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NASA NTRS1995

Ground Control Station Development for the Dexterous Orbital Servicing System

The Dexterous Orbital Servicing System (DOSS) flight test program is being developed by NASA to verify the ability to utilize telerobotics for servicing Space Station Alpha. The development of a ground control station for Earth based control of DOSS is described. This flight test program provides a manipulator which is mounted on a multi-purpose experiment support structure in a Space Shuttle bay.

remote robotic control dexterous orbital servicing↗
NASA NTRS1989

Telerobotic Architecture for an on-Orbit Servicer

An on-orbit servicer system has unique functional and human factors requirements. The servicing, whether it be teleoperation task, a supervised control task or an autonomous robotic task, the man-machine interface function is likely to be a bottleneck to the operation of the whole system. The man-machine interface system for a space servicer, namely the operator control station, includes several subsystems with a hierarchical architecture. Those subsystems include a reasoning and planning subsystem (also known as the artificial intelligence planner), a run-time control subsystem, a manipulator control and mechanization subsystem, and a sensing and perception subsystem. Indicative of these potentials, certain generic tasks, suggestive of space assembly, maintenance and repair, were performed in a testbed environment. Through performance in several modes: direct teleoperation, shared control, traded control, and robotic operation, the benefits of the individual technology contributions to the operation were quantized and recommendations for use in telerobotic systems were established.

Operator Control Station↗
NASA NTRS1983

Man's role in a remote orbital servicing system

The Remote Orbital Servicing System (ROSS), a focal point for NASA research in automation and robotics, is discussed in terms of the role of man in such a system. In the supervisory control mode, the ROSS operator inputs high-level goals to a strategic (nonreal-time) planner which then passes the plan or series of actions to a tactical (real-time) planner which executes the plan. Using directed control, man makes more specific commands to perform strategic planning with or without the use of the automated strategic planner. Shared computer/manual control will require a multifunction interactive display. At the teleoperator control level, a hand controller is used to command the ROSS manipulator and end effectors.

Pennington, J. E.↗
NASA NTRS1987

Transitioning from Space Shuttle to Space Station on-orbit servicing

On-orbit satellite servicing has been demonstrated on a variety of missions using the Space Shuttle. This capability is also a stated goal of the Space Station and other unmanned vehicles. Serviceable spacecraft should be able to take advantage of all these servicing facilities. This paper will discuss one effort to document currently available or nearly operational servicing interfaces. Availability of this type of compiled information will assist in a smooth transition from Shuttle-based satellite servicing to servicing at a wider range of locations and by different servicing vehicles.

Hoffman, Stephen J.↗
NASA NTRS1978

An orbital service module systems concept

An Orbital Service Module (OSM) system represents a concept for an evolutionary program that will provide utilities services such as electrical power, heat rejection, attitude control, and communications to support payload operations in both Shuttle-tended and untended (free-flyer) modes. The initial program step is a Space Transportation System (STS) power extension package (a solar array system carried by the Orbiter and deployed by the remote manipulator system). The power extension package (PEP) develops the major components of the more sophisticated OSM vehicles. Major objectives of such an approach are (1) the continuous matching of a capability to meet real needs while avoiding the pitfalls usually associated with the uncertainties inherent in long-range prediction of future requirements, and (2) the economies attendant with program continuity and hardware commonality. The initial Orbiter-carried PEP and several later OSM system growth options are discussed.

Craig, J. W.↗
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 NTRS1975

Space tug spacecraft/module exchanger (on-orbit servicer)

On-orbit exchange of spacecraft modules containing experiment or subsystem hardware or consumables performed at goesynchronous altitudes with the space tug and at lower altitudes with the shuttle is described. One promising concept for such a tug-mounted spacecraft module exchange is the McDonnell Douglas Direct-Access Servicer. This servicer can also be used in low orbit, mounted on the shuttle. In this concept, push-pull injector/retractor devices are combined with a rotating indexer to provide a minimum-complexity mechanism with a high capacity for coincident exchange of many modules.

Runge, F. C.↗
NASA NTRS1977

Orbital servicing and remotely manned systems

The potential of the concepts and techniques of remotely manned aerospace systems to fully exploit the utility and benefits of orbital servicing is discussed. Orbital servicing has been shown to benefit the Space Transportation System by helping to satisfy spacecraft program objectives of long operating times on-orbit while reducing program costs. The wide range of servicer mechanisms postulated in the literature is reduced to two concepts which are used to generate a set of control system requirements. Three control mode alternatives - automatic, supervisory control, and remotely manned control - are introduced, defined, evaluated and each found wanting in certain areas. A combination of supervisory and remotely manned control is shown to overcome most problems.

Smith, G. W.↗
NASA NTRS1975

Orbital servicing, and remotely manned systems

The potential of concepts and techniques of remotely manned aerospace systems to fully exploit the utility and benefits of orbital servicing is discussed. Orbital servicing in the form of module exchange enhances the STS goals through replacement of failed equipment, resupply of consumables, and updating of obsolete equipment.

Smith, G. W.↗
NASA NTRS1982

Design considerations for on-orbit servicing

An overview of the general design of space vehicles serviced in orbit is presented. The basic space vehicle systems, subsystems, modules components, and associated appendages comprise the elements to be considered. Primary emphasis is given to the multi-disciplinary considerations in the development of requirements, and in particular, design of the space vehicle to facilitate orbital sevice by the extra-vehicular crew person(s).

