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Determining Thermal Capabilities for External Transfer Operations on the International Space Station
External transfers on the International Space Station (ISS) have a degree of difficulty caused by the severity of the radiative thermal environment and the complexity of the operational choreography to perform the installation and activation of the hardware. These transfers can be performed robotically, by astronauts during an Extra Vehicular Activity (EVA - spacewalk), or combination of robotic/crew operations. Robotic transfers may include capability to intermittently power the hardware; while the hardware remains unpowered for EVA operations. Robotic transfers can be staged to occur in a favorable thermal environment, though typically take longer than a transfer by crew during an EVA where the hardware may not be robotically compatible. The hardware is under passive thermal control, use of optics/multi-layer insulation/heaters, while being transferred from/to a visiting vehicle, airlock, stowage platform, or external ISS structure and may include additional design components, such as removable protective blankets, to meet the transfer requirements. Thermal analysis must be performed to determine the capability of the hardware being transferred to provide the Mission Control team the products necessary to plan and execute the operation while establishing an awareness for any contingency response. An overview of the thermal aspects in planning these types of transfer operations, the analytical approaches and assumptions, and examples of results are provided in this paper.
Robotic technology evolution and transfer
A report concerning technology transfer in the area of robotics is presented in vugraph form. The following topics are discussed: definition of technology innovation and tech-transfer; concepts relevant for understanding tech-transfer; models advanced to portray tech-transfer process; factors identified as promoting tech-transfer; factors identified as impeding tech-transfer; what important roles do individuals fulfill in tech-transfer; federal infrastructure for promoting tech-transfer; federal infrastructure for promoting tech-transfer; robotic technology evolution; robotic technology transferred; and recommendations for successful robotics tech-transfer.
Software development to support sensor control of robot arc welding
The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.
Magnetically Suspended Linear Pulse Motor for Semiconductor Wafer Transfer in Vacuum Chamber
This paper describes a magnetically suspended linear pulse motor for a semiconductor wafer transfer robot in a vacuum chamber. The motor can drive a wafer transfer arm horizontally without mechanical contact. In the construction of the magnetic suspension system, four pairs of linear magnetic bearings for the lift control are used for the guidance control as well. This approach allows us to make the whole motor compact in size and light in weight. The tested motor consists of a double-sided stator and a transfer arm with a width of 50 mm and a total length of 700 mm. The arm, like a ladder in shape, is designed as the floating element with a tooth width of 4 mm (a tooth pitch of 8 mm). The mover mass is limited to about 1.6 kg by adopting such an arm structure, and the ratio of thrust to mover mass reaches to 3.2 N/kg under a broad air gap (1 mm) between the stator teeth and the mover teeth. The performance testing was carried out with a transfer distance less than 450 mm and a transfer speed less than 560 mm/s. The attitude of the arm was well controlled by the linear magnetic bearings with a combined use, and consequently the repeatability on the positioning of the arm reached to about 2 micron. In addition, the positioning accuracy was improved up to about 30 micron through a compensation of the 128-step wave current which was used for the micro-step drive with a step increment of 62.5 micron.
Atacama Rover Astrobiology Drilling Studies Project: Final Year
The Atacama Rover Astrobiology Drilling Studies (ARADS) project, a simulated Mars rover biomarker detection mission, was iteratively developed over four years from 2015 -2019, including three NASA centers, the Centro de Astrobiologia, Johns Hopkins University, Honeybee Robotics, Maxar and the University of Antofagasta. The final (4th) ARADS field season, in 2019, tested an integrated mobile life-prospecting platform loosely inspired by the 2000’s Astrobiology Field Laboratory concept, with a 1m rotary-percussive drill and sample transfer robot arm that fed three astrobiology instruments operating in-situ on the KREX2 medium rover prototype. A fourth instrument was field tested earlier in 2019 due to flight mission requirements. In the final ARADS field deployment in September 2019, the project conducted a remote mission operation simulation (Stoker 2022)demonstrating sample drilling, acquisition and transfer into the rover instruments (while minimizing cross-contamination), performing in-situ analysis of the samples, and returning the results to a remote science operations team(which commanded the daily science goals and uploaded operations sequences).
