Astrobee Overview, Current and future science using free flying robots on the ISS. The Astrobee Facility and Research Opportunities
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Future Free Flyer Science on the ISS
The Astrobee Research Facility will maintain three identical free-flying Astrobee robots on the ISS. After the Astrobees are launched and commissioned in 2018, they will replace the SPHERES robots that have been operating on the ISS since 2006. Astrobee can fly autonomously throughout most of the US section of the ISS interior, but cannot operate outside the ISS. Astrobee is propelled by a pair of battery-operated fans, and can autonomously return to a docking station to recharge, so it can perform most activities without requiring any astronaut support. It carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. It can autonomously execute hours-long plans (for example, sensor surveys) or be teleoperated live from the ground or by astronauts.
Katterhagen, Aric J.↗
Nutrient Stability in NASA Spaceflight Experiment Rodent Food Bars
The nutrient-upgraded Rodent Food Bars (NuRFB) have a long history as the food of choice for NASA Space Shuttle and ISS Rodent Research missions. The NuRFB have previously been assigned an expiration date of two years after production for use in rodent flight experiments aboard the International Space Station (ISS) and three years for ground experiment use when stored between 2°-10°C. The exiguous supply of cold stowage on the ISS necessitated further investigation to determine if NuRFB can be stored at ambient temperatures (AT) without excessive nutrient degradation. The Rodent Research Project Sustaining Engineering Team at the NASA Ames Research Center in Mountain View, CA is responsible for management of this critical flight product.
Rodent Research↗
Evaluation of Human Research Facility Ultrasound With the ISS Video System
Most medical equipment on the International Space Station (ISS) is manifested as part of the U.S. or the Russian medical hardware systems. However, certain medical hardware is also available as part of the Human Research Facility. The HRF and the JSC Medical Operations Branch established a Memorandum of Agreement for joint use of certain medical hardware, including the HRF ultrasound system, the only diagnostic imaging device currently manifested to fly on ISS. The outcome of a medical contingency may be changed drastically, or an unnecessary evacuation may be prevented, if clinical decisions are supported by timely and objective diagnostic information. In many higher-probability medical scenarios, diagnostic ultrasound is a first-choice modality or provides significant diagnostic information. Accordingly, the Clinical Care Capability Development Project is evaluating the HRF ultrasound system for its utility in relevant clinical situations on board ISS. For effective management of these ultrasound-supported ISS medical scenarios, the resulting data should be available for viewing and interpretation on the ground, and bidirectional voice communication should be readily available to allow ground experts (sonographers, physicians) to provide guidance to the Crew Medical Officer. It may also be vitally important to have the capability of real-time guidance via video uplink to the CMO-operator during an exam to facilitate the diagnosis in a timely fashion. In this document, we strove to verify that the HRF ultrasound video output is compatible with the ISS video system, identify ISS video system field rates and resolutions that are acceptable for varying clinical scenaiios, and evaluate the HRF ultrasound video with a commercial, off-the-shelf video converter, and compare it with the ISS video system.
Melton, Shannon↗
Multiphase Flow Research on the International Space Station
Overview of Multiphase Flow research on the International Space Station.
Microgravity↗
Macromolecular Crystallization in Microfluidics for the International Space Station
At NASA's Marshall Space Flight Center, the Iterative Biological Crystallization (IBC) project has begun development on scientific hardware for macromolecular crystallization on the International Space Station (ISS). Currently ISS crystallization research is limited to solution recipes that were prepared on the ground prior to launch. The proposed hardware will conduct solution mixing and dispensing on board the ISS, be fully automated, and have imaging functions via remote commanding from the ground. Utilizing microfluidic technology, IBC will allow for on orbit iterations. The microfluidics LabChip(R) devices that have been developed, along with Caliper Technologies, will greatly benefit researchers by allowing for precise fluid handling of nano/pico liter sized volumes. IBC will maximize the amount of science return by utilizing the microfluidic approach and be a valuable tool to structural biologists investigating medically relevant projects.
