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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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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Resolved rate and torque control schemes for large scale space based kinematically redundant manipulators

Resolved rate control of kinematically redundant ground based manipulators is a challenging problem. The structural, actuator, and control loop frequency characteristics of industrial grade robots generally allow operation with resolved rate control; a rate command is achievable with good accuracy. However, space based manipulators are different, typically have less structural stiffness, more motor and joint friction, and lower control loop cycle frequencies. These undesirable characteristics present a considerable Point of Resolution (POR) control problem for space based, kinematically redundant manipulators for the following reason: a kinematically redundant manipulator requires an arbitrary constraint to solve for the joint rate commands. A space manipulator will not respond to joint rate commands because of these characteristics. A space based manipulator simulation, including free end rigid body dynamics, motor dynamics, motor striction/friction, gearbox backlash, joint striction/friction, and Space Station Remote Manipulator System type configuration parameters, is used to evaluate the performance of a documented resolved rate control law. Alternate schemes which include torque control are also evaluated.

Robert W Bailey↗
NASA NTRS1996

EVA assembly and release of highly loaded bolts

The modification of a multi-jackbolt mechanism, Superbolt(TM), for on-orbit release of highly loaded bolts is described. Preload and release test data demonstrate that modification of a commercial product produced a solution for the deployment of the Space Station Remote Manipulator System (SSRMS) that was less expensive, faster, and lighter than other alternatives. Using the Superbolt design, virtually unlimited bolt loads can be applied or released with a standard wrench.

Olmstead, Jim↗
NASA NTRS1997

Evaluation of a Human Modeling Software Tool in the Prediction of Extra Vehicular Activity Tasks for an International Space Station Assembly Mission

The difficulty of accomplishing work in extravehicular activity (EVA) is well documented. It arises as a result of motion constraints imposed by a pressurized spacesuit in a near-vacuum and of the frictionless environment induced in microgravity. The appropriate placement of foot restraints is crucial to ensuring that astronauts can remove and drive bolts, mate and demate connectors, and actuate levers. The location on structural members of the foot restraint sockets, to which the portable foot restraint is attached, must provide for an orientation of the restraint that affords the astronaut adequate visual and reach envelopes. Previously, the initial location of these sockets was dependent upon the experienced designer's ability to estimate placement. The design was tested in a simulated zero-gravity environment; spacesuited astronauts performed the tasks with mockups while submerged in water. Crew evaluation of the tasks based on these designs often indicated the bolt or other structure to which force needed to be applied was not within an acceptable work envelope, resulting in redesign. The development of improved methods for location of crew aids prior to testing would result in savings to the design effort for EVA hardware. Such an effort to streamline EVA design is especially relevant to International Space Station construction and maintenance. Assembly operations alone are expected to require in excess of four hundred hours of EVA. Thus, techniques which conserve design resources for assembly missions can have significant impact. We describe an effort to implement a human modelling application in the design effort for an International Space Station Assembly Mission. On Assembly Flight 6A, the Canadian-built Space Station Remote Manipulator System will be delivered to the U.S. Laboratory. It will be released from its launch restraints by astronauts in EVA. The design of the placement of foot restraint sockets was carried out using the human model Jack, and the modelling results were compared with actual underwater test results. The predicted locations of the sockets was found to be acceptable for 94% of the tasks attempted by the astronauts, This effort provides confidence in the capabilities of this package to accurately model tasks. It therefore increases assurance that the tool maybe used early in the design process.