Prospects for Interdisciplinary Science Aboard the International Space Station
The assembly of the International Space Station was completed in early 2011, and is now embarking on its first year of the coming decade of use as a laboratory. Two key types of physical science research are enabled by ISS: studies of processes that are normally masked by gravity, and instruments that take advantage of its position as a powerful platform in orbit. The absence of buoyancy-driven convection enables experiments in diverse areas such as fluids near the critical point, Marangoni convection, combustion, and coarsening of metal alloys. The positioning of such a powerful platform in orbit with robotic transfer and instrument support also provides a unique alternative platform for astronomy and physics instruments. Some of the operating or planned instruments related to fundamental physics on the International Space Station include MAXI (Monitoring all-sky X-ray Instrument for ISS), the Alpha Magnetic Spectrometer, CALET (Calorimetric Electron Telescope), and ACES (Atomic Clock Experiment in Space). The presentation will conclude with an overview of pathways for funding different types of experiments from NASA funding to the ISS National Laboratory, and highlights of the streamlining of services to help scientists implement their experiments on ISS.
Mars Sample Return Conceptual Mission Overview
This talk will provide an overview of an overall Mars Sample Return campaign architecture, and the current concepts and options for the architecture and design of a Mars Sample Retrieval Lander (called Sample Retrieval Lander, SRL). The overall SRL mission concept and key mission objectives will be described, including the mission’s concept of operations and a notional timeline from launch to entry, through surface operations, to delivery of the samples to Mars orbit. The overall lander vehicle concept will be described, including current options being evaluated. Key lander element options will be discussed, including a Mars Ascent Vehicle (MAV), Fetch Rover, Orbiting Sample container (OS), and tube transfer robotics systems. Details of the notional Fetch Rover functions, constraints and operations will be discussed. Specific challenges and approaches for addressing those challenges will be discussed, including key technical margins and planetary protection. Major trade studies and implementation approaches and a proposed schedule will also be discussed. The information provided about possible Mars sample return architectures and concepts is for planning and discussion purposes only. NASA and ESA have made no official decisions to implement Mars Sample Return.
Mars Sample Return Conceptual Mission Overview
This talk will provide an overview of an overall Mars Sample Return campaign architecture, and the current concepts and options for the architecture and design of a Mars Sample Retrieval Lander (called Sample Retrieval Lander, SRL). The overall SRL mission concept and key mission objectives will be described, including the mission’s concept of operations and a notional timeline from launch to entry, through surface operations, to delivery of the samples to Mars orbit. The overall lander vehicle concept will be described, including current options being evaluated. Key lander element options will be discussed, including a Mars Ascent Vehicle (MAV), Fetch Rover, Orbiting Sample container (OS), and tube transfer robotics systems. Details of the notional Fetch Rover functions, constraints and operations will be discussed. Specific challenges and approaches for addressing those challenges will be discussed, including key technical margins and planetary protection. Major trade studies and implementation approaches and a proposed schedule will also be discussed. The information provided about possible Mars sample return architectures and concepts is for planning and discussion purposes only. NASA and ESA have made no official decisions to implement Mars Sample Return.
Mars Sample Return mission concept status
This paper will provide an overview of current options and specific concepts for a potential Mars Sample Return (MSR) architecture being jointly studied by NASA and ESA. Overall objectives and mission options will be described, including the architecture’s constraints and notional timelines. The paper will highlight architecture-level trade studies, including specific elements and their status. The overall Sample Retrieval Lander (SRL) mission concept, including vehicle options will be described, including the Mars Ascent Vehicle (MAV), Sample Fetch Rover (being studied by ESA), Orbiting Sample container (OS), and tube transfer robotics systems. The concept and status of the Earth Return Orbiter (ERO) mission, being studied by ESA, and the Capture/Containment and Return System (CCRS) which would be the payload on the ERO, will be discussed.
