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NASA NTRSDate not supplied

Lessons for Future In-Space Telerobotic Servicing from Robotic Refueling Mission

The Robotic Refueling Mission (RRM) was a multi-phased technology development effort by the National Aeronautics & Space Administration (NASA) and the Canadian Space Agency (CSA). The program leveraged the existing robotic systems and expertise of the International Space Station (ISS) program and the tool design and satellite servicing expertise of NASA’s Exploration & In-space Services (NExIS) Projects Division at Goddard Space Flight Center (GSFC) to evaluate new hardware and techniques for on-orbit telerobotic servicing. Between 2011 and 2021, two external ISS payloads housed over a dozen robotic tools and adapters designed to service a variety of existing and novel satellite interfaces. Robot operators at NASA’s Johnson Space Center (JSC) and CSA used the Special Purpose Dexterous Manipulator (SPDM) to retrieve and operate these tools for tasks such as cutting wires or multi-layer insulation blanketing, removing valve caps, mating electrical connectors, transferring fluids, and performing visual inspections inside a vehicle. Each phase of RRM involved years of preparation. Tool and interface designs were prototyped and evaluated using both NASA and Canadian ground robotic systems. Procedures were developed by GSFC engineers and vetted in partnership with JSC and CSA robot operators. GSFC engineers were trained to provide real-time support during on-orbit operations. These preparatory efforts and the successful on-orbit evaluations yielded an array of lessons for future in-space telerobotic missions. Designing robotic tools for the space environment requires special consideration of materials, indicators, and differences between ground and flight use cases and environments. When there is a limited window for on-orbit operations, devoting time and high-fidelity hardware to ground testing can be critical. Needs during potential troubleshooting are more essential to camera view quality, frame rate, and position requirements more than nominal operations. Detailed hardware manuals, nominal and contingency procedures, along with clearly defined operations team roles and protocols are vital for efficiency. RRM also demonstrated how the ISS can be utilized to increase the technology readiness levels required for future missions and led to additional technology partnerships between NExIS and the ISS program. The lessons from RRM are currently being applied to designs, operations concepts, and ground test methodology for missions such as On-orbit Servicing, Assembly, and Manufacturing1(OSAM-1)and Mars Sample Return.

Zakiya Tomlinson↗

NASA NTRS2000

STS-101: Crew Activity Report CAR/Flight Day 04 Highlights

On this fourth day of the STS-101 Atlantis mission, the flight crew, Commander James D. Halsell Jr., Pilot Scott J. Horowitz, and Mission Specialists Mary Ellen Weber, Jeffrey N. Williams, James S. Voss, Susan J. Helms, and Yuri Vladimirovich Usachev are seen performing final preparations for the scheduled space walk. Horowitz, Williams and Voss are seen in the mid-deck before the space walk. Horowitz and Weber are also seen in the flight deck, powering-up the robot-arm. During the space walk Voss is seen checking the American Cargo Crane-Orbital Replacement Unit Transfer Device. Voss and Williams are shown securing the American-built crane that was installed on the station last year. They are seen as they install the final parts (boom extension) of a Russian-built crane on the station. Voss and Williams are also shown as they replace a faulty antenna for one of the station's communications systems on the Unity Module, and install several handrails and a camera cable on the station's exterior.

Source record↗

NASA NTRS2015

Mars Double-Flyby Free Returns

A subset of Earth-originating Mars double-flyby ballistic trajectories is documented. The subset consists of those trajectories that, after the first Mars flyby, perform a half-revolution transfer with Mars before returning to Earth. This class of free returns is useful for both human and robotic Mars missions because of its low geocentric energy at departure and arrival, and because of its extended stay time in the vicinity of Mars. Ballistic opportunities are documented over Earth departure dates ranging from 2015 through 2100. The mission is viable over three or four consecutive Mars synodic periods and unavailable for the next four, with the pattern repeating approximately every 15 years. Over the remainder of the century, a minimum Earth departure hyperbolic excess speed of 3.16 km/s, a minimum Earth atmospheric entry speed of 11.47 km/s, and a minimum flight time of 904 days are observed. The algorithm used to construct these trajectories is presented along with several examples.

Jesick, Mark↗

NASA NTRS2015

A42A-04: Determination of Cloud Thermodynamic Phase with Ground Based, Polarimetrically Sensitive, Passive Sky Radiometers

When observed from the ground, optically thick clouds minimally polarize light, while the linear polarization direction (angle) of optically thin clouds contains information about thermodynamic phase. For instruments such at the Cimel radiometers that comprise the AErosol RObotic NEtwork (AERONET), these properties can also be exploited to aid cloud optical property retrievals. Using vector radiative transfer simulations, we explore the conditions most favorable to cloud thermodynamic phase determination, then test with actual AERONET data. Results indicate that this technique may be appropriate for some, but not all, conditions, and motivate a deeper investigation about the polarization direction measurement capability of Cimel instruments, which to date have been primarily used to determine degree of polarization. Recent work explores these measurement issues using a newly installed instrument at the NASA Ames Research Center in Moffett Field, California.

