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The requirements for the safety training program are reported for KSC including transportation, inspection, checkout operations, maintenance of launch vehicles, spacecraft, ground support equipment, and launch teams. The responsibilities and mechanics for implementing the program are outlined.
NASA has just completed an in-house Phase B Study (one of three studies) for the preliminary definition of a teleoperated robotic device that will be used on the National Space Transportation System (NSTS) and the Space Station to assist the astronauts in the performance of assembly, maintenance, servicing, and inspection tasks. This device, the Flight Telerobotic Servicer (FTS), will become a permanent element on the Space Station. Although it is primarily a teleoperated device, the FTS is being designed to grow and evolve to higher states of autonomy. Eventually, it will be capable of working from the Orbital Maneuvering Vehicle (OMV) to service free-flying spacecraft at great distances from the Space Station. A version of the FTS could also be resident on the large space platforms that are part of the Space Station Program.
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.
NASA has completed the preliminary definition phase of the Flight Telerobotic Servicer (FTS) and is now preparing to begin the detailed design and fabrication phase. The FTS will be designed and built by Martin Marietta Astronautics Group in Denver, CO, for the Goddard Space Flight Center, in support of the Space Station Freedom Program. The design concepts for the FTS are discussed, as well as operational scenarios for the assembly, maintenance, servicing and inspection tasks which are being considered for the FTS. The upcoming Development Test Flight (DTF-1) is the first of two shuttle test flights to test FTS operations in the environment of space and to demonstrate the FTS capabilities in performing tasks for Space Station Freedom. Operational planning for DTF-1 is discussed as well as development plans for the operational support of the FTS on the space station.
A NASA study for the preliminary definition of a teleoperated robotic device has been recently completed. The Fligt Telerobotic Servicer (FTS) will be used to assist astronauts in many of the on-board tasks of assembly, maintenance, servicing, and inspection of the Space Station. The role of artificial intelligence (AI) in furthering the FTS automation capabilities and, hence, extending its capacity for growth and evolution is discussed. Relevant system engineering issues are identified, and an approach for insertion of AI technology is presented in terms of the NASA/NBS Standard Reference Model control architecture NASREM.
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.
The GERRY scheduling system developed by NASA Ames with assistance from the Lockheed Space Operations Company, and the Lockheed Artificial Intelligence Center, uses a method called constraint-based iterative repair. Using this technique, one encodes both hard rules and preference criteria into data structures called constraints. GERRY repeatedly attempts to improve schedules by seeking repairs for violated constraints. The system provides a general scheduling framework which is being tested on two NASA applications. The larger of the two is the Space Shuttle Ground Processing problem which entails the scheduling of all the inspection, repair, and maintenance tasks required to prepare the orbiter for flight. The other application involves power allocation for the NASA Ames wind tunnels. Here the system will be used to schedule wind tunnel tests with the goal of minimizing power costs. In this paper, we describe the GERRY system and its application to the Space Shuttle problem. We also speculate as to how the system would be used for manufacturing, transportation, and military problems.
The GERRY scheduling system developed by NASA Ames with assistance from the Lockheed Space Operations Company, and the Lockheed Artificial Intelligence Center, uses a method called constraint based iterative repair. Using this technique, one encodes both hard rules and preference criteria into data structures called constraints. GERRY repeatedly attempts to improve schedules by seeking repairs for violated constraints. The system provides a general scheduling framework which is being tested on two NASA applications. The larger of the two is the Space Shuttle Ground Processing problem which entails the scheduling of all inspection, repair, and maintenance tasks required to prepare the orbiter for flight. The other application involves power allocations for the NASA Ames wind tunnels. Here the system will be used to schedule wind tunnel tests with the goal of minimizing power costs. In this paper, we describe the GERRY system and its applications to the Space Shuttle problem. We also speculate as to how the system would be used for manufacturing, transportation, and military problems.
NASA development and use of the Space Station Flight Telerobotic Servicer (SSFTS) is described. The SSFTS is a robotic device that combines the capability to be teleoperated (operates under the constant command of a human operator) and to be autonomous (performs mostly by itself but under the supervision of a human operator). Plans call for the SSFTS to assist the astronauts in the assembly, maintenance, servicing, and inspection of Space Station Freedom. The project forms the basis for combining teleoperational and robotics technologies and for rapidly applying the evolving technologies to government and commercial ventures in space and on earth.
The GERRY scheduling system developed by NASA Ames with assistance from the Lockheed Space Operations Company, and the Lockheed Artificial Intelligence Center, uses a method called constraint-based iterative repair. Using this technique, one encodes both hard rules and preference criteria into data structures called constraints. GERRY repeatedly attempts to improve schedules by seeking repairs for violated constraints. The system provides a general scheduling framework which is being tested on two NASA applications. The larger of the two is the Space Shuttle Ground Processing problem which entails the scheduling of all the inspection, repair, and maintenance tasks required to prepare the orbiter for flight. The other application involves power allocation for the NASA Ames wind tunnels. Here the system will be used to schedule wind tunnel tests with the goal of minimizing power costs. In this paper, we describe the GERRY system and its application to the Space Shuttle problem. We also speculate as to how the system would be used for manufacturing, transportation, and military problems.