Monaco, Lisa A.↗
What to Expect During In-Flight Operations
Executing human research on ISS has to navigate a unique risk environment. NASA planning efforts focus on an investigation's in-flight success but much of the threats to research objectives are not mitigated. A balanced requirement set affords the ability to remain flexible for each subject's data set while protecting the study's integrity across all subjects.
Kosobud, Beth↗
Initial Usability Testing of a Hand-Held Electronic Logbook Prototype for the Human Research Facility
The Apple(R) Newton(TM) MessagePad 110 was flown aboard the KC-135 reduced gravity aircraft for microgravity usability testing. The Newton served as the initial hand-held electronic logbook prototype for the International Space Station (ISS) Human Research Facility (HRF). Subjects performed three different tasks with the Newton: (1) using the stylus to tap on different sections of the screen in order to launch an application and to select options within it; (2) using the stylus to write, and; (3) correcting handwriting recognition errors in a handwriting-intensive application. Subjects rated handwriting in microgravity 'Borderline' and had great difficulties finding a way in which to adequately restrain themselves at the lower body in order to have their hands free for the Newton. Handwriting recognition was rated 'Unacceptable,' but this issue is hardware-related and not unique to the microgravity environment. It is suggested that the restraint and handwriting issues are related and require further joint research with the current Handheld Electronic Logbook prototype: the Norand Pen*key Model #6300.
Berman, Andrea H.↗
Group Housing During Hindlimb Unloading to Simulate Weightlessness
The rodent hindlimb unloading (HU) model was developed in the 1980s to faciliate the study of mechanisms, responses, and treatments for the adverse effects of spaceflight. A number of variations on unloading systems and cage designs have been developed, although most entail individually housing the HU animals. In this study, we performed hindlimb unloading under group housing conditions. Our preliminary results indicate that HU animals that were group housed for 30 days, displayed musculoskeletal decrements associated with disuse, and further, body weights did not differ compared to age-matched controls. In conclusion, group housing of HU mice provides a novel means to simulate weightlessness under conditions that more closely resemble living conditions of Rodent Research Project ISS flight hardware habitats, and minimizes the social stress of isolation, which is consistent with current animal welfare standards (Guide for the Care and Use of Laboratory Animals: Eighth Edition, National Research Council).
group housing↗
Integrating International Space Station payload operations
The payload operations support for the International Space Station (ISS) payload is reported on, describing payload activity planning, payload operations control, payload data management and overall operations integration. The operations concept employed is based on the distribution of the payload operations responsibility between the researchers and ISS partners. The long duration nature of the ISS mission dictates the geographical distribution of the payload operations activities between the different national centers. The coordination and integration of these operations will be assured by NASA's Payload Operations Integration Center (POIC). The prime objective of the POIC is the achievement of unified operations through communication and collaboration.
Noneman, Steven R.↗
An EXPRESS Rack Overview and Support for Microgravity Research on the International Space Station (ISS)
The EXpedite the PRocessing of Experiments to Space Station or EXPRESS Rack System has provided accommodations and facilitated operations for microgravity-based research payloads for over 6 years on the International Space Station (ISS). The EXPRESS Rack accepts Space Shuttle middeck type lockers and International Subrack Interface Standard (ISIS) drawers, providing a modular-type interface on the ISS. The EXPRESS Rack provides 28Vdc power, Ethernet and RS-422 data interfaces, thermal conditioning, vacuum exhaust, and Nitrogen supply for payload use. The EXPRESS Rack system also includes payload checkout capability with a flight rack or flight rack emulator prior to launch, providing a high degree of confidence in successful operations once an-orbit. In addition, EXPRESS trainer racks are provided to support crew training of both rack systems and subrack operations. Standard hardware and software interfaces provided by the EXPRESS Rack simplify the integration processes for ISS payload development. The EXPRESS Rack is designed to accommodate multidiscipline research, allowing for the independent operation of each subrack payload within a single rack. On-orbit operations began for the EXPRESS Rack Project on April 24, 2001, with one rack operating continuously to support high-priority payloads. The other on-orbit EXPRESS Racks operate based on payload need and resource availability. Over 50 multi-discipline payloads have now been supported on-orbit by the EXPRESS Rack Program. Sustaining engineering, logistics, and maintenance functions are in place to maintain hardware, operations and provide software upgrades. Additional EXPRESS Racks are planned for launch prior to ISS completion in support of long-term operations and the planned transition of the U.S. Segment to a National Laboratory.