Fisher, H. T.↗
NASA NTRS1975

Integrated orbital servicing study for low-cost payload programs. Volume 2: Technical and cost analysis

Orbital maintenance concepts were examined in an effort to determine a cost effective orbital maintenance system compatible with the space transportation system. An on-orbit servicer maintenance system is recommended as the most cost effective system. A pivoting arm on-orbit servicer was selected and a preliminary design was prepared. It is indicated that orbital maintenance does not have any significant impact on the space transportation system.

Cody, E. R.↗
NASA NTRS1978

Orbital servicing of space platforms

NASA-MSFC is planning systems for the orbital servicing and maintenance of large geosynchronous platforms. The goal is to devise methods to maintain, update, and/or replace the basic spacecraft housekeeping equipment as well as the onboard mission equipment. The planning has passed through the feasibility demonstration level. A hard engineering test unit of such an on-orbit servicing system, complete with control system, is being tested and evaluated by MSFC.

Turner, J. R.↗
NASA NTRS1989

Test and training simulator for ground-based teleoperated in-orbit servicing

For the Post-IOC(In-Orbit Construction)-Phase of COLUMBUS it is intended to use robotic devices for the routine operations of ground-based teleoperated In-Orbit Servicing. A hardware simulator for verification of the relevant in-orbit operations technologies, the Servicing Test Facility, is necessary which mainly will support the Flight Control Center for the Manned Space-Laboratories for operational specific tasks like system simulation, training of teleoperators, parallel operation simultaneously to actual in-orbit activities and for the verification of the ground operations segment for telerobotics. The present status of definition for the facility functional and operational concept is described.

Schaefer, Bernd E.↗
NASA NTRS1980

Upgrading the free flying rendezvous and docking simulator and the orbital servicer system

Recommendations are made for upgrading two teleoperator/robotics test and simulation systems based upon a review of latest technology advances in the involved disciplines. A second generation Free Flying Mobility Unit is recommended which adds a sixth degree of freedom and incorporates other improvements which greatly expand the center's capability to perform evaluation tests and demonstrations of advanced systems concepts for rendezvous and docking in support of the Teleoperator Maneuvering System (TMS) Program. The Orbital Servicer System provides the capability for testing and demonstrating concepts for on orbit servicing of compatibly designed satellites/payloads. The TMS is to be the transporting vehicle for the servicer. The manipulator arm of the Orbital service System is presently computer controlled in the trajectory portion of the module transfer operation. The ultimate objective is to fully automte its operation requiring additional capabilities in sensors, artificial intelligence, image analysis, communications, computer programming, pattern recognition, kinematics, and manipulator design. It is recommended that the Electronics and Control Laboratory move to acquire the basic competencies in robotics necessary to achieve full automation.

Eastman, R. M.↗
NASA NTRS1975

Integrated orbital servicing study for low-cost payload programs. Volume 1: Executive summary

Various operating methodologies to achieve low-cost space operations were investigated as part of the Space Transportation System (STS) planning. The emphasis was to show that the development investment, initial fleet costs, and supporting facilities for the STS could be effectively offset by exploiting the capabilities of the STS to satisfy mission requirements and reduce the cost of payload programs. The following major conclusions were reached: (1) the development of an on-orbit servicer maintenance system is compatible with many spacecraft programs and is recommended as the most cost-effective system, (2) spacecraft can be designed to be serviceable with acceptable design, weight, volume, and cost effects, (3) use of on-orbit servicing over a 12 year period results in savings ranging between four and nine billion dollars, (4) the pivoting arm on-orbit servicer was selected and a preliminary design was prepared, (5) orbital maintenance has no significant impact on the STS.

Derocher, W. L., Jr.↗
NASA NTRS1975

In-orbit servicing

A concept called the low-cost modular spacecraft, in which the subsystems would be contained in replaceable modules and which would be capable of various applications, is under engineering development. Studies have shown that servicing of such a spacecraft on orbit by the Space Shuttle over an extended lifetime is more economical than three other alternatives: launching replacement satellites on conventional boosters as existing satellites fail, launching replacements by Shuttle, or launching replacement satellites and retrieving malfunctioning satellites by Shuttle. For on-orbit servicing, the Shuttle would use its Remote Manipulator system (RMS) to bring the malfunctioning satellite into its cargo bay. The Flight Support System (FSS) on the Orbiter used for servicing the satellite would include an appendage storage frame, a retention cradle, a positioning platform, a Module Exchange Mechanism (MEM), and a storage magazine. Ground simulations are under way with the Orbiter mockup.

Cepollina, F. J.↗
NASA NTRS1993

On-orbit servicing for USAF space missions: A phased development approach

On-orbit servicing has been studied for years by the U.S. Air Force Space Systems Division--which recently cosponsored the Space Assembly, Maintenance, and Servicing Study with NASA and SDIO; but an Air force servicing program has yet to emerge. The Air Force has a limited set of servicing requirements, and the practices of 'pipelining' (incremental improvements to a space vehicle series) and orbital sparing provide many similar benefits. It is postulated that an Air Force Program will be initiated in response to a new critical mission requirement that calls for a spacecraft with the operational character of a Servicer, which will evolve into a servicing program. Such a requirement may be emerging. The Air Force organizations charged with on-orbit test safety for the Department of Defense are concerned with the hazard from uncontrolled reentry of low Earth orbit test spacecraft, which are increasing in number. Analysis and observations of actual reentries show that debris reaches the Earth's surface. A phased development of a system to remove these spacecraft from orbit can evolve into a servicing program.

Shanney, Bill↗