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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Self-rescue strategies for EVA crewmembers equipped with the SAFER backpack

An extravehicular astronaut who becomes separated from a space station has three options available: grappling the station immediately by means of a 'shepherd's crook' device; rescue by either a second crewmember flying an MMU or a robotic-controlled MMU; or self-rescue by means of a propulsive system. The first option requires very fast response by a tumbling astronaut; the second requires constant availability of an MMU, as well as a rendezvous procedure thousands of feet from the station. This paper will consider the third option, propulsive self-rescue. In particular, the capability of the new Simplified Aid for EVA Rescue (SAFER) propulsive backpack, which is to be tested on STS-64 in Sep. 1994, will be studied. This system possesses an attitude hold function that can automatically detumble an astronaut after separation. On-orbit tests of candidate self-rescue systems have demonstrated the need for such a feature. SAFER has a total delta(v) capability of about 10 fps, to cover both rotations and translations, compared with a possible separation rate of 2.5 fps. But the delta(v) required for self-rescue is critically dependent on the delay before return can be initiated, as a consequence of orbital effects. A very important practical question is then whether the total delta(v) of SAFER is adequate to perform self-rescue for worst case values of separation speed, time to detumble, and time for the astronaut to visually acquire the station. This paper shows that SAFER does indeed have sufficient propellant to carry out self-rescue in all realistic separation cases, as well as in cases which are considerably more severe than anything likely to be encountered in practice. The return trajectories and total delta(v)'s discussed are obtained by means of an 'inertial line-of-sight targeting' scheme, derived in the paper, which allows orbital effects to be corrected by making use of the visual information available to the pilot, namely the line-of-sight direction to the station relative to the stars.

Williams, Trevor↗
NASA NTRS1994

Self calibrating autoTRAC

The work reported here demonstrates how to automatically compute the position and attitude of a targeting reflective alignment concept (TRAC) camera relative to the robot end effector. In the robotics literature this is known as the sensor registration problem. The registration problem is important to solve if TRAC images need to be related to robot position. Previously, when TRAC operated on the end of a robot arm, the camera had to be precisely located at the correct orientation and position. If this location is in error, then the robot may not be able to grapple an object even though the TRAC sensor indicates it should. In addition, if the camera is significantly far from the alignment it is expected to be at, TRAC may give incorrect feedback for the control of the robot. A simple example is if the robot operator thinks the camera is right side up but the camera is actually upside down, the camera feedback will tell the operator to move in an incorrect direction. The automatic calibration algorithm requires the operator to translate and rotate the robot arbitrary amounts along (about) two coordinate directions. After the motion, the algorithm determines the transformation matrix from the robot end effector to the camera image plane. This report discusses the TRAC sensor registration problem.

Everett, Louis J.↗
NASA NTRS1994

A simulation facility for testing Space Station assembly procedures

NASA plans to construct the Space Station Freedom (SSF) in one of the most hazardous environments known to mankind - space. It is of the utmost importance that the procedures to assemble and operate the SSF in orbit are both safe and effective. This paper describes a facility designed to test the integration of the telerobotic systems and to test assembly procedures using a real-world robotic arm grappling space hardware in a simulated microgravity environment.

Hajare, Ankur R.↗
NASA NTRS1994

The role of chondrules in nebular fractionations of volatiles and other elements

For at least 30 years, cosmochemists have been grappling with the question of how and why groups of geochemically and volatility related elements became fractionated in the major chondrite groups. At least five relatively independent fractionations are known. Virtually everyone who has thought about these facts has been attempted to attribute at least some of the fractionations to the physical separation or mixing of the visible components. By far the most abundant of these components in meteorites is chondrules, and indeed chondrules have long been suspected of playing a direct role in fractionation of volatile elements. The question addressed here is whether chondrules formed before or after chemical components became separated is of fundamental importance to our understanding of the early solar system, as the answer constrains how, when, where, and from what chondrules formed, and tells us about how materials were processed in the nebula.

Grossman, J. N.↗
NASA NTRS1994

Truss structure tele-manipulation experiment using ETS-7

A robot experiment concept of space truss telemanipulation by National Aerospace Laboratory (NAL) is described in its flight model development. The experiment will be carried out on the Engineering Test Satellite No. 7 (ETS-7) using its robot arm. The satellite is scheduled to be launched in 1997 by National Space Development Agency of Japan (NASDA). The truss flight model is composed of deployable truss system and assemble truss joint. Those truss components will be manipulated by the ETS-7 robot arm using its small grapple fixture type-N (GPF-N), and the experimental task operation will be executed from the ground control station.

Matsumoto, Kohtaro↗
NASA NTRS1995

Inflatable Pole

Lightweight, portable tool reaches object at height or across gap. Extends reach up to 20 feet (6 meters). When not in use, tool collapses to 3 to 5 percent of its inflated length. Developed for use as self-rescue device by astronaut who becomes untethered outside spacecraft: astronaut uses pole to reach grapple on spacecraft and pull to it. Useful on Earth as rescue device or in performing routine tasks like changing high light bulb without ladder. When task with inflatable pole completed, operator opens vent valve to deflate tube. Operator then opens gun, removes fabric cover, and repacks tube.