Knobelspiesse, Kirk↗

NASA NTRSDate not supplied

NASA’s Exploration and In-Space Services (NExIS) Division OSAM-1 Propellant Transfer Subsystem Progress through FY 2024

The National Aeronautics and Space Administration (NASA) Exploration and In-Space Services (NExIS) Division of Goddard Space Flight Center (GSFC) has been developing technology to robotically refuel both heritage and recently developed satellites on-orbit funded through NASA’s Space Technology Mission Directorate (STMD). The On-orbit Servicing, Assembly, and Manufacturing 1 (OSAM-1) mission, formerly known as Restore-L, developed a system to refuel a satellite in space and assemble a communications antenna. By demonstrating these capabilities, the mission would advance never-before tested technologies for use in future missions (by NASA, other government organizations, and private industries). The purpose of this paper is to capture the lessons learned from the hardware development of the OSAM-1 Propellant Transfer System (PTS) that are highly relevant for the ISAM community. This paper covers a review of in-space servicing extensibility and critical technologies that were being developed within NExIS, focusing on the fluid transfer refueling technology within the framework of the OSAM-1 PTS. An overview of the technology demonstration servicing mission via the OSAM-1 Space Vehicle is provided as an extension of the technology development progress reported in 2018, 2019 and 2020. The general objectives, challenges, and key technologies are presented as an introduction to the context of the OSAM-1 mission, and a precursor to the OSAM-1 PTS specific development status. Final assembly, qualification, and functional tests along with installation and acceptance testing of the Hose Management Assembly (HMA) and Propellant Transfer Assembly (PTA) are discussed. Technology development, challenges, lessons learned, along with installation and testing results are discussed, with particular focus on the OSAM-1 assemblies including the PTA and HMA. In addition, testing utilizing the integrated flight simulator test setups will be summarized. The OSAM-1 PTS made great strides in advancing in-space refueling technology; however, there are unfinished development efforts remaining. This paper concludes with a brief summary of the technology shortfalls (gaps) that remain in the key areas of in-space fluid transfer.

ISAM↗

NASA NTRS1996

Design and implementation of scalable tape archiver

In order to reduce costs, computer manufacturers try to use commodity parts as much as possible. Mainframes using proprietary processors are being replaced by high performance RISC microprocessor-based workstations, which are further being replaced by the commodity microprocessor used in personal computers. Highly reliable disks for mainframes are also being replaced by disk arrays, which are complexes of disk drives. In this paper we try to clarify the feasibility of a large scale tertiary storage system composed of 8-mm tape archivers utilizing robotics. In the near future, the 8-mm tape archiver will be widely used and become a commodity part, since recent rapid growth of multimedia applications requires much larger storage than disk drives can provide. We designed a scalable tape archiver which connects as many 8-mm tape archivers (element archivers) as possible. In the scalable archiver, robotics can exchange a cassette tape between two adjacent element archivers mechanically. Thus, we can build a large scalable archiver inexpensively. In addition, a sophisticated migration mechanism distributes frequently accessed tapes (hot tapes) evenly among all of the element archivers, which improves the throughput considerably. Even with the failures of some tape drives, the system dynamically redistributes hot tapes to the other element archivers which have live tape drives. Several kinds of specially tailored huge archivers are on the market, however, the 8-mm tape scalable archiver could replace them. To maintain high performance in spite of high access locality when a large number of archivers are attached to the scalable archiver, it is necessary to scatter frequently accessed cassettes among the element archivers and to use the tape drives efficiently. For this purpose, we introduce two cassette migration algorithms, foreground migration and background migration. Background migration transfers cassettes between element archivers to redistribute frequently accessed cassettes, thus balancing the load of each archiver. Background migration occurs the robotics are idle. Both migration algorithms are based on access frequency and space utility of each element archiver. To normalize these parameters according to the number of drives in each element archiver, it is possible to maintain high performance even if some tape drives fail. We found that the foreground migration is efficient at reducing access response time. Beside the foreground migration, the background migration makes it possible to track the transition of spatial access locality quickly.

