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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 163 records · Page 9
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NASA NTRS1987

Kinematic study of flight telerobotic servicer configuration issues

Several factors, such as body size and shape, and the number of arms and their placement, will influence how well the Flight Telerobotic Servicer (FTS) is suited to its potential duties for the Space Station Program. In order to examine the implications of these configuration options, eight specific 2, 3, and 4 armed FTS configuration were simulated and used to perform a Space Station Orbital Replacement Unit (ORU) exchange. The strengths and weaknesses of each configuration were evaluated. Although most of the configurations examined were able to perform the exchange, several of the 3 and 4 arm configurations had operational advantages. The results obtained form these simulations are specific to the assumptions associated with the ORU exchange scenario examined. However, they do illustrate the general interrelationships and sensitivities which need to be understood.

Lewis, R. H.↗
NASA NTRS1988

Spectroscopic planetary detection

One of the most promising methods for the detection of extra-solar planets is the spectroscopic method, where a small Doppler shift (approximately 10 meters/sec) in the spectrum of the parent star reveals the presence of planetary companions. However, solar-type stars may show spurious Doppler shifts due to surface activity. If these effects are periodic, as is the solar activity cycle, then they may masquerade as planetary companions. The goal of this investigation is to determine whether the solar cycle affects the Doppler stability of integrated sunlight. Observations of integrated sunlight are made in the near infrared (approximately 2 micrometer), using the Kitt Peak McMath Fourier transform spectrometer, with an N2O gas absorption cell for calibration. Researchers currently achieve an accuracy of approximately 5 meters/sec. Solar rotation velocities vary by plus or minus 2000 meters/sec across the solar disk, and imperfect optical integration of these velocities is the principal source of error. We have been monitoring the apparent velocity of integrated sunlight since 1983. They initially saw a decrease of approximately 30 meters/sec in the integrated light velocity from 1983 through 1985, but in 1987 to 1988 the integrated light velocity returned to its 1983 level. It is too early to say whether these changes are solar-cycle related. Although the FTS, unlike a slit spectrograph, has a large field of view, researchers are always looking for ways to improve the optical integration of the solar disk. They recently made an improvement in the method used to optically collimate the FTS, and this has reduced the error level, eliminating some systematic effects seen earlier.

Deming, Drake↗
NASA NTRS1988

Simulation of the human-telerobot interface

A part of NASA's Space Station will be a Flight Telerobotic Servicer (FTS) used to help assemble, service, and maintain the Space Station. Since the human operator will be required to control the FTS, the design of the human-telerobot interface must be optimized from a human factors perspective. Simulation has been used as an aid in the development of complex systems. Simulation has been especially useful when it has been applied to the development of complex systems. Simulation should ensure that the hardware and software components of the human-telerobot interface have been designed and selected so that the operator's capabilities and limitations have been accommodated for since this is a complex system where few direct comparisons to existent systems can be made. Three broad areas of the human-telerobot interface where simulation can be of assistance are described. The use of simulation not only can result in a well-designed human-telerobot interface, but also can be used to ensure that components have been selected to best meet system's goals, and for operator training.

Stuart, Mark A.↗
NASA NTRS1988

A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

Smith, Jeffrey H.↗
NASA NTRS1987

Space Station flight telerobotic servicer functional requirements development

The Space Station flight telerobotic servicer (FTS), a flight robotic system for use on the first Space Station launch, is described. The objectives of the FTS program include: (1) the provision of an alternative crew EVA by supporting the crew in assembly, maintenance, and servicing activities, and (2) the improvement of crew safety by performing hazardous tasks such as spacecraft refueling or thermal and power system maintenance. The NASA/NBS Standard Reference Model provides the generic, hierarchical, structured functional control definition for the system. It is capable of accommodating additional degrees of machine intelligence in the future.

Oberright, John↗
NASA NTRS1989

The use of graphics in the design of the human-telerobot interface

The Man-Systems Telerobotics Laboratory (MSTL) of NASA's Johnson Space Center employs computer graphics tools in their design and evaluation of the Flight Telerobotic Servicer (FTS) human/telerobot interface on the Shuttle and on the Space Station. It has been determined by the MSTL that the use of computer graphics can promote more expedient and less costly design endeavors. Several specific examples of computer graphics applied to the FTS user interface by the MSTL are described.