Mars Sample Return Mission Concept Status
This paper will provide an overview of current concepts and options for the architecture and design of a Mars Sample Return Mission, including the Sample Retrieval Lander (SRL) (developed by NASA) and the Earth Return Orbiter (ERO) (developed by ESA) . Key mission objectives and the overall campaign will be described, including the mission’s concept of operations and a notional timeline from launch to entry, through surface operations, to delivery of the samples to Mars orbit and return to Earth. The overall SRL lander vehicle concept will be described, including current options being evaluated. Key lander element options that have been studied will be discussed, including the Mars Ascent Vehicle (MAV), Sample Fetch Rover (provided by ESA), Orbiting Sample container (OS), and sample tube transfer robotics systems. For the ERO the vehicle concept will be described including key interfaces with the Capture/Containment and Return System (CCRS). Specific challenges and approaches for addressing those challenges will be discussed, including key technical margins and backward planetary protection. The information provided about possible Mars sample return architectures is for planning and discussion purposes only. NASA has made no official decision to implement Mars sample return.
Concepts for Mars On-Orbit Robotic Sample Capture and Transfer
A potential Mars Sample Return (MSR) mission would require robotic autonomous capture and manipulation of an Orbital Sample (OS) toward returning the samples to Earth. An orbiter would capture the OS, manipulate to a preferential orientation for the samples, transition it through the steps required to break-the-chain with Mars, stowing it in a containment vessel or an Earth Entry Vehicle (EEV) and providing redundant containment to the OS (for example by closing and sealing the lid of the EEV). In this paper, we discuss the trade-space of concepts generated for both the individual aspects of capture and manipulation of the OS as well as concepts for the end-to-end system. Notably, we discuss concepts for OS capture, manipulation of the OS to orient it to a preferred configuration, and steps for transitioning the OS between different stages of manipulation, ultimately securing it in a containment vessel or Earth Entry Vehicle.
Concepts for Mars On-Orbit Robotic Sample Capture and Transfer
A potential Mars Sample Return (MSR) mission could require robotic autonomous capture and manipulation of an Orbital Sample (OS) before returning the samples to Earth. In one scenario, an orbiter would capture the OS, manipulate to a preferential orientation, transition it through the steps required to break-the-chain with Mars, stowing it in a containment vessel or an Earth Entry Vehicle (EEV) and providing redundant containment to the OS (for example by closing and sealing the lid of the EEV). In this paper, we discuss the trade-space of concepts generated for both the individual aspects of capture and manipulation of the OS, as well as concepts for the end-to-end system. Notably, we discuss concepts for OS capture, manipulation of the OS to orient it to a preferred configuration, and steps for transitioning the OS between different stages of manipulation, ultimately securing it in a containment vessel or Earth Entry Vehicle.
Concepts for Mars On-Orbit Robotic Sample Capture and Transfer
A potential Mars Sample Return (MSR) mission could require robotic autonomous capture and manipulation of an Orbital Sample (OS) before returning the samples to Earth. In one scenario, an orbiter would capture the OS, manipulate to a preferential orientation, transition it through the steps required to break-the-chain with Mars, stowing it in a containment vessel or an Earth Entry Vehicle (EEV) and providing redundant containment to the OS (for example by closing and sealing the lid of the EEV). In this paper, we discuss the trade-space of concepts generated for both the individual aspects of capture and manipulation of the OS, as well as concepts for the end-to-end system. Notably, we discuss concepts for OS capture, manipulation of the OS to orient it to a preferred configuration, and steps for transitioning the OS between different stages of manipulation, ultimately securing it in a containment vessel or Earth Entry Vehicle.