Nemoto, Toshihiro↗

NASA NTRS2008

NASA's In Space Propulsion Technology Program Accomplishments and Lessons Learned

NASA's In-Space Propulsion Technology (ISPT) Program was managed for 5 years at the NASA MSFC and significant strides were made in the advancement of key transportation technologies that will enable or enhance future robotic science and deep space exploration missions. At the program's inception, a set of technology investment priorities were established using an NASA-wide, mission-driven prioritization process and, for the most part, these priorities changed little - thus allowing a consistent framework in which to fund and manage technology development. Technologies in the portfolio included aerocapture, advanced chemical propulsion, solar electric propulsion, solar sail propulsion, electrodynamic and momentum transfer tethers, and various very advanced propulsion technologies with significantly lower technology readiness. The program invested in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space - the maximum theoretical efficiencies have almost been reached and they are insufficient to meet needs for many ambitious science missions currently being considered. By developing the capability to support mid-term robotic mission needs, the program was to lay the technological foundation for travel to nearby interstellar space. The ambitious goals of the program at its inception included supporting the development of technologies that could support all of NASA's missions, both human and robotic. As time went on and budgets were never as high as planned, the scope of the program was reduced almost every year, forcing the elimination of not only the broader goals of the initial program, but also of funding for over half of the technologies in the original portfolio. In addition, the frequency at which the application requirements for the program changed exceeded the development time required to mature technologies: forcing sometimes radical rescoping of research efforts already halfway (or more) to completion. At the end of its fifth year, both the scope and funding of the program were at a minimum despite the program successfully meeting all of it's initial high priority objectives. This paper will describe the program, its requirements, technology portfolio, and technology maturation processes. Also discussed will be the major technology milestones achieved and the lessons learned from managing a $100M+ technology program.

Johnson, Les C.↗

NASA NTRS2005

NASA Tech Briefs, November 2005

Topics covered include: Laser System for Precise, Unambiguous Range Measurements; Flexible Cryogenic Temperature and Liquid-Level Probes; Precision Cryogenic Dilatometer; Stroboscopic Interferometer for Measuring Mirror Vibrations; Some Improvements in H-PDLCs; Multiple-Bit Differential Detection of OQPSK; Absolute Position Encoders With Vertical Image Binning; Flexible, Carbon-Based Ohmic Contacts for Organic Transistors; GaAs QWIP Array Containing More Than a Million Pixels; AutoChem; Virtual Machine Language; Two-Dimensional Ffowcs Williams/Hawkings Equation Solver; Full Multigrid Flow Solver; Doclet To Synthesize UML; Computing Thermal Effects of Cavitation in Cryogenic Liquids; GUI for Computational Simulation of a Propellant Mixer; Control Program for an Optical-Calibration Robot; SQL-RAMS; Distributing Data from Desktop to Hand-Held Computers; Best-Fit Conic Approximation of Spacecraft Trajectory; Improved Charge-Transfer Fluorescent Dyes; Stability-Augmentation Devices for Miniature Aircraft; Tool Measures Depths of Defects on a Case Tang Joint; Two Heat-Transfer Improvements for Gas Liquefiers; Controlling Force and Depth in Friction Stir Welding; Spill-Resistant Alkali-Metal-Vapor Dispenser; A Methodology for Quantifying Certain Design Requirements During the Design Phase; Measuring Two Key Parameters of H3 Color Centers in Diamond; Improved Compression of Wavelet-Transformed Images; NASA Interactive Forms Type Interface - NIFTI; Predicting Numbers of Problems in Development of Software; Hot-Electron Photon Counters for Detecting Terahertz Photons; Magnetic Variations Associated With Solar Flares; and Artificial Intelligence for Controlling Robotic Aircraft.

Source record↗

NASA NTRS1993

Telerobot local-remote control architecture for space flight program applications

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Zimmerman, Wayne↗

NASA NTRS1992

Robot welding process control development task

The completion of, and improvements made to, the software developed during 1990 for program maintenance on the PC and HEURIKON and transfer to the CYRO, and integration of the Rocketdyne vision software with the CYRO is documented. The new programs were used successfully by NASA, Rocketdyne, and UAH technicians and engineers to create, modify, upload, download, and control CYRO NC programs.

Romine, Peter L.↗

NASA NTRS2021

Conceptualizing the Impact of Dust Contaminated Infrared Radiances on Data Assimilation for Numerical Weather Prediction

Numerical weather prediction systems depend on Hyperspectral Infrared Sounder (HIS) data, yet the impacts of dust-contaminated HIS radiances on weather forecasts has not been quantified. To determine the impact of dust aerosol on HIS radiance assimilation, we use a modified radiance assimilation system employing a one-dimensional variational assimilation system (1DVAR) developed under the European Organisation for the Exploitation of Meteorological Satellites (EUMETSAT) Numerical Weather Prediction–Satellite Application Facility (NWP-SAF) project, which uses the Radiative Transfer for TOVS (RTTOV). Dust aerosol impacts on analyzed temperature and moisture fields are quantified using synthetic HIS observations from rawinsonde, Micropulse Lidar Network (MPLNET), and Aerosol Robotic Network (AERONET). Specifically, a unit dust aerosol optical depth (AOD) contamination at 550 nm can introduce larger than 2.4 and 8.6 K peak biases in analyzed temperature and dewpoint, respectively, over our test domain. We hypothesize that aerosol observations, or even possibly forecasts from aerosol predication models, may be used operationally to mitigate dust induced temperature and moisture analysis biases through forward radiative transfer modeling.

