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Next Generation Simulation Framework for Robotic and Human Space Missions
Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven
The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.
Mini AERCam Inspection Robot for Human Space Missions
Fredrickson, Steven E.; Duran, Steve; Mitchell, Jennifer D.
The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.
Space Missions for Automation and Robotics Technologies (SMART) Program
Cliffone, D. L.; Lum, H., Jr.
NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.
Small Stirling dynamic isotope power system for robotic space missions
International Nuclear Information System (INIS)
Bents, D.J.
The design of a multihundred-watt Dynamic Isotope Power System (DIPS), based on the US Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE), is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. The incentive for any dynamic system is that it can save fuel and reduce costs and radiological hazard. Unlike DIPS based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Stirling conversion extends the competitive range for dynamic systems down to a few hundred watts--a power level not previously considered for dynamic systems. The challenge for Stirling conversion will be to demonstrate reliability and life similar to RTG experience. Since the competitive potential of FPSE as an isotope converter was first identified, work has focused on feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within acceptable operating limits. Based on these results, preliminary characterizations of multihundred-watt units have been established
Developing a Fault Management Guidebook for Nasa's Deep Space Robotic Missions
Fesq, Lorraine M.; Jacome, Raquel Weitl
NASA designs and builds systems that achieve incredibly ambitious goals, as evidenced by the Curiosity rover traversing on Mars, the highly complex International Space Station orbiting our Earth, and the compelling plans for capturing, retrieving and redirecting an asteroid into a lunar orbit to create a nearby a target to be investigated by astronauts. In order to accomplish these feats, the missions must be imbued with sufficient knowledge and capability not only to realize the goals, but also to identify and respond to off-nominal conditions. Fault Management (FM) is the discipline of establishing how a system will respond to preserve its ability to function even in the presence of faults. In 2012, NASA released a draft FM Handbook in an attempt to coalesce the field by establishing a unified terminology and a common process for designing FM mechanisms. However, FM approaches are very diverse across NASA, especially between the different mission types such as Earth orbiters, launch vehicles, deep space robotic vehicles and human spaceflight missions, and the authors were challenged to capture and represent all of these views. The authors recognized that a necessary precursor step is for each sub-community to codify its FM policies, practices and approaches in individual, focused guidebooks. Then, the sub-communities can look across NASA to better understand the different ways off-nominal conditions are addressed, and to seek commonality or at least an understanding of the multitude of FM approaches. This paper describes the development of the "Deep Space Robotic Fault Management Guidebook," which is intended to be the first of NASA's FM guidebooks. Its purpose is to be a field-guide for FM practitioners working on deep space robotic missions, as well as a planning tool for project managers. Publication of this Deep Space Robotic FM Guidebook is expected in early 2015. The guidebook will be posted on NASA's Engineering Network on the FM Community of Practice
Application of Solar-Electric Propulsion to Robotic Missions in Near-Earth Space
Woodcock, Gordon R.; Dankanich, John
Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science and robotic exploration, and planetary science. These missions span SEP power range from 10 kWe to about 100 kWe. A SEP design compatible with small inexpensive launch vehicles, and capable of lunar science missions, is presented. Modes of use and benefits are described, and potential SEP evolution is discussed.
National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...
Goal driven kinematic simulation of flexible arm robot for space station missions
Janssen, P.; Choudry, A.
Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.
Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing
Some, Raphael; Doyle, Richard; Bergman, Larry; Whitaker, William; Powell, Wesley; Johnson, Michael; Goforth, Montgomery; Lowry, Michael
Spaceflight computing is a key resource in NASA space missions and a core determining factor of spacecraft capability, with ripple effects throughout the spacecraft, end-to-end system, and mission. Onboard computing can be aptly viewed as a "technology multiplier" in that advances provide direct dramatic improvements in flight functions and capabilities across the NASA mission classes, and enable new flight capabilities and mission scenarios, increasing science and exploration return. Space-qualified computing technology, however, has not advanced significantly in well over ten years and the current state of the practice fails to meet the near- to mid-term needs of NASA missions. Recognizing this gap, the NASA Game Changing Development Program (GCDP), under the auspices of the NASA Space Technology Mission Directorate, commissioned a study on space-based computing needs, looking out 15-20 years. The study resulted in a recommendation to pursue high-performance spaceflight computing (HPSC) for next-generation missions, and a decision to partner with the Air Force Research Lab (AFRL) in this development.
Radioisotope electric propulsion for robotic science missions to near-interstellar space
International Nuclear Information System (INIS)
Noble, R.J.
The use of radioisotope electric propulsion for sending small robotic probes on fast science missions several hundred astronomical units (AU) from the Sun is investigated. Such missions would address a large variety of solar, interstellar, galactic and cosmological science themes from unique vantage points at 100 to 600 AU, including parallax distance measurements for the entire Milky Way Galaxy, sampling of the interstellar medium and imaging of cosmological objects at the gravitational lens foci of the Sun (≥ 550 AU). Radioisotope electric propulsion (REP) systems are low-thrust, ion propulsion units based on multi-hundred watt, radioisotope electric generators and ion thrusters. In a previous work, the flight times for rendezvous missions to the outer planets (< 30 AU) using REP were found to be less than fifteen years. However fast prestellar missions to several hundred AU are not possible unless the probe's energy can be substantially increased in the inner Solar System so as to boost the final hyperbolic excess velocity. In this paper an economical hybrid propulsion scheme combining chemical propulsion and gravity assist in the inner Solar System and radioisotope electric propulsion in the outer Solar System is studied which enables fast prestellar missions. Total hyperbolic excess velocities of 15 AU/year and flight times to 550 AU of about 40 years are possible using REP technology that may be available in the next decade
(abstract) Telecommunications for Mars Rovers and Robotic Missions
Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert
Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.
Critical Robotic Lunar Missions
Plescia, J. B.
Perhaps the most critical missions to understanding lunar history are in situ dating and network missions. These would constrain the volcanic and thermal history and interior structure. These data would better constrain lunar evolution models.
Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview
Mazanek, Daniel D.; Merrill, Raymond G.; Belbin, Scott P.; Reeves, David M.; Earle, Kevin D.; Naasz, Bo J.; Abell, Paul A.
The National Aeronautics and Space Administration (NASA) is currently studying an option for the Asteroid Redirect Robotic Mission (ARRM) that would capture a multi-ton boulder (typically 2-4 meters in size) from the surface of a large (is approximately 100+ meter) Near-Earth Asteroid (NEA) and return it to cislunar space for subsequent human and robotic exploration. This alternative mission approach, designated the Robotic Boulder Capture Option (Option B), has been investigated to determine the mission feasibility and identify potential differences from the initial ARRM concept of capturing an entire small NEA (4-10 meters in size), which has been designated the Small Asteroid Capture Option (Option A). Compared to the initial ARRM concept, Option B allows for centimeter-level characterization over an entire large NEA, the certainty of target NEA composition type, the ability to select the boulder that is captured, numerous opportunities for mission enhancements to support science objectives, additional experience operating at a low-gravity planetary body including extended surface contact, and the ability to demonstrate future planetary defense strategies on a hazardous-size NEA. Option B can leverage precursor missions and existing Agency capabilities to help ensure mission success by targeting wellcharacterized asteroids and can accommodate uncertain programmatic schedules by tailoring the return mass.
Application of Solar-Electric Propulsion to Robotic and Human Missions in Near-Earth Space
Woodcock, Gordon R.; Dankanich, John
Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science, lunar exploration, lunar exploitation, planetary science, and planetary exploration. These missions span SEP power range from 10s of kWe to several MWe. Modes of use and benefits are described, and potential SEP evolution is discussed.
Mission Reliability Estimation for Repairable Robot Teams
Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen
A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the
Effective Human-Robot Collaborative Work for Critical Missions
National Aeronautics and Space Administration — The objective of this project is to improve human-robot interaction (HRI) in order to enhance the capability of NASA critical missions. This research will focus two...
Card, Michael E.
The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.
Cannon, R. H., Jr.; Alexander, H.
A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.
Soviet Robots in the Solar System Mission Technologies and Discoveries
Huntress, JR , Wesley T
The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes
Integrated Human-Robotic Missions to the Moon and Mars: Mission Operations Design Implications
Mishkin, Andrew; Lee, Young; Korth, David; LeBlanc, Troy
For most of the history of space exploration, human and robotic programs have been independent, and have responded to distinct requirements. The NASA Vision for Space Exploration calls for the return of humans to the Moon, and the eventual human exploration of Mars; the complexity of this range of missions will require an unprecedented use of automation and robotics in support of human crews. The challenges of human Mars missions, including roundtrip communications time delays of 6 to 40 minutes, interplanetary transit times of many months, and the need to manage lifecycle costs, will require the evolution of a new mission operations paradigm far less dependent on real-time monitoring and response by an Earthbound operations team. Robotic systems and automation will augment human capability, increase human safety by providing means to perform many tasks without requiring immediate human presence, and enable the transfer of traditional mission control tasks from the ground to crews. Developing and validating the new paradigm and its associated infrastructure may place requirements on operations design for nearer-term lunar missions. The authors, representing both the human and robotic mission operations communities, assess human lunar and Mars mission challenges, and consider how human-robot operations may be integrated to enable efficient joint operations, with the eventual emergence of a unified exploration operations culture.
Overview of Mission Design for NASA Asteroid Redirect Robotic Mission Concept
Strange, Nathan; Landau, Damon; McElrath, Timothy; Lantoine, Gregory; Lam, Try; McGuire, Melissa; Burke, Laura; Martini, Michael; Dankanich, John
Part of NASA's new asteroid initiative would be a robotic mission to capture a roughly four to ten meter asteroid and redirect its orbit to place it in translunar space. Once in a stable storage orbit at the Moon, astronauts would then visit the asteroid for science investigations, to test in space resource extraction, and to develop experience with human deep space missions. This paper discusses the mission design techniques that would enable the redirection of a 100-1000 metric ton asteroid into lunar orbit with a 40-50 kW Solar Electric Propulsion (SEP) system.
Cryogenic and LOX Based Propulsion Systems for Robotic Planetary Missions
National Research Council Canada - National Science Library
Valentian, Dominique
Robotic planetary missions use almost exclusively storable propellants. However, it is clear that the use LOX/LH2 and LOX/HC combinations will offer a tremendous payload gain for most robotic missions...
Automation, robotics, and inflight training for manned Mars missions
Holt, Alan C.
The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.
A Dual Launch Robotic and Human Lunar Mission Architecture
Jones, David L.; Mulqueen, Jack; Percy, Tom; Griffin, Brand; Smitherman, David
This paper describes a comprehensive lunar exploration architecture developed by Marshall Space Flight Center's Advanced Concepts Office that features a science-based surface exploration strategy and a transportation architecture that uses two launches of a heavy lift launch vehicle to deliver human and robotic mission systems to the moon. The principal advantage of the dual launch lunar mission strategy is the reduced cost and risk resulting from the development of just one launch vehicle system. The dual launch lunar mission architecture may also enhance opportunities for commercial and international partnerships by using expendable launch vehicle services for robotic missions or development of surface exploration elements. Furthermore, this architecture is particularly suited to the integration of robotic and human exploration to maximize science return. For surface operations, an innovative dual-mode rover is presented that is capable of performing robotic science exploration as well as transporting human crew conducting surface exploration. The dual-mode rover can be deployed to the lunar surface to perform precursor science activities, collect samples, scout potential crew landing sites, and meet the crew at a designated landing site. With this approach, the crew is able to evaluate the robotically collected samples to select the best samples for return to Earth to maximize the scientific value. The rovers can continue robotic exploration after the crew leaves the lunar surface. The transportation system for the dual launch mission architecture uses a lunar-orbit-rendezvous strategy. Two heavy lift launch vehicles depart from Earth within a six hour period to transport the lunar lander and crew elements separately to lunar orbit. In lunar orbit, the crew transfer vehicle docks with the lander and the crew boards the lander for descent to the surface. After the surface mission, the crew returns to the orbiting transfer vehicle for the return to the Earth. This
Robotic Technology Efforts at the NASA/Johnson Space Center
Diftler, Ron
The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center's Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of "dull, dirty or dangerous" tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center's newest development areas can provide crew with low mass exercise capability and also augment an astronaut's strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center's Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.
A robotic exploration mission to Mars and Phobos
Kerr, Justin H.; Defosse, Erin; Ho, Quang; Barriga, Ernisto; Davis, Grant; Mccourt, Steve; Smith, Matt
This report discusses the design of a robotic exploration to Mars and Phobos. It begins with the mission's background and objectives, followed by a detailed explanation of various elements of Project Aeneas, including science, spacecraft, probes, and orbital trajectories. In addition, a description of Argos Space Endeavours, management procedures, and overall project costs are presented. Finally, a list of recommendations for future design activity is included.
Standards for space automation and robotics
Kader, Jac B.; Loftin, R. B.
The AIAA's Committee on Standards for Space Automation and Robotics (COS/SAR) is charged with the identification of key functions and critical technologies applicable to multiple missions that reflect fundamental consideration of environmental factors. COS/SAR's standards/practices/guidelines implementation methods will be based on reliability, performance, and operations, as well as economic viability and life-cycle costs, simplicity, and modularity.
Lunar Robotic Precursor Missions Using Electric Propulsion
Winski, Richard G.
A trade study is carried out for the design of electric propulsion based lunar robotic precursor missions. The focus is to understand the relationships between payload mass delivered, electric propulsion power, and trip time. The results are compared against a baseline system using chemical propulsion with LOX/H2. The major differences between the chemical propulsion based and electric propulsion based systems are presented in terms of the payload mass and trip time. It is shown that solar e...
Artificial intelligence - NASA. [robotics for Space Station
Erickson, J. D.
Artificial Intelligence (AI) represents a vital common space support element needed to enable the civil space program and commercial space program to perform their missions successfully. It is pointed out that advances in AI stimulated by the Space Station Program could benefit the U.S. in many ways. A fundamental challenge for the civil space program is to meet the needs of the customers and users of space with facilities enabling maximum productivity and having low start-up costs, and low annual operating costs. An effective way to meet this challenge may involve a man-machine system in which artificial intelligence, robotics, and advanced automation are integrated into high reliability organizations. Attention is given to the benefits, NASA strategy for AI, candidate space station systems, the Space Station as a stepping stone, and the commercialization of space.
Automation and Robotics for Space-Based Systems, 1991
Williams, Robert L., II (Editor)
The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.
Telepresence for Deep Space Missions
National Aeronautics and Space Administration — Incorporating telepresence technologies into deep space mission operations can give the crew and ground personnel the impression that they are in a location at time...
Moroz, V.; Murdin, P.
VEGA (mission) is a combined spacecraft mission to VENUS and COMET HALLEY. It was launched in the USSR at the end of 1984. The mission consisted of two identical spacecraft VEGA 1 and VEGA 2. VEGA is an acronym built from the words `Venus' and `Halley' (`Galley' in Russian spelling). The basic design of the spacecraft was the same as has been used many times to deliver Soviet landers and orbiter...
Nuclear Electric Propulsion Application: RASC Mission Robotic Exploration of Venus
McGuire, Melissa L.; Borowski, Stanley K.; Packard, Thomas W.
The following paper documents the mission and systems analysis portion of a study in which Nuclear Electric Propulsion (NEP) is used as the in-space transportation system to send a series of robotic rovers and atmospheric science airplanes to Venus in the 2020 to 2030 timeframe. As part of the NASA RASC (Revolutionary Aerospace Systems Concepts) program, this mission analysis is meant to identify future technologies and their application to far reaching NASA missions. The NEP systems and mission analysis is based largely on current technology state of the art assumptions. This study looks specifically at the performance of the NEP transfer stage when sending a series of different payload package point design options to Venus orbit.
Autonomous Motion Learning for Intra-Vehicular Activity Space Robot
Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo
Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.
Urinary albumin in space missions
DEFF Research Database (Denmark)
Cirillo, Massimo; De Santo, Natale G; Heer, Martina
Proteinuria was hypothesized for space mission but research data are missing. Urinary albumin, as index of proteinuria, was analyzed in frozen urine samples collected by astronauts during space missions onboard MIR station and on ground (control). Urinary albumin was measured by a double antibody...... radioimmunoassay. On average, 24h urinary albumin was 27.4% lower in space than on ground; the difference was statistically significant. Low urinary albumin excretion could be another effect of exposure to weightlessness (microgravity)....
Forming Human-Robot Teams Across Time and Space
Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.
NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot
Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture
Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López
With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.
Human-Robot Teaming: From Space Robotics to Self-Driving Cars
Fong, Terry
In this talk, I describe how NASA Ames has been developing and testing robots for space exploration. In our research, we have focused on studying how human-robot teams can increase the performance, reduce the cost, and increase the success of space missions. A key tenet of our work is that humans and robots should support one another in order to compensate for limitations of manual control and autonomy. This principle has broad applicability beyond space exploration. Thus, I will conclude by discussing how we have worked with Nissan to apply our methods to self-driving cars, enabling humans to support autonomous vehicles operating in unpredictable and difficult situations.
Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned
Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich
This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.
Human-robot collaboration for a shared mission
Karami , Abir-Beatrice; Jeanpierre , Laurent; Mouaddib , Abdel-Illah
International audience; We are interested in collaboration domains between a robot and a human partner, the partners share a common mission without an explicit communication about their plans. The decision process of the robot agent should consider the presence of its human partner. Also, the robot planning should be flexible to human comfortability and all possible changes in the shared environment. To solve the problem of human-robot collaborationwith no communication, we present a model th...
Transformers: Shape-Changing Space Systems Built with Robotic Textiles
Stoica, Adrian
Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.
Interaction Challenges in Human-Robot Space Exploration
Fong, Terrence; Nourbakhsh, Illah
In January 2004, NASA established a new, long-term exploration program to fulfill the President's Vision for U.S. Space Exploration. The primary goal of this program is to establish a sustained human presence in space, beginning with robotic missions to the Moon in 2008, followed by extended human expeditions to the Moon as early as 2015. In addition, the program places significant emphasis on the development of joint human-robot systems. A key difference from previous exploration efforts is that future space exploration activities must be sustainable over the long-term. Experience with the space station has shown that cost pressures will keep astronaut teams small. Consequently, care must be taken to extend the effectiveness of these astronauts well beyond their individual human capacity. Thus, in order to reduce human workload, costs, and fatigue-driven error and risk, intelligent robots will have to be an integral part of mission design.
Deep Space Gateway "Recycler" Mission
Graham, L.; Fries, M.; Hamilton, J.; Landis, R.; John, K.; O'Hara, W.
Use of the Deep Space Gateway provides a hub for a reusable planetary sample return vehicle for missions to gather star dust as well as samples from various parts of the solar system including main belt asteroids, near-Earth asteroids, and Mars moon.
Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics
Ezer, Neta; Zumbado, Jennifer Rochlis; Sandor, Aniko; Boyer, Jennifer
Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator
Designing the robot inclusive space challenge
Directory of Open Access Journals (Sweden)
Rajesh Elara Mohan
Full Text Available A novel robotic challenge, namely the robot inclusive spaces (RIS challenge, is proposed in this paper, which is a cross disciplinary and design focused initiative. It aims to foster the roboticists, architects, and designers towards realizing robot friendly social spaces. Contrary to conventional robotics competitions focusing on designing robots and its component technologies, robot inclusive spaces challenge adopts an interdisciplinary "design for robots" strategy to overcome the traditional research problem in real world deployments of social robots. In order to realize the RIS, various architectural elements must be adapted including: design principles for inclusive spaces, lighting schemes, furniture choices and arrangement, wall and floor surfaces, pathways among others. This paper introduces the format and design principles of RIS challenge, presents a first run of the challenge, and gives the corresponding analysis.
Fusion energy for space missions in the 21st Century
International Nuclear Information System (INIS)
Schulze, N.R.
Future space missions were hypothesized and analyzed and the energy source for their accomplishment investigated. The mission included manned Mars, scientific outposts to and robotic sample return missions from the outer planets and asteroids, as well as fly-by and rendezvous mission with the Oort Cloud and the nearest star, Alpha Centauri. Space system parametric requirements and operational features were established. The energy means for accomplishing the High Energy Space Mission were investigated. Potential energy options which could provide the propulsion and electric power system and operational requirements were reviewed and evaluated. Fusion energy was considered to be the preferred option and was analyzed in depth. Candidate fusion fuels were evaluated based upon the energy output and neutron flux. Reactors exhibiting a highly efficient use of magnetic fields for space use while at the same time offering efficient coupling to an exhaust propellant or to a direct energy convertor for efficient electrical production were examined. Near term approaches were identified
Technology assessment of advanced automation for space missions
Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology.
Positional control of space robot manipulator
Kurochkin, Vladislav; Shymanchuk, Dzmitry
In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.
Dynamics and control of robot for capturing objects in space
Huang, Panfeng
Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base
Digital communication constraints in prior space missions
Yassine, Nathan K.
Digital communication is crucial for space endeavors. Jt transmits scientific and command data between earth stations and the spacecraft crew. It facilitates communications between astronauts, and provides live coverage during all phases of the mission. Digital communications provide ground stations and spacecraft crew precise data on the spacecraft position throughout the entire mission. Lessons learned from prior space missions are valuable for our new lunar and Mars missions set by our president s speech. These data will save our agency time and money, and set course our current developing technologies. Limitations on digital communications equipment pertaining mass, volume, data rate, frequency, antenna type and size, modulation, format, and power in the passed space missions are of particular interest. This activity is in support of ongoing communication architectural studies pertaining to robotic and human lunar exploration. The design capabilities and functionalities will depend on the space and power allocated for digital communication equipment. My contribution will be gathering these data, write a report, and present it to Communications Technology Division Staff. Antenna design is very carefully studied for each mission scenario. Currently, Phased array antennas are being developed for the lunar mission. Phased array antennas use little power, and electronically steer a beam instead of DC motors. There are 615 patches in the phased array antenna. These patches have to be modified to have high yield. 50 patches were created for testing. My part is to assist in the characterization of these patch antennas, and determine whether or not certain modifications to quartz micro-strip patch radiators result in a significant yield to warrant proceeding with repairs to the prototype 19 GHz ferroelectric reflect-array antenna. This work requires learning how to calibrate an automatic network, and mounting and testing antennas in coaxial fixtures. The purpose of this
Multi-agent robotic systems and applications for satellite missions
Nunes, Miguel A.
A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi
Peer-to-Peer Human-Robot Interaction for Space Exploration
Fong, Terrence; Nourbakhsh, Illah
NASA has embarked on a long-term program to develop human-robot systems for sustained, affordable space exploration. To support this mission, we are working to improve human-robot interaction and performance on planetary surfaces. Rather than building robots that function as glorified tools, our focus is to enable humans and robots to work as partners and peers. In this paper. we describe our approach, which includes contextual dialogue, cognitive modeling, and metrics-based field testing.