Dischinger, H. Charles↗
NASA NTRS2001

STS-102 Expedition 2 Increment and Science Briefing

Merri Sanchez, Expedition 2 Increment Manager, John Uri, Increment Scientist, and Lybrease Woodard, Lead Payload Operations Director, give an overview of the upcoming activities and objectives of the Expedition 2's (E2's) mission in this prelaunch press conference. Ms. Sanchez describes the crew rotation of Expedition 1 to E2, the timeline E2 will follow during their stay on the International Space Station (ISS), and the various flights going to the ISS and what each will bring to ISS. Mr. Uri gives details on the on-board experiments that will take place on the ISS in the fields of microgravity research, commercial, earth, life, and space sciences (such as radiation characterization, H-reflex, colloids formation and interaction, protein crystal growth, plant growth, fermentation in microgravity, etc.). He also gives details on the scientific facilities to be used (laboratory racks and equipment such as the human torso facsimile or 'phantom torso'). Ms. Woodard gives an overview of Marshall Flight Center's role in the mission. Computerized simulations show the installation of the Space Station Remote Manipulator System (SSRMS) onto the ISS and the installation of the airlock using SSRMS. Live footage shows the interior of the ISS, including crew living quarters, the Progress Module, and the Destiny Laboratory. The three then answer questions from the press.

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NASA NTRS2001

Expedition 3 Crew Training Clips

The Expedition 3 crewmembers, Frank Culbertson, Jr., Mikhail Turin, and Vladimir Dezhurov, are seen during various stages of their training. Footage includes Extravehicular Activity (EVA) Training at the Neutral Buoyancy Laboratory (NBL), EVA Preparation and Post Training in the International Space Station Airlock Mock-up, in the NBL Space Station Remote Manipulator System Workstation, and during the T-38 flight at Ellington Field.

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NASA NTRS2005

STS-114 Flight Day 4 Highlights

Video coverage of Day 4 continues the Return to Flight mission of STS-114. The crew of Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) and the Expedition 11 crew (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) of the International Space Station (ISS) cooperated on several activities. These were the installation of the Raffaello Multipurpose Logistics Module onto the Common Bearthing Mechanism of the Unity module of the ISS by the Space Station Remote Manipulator System, an interview of Collins and Thomas, primarily focusing on foam shedding and shuttle safety, and use of the Orbiter Boom Sensor System by the Shuttle Remote Manipulator System to follow up on ground-based inspection of the thermal protection beneath Discovery.

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NASA NTRS2005

STS-114 Flight Day 7 Highlights

The main event of Day 7 is an extravehicular activity (EVA) to remove a failed Control Moment Gyroscope (CMG) from the Z1 Truss of the International Space Station (ISS) (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips), and install a replacement stored in the payload of Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda). Discovery astronauts Noguchi and Robinson are assisted in suit-up by their fellow crew members, Noguchi is carried by the Space Station Remote Manipulator System between Discovery's payload bay and the Z1 truss in order to exchange the gyroscopes with help from the pistol grip tool. Mission Control speaks to him during the EVA in order to troubleshoot the power and data connectors for new CMG. When back in the open payload bay, Noguchi and Robinson pose for pictures of each other and the Earth.

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NASA NTRS2005

STS-114 Flight Day 8 Highlights

The major activities of Day 8 for the STS-114 crew of the Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) and the Expedition 11 crew of the International Space Station (ISS) (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) are a press conference and a conversation with President Bush. The two crews are interviewed by American, Japanese, and Russian media. Discovery crew members on the shuttle's mid-deck review paperwork regarding the impending extravehicular activity (EVA) to remove gap fillers from underneath the orbiter, and the Space Station Remote Manipulator System grapples the External Stowage Platform-2 in the Shuttle's payload bay. Finally, Mission control grants the shuttle crew some time off.

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NASA NTRS2005

STS-114 Flight Day 9 Highlights

The highlight of Day 9 is the third extravehicular activity (EVA) of the STS-114 mission (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda). Astronauts Noguchi and Robinson are seen preparing for the EVA in the closed payload bay of Space Shuttle Discovery; on the EVA they install on the International Space Station (ISS) a Materials on the International Space Station Experiments (MISSE) unit, an External Stowage Platform (ESP-2), and a wireless antenna. The astronauts are seen working on the ISS under different lighting conditions, and use a pistol-grip tool to remove ESP-2 from the shuttle payload bay. The Space Station Remote Manipulator System then carries Robinson to the underside of the Discovery orbiter, where he communicates with Mission Control during the delicate and unprecedented removal of gap fillers from between the shuttle's tiles. Before and the after the EVA the video includes views of a damaged thermal blanket beneath the shuttle cockpit window. Other views of the shuttle include pans along the underside and topside by the Orbiter Boom Sensor System. The video also includes a view from orbit of Kazakhstan.