Swan, Scott A.↗
NASA NTRS1996

STS-77 Flight Day 3

On this third day of the STS-77 mission, the flight crew, Cmdr. John H. Casper, Pilot Curtis L. Brown, Jr., and Mission Specialists Andrew S.W. Thomas, Ph.D., Daniel W. Bursch, Mario Runco, Jr., and Marc Garneau, Ph.D., can be seen focusing their attention on retrieving the Spartan satellite and returning it to the Shuttle's payload bay. Commander John Casper, Pilot Curt Brown and Mission Specialist Dan Bursch prepared for the rendezvous while Mission Specialists Andy Thomas, Mario Runco and Marc Garneau continued work on the orbiter's middeck and in the Spacehab module. The Inflatable Antenna Experiment (I.A.E) was jettisoned later in the morning and is expected to enter the Earth's atmosphere. This morning's rendezvous is the first of four planned during the mission. Following a series of jet firings, Endeavour approaches within a distance of about 30 feet from Spartan, where Garneau can be seen extending the ship's robot arm to grapple the satellite for its berthing back on its payload bay platform.

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NASA NTRS1996

STS-80 Flight Day 4

On this fourth day of the STS-80 mission, the flight crew, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave, busily begin final preparations for the release of Wake Shield. Jones powers up the shuttle's Canadian-built robot arm and grapples the satellite, while Jernigan powers up the Orbiter Space Vision System, which will be used to track precisely the Wake Shield's location. Cockrell places Columbia in a gravity gradient attitude to minimize disturbances during the release. Jones uses the robot arm to hold Wake Shield in position for a two-and-a-half hour cleansing by atomic oxygen molecules before moving the arm to the deploy position.

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NASA NTRS1997

STS-80 Mission Highlights Resource Tape

The flight crew of STS-80, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave are seen performing pre-launch activities such as eating the traditional breakfast, being suited-up, and riding out to the launch pad. Also, included are various panoramic views of the shuttle on the pad. The crew is readied in the 'white room' for their mission. After the closing of the hatch and arm retraction, launch activities are shown including the countdown, engine ignition, launch, and the separation of the Solid Rocket Boosters (SRB) from the shuttle. The crew completes the first major objective of the mission with the deployment of the Orbiting Retrievable Far and Extreme Ultraviolet Spectrometer (ORFEUS) on the reusable Shuttle Pallet Satellite. The crew than begins final preparations for the release of Wake Shield. Jones powers up the shuttle's Canadian-built robot arm and grapples the satellite, while Jernigan powers up the Orbiter Space Vision System, which will be used to track precisely the Wake Shield's location. Cockrell places Columbia in a gravity gradient attitude to minimize disturbances during the release. Jones uses the robot arm to hold Wake Shield in position for a two-and-a-half hour cleansing by atomic oxygen molecules before moving the arm to the deploy position. The failure of the hatch to properly open causes the cancellation of all EVA's planned for this mission by Jernigan and Jones. The mission ends with the shuttle landing at the Kennedy Space Center.

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NASA NTRS1993

Reduction of Model Complexity by Active Control

The mathematical models of many dynamic systems of interest in the aerospace industry are inherently complex and of high order. Rather than grapple with the full-complexity models for such systems, the control designers often elect to derive low-order, reduced-complexity models for which a control system can be designed. The subject of model-order reduction has received a significant amount of attention in control engineering literature. This paper describes and demonstrates a novel active-control methodology that can be used to design a control system that automatically forces the original system to behave like a chosen reduced-complexity model by treating the effects of the original complexity-related terms as disturbances acting on the reduced-complexity system. The method is demonstrated by several worked examples involving both linear and nonlinear systems, supported by simulation results.

Bukley, Angelia P.↗
NASA NTRS1984

STS-51A: Mission Highlights

The crew (Commander Frederick H. Hauck, Pilot David M. Walker, Mission Specialists Anna L. Fisher, Dale A. Gardner, and Joseph P. Allen) prepares for the 14th shuttle mission. The Canadian communications satellite TELESAT-H (ANIK) is attached to Payload Assist Module-D (PAM-D) and deployed into geosynchronous orbit on flight day two. Defense communications satellite SYNCOM IV-I is deployed on day three. Allan and Gardner retrieve two malfunctioning satellites (PALAPA-B2 and WESTAR-VI). Fisher operates the remote manipulator system, grappling satellites and depositing them in the payload door.