The minimum requirements as established by the Occupational Safety and Health Administration (OSHA) standard 29 CFR 1910.147 are discussed for preventing the unexpected operation of equipment or release of energy which could cause injury to personnel, damage to equipment, harm to the environment, or loss or compromise of test data. Safety requirements both for government and contractor personnel are explained for potentially hazardous energy sources during work operations at LeRC (Cleveland and Plum Brook Stations). Basic rules are presented to ensure protection against harmful exposures, and baseline implementation requirements are discussed from which detailed lockout/tagout procedures can be developed for individual equipment items. Examples of energy sources covered by this document include electrical, pneumatic, mechanical, chemical, cryogenic, thermal, spring tension/compression suspended or moving loads, and other potentially hazardous sources. Activities covered by this standard include, but are not limited to, construction, maintenance, installation, calibration, inspection, cleaning, or repair.
We recently reported that body weights of suckling rats reared during 1.5-g centrifugation are approximately 10% lower than those of 1.0-g controls. This finding raises the possibility that hypergravity exposed pups ingest less milk than controls due to either impairments in their ability to acquire milk from the nipple, or to decreased availability or palatability of their mother's milk. In the present study, we analyzed body weight gain in suckling rats reared during a discrete nursing episode following rearing at either 1.75-g, 1.5-g or 1.0-g. On Gestational day (G) 10 of the rats' 22-day pregnancy, time-bred SD rat dams were 1:1 matched based on body weight and assigned to either Hypergravity (HG) or Stationary Yoked Control (SYC) conditions and to either 1.75-g or 1.5-g conditions. Beginning on G11, HG dams and litters were exposed to 26 days of continuous centrifugation with brief daily stops for veterinary inspection and animal maintenance. On the day following birth (Postnatal day), litters were pooled within each condition then randomly re-assigned in equivalent proportions to HG and SYC dams. On P15, HG litters were removed from their mother's and placed in an incubator (33 C). Following a 4hr deprivation period, four neonates were tested from each litter, with two pups placed with either their own dam or the SYC dam; two pups from the yoked mother were paired with the HG pups. Pups were individually weighed, permitted to suckle for 75 min, then re-weighed. At the start of the test, the body weights of HG pups were significantly less than those of SYC pups (p less than 0.05). Relative to SYC pups, BG pups showed significantly greater proportional body weight gain (p less than 0.05), possibly due to augmented post-centrifugation feeding. Pup weight gain was independent of maternal hypergravity exposure. Neither impairments in milk acquisition nor milk availability or palatibility of hypergravity-exposed dams cannot account for reduced body mass of hypergravity-reared offspring.
The low plasticity burnishing (LPB) process produces a deep layer of surface compression in a quick and affordable manner to produce metal surfaces free of scratches, nicks, and gouges. The process, designed for easy inclusion in the manufacturing environment, can be performed with conventional Computer Numerical Control machine tools. This allows parts to be processed during manufacturing, rather than as a post process in a separate facility. A smooth, free-rolling spherical ball suspended in a fluid allows for single-point contact. The ball comes into mechanical contact only with the surface to be burnished, and can be moved in any direction. LPB can be applied to all types of carbon and alloy steel, stainless steel, cast iron, aluminum, titanium, and nickel- based super alloys. In addition to improving a surface's resistance to fatigue and damage, treatment stops the growth of shallow cracks. The LPB process is used on the leading edges of turbine blades to improve resistance to foreign object damage and crack growth. This means significant savings for aircraft owners, since maintenance requirements to inspect for fatigue damage, replace parts, and remove corrosion damage increase the cost of operation.
Wayne Hill, Space Shuttle Deputy Program Manager, and Chair of the Mission Management Team, reports the following: the testing of the thermal protection system in space, on orbit was successful; the MMT meeting formally approved the mission extension for one day; image analysis from the launch phase has been completed; tile and blankets had been formally cleared by the Engineering team; additional inspection of the reinforced carbon-carbon (RCC); gap filler, heat shield and small black spot phenomenon are carefully inspected and evaluated to prepare the safe return of the Discovery. Bill Gerstenmaier, ISS Program Manager reports on the extra vehicular activities (EVA): replaced the GPS antenna; prepared the airlock to attach the ESP2; re-powered CMG2; transfer of CWCs; and the MISSE packages were wrapped around thru at the end of the air lock. He mentioned the high currents problem seen on CMG3, which they will have to take off line to check and understand the problem. Consumables, engineering performance of the three sensors (LCS, LDRI, ITVC), CMG removal and replacement, EVA2 and EVA3, gap fillers, RCC, hydrogen tank pre-press cycles, thermal protection system, inspection, ISS supply maintenance, and projection of next flight are topics covered with the News Media.