Jared W. Marquis↗

NASA NTRS2021

Conceptualizing the Impact of Dust-Contaminated Infrared Radiances on Data Assimilation for Numerical Weather Prediction

Jared W Marquis↗

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.

Source record↗

NASA NTRS2002

STS-112 Crew Interviews - Magnus

STS-112 Mission Specialist 2 Sandra H. Magnus is seen during a prelaunch interview. She answers questions about her inspiration to become an astronaut and her career path. She gives details on the mission's goals, the most significant of which will be the installation of the S-1 truss structure on the International Space Station (ISS). The installation, one in a series of truss extending missions, will be complicated and will require the use of the robotic arm as well as extravehicular activity (EVA) by astronauts. Magnus also describes her function in the performance of transfer operations. Brief descriptions are given of experiments on board the ISS as well as on board the Shuttle.

Source record↗

NASA NTRS2002

STS-112 Crew Interviews: Ashby

STS-112 Mission Commander Jeffrey Ashby is seen during this preflight interview, answering questions about his inspiration in becoming an astronaut and his career path and provides an overview of the mission. Ashby outlines his role in the mission in general, and specifically during the docking and extravehicular activities (EVAs). He describes the payload (S1 truss) and the importance that the S1 truss will have in the development of the International Space Station (ISS). Ashby discusses the delivery and installation of the S1 truss scheduled to be done in the planned EVAs in some detail. He touches on the use and operation of the Canadarm 2 robotic arm in this process and outlines what supplies will be exchanged with the resident crew of the ISS during transfer activities. He ends with his thoughts on the value of the ISS in fostering international cooperation.

Source record↗

NASA NTRS2015

Retrieval of Aerosol Microphysical Properties from AERONET Photo-Polarimetric Measurements. 2: A New Research Algorithm and Case Demonstration

A new research algorithm is presented here as the second part of a two-part study to retrieve aerosol microphysical properties from the multispectral and multiangular photopolarimetric measurements taken by Aerosol Robotic Network's (AERONET's) new-generation Sun photometer. The algorithm uses an advanced UNified and Linearized Vector Radiative Transfer Model and incorporates a statistical optimization approach.While the new algorithmhas heritage from AERONET operational inversion algorithm in constraining a priori and retrieval smoothness, it has two new features. First, the new algorithmretrieves the effective radius, effective variance, and total volume of aerosols associated with a continuous bimodal particle size distribution (PSD) function, while the AERONET operational algorithm retrieves aerosol volume over 22 size bins. Second, our algorithm retrieves complex refractive indices for both fine and coarsemodes,while the AERONET operational algorithm assumes a size-independent aerosol refractive index. Mode-resolved refractive indices can improve the estimate of the single-scattering albedo (SSA) for each aerosol mode and thus facilitate the validation of satellite products and chemistry transport models. We applied the algorithm to a suite of real cases over Beijing_RADI site and found that our retrievals are overall consistent with AERONET operational inversions but can offer mode-resolved refractive index and SSA with acceptable accuracy for the aerosol composed by spherical particles. Along with the retrieval using both radiance and polarization, we also performed radiance-only retrieval to demonstrate the improvements by adding polarization in the inversion. Contrast analysis indicates that with polarization, retrieval error can be reduced by over 50% in PSD parameters, 10-30% in the refractive index, and 10-40% in SSA, which is consistent with theoretical analysis presented in the companion paper of this two-part study.

aerosol retrieval algorithm↗

NASA NTRS2010

Flight Dynamics and GN&C for Spacecraft Servicing Missions

Future human exploration missions and commercial opportunities will be enabled through In-space assembly and satellite servicing. Several recent efforts have developed technologies and capabilities to support these exciting future missions, including advances in flight dynamics and Guidance, Navigation and Control. The Space Shuttle has demonstrated significant capabilities for crewed servicing of the Hubble Space Telescope (HST) and assembly of the International Space Station (ISS). Following the Columbia disaster NASA made significant progress in developing a robotic mission to service the HST. The DARPA Orbital Express mission demonstrated automated rendezvous and capture, In-space propellant transfer, and commodity replacement. This paper will provide a summary of the recent technology developments and lessons learned, and provide a focus for potential future missions.

Naasz, Bo↗

NASA NTRS1989

Control of free-flying space robot manipulator systems

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Cannon, Robert H., Jr.↗