Automated and Adaptive Mission Planning for Orbital Express
The Orbital Express space mission was a Defense Advanced Research Projects Agency (DARPA) lead demonstration of on-orbit satellite servicing scenarios, autonomous rendezvous, fluid transfers of hydrazine propellant, and robotic arm transfers of Orbital Replacement Unit (ORU) components. Boeing's Autonomous Space Transport Robotic Operations (ASTRO) vehicle provided the servicing to the Ball Aerospace's Next Generation Serviceable Satellite (NextSat) client. For communication opportunities, operations used the high-bandwidth ground-based Air Force Satellite Control Network (AFSCN) along with the relatively low-bandwidth GEO-Synchronous space-borne Tracking and Data Relay Satellite System (TDRSS) network. Mission operations were conducted out of the RDT&E Support Complex (RSC) at the Kirtland Air Force Base in New Mexico. All mission objectives were met successfully: The first of several autonomous rendezvous was demonstrated on May 5, 2007; autonomous free-flyer capture was demonstrated on June 22, 2007; the fluid and ORU transfers throughout the mission were successful. Planning operations for the mission were conducted by a team of personnel including Flight Directors, who were responsible for verifying the steps and contacts within the procedures, the Rendezvous Planners who would compute the locations and visibilities of the spacecraft, the Scenario Resource Planners (SRPs), who were concerned with assignment of communications windows, monitoring of resources, and sending commands to the ASTRO spacecraft, and the Mission planners who would interface with the real-time operations environment, process planning products and coordinate activities with the SRP. The SRP position was staffed by JPL personnel who used the Automated Scheduling and Planning ENvironment (ASPEN) to model and enforce mission and satellite constraints. The lifecycle of a plan began three weeks outside its execution on-board. During the planning timeframe, many aspects could change the plan, causing the need for re-planning. These variable factors, ranging from shifting contact times to ground-station closures and required maintenance times, are discussed along with the flexibility of the ASPEN tool to accommodate changes to procedures and the daily or long-range plan, which contributed to the success of the mission. This paper will present an introduction to ASPEN, a more in-depth discussion on its use on the Orbital Express mission, and other relative work. A description of ground operations after the SRP deliveries were made is included, and we briefly discuss lessons learned from the planning perspective and future work.
Real-time collision avoidance manipulator transfer movements
Collision free robot manipulator maneuvers for transferring a payload from one location to another in the presence of obstacles are discussed. Such maneuvers are executed by means of two algorithms running in parallel. The first algorithm performs an on-line, one step ahead acceleration optimization, with an adaptive N-step ahead precaution measure to prevent overshooting the specified forbidden joint coordinates. The second algorithm, an on-line planning algorithm, at the same time, selects the current target state and the current forbidden joint coordinates for the first algorithm. Since the task is a point to point transfer movement, the problem is dealt in robot joint space directly and the kinematic problem can be bypassed completely. A simulation example using a 2 degree-of-freedom planner robot is given.
Technology transfer: Imaging tracker to robotic controller
The transformation of an imaging tracker to a robotic controller is described. A multimode tracker was developed for fire and forget missile systems. The tracker locks on to target images within an acquisition window using multiple image tracking algorithms to provide guidance commands to missile control systems. This basic tracker technology is used with the addition of a ranging algorithm based on sizing a cooperative target to perform autonomous guidance and control of a platform for an Advanced Development Project on automation and robotics. A ranging tracker is required to provide the positioning necessary for robotic control. A simple functional demonstration of the feasibility of this approach was performed and described. More realistic demonstrations are under way at NASA-JSC. In particular, this modified tracker, or robotic controller, will be used to autonomously guide the Man Maneuvering Unit (MMU) to targets such as disabled astronauts or tools as part of the EVA Retriever efforts. It will also be used to control the orbiter's Remote Manipulator Systems (RMS) in autonomous approach and positioning demonstrations. These efforts will also be discussed.
Optimal transfer trajectories from earth parking orbit to various terminal conic constraints and modifications to the ROBOT computer program
Optimal transfer trajectories from earth parking orbit to various terminal conic constraints, and ROBOT computer program modifications