Human-Automation Allocations for Current Robotic Space Operations
Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.
Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To
ASI's space automation and robotics programs: The second step
Dipippo, Simonetta
The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.
Micro-Inspector Spacecraft for Space Exploration Missions
Mueller, Juergen; Alkalai, Leon; Lewis, Carol
NASA is seeking to embark on a new set of human and robotic exploration missions back to the Moon, to Mars, and destinations beyond. Key strategic technical challenges will need to be addressed to realize this new vision for space exploration, including improvements in safety and reliability to improve robustness of space operations. Under sponsorship by NASA's Exploration Systems Mission, the Jet Propulsion Laboratory (JPL), together with its partners in government (NASA Johnson Space Center) and industry (Boeing, Vacco Industries, Ashwin-Ushas Inc.) is developing an ultra-low mass (missions. The micro-inspector will provide remote vehicle inspections to ensure safety and reliability, or to provide monitoring of in-space assembly. The micro-inspector spacecraft represents an inherently modular system addition that can improve safety and support multiple host vehicles in multiple applications. On human missions, it may help extend the reach of human explorers, decreasing human EVA time to reduce mission cost and risk. The micro-inspector development is the continuation of an effort begun under NASA's Office of Aerospace Technology Enabling Concepts and Technology (ECT) program. The micro-inspector uses miniaturized celestial sensors; relies on a combination of solar power and batteries (allowing for unlimited operation in the sun and up to 4 hours in the shade); utilizes a low-pressure, low-leakage liquid butane propellant system for added safety; and includes multi-functional structure for high system-level integration and miniaturization. Versions of this system to be designed and developed under the H&RT program will include additional capabilities for on-board, vision-based navigation, spacecraft inspection, and collision avoidance, and will be demonstrated in a ground-based, space-related environment. These features make the micro-inspector design unique in its ability to serve crewed as well as robotic spacecraft, well beyond Earth-orbit and into arenas such
Robotics in space-age manufacturing
Jones, Chip
Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.
Novelty Search for Soft Robotic Space Exploration
Methenitis, G.; Hennes, D.; Izzo, D.; Visser, A.
The use of soft robots in future space exploration is still a far-fetched idea, but an attractive one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on rough terrain as often faced in extra-planetary environments. Depending on the particular application and
Novelty search for soft robotic space exploration
G. Methenitis (Georgios); D. Hennes; D. Izzo; A. Visser
textabstractThe use of soft robots in future space exploration is still a far-fetched idea, but an attractive one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on rough terrain as often faced in extra-planetary environments. Depending on the particular
Overview of NASA's In Space Robotic Servicing
Reed, Benjamin B.
The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.
Space missions to the exoplanets: Will they ever be possible
Genta, Giancarlo
There is no doubt that the discovery of exoplanets has made interstellar space mission much more interesting than they were in the past. The possible discovery of a terrestrial type plane at a reasonable distance will give a strong impulse in this direction. However, there are doubts that such long range space mission will ever become feasible at all and, in case they will be, it is impossible to forecast a timeframe for them. At present, precursor interstellar missions are planned, but they fall way short from yielding interesting information about exoplanets, except perhaps in the case of missions to the focal line of the Sun's gravitational lens, whose usefulness in this context is still to be demonstrated. They are anyway an essential step in the roadmap toward interstellar missions. Often the difficulties linked with interstellar missions are considered as related with the huge quantity of energy required for reaching the target star system within a reasonable timeframe. While this may well be a showstopper, it is not the only problem to be solved to make them possible. Two other issues are those linked with the probe's autonomy and the telecommunications required to transmit large quantities of information at those distances. Missions to the exoplanets may be subdivided in the following categories: 1) robotic missions to the destination system, including flybys; 2) robotic missions including landing on an exoplanet; 3) robotic sample return missions; 4) human missions. The main problem to be solved for missions of type 1 is linked with propulsion and with energy availability, while autonomy (artificial intelligence) and telecommunication problems are more or less manageable with predictable technologies. Missions of type 2 are more demanding for what propulsion is concerned, but above all require a much larger artificial intelligence and also will generate a large amount of data, whose transmission back to Earth may become a problem. The suggestion of
Exception detection and handling in mission control for mobile robots
DEFF Research Database (Denmark)
Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole
This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...
Artificial intelligence planning applications for space exploration and space robotics
Rokey, Mark; Grenander, Sven
Mission sequencing involves the plan for actuation of the experiments to be conducted aboard a spacecraft; automation is under study by NASA as a means to reduce time and manpower costs in mission planning and in robotic implementation. The development of a mission sequence is conditioned by the limited duration of advantageous spacecraft encounters with objects of study, more research requests than can be satisfied, and requested changes in objectives. Autonomous robot development is hampered by the absence of task-level programming languages, the existence of anomalies in real-world interactions, and a lack of required capabilities in current sensor technology.
Modeling and Simulation for Multi-Missions Space Exploration Vehicle
Chang, Max
Asteroids and Near-Earth Objects [NEOs] are of great interest for future space missions. The Multi-Mission Space Exploration Vehicle [MMSEV] is being considered for future Near Earth Object missions and requires detailed planning and study of its Guidance, Navigation, and Control [GNC]. A possible mission of the MMSEV to a NEO would be to navigate the spacecraft to a stationary orbit with respect to the rotating asteroid and proceed to anchor into the surface of the asteroid with robotic arms. The Dynamics and Real-Time Simulation [DARTS] laboratory develops reusable models and simulations for the design and analysis of missions. In this paper, the development of guidance and anchoring models are presented together with their role in achieving mission objectives and relationships to other parts of the simulation. One important aspect of guidance is in developing methods to represent the evolution of kinematic frames related to the tasks to be achieved by the spacecraft and its robot arms. In this paper, we compare various types of mathematical interpolation methods for position and quaternion frames. Subsequent work will be on analyzing the spacecraft guidance system with different movements of the arms. With the analyzed data, the guidance system can be adjusted to minimize the errors in performing precision maneuvers.
Development of Advanced Robotic Hand System for space application
Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru
The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.
Space Mission Human Reliability Analysis (HRA) Project
Boyer, Roger
The purpose of the Space Mission Human Reliability Analysis (HRA) Project is to extend current ground-based HRA risk prediction techniques to a long-duration, space-based tool. Ground-based HRA methodology has been shown to be a reasonable tool for short-duration space missions, such as Space Shuttle and lunar fly-bys. However, longer-duration deep-space missions, such as asteroid and Mars missions, will require the crew to be in space for as long as 400 to 900 day missions with periods of extended autonomy and self-sufficiency. Current indications show higher risk due to fatigue, physiological effects due to extended low gravity environments, and others, may impact HRA predictions. For this project, Safety & Mission Assurance (S&MA) will work with Human Health & Performance (HH&P) to establish what is currently used to assess human reliabiilty for human space programs, identify human performance factors that may be sensitive to long duration space flight, collect available historical data, and update current tools to account for performance shaping factors believed to be important to such missions. This effort will also contribute data to the Human Performance Data Repository and influence the Space Human Factors Engineering research risks and gaps (part of the HRP Program). An accurate risk predictor mitigates Loss of Crew (LOC) and Loss of Mission (LOM).The end result will be an updated HRA model that can effectively predict risk on long-duration missions.
Multi-robot Task Allocation for Search and Rescue Missions
International Nuclear Information System (INIS)
Hussein, Ahmed; Adel, Mohamed; Bakr, Mohamed; Shehata, Omar M; Khamis, Alaa
Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions
Robust coordinated control of a dual-arm space robot
Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay
Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.
Robotic Fish Technology and Its Applications to Space Mechatronics
Yamamoto, Ikuo; Shin, Nobuhiro; Oka, Taishi; Matsui, Miki
The authors have developed a shark ray robotic fish based on biomimetic approaches. The paper describes the newly developed robotic fish technology and its application to mechatronics in the space. It is found that robotic fish technology creates not only new underwater robotics, but also the next generation space mechatronics for geological survey of lunar/planets and dust cleaning in the space station.
Game Changing: NASA's Space Launch System and Science Mission Design
Creech, Stephen D.
NASA s Marshall Space Flight Center (MSFC) is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will carry the Orion Multi-Purpose Crew Vehicle (MPCV) and other important payloads far beyond Earth orbit (BEO). Its evolvable architecture will allow NASA to begin with Moon fly-bys and then go on to transport humans or robots to distant places such as asteroids and Mars. Designed to simplify spacecraft complexity, the SLS rocket will provide improved mass margins and radiation mitigation, and reduced mission durations. These capabilities offer attractive advantages for ambitious missions such as a Mars sample return, by reducing infrastructure requirements, cost, and schedule. For example, if an evolved expendable launch vehicle (EELV) were used for a proposed mission to investigate the Saturn system, a complicated trajectory would be required - with several gravity-assist planetary fly-bys - to achieve the necessary outbound velocity. The SLS rocket, using significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, reducing trip time and cost. As this paper will report, the SLS rocket will launch payloads of unprecedented mass and volume, such as "monolithic" telescopes and in-space infrastructure. Thanks to its ability to co-manifest large payloads, it also can accomplish complex missions in fewer launches. Future analyses will include reviews of alternate mission concepts and detailed evaluations of SLS figures of merit, helping the new rocket revolutionize science mission planning and design for years to come.
IMPERA: Integrated Mission Planning for Multi-Robot Systems
Directory of Open Access Journals (Sweden)
Daniel Saur
Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.
Vital role of nuclear data in space missions
International Nuclear Information System (INIS)
Tripathi, R.K.
Nasa has a new vision for space exploration in the 21. Century encompassing a broad range of human and robotic missions including missions to Moon, Mars and beyond. Exposure from the hazards of severe space radiation in deep space long duration missions is a critical design driver. Thus, protection from the hazards of severe space radiation is of paramount importance for the new vision. Accurate risk assessments critically depend on the accuracy of the input information about the interaction of ions with materials, electronics and tissues. We have discussed some of the state-of-the-art cross sections database at Nasa and have demonstrated the role nuclear interaction plays in space missions. The impact of the cross sections on space missions has been shown by the assessment of dose exposure on Moon surface behind a number of materials with increasing hydrogen contents known to be a better radiation shielding material. In addition we have examined an approach to introduce reliability based design methods into shield evaluation and optimization procedure as a means to assess and control the uncertainties in shield design. Applications to Lunar missions for short and long-term duration display a large impact on the design outcome and the choice of the materials. For short duration missions all the examined materials have similar performance. However, for career astronauts who are exposed to longer duration space radiation over the period of time the choice of material plays a very critical role. Computational procedures based on deterministic solution of the Boltzmann equation are well suited for such procedures allowing optimization processes to be implemented, evaluation of biologically important rare events,and rapid analysis of possible shield optimization outcomes resulting from the biological model uncertainty parameter space
Growing fresh food on future space missions
Meinen, Esther; Dueck, Tom; Kempkes, Frank; Stanghellini, Cecilia
This paper deals with vegetable cultivation that could be faced in a space mission. This paper focusses on optimization, light, temperature and the harvesting process, while other factors concerning cultivation in space missions, i.e. gravity, radiation, were not addressed. It describes the work
Missions and planning for nuclear space power
International Nuclear Information System (INIS)
Buden, D.
Requirements for electrical and propulsion power for space are expected to increase dramatically in the 1980s. Nuclear power is probably the only source for some deep space missions and a major competitor for many orbital missions, especially those at geosynchronous orbit. Because of the potential requirements, a technology program on reactor components has been initiated by the Department of Energy. The missions that are foreseen, the current reactor concept, and the technology program plan are described
The Ion Propulsion System for the Asteroid Redirect Robotic Mission
Herman, Daniel A.; Santiago, Walter; Kamhawi, Hani; Polk, James E.; Snyder, John Steven; Hofer, Richard; Sekerak, Michael
The Asteroid Redirect Robotic Mission is a Solar Electric Propulsion Technology Demonstration Mission (ARRM) whose main objectives are to develop and demonstrate a high-power solar electric propulsion capability for the Agency and return an asteroidal mass for rendezvous and characterization in a companion human-crewed mission. This high-power solar electric propulsion capability, or an extensible derivative of it, has been identified as a critical part of NASA's future beyond-low-Earth-orbit, human-crewed exploration plans. This presentation presents the conceptual design of the ARRM ion propulsion system, the status of the NASA in-house thruster and power processing development activities, the status of the planned technology maturation for the mission through flight hardware delivery, and the status of the mission formulation and spacecraft acquisition.
Robotic Platform for Automated Search and Rescue Missions of Humans
Directory of Open Access Journals (Sweden)
Eli Kolberg
Full Text Available We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously. The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.
Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1
Erickson, Jon D. (Editor)
The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.
In-Space Propulsion Technologies for Robotic Exploration of the Solar System
Johnson, Les; Meyer, Rae Ann; Frame, Kyle
Supporting NASA's Science Mission Directorate, the In-Space Propulsion Technology Program is developing the next generation of space propulsion technologies for robotic, deep-space exploration. Recent technological advancements and demonstrations of key, high-payoff propulsion technologies have been achieved and will be described. Technologies under development and test include aerocapture, solar electric propulsion, solar sail propulsion, and advanced chemical propulsion.
Space astronomy for the mid-21st century: Robotically maintained space telescopes
Schartel, N.
The historical development of ground based astronomical telescopes leads us to expect that space-based astronomical telescopes will need to be operational for many decades. The exchange of scientific instruments in space will be a prerequisite for the long lasting scientific success of such missions. Operationally, the possibility to repair or replace key spacecraft components in space will be mandatory. We argue that these requirements can be fulfilled with robotic missions and see the development of the required engineering as the main challenge. Ground based operations, scientifically and technically, will require a low operational budget of the running costs. These can be achieved through enhanced autonomy of the spacecraft and mission independent concepts for the support of the software. This concept can be applied to areas where the mirror capabilities do not constrain the lifetime of the mission. Online material is available at the CDS via http://cdsarc.u-strasbg.fr/cgi-bin/qcat?J/AN/333/209
Space nuclear tug mission applications
International Nuclear Information System (INIS)
Hodge, J.R.; Rauen, L.A.
An initial assessment indicates that the NEBA-1 and NEBA-3 bimodal reactor designs can be integrated into a reusable tug which is capable of supporting many missions including GSO delivery, GSO retrieval, lunar trajectory deliveries, interplanetary deliveries, and a variety of satellite servicing. The tug close-quote s nuclear thermal propulsion provides timely transport and payload delivery, with GSO deliveries on the order of 3 endash 7 days. In general, the tug may provide a number of potential benefits to users. The tug may, for example, extend the life of an existing on-orbit spacecraft, boost spacecraft which were not delivered to their operational orbit, offer increased payload capability, or possibly allow payloads to launch on smaller less expensive launch vehicles. Reusing the tug for 5 or 10 missions requires total reactor burn times of 50 and 100 hours, respectively. Shielding, boom structure, and radiator requirements were identified as key factors in the configuration layout. Economic feasibility is still under evaluation, but preliminary estimates indicate that average flight costs may range from $32 M to $34 M for a 10-mission vehicle and from $39 M to $42 M for a 5-mission vehicle. copyright 1996 American Institute of Physics
Space Interferometry Mission Instrument Mechanical Layout
Aaron, K.; Stubbs, D.; Kroening, K.
The Space Interferometry Mission, planned for launch in 2006, will measure the positions of celestial objects to an unprecedented accuracy of 4x10 to the power of negative six arc (about 1 billionth of a degree).
Cloud Computing Techniques for Space Mission Design
Arrieta, Juan; Senent, Juan
The overarching objective of space mission design is to tackle complex problems producing better results, and faster. In developing the methods and tools to fulfill this objective, the user interacts with the different layers of a computing system.
Space environments and their effects on space automation and robotics
Garrett, Henry B.
Automated and robotic systems will be exposed to a variety of environmental anomalies as a result of adverse interactions with the space environment. As an example, the coupling of electrical transients into control systems, due to EMI from plasma interactions and solar array arcing, may cause spurious commands that could be difficult to detect and correct in time to prevent damage during critical operations. Spacecraft glow and space debris could introduce false imaging information into optical sensor systems. The presentation provides a brief overview of the primary environments (plasma, neutral atmosphere, magnetic and electric fields, and solid particulates) that cause such adverse interactions. The descriptions, while brief, are intended to provide a basis for the other papers presented at this conference which detail the key interactions with automated and robotic systems. Given the growing complexity and sensitivity of automated and robotic space systems, an understanding of adverse space environments will be crucial to mitigating their effects.
Gaia Space Mission and Quasars
Energy Technology Data Exchange (ETDEWEB)
Zwitter, Tomaž, E-mail: firstname.lastname@example.com [Faculty of Mathematics and Physics, University of Ljubljana, Ljubljana (Slovenia)
Quasars are often considered to be point-like objects. This is largely true and allows for an excellent alignment of the optical positional reference frame of the ongoing ESA mission Gaia with the International Celestial Reference Frame. But presence of optical jets in quasars can cause shifts of the optical photo-centers at levels detectable by Gaia. Similarly, motion of emitting blobs in the jet can be detected as proper motion shifts. Gaia's measurements of spectral energy distribution for around a million distant quasars is useful to determine their redshifts and to assess their variability on timescales from hours to years. Spatial resolution of Gaia allows to build a complete magnitude limited sample of strongly lensed quasars. The mission had its first public data release in September 2016 and is scheduled to have the next and much more comprehensive one in April 2018. Here we briefly review the capabilities and current results of the mission. Gaia's unique contributions to the studies of quasars are already being published, a highlight being a discovery of a number of quasars with optical jets.
The role of automation and robotics in space stations
Black, D. C.
Automation and robotics have played important roles in space research, most notably in planetary exploration. While an increased need for automation and robotics in space research is anticipated, some of the major challenges and opportunities for automation and robotics will be provided by the Space Station. Examples of these challenges are briefly reviewed.
Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994
The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.
Hybrid Propulsion Technology for Robotic Science Missions, Phase I
National Aeronautics and Space Administration — C3 Propulsion's Hybrid Propulsion Technology will be applied to a NASA selected Sample Return Mission. Phase I will demonstrate Proof-of-Principle and Phase II will...
Robotic Reconnaissance Missions to Small Bodies and Their Potential Contributions to Human Exploration
Abell, P. A.; Rivkin, A. S.
organized the SKGs into four broad themes: 1) Identify human mission targets; 2) Understand how to work on and interact with the small body surface; 3) Understand the small body environment and its potential risk/benefit to crew, systems, and operational assets; and 4) Understand the small body resource potential. Each of these themes were then further subdivided into categories to address specific SKG issues. Robotic Precursor Contributions to SKGs: Robotic reconnaissance missions should be able to address specific aspects related to SKG themes 1 through 4. Theme 1 deals with the identification of human mission targets within the NEA population. The current guideline indicates that human missions to fastspinning, tumbling, or binary asteroids may be too risky to conduct successfully from an operational perspective. However, no spacecraft mission has been to any of these types of NEAs before. Theme 2 addresses the concerns about interacting on the small body surface under microgravity conditions, and how the surface and/or sub-surface properties affect or restrict the interaction for human exploration. The combination of remote sensing instruments and in situ payloads will provide good insight into the asteroid's surface and subsurface properties. SKG theme 3 deals with the environment in and around the small body that may present a nuisance or hazard to any assets operating in close proximity. Impact and surface experiments will help address issues related to particle size, particle longevity, internal structure, and the near-surface mechanical stability of the asteroid. Understanding or constraining these physical characteristics are important for mission planning. Theme 4 addresses the resource potential of the small body. This is a particularly important aspect of human exploration since the identification and utilization of resources is a key aspect for deep space mission architectures to the Martian system (i.e., Phobos and Deimos). Conclusions: Robotic reconnaissance
Control of free-flying space robot manipulator systems
Cannon, Robert H., Jr.
New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying 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 human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.
Artificial Intelligence techniques for mission planning for mobile robots
International Nuclear Information System (INIS)
Martinez, J.M.; Nomine, J.P.
This work focuses on Spatial Modelization Techniques and on Control Software Architectures, in order to deal efficiently with the Navigation and Perception problems encountered in Mobile Autonomous Robotics. After a brief survey of the current various approaches for these techniques, we expose ongoing simulation works for a specific mission in robotics. Studies in progress used for Spatial Reasoning are based on new approaches combining Artificial Intelligence and Geometrical techniques. These methods deal with the problem of environment modelization using three types of models: geometrical topological and semantic models at different levels. The decision making processes of control are presented as the result of cooperation between a group of decentralized agents that communicate by sending messages. (author)
JUICE space mission to Jupiter
CERN. Geneva
JUICE - JUpiter ICy moons Explorer - is the first large-class mission in ESA's Cosmic Vision 2015-2025 programme. Planned for launch in 2022 and arrival at Jupiter in 2029, it will spend at least three years making detailed observations of the giant gaseous planet Jupiter and three of its largest moons, Ganymede, Callisto and Europa. JUICE will perform detailed investigations of Jupiter and its system in all their inter-relations and complexity with particular emphasis on Ganymede as a planetary body and potential habitat. Investigations of Europa and Callisto would complete a comparative picture of the Galilean moons. Jupiter is the archetype for the giant planets of the Solar System and for the numerous giant planets now known to orbit other stars. Moreover, Jupiter's diverse Galilean satellites - three of which are believed to harbour internal oceans - are central to understanding the habitability of icy worlds. JUICE spacecraft will carry the most powerful remote sensing, geophysical, and in situ paylo...
The deep space 1 extended mission
Rayman, Marc D.; Varghese, Philip
The primary mission of Deep Space 1 (DS1), the first flight of the New Millennium program, completed successfully in September 1999, having exceeded its objectives of testing new, high-risk technologies important for future space and Earth science missions. DS1 is now in its extended mission, with plans to take advantage of the advanced technologies, including solar electric propulsion, to conduct an encounter with comet 19P/Borrelly in September 2001. During the extended mission, the spacecraft's commercial star tracker failed; this critical loss prevented the spacecraft from achieving three-axis attitude control or knowledge. A two-phase approach to recovering the mission was undertaken. The first involved devising a new method of pointing the high-gain antenna to Earth using the radio signal received at the Deep Space Network as an indicator of spacecraft attitude. The second was the development of new flight software that allowed the spacecraft to return to three-axis operation without substantial ground assistance. The principal new feature of this software is the use of the science camera as an attitude sensor. The differences between the science camera and the star tracker have important implications not only for the design of the new software but also for the methods of operating the spacecraft and conducting the mission. The ambitious rescue was fully successful, and the extended mission is back on track.
Creating Communications, Computing, and Networking Technology Development Road Maps for Future NASA Human and Robotic Missions
Bhasin, Kul; Hayden, Jeffrey L.