Pelfrey, Joseph J.↗
Bioculture System Expanding ISS Capabilities for Space Biosciences Research and Commercial Applications
Oral presentation at the ASGSR 2013 Annual Meeting. The presentation describes the NASA Bioculture System hardware design, capabilities, enabling science research capabilities, and flight concept of operations. The presentation is part of the Enabling Technologies special session and will be presented to perspective users in both academics and commercial communities.
CELL↗
Astrobee: Five years of Completed, Current, and Future Research on the International Space Station using Free Flying Robots.
After five years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 160 Test Sessions logging over 1200 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team currently maintains two identical free-flying Astrobee robots and a Docking Station for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Using ambient air on the ISS, propelled by battery-operated fans, Astrobee is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing the need for astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be tele-operated from the ground. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. The Astrobee Team and Guest Scientists have completed research including Astrobatics maneuvers, RFID and sound sensing capabilities, Gecko materials studies, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots is investigating new docking capabilities through software only research as well as testing new docking hardware installed on the Astrobees. The Astrobee Team and other researchers at NASA Ames continue to explore robotics applications for future NASA missions such as Gateway and potential experiments involving human-robot interactions. Continued advanced mapping resolution capabilities, and high-resolution panoramic imagery also remains areas of research. Exciting in development research involves docking for rendezvous proximity operation (CLINGERS), multi resolution 3D scanning (MRS), space debris removal in microgravity (REACCH). This presentation will mainly focus on completed research over the past year and current science being performed on the Astrobees. This presentation will also focus on how a Guest Scientist/Researcher progresses from conception to running their science on the Astrobees on the ISS, as well as discuss the Astrobee Facility resources available for supporting ground testing and real-time ISS operations.
Astrobee↗
Service Life Extension of the ISS Propulsion System Elements
The International Space Station (ISS) is a result of international collaboration in building a sophisticated laboratory of an unprecedented scale in Low Earth Orbit. After a complex assembly sequence spanning over a decade, some of the early modules launched at the beginning of the program would reach the end of their certified lives, while the newer modules were just being commissioned into operation. To maximize the return on global investments in this one-of-a-kind orbiting platform that was initially conceived for a service life until 2016, it is essential for the cutting edge research on ISS to continue as long as the station can be sustained safely in orbit. ISS Program is assessing individual modules in detail to extend the service life of the ISS to 2024, and possibly to 2028. Without life extension, Functional Cargo Block (known by its Russian acronym as FGB) and the Service Module (SM), two of the early modules on the Russian Segment, would reach the end of their certified lives in 2013 and 2015 respectively. Both FGB and SM are critical for the propulsive function of the ISS. This paper describes the approach used for the service life extension of the FGB propulsion system. Also presented is an overview of the system description along with the process adopted for developing the life test plans based on considerations of system failure modes, fault tolerance and safety provisions. Tests and analyses performed, important findings and life estimates are summarized. Based on the life extension data, FGB propulsion system, in general, is considered ready for a service life until 2028.
