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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 73 records · Page 4
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NASA NTRS2024

MAGIK Animation of Robotic Operations for Flight SpaceX-31 to ISS

The MAGIK Robotics analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to showcase Extravehicular Robotics (EVR) activities for Flight SpaceX (SpX)-31. Shown EVR activities were developed by Flight Operations Directorate (FOD) Robotics (ROBO). The animation also displays the current ISS configuration at the time of the flight in Increment 72. Flight SpX-31 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Forward (N2F) and consists of the delivery of the Coronal Observation Experiment (CODEX) payload. Robotic operations shown include utilization the Special Purpose Dexterous Manipulator (SPDM) based on the Space Station Remote Manipulator System (SSRMS), survey of the cargo trunk, extraction of CODEX from the trunk, stow of SPDM, SSRMS walkoff to the Mobile Remote Servicer (MRS) Base System (MBS), SSRMS grapple of SPDM, translate of the Mobile Transporter (MT), and install of CODEX to Express Logistics Carrier 3 (ELC-3) Site 3. There is no disposal payload for this flight.

ISS↗
NASA NTRS1993

Berthing of Space Station Freedom using the shuttle remote manipulator system

A large-angle, flexible, multi-body, dynamic modeling capability was developed to help validate analytical simulations of the dynamic motion and control forces which occur while berthing of Space Station Freedom to the Shuttle Orbiter during early assembly flights. The dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the Orbiter during a berthing maneuver are described. Emphasis is placed on the modeling of the Shuttle Remote Manipulator System in the multi-body simulation. The influence of the elastic behavior of the station and of the Remote Manipulator System on the attitude control of the station/Orbiter system during the maneuver is investigated.

Cooper, Paul↗
NASA NTRS1983

Solar maximum repair mission

The Solar Maximum Repair Mission is scheduled for launch in April, 1984. The mission was made possible through a spacecraft designed for on-orbit repair, the availability of spacecraft repair hardware and the availability of the Shuttle System. Repair is expected to result in the availability of significant new science data and a demonstration of the capability for on-orbit repair of spacecraft. Considerations of the capability to maintain and repair spacecraft on-orbit for the future are also discussed.

Space transportation system↗
NASA NTRS1989

A NASTRAN/TREETOPS solution to a flexible, multi-body dynamics and controls problem on a UNIX workstation

Demands for nonlinear time history simulations of large, flexible multibody dynamic systems has created a need for efficient interfaces between finite-element modeling programs and time-history simulations. One such interface, TREEFLX, an interface between NASTRAN and TREETOPS, a nonlinear dynamics and controls time history simulation for multibody structures, is presented and demonstrated via example using the proposed Space Station Mobile Remote Manipulator System (MRMS). The ability to run all three programs (NASTRAN, TREEFLX and TREETOPS), in addition to other programs used for controller design and model reduction (such as DMATLAB and TREESEL, both described), under a UNIX Workstation environment demonstrates the flexibility engineers now have in designing, developing and testing control systems for dynamically complex systems.

Benavente, Javier E.↗
NASA NTRS1998

Virtual Environment User Interfaces to Support RLV and Space Station Simulations in the ANVIL Virtual Reality Lab

Several virtual reality I/O peripherals were successfully configured and integrated as part of the author's 1997 Summer Faculty Fellowship work. These devices, which were not supported by the developers of VR software packages, use new software drivers and configuration files developed by the author to allow them to be used with simulations developed using those software packages. The successful integration of these devices has added significant capability to the ANVIL lab at MSFC. In addition, the author was able to complete the integration of a networked virtual reality simulation of the Space Shuttle Remote Manipulator System docking Space Station modules which was begun as part of his 1996 Fellowship. The successful integration of this simulation demonstrates the feasibility of using VR technology for ground-based training as well as on-orbit operations.

Dumas, Joseph D., II↗
NASA NTRS1986

Japanese experiment module (JEM)

Japanese hardware elements studied during the definition phase of phase B are described. The hardware is called JEM (Japanese Experiment Module) and will be attached to the Space Station core. JEM consists of a pressurized module, an exposed facility, a scientific/equipment airlock, a local remote manipulator, and experimental logistic module. With all those hardware elements JEM will accommodate general scientific and technology development research (some of the elements are to utilize the advantage of the microgravity environment), and also accommodate control panels for the Space Station Mobile Remote Manipulator System and attached payloads.