For human and robotic exploration missions in the Vision for Exploration, roadmaps are needed for capability development and investments based on advanced technology developments. A roadmap development process was undertaken for the needed communications, and networking capabilities and technologies for the future human and robotics missions. The underlying processes are derived from work carried out during development of the future space communications architecture, an d NASA's Space Architect Office (SAO) defined formats and structures for accumulating data. Interrelationships were established among emerging requirements, the capability analysis and technology status, and performance data. After developing an architectural communications and networking framework structured around the assumed needs for human and robotic exploration, in the vicinity of Earth, Moon, along the path to Mars, and in the vicinity of Mars, information was gathered from expert participants. This information was used to identify the capabilities expected from the new infrastructure and the technological gaps in the way of obtaining them. We define realistic, long-term space communication architectures based on emerging needs and translate the needs into interfaces, functions, and computer processing that will be required. In developing our roadmapping process, we defined requirements for achieving end-to-end activities that will be carried out by future NASA human and robotic missions. This paper describes: 10 the architectural framework developed for analysis; 2) our approach to gathering and analyzing data from NASA, industry, and academia; 3) an outline of the technology research to be done, including milestones for technology research and demonstrations with timelines; and 4) the technology roadmaps themselves.
Parametric cost estimation for space science missions
Lillie, Charles F.; Thompson, Bruce E.
Cost estimation for space science missions is critically important in budgeting for successful missions. The process requires consideration of a number of parameters, where many of the values are only known to a limited accuracy. The results of cost estimation are not perfect, but must be calculated and compared with the estimates that the government uses for budgeting purposes. Uncertainties in the input parameters result from evolving requirements for missions that are typically the "first of a kind" with "state-of-the-art" instruments and new spacecraft and payload technologies that make it difficult to base estimates on the cost histories of previous missions. Even the cost of heritage avionics is uncertain due to parts obsolescence and the resulting redesign work. Through experience and use of industry best practices developed in participation with the Aerospace Industries Association (AIA), Northrop Grumman has developed a parametric modeling approach that can provide a reasonably accurate cost range and most probable cost for future space missions. During the initial mission phases, the approach uses mass- and powerbased cost estimating relationships (CER)'s developed with historical data from previous missions. In later mission phases, when the mission requirements are better defined, these estimates are updated with vendor's bids and "bottoms- up", "grass-roots" material and labor cost estimates based on detailed schedules and assigned tasks. In this paper we describe how we develop our CER's for parametric cost estimation and how they can be applied to estimate the costs for future space science missions like those presented to the Astronomy & Astrophysics Decadal Survey Study Committees.
MDP: Reliable File Transfer for Space Missions
Rash, James; Criscuolo, Ed; Hogie, Keith; Parise, Ron; Hennessy, Joseph F. (Technical Monitor)
This paper presents work being done at NASA/GSFC by the Operating Missions as Nodes on the Internet (OMNI) project to demonstrate the application of the Multicast Dissemination Protocol (MDP) to space missions to reliably transfer files. This work builds on previous work by the OMNI project to apply Internet communication technologies to space communication. The goal of this effort is to provide an inexpensive, reliable, standard, and interoperable mechanism for transferring files in the space communication environment. Limited bandwidth, noise, delay, intermittent connectivity, link asymmetry, and one-way links are all possible issues for space missions. Although these are link-layer issues, they can have a profound effect on the performance of transport and application level protocols. MDP, a UDP-based reliable file transfer protocol, was designed for multicast environments which have to address these same issues, and it has done so successfully. Developed by the Naval Research Lab in the mid 1990's, MDP is now in daily use by both the US Post Office and the DoD. This paper describes the use of MDP to provide automated end-to-end data flow for space missions. It examines the results of a parametric study of MDP in a simulated space link environment and discusses the results in terms of their implications for space missions. Lessons learned are addressed, which suggest minor enhancements to the MDP user interface to add specific features for space mission requirements, such as dynamic control of data rate, and a checkpoint/resume capability. These are features that are provided for in the protocol, but are not implemented in the sample MDP application that was provided. A brief look is also taken at the status of standardization. A version of MDP known as NORM (Neck Oriented Reliable Multicast) is in the process of becoming an IETF standard.
Dynamic analysis of space robot remote control system
Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem
The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.
Part of NASA's mission is to inspire the next generation of explorers. NASA often reaches children - the inventors of tomorrow - through teachers, reporters, exhibit designers, and other third-party entities. Therefore, when Walt Disney Imagineering, the creative force behind the planning, design, and construction of Disney parks and resorts around the world, approached NASA with the desire to put realism into its Mission: SPACE project, the Agency was happy to offer its insight.
Training Concept for Long Duration Space Mission
O'Keefe, William
There has been papers about maintenance and psychological training for Long Duration Space Mission (LDSM). There are papers on the technology needed for LDSMs. Few are looking at how groundbased pre-mission training and on-board in-transit training must be melded into one training concept that leverages this technology. Even more importantly, fewer are looking at how we can certify crews pre-mission. This certification must ensure, before the crew launches, that they can handle any problem using on-board assets without a large ground support team.
Human space flight and future major space astrophysics missions: servicing and assembly
Thronson, Harley; Peterson, Bradley M.; Greenhouse, Matthew; MacEwen, Howard; Mukherjee, Rudranarayan; Polidan, Ronald; Reed, Benjamin; Siegler, Nicholas; Smith, Hsiao
Some concepts for candidate future "flagship" space observatories approach the payload limits of the largest launch vehicles planned for the next few decades, specifically in the available volume in the vehicle fairing. This indicates that an alternative to autonomous self-deployment similar to that of the James Webb Space Telescope will eventually be required. Moreover, even before this size limit is reached, there will be significant motivation to service, repair, and upgrade in-space missions of all sizes, whether to extend the life of expensive facilities or to replace outworn or obsolete onboard systems as was demonstrated so effectively by the Hubble Space Telescope program. In parallel with these challenges to future major space astronomy missions, the capabilities of in-space robotic systems and the goals for human space flight in the 2020s and 2030s offer opportunities for achieving the most exciting science goals of the early 21st Century. In this paper, we summarize the history of concepts for human operations beyond the immediate vicinity of the Earth, the importance of very large apertures for scientific discovery, and current capabilities and future developments in robot- and astronaut-enabled servicing and assembly.
STS-61 Space Shuttle mission report
Fricke, Robert W., Jr.
The STS-61 Space Shuttle Program Mission Report summarizes the Hubble Space Telescope (HST) servicing mission as well as the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Redesigned Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSME) systems performance during the fifty-ninth flight of the Space Shuttle Program and fifth flight of the Orbiter vehicle Endeavour (OV-105). In addition to the Orbiter, the flight vehicle consisted of an ET designated as ET-60; three SSME's which were designated as serial numbers 2019, 2033, and 2017 in positions 1, 2, and 3, respectively; and two SRB's which were designated BI-063. The RSRM's that were installed in each SRB were designated as 360L023A (lightweight) for the left SRB, and 360L023B (lightweight) for the right SRB. This STS-61 Space Shuttle Program Mission Report fulfills the Space Shuttle Program requirement as documented in NSTS 07700, Volume 8, Appendix E. That document requires that each major organizational element supporting the Program report the results of its hardware evaluation and mission performance plus identify all related in-flight anomalies. The primary objective of the STS-61 mission was to perform the first on-orbit servicing of the Hubble Space Telescope. The servicing tasks included the installation of new solar arrays, replacement of the Wide Field/Planetary Camera I (WF/PC I) with WF/PC II, replacement of the High Speed Photometer (HSP) with the Corrective Optics Space Telescope Axial Replacement (COSTAR), replacement of rate sensing units (RSU's) and electronic control units (ECU's), installation of new magnetic sensing systems and fuse plugs, and the repair of the Goddard High Resolution Spectrometer (GHRS). Secondary objectives were to perform the requirements of the IMAX Cargo Bay Camera (ICBC), the IMAX Camera, and the Air Force Maui Optical Site (AMOS) Calibration Test.
Space Station automation and robotics
A group of fifteen students in the Electrical Engineering Department at the University of Maryland, College Park, has been involved in a design project under the sponsorship of NASA Headquarters, NASA Goddard Space Flight Center and the Systems Research Center (SRC) at UMCP. The goal of the NASA/USRA project was to first obtain a refinement of the design work done in Spring 1986 on the proposed Mobile Remote Manipulator System (MRMS) for the Space Station. This was followed by design exercises involving the OMV and two armed service vehicle. Three students worked on projects suggested by NASA Goddard scientists for ten weeks this past summer. The knowledge gained from the summer design exercise has been used to improve our current design of the MRMS. To this end, the following program was undertaken for the Fall semester 1986: (1) refinement of the MRMS design; and (2) addition of vision capability to our design.
For Earth into space: The German Spacelab Mission D-2
Sahm, P. R.; Keller, M. H.; Schiewe, B.
The Spacelab Mission D-2 successfully lifted off from Kennedy Space Center on April 26, 1993. With 88 experiments on board covering eleven different research disciplines it was a very ambitious mission. Besides materials and life science subjects, the mission also encompassed astronomy, earth observation, radiation physics and biology, telecommunication, automation and robotics. Notable results were obtained in almost all cases. To give some examples of the scientific output, building upon results obtained in previous missions (FSLP, D1) diffusion in melts was broadly represented delivering most precise data on the atomic mobility within various liquids, and crystal growth experiments (the largest gallium arsenide crystal grown by the floating zone technique, so far obtained anywhere, was one of the results), biological cell growth experiments were continued (for example, beer yeast cultures, continuing their growth on earth, delivered a qualitatively superior brewery result), the human physiology miniclinic configuration ANTHRORACK gave novel insights concerning cardiovascular, pulmonary, and renal (fluid volume determining) factors. Astronomical experiments yielded insights into our own galaxy within the ultra violet spectrum, earth observation experiments delivered the most precise resolution data superimposed by thematic mapping of many areas of the Earth, and the robotics experiment brought a remarkable feature in that a flying object was caught by the space robot, which was only achieved through several innovative advances during the time of experiment preparation. The eight years of preparation were also beneficial in another sense. Several discoveries have been made, and various technology transfers into ground-based processes were verified. To name the outstanding ones, in the materials science a novel bearing materials production process was developped, a patent granted for an improved high temperature heating chamber; with life sciences a new hormone
Ontological Reasoning for Human-Robot Teaming in Search and Rescue Missions
Bagosi, T.; Hindriks, k.V.; Neerincx, M.A.
In search and rescue missions robots are used to help rescue workers in exploring the disaster site. Our research focuses on how multiple robots and rescuers act as a team, and build up situation awareness. We propose a multi-agent system where each agent supports one member, either human or robot.
A Novel Robot of Manufacturing Space Solar Cell Arrays
Directory of Open Access Journals (Sweden)
Wu Yuexin
Full Text Available This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.
A Novel Robot of Manufacturing Space Solar Cell Arrays
Directory of Open Access Journals (Sweden)
Wu Yuexin
Full Text Available This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.
STS-62 Space Shuttle mission report
Fricke, Robert W., Jr.
The STS-62 Space Shuttle Program Mission Report summarizes the Payload activities as well as the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Redesigned Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSHE) systems performance during the sixty-first flight of the Space Shuttle Program and sixteenth flight of the Orbiter vehicle Columbia (OV-102). In addition to the Orbiter, the flight vehicle consisted of an ET designated as ET-62; three SSME's which were designated as serial numbers 2031, 2109, and 2029 in positions 1, 2, and 3, respectively; and two SRB's which were designated BI-064. The RSRM's that were installed in each SRB were designated as 360L036A (lightweight) for the left SRB, and 36OWO36B (welterweight) for the right SRB. This STS-62 Space Shuttle Program Mission Report fulfills the Space Shuttle Program requirement as documented in NSTS 07700, Volume 8, Appendix E. That document requires that each major organizational element supporting the Program report the results of its hardware evaluation and mission performance plus identify all related in-flight anomalies. The primary objectives of the STS-62 mission were to perform the operations of the United States Microgravity Payload-2 (USMP-2) and the Office of Aeronautics and Space Technology-2 (OAST-2) payload. The secondary objectives of this flight were to perform the operations of the Dexterous End Effector (DEE), the Shuttle Solar Backscatter Ultraviolet/A (SSBUV/A), the Limited Duration Space Environment Candidate Material Exposure (LDCE), the Advanced Protein Crystal Growth (APCG), the Physiological Systems Experiments (PSE), the Commercial Protein Crystal Growth (CPCG), the Commercial Generic Bioprocessing Apparatus (CGBA), the Middeck Zero-Gravity Dynamics Experiment (MODE), the Bioreactor Demonstration System (BDS), the Air Force Maui Optical Site Calibration Test (AMOS), and the Auroral Photography Experiment (APE-B).
Psychological considerations in future space missions
Helmreich, R. L.; Wilhelm, J. A.; Runge, T. E.
Issues affecting human psychological adjustments to long space missions are discussed. Noting that the Shuttle flight crewmembers will not have extensive flight qualification requirements, the effects of a more heterogeneous crew mixture than in early space flights is considered to create possibilities of social conflicts. Routine space flight will decrease the novelty of a formerly unique experience, and the necessity of providing personal space or other mechanisms for coping with crowded, permanently occupied space habitats is stressed. Women are noted to display more permeable personal space requirements. The desirability of planning leisure activities is reviewed, and psychological test results for female and male characteristics are cited to show that individuals with high scores in both traditionally male and female attributes are most capable of effective goal-oriented behavior and interpersonal relationships. Finally, it is shown that competitiveness is negatively correlated with the success of collaborative work and the social climate of an environment.
Robotic Mission to Mars: Hands-on, minds-on, web-based learning
Mathers, Naomi; Goktogen, Ali; Rankin, John; Anderson, Marion
Problem-based learning has been demonstrated as an effective methodology for developing analytical skills and critical thinking. The use of scenario-based learning incorporates problem-based learning whilst encouraging students to collaborate with their colleagues and dynamically adapt to their environment. This increased interaction stimulates a deeper understanding and the generation of new knowledge. The Victorian Space Science Education Centre (VSSEC) uses scenario-based learning in its Mission to Mars, Mission to the Orbiting Space Laboratory and Primary Expedition to the M.A.R.S. Base programs. These programs utilize methodologies such as hands-on applications, immersive-learning, integrated technologies, critical thinking and mentoring to engage students in Science, Technology, Engineering and Mathematics (STEM) and highlight potential career paths in science and engineering. The immersive nature of the programs demands specialist environments such as a simulated Mars environment, Mission Control and Space Laboratory, thus restricting these programs to a physical location and limiting student access to the programs. To move beyond these limitations, VSSEC worked with its university partners to develop a web-based mission that delivered the benefits of scenario-based learning within a school environment. The Robotic Mission to Mars allows students to remotely control a real rover, developed by the Australian Centre for Field Robotics (ACFR), on the VSSEC Mars surface. After completing a pre-mission training program and site selection activity, students take on the roles of scientists and engineers in Mission Control to complete a mission and collect data for further analysis. Mission Control is established using software developed by the ACRI Games Technology Lab at La Trobe University using the principles of serious gaming. The software allows students to control the rover, monitor its systems and collect scientific data for analysis. This program encourages
Assured Mission Support Space Architecture (AMSSA) study
Hamon, Rob
The assured mission support space architecture (AMSSA) study was conducted with the overall goal of developing a long-term requirements-driven integrated space architecture to provide responsive and sustained space support to the combatant commands. Although derivation of an architecture was the focus of the study, there are three significant products from the effort. The first is a philosophy that defines the necessary attributes for the development and operation of space systems to ensure an integrated, interoperable architecture that, by design, provides a high degree of combat utility. The second is the architecture itself; based on an interoperable system-of-systems strategy, it reflects a long-range goal for space that will evolve as user requirements adapt to a changing world environment. The third product is the framework of a process that, when fully developed, will provide essential information to key decision makers for space systems acquisition in order to achieve the AMSSA goal. It is a categorical imperative that military space planners develop space systems that will act as true force multipliers. AMSSA provides the philosophy, process, and architecture that, when integrated with the DOD requirements and acquisition procedures, can yield an assured mission support capability from space to the combatant commanders. An important feature of the AMSSA initiative is the participation by every organization that has a role or interest in space systems development and operation. With continued community involvement, the concept of the AMSSA will become a reality. In summary, AMSSA offers a better way to think about space (philosophy) that can lead to the effective utilization of limited resources (process) with an infrastructure designed to meet the future space needs (architecture) of our combat forces.
Space Launch System (SLS) Mission Planner's Guide
Smith, David Alan
The purpose of this Space Launch System (SLS) Mission Planner's Guide (MPG) is to provide future payload developers/users with sufficient insight to support preliminary SLS mission planning. Consequently, this SLS MPG is not intended to be a payload requirements document; rather, it organizes and details SLS interfaces/accommodations in a manner similar to that of current Expendable Launch Vehicle (ELV) user guides to support early feasibility assessment. Like ELV Programs, once approved to fly on SLS, specific payload requirements will be defined in unique documentation.
Global astrometry with the space interferometry mission
Boden, A.; Unwin, S.; Shao, M.
The prospects for global astrometric measurements with the space interferometry mission (SIM) are discussed. The SIM mission will perform four microarcsec astrometric measurements on objects as faint as 20 mag using the optical interferometry technique with a 10 m baseline. The SIM satellite will perform narrow angle astrometry and global astrometry by means of an astrometric grid. The sensitivities of the SIM global astrometric performance and the grid accuracy versus instrumental parameters and sky coverage schemes are reported on. The problems in finding suitable astrometric grid objects to support microarcsec astrometry, and related ground-based observation programs are discussed.
Space technology and robotics in school projects
Villias, Georgios
Space-related educational activities is a very inspiring and attractive way to involve students into science courses, present them the variety of STEM careers that they can follow, while giving them at the same time the opportunity to develop various practical and communication skills necessary for their future professional development. As part of a large scale extracurricular course in Space Science, Space Technology and Robotics that has been introduced in our school, our students, divided in smaller groups of 3-4 students in each, try to understand the challenges that current and future space exploration is facing. Following a mixture of an inquiry-based learning methodology and hands-on practical activities related with constructions and experiments, students get a glimpse of the pre-mentioned fields. Our main goal is to gain practical knowledge and inspiration from the exciting field of Space, to attain an adequate level of team spirit and effective cooperation, while developing technical and research data-mining skills. We use the following two approaches: 1. Constructive (Technical) approach Designing and constructing various customized robotic machines, that will simulate the future space exploration vehicles and satellites needed to study the atmosphere, surface and subsurface of planets, moons or other planetary bodies of our solar system that have shown some promising indications for the existence of life, taking seriously into account their special characteristics and known existing conditions (like Mars, Titan, Europa & Enceladus). The STEM tools we use are the following: - LEGO Mindstorms: to construct rovers for surface exploration. - Hydrobots: an MIT's SeaPerch program for the construction of submarine semi-autonomous robots. - CanSats: Arduino-based microsatellites able to receive, record & transmit data. - Space balloons: appropriate for high altitude atmospheric measurements & photography. 2. Scientific approach Conducting interesting physics
The James Webb Space Telescope Mission
Sonneborn, George
The James Webb Space Telescope (JWST) is a large aperture, cryogenic, infrared-optimized space observatory under development by NASA for launch in 2014. The European and Canadian Space Agencies are mission partners. JWST will find and study the first galaxies that formed in the early universe, peer through dusty clouds to see AGN environments and stars forming planetary systems at high spatial resolution. The breakthrough capabilities of JWST will enable new studies of star formation and evolution in the Milky Way, including the Galactic Center, nearby galaxies, and the early universe. JWST's instruments are designed to work primarily in the infrared range of 1 - 28 microns, with some capability in the visible. JWST will have a segmented primary mirror, approximately 6.5 meters in diameter, and will be diffraction-limited at wavelength of 2 microns (0.1 arcsec resolution). The JWST observatory will be placed in a L2 orbit by an Ariane 5 launch vehicle provided by ESA. The observatory is designed for a 5-year prime science mission, with propellant for 10 years of science operations. The instruments will provide broad- and narrow-band imaging, coronography, and multi-object and integral-field spectroscopy (spectral resolution of 100 to 3,000) across the 1 - 28 micron wavelength range. Science and mission operations will be conducted from the Space Telescope Science Institute in Baltimore, Maryland.
Mathematical SETI Statistics, Signal Processing, Space Missions
Maccone, Claudio
This book introduces the Statistical Drake Equation where, from a simple product of seven positive numbers, the Drake Equation is turned into the product of seven positive random variables. The mathematical consequences of this transformation are demonstrated and it is proven that the new random variable N for the number of communicating civilizations in the Galaxy must follow the lognormal probability distribution when the number of factors in the Drake equation is allowed to increase at will. Mathematical SETI also studies the proposed FOCAL (Fast Outgoing Cyclopean Astronomical Lens) space mission to the nearest Sun Focal Sphere at 550 AU and describes its consequences for future interstellar precursor missions and truly interstellar missions. In addition the author shows how SETI signal processing may be dramatically improved by use of the Karhunen-Loève Transform (KLT) rather than Fast Fourier Transform (FFT). Finally, he describes the efforts made to persuade the United Nations to make the central part...
Task-space sensory feedback control of robot manipulators
Cheah, Chien Chern
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...
Developing an Adaptive Robotic Assistant for Close-Proximity Human-Robot Interaction in Space Environments
National Aeronautics and Space Administration — As mankind continues making strides in space exploration and associated technologies, the frequency, duration, and complexity of human space exploration missions...
Internet Technology for Future Space Missions
Hennessy, Joseph F. (Technical Monitor); Rash, James; Casasanta, Ralph; Hogie, Keith
Ongoing work at National Aeronautics and Space Administration Goddard Space Flight Center (NASA/GSFC), seeks to apply standard Internet applications and protocols to meet the technology challenge of future satellite missions. Internet protocols and technologies are under study as a future means to provide seamless dynamic communication among heterogeneous instruments, spacecraft, ground stations, constellations of spacecraft, and science investigators. The primary objective is to design and demonstrate in the laboratory the automated end-to-end transport of files in a simulated dynamic space environment using off-the-shelf, low-cost, commodity-level standard applications and protocols. The demonstrated functions and capabilities will become increasingly significant in the years to come as both earth and space science missions fly more sensors and the present labor-intensive, mission-specific techniques for processing and routing data become prohibitively. This paper describes how an IP-based communication architecture can support all existing operations concepts and how it will enable some new and complex communication and science concepts. The authors identify specific end-to-end data flows from the instruments to the control centers and scientists, and then describe how each data flow can be supported using standard Internet protocols and applications. The scenarios include normal data downlink and command uplink as well as recovery scenarios for both onboard and ground failures. The scenarios are based on an Earth orbiting spacecraft with downlink data rates from 300 Kbps to 4 Mbps. Included examples are based on designs currently being investigated for potential use by the Global Precipitation Measurement (GPM) mission.