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NASA NTRS1999

STS-103 Flight Day 3 Highlights and Crew Activities Report

Highlights of the third day of the STS-103 mission on board the space shuttle Discovery are shown in this videotape. The mission was led by Commander Curtis L. Brown, with Pilot Scott J Kelly, and Mission Specialists Steven L. Smith, Jean-Francois Clervoy, John M. Grunsfeld, Michael Foale, and Claude Nicollier. The main purpose of the mission was to service the Hubble Space Telescope (HST). The primary objective of the mission was to replace all six of the gyroscopes that make up the three Rate Sensor Units. In addition the Astronauts installed a new computer. During the third day when Discovery reached a point about 35 feet from Hubble, astronaut Jean-Francois Clervoy used the robot arm to capture the telescope's grapple fixture located midway up the HST structure. The approach to the HST is described and the actual maneuver aimed at retrieving the telescope is also described. The video includes actual live views of the HST in the shuttle's service bay, the shuttle, and shots of Johnson mission control. .

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NASA NTRS2001

STS-104 Flight Day 7 Highlights

External shots of the International Space Station (ISS) show the ISS' robotic arm in grappling position in preparation for lifting an oxygen tank out of the payload bay of Atlantis. Mission Specialists Michael Gernhardt and Jim Reilly are seen as they perform their spacewalks, installing the oxygen tank in place on the ISS.

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NASA NTRS2001

STS-105 Flight Day 4 Highlights

On this fourth day of the STS-105 mission, footage shows the Shuttle's robotic arm as it moves into position to grapple the Leonardo Multipurpose Module (LMPM) out of Discovery's payload bay and into position to be installed to the Unity Module on the International Space Station (ISS). The STS-105 crew (Commander Scott Horowitz, Pilot Frederick Sturckow, and Mission Specialists Daniel Barry and Patrick Forrester), Expedition 2 crew (Commander Yuriy Usachev and Flight Engineers James Voss and Susan Helms), and the Expedition 3 crew (Frank Culbertson, Jr., Mikhail Turin, and Vladimir Dezhurov) are seen as they unload LMPM and transfer racks to and from the Destiny Laboratory Module and the Space Shuttle.

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NASA NTRS2001

STS-105 Flight Day 10 Highlights

On this tenth day of the STS-105 mission, footage shows the Leonardo Multipurpose Logistics Module packed and ready to return to Earth before it is grappled using the robotic arm and returned to the payload bay of Discovery. As the orbiter and the International Space Station fly over Earth, Florida is seen, as are Washington and Oregon (where the forest fires blaze), Lake Winnipeg, and the border between Ontario and Quebec.

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NASA NTRS2001

Hubble Space Telescope Servicing Mission 3A Rendezvous Operations

The Hubble Space Telescope (HST) hardware complement includes six gas bearing, pulse rebalanced rate integrating gyros, any three of which are sufficient to conduct the science mission. After the loss of three gyros between April 1997 and April 1999 due to a known corrosion mechanism, NASA decided to split the third HST servicing mission into SM3A, accelerated to October 1999, and SM3B, scheduled for November 2001. SM3A was developed as a quick turnaround 'Launch on Need' mission to replace all six gyros. Loss of a fourth gyro in November 1999 caused HST to enter Zero Gyro Sunpoint (ZGSP) safemode, which uses sun sensors and magnetometers for attitude determination and momentum bias to maintain attitude stability during orbit night. Several instances of large attitude excursions during orbit night were observed, but ZGSP performance was adequate to provide power-positive sun pointing and to support low gain antenna communications. Body rates in ZGSP were estimated to exceed the nominal 0.1 deg/sec rendezvous limit, so rendezvous operations were restructured to utilize coarse, limited life, Retrieval Mode Gyros (RMGs) under Hardware Sunpoint (HWSP) safemode. Contingency procedures were developed to conduct the rendezvous in ZGSP in the event of RMGA or HWSP computer failure. Space Shuttle Mission STS-103 launched on December 19, 1999 after a series of weather and Shuttle-related delays. After successful rendezvous and grapple under HWSP/RMGA, the crew changed out all six gyros. Following deploy and systems checkout, HST returned to full science operations.

Lee, S.↗
NASA NTRS2001

STS-108 Flight Day 4 Highlights

On this fourth day of the STS-108 mission, the robotic arm is seen as it moves towards the Rafaello Multipurpose Logistics Module to prepare for the grapple and transfer of the module from Endeavour to the International Space Station (ISS). Expedition 4 Flight Engineer Carl Walz and STS-108 Mission Specialist Linda Godwin are shown during preparations to open the hatch between ISS and Rafaello. Expedition 3 Commander Frank Culbertson, Expedition 4 Commander Yuri Onufrienko, and STS-108 Pilot Mark Kelly are seen during an on-orbit press conference, where they answer questions about the supply transfer between Rafaello and ISS and share their thoughts about the September 11th tragedy.

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NASA NTRS2001

STS-108 Flight Day 10 Highlights

On this tenth day of the STS-108 mission, STS-108 Mission Specialist Linda Godwin is seen during unloading operations in the Rafaello Multipurpose Logistics Module (MPLM). The exterior of Endeavour and the International Space Station are shown as the Canadarm grapples the MPLM and transfers it to the payload bay of the orbiter.

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