Kato, T.↗
NASA NTRS1994

Dynamic analysis of Space Shuttle/RMS configuration using continuum approach

The initial assembly of Space Station Freedom involves the Space Shuttle, its Remote Manipulation System (RMS) and the evolving Space Station Freedom. The dynamics of this coupled system involves both the structural and the control system dynamics of each of these components. The modeling and analysis of such an assembly is made even more formidable by kinematic and joint nonlinearities. The current practice of modeling such flexible structures is to use finite element modeling in which the mass and interior dynamics is ignored between thousands of nodes, for each major component. The model characteristics of only tens of modes are kept out of thousands which are calculated. The components are then connected by approximating the boundary conditions and inserting the control system dynamics. In this paper continuum models are used instead of finite element models because of the improved accuracy, reduced number of model parameters, the avoidance of model order reduction, and the ability to represent the structural and control system dynamics in the same system of equations. Dynamic analysis of linear versions of the model is performed and compared with finite element model results. Additionally, the transfer matrix to continuum modeling is presented.

Ramakrishnan, Jayant↗
NASA NTRS1990

The NASA Telerobotics Research Program

An account is given to NASA efforts in the development of space telerobotics, which encompass mission analyses, core technology research, systems-integration testbed evaluations, ground-based demonstrations, and flight experiments. Space telerobotics applications encompass (1) The Space Shuttle Satellite Servicing System, (2) the Space Shuttle Orbiter's Remote Manipulator System, (3) the Space Station Freedom's Flight Telerobotics Servicer, Mobile Servicing Center, and Japanese Experiment Module, and (4) planetary rovers. A fundamental role is being played by NASA-Marshall, which possesses a Teleoperator and Robotics Evaluation Facility.

Stephenson, R. Rhoads↗
NASA NTRS1993

Simulation of the Attitude Determination System for Space Station berthing dynamics research

Langley has developed a simulator of the Space Station coupled to the Space Shuttle via the Remote Manipulator System for use in evaluating handling during Station assembly. To date, evaluations of this scenario had included the Station Attitude Control System (ACS), assuming that the Station Attitude Determination System (ADS) provides perfect information on the coupled configuration. Herein, the complete Station digital autopilot (DAP) is considered including both the ADS and ACS systems. The ADS, its modelling and simulation are briefly overviewed and studies concerning the closed-loop operation of the DAP during local-coordinate, orbital attitude hold are presented. Results show that the presence of a type 0 filter in the ADS angular velocity signal processing has an adverse effect on attitude estimation because of the error in steady-state tracking of the angular velocity following reaction control jet firings. This error propagates into the attitude estimate almost linearly with time and star tracker updates are required at frequent, 3-second intervals if a .001 degree accuracy is to be maintained.

Montgomery, Raymond C.↗
NASA NTRS1988

Assembly considerations for large reflectors

The technologies developed at LaRC in the area of erectable instructures are discussed. The information is of direct value to the Large Deployable Reflector (LDR) because an option for the LDR backup structure is to assemble it in space. The efforts in this area, which include development of joints, underwater assembly simulation tests, flight assembly/disassembly tests, and fabrication of 5-meter trusses, led to the use of the LaRC concept as the baseline configuration for the Space Station Structure. The Space Station joint is linear in the load and displacement range of interest to Space Station; the ability to manually assemble and disassemble a 45-foot truss structure was demonstrated by astronauts in space as part of the ACCESS Shuttle Flight Experiment. The structure was built in 26 minutes 46 seconds, and involved a total of 500 manipulations of untethered hardware. Also, the correlation of the space experience with the neutral buoyancy simulation was very good. Sections of the proposed 5-meter bay Space Station truss have been built on the ground. Activities at LaRC have included the development of mobile remote manipulator systems (which can traverse the Space Station 5-meter structure), preliminary LDR sun shield concepts, LDR construction scenarios, and activities in robotic assembly of truss-type structures.