Modular Power Standard for Space Explorations Missions
Oeftering, Richard C.; Gardner, Brent G.
Future human space exploration will most likely be composed of assemblies of multiple modular spacecraft elements with interconnected electrical power systems. An electrical system composed of a standardized set modular building blocks provides significant development, integration, and operational cost advantages. The modular approach can also provide the flexibility to configure power systems to meet the mission needs. A primary goal of the Advanced Exploration Systems (AES) Modular Power System (AMPS) project is to establish a Modular Power Standard that is needed to realize these benefits. This paper is intended to give the space exploration community a "first look" at the evolving Modular Power Standard and invite their comments and technical contributions.
Robotics development for the enhancement of space endeavors
Mauceri, A. J.; Clarke, Margaret M.
Telerobotics and robotics development activities to support NASA's goal of increasing opportunities in space commercialization and exploration are described. The Rockwell International activities center is using robotics to improve efficiency and safety in three related areas: remote control of autonomous systems, automated nondestructive evaluation of aspects of vehicle integrity, and the use of robotics in space vehicle ground reprocessing operations. In the first area, autonomous robotic control, Rockwell is using the control architecture, NASREM, as the foundation for the high level command of robotic tasks. In the second area, we have demonstrated the use of nondestructive evaluation (using acoustic excitation and lasers sensors) to evaluate the integrity of space vehicle surface material bonds, using Orbiter 102 as the test case. In the third area, Rockwell is building an automated version of the present manual tool used for Space Shuttle surface tile re-waterproofing. The tool will be integrated into an orbiter processing robot being developed by a KSC-led team.
Transoral robotic assisted resection of the parapharyngeal space.
Mendelsohn, Abie H
Preliminary case series have reported clinical feasibility and safety of a transoral minimally invasive technique to approach parapharyngeal space masses. With the assistance of the surgical robotic system, tumors within the parapharyngeal space can now be excised safely without neck incisions. A detailed technical description is included. After developing compressive symptoms from a parapharyngeal space lipomatous tumor, the patient was referred by his primary otolaryngologist because of poor open surgical access to the nasopharyngeal component of the tumor. Transoral robotic assisted resection of a 54- × 46-mm parapharyngeal space mass was performed, utilizing 97 minutes of robotic surgical time. Pictorial demonstration of the robotic resection is provided. Parapharyngeal space tumors have traditionally been approached via transcervical skin incisions, typically including blunt dissection from tactile feedback. The transoral robotic approach offers magnified 3D visualization of the parapharyngeal space that allows for complete and safe resection. © 2014 Wiley Periodicals, Inc.
Mars Relays Satellite Orbit Design Considerations for Global Support of Robotic Surface Missions
Hastrup, Rolf; Cesarone, Robert; Cook, Richard; Knocke, Phillip; McOmber, Robert
This paper discusses orbit design considerations for Mars relay satellite (MRS)support of globally distributed robotic surface missions. The orbit results reported in this paper are derived from studies of MRS support for two types of Mars robotic surface missions: 1) the mars Environmental Survey (MESUR) mission, which in its current definition would deploy a global network of up to 16 small landers, and 2)a Small Mars Sample Return (SMSR) mission, which included four globally distributed landers, each with a return stage and one or two rovers, and up to four additional sets of lander/rover elements in an extended mission phase.
New Space at Airbus Defence & Space to facilitate science missions
Boithias, Helene; Benchetrit, Thierry
In addition to Airbus legacy activities, where Airbus satellites usually enable challenging science missions such as Venus Express, Mars Express, Rosetta with an historic landing on a comet, Bepi Colombo mission to Mercury and JUICE to orbit around Jupiter moon Ganymede, Swarm studying the Earth magnetic field, Goce to measure the Earth gravitational field and Cryosat to monitor the Earth polar ice, Airbus is now developing a new approach to facilitate next generation missions.After more than 25 years of collaboration with the scientists on space missions, Airbus has demonstrated its capacity to implement highly demanding missions implying a deep understanding of the science mission requirements and their intrinsic constraints such as- a very fierce competition between the scientific communities,- the pursuit of high maturity for the science instrument in order to be selected,- the very strict institutional budget limiting the number of operational missions.As a matter of fact, the combination of these constraints may lead to the cancellation of valuable missions.Based on that and inspired by the New Space trend, Airbus is developing an highly accessible concept called HYPE.The objective of HYPE is to make access to Space much more simple, affordable and efficient.With a standardized approach, the scientist books only the capacities he needs among the resources available on-board, as the HYPE satellites can host a large range of payloads from 1kg up to 60kg.At prices significantly more affordable than those of comparable dedicated satellite, HYPE is by far a very cost-efficient way of bringing science missions to life.After the launch, the scientist enjoys a plug-and-play access to two-way communications with his instrument through a secure high-speed portal available online 24/7.Everything else is taken care of by Airbus: launch services and the associated risk, reliable power supply, setting up and operating the communication channels, respect of space law
RoMPS concept review automatic control of space robot
The Robot operated Material Processing in Space (RoMPS) experiment is being performed to explore the marriage of two emerging space commercialization technologies: materials processing in microgravity and robotics. This concept review presents engineering drawings and limited technical descriptions of the RoMPS programs' electrical and software systems.
Automation and robotics for the National Space Program
The emphasis on automation and robotics in the augmentation of the human centered systems as it concerns the space station is discussed. How automation and robotics can amplify the capabilities of humans is detailed. A detailed developmental program for the space station is outlined.
Automation and robotics for the Space Station - An ATAC perspective
Nunamaker, Robert R.
The study of automation and robotics for the Space Station by the Advanced Technology Advisory Committee is surveyed. The formation of the committee and the methodology for the Space Station automation study are discussed. The committee's recommendations for automation and robotics research and development are listed.
Magnetoshell Aerocapture for Manned Missions and Planetary Deep Space Orbiters
National Aeronautics and Space Administration — It is clear from past mission studies that a manned Mars mission, as well as deep space planetary orbiters will require aerobraking and aerocapture which use...
Habitability in long-term space missions
Mount, Frances E.
The research (both in progress and completed) conducted for the U.S. Space Station in relation to the crew habitability and crew productivity is discussed. Methods and tasks designed to increase the data base of the man/system information are described. The particular research areas discussed in this paper include human productivity, on-orbit maintenance, vewing requirements, fastener types, and crew quarters. This information (along with data obtained on human interaction with command/control work station, anthropometic factors, crew equipment, galley/wardroom, restraint systems, etc) will be integrated into the common data base for the purpose of assisting the design of the Space Station and other future manned space missions.
Automation of Hubble Space Telescope Mission Operations
Burley, Richard; Goulet, Gregory; Slater, Mark; Huey, William; Bassford, Lynn; Dunham, Larry
On June 13, 2011, after more than 21 years, 115 thousand orbits, and nearly 1 million exposures taken, the operation of the Hubble Space Telescope successfully transitioned from 24x7x365 staffing to 815 staffing. This required the automation of routine mission operations including telemetry and forward link acquisition, data dumping and solid-state recorder management, stored command loading, and health and safety monitoring of both the observatory and the HST Ground System. These changes were driven by budget reductions, and required ground system and onboard spacecraft enhancements across the entire operations spectrum, from planning and scheduling systems to payload flight software. Changes in personnel and staffing were required in order to adapt to the new roles and responsibilities required in the new automated operations era. This paper will provide a high level overview of the obstacles to automating nominal HST mission operations, both technical and cultural, and how those obstacles were overcome.
Integrated multi-sensory control of space robot hand
Bejczy, A. K.; Kan, E. P.; Killion, R. R.
Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).
Irreducible Tests for Space Mission Sequencing Software
Ferguson, Lisa
As missions extend further into space, the modeling and simulation of their every action and instruction becomes critical. The greater the distance between Earth and the spacecraft, the smaller the window for communication becomes. Therefore, through modeling and simulating the planned operations, the most efficient sequence of commands can be sent to the spacecraft. The Space Mission Sequencing Software is being developed as the next generation of sequencing software to ensure the most efficient communication to interplanetary and deep space mission spacecraft. Aside from efficiency, the software also checks to make sure that communication during a specified time is even possible, meaning that there is not a planet or moon preventing reception of a signal from Earth or that two opposing commands are being given simultaneously. In this way, the software not only models the proposed instructions to the spacecraft, but also validates the commands as well.To ensure that all spacecraft communications are sequenced properly, a timeline is used to structure the data. The created timelines are immutable and once data is as-signed to a timeline, it shall never be deleted nor renamed. This is to prevent the need for storing and filing the timelines for use by other programs. Several types of timelines can be created to accommodate different types of communications (activities, measurements, commands, states, events). Each of these timeline types requires specific parameters and all have options for additional parameters if needed. With so many combinations of parameters available, the robustness and stability of the software is a necessity. Therefore a baseline must be established to ensure the full functionality of the software and it is here where the irreducible tests come into use.
Lunar and Planetary Robotic Exploration Missions in the 20th Century
Huntress, W. T., Jr.; Moroz, V. I.; Shevalev, I. L.
The prospect of traveling to the planets was science fiction at the beginning of the 20th Century and science fact at its end. The space age was born of the Cold War in the 1950s and throughout most of the remainder of the century it provided not just an adventure in the exploration of space but a suspenseful drama as the US and USSR competed to be first and best. It is a tale of patience to overcome obstacles, courage to try the previously impossible and persistence to overcome failure, a tale of both fantastic accomplishment and debilitating loss. We briefly describe the history of robotic lunar and planetary exploration in the 20th Century, the missions attempted, their goals and their fate. We describe how this enterprise developed and evolved step by step from a politically driven competition to intense scientific investigations and international cooperation.
Cognitive Tools for Humanoid Robots in Space
National Research Council Canada - National Science Library
Sofge, Donald; Perzanowski, Dennis; Skubic, Marjorie; Bugajska, Magdalena; Trafton, J. G; Cassimatis, Nicholas; Brock, Derek; Adams, William; Schultz, Alan
.... The key to achieving this interaction is to provide the robot with sufficient skills for natural communication with humans so that humans can interact with the robot almost as though it were another human...
Results of dosimetric measurements in space missions
Reitz, G.; Beaujean, R.; Heilmann, C.; Kopp, J.; Leicher, M.; Strauch, K.
Detector packages consisting of plastic nuclear track detectors, nuclear emulsions, and thermoluminescence detectors were exposed at different locations inside the space laboratory Spacelab and at the astronauts' body and in different sections of the MIR space station. Total dose, particle fluence rate and linear energy transfer (LET) spectra of heavy ions, number of nuclear disintegrations and fast neutron fluence rates were determined of each exposure. The dose equivalent received by the Payload specialists (PSs) were calculated from the measurements, they range from 190 muSv d^-1 to 770 muSv d^-1. Finally, a preliminary investigation of results from a particle telescope of two silicon detectors, first used in the last BIORACK mission on STS 76, is reported.
Distributed Space Missions for Earth System Monitoring
A key addition to Springer's Space Technology Library series, this edited volume features the work of dozens of authors and offers a wealth of perspectives on distributed Earth observation missions. In sum, it is an eloquent synthesis of the fullest possible range of current approaches to a fast-developing field characterized by growing membership of the 'space club' to include nations formerly regarded as part of the Third World. The volume's four discrete sections focus on the topic's various aspects, including the key theoretical and technical issues arising from the division of payloads onto different satellites. The first is devoted to analyzing distributed synthetic aperture radars, with bi- and multi-static radars receiving separate treatment. This is followed by a full discussion of relative dynamics, guidance, navigation and control. Here, the separate topics of design; establishment, maintenance and control; and measurements are developed with relative trajectory as a reference point, while the dis...
Radiation protection guidelines for space missions
International Nuclear Information System (INIS)
Fry, R.J.; Nachtwey, D.S.
The current radiation protection guidelines of the National Aeronautics and Space Administration (NASA) were recommended in 1970. The career limit was set at 4.0 Sv (400 rem). Using the same approach as in 1970 but current risk estimates, a considerably lower career limit would obtain today. Also, there is now much more information about the radiation environments that will be experienced in different missions. Furthermore, since 1970 women have joined the ranks of the astronauts. For these and other reasons, it was considered necessary to re-examine the radiation protection guidelines. This task has been undertaken by the National Council on Radiation Protection and Measurements Scientific Committee 75. Within the magnetosphere, the radiation environment varies with altitude and inclination of the orbit. In outer space missions, galactic cosmic rays, with the small but important heavy-ion component, determine the radiation environment. The new recommendations for career dose limits, based on lifetime excess risk of cancer mortality, take into account age at first exposure and sex. The career limits range from 1.0 Sv (100 rem) for a 24-y-old female up to 4.0 Sv (400 rem) for a 55-y-old male, compared with the previous single limit of 4.0 Sv (400 rem). The career limit for the lens of the eye has been reduced from 6.0 Sv (600 rem) to 4.0 Sv (400 rem)
Exoplanet Searches by Future Deep Space Missions
Directory of Open Access Journals (Sweden)
Maccone C.
Full Text Available The search for exoplanets could benefit from gravitational lensing if we could get to 550 AU from the Sun and beyond. This is because the gravitational lens of the Sun would highly intensify there any weak electromagnetic wave reaching the solar system from distant planets in the Galaxy (see Maccone 2009. The gravitational lens of the Sun, however, has a drawback: the solar Corona. Electrons in the Corona make electromagnetic waves diverge and this pushes the focus out to distances higher than 550 AU. Jupiter is the second larger mass in the solar system after the Sun, but in this focal game not only the mass matters: rather, what really matters is the ratio between the radius of the body squared and the mass of the body. In this regard, Jupiter qualifies as the second best choice for a space mission, requiring the spacecraft to reach 6,077 AU. In this paper, we study the benefit of exoplanet searches by deep space missions.
Study of space reactors for exploration missions
Energy Technology Data Exchange (ETDEWEB)
Cliquet, Elisa; Ruault, Jean-Marc; Masson, Frederic, E-mail: email@example.com, E-mail: email@example.com [Centre National d' Etudes Spatiales (CNES), Paris (France); Roux, Jean-Pierre; Paris, Nicolas; Cazale, Brice; Manifacier, Laurent, E-mail: firstname.lastname@example.com [AREVA TA, Aix en Provence, (France); Poinot-Salanon, Christine, E-mail: firstname.lastname@example.com [Comissariado a l' Energie Atomique et Aux Energies alternatives (CEA), Paris (France)
Nuclear propulsion has been studied for many decades. The power density of nuclear fission is much higher than chemical process, and for missions to outer solar system requiring several hundred of kilowatts, or for flexible manned missions to Mars requiring several megawatts, nuclear electric propulsion might be the only option offering a reasonable mass in low earth orbit. Despite the existence of low power experiences - SNAP10 in the 60's or Buk/Topaz in the 60-80's - no high power reactor has been developed: investment cost, long term time frame, high technological challenges and radioactive hazards are the main challenges we must overtake. However, it seems reasonable to look at the technical challenges that have to be overcome for a next generation of nuclear electric systems for space exploration. This paper will present some recent studies going on in France, on space reactors for exploration. Three classes of power have been considered: 10kWe, 100kWe, and several megawatts. Available data from previous studies and developments performed in Russia, USA], and Europe, have been collected and gave us a large overview of potential technical solutions. This was the starting point of a trade-off analysis aiming at the selection of the best options, with regards to the technological readiness level in France and Europe. The resulting preliminary designs will be presented and critical technologies needing maturation activities will be highlighted. (author)
Study of space reactors for exploration missions
International Nuclear Information System (INIS)
Cliquet, Elisa; Ruault, Jean-Marc; Masson, Frederic; Roux, Jean-Pierre; Paris, Nicolas; Cazale, Brice; Manifacier, Laurent; Poinot-Salanon, Christine
Nuclear propulsion has been studied for many decades. The power density of nuclear fission is much higher than chemical process, and for missions to outer solar system requiring several hundred of kilowatts, or for flexible manned missions to Mars requiring several megawatts, nuclear electric propulsion might be the only option offering a reasonable mass in low earth orbit. Despite the existence of low power experiences - SNAP10 in the 60's or Buk/Topaz in the 60-80's - no high power reactor has been developed: investment cost, long term time frame, high technological challenges and radioactive hazards are the main challenges we must overtake. However, it seems reasonable to look at the technical challenges that have to be overcome for a next generation of nuclear electric systems for space exploration. This paper will present some recent studies going on in France, on space reactors for exploration. Three classes of power have been considered: 10kWe, 100kWe, and several megawatts. Available data from previous studies and developments performed in Russia, USA], and Europe, have been collected and gave us a large overview of potential technical solutions. This was the starting point of a trade-off analysis aiming at the selection of the best options, with regards to the technological readiness level in France and Europe. The resulting preliminary designs will be presented and critical technologies needing maturation activities will be highlighted. (author)
Space station as a vital focus for advancing the technologies of automation and robotics
Varsi, Giulio; Herman, Daniel H.
A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.
Human-Robot Site Survey and Sampling for Space Exploration
Fong, Terrence; Bualat, Maria; Edwards, Laurence; Flueckiger, Lorenzo; Kunz, Clayton; Lee, Susan Y.; Park, Eric; To, Vinh; Utz, Hans; Ackner, Nir
NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.
Control of free-flying space robot manipulator systems
Cannon, Robert H., Jr.
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.
Definition of technology development missions for early space stations. Large space structures, phase 2, midterm review
The large space structures technology development missions to be performed on an early manned space station was studied and defined and the resources needed and the design implications to an early space station to carry out these large space structures technology development missions were determined. Emphasis is being placed on more detail in mission designs and space station resource requirements.
Cognitive Tools for Humanoid Robots in Space
National Research Council Canada - National Science Library
Sofge, Donald; Perzanowski, Dennis; Skubic, Marjorie; Bugajska, Magdalena; Trafton, J. G; Cassimatis, Nicholas; Brock, Derek; Adams, William; Schultz, Alan
...) to collaborate with a human. The capabilities required of the robot include voice recognition, natural language understanding, gesture recognition, spatial reasoning, and cognitive modeling with perspective-taking...
Human-Robot Teaming in a Multi-Agent Space Assembly Task
Rehnmark, Fredrik; Currie, Nancy; Ambrose, Robert O.; Culbert, Christopher
NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of humans with the survivability and physical capabilities of robots is proposed and illustrated by example. Such teams are useful for large-scale, complex missions requiring dispersed manipulation, locomotion and sensing capabilities. To study collaboration modalities within a multi-agent EVA team, a 1-g test is conducted with humans and robots working together in various supporting roles.
Planning the Motion of a Robotic Assistant for Space Applications
National Aeronautics and Space Administration — Revolutions in computing hardware and software have brought about an age where robots and people will be able to peacefully and safely co-exist in the same...
Commanding and Planning for Robots in Space Operations
National Aeronautics and Space Administration — Autonomous and semi-autonomous systems like unmanned spacecraft or robotic vehicles have filled critical roles in NASA's great successes, surviving the harsh...
Using conceptual spaces to fuse knowledge from heterogeneous robot platforms
Kira, Zsolt
As robots become more common, it becomes increasingly useful for many applications to use them in teams that sense the world in a distributed manner. In such situations, the robots or a central control center must communicate and fuse information received from multiple sources. A key challenge for this problem is perceptual heterogeneity, where the sensors, perceptual representations, and training instances used by the robots differ dramatically. In this paper, we use Gärdenfors' conceptual spaces, a geometric representation with strong roots in cognitive science and psychology, in order to represent the appearance of objects and show how the problem of heterogeneity can be intuitively explored by looking at the situation where multiple robots differ in their conceptual spaces at different levels. To bridge low-level sensory differences, we abstract raw sensory data into properties (such as color or texture categories), represented as Gaussian Mixture Models, and demonstrate that this facilitates both individual learning and the fusion of concepts between robots. Concepts (e.g. objects) are represented as a fuzzy mixture of these properties. We then treat the problem where the conceptual spaces of two robots differ and they only share a subset of these properties. In this case, we use joint interaction and statistical metrics to determine which properties are shared. Finally, we show how conceptual spaces can handle the combination of such missing properties when fusing concepts received from different robots. We demonstrate the fusion of information in real-robot experiments with a Mobile Robots Amigobot and Pioneer 2DX with significantly different cameras and (on one robot) a SICK lidar.ÿÿÿÿ
Integration of advanced teleoperation technologies for control of space robots
Stagnaro, Michael J.
Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.
A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions
Hanford, Scott D.
Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the
Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.
Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M
The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.
Ground Robotic Hand Applications for the Space Program study (GRASP)
Grissom, William A.; Rafla, Nader I. (Editor)
This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.
Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration
Marquez, Jessica J.
Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.
Planning, Implementation and Optimization of Future space Missions using an Immersive Visualization Environement (IVE) Machine
Harris, E.
Planning, Implementation and Optimization of Future Space Missions using an Immersive Visualization Environment (IVE) Machine E. N. Harris, Lockheed Martin Space Systems, Denver, CO and George.W. Morgenthaler, U. of Colorado at Boulder History: A team of 3-D engineering visualization experts at the Lockheed Martin Space Systems Company have developed innovative virtual prototyping simulation solutions for ground processing and real-time visualization of design and planning of aerospace missions over the past 6 years. At the University of Colorado, a team of 3-D visualization experts are developing the science of 3-D visualization and immersive visualization at the newly founded BP Center for Visualization, which began operations in October, 2001. (See IAF/IAA-01-13.2.09, "The Use of 3-D Immersive Visualization Environments (IVEs) to Plan Space Missions," G. A. Dorn and G. W. Morgenthaler.) Progressing from Today's 3-D Engineering Simulations to Tomorrow's 3-D IVE Mission Planning, Simulation and Optimization Techniques: 3-D (IVEs) and visualization simulation tools can be combined for efficient planning and design engineering of future aerospace exploration and commercial missions. This technology is currently being developed and will be demonstrated by Lockheed Martin in the (IVE) at the BP Center using virtual simulation for clearance checks, collision detection, ergonomics and reach-ability analyses to develop fabrication and processing flows for spacecraft and launch vehicle ground support operations and to optimize mission architecture and vehicle design subject to realistic constraints. Demonstrations: Immediate aerospace applications to be demonstrated include developing streamlined processing flows for Reusable Space Transportation Systems and Atlas Launch Vehicle operations and Mars Polar Lander visual work instructions. Long-range goals include future international human and robotic space exploration missions such as the development of a Mars
Quasar Astrophysics with the Space Interferometry Mission
Unwin, Stephen; Wehrle, Ann; Meier, David; Jones, Dayton; Piner, Glenn
Optical astrometry of quasars and active galaxies can provide key information on the spatial distribution and variability of emission in compact nuclei. The Space Interferometry Mission (SIM PlanetQuest) will have the sensitivity to measure a significant number of quasar positions at the microarcsecond level. SIM will be very sensitive to astrometric shifts for objects as faint as V = 19. A variety of AGN phenomena are expected to be visible to SIM on these scales, including time and spectral dependence in position offsets between accretion disk and jet emission. These represent unique data on the spatial distribution and time dependence of quasar emission. It will also probe the use of quasar nuclei as fundamental astrometric references. Comparisons between the time-dependent optical photocenter position and VLBI radio images will provide further insight into the jet emission mechanism. Observations will be tailored to each specific target and science question. SIM will be able to distinguish spatially between jet and accretion disk emission; and it can observe the cores of galaxies potentially harboring binary supermassive black holes resulting from mergers.