Stuart, Mark A.↗
NASA NTRS1990

Description of SAFIRE for ISES

The SAFIRE (Spectroscopy of the Atmosphere using Far Infrared Emission) is a limb emission experiment using a far-IR Fourier transform spectrometer (FTS) and a mid-IR broadband multispectral radiometer covering the range 80 to 1600/cm. The purpose of this experiment is to obtain vertical distributions of temperature and key constituents of O(y), HO(y), NO(y), ClO(y), and BrO(y) families in the stratosphere, mesosphere, and thermosphere. The spectral channels and gases within each channel are summarized. The instrument includes a 48 element (6 x 8) Ge:GA detector array operating at 4 K in the far-IR and a 105 element (7 x 15) HgCdTe array operating at 80 K in the mid-IR. The SAFIRE uses four different scan modes for vertical coverage and resolution to address various scientific requirements. The SAFIRE data reduction will start with the retrieval of temperature profile as a function of pressure using two CO2 channel data. Constituent distributions then are obtained from other channel data using the retrieved temperature profile. The SAFIRE measurements are limited to the region above the tropopause because of radiance saturation by H2O and clouds. The computational capability necessary to process at the instrument data rate is estimated to be 19 MFLOPS for FTS data and 0.02 MFLOPS for radiometer data. It seems, therefore, that the real-time applications of SAFIRE data using an onboard processing device is not feasible. Although a temperature anomaly may be detected from the two CO2 radiometer channels using an onboard processor for the stratosphere, it is not possible to distinguish between CO2 outflux and temperature anomaly. Temperature anomaly does not, therefore, offer tropospheric information useful for real-time application.

Park, Jae H.↗
NASA NTRS1989

The Goddard Space Flight Center (GSFC) robotics technology testbed

Much of the technology planned for use in NASA's Flight Telerobotic Servicer (FTS) and the Demonstration Test Flight (DTF) is relatively new and untested. To provide the answers needed to design safe, reliable, and fully functional robotics for flight, NASA/GSFC is developing a robotics technology testbed for research of issues such as zero-g robot control, dual arm teleoperation, simulations, and hierarchical control using a high level programming language. The testbed will be used to investigate these high risk technologies required for the FTS and DTF projects. The robotics technology testbed is centered around the dual arm teleoperation of a pair of 7 degree-of-freedom (DOF) manipulators, each with their own 6-DOF mini-master hand controllers. Several levels of safety are implemented using the control processor, a separate watchdog computer, and other low level features. High speed input/output ports allow the control processor to interface to a simulation workstation: all or part of the testbed hardware can be used in real time dynamic simulation of the testbed operations, allowing a quick and safe means for testing new control strategies. The NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) hierarchical control scheme, is being used as the reference standard for system design. All software developed for the testbed, excluding some of simulation workstation software, is being developed in Ada. The testbed is being developed in phases. The first phase, which is nearing completion, and highlights future developments is described.

Schnurr, Rick↗
NASA NTRS1988

AI, automation and the Flight Telerobotic Servicer

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.

Goforth, Andre↗
NASA NTRS1991

Intelligent Robotic Systems Study (IRSS), phase 3

This phase of the Intelligent Robotic Systems Study (IRSS) examines some basic dynamics and control issues for a space manipulator attached to its worksite through a compliant base. One example of this scenario is depicted, which is a simplified, planar representation of the Flight Telerobotic Servicer (FTS) Development Test Flight 2 (DTF-2) experiment. The system consists of 4 major components: (1) dual FTS arms to perform dextrous tasks; (2) the main body to house power and electronics; (3) an Attachment Stabilization and Positioning Subsystem (ASPS) to provide coarse positioning and stabilization of the arms, and (4) the Worksite Attachment Mechanism (WAM) which anchors the system to its worksite, such as a Space Station truss node or Shuttle bay platform. The analysis is limited to the DTF-2 scenario. The goal is to understand the basic interaction dynamics between the arm, the positioner and/or stabilizer, and the worksite. The dynamics and controls simulation model are described. Analysis and simulation results are presented.