The Huntsville Operations Support Center (HOSC) is a multi-project facility that is responsible for 24x7 real-time International Space Station (ISS) payload operations management, integration, and control and has the capability to support small satellite projects and will provide real-time support for SLS launches. The HOSC is a serviceoriented/ highly available operations center for ISS payloads-directly supporting science teams across the world responsible for the payloads. The HOSC is required to endure an annual 2-day power outage event for facility preventive maintenance and safety inspection of the core electro-mechanical systems. While complete system shut-downs are against the grain of a highly available sub-system, the entire facility must be powered down for a weekend for environmental and safety purposes. The consequence of this ground system outage is far reaching: any science performed on ISS during this outage weekend is lost. Engineering efforts were focused to maximize the ISS investment by engineering a suitable solution capable of continuing HOSC services while supporting safety requirements. The HOSC Power Outage Contingency (HPOC) System is a physically diversified compliment of systems capable of providing identified real-time services for the duration of a planned power outage condition from an alternate control room. HPOC was designed to maintain ISS payload operations for approximately three continuous days during planned HOSC power outages and support a local Payload Operations Team, International Partners, as well as remote users from the alternate control room located in another building. This paper presents the HPOC architecture and lessons learned during testing and the planned maiden operational commissioning. Additionally, this paper documents the necessity of an HPOC capability given the unplanned HOSC Facility power outage on April 27th, 2011, as a result of the tornado outbreak that damaged the electrical grid to such a degree that significantly inhibited the Tennessee Valley Authority's ability to transmit electricity throughout the North Alabama region.
The Huntsville Operations Support Center (HOSC) is a multi-project facility that is responsible for 24x7 real-time International Space Station (ISS) payload operations management, integration, and control and has the capability to support small satellite projects and will provide real-time support for SLS launches. The HOSC is a service-oriented/ highly available operations center for ISS payloads-directly supporting science teams across the world responsible for the payloads. The HOSC is required to endure an annual 2-day power outage event for facility preventive maintenance and safety inspection of the core electro-mechanical systems. While complete system shut-downs are against the grain of a highly available sub-system, the entire facility must be powered down for a weekend for environmental and safety purposes. The consequence of this ground system outage is far reaching: any science performed on ISS during this outage weekend is lost. Engineering efforts were focused to maximize the ISS investment by engineering a suitable solution capable of continuing HOSC services while supporting safety requirements. The HOSC Power Outage Contingency (HPOC) System is a physically diversified compliment of systems capable of providing identified real-time services for the duration of a planned power outage condition from an alternate control room. HPOC was designed to maintain ISS payload operations for approximately three continuous days during planned HOSC power outages and support a local Payload Operations Team, International Partners, as well as remote users from the alternate control room located in another building.
Detection of stress cracks and other surface defects during maintenance and in-service inspection of propulsion system components, including turbine blades and combustion compartments, is presently performed visually. There is a need for a non-contact, miniaturized, and fully fieldable instrument that may be used as an automated inspection tool for inspection of aircraft engines. During this SBIR Phase 1 program, the feasibility of a ruggedized optical probe for automatic and nondestructive inspection of complex shaped objects will be established. Through a careful analysis of the measurement requirements, geometrical and optical constraints, and consideration of issues such as manufacturability, compactness, simplicity, and cost, one or more conceptual optical designs will be developed. The proposed concept will be further developed and a prototype will be fabricated during Phase 2.
There is a need for an improvement over current NASA Extravehicular Activity (EVA) technology. The technology must allow the capacity for quicker, more efficient egress/ingress, allow for shirtsleeve suit maintenance, be compact in transport, and be applicable to environments ranging from planetary surface (partial-g) to orbital or deep space zero-g environments. The technology must also be resistant to dust and other foreign contaminants that may be present on or around a planetary surface. The technology should be portable, and be capable of docking with a variety of habitats, ports, stations, vehicles, and other pressurized modules. The Dual-Compartment Inflatable Suitlock (DCIS) consists of three hard inline bulkheads, separating two cylindrical membrane-walled compartments. The Inner Bulkhead can be fitted with a variety of hatch types, docking flanges, and mating hardware, such as the Common Berthing Mechanism (CBM), for the purpose of mating with vehicles, habitats, and other pressurized modules. The Inner Bulkhead and Center Bulkhead function as the end walls of the Inner Compartment, which during operations, would stay pressurized, either matching the pressure of the habitat or acting as a lower-pressure transitional volume. The Inner Compartment contains donning/doffing fixtures and inner suit-port hatches. The Center Bulkhead has two integrated suit-ports along with a maintenance hatch. The Center Bulkhead and Outer Bulkhead function as the end walls of the Outer Compartment, which stays at vacuum during normal operations. This allows the crewmember to quickly don a suit, and egress the suitlock without waiting for the Outer Compartment to depressurize. The Outer Compartment can be pressurized infrequently for both nominal and off-nominal suit maintenance tasks, allowing shirtsleeve inspections and maintenance/repair of the environmental suits. The Outer Bulkhead has a pressure-assisted hatch door that stays open and stowed during EVA operations, but can be closed for environmental protection of the suits, suit maintenance, and pressurization.