Heuristics Applied in the Development of Advanced Space Mission Concepts
Nilsen, Erik N.
Advanced mission studies are the first step in determining the feasibility of a given space exploration concept. A space scientist develops a science goal in the exploration of space. This may be a new observation method, a new instrument or a mission concept to explore a solar system body. In order to determine the feasibility of a deep space mission, a concept study is convened to determine the technology needs and estimated cost of performing that mission. Heuristics are one method of defining viable mission and systems architectures that can be assessed for technology readiness and cost. Developing a viable architecture depends to a large extent upon extending the existing body of knowledge, and applying it in new and novel ways. These heuristics have evolved over time to include methods for estimating technical complexity, technology development, cost modeling and mission risk in the unique context of deep space missions. This paper examines the processes involved in performing these advanced concepts studies, and analyzes the application of heuristics in the development of an advanced in-situ planetary mission. The Venus Surface Sample Return mission study provides a context for the examination of the heuristics applied in the development of the mission and systems architecture. This study is illustrative of the effort involved in the initial assessment of an advance mission concept, and the knowledge and tools that are applied.
Human and Robotic Exploration Missions to Phobos Prior to Crewed Mars Surface Missions
Gernhardt, Michael L.; Chappell, Steven P.; Bekdash, Omar S.; Abercromby, Andrew F.
from portable foot restraints or body restrain tethers in the vicinity of the habitat. Prototype structures were tested as part of NEEMO 20. PEVs would contain closed loop guidance and provide life support and consumables for two crew for 2 weeks plus reserves. The PEV has a cabin that uses the exploration atmosphere of 8.2 psi with 34% oxygen, enabling use of suit ports for rapid EVA with minimal oxygen prebreathe as well as dust control by keeping the suits outside the pressurized volume. When equipped with outriggers and control moment gyros, the PEV enables EVA tasks of up to 8 pounds of force application without the need to anchor. Tasks with higher force requirements can be performed with PEV propulsion providing the necessary thrust to react forces. Exploration of Phobos builds heavily from the developments of the cis-lunar proving ground, and significantly reduces Mars surface risk by facilitating the development and testing of habitats, MAVs, and pressurized rover cabins that are all Mars surface forward. A robotic precursor mission to Phobos and Deimos is also under consideration and would need to launch in 2022 to support a 2031 human Phobos mission.
Hubble Space Telescope: Should NASA Proceed with a Servicing Mission?
National Research Council Canada - National Science Library
Morgan, Daniel
The National Aeronautics and Space Administration (NASA) estimates that without a servicing mission to replace key components, the Hubble Space Telescope will cease scientific operations in 2008 instead of 2010...
Manned Mission Space Exploration Utilizing a Flexible Universal Module
Humphries, P.; Barez, F.; Gowda, A.
The proposed ASMS, Inc. "Flexible Universal Module" is in support of NASA's Deep Space Gateway project. The Flexible Universal Module provides a possible habitation or manufacturing environment in support of Manned Mission for Space Exploration.
Observational Model for Precision Astrometry with the Space Interferometry Mission
National Research Council Canada - National Science Library
Turyshev, Slava G; Milman, Mark H
The Space Interferometry Mission (SIM) is a space-based 10-m baseline Michelson optical interferometer operating in the visible waveband that is designed to achieve astrometric accuracy in the single digits of the microarcsecond domain...
Model-Based Trade Space Exploration for Near-Earth Space Missions
Cohen, Ronald H.; Boncyk, Wayne; Brutocao, James; Beveridge, Iain
We developed a capability for model-based trade space exploration to be used in the conceptual design of Earth-orbiting space missions. We have created a set of reusable software components to model various subsystems and aspects of space missions. Several example mission models were created to test the tools and process. This technique and toolset has demonstrated itself to be valuable for space mission architectural design.
A robotic system for automation of logistics functions on the Space Station
Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.
Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.
Robonaut: a robot designed to work with humans in space
Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby
The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.
Human-like robots for space and hazardous environments
The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.
Robonaut 2 - Building a Robot on the International Space Station
Diftler, Myron; Badger, Julia; Joyce, Charles; Potter, Elliott; Pike, Leah
In 2010, the Robonaut Project embarked on a multi-phase mission to perform technology demonstrations on-board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra-Vehicular Activity (IVA) Mobility, that utilizes a set of zero-g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot
Multiagent Modeling and Simulation in Human-Robot Mission Operations Work System Design
Sierhuis, Maarten; Clancey, William J.; Sims, Michael H.; Shafto, Michael (Technical Monitor)
This paper describes a collaborative multiagent modeling and simulation approach for designing work systems. The Brahms environment is used to model mission operations for a semi-autonomous robot mission to the Moon at the work practice level. It shows the impact of human-decision making on the activities and energy consumption of a robot. A collaborative work systems design methodology is described that allows informal models, created with users and stakeholders, to be used as input to the development of formal computational models.
Computational needs survey of NASA automation and robotics missions. Volume 2: Appendixes
Davis, Gloria J.
NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is the fact that mission computing requirements are frequency unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. Here, NASA, industry and academic communities are provided with a preliminary set of advanced mission computational processing requirements of automation and robotics (A and R) systems. The results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implemented capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Here, appendixes are provided.
Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results
Davis, Gloria J.
NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.
Use of automation and robotics for the Space Station
Cohen, Aaron
An overview is presented of the various possible applications of automation and robotics technology to the Space Station system. The benefits of such technology to the private sector and the national economy are addressed. NASA's overall approach to incorporating advanced technology into the Space Station is examined.
Low urinary albumin excretion in astronauts during space missions
DEFF Research Database (Denmark)
Cirillo, Massimo; De Santo, Natale G; Heer, Martina
BACKGROUND: Physiological changes occur in man during space missions also at the renal level. Proteinuria was hypothesized for space missions but research data are missing. METHODS: Urinary albumin, as an index of proteinuria, and other variables were analyzed in 4 astronauts during space missions...... onboard the MIR station and on the ground (control). Mission duration before first urine collection in the four astronauts was 4, 26, 26, and 106 days, respectively. On the ground, data were collected 2 months before mission in two astronauts, 6 months after in the other astronauts. A total of twenty......-two 24-hour urine collections were obtained in space (n per astronaut = 1-14) and on the ground (n per astronaut = 2-12). Urinary albumin was measured by radioimmunoassay. For each astronaut, mean of data in space and on the ground was defined as individual average. RESULTS: The individual averages of 24...
Controlling Robots with a Spring in Their Step
National Aeronautics and Space Administration — In future manned planetary exploration missions there is a strong logic that robots will remain central to the mission success. These robots may be called upon to...
Fusion energy for space missions in the 21st century: Executive summary
International Nuclear Information System (INIS)
Schulze, N.R.
Future space missions were hypothesized and analyzed, and the energy source of their accomplishment investigated. The missions included manned Mars, scientific outposts to and robotic sample return missions from the outer planets and asteroids, as well as fly-by and rendezvous missions with the Oort Cloud and the nearest star, Alpha Centauri. Space system parametric requirements and operational features were established. The energy means for accomplishing missions where delta v requirements range from 90 km/sec to 30,000 km/sec (High Energy Space Mission) were investigated. The need to develop a power space of this magnitude is a key issue to address if the U.S. civil space program is to continue to advance as mandated by the National Space Policy. Potential energy options which could provide the propulsion and electrical power system and operational requirements were reviewed and evaluated. Fusion energy was considered to be the preferred option and was analyzed in depth. Candidate fusion fuels were evaluated based upon the energy output and neutron flux. Additionally, fusion energy can offer significant safety, environmental, economic, and operational advantages. Reactors exhibiting a highly efficient use of magnetic fields for space use while at the same time offering efficient coupling to an exhaust propellant or to a direct energy convertor for efficient electrical production were examined. Near term approaches were identified. A strategy that will produce fusion powered vehicles as part of the space transportation infrastructure was developed. Space program resources must be directed toward this issue as a matter of the top policy priority
Fusion energy for space missions in the 21st century: Executive summary
Schulze, Norman R.
Future space missions were hypothesized and analyzed, and the energy source of their accomplishment investigated. The missions included manned Mars, scientific outposts to and robotic sample return missions from the outer planets and asteroids, as well as fly-by and rendezvous missions with the Oort Cloud and the nearest star, Alpha Centauri. Space system parametric requirements and operational features were established. The energy means for accomplishing missions where delta v requirements range from 90 km/sec to 30,000 km/sec (High Energy Space Mission) were investigated. The need to develop a power space of this magnitude is a key issue to address if the U.S. civil space program is to continue to advance as mandated by the National Space Policy. Potential energy options which could provide the propulsion and electrical power system and operational requirements were reviewed and evaluated. Fusion energy was considered to be the preferred option and was analyzed in depth. Candidate fusion fuels were evaluated based upon the energy output and neutron flux. Additionally, fusion energy can offer significant safety, environmental, economic, and operational advantages. Reactors exhibiting a highly efficient use of magnetic fields for space use while at the same time offering efficient coupling to an exhaust propellant or to a direct energy convertor for efficient electrical production were examined. Near term approaches were identified. A strategy that will produce fusion powered vehicles as part of the space transportation infrastructure was developed. Space program resources must be directed toward this issue as a matter of the top policy priority.
Mission Activity Planning for Humans and Robots on the Moon
Weisbin, C.; Shelton, K.; Lincoln, W.; Elfes, A.; Smith, J.H.; Mrozinski, J.; Hua, H.; Adumitroaie, V.; Silberg, R.
A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.
Robots for hazardous duties: Military, space, and nuclear facility applications. (Latest citations from the NTIS bibliographic database). Published Search
International Nuclear Information System (INIS)
The bibliography contains citations concerning the design and application of robots used in place of humans where the environment could be hazardous. Military applications include autonomous land vehicles, robotic howitzers, and battlefield support operations. Space operations include docking, maintenance, mission support, and intra-vehicular and extra-vehicular activities. Nuclear applications include operations within the containment vessel, radioactive waste operations, fueling operations, and plant security. Many of the articles reference control techniques and the use of expert systems in robotic operations. Applications involving industrial manufacturing, walking robots, and robot welding are cited in other published searches in this series. (Contains a minimum of 183 citations and includes a subject term index and title list.)
Space water electrolysis: Space Station through advance missions
Davenport, Ronald J.; Schubert, Franz H.; Grigger, David J.
Static Feed Electrolyzer (SFE) technology can satisfy the need for oxygen (O2) and Hydrogen (H2) in the Space Station Freedom and future advanced missions. The efficiency with which the SFE technology can be used to generate O2 and H2 is one of its major advantages. In fact, the SFE is baselined for the Oxygen Generation Assembly within the Space Station Freedom's Environmental Control and Life Support System (ECLSS). In the conventional SFE process an alkaline electrolyte is contained within the matrix and is sandwiched between two porous electrodes. The electrodes and matrix make up a unitized cell core. The electrolyte provides the necessary path for the transport of water and ions between the electrodes, and forms a barrier to the diffusion of O2 and H2. A hydrophobic, microporous membrane permits water vapor to diffuse from the feed water to the cell core. This membrane separates the liquid feed water from the product H2, and, therefore, avoids direct contact of the electrodes by the feed water. The feed water is also circulated through an external heat exchanger to control the temperature of the cell.
The NASA In-Space Propulsion Technology Project, Products, and Mission Applicability
Anderson, David J.; Pencil, Eric; Liou, Larry; Dankanich, John; Munk, Michelle M.; Kremic, Tibor
The In-Space Propulsion Technology (ISPT) Project, funded by NASA s Science Mission Directorate (SMD), is continuing to invest in propulsion technologies that will enable or enhance NASA robotic science missions. This overview provides development status, near-term mission benefits, applicability, and availability of in-space propulsion technologies in the areas of aerocapture, electric propulsion, advanced chemical thrusters, and systems analysis tools. Aerocapture investments improved: guidance, navigation, and control models of blunt-body rigid aeroshells; atmospheric models for Earth, Titan, Mars, and Venus; and models for aerothermal effects. Investments in electric propulsion technologies focused on completing NASA s Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6 to 7 kW throttle-able gridded ion system. The project is also concluding its High Voltage Hall Accelerator (HiVHAC) mid-term product specifically designed for a low-cost electric propulsion option. The primary chemical propulsion investment is on the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance for lower cost. The project is also delivering products to assist technology infusion and quantify mission applicability and benefits through mission analysis and tools. In-space propulsion technologies are applicable, and potentially enabling for flagship destinations currently under evaluation, as well as having broad applicability to future Discovery and New Frontiers mission solicitations.
Cross support overview and operations concept for future space missions
Stallings, William; Kaufeler, Jean-Francois
Ground networks must respond to the requirements of future missions, which include smaller sizes, tighter budgets, increased numbers, and shorter development schedules. The Consultative Committee for Space Data Systems (CCSDS) is meeting these challenges by developing a general cross support concept, reference model, and service specifications for Space Link Extension services for space missions involving cross support among Space Agencies. This paper identifies and bounds the problem, describes the need to extend Space Link services, gives an overview of the operations concept, and introduces complimentary CCSDS work on standardizing Space Link Extension services.
Space station automation and robotics study. Operator-systems interface
This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.
Technology demonstration of space intravehicular automation and robotics
Morris, A. Terry; Barker, L. Keith
Automation and robotic technologies are being developed and capabilities demonstrated which would increase the productivity of microgravity science and materials processing in the space station laboratory module, especially when the crew is not present. The Automation Technology Branch at NASA Langley has been working in the area of intravehicular automation and robotics (IVAR) to provide a user-friendly development facility, to determine customer requirements for automated laboratory systems, and to improve the quality and efficiency of commercial production and scientific experimentation in space. This paper will describe the IVAR facility and present the results of a demonstration using a simulated protein crystal growth experiment inside a full-scale mockup of the space station laboratory module using a unique seven-degree-of-freedom robot.
A Method for Estimating Costs and Benefits of Space Assembly and Servicing By Astronauts and Robots
Purves, Lloyd R.; Benfield, Mark (Technical Monitor)
One aspect of designing future space missions is to determine whether Space Assembly and Servicing (SAS) is useful and, if so, what combination of robots and astronauts provides the most effective means of accomplishing it. Certain aspects of these choices, such as the societal value of developing the means for humans to live in space, do not lend themselves to quantification. However, other SAS costs and benefits can be quantified in a manner that can help select the most cost-effective SAS approach. Any space facility, whether it is assembled and serviced or not, entails an eventual replacement cost due to wear and obsolescence. Servicing can reduce this cost by limiting replacement to only failed or obsolete components. However, servicing systems, such as space robots, have their own logistics cost, and astronauts can have even greater logistics requirements. On the other hand, humans can be more capable than robots at performing dexterous and unstructured tasks, which can reduce logistics costs by allowing a reduction in mass of replacement components. Overall, the cost-effectiveness of astronaut SAS depends on its efficiency; and, if astronauts have to be wholly justified by their servicing usefulness, then the serviced space facility has to be large enough to fully occupy them.
Deep Space 2: The Mars Microprobe Mission
Smrekar, Suzanne; Catling, David; Lorenz, Ralph; Magalhães, Julio; Moersch, Jeffrey; Morgan, Paul; Murray, Bruce; Presley-Holloway, Marsha; Yen, Albert; Zent, Aaron; Blaney, Diana
The Mars Microprobe Mission will be the second of the New Millennium Program's technology development missions to planetary bodies. The mission consists of two penetrators that weigh 2.4 kg each and are being carried as a piggyback payload on the Mars Polar Lander cruise ring. The spacecraft arrive at Mars on December 3, 1999. The two identical penetrators will impact the surface at ~190 m/s and penetrate up to 0.6 m. They will land within 1 to 10 km of each other and ~50 km from the Polar Lander on the south polar layered terrain. The primary objective of the mission is to demonstrate technologies that will enable future science missions and, in particular, network science missions. A secondary goal is to acquire science data. A subsurface evolved water experiment and a thermal conductivity experiment will estimate the water content and thermal properties of the regolith. The atmospheric density, pressure, and temperature will be derived using descent deceleration data. Impact accelerometer data will be used to determine the depth of penetration, the hardness of the regolith, and the presence or absence of 10 cm scale layers.
In-Space Propulsion Technology Products for NASA's Future Science and Exploration Missions
Anderson, David J.; Pencil, Eric; Peterson, Todd; Dankanich, John; Munk, Michelle M.
Since 2001, the In-Space Propulsion Technology (ISPT) project has been developing and delivering in-space propulsion technologies that will enable or enhance NASA robotic science missions. These in-space propulsion technologies are applicable, and potentially enabling, for future NASA flagship and sample return missions currently being considered, as well as having broad applicability to future competed mission solicitations. The high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance for lower cost was completed in 2009. Two other ISPT technologies are nearing completion of their technology development phase: 1) NASA's Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system; and 2) Aerocapture technology development with investments in a family of thermal protection system (TPS) materials and structures; guidance, navigation, and control (GN&C) models of blunt-body rigid aeroshells; aerothermal effect models: and atmospheric models for Earth, Titan, Mars and Venus. This paper provides status of the technology development, applicability, and availability of in-space propulsion technologies that have recently completed their technology development and will be ready for infusion into NASA s Discovery, New Frontiers, Science Mission Directorate (SMD) Flagship, and Exploration technology demonstration missions
NASA Goddard Space Flight Center Robotic Processing System Program Automation Systems, volume 2
Dobbs, M. E.
Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form. Some of the areas covered include: (1) mission requirements; (2) automation management system; (3) Space Transportation System (STS) Hitchhicker Payload; (4) Spacecraft Command Language (SCL) scripts; (5) SCL software components; (6) RoMPS EasyLab Command & Variable summary for rack stations and annealer module; (7) support electronics assembly; (8) SCL uplink packet definition; (9) SC-4 EasyLab System Memory Map; (10) Servo Axis Control Logic Suppliers; and (11) annealing oven control subsystem.
Innovative Robot Archetypes for In-Space Construction and Maintenance
Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher
The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts
Cryogenic Propellant Storage and Transfer Technology Demonstration For Long Duration In-Space Missions
Meyer, Michael L.; Motil, Susan M.; Kortes, Trudy F.; Taylor, William J.; McRight, Patrick S.
The high specific impulse of cryogenic propellants can provide a significant performance advantage for in-space transfer vehicles. The upper stages of the Saturn V and various commercial expendable launch vehicles have used liquid oxygen and liquid hydrogen propellants; however, the application of cryogenic propellants has been limited to relatively short duration missions due to the propensity of cryogens to absorb environmental heat resulting in fluid losses. Utilizing advanced cryogenic propellant technologies can enable the efficient use of high performance propellants for long duration missions. Crewed mission architectures for beyond low Earth orbit exploration can significantly benefit from this capability by developing realistic launch spacing for multiple launch missions, by prepositioning stages and by staging propellants at an in-space depot. The National Aeronautics and Space Administration through the Office of the Chief Technologist is formulating a Cryogenic Propellant Storage and Transfer Technology Demonstration Mission to mitigate the technical and programmatic risks of infusing these advanced technologies into the development of future cryogenic propellant stages or in-space propellant depots. NASA is seeking an innovative path for human space exploration, which strengthens the capability to extend human and robotic presence throughout the solar system. This mission will test and validate key cryogenic technological capabilities and has the objectives of demonstrating advanced thermal control technologies to minimize propellant loss during loiter, demonstrating robust operation in a microgravity environment, and demonstrating efficient propellant transfer on orbit. The status of the demonstration mission concept development, technology demonstration planning and technology maturation activities in preparation for flight system development are described.
MITEE-B: A compact ultra lightweight bi-modal nuclear propulsion engine for robotic planetary science missions
International Nuclear Information System (INIS)
Powell, James; Maise, George; Paniagua, John; Borowski, Stanley
Nuclear thermal propulsion (NTP) enables unique new robotic planetary science missions that are impossible with chemical or nuclear electric propulsion systems. A compact and ultra lightweight bi-modal nuclear engine, termed MITEE-B (MInature ReacTor EnginE - Bi-Modal) can deliver 1000's of kilograms of propulsive thrust when it operates in the NTP mode, and many kilowatts of continuous electric power when it operates in the electric generation mode. The high propulsive thrust NTP mode enables spacecraft to land and takeoff from the surface of a planet or moon, to hop to multiple widely separated sites on the surface, and virtually unlimited flight in planetary atmospheres. The continuous electric generation mode enables a spacecraft to replenish its propellant by processing in-situ resources, provide power for controls, instruments, and communications while in space and on the surface, and operate electric propulsion units. Six examples of unique and important missions enabled by the MITEE-B engine are described, including: (1) Pluto lander and sample return; (2) Europa lander and ocean explorer; (3) Mars Hopper; (4) Jupiter atmospheric flyer; (5) SunBurn hypervelocity spacecraft; and (6) He3 mining from Uranus. Many additional important missions are enabled by MITEE-B. A strong technology base for MITEE-B already exists. With a vigorous development program, it could be ready for initial robotic science and exploration missions by 2010 AD. Potential mission benefits include much shorter in-space times, reduced IMLEO requirements, and replenishment of supplies from in-situ resources
Extending Mobile Security Robots to Force Protection Missions
National Research Council Canada - National Science Library
Carroll, Daniel
...) sites for physical security and automated inventory missions MDARS was initiated in 1989 to improve the effectiveness of a shrinking guard force, but was quickly expanded to address the intensive...
Robotic planetary mission benefits from nuclear electric propulsion
International Nuclear Information System (INIS)
Kelley, J.H.; Yen, C.L.