Source record↗
NASA NTRS1990

EVA and telerobot interaction

We are about to enter into a new era - that of astronauts working hand in hand with telerobots in space. This has been done to some degree with astronauts and the Space Station Shuttle's Remote Manipulator Arm. However, for the Space Station Freedom, not only will astronauts be working with the RMS type system but also with smaller, more dexterous systems such as the Flight Telerobotic Servicer (FTS). Because EVA time is a premium resource, the most effective use of the astronauts and the telerobot will be required. There may be some tasks for which it is most efficient to have both the EVA astronaut and the telerobot working together. This type of close integration has not occurred before and brings up many issues. Most of these issues are related to technology: communication must be infallible, new control systems and devices may be required, enhanced telerobot safety systems may be necessary. IVA operations may also be affected by the combined EVA telerobot tasks. There is also the issue of how the EVA astronaut and the telerobot work on separate tasks but at the same time. For both situations, research and development of at least some new technology is required; enhanced communication both by voice and data, sophisticated collision detection systems, more responsive controls and displays. These new systems or system enhancements may require knowledge base systems for their operation. Some of the important issues, types of tasks, the FTS capabilities, the technology that is needed to address those issues, and the possible impact on Space Station Freedom are reviewed.

Willshire, Kelli F.↗
NASA NTRS1992

Characteristics and requirements of robotic manipulators for space operations

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

Andary, James F.↗
NASA NTRS1992

Recent developments at the Goddard Engineering Test Bed

Work on the Flight Telerobotic Service (FTS) since that reported in Leake (1991) is examined, and initial work on a Hubble servicing mission is outlined. A state-of-the-art force reflecting teleoperation system that uses torque control at the joints of the slave manipulator has been implemented. The master rate/slave damper mode proposed by Langley has proved to be a very efficient operational mode, allowing force reflection ratios up to one to one. A software architecture for real-time Ada robotics systems has been proposed, and implementation has been launched. This architecture builds on the lessons learned from NASA Standard Reference Model Architecture and the prototype FTS effort. The Capaciflector sensor has been integrated into the system, and it has been used to perform a basic berthing task autonomously.

Leake, Stephen↗
NASA NTRS1994

The MIPAS balloon borne trace constitutent experiment

A novel cryogenic Fourier transform spectrometer (FTS) has been developed for limb emission measurements in the mid IR-region from balloon-borne platforms. The FTS is a rapid scanning interferometer using a modified Michelson arrangement which allows a spectral resolution of 0.04 cm(exp -1) to be achieved. Solid carbon-dioxide cooling of the spectrometer and liquid-helium cooling of the detectors provide adequate sensitivity. The line of sight can be stabilized in terms of azimuth and elevation. A three-mirror off-axis telescope provides good vertical resolution and straylight rejection. Calibration is performed by high elevation and internal blackbody measurements. Four balloon flights were performed, two of them during spring turn-around 1989 and 1990 over mid-latitudes (Aire sur L'Adour, France, 44 deg N) and two near the northern polar circle in winter 1992 (Esrange, Sweden, 68 deg N). Limb emission spectra were collected from 32 km to 39 km floating altitudes covering tangent heights between the lower troposphere and the floating altitude. The trace gases CO2, H2O, O3, CH4, N2O, HNO3, N2O5, ClONO2, CF2Cl2, CFCl3, CHF2Cl, CCl4, and C2H6 have been identified in the measured spectra. The 1989 data have been analyzed to retrieve profiles of O3, HNO3, CFCl3 and CF2Cl2. The flights over Kiruna have provided the first ever reported profile measurements of the key reservoir species ClONO2 and N2O5 inside the polar vortex.

