irradiator are negligible for test articles installed close to the cobalt sources and near the rear of the irradiator. The validated MCNP model of the FTS irradiator is being used to support ongoing DOE-funded experiments on seismic protective devices and could be applied to future, non-seismic-related experiments. In conclusion, the novel validation process successfully deployed for the FTS irradiator at INL could be applied to other irradiators, requiring new MCNP models and simulations, and irradiation experiments using dosimeters.
42 - ENGINEERING↗
Frequency-Selectable Laser Source (FLS) Calibrator for CMB Bandpass Characterization
One of the biggest challenges for Cosmic Microwave Background (CMB) experiments comes from our detector bandpass calibration. Uncertainties in bandpass can severely limit our measurements by limiting foreground removal and spectral fitting, which is particularly important for high-$\ell$ observations like cluster science using the Sunyaev-Zeldovich (SZ) effect. Currently, CMB experiments typically use a Fourier Transform Spectrometer (FTS) to measure the detector bandpasses. However, the resolution of the FTS is dependent on the length of the interferometer arms, leading to a need for increasingly large FTS instruments as CMB experiments require tighter constraints on detector bandpasses. Additionally, systematic effects like shifts in bandpass shape from uneven illumination from the FTS further limit the calibration uncertainties. As a complement to the FTS, we have developed a Frequency-selectable Laser Source (FLS) calibrator, which uses a laser with adjustable frequency housed in a calibrator that allows for varying degrees of laser power attenuation. We present several tests used to characterize the first prototype design of the FLS calibrator, as well as the improvements to the calibrator design currently underway.
Saunders, Lauren [Fermilab]↗
The Flight Telerobotic Servicer Project and systems overview
As part of the Flight Telerobotic Servicer (FTS) project an advanced telerobotic system is being developed to assist in and reduce crew extravehicular activity (EVA) for the U.S. Space Station. The FTS will be used for assembly, maintenance, servicing, and inspection throughout the lifetime of the Space Station. A brief overview of the FTS program is given, and some of the technical and system engineering issues associated with the development of the FTS are explored. A key to the evolutionary capability of the FTS design is the NASREM (NASA Standard Reference Model for telerobot control system) architecture. This architecture provides the framework for future growth and permits a logical blend of teleoperation and autonomous operations as required.
Mccain, Harry G.↗
NASA's first dexterous space robot
NASA is developing the Flight Telerobotic Servicer (FTS), a robotic device that can be teleoperated under constant command of a human operator or run by itself under human supervision. Plans call for the FTS to assist the astronauts in the assembly, maintenance, servicing, and inspection of Space Station Freedom. The FTS project is driven by five major objectives: to reduce Space Station dependence on crew EVA, improve crew safety, enhance crew utilization, promote remote servicing capabilities for platforms, and accelerate technology transfer from research to U.S. industry. Another part of the FTS project is a ground system that will support operations and system evolution. Not only will the FTS provide a needed operational capability during the assembly and operation of Space Station Freedom, it will also provide an expanding foundation for proving more advanced robotic and telepresence concepts in space.
Mccain, Harry G.↗
In-flight demonstration of the Space Station Freedom Health Maintenance Facility fluid therapy system (E300/E05)
The Space Station Freedom (SSF) Health Maintenance Facility (HMF) will provide medical care for crew members for up to 10 days. An integral part of the required medical care consists of providing intravenous infusion of fluids, electrolyte solutions, and nutrients to sustain an ill or injured crew member. In terrestrial health care facilities, intravenous solutions are normally stored in large quantities. However, due to the station's weight and volume constraints, an adequate supply of the required solutions cannot be carried onboard SSF. By formulating medical fluids onboard from concentrates and station water as needed, the Fluid Therapy System (FTS) eliminates weight and volume concerns regarding intravenous fluids. The first full-system demonstration of FTS is continuous microgravity will be conducted in Spacelab-Japan (SL-J). The FTS evaluation consists of two functional objectives and an in-flight demonstration of intravenous administration of fluids. The first is to make and store sterile water and IV solutions onboard the spacecraft. If intravenous fluids are to be produced in SSF, successful sterilization of water and reconstituting of IV solutions must be achieved. The second objective is to repeat the verification of the FTS infusion pump, which had been performed in Spacelab Life Sciences - 1 (SLS-1). during SLS-1, the FTS IV pump was operated in continuous microgravity for the first time. The pump functioned successfully, and valuable knowledge on its performance in continuous microgravity was obtained. Finally, the technique of starting an IF in microgravity will be demonstrated. The IV technique requires modifications in microgravity, such as use of restraints for equipment and crew members involved.
Lloyd, Charles W.↗