Several interesting planetary missions are either enabled or significantly enhanced by nuclear electric propulsion (NEP) in the 50 to 100 kW power range. These missions include a Pluto Orbiter/Probe with an 11-year flight time and several years of operational life in orbit versus a ballistic very fast (13 km/s) flyby which would take longer to get to Pluto and would have a very short time to observe the planet. (A ballistic orbiter would take about 40 years to get to Pluto.) Other missions include a Neptune Orbiter/Probe, a Jupiter Grand Tour orbiting each of the major moons in order, a Uranus Orbiter/Probe, a Multiple Mainbelt Asteroid Rendezvous orbiting six selected asteroids, and a Comet Nucleus Sample Return. This paper discusses potential missions and compares the nuclear electric propulsion option to the conventional ballistic approach on a parametric basis
Autonomous charging to enable long-endurance missions for small aerial robots
Mulgaonkar, Yash; Kumar, Vijay
The past decade has seen an increased interest towards research involving Autonomous Micro Aerial Vehicles (MAVs). The predominant reason for this is their agility and ability to perform tasks too difficult or dangerous for their human counterparts and to navigate into places where ground robots cannot reach. Among MAVs, rotary wing aircraft such as quadrotors have the ability to operate in confined spaces, hover at a given point in space and perch1 or land on a flat surface. This makes the quadrotor a very attractive aerial platform giving rise to a myriad of research opportunities. The potential of these aerial platforms is severely limited by the constraints on the flight time due to limited battery capacity. This in turn arises from limits on the payload of these rotorcraft. By automating the battery recharging process, creating autonomous MAVs that can recharge their on-board batteries without any human intervention and by employing a team of such agents, the overall mission time can be greatly increased. This paper describes the development, testing, and implementation of a system of autonomous charging stations for a team of Micro Aerial Vehicles. This system was used to perform fully autonomous long-term multi-agent aerial surveillance experiments with persistent station keeping. The scalability of the algorithm used in the experiments described in this paper was also tested by simulating a persistence surveillance scenario for 10 MAVs and charging stations. Finally, this system was successfully implemented to perform a 9½ hour multi-agent persistent flight test. Preliminary implementation of this charging system in experiments involving construction of cubic structures with quadrotors showed a three-fold increase in effective mission time.
Approaching control for tethered space robot based on disturbance observer using super twisting law
Hu, Yongxin; Huang, Panfeng; Meng, Zhongjie; Wang, Dongke; Lu, Yingbo
Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.
Space Mission Human Reliability Analysis (HRA) Project
National Aeronautics and Space Administration — The purpose of this project is to extend current ground-based Human Reliability Analysis (HRA) techniques to a long-duration, space-based tool to more effectively...
Collaboration support system for "Phobos-Soil" space mission.
Nazarov, V.; Nazirov, R.; Zakharov, A.
Rapid development of communication facilities leads growth of interactions done via electronic means. However we can see some paradox in this segment in last times: Extending of communication facilities increases collaboration chaos. And it is very sensitive for space missions in general and scientific space mission particularly because effective decision of this task provides successful realization of the missions and promises increasing the ratio of functional characteristic and cost of mission at all. Resolving of this problem may be found by using respective modern technologies and methods which widely used in different branches and not in the space researches only. Such approaches as Social Networking, Web 2.0 and Enterprise 2.0 look most prospective in this context. The primary goal of the "Phobos-Soil" mission is an investigation of the Phobos which is the Martian moon and particularly its regolith, internal structure, peculiarities of the orbital and proper motion, as well as a number of different scientific measurements and experiments for investigation of the Martian environment. A lot of investigators involved in the mission. Effective collaboration system is key facility for information support of the mission therefore. Further to main goal: communication between users of the system, modern approaches allows using such capabilities as self-organizing community, user generated content, centralized and federative control of the system. Also it may have one unique possibility - knowledge management which is very important for space mission realization. Therefore collaboration support system for "Phobos-Soil" mission designed on the base of multilayer model which includes such levels as Communications, Announcement and Information, Data sharing and Knowledge management. The collaboration support system for "Phobos-Soil" mission will be used as prototype for prospective Russian scientific space missions and the presentation describes its architecture
The Space Stellar Photometry Mission COROT: Asteroseismology ...
Indian Academy of Sciences (India)
detect giant extra solar planets (detectable by spectroscopy from the ground) and determine their albedo. As COROT is devoted to stellar photometry, aiming at both a high precision and a long observation time, the search for exoplanets by the transit method can easily be integrated in the payload and in the mission profile.
Assembling and supplying the ISS the space shuttle fulfills its mission
Shayler, David J
The creation and utilization of the International Space Station (ISS) is a milestone in space exploration. But without the Space Shuttle, it would have remained an impossible dream. Assembling and Supplying the ISS is the story of how, between 1998 and 2011, the Shuttle became the platform which enabled the construction and continued operation of the primary scientific research facility in Earth orbit. Fulfilling an objective it had been designed to complete decades before, 37 Shuttle missions carried the majority of the hardware needed to build the ISS and then acted as a ferry and supply train for early resident crews to the station. Building upon the decades of development and experience described in the companion volume Linking the Space Shuttle and Space Stations: Early Docking Technologies from Concept to Implementation, this book explores • a purpose-built hardware processing facility • challenging spacewalking objectives • extensive robotic operations • undocking a unmanned orbiter The experie...
Classical variables in the era of space photometric missions
Directory of Open Access Journals (Sweden)
Molnár L.
Full Text Available The space photometric missions like CoRoT and Kepler transformed our view of pulsating stars, including the well-known RR Lyrae and Cepheid classes. The K2, TESS and PLATO missions will expand these investigations to larger sample sizes and to specific stellar populations.
Expert systems and advanced automation for space missions operations
Durrani, Sajjad H.; Perkins, Dorothy C.; Carlton, P. Douglas
Increased complexity of space missions during the 1980s led to the introduction of expert systems and advanced automation techniques in mission operations. This paper describes several technologies in operational use or under development at the National Aeronautics and Space Administration's Goddard Space Flight Center. Several expert systems are described that diagnose faults, analyze spacecraft operations and onboard subsystem performance (in conjunction with neural networks), and perform data quality and data accounting functions. The design of customized user interfaces is discussed, with examples of their application to space missions. Displays, which allow mission operators to see the spacecraft position, orientation, and configuration under a variety of operating conditions, are described. Automated systems for scheduling are discussed, and a testbed that allows tests and demonstrations of the associated architectures, interface protocols, and operations concepts is described. Lessons learned are summarized.
Provoking Performing Objects: Expanding the Design Space for Soft Robotics
DEFF Research Database (Denmark)
Bewley, Harvey; Vallgårda, Anna
Soft robots are typically developed with specific functions in mind. What we propose here is to shift focus to their aesthetic and performative qualities as means to open up a larger space of potential expressions and tacit abilities of these animated artefacts. Basically, to focus on the aesthetic...
SEP Mission Design Space for Mars Orbiters
Woolley, Ryan C.; Nicholas, Austin K.
The advancement of solar-electric propulsion (SEP) technologies and larger, light-weight solar arrays offer a tremendous advantage to Mars orbiters in terms of both mass and timeline flexibility. These advantages are multiplied for round-trip orbiters (e.g. potential Mars sample return) where a large total Delta V would be required. In this paper we investigate the mission design characteristics of mission concepts utilizing various combinations and types of SEP thrusters, solar arrays, launch vehicles, launch dates, arrival dates, etc. SEP allows for greater than 50% more mass delivered and launch windows of months to years. We also present the SEP analog to the ballistic Porkchop plot - the "Bacon" plot.
Atmosphere composition monitor for space station and advanced missions application
International Nuclear Information System (INIS)
Wynveen, R.A.; Powell, F.T.
Long-term human occupation of extraterrestrial locations may soon become a reality. The National Aeronautics and Space Administration (NASA) has recently completed the definition and preliminary design of the low earth orbit (LEO) space station. They are now currently moving into the detailed design and fabrication phase of this space station and are also beginning to analyze the requirements of several future missions that have been identified. These missions include, for example, Lunar and Mars sorties, outposts, bases, and settlements. A requirement of both the LEO space station and future missions are environmental control and life support systems (ECLSS), which provide a comfortable environment for humans to live and work. The ECLSS consists of several major systems, including atmosphere revitalization system (ARS), atmosphere pressure and composition control system, temperature and humidity control system, water reclamation system, and waste management system. Each of these major systems is broken down into subsystems, assemblies, units, and instruments. Many requirements and design drivers are different for the ECLSS of the LEO space station and the identified advanced missions (e.g., longer mission duration). This paper discusses one of the ARS assemblies, the atmosphere composition monitor assembly (ACMA), being developed for the LEO space station and addresses differences that will exist for the ACMA of future missions
In-Space Propulsion Technology Products Ready for Infusion on NASA's Future Science Missions
Anderson, David J.; Pencil, Eric; Peterson, Todd; Dankanich, John; Munk, Michele M.
Since 2001, the In-Space Propulsion Technology (ISPT) program has been developing and delivering in-space propulsion technologies that will enable or enhance NASA robotic science missions. These in-space propulsion technologies are applicable, and potentially enabling, for future NASA flagship and sample return missions currently being considered. They have a broad applicability to future competed mission solicitations. The high-temperature Advanced Material Bipropellant Rocket (AMBR) engine, providing higher performance for lower cost, was completed in 2009. Two other ISPT technologies are nearing completion of their technology development phase: 1) NASA s Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system; and 2) Aerocapture technology development with investments in a family of thermal protection system (TPS) materials and structures; guidance, navigation, and control (GN&C) models of blunt-body rigid aeroshells; aerothermal effect models; and atmospheric models for Earth, Titan, Mars and Venus. This paper provides status of the technology development, applicability, and availability of in-space propulsion technologies that have recently completed their technology development and will be ready for infusion into NASA s Discovery, New Frontiers, SMD Flagship, or technology demonstration missions.
Proceedings of the Goddard Space Flight Center Workshop on Robotics for Commercial Microelectronic Processes in Space
Potential applications of robots for cost effective commercial microelectronic processes in space were studied and the associated robotic requirements were defined. Potential space application areas include advanced materials processing, bulk crystal growth, and epitaxial thin film growth and related processes. All possible automation of these processes was considered, along with energy and environmental requirements. Aspects of robot capabilities considered include system intelligence, ROM requirements, kinematic and dynamic specifications, sensor design and configuration, flexibility and maintainability. Support elements discussed included facilities, logistics, ground support, launch and recovery, and management systems.
Artificial intelligence techniques for scheduling Space Shuttle missions
Henke, Andrea L.; Stottler, Richard H.
Planning and scheduling of NASA Space Shuttle missions is a complex, labor-intensive process requiring the expertise of experienced mission planners. We have developed a planning and scheduling system using combinations of artificial intelligence knowledge representations and planning techniques to capture mission planning knowledge and automate the multi-mission planning process. Our integrated object oriented and rule-based approach reduces planning time by orders of magnitude and provides planners with the flexibility to easily modify planning knowledge and constraints without requiring programming expertise.
Research Objectives for Human Missions in the Proving Ground of Cis-Lunar Space
Spann, James; Niles, Paul; Eppler, Dean; Kennedy, Kriss; Lewis, Ruthan; Sullivan, Thomas
Introduction: This talk will introduce the preliminary findings in support of NASA's Future Capabilities Team. In support of the ongoing studies conducted by NASA's Future Capabilities Team, we are tasked with collecting re-search objectives for the Proving Ground activities. The objectives could include but are certainly not limited to: demonstrating crew well being and performance over long duration missions, characterizing lunar volatiles, Earth monitoring, near Earth object search and identification, support of a far-side radio telescope, and measuring impact of deep space environment on biological systems. Beginning in as early as 2023, crewed missions beyond low Earth orbit will be enabled by the new capabilities of the SLS and Orion vehicles. This will initiate the "Proving Ground" phase of human exploration with Mars as an ultimate destination. The primary goal of the Proving Ground is to demonstrate the capability of suitably long dura-tion spaceflight without need of continuous support from Earth, i.e. become Earth Independent. A major component of the Proving Ground phase is to conduct research activities aimed at accomplishing major objectives selected from a wide variety of disciplines including but not limited to: Astronomy, Heliophysics, Fun-damental Physics, Planetary Science, Earth Science, Human Systems, Fundamental Space Biology, Microgravity, and In Situ Resource Utilization. Mapping and prioritizing the most important objectives from these disciplines will provide a strong foundation for establishing the architecture to be utilized in the Proving Ground. Possible Architectures: Activities and objectives will be accomplished during the Proving Ground phase using a deep space habitat. This habitat will potentially be accompanied by a power/propulsion bus capable of moving the habitat to accomplish different objectives within cis-lunar space. This architecture can also potentially support stag-ing of robotic and tele-robotic assets as well as
Using NASA's Space Launch System to Enable Game Changing Science Mission Designs
Creech, Stephen D.
NASA's Marshall Space Flight Center is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will help restore U.S. leadership in space by carrying the Orion Multi-Purpose Crew Vehicle and other important payloads far beyond Earth orbit. Its evolvable architecture will allow NASA to begin with Moon fly-bys and then go on to transport humans or robots to distant places such as asteroids, Mars, and the outer solar system. Designed to simplify spacecraft complexity, the SLS rocket will provide improved mass margins and radiation mitigation, and reduced mission durations. These capabilities offer attractive advantages for ambitious missions such as a Mars sample return, by reducing infrastructure requirements, cost, and schedule. For example, if an evolved expendable launch vehicle (EELV) were used for a proposed mission to investigate the Saturn system, a complicated trajectory would be required with several gravity-assist planetary fly-bys to achieve the necessary outbound velocity. The SLS rocket, using significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, reducing trip times and cost. As this paper will report, the SLS rocket will launch payloads of unprecedented mass and volume, such as monolithic telescopes and in-space infrastructure. Thanks to its ability to co-manifest large payloads, it also can accomplish complex missions in fewer launches. Future analyses will include reviews of alternate mission concepts and detailed evaluations of SLS figures of merit, helping the new rocket revolutionize science mission planning and design for years to come.
Future NASA mission applications of space nuclear power
International Nuclear Information System (INIS)
Bennett, G.L.; Mankins, J.; McConnell, D.G.; Reck, G.M.
Recent studies sponsored by NASA show a continuing need for space nuclear power. A recently completed study considered missions such as a Jovian grand tour, a Uranus or Neptune orbiter and probe, and a Pluto flyby that can only be done with nuclear power. There are studies for missions beyond the outer boundaries of the solar system at distances of 100 to 1000 astronomical units. The NASA 90-day study on the space exploration initiative identified a need for nuclear reactors to power lunar surface bases and radioisotope power sources for use in lunar or Martian rovers, as well as considering options for advanced, nuclear propulsion systems for human missions to Mars
Probabilistic Verification of Multi-Robot Missions in Uncertain Environments
has been used to measure the environment, including any dynamic obstacles. However, no matter how the model originates, this approach is based on...modeled as bivariate Gaussian distributions and estimated by calibration measurements . The Robot process model is described in prior work [13...sn〉 (pR,pE)(obR) = In〈pR〉〈p〉 ; In〈pE〉〈e〉 ; ( Gtr〈 d(p,e), sr〉〈p1〉 ; Out〈obR,p1〉 | Lte 〈 d(p,e), sr〉〈p2〉 ; Out〈obR, sn+p2 〉 ) ; Sensors
Logistics Needs for Potential Deep Space Mission Scenarios Post Asteroid Crewed Mission
Lopez, Pedro, Jr.
A deep-space mission has been proposed to identify and redirect an asteroid to a distant retrograde orbit around the moon, and explore it by sending a crew using the Space Launch System and the Orion spacecraft. The Asteroid Redirect Crewed Mission (ARCM), which represents the third segment of the Asteroid Redirect Mission (ARM), could be performed on EM-3 or EM-4 depending on asteroid return date. Recent NASA studies have raised questions on how we could progress from current Human Space Flight (HSF) efforts to longer term human exploration of Mars. This paper will describe the benefits of execution of the ARM as the initial stepping stone towards Mars exploration, and how the capabilities required to send humans to Mars could be built upon those developed for the asteroid mission. A series of potential interim missions aimed at developing such capabilities will be described, and the feasibility of such mission manifest will be discussed. Options for the asteroid crewed mission will also be addressed, including crew size and mission duration.
Social and Cultural Issues During Shuttle/Mir Space Missions
Kanas, Nick; Salnitskiy, Vyacheslav; Grund, Ellen M.; Gushin, Vadim; Weiss, Daniel S.; Kozerenko, Olga; Sled, Alexander; Marmar, Charles R.
A number of interpersonal issues relevant to manned space missions have been identified from the literature. These include crew tension, cohesion, leadership, language and cultural factors, and displacement. Ground-based studies by others and us have clarified some of the parameters of these issues and have indicated ways in which they could be studied during actual space missions. In this paper, we summarize some of our findings related to social and cultural issues from a NASA-funded study conducted during several Shuttle/Mir space missions. We used standardized mood and group climate measures that were completed on a weekly basis by American and Russian crew and mission control subjects who participated in these missions. Our results indicated that American subjects reported more dissatisfaction with their interpersonal environment than their Russian counterparts, especially American astronauts. Mission control personnel were more dysphoric than crewmembers, but both groups were signficantly less dysphoric than other work groups on Earth. Countermeasures based on our findings are discussed which can be applied to future multicultural space missions.
Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle
Komendera, Erik E.; Dorsey, John T.
Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.
Pathways to space: A mission to foster the next generation of scientists and engineers
Dougherty, Kerrie; Oliver, Carol; Fergusson, Jennifer
The first education project funded under the Australian Government's Australian Space Research Program (ASRP), Pathways to Space was a unique project combining education, science communication research and research in astrobiology and robotics. It drew upon the challenges of space exploration to inspire students to consider study and careers in science and engineering. A multi-faceted program, Pathways to Space provided hands-on opportunities for high school and university students to participate in realistic simulations of a robotic Mars exploration mission for astrobiology. Its development was a collaboration between the Australian Centre for Astrobiology (University of New South Wales), the Australian Centre for Field Robotics (University of Sydney), the Powerhouse Museum and industry partner, Cisco. Focused on students in Years 9-10 (15-16 years of age), this program provided them with the opportunity to engage directly with space engineers and astrobiologists, while carrying out a simulated Mars mission using the digital learning facilities available at the Powerhouse Museum. As a part of their program, the students operated robotic mini-rovers in the Powerhouse Museum's "Mars Yard", a highly accurate simulation of the Martian surface, where university students also carry out the development and testing of experimental Mars roving vehicles. This aspect of the program has brought real science and engineering research into the public space of the museum. As they undertook the education program, the students participated in a research study aimed at understanding the effectiveness of the project in achieving its key objective - encouraging students to consider space related courses and careers. This paper outlines the development and operation of the Pathways to Space project over its 3-year funding period, during which it met and exceeded all the requirements of its ASRP grant. It will look at the goals of the project, the rationale behind the education and
TAMU: A New Space Mission Operations Paradigm
Meshkat, Leila; Ruszkowski, James; Haensly, Jean; Pennington, Granvil A.; Hogle, Charles
The Transferable, Adaptable, Modular and Upgradeable (TAMU) Flight Production Process (FPP) is a model-centric System of System (SoS) framework which cuts across multiple organizations and their associated facilities, that are, in the most general case, in geographically diverse locations, to develop the architecture and associated workflow processes for a broad range of mission operations. Further, TAMU FPP envisions the simulation, automatic execution and re-planning of orchestrated workflow processes as they become operational. This paper provides the vision for the TAMU FPP paradigm. This includes a complete, coherent technique, process and tool set that result in an infrastructure that can be used for full lifecycle design and decision making during any flight production process. A flight production process is the process of developing all products that are necessary for flight.
Human Factors Principles in Design of Computer-Mediated Visualization for Robot Missions
Energy Technology Data Exchange (ETDEWEB)
David I Gertman; David J Bruemmer
With increased use of robots as a resource in missions supporting countermine, improvised explosive devices (IEDs), and chemical, biological, radiological nuclear and conventional explosives (CBRNE), fully understanding the best means by which to complement the human operator's underlying perceptual and cognitive processes could not be more important. Consistent with control and display integration practices in many other high technology computer-supported applications, current robotic design practices rely highly upon static guidelines and design heuristics that reflect the expertise and experience of the individual designer. In order to use what we know about human factors (HF) to drive human robot interaction (HRI) design, this paper reviews underlying human perception and cognition principles and shows how they were applied to a threat detection domain.
Preliminary analysis of space mission applications for electromagnetic launchers
Miller, L. A.; Rice, E. E.; Earhart, R. W.; Conlon, R. J.
The technical and economic feasibility of using electromagnetically launched EML payloads propelled from the Earth's surface to LEO, GEO, lunar orbit, or to interplanetary space was assessed. Analyses of the designs of rail accelerators and coaxial magnetic accelerators show that each is capable of launching to space payloads of 800 KG or more. A hybrid launcher in which EML is used for the first 2 KM/sec followed by chemical rocket stages was also tested. A cost estimates study shows that one to two EML launches per day are needed to break even, compared to a four-stage rocket. Development models are discussed for: (1) Earth orbital missions; (2) lunar base supply mission; (3) solar system escape mission; (4) Earth escape missions; (5) suborbital missions; (6) electromagnetic boost missions; and (7) space-based missions. Safety factors, environmental impacts, and EML systems analysis are discussed. Alternate systems examined include electrothermal thrustors, an EML rocket gun; an EML theta gun, and Soviet electromagnetic accelerators.
Radiation protection considerations in space station missions
International Nuclear Information System (INIS)
Peddicord, K.L.; Bolch, W.E.
The National Aeronautics and Space Administration (NASA) is currently studying the degree to which the baseline design of space station Freedom (SSF) would permit its evolution to a transportation node for lunar or Mars expeditions. To accomplish NASA's more ambitious exploration goals, nuclear-powered vehicles could be used in SSF's vicinity. This enhanced radiation environment around SSF could necessitate additional crew shielding to maintain cumulative doses below recommended limits. This paper presents analysis of radiation doses received upon the return and subsequent unloading of Mars vehicles utilizing either nuclear electric propulsion (NEP) or nuclear thermal rocket (NTR) propulsion systems. No inherent shielding by the vehicle structure or space station is assumed; consequently, the only operational parameters available to control radiation doses are the source-to-target distance and the reactor shutdown time prior to the exposure period. For the operations planning, estimated doses are shown with respect to recommended dose limits and doses due solely to the natural space environment in low Earth orbit
Open source IPSEC software in manned and unmanned space missions
Edwards, Jacob
Network security is a major topic of research because cyber attackers pose a threat to national security. Securing ground-space communications for NASA missions is important because attackers could endanger mission success and human lives. This thesis describes how an open source IPsec software package was used to create a secure and reliable channel for ground-space communications. A cost efficient, reproducible hardware testbed was also created to simulate ground-space communications. The testbed enables simulation of low-bandwidth and high latency communications links to experiment how the open source IPsec software reacts to these network constraints. Test cases were built that allowed for validation of the testbed and the open source IPsec software. The test cases also simulate using an IPsec connection from mission control ground routers to points of interest in outer space. Tested open source IPsec software did not meet all the requirements. Software changes were suggested to meet requirements.