Oelhaf, H.↗
NASA NTRS1994

Dexterous Orbital Servicing System (DOSS)

The Dexterous Orbiter Servicing System (DOSS) is a dexterous robotic spaceflight system that is based on the manipulator designed as part of the Flight Telerobotics Servicer program for the Space Station Freedom and built during a 'technology capture' effort that was commissioned when the FTS was cancelled from the Space Station Freedom program. The FTS technology capture effort yielded one flight manipulator and the 1 g hydraulic simulator that had been designed as an integrated test tool and crew trainer. The DOSS concept was developed to satisfy needs of the telerobotics research community, the space shuttle, and the space station. As a flight testbed, DOSS would serve as a baseline reference for testing the performance of advanced telerobotics and intelligent robotics components. For shuttle, the DOSS, configured as a movable dexterous tool, would be used to provide operational flexibility for payload operations and contingency operations. As a risk mitigation flight demonstration, the DOSS would serve the International Space Station to characterize the end to end system performance of the Special Purpose Dexterous Manipulator performing assembly and maintenance tasks with actual ISSA orbital replacement units. Currently, the most likely entrance of the DOSS into spaceflight is a risk mitigation flight experiment for the International Space Station.

Price, Charles R.↗
NASA NTRS1995

A Novel Application of Fourier Transform Spectroscopy with HEMT Amplifiers at Microwave Frequencies

The goal was to develop cryogenic high-electron-mobility transistor (HEMT) based radiometers and use them to measure the anisotropy in the cosmic microwave background (CMB). In particular, a novel Fourier transform spectrometer (FTS) built entirely of waveguide components would be developed. A dual-polarization Ka-band HEMT radiometer and a similar Q-band radiometer were built. In a series of measurements spanning three years made from a ground-based site in Saskatoon, SK, the amplitude, frequency spectrum, and spatial frequency spectrum of the anisotropy were measured. A prototype Ka-band FTS was built and tested, and a simplified version is proposed for the MAP satellite mission. The 1/f characteristics of HEMT amplifiers were quantified using correlation techniques.

Wilkinson, David T.↗
NASA NTRS1997

Determination of Spectroscopic Properties of Atmospheric Molecules from High Resolution Vacuum Ultraviolet Cross Section and Wavelength Measurements

An account is given of progress during the period 8/l/96-7/31/97 on work on (a) cross section measurements of O2 S-R using a Fourier transform spectrometer (FTS) at the Photon Factory in Japan; (b) the determination of the predissociation linewidths of the Schumann-Runge bands (S-R) of 02; (c) cross section measurements of 02 Herzberg bands using a Fourier transform spectrometer (FTS) at Imperial College; and (d) cross section measurements of H2O in the wavelength region 120-188 nm. The experimental investigations are effected at high resolution with a 6.65 m scanning spectrometer and with the Fourier transform spectrometer. Below 175 nm, synchrotron radiation is most suitable for cross section measurements in combination with spectrometers at the Photon Factory Japan. Cross section measurements of the Doppler limited bands depend on using the very high resolution, available with the Fourier transform spectrometer, (0.025/cm resolution). All of these spectroscopic measurements are needed for accurate calculations of the production of atomic oxygen, the penetration of solar radiation into the Earth's atmosphere, and photochemistry of minor molecules.

Parkinson, W. H.↗
NASA NTRS1995

Experimental Determination of the Electric Dipole Moment Function of the X Pi-2 Hydroxyl Radical

Laboratory infrared emission spectra of X 2piOH obtained with the Solar McMath FTS and the U. Paris (Orsay) FTS are used in an inversion procedure to experimentally determine the electric dipole moment function (EDMF) of the hydroxyl radical. The spectra produced at Kitt Peak show vibrational levels up to v = 10 and rotational lines in the range, -25.5 less than or equal to m less than or equal to 12.5. The following vibrational quantum number ranges were observed: for DELTA v = -1, v prime = 1 - 9, for DELTA v = -2, v prime = 2 - 10, and for DELTA v = - 3, v prime = 6 - 10. The spectra produced at Orsay show DELTA v = -1, with v prime = 1 - 4 and -22.5 less than or equal to m less than or equal to 9.5 as well as DELTA v = 0, with v prime= 1 - 3, and 9.5 less than or equal to m less than or equal to 25.5. The OH rovibrational wavefunctions used in the inversion procedure were calculated using a procedure which reproduces observed rotational constants with a high level of accuracy. Comparisons of our EDMF are made with previous experimental and theoretical work.

Chackerian, C., Jr.↗