Kamath, Ulhas↗
Service Life Extension of the Propulsion System of Long-Term Manned Orbital Stations
One of the critical non-replaceable systems of a long-term manned orbital station is the propulsion system. Since the propulsion system operates beginning with the launch of station elements into orbit, its service life determines the service life of the station overall. Weighing almost a million pounds, the International Space Station (ISS) is about four times as large as the Russian space station Mir and about five times as large as the U.S. Skylab. Constructed over a span of more than a decade with the help of over 100 space flights, elements and modules of the ISS provide more research space than any spacecraft ever built. Originally envisaged for a service life of fifteen years, this Earth orbiting laboratory has been in orbit since 1998. Some elements that have been launched later in the assembly sequence were not yet built when the first elements were placed in orbit. Hence, some of the early modules that were launched at the inception of the program were already nearing the end of their design life when the ISS was finally ready and operational. To maximize the return on global investments on ISS, it is essential for the valuable research on ISS to continue as long as the station can be sustained safely in orbit. This paper describes the work performed to extend the service life of the ISS propulsion system. A system comprises of many components with varying failure rates. Reliability of a system is the probability that it will perform its intended function under encountered operating conditions, for a specified period of time. As we are interested in finding out how reliable a system would be in the future, reliability expressed as a function of time provides valuable insight. In a hypothetical bathtub shaped failure rate curve, the failure rate, defined as the number of failures per unit time that a currently healthy component will suffer in a given future time interval, decreases during infant-mortality period, stays nearly constant during the service life and increases at the end when the design service life ends and wear-out phase begins. However, the component failure rates do not remain constant over the entire cycle life. The failure rate depends on various factors such as design complexity, current age of the component, operating conditions, severity of environmental stress factors, etc. Development, qualification and acceptance test processes provide rigorous screening of components to weed out imperfections that might otherwise cause infant mortality failures. If sufficient samples are tested to failure, the failure time versus failure quantity can be analyzed statistically to develop a failure probability distribution function (PDF), a statistical model of the probability of failure versus time. Driven by cost and schedule constraints however, spacecraft components are generally not tested in large numbers. Uncertainties in failure rate and remaining life estimates increase when fewer units are tested. To account for this, spacecraft operators prefer to limit useful operations to a period shorter than the maximum demonstrated service life of the weakest component. Running each component to its failure to determine the maximum possible service life of a system can become overly expensive and impractical. Spacecraft operators therefore, specify the required service life and an acceptable factor of safety (FOS). The designers use these requirements to limit the life test duration. Midway through the design life, when benefits justify additional investments, supplementary life test may be performed to demonstrate the capability to safely extend the service life of the system. An innovative approach is required to evaluate the entire system, without having to go through an elaborate test program of propulsion system elements. Evaluating every component through a brute force test program would be a cost prohibitive and time consuming endeavor. ISS propulsion system components were designed and built decades ago. There are no representative ground test articles for some of the components. A 'test everything' approach would require manufacturing new test articles. The paper outlines some of the techniques used for selective testing, by way of cherry picking candidate components based on failure mode effects analysis, system level impacts, hazard analysis, etc. The type of testing required for extending the service life depends on the design and criticality of the component, failure modes and failure mechanisms, life cycle margin provided by the original certification, operational and environmental stresses encountered, etc. When specific failure mechanism being considered and the underlying relationship of that mode to the stresses provided in the test can be correlated by supporting analysis, time and effort required for conducting life extension testing can be significantly reduced. Exposure to corrosive propellants over long periods of time, for instance, lead to specific failure mechanisms in several components used in the propulsion system. Using Arrhenius model, which is tied to chemically dependent failure mechanisms such as corrosion or chemical reactions, it is possible to subject carefully selected test articles to accelerated life test. Arrhenius model reflects the proportional relationship between time to failure of a component and the exponential of the inverse of absolute temperature acting on the component. The acceleration factor is used to perform tests at higher stresses that allow direct correlation between the times to failure at a high test temperature to the temperatures to be expected in actual use. As long as the temperatures are such that new failure mechanisms are not introduced, this becomes a very useful method for testing to failure a relatively small sample of items for a much shorter amount of time. In this article, based on the example of the propulsion system of the first ISS module Zarya, theoretical approaches and practical activities of extending the service life of the propulsion system are reviewed with the goal of determining the maximum duration of its safe operation.
Kamath, Ulhas↗
Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station
After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.