Red rover: inside the story of robotic space exploration, from genesis to the mars rover curiosity
Wiens, Roger
In its eerie likeness to Earth, Mars has long captured our imaginationsboth as a destination for humankind and as a possible home to extraterrestrial life. It is our twenty-first century New World; its explorers robots, shipped 350 million miles from Earth to uncover the distant planet's secrets.Its most recent scout is Curiositya one-ton, Jeep-sized nuclear-powered space laboratorywhich is now roving the Martian surface to determine whether the red planet has ever been physically capable of supporting life. In Red Rover, geochemist Roger Wiens, the principal investigator for the ChemCam laser instrument on the rover and veteran of numerous robotic NASA missions, tells the unlikely story of his involvement in sending sophisticated hardware into space, culminating in the Curiosity rover's amazing journey to Mars.In so doing, Wiens paints the portrait of one of the most exciting scientific stories of our time: the new era of robotic space exploration. Starting with NASA's introduction of the Discovery...
Logistics Needs for Potential Deep Space Mission Scenarios Post Asteroid Redirect Crewed Mission
Lopez, Pedro, Jr.; Shultz, Eric; Mattfeld, Bryan; Stromgren, Chel; Goodliff, Kandyce
The Asteroid Redirect Mission (ARM) is currently being explored as the next step towards deep space human exploration, with the ultimate goal of reaching Mars. NASA is currently investigating a number of potential human exploration missions, which will progressively increase the distance and duration that humans spend away from Earth. Missions include extended human exploration in cis-lunar space which, as conceived, would involve durations of around 60 days, and human missions to Mars, which are anticipated to be as long as 1000 days. The amount of logistics required to keep the crew alive and healthy for these missions is significant. It is therefore important that the design and planning for these missions include accurate estimates of logistics requirements. This paper provides a description of a process and calculations used to estimate mass and volume requirements for crew logistics, including consumables, such as food, personal items, gasses, and liquids. Determination of logistics requirements is based on crew size, mission duration, and the degree of closure of the environmental control life support system (ECLSS). Details are provided on the consumption rates for different types of logistics and how those rates were established. Results for potential mission scenarios are presented, including a breakdown of mass and volume drivers. Opportunities for mass and volume reduction are identified, along with potential threats that could possibly increase requirements.
Status and Mission Applicability of NASA's In-Space Propulsion Technology Project
Anderson, David J.; Munk, Michelle M.; Dankanich, John; Pencil, Eric; Liou, Larry
The In-Space Propulsion Technology (ISPT) project develops propulsion technologies that will enable or enhance NASA robotic science missions. Since 2001, the ISPT project developed and delivered products to assist technology infusion and quantify mission applicability and benefits through mission analysis and tools. These in-space propulsion technologies are applicable, and potentially enabling for flagship destinations currently under evaluation, as well as having broad applicability to future Discovery and New Frontiers mission solicitations. This paper provides status of the technology development, near-term mission benefits, applicability, and availability of in-space propulsion technologies in the areas of advanced chemical thrusters, electric propulsion, aerocapture, and systems analysis tools. The current chemical propulsion investment is on the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance for lower cost. Investments in electric propulsion technologies focused on completing NASA's Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system, and the High Voltage Hall Accelerator (HiVHAC) thruster, which is a mid-term product specifically designed for a low-cost electric propulsion option. Aerocapture investments developed a family of thermal protections system materials and structures; guidance, navigation, and control models of blunt-body rigid aeroshells; atmospheric models for Earth, Titan, Mars and Venus; and models for aerothermal effects. In 2009 ISPT started the development of propulsion technologies that would enable future sample return missions. The paper describes the ISPT project's future focus on propulsion for sample return missions. The future technology development areas for ISPT is: Planetary Ascent Vehicles (PAV), with a Mars Ascent Vehicle (MAV) being the initial development focus; multi-mission technologies for Earth Entry Vehicles (MMEEV) needed
Designing astrophysics missions for NASA's Space Launch System
Stahl, H. Philip; Hopkins, Randall C.; Schnell, Andrew; Smith, David Alan; Jackman, Angela; Warfield, Keith R.
Large space telescope missions have always been limited by their launch vehicle's mass and volume capacities. The Hubble Space Telescope was specifically designed to fit inside the Space Shuttle and the James Webb Space Telescope was specifically designed to fit inside an Ariane 5. Astrophysicists desire even larger space telescopes. NASA's "Enduring Quests Daring Visions" report calls for an 8- to 16-m Large UV-Optical-IR (LUVOIR) Surveyor mission to enable ultrahigh-contrast spectroscopy and coronagraphy. Association of Universities for Research in Astronomy's "From Cosmic Birth to Living Earth" report calls for a 12-m class High-Definition Space Telescope to pursue transformational scientific discoveries. NASA's "Planning for the 2020 Decadal Survey" calls for a Habitable Exoplanet Imaging (HabEx) and an LUVOIR as well as Far-IR and an X-ray Surveyor missions. Packaging larger space telescopes into existing launch vehicles is a significant engineering complexity challenge that drives cost and risk. NASA's planned Space Launch System (SLS), with its 8- or 10-m diameter fairings and ability to deliver 35 to 45 mt of payload to Sun-Earth-Lagrange-2, mitigates this challenge by fundamentally changing the design paradigm for large space telescopes. This paper introduces the mass and volume capacities of the planned SLS, provides a simple mass allocation recipe for designing large space telescope missions to this capacity, and gives three specific mission concept implementation examples: a 4-m monolithic off-axis telescope, an 8-m monolithic on-axis telescope, and a 12-m segmented on-axis telescope.
Potential large missions enabled by NASA's space launch system
Stahl, H. Philip; Hopkins, Randall C.; Schnell, Andrew; Smith, David A.; Jackman, Angela; Warfield, Keith R.
Large space telescope missions have always been limited by their launch vehicle's mass and volume capacities. The Hubble Space Telescope (HST) was specifically designed to fit inside the Space Shuttle and the James Webb Space Telescope (JWST) is specifically designed to fit inside an Ariane 5. Astrophysicists desire even larger space telescopes. NASA's "Enduring Quests Daring Visions" report calls for an 8- to 16-m Large UV-Optical-IR (LUVOIR) Surveyor mission to enable ultra-high-contrast spectroscopy and coronagraphy. AURA's "From Cosmic Birth to Living Earth" report calls for a 12-m class High-Definition Space Telescope to pursue transformational scientific discoveries. NASA's "Planning for the 2020 Decadal Survey" calls for a Habitable Exoplanet Imaging (HabEx) and a LUVOIR as well as Far-IR and an X-Ray Surveyor missions. Packaging larger space telescopes into existing launch vehicles is a significant engineering complexity challenge that drives cost and risk. NASA's planned Space Launch System (SLS), with its 8 or 10-m diameter fairings and ability to deliver 35 to 45-mt of payload to Sun-Earth-Lagrange-2, mitigates this challenge by fundamentally changing the design paradigm for large space telescopes. This paper reviews the mass and volume capacities of the planned SLS, discusses potential implications of these capacities for designing large space telescope missions, and gives three specific mission concept implementation examples: a 4-m monolithic off-axis telescope, an 8-m monolithic on-axis telescope and a 12-m segmented on-axis telescope.
Potential Large Decadal Missions Enabled by Nasas Space Launch System
Stahl, H. Philip; Hopkins, Randall C.; Schnell, Andrew; Smith, David Alan; Jackman, Angela; Warfield, Keith R.
Large space telescope missions have always been limited by their launch vehicle's mass and volume capacities. The Hubble Space Telescope (HST) was specifically designed to fit inside the Space Shuttle and the James Webb Space Telescope (JWST) is specifically designed to fit inside an Ariane 5. Astrophysicists desire even larger space telescopes. NASA's "Enduring Quests Daring Visions" report calls for an 8- to 16-m Large UV-Optical-IR (LUVOIR) Surveyor mission to enable ultra-high-contrast spectroscopy and coronagraphy. AURA's "From Cosmic Birth to Living Earth" report calls for a 12-m class High-Definition Space Telescope to pursue transformational scientific discoveries. NASA's "Planning for the 2020 Decadal Survey" calls for a Habitable Exoplanet Imaging (HabEx) and a LUVOIR as well as Far-IR and an X-Ray Surveyor missions. Packaging larger space telescopes into existing launch vehicles is a significant engineering complexity challenge that drives cost and risk. NASA's planned Space Launch System (SLS), with its 8 or 10-m diameter fairings and ability to deliver 35 to 45-mt of payload to Sun-Earth-Lagrange-2, mitigates this challenge by fundamentally changing the design paradigm for large space telescopes. This paper reviews the mass and volume capacities of the planned SLS, discusses potential implications of these capacities for designing large space telescope missions, and gives three specific mission concept implementation examples: a 4-m monolithic off-axis telescope, an 8-m monolithic on-axis telescope and a 12-m segmented on-axis telescope.
Interplanetary Trajectory Design for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study
Merrill, Raymond Gabriel; Qu, Min; Vavrina, Matthew A.; Englander, Jacob A.; Jones, Christopher A.
This paper presents mission performance analysis methods and results for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger NEA. It details the optimization and design of heliocentric low-thrust trajectories to asteroid targets for the ARRM solar electric propulsion spacecraft. Extensive searches were conducted to determine asteroid targets with large pick-up mass potential and potential observation opportunities. Interplanetary trajectory approximations were developed in method based tools for Itokawa, Bennu, 1999 JU3, and 2008 EV5 and were validated by end-to-end integrated trajectories.
Model Based Mission Assurance: Emerging Opportunities for Robotic Systems
Evans, John W.; DiVenti, Tony
The emergence of Model Based Systems Engineering (MBSE) in a Model Based Engineering framework has created new opportunities to improve effectiveness and efficiencies across the assurance functions. The MBSE environment supports not only system architecture development, but provides for support of Systems Safety, Reliability and Risk Analysis concurrently in the same framework. Linking to detailed design will further improve assurance capabilities to support failures avoidance and mitigation in flight systems. This also is leading new assurance functions including model assurance and management of uncertainty in the modeling environment. Further, the assurance cases, a structured hierarchal argument or model, are emerging as a basis for supporting a comprehensive viewpoint in which to support Model Based Mission Assurance (MBMA).
SpRoUTS (Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length
Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth
Automatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems.
Voice loops as coordination aids in space shuttle mission control.
Patterson, E S; Watts-Perotti, J; Woods, D D
Voice loops, an auditory groupware technology, are essential coordination support tools for experienced practitioners in domains such as air traffic management, aircraft carrier operations and space shuttle mission control. They support synchronous communication on multiple channels among groups of people who are spatially distributed. In this paper, we suggest reasons for why the voice loop system is a successful medium for supporting coordination in space shuttle mission control based on over 130 hours of direct observation. Voice loops allow practitioners to listen in on relevant communications without disrupting their own activities or the activities of others. In addition, the voice loop system is structured around the mission control organization, and therefore directly supports the demands of the domain. By understanding how voice loops meet the particular demands of the mission control environment, insight can be gained for the design of groupware tools to support cooperative activity in other event-driven domains.
Novel roaming and stationary tethered aerial robots for continuous mobile missions in nuclear power plants
Energy Technology Data Exchange (ETDEWEB)
Gu, Beom W.; Choi, Su Y.; Rim, Chun T. [Dept. of Nuclear and Quantum Engineering, KAIST, Daejeon (Korea, Republic of); Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Cai, Guowei; Seneviratne, Lakmal [Dept. of Aerospace Engineering, Khalifa University, Abu Dhabi (United Arab Emirates)
In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs) for radioactive material sampling and stationary tethered aerial robots (STARs) for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.
Novel Roaming and Stationary Tethered Aerial Robots for Continuous Mobile Missions in Nuclear Power Plants
Directory of Open Access Journals (Sweden)
Beom W. Gu
Full Text Available In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs for radioactive material sampling and stationary tethered aerial robots (STARs for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.
Planning for Crew Exercise for Future Deep Space Mission Scenarios
Moore, Cherice; Ryder, Jeff
Providing the necessary exercise capability to protect crew health for deep space missions will bring new sets of engineering and research challenges. Exercise has been found to be a necessary mitigation for maintaining crew health on-orbit and preparing the crew for return to earth's gravity. Health and exercise data from Apollo, Space Lab, Shuttle, and International Space Station missions have provided insight into crew deconditioning and the types of activities that can minimize the impacts of microgravity on the physiological systems. The hardware systems required to implement exercise can be challenging to incorporate into spaceflight vehicles. Exercise system design requires encompassing the hardware required to provide mission specific anthropometrical movement ranges, desired loads, and frequencies of desired movements as well as the supporting control and monitoring systems, crew and vehicle interfaces, and vibration isolation and stabilization subsystems. The number of crew and operational constraints also contribute to defining the what exercise systems will be needed. All of these features require flight vehicle mass and volume integrated with multiple vehicle systems. The International Space Station exercise hardware requires over 1,800 kg of equipment and over 24 m3 of volume for hardware and crew operational space. Improvements towards providing equivalent or better capabilities with a smaller vehicle impact will facilitate future deep space missions. Deep space missions will require more understanding of the physiological responses to microgravity, understanding appropriate mitigations, designing the exercise systems to provide needed mitigations, and integrating effectively into vehicle design with a focus to support planned mission scenarios. Recognizing and addressing the constraints and challenges can facilitate improved vehicle design and exercise system incorporation.
Planning for Crew Exercise for Deep Space Mission Scenarios
Moore, E. Cherice; Ryder, Jeff
Exercise which is necessary for maintaining crew health on-orbit and preparing the crew for return to 1G can be challenging to incorporate into spaceflight vehicles. Deep space missions will require further understanding of the physiological response to microgravity, understanding appropriate mitigations, and designing the exercise systems to effectively provide mitigations, and integrating effectively into vehicle design with a focus to support planned mission scenarios. Recognizing and addressing the constraints and challenges can facilitate improved vehicle design and exercise system incorporation.
Radiation protection guidelines for space missions
International Nuclear Information System (INIS)
Fry, R.J.M.
The original recommendations for radiation protection guidelines were made by the National Academy of Sciences in 1970. Since that time the US crews have become more diverse in their makeup and much has been learned about both radiation-induced cancer and other late effects. While far from adequate there is now some understanding of the risks that high-Z and -energy (HZE) particles pose. For these reasons it was time to reconsider the radiation protection guidelines for space workers. This task was undertaken recently by National Council on Radiation Protection (NCRP). 42 refs., 2 figs., 9 tabs
Nano-Satellite Secondary Spacecraft on Deep Space Missions
Klesh, Andrew T.; Castillo-Rogez, Julie C.
NanoSat technology has opened Earth orbit to extremely low-cost science missions through a common interface that provides greater launch accessibility. They have also been used on interplanetary missions, but these missions have used one-off components and architectures so that the return on investment has been limited. A natural question is the role that CubeSat-derived NanoSats could play to increase the science return of deep space missions. We do not consider single instrument nano-satellites as likely to complete entire Discovery-class missions alone,but believe that nano-satellites could augment larger missions to significantly increase science return. The key advantages offered by these mini-spacecrafts over previous planetary probes is the common availability of advanced subsystems that open the door to a large variety of science experiments, including new guidance, navigation and control capabilities. In this paper, multiple NanoSat science applications are investigated, primarily for high risk/high return science areas. We also address the significant challenges and questions that remain as obstacles to the use of nano-satellites in deep space missions. Finally, we provide some thoughts on a development roadmap toward interplanetary usage of NanoSpacecraft.
Range-Space Predictive Control for Optimal Robot Motion
Czech Academy of Sciences Publication Activity Database
Belda, Květoslav; Böhm, Josef
Roč. 1, č. 1 (2008), s. 1-7 ISSN 1998-0140 R&D Projects: GA ČR GP102/06/P275 Institutional research plan: CEZ:AV0Z10750506 Keywords : Accurate manipulation * Industrial robotics * Predictive control * Range-space control Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0305644.pdf
Space Mission Concept Development Using Concept Maturity Levels
Wessen, Randii R.; Borden, Chester; Ziemer, John; Kwok, Johnny
Over the past five years, pre-project formulation experts at the Jet Propulsion Laboratory (JPL) has developed and implemented a method for measuring and communicating the maturity of space mission concepts. Mission concept development teams use this method, and associated tools, prior to concepts entering their Formulation Phases (Phase A/B). The organizing structure is Concept Maturity Level (CML), which is a classification system for characterizing the various levels of a concept's maturity. The key strength of CMLs is the ability to evolve mission concepts guided by an incremental set of assessment needs. The CML definitions have been expanded into a matrix form to identify the breadth and depth of analysis needed for a concept to reach a specific level of maturity. This matrix enables improved assessment and communication by addressing the fundamental dimensions (e.g., science objectives, mission design, technical risk, project organization, cost, export compliance, etc.) associated with mission concept evolution. JPL's collaborative engineering, dedicated concept development, and proposal teams all use these and other CML-appropriate design tools to advance their mission concept designs. This paper focuses on mission concept's early Pre-Phase A represented by CMLs 1- 4. The scope was limited due to the fact that CMLs 5 and 6 are already well defined based on the requirements documented in specific Announcement of Opportunities (AO) and Concept Study Report (CSR) guidelines, respectively, for competitive missions; and by NASA's Procedural Requirements NPR 7120.5E document for Projects in their Formulation Phase.
Space Mission Operations Ground Systems Integration Customer Service
Roth, Karl
The facility, which is now the Huntsville Operations Support Center (HOSC) at Marshall Space Flight Center in Huntsville, AL, has provided continuous space mission and related services for the space industry since 1961, from Mercury Redstone through the International Space Station (ISS). Throughout the long history of the facility and mission support teams, the HOSC has developed a stellar customer support and service process. In this era, of cost cutting, and providing more capability and results with fewer resources, space missions are looking for the most efficient way to accomplish their objectives. One of the first services provided by the facility was fax transmission of documents to, then, Cape Canaveral in Florida. The headline in the Marshall Star, the newspaper for the newly formed Marshall Space Flight Center, read "Exact copies of Documents sent to Cape in 4 minutes." The customer was Dr. Wernher von Braun. Currently at the HOSC we are supporting, or have recently supported, missions ranging from simple ISS payloads requiring little more than "bentpipe" telemetry access, to a low cost free-flyer Fast, Affordable, Science and Technology Satellite (FASTSAT), to a full service ISS payload Alpha Magnetic Spectrometer 2 (AMS2) supporting 24/7 operations at three operations centers around the world with an investment of over 2 billion dollars. The HOSC has more need and desire than ever to provide fast and efficient customer service to support these missions. Here we will outline how our customer-centric service approach reduces the cost of providing services, makes it faster and easier than ever for new customers to get started with HOSC services, and show what the future holds for our space mission operations customers. We will discuss our philosophy concerning our responsibility and accessibility to a mission customer as well as how we deal with the following issues: initial contact with a customer, reducing customer cost, changing regulations and security
An Effective Approach Control Scheme for the Tethered Space Robot System
Directory of Open Access Journals (Sweden)
Zhongjie Meng
Full Text Available The tethered space robot system (TSR, which is composed of a platform, a gripper and a space tether, has great potential in future space missions. Given the relative motion among the platform, tether, gripper and the target, an integrated approach model is derived. Then, a novel coordinated approach control scheme is presented, in which the tether tension, thrusters and the reaction wheel are all utilized. It contains the open-loop trajectory optimization, the feedback trajectory control and attitude control. The numerical simulation results show that the rendezvous between TSR and the target can be realized by the proposed coordinated control scheme, and the propellant consumption is efficiently reduced. Moreover, the control scheme performs well in the presence of the initial state's perturbations, actuator characteristics and sensor errors.
Ground Based Support for Exoplanet Space Missions
Haukka, H.; Hentunen, V.-P.; Salmi, T.; Aartolahti, H.; Juutilainen, J.; Vilokki, H.; Nissinen, M.
Taurus Hill Observatory (THO), observatory code A95, is an amateur observatory located in Varkaus, Finland. The observatory is maintained by the local astronomical association Warkauden Kassiopeia. THO research team has observed and measured various stellar objects and phenomena. Observatory has mainly focused to asteroid [1] and exoplanet light curve measurements, observing the gamma rays burst, supernova discoveries and monitoring [2] and long term monitoring projects [3]. In the early 2011 Europlanet NA1 and NA2 organized "Coordinated Observations of Exoplanets from Ground and Space"-workshop in Graz, Austria. The workshop gathered together proam astronomers who have the equipment to measure the light curves of the exoplanets. Also there were professional scientists working in the exoplanet field who attended to the workshop. The result of the workshop was to organize coordinated observation campaign for follow-up observations of exoplanets (e.g. CoRoT planets). Also coordinated observation campaign to observe stellar CME outbreaks was planned. THO has a lot of experience in field of exoplanet light curve measurements and therefore this campaign is very supported by the research team of the observatory. In next coming observing seasons THO will concentrate its efforts for this kind of campaigns.
Automation and robotics - Key to productivity. [in industry and space
Cohen, A.
The automated and robotic systems requirements of the NASA Space Station are prompted by maintenance, repair, servicing and assembly requirements. Trend analyses, fault diagnoses, and subsystem status assessments for the Station's electrical power, guidance, navigation, control, data management and environmental control subsystems will be undertaken by cybernetic expert systems; this will reduce or eliminate on-board or ground facility activities that would otherwise be essential, enhancing system productivity. Additional capabilities may also be obtained through the incorporation of even a limited amount of artificial intelligence in the controllers of the various Space Station systems.
Psychological Selection of NASA Astronauts for International Space Station Missions
Galarza, Laura
During the upcoming manned International Space Station (ISS) missions, astronauts will encounter the unique conditions of living and working with a multicultural crew in a confined and isolated space environment. The environmental, social, and mission-related challenges of these missions will require crewmembers to emphasize effective teamwork, leadership, group living and self-management to maintain the morale and productivity of the crew. The need for crew members to possess and display skills and behaviors needed for successful adaptability to ISS missions led us to upgrade the tools and procedures we use for astronaut selection. The upgraded tools include personality and biographical data measures. Content and construct-related validation techniques were used to link upgraded selection tools to critical skills needed for ISS missions. The results of these validation efforts showed that various personality and biographical data variables are related to expert and interview ratings of critical ISS skills. Upgraded and planned selection tools better address the critical skills, demands, and working conditions of ISS missions and facilitate the selection of astronauts who will more easily cope and adapt to ISS flights.
Adaptive Resource Estimation and Visualization for Planning Robotic Missions, Phase II
National Aeronautics and Space Administration — NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need...
Adaptive Resource Estimation and Visualization for Planning Robotic Missions, Phase I
National Aeronautics and Space Administration — NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need...
Robotic influence in the conceptual design of mechanical systems in space and vice versa - A survey
Sanger, George F.