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NASA NTRS2005

STS-114 Flight Day 10 Highlights

On Flight Day 10 of the STS-114 mission the International Space Station (ISS) is seen in low lighting while the Space Station Remote Manipulator System (SSRMS), also known as Canadarm 2 grapples the Raffaello Multipurpose Logistics Module (MPLM) in preparation for its undocking the following day. Members of the shuttle crew (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) and the Expedition 11 crew (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) of the ISS read statements in English and Russian in a ceremony for astronauts who gave their lives. Interview segments include one of Collins, Robinson, and Camarda, wearing red shirts to commemorate the STS-107 Columbia crew, and one of Collins and Noguchi on board the ISS, which features voice over from an interpreter translating questions from the Japanese prime minister. The video also features a segment showing gap fillers on board Discovery after being removed from underneath the orbiter, and another segment which explains an experimental plug for future shuttle repairs being tested onboard the mid deck.

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NASA NTRS2005

STS-114 Flight Day 11 Highlights

Flight Day 11 begins with the STS-114 crew of Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) awaking to "Anchors Away," to signify the undocking of the Raffaello Multipurpose Logistics Module (MPLM) from the International Space Station (ISS). Canadarm 2, the Space Station Remote Manipulator System (SSRMS), retrieves the Raffaello Multipurpose Logistics Module (MPLM) from the nadir port of the Unity node of the ISS and returns it to Discovery's payload bay. The Shuttle Remote Manipulator System (SRMS) hands the Orbiter Boom Sensor System (OBSS) to its counterpart, the SSRMS, for rebearthing in the payload bay as well. The rebearthing of the OBSS is shown in detail, including centerline and split-screen views. Collins sends a message to her husband, and talks with Representative Tom DeLay (R-TX). Earth views include the Amalfi coast of Italy. The ISS control room bids farewell to the STS-114 crew and the Expedition 11 crew (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) of the ISS.

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NASA NTRS2020

MAGIK Animation of Robotic Operations for Flight SpaceX-21 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 SpaceX (SpX)-21 flight. Flight SpX-21 includes a Dragon 2 vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the NanoRacks Airlock Assembly (NRAL). Robotic operations shown include Space Station Remote Manipulator System (SSRMS) Trunk extraction of the NRAL and maneuvering through the ISS Port Corridor to Node 3 Port (N3P). Extravehicular Activities not shown will complete the install to N3P. There is no disposal payload for this flight.

Alexander Radford Fryer↗
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 NTRS2021

IROSA 2B/4B EVA Robotics

The MAGIK Robotic analysis team provides kinematic feasibility assessments and robotic visualizations for the ISS. This animation was created with configurations provided by the CX Team and showcases the robotics for the IROSA install 2B and 4B EVAs. The ExtraVehicular Activities (EVAs) shown include the extraction of the two ISS Roll-Out Solar Arrays (IROSAs) from the ISS Power Augmentation (IPA) carrier by an astronaut on the end of the Space Station Remote Manipulator System (SSRMS) and subsequent handoff to a second astronaut on the ISS port side truss. Extravehicular activities not shown will complete the install of the IROSAs.

Alexander Radford Fryer↗
NASA NTRS2022

SpaceX-26 Animation - Operations from MAGIK AI-4177: SpX-26 (Launch-6)

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)-26 flight. The animation also displays the current ISS configuration at the time of the flight. Flight SpX-26 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the ISS Roll Out Solar Array (IROSA) mounted to an 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.

ISS↗
NASA NTRS2022

IROSA 3A EVA Robotics

The MAGIK Robotic analysis team provides kinematic feasibility assessments and robotic visualizations for the ISS. This animation was created with configurations provided by the CX Team and showcases the robotics for the IROSA 3A EVA install. The ExtraVehicular Activity (EVA) shown include the extraction of one ISS Roll-Out Solar Array (IROSA) from the ISS Power Augmentation (IPA) carrier by an astronaut on the end of the Space Station Remote Manipulator System (SSRMS) and subsequent install on the ISS starboard side truss. Operations during the EVA not shown will complete the install of the IROSA.

ISS↗
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↗