Astrobee↗
Acute Hemodynamic Effects of the Braslet-M Device on the International Space Station
The Braslet-M occlusion device is prescribed for cosmonauts as a countermeasure for early phases of spaceflight to temporarily alleviate symptoms associated with the cephalad fluid shift. Using a multipurpose ultrasound (US) device onboard, we assessed the acute hemodynamic effects of the Bracelet-M device on a long duration International Space Station (ISS) crewmember. Methods A combination of just-in-time training and real-time remote expert assistance was used to conduct the imaging procedures. An HDI-5000 imager (Philips, Bothell, WA) was used, provided by the ISS Human Research Facility. Superficial femoral artery (SFA), femoral vein (FV) flow spectra were obtained at mid-thigh level. Left ventricle was imaged through the apical 4-chamber view, with Color M-Mode to measure propagation velocity (V (p)). After 10 minutes of Bracelet-M use, data collection was repeated. All data were transmitted in DICOM format to ground for analysis. Results With Braslet-M, cardiac V(p) slope decreased (56ms to 42ms). A stagnation signature in the FV was seen suggesting impeded flow (rouleaux formation, too-low-to-measure velocity, and increase in diameter). Quadri-phasic flow in SFA was seen both before and after Braslet-M application. Velocities in the SFA decreased with Braslet-M (65cm/sec to 52cm/sec) and so did the time velocity integrals (16.97 to 12.4); the flow pattern spoke of resistivity increase in the vascular bed. Conclusion In the long duration ISS crewmember we observed effects of lower extremity venous occlusion through both central and peripheral indicators. A part of circulating volume transferred to peripheral potential vascular space. Impediment to venous outflow was demonstrated objectively, with a commensurate change in the flow pattern of the main feeding artery. Central volume reduction caused lower V(p). Additional studies are warranted to determine the time course of the changes and the dynamics in interstitial fluid sequestration, as well as the safe levels and duration of the compression forces.
Hamilton, Douglas R.↗
Re-Engineering the ISS Payload Operations Control Center During Increased Utilization and Critical Onboard Events
With an increase in utilization and hours of payload operations being executed onboard the International Space Station (ISS), upgrading the NASA Marshall Space Flight Center (MSFC) Huntsville Operations Support Center (HOSC) ISS Payload Control Area (PCA) was essential to gaining efficiencies and assurance of current and future payload health and science return. PCA houses the Payload Operations Integration Center (POIC) responsible for the execution of all NASA payloads onboard the ISS. POIC Flight Controllers are responsible for the operation of voice, stowage, command, telemetry, video, power, thermal, and environmental control in support of ISS science experiments. The methodologies and execution of the PCA refurbishment were planned and performed within a four-month period in order to assure uninterrupted operation of ISS payloads and minimal impacts to payload operations teams. To vacate the PCA, three additional HOSC control rooms were reconfigured to handle ISS real-time operations, Backup Control Center (BCC) to Mission Control in Houston, simulations, and testing functions. This involved coordination and cooperation from teams of ISS operations controllers, multiple engineering and design disciplines, management, and construction companies performing an array of activities simultaneously and in sync delivering a final product with no issues that impacted the schedule. For each console operator discipline, studies of Information Technology (IT) tools and equipment layouts, ergonomics, and lines of sight were performed. Infusing some of the latest IT into the project was an essential goal in ensuring future growth and success of the ISS payload science returns. Engineering evaluations led to a state of the art Video Wall implementation and more efficient ethernet cabling distribution providing the latest products and the best solution for the POIC. These engineering innovations led to cost savings for the project. Constraints involved in the management of the project included executing over 450 crew-hours of ISS real-time payload operations including a major onboard communications upgrade, SpaceX un-berth, a Soyuz launch, roll-out of ISS live video and interviews from the POIC, annual BCC certification and hurricane season, and ISS simulations and testing. Continuous ISS payload operations were possible during the PCA facility modifications with the reconfiguration of four control rooms and standup of two temporary control areas. Another major restriction to the project was an ongoing facility upgrade that included a NASA Headquarters mandated replacement of all electrical and mechanical systems and replacement of an external generator. These upgrades required a facility power outage during the PCA upgrades. The project also encompassed console layout designs and ordering, amenities selections and ordering, excessing of old equipment, moves, disposal of old IT equipment, camera installations, facility tour re-schedules, and contract justifications. These were just some of the tasks needed for a successful project. This paper describes the logistics and lessons learned in upgrading a control center capability in the middle of complex real-time operations. Combining the efficiencies of controller interaction and new technology infusion were prime drivers for this upgrade to handle the increased utilization of science research on ISS. The success of this project could not jeopardize the current operations while these facility upgrades occurred.
Dudley, Stephanie R. B.↗