Bush, H.↗
NASA NTRS1992

Interaction dynamics of an orbiter and a flexible space structure undergoing incremental in-space construction

A theoretical investigation is presented pertaining to the use of a Shuttle based remote manipulator system to construct and assemble the Space Station at the primary stage. The equations of motion for an on-orbit Space Shuttle with flexible or rigid remote manipulator system are developed including the effect of librational motion, starting and stopping motion constraints, and contact/impact conditions in maneuvering the Space Shuttle Remote Manipulator System (SRMS). Preliminary results indicated that the orbiting system may become unstable when certain disturbances have been triggered that provided a guideline in maneuvering the SRMS.

Chiou, J. C.↗
NASA NTRS1986

Space telerobotics - A few more hurdles

In the early 1990's, a telerobotic work system which can be used with the Mobile Remote Manipulator System (MRMS) on the Space Station is to become available. However, a number of difficulties have to be overcome before these plans can be realized. The word 'telerobotics' is used in connection with a system which can function as teleoperator, and which, in addition, has also autonomous functions. Thus, as a robot, the system would automatically perform selected operations using multisensory internal feedback for control. A role for telerobotics is defined, taking into account EVA servicing and repair work, remote satellite refueling, and operations during the Space Station development period. Attention is also given to the definition of a telerobotic system, the definition of the telerobotics technology set, and approaches related to the development of a telerobotic system.

Pennington, J. E.↗
NASA NTRS1991

Status of Japanese Experiment Module (JEM) activities

The current status of the JEM activities are presented in graphic form. The JEM spacecraft configuration is presented. The JEM configuration consist of the Pressurized Module, the Exposed Facility, the Experiment Logistics Module which consist of a pressurized section and an exposed section; and the Remote Manipulator System. The master schedule of the space station is given. Also the development tests of the structure and mechanism, the electrical power system, the data management system, the thermal control system, the environment control system, the experiment support system, and the remote manipulator system are listed.

Source record↗
NASA NTRS1990

Space teleoperations technology for Space Station evolution

Viewgraphs on space teleoperations technology for space station evolution are presented. Topics covered include: shuttle remote manipulator system; mobile servicing center functions; mobile servicing center technology; flight telerobotic servicer-telerobot; flight telerobotic servicer technology; technologies required for space station assembly; teleoperation applications; and technology needs for space station evolution.

Reuter, Gerald J.↗
NASA NTRS1991

Task-analytic evaluations of Space Station Freedom workstations

Space Station Freedom will be a permanently manned multipurpose facility in low Earth orbit by the late 1990's. Integral to Space Station Freedom will be Data Management System workstations. These workstations will provide the human-machine interface for controlling such systems as Guidance, Navigation and Control, Propulsion, and Environmental Control and Life Support. In addition, they will be used by crewmembers in the space station's pressurized shirt-sleeve environment to control remote manipulator systems and free-flyer devices. This paper presents an overview of proposed workstations and current task-analytic evaluations being used to assess their adequacy in supporting Space Station Freedom operations. Particular emphasis is placed on the results and conclusions of the analysis.

Diaz, Manuel F.↗
NASA NTRS1987

Orbital Spacecraft Consumables Resupply System (OSCRS): Monopropellant application to space station and OMV automatic refueling impacts of an ELV launch, volume 4

The use of orbital spacecraft consumables resupply system (OSCRS) at the Space Station is investigated, its use with the orbital maneuvering vehicle, and launch of the OSCRS on an expendable launch vehicles. A system requirements evaluation was performed initially to identify any unique requirements that would impact the design of OSCRS when used at the Space Station. Space Station documents were reviewed to establish requirements and to identify interfaces between the OSCRS, Shuttle, and Space Station, especially the Servicing Facility. The interfaces between OSCRS and the Shuttle consists of an avionics interface for command and control and a structural interface for launch support and for grappling with the Shuttle Remote Manipulator System. For use of the OSCRS at the Space Station, three configurations were evaluated using the results of the interface definition to increase the efficiency of OSCRS and to decrease the launch weight by Station-basing specific OSCRS subsystems. A modular OSCRS was developed in which the major subsystems were Station-based where possible. The configuration of an OSCRS was defined for transport of water to the Space Station.

Source record↗