A survey of methods using robotic devices to construct structural elements in space is presented. Two approaches to robotic construction are considered: one in which the structural elements are designed using conventional aerospace techniques which tend to constrain the function aspects of robotics and one in which the structural elements are designed from the conceptual stage with built-in robotic features. Examples are presented of structural building concepts using robotics, including the construction of the SP-100 nuclear reactor power system, a multimirror large aperture IR space telescope concept, retrieval and repair in space, and the Flight Telerobotic Servicer.
Liftoff of Space Shuttle Columbia on mission STS-93
The fiery launch of Space Shuttle Columbia lights up the night sky on its successful liftoff from Launch Pad 39-B on mission STS-93. Liftoff occurred at 12:31 a.m. EDT. STS-93 is a five-day mission primarily to release the Chandra X-ray Observatory, which will allow scientists from around the world to study some of the most distant, powerful and dynamic objects in the universe. The crew numbers five: Commander Eileen M. Collins, Pilot Jeffrey S. Ashby, and Mission Specialists Stephen A. Hawley (Ph.D.), Catherine G. Coleman (Ph.D.) and Michel Tognini of France, with the Centre National d'Etudes Spatiales (CNES). Collins is the first woman to serve as commander of a Shuttle mission. The target landing date is July 27, 1999, at 11:20 p.m. EDT.
Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 2: Space projects overview
Miller, R. H.; Minsky, M. L.; Smith, D. B. S.
Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and their related ground support functions are studied so that informed decisions can be made on which aspects of ARAMIS to develop. The space project breakdowns, which are used to identify tasks ('functional elements'), are described. The study method concentrates on the production of a matrix relating space project tasks to pieces of ARAMIS.
Orbital mechanics and astrodynamics techniques and tools for space missions
Hintz, Gerald R
This textbook covers fundamental and advanced topics in orbital mechanics and astrodynamics to expose the student to the basic dynamics of space flight. The engineers and graduate students who read this class-tested text will be able to apply their knowledge to mission design and navigation of space missions. Through highlighting basic, analytic and computer-based methods for designing interplanetary and orbital trajectories, this text provides excellent insight into astronautical techniques and tools. This book is ideal for graduate students in Astronautical or Aerospace Engineering and related fields of study, researchers in space industrial and governmental research and development facilities, as well as researchers in astronautics. This book also: · Illustrates all key concepts with examples · Includes exercises for each chapter · Explains concepts and engineering tools a student or experienced engineer can apply to mission design and navigation of space missions ·�...
Experiments in teleoperator and autonomous control of space robotic vehicles
Alexander, Harold L.
A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.
Definition of technology development missions for early space stations: Large space structures
Gates, R. M.; Reid, G.
The objectives studied are the definition of the tested role of an early Space Station for the construction of large space structures. This is accomplished by defining the LSS technology development missions (TDMs) identified in phase 1. Design and operations trade studies are used to identify the best structural concepts and procedures for each TDMs. Details of the TDM designs are then developed along with their operational requirements. Space Station resources required for each mission, both human and physical, are identified. The costs and development schedules for the TDMs provide an indication of the programs needed to develop these missions.
Modeling and control of a flexible space robot to capture a tumbling debris
Dubanchet, Vincent
After 60 years of intensive satellite launches, the number of drifting objects in Earth orbits is reaching a shifting point, where human intervention is becoming necessary to reduce the threat of collision. Indeed, a 200 year forecast, known as the "Kessler syndrome", states that space access will be greatly compromised if nothing is done to address the proliferation of these debris. Scientist J.-C. Liou from the National Aeronautics and Space Administration (NASA) has shown that the current trend could be reversed if at least five massive objects, such as dead satellites or rocket upper stages, were de-orbited each year. Among the various technical concepts considered for debris removal, robotics has emerged, over the last 30 years, as one of the most promising solutions. The International Space Station (ISS) already possesses fully operational robotic arms, and other missions have explored the potential of a manipulator embedded onto a satellite. During two of the latter, key capabilities have been demonstrated for on-orbit servicing, and prove to be equally useful for the purpose of debris removal. This thesis focuses on the close range capture of a tumbling debris by a robotic arm with light-weight flexible segments. This phase includes the motion planning and the control of a space robot, in order to smoothly catch a target point on the debris. The validation of such technologies is almost impossible on Earth and leads to prohibitive costs when performed on orbit. Therefore, the modeling and simulation of flexible multi-body systems has been investigated thoroughly, and is likewise a strong contribution of the thesis. Based on these models, an experimental validation is proposed by reproducing the on-orbit kinematics on a test bench made up of two industrial manipulators and driven by a real-time dynamic simulation. In a nutshell, the thesis is built around three main parts: the modeling of a space robot, the design of control laws, and their validation on a
Boulder Capture System Design Options for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study
Belbin, Scott P.; Merrill, Raymond G.
This paper presents a boulder acquisition and asteroid surface interaction electromechanical concept developed for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger Near Earth Asteroid (NEA). It details the down select process and ranking of potential boulder capture methods, the evolution of a simple yet elegant articulating spaceframe, and ongoing risk reduction and concept refinement efforts. The capture system configuration leverages the spaceframe, heritage manipulators, and a new microspine technology to enable the ARRM boulder capture. While at the NEA it enables attenuation of terminal descent velocity, ascent to escape velocity, boulder collection and restraint. After departure from the NEA it enables, robotic inspection, sample caching, and crew Extra Vehicular Activities (EVA).
Launch and Assembly Reliability Analysis for Human Space Exploration Missions
Cates, Grant; Gelito, Justin; Stromgren, Chel; Cirillo, William; Goodliff, Kandyce
NASA's future human space exploration strategy includes single and multi-launch missions to various destinations including cis-lunar space, near Earth objects such as asteroids, and ultimately Mars. Each campaign is being defined by Design Reference Missions (DRMs). Many of these missions are complex, requiring multiple launches and assembly of vehicles in orbit. Certain missions also have constrained departure windows to the destination. These factors raise concerns regarding the reliability of launching and assembling all required elements in time to support planned departure. This paper describes an integrated methodology for analyzing launch and assembly reliability in any single DRM or set of DRMs starting with flight hardware manufacturing and ending with final departure to the destination. A discrete event simulation is built for each DRM that includes the pertinent risk factors including, but not limited to: manufacturing completion; ground transportation; ground processing; launch countdown; ascent; rendezvous and docking, assembly, and orbital operations leading up to trans-destination-injection. Each reliability factor can be selectively activated or deactivated so that the most critical risk factors can be identified. This enables NASA to prioritize mitigation actions so as to improve mission success.
Radiation beamline testbeds for the simulation of planetary and spacecraft environments for human and robotic mission risk assessment
Wilkins, Richard
experimental areas associated with the above facilities. CRESSE has broad expertise in space radiation in the areas of space radiation environment modeling, Monte-Carlo radiation transport modeling, space radiation instrumentation and dosimetry, radiation effects on electronics, and multi-functional composite shielding materi-als. The BERT and ERNIE testbeds will be utilized in individual and collaborative research incorporating this expertise. The research goal is to maximize the technical readiness level (TRL) of radiation instrumentation for human and robotic missions, optimizing the return value of CRESSE for NASA exploration and international co-operative missions. Outcomes and knowledge from research utilizing BERT and ERNIE will be applied to a variety of scien-tific and engineering disciplines vital for safe and reliable execution of future space exploration missions, which can be negatively impacted by the space radiation environment. The testbeds will be central to a variety of university educational activities and educational goals of NASA. Specifically, BERT and ERNIE will enhance educational opportunities in science, technol-ogy, engineering and mathematics (STEM) disciplines for engineering and science students at PVAMU, a historically black college/university. Preliminary data on prototype testbed configurations, including simulated lunar regolith (JSC-1A stimulant based on Apollo 11 samples), regolith/polyethylene composites, and dry ice, will be presented to demonstrate the usefulness of BERT and ERNIE in radiation beam line experiments.
Automation and robotics for the Space Exploration Initiative: Results from Project Outreach
Gonzales, D.; Criswell, D.; Heer, E.
A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested.
Dream missions space colonies, nuclear spacecraft and other possibilities
van Pelt, Michel
This book takes the reader on a journey through the history of extremely ambitious, large and complex space missions that never happened. What were the dreams and expectations of the visionaries behind these plans, and why were they not successful in bringing their projects to reality thus far? As spaceflight development progressed, new technologies and ideas led to pushing the boundaries of engineering and technology though still grounded in real scientific possibilities. Examples are space colonies, nuclear-propelled interplanetary spacecraft, space telescopes consisting of multiple satellites and canon launch systems. Each project described in this book says something about the dreams and expectations of their time, and their demise was often linked to an important change in the cultural, political and social state of the world. For each mission or spacecraft concept, the following will be covered: • Description of the design. • Overview of the history of the concept and the people involved. • Why it...
Cryogenic Thermal Conductivity Measurements on Candidate Materials for Space Missions
Tuttle, JIm; Canavan, Ed; Jahromi, Amir
Spacecraft and instruments on space missions are built using a wide variety of carefully-chosen materials. In addition to having mechanical properties appropriate for surviving the launch environment, these materials generally must have thermal conductivity values which meet specific requirements in their operating temperature ranges. Space missions commonly propose to include materials for which the thermal conductivity is not well known at cryogenic temperatures. We developed a test facility in 2004 at NASAs Goddard Space Flight Center to measure material thermal conductivity at temperatures between 4 and 300 Kelvin, and we have characterized many candidate materials since then. The measurement technique is not extremely complex, but proper care to details of the setup, data acquisition and data reduction is necessary for high precision and accuracy. We describe the thermal conductivity measurement process and present results for several materials.
RoMPS concept review automatic control of space robot, volume 2
Dobbs, M. E.
Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.
Advancing automation and robotics technology for the Space Station and for the US economy, volume 2
In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization.
Active space debris removal—A preliminary mission analysis and design
Castronuovo, Marco M.
The active removal of five to ten large objects per year from the low Earth orbit (LEO) region is the only way to prevent the debris collisions from cascading. Among the three orbital regions near the Earth where most catastrophic collisions are predicted to occur, the one corresponding to a sun-synchronous condition is considered the most relevant. Forty-one large rocket bodies orbiting in this belt have been identified as the priority targets for removal. As part of a more comprehensive system engineering solution, a space mission dedicated to the de-orbiting of five rocket bodies per year from this orbital regime has been designed. The selected concept of operations envisages the launch of a satellite carrying a number of de-orbiting devices, such as solid propellant kits. The satellite performs a rendezvous with an identified object and mates with it by means of a robotic arm. A de-orbiting device is attached to the object by means of a second robotic arm, the object is released and the device is activated. The spacecraft travels then to the next target. The present paper shows that an active debris removal mission capable of de-orbiting 35 large objects in 7 years is technically feasible, and the resulting propellant mass budget is compatible with many existing platforms.
Advances in Autonomous Systems for Missions of Space Exploration
Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.
New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost
Psychology and culture during long-duration space missions
Kanas, N.; Sandal, G.; Boyd, J. E.; Gushin, V. I.; Manzey, D.; North, R.; Leon, G. R.; Suedfeld, P.; Bishop, S.; Fiedler, E. R.; Inoue, N.; Johannes, B.; Kealey, D. J.; Kraft, N.; Matsuzaki, I.; Musson, D.; Palinkas, L. A.; Salnitskiy, V. P.; Sipes, W.; Stuster, J.; Wang, J.
The objective of this paper is twofold: (a) to review the current knowledge of cultural, psychological, psychiatric, cognitive, interpersonal, and organizational issues that are relevant to the behavior and performance of astronaut crews and ground support personnel and (b) to make recommendations for future human space missions, including both transit and planetary surface operations involving the Moon or Mars. The focus will be on long-duration missions lasting at least six weeks, when important psychological and interpersonal factors begin to take their toll on crewmembers. This information is designed to provide guidelines for astronaut selection and training, in-flight monitoring and support, and post-flight recovery and re-adaptation.
Potable water supply in U.S. manned space missions
Sauer, Richard L.; Straub, John E., II
A historical review of potable water supply systems used in the U.S. manned flight program is presented. This review provides a general understanding of the unusual challenges these systems have presented to the designers and operators of the related flight hardware. The presentation concludes with the projection of how water supply should be provided in future space missions - extended duration earth-orbital and interplanetary missions and lunar and Mars habitation bases - and the challenges to the biomedical community that providing these systems can present.
Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots
Erikson, Jon D.
This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.
Advanced Technologies for Robotic Exploration Leading to Human Exploration: Results from the SpaceOps 2015 Workshop
Lupisella, Mark L.; Mueller, Thomas
This paper will provide a summary and analysis of the SpaceOps 2015 Workshop all-day session on "Advanced Technologies for Robotic Exploration, Leading to Human Exploration", held at Fucino Space Center, Italy on June 12th, 2015. The session was primarily intended to explore how robotic missions and robotics technologies more generally can help lead to human exploration missions. The session included a wide range of presentations that were roughly grouped into (1) broader background, conceptual, and high-level operations concepts presentations such as the International Space Exploration Coordination Group Roadmap, followed by (2) more detailed narrower presentations such as rover autonomy and communications. The broader presentations helped to provide context and specific technical hooks, and helped lay a foundation for the narrower presentations on more specific challenges and technologies, as well as for the discussion that followed. The discussion that followed the presentations touched on key questions, themes, actions and potential international collaboration opportunities. Some of the themes that were touched on were (1) multi-agent systems, (2) decentralized command and control, (3) autonomy, (4) low-latency teleoperations, (5) science operations, (6) communications, (7) technology pull vs. technology push, and (8) the roles and challenges of operations in early human architecture and mission concept formulation. A number of potential action items resulted from the workshop session, including: (1) using CCSDS as a further collaboration mechanism for human mission operations, (2) making further contact with subject matter experts, (3) initiating informal collaborative efforts to allow for rapid and efficient implementation, and (4) exploring how SpaceOps can support collaboration and information exchange with human exploration efforts. This paper will summarize the session and provide an overview of the above subjects as they emerged from the SpaceOps 2015
Stability control of a flexible maneuverable tethered space net robot
Zhang, Fan; Huang, Panfeng
As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.
Human and Robotic Mission to Small Bodies: Mapping, Planning and Exploration
Neffian, Ara V.; Bellerose, Julie; Beyer, Ross A.; Archinal, Brent; Edwards, Laurence; Lee, Pascal; Colaprete, Anthony; Fong, Terry
This study investigates the requirements, performs a gap analysis and makes a set of recommendations for mapping products and exploration tools required to support operations and scientific discovery for near- term and future NASA missions to small bodies. The mapping products and their requirements are based on the analysis of current mission scenarios (rendezvous, docking, and sample return) and recommendations made by the NEA Users Team (NUT) in the framework of human exploration. The mapping products that sat- isfy operational, scienti c, and public outreach goals include topography, images, albedo, gravity, mass, density, subsurface radar, mineralogical and thermal maps. The gap analysis points to a need for incremental generation of mapping products from low (flyby) to high-resolution data needed for anchoring and docking, real-time spatial data processing for hazard avoidance and astronaut or robot localization in low gravity, high dynamic environments, and motivates a standard for coordinate reference systems capable of describing irregular body shapes. Another aspect investigated in this study is the set of requirements and the gap analysis for exploration tools that support visualization and simulation of operational conditions including soil interactions, environment dynamics, and communications coverage. Building robust, usable data sets and visualisation/simulation tools is the best way for mission designers and simulators to make correct decisions for future missions. In the near term, it is the most useful way to begin building capabilities for small body exploration without needing to commit to specific mission architectures.
Space Station Initial Operational Concept (IOC) operations and safety view - Automation and robotics for Space Station
Bates, William V., Jr.
The automation and robotics requirements for the Space Station Initial Operational Concept (IOC) are discussed. The amount of tasks to be performed by an eight-person crew, the need for an automated or directed fault analysis capability, and ground support requirements are considered. Issues important in determining the role of automation for the IOC are listed.
Space Resource Utilization: Near-Term Missions and Long-Term Plans for Human Exploration
Sanders, Gerald B.
A primary goal of all major space faring nations is to explore space: from the Earth with telescopes, with robotic probes and space telescopes, and with humans. For the US National Aeronautics and Space Administration (NASA), this pursuit is captured in three important strategic goals: 1. Ascertain the content, origin, and evolution of the solar system and the potential for life elsewhere, 2. Extend and sustain human activities across the solar system (especially the surface of Mars), and 3. Create innovative new space technologies for exploration, science, and economic future. While specific missions and destinations are still being discussed as to what comes first, it is imperative for NASA that it foster the development and implementation of new technologies and approaches that make space exploration affordable and sustainable. Critical to achieving affordable and sustainable human exploration beyond low Earth orbit (LEO) is the development of technologies and systems to identify, extract, and use resources in space instead of bringing everything from Earth. To reduce the development and implementation costs for space resource utilization, often called In Situ Resource Utilization (ISRU), it is imperative to work with terrestrial mining companies to spin-in/spin-off technologies and capabilities, and space mining companies to expand our economy beyond Earth orbit. In the last two years, NASA has focused on developing and implementing a sustainable human space exploration program with the ultimate goal of exploring the surface of Mars with humans. The plan involves developing technology and capability building blocks critical for sustained exploration starting with the Space Launch System (SLS) and Orion crew spacecraft and utilizing the International Space Station as a springboard into the solar system. The evolvable plan develops and expands human exploration in phases starting with missions that are reliant on Earth, to performing ever more challenging and
Conference on Space and Military Applications of Automation and Robotics
Topics addressed include: robotics; deployment strategies; artificial intelligence; expert systems; sensors and image processing; robotic systems; guidance, navigation, and control; aerospace and missile system manufacturing; and telerobotics.
Robotic Tool Changer for Planetary Exploration, Phase I
National Aeronautics and Space Administration — Future planetary exploration missions will require compact, lightweight robotic manipulators for handling a variety of tools & instruments without increasing the...
Developing Principles for Effective Human Collaboration with Free-Flying Robots
National Aeronautics and Space Administration — Aerial robots hold great promise in supporting human activities during space missions and terrestrial operations. For example, free-flying robots may automate...
Space Station Workshop: Commercial Missions and User Requirements
The topics of discussion addressed during a three day workshop on commercial application in space are presented. Approximately half of the program was directed towards an overview and orientation to the Space Station Project; the technical attributes of space; and present and future potential commercial opportunities. The remaining time was spent addressing technological issues presented by previously-formed industry working groups, who attempted to identify the technology needs, problems or issues faced and/or anticipated by the following industries: extraction (mining, agriculture, petroleum, fishing, etc.); fabrication (manufacturing, automotive, aircraft, chemical, pharmaceutical and electronics); and services (communications, transportation and retail robotics). After the industry groups presented their technology issues, the workshop divided into smaller discussion groups composed of: space experts from NASA; academia; industry experts in the appropriate disciplines; and other workshop participants. The needs identified by the industry working groups, space station technical requirements, proposed commercial ventures and other issues related to space commercialization were discussed. The material summarized and reported are the consensus from the discussion groups.
Aerothermal Instrumentation Loads To Implement Aeroassist Technology in Future Robotic and Human Missions to MARS and Other Locations Within the Solar System
Parmar, Devendra S.; Shams, Qamar A.
The strategy of NASA to explore space objects in the vicinity of Earth and other planets of the solar system includes robotic and human missions. This strategy requires a road map for technology development that will support the robotic exploration and provide safety for the humans traveling to other celestial bodies. Aeroassist is one of the key elements of technology planning for the success of future robot and human exploration missions to other celestial bodies. Measurement of aerothermodynamic parameters such as temperature, pressure, and acceleration is of prime importance for aeroassist technology implementation and for the safety and affordability of the mission. Instrumentation and methods to measure such parameters have been reviewed in this report in view of past practices, current commercial availability of instrumentation technology, and the prospects of improvement and upgrade according to the requirements. Analysis of the usability of each identified instruments in terms of cost for efficient weight-volume ratio, power requirement, accuracy, sample rates, and other appropriate metrics such as harsh environment survivability has been reported.
Benefits to the Europa Clipper Mission Provided by the Space Launch System
Creech, Stephen D.; Patel, Keyur
The National Aeronautics and Space Administration's (NASA's) proposed Europa Clipper mission would provide an unprecedented look at the icy Jovian moon, and investigate its environment to determine the possibility that it hosts life. Focused on exploring the water, chemistry, and energy conditions on the moon, the spacecraft would examine Europa's ocean, ice shell, composition and geology by performing 32 low-altitude flybys of Europa from Jupiter orbit over 2.3 years, allowing detailed investigations of globally distributed regions of Europa. In hopes of expediting the scientific program, mission planners at NASA's Jet Propulsion Laboratory are working with the Space Launch System (SLS) program, managed at Marshall Space Flight Center. Designed to be the most powerful launch vehicle ever flown, SLS is making progress toward delivering a new capability for exploration beyond Earth orbit. The SLS rocket will offer an initial low-Earth-orbit lift capability of 70 metric tons (t) beginning with a first launch in 2017 and will then evolve into a 130 t Block 2 version. While the primary focus of the development of the initial version of SLS is on enabling human exploration missions beyond low Earth orbit using the Orion Multi-Purpose Crew Vehicle, the rocket offers unique benefits to robotic planetary exploration missions, thanks to the high characteristic energy it provides. This paper will provide an overview of both the proposed Europa Clipper mission and the Space Launch System vehicle, and explore options provided to the Europa Clipper mission for a launch within a decade by a 70 t version of SLS with a commercially available 5-meter payload fairing, through comparison with a baseline of current Evolved Expendable Launch Vehicle (EELV) capabilities. Compared to that baseline, a mission to the Jovian system could reduce transit times to less than half, or increase mass to more than double, among other benefits. In addition to these primary benefits, the paper will
A Management Model for International Participation in Space Exploration Missions
George, Patrick J.; Pease, Gary M.; Tyburski, Timothy E.
This paper proposes an engineering management model for NASA's future space exploration missions based on past experiences working with the International Partners of the International Space Station. The authors have over 25 years of combined experience working with the European Space Agency, Japan Aerospace Exploration Agency, Canadian Space Agency, Italian Space Agency, Russian Space Agency, and their respective contractors in the design, manufacturing, verification, and integration of their elements electric power system into the United States on-orbit segment. The perspective presented is one from a specific sub-system integration role and is offered so that the lessons learned from solving issues of technical and cultural nature may be taken into account during the formulation of international partnerships. Descriptions of the types of unique problems encountered relative to interactions between international partnerships are reviewed. Solutions to the problems are offered, taking into consideration the technical implications. Through the process of investigating each solution, the important and significant issues associated with working with international engineers and managers are outlined. Potential solutions are then characterized by proposing a set of specific methodologies to jointly develop spacecraft configurations that benefits all international participants, maximizes mission success and vehicle interoperability while minimizing cost.
Life Support Filtration System Trade Study for Deep Space Missions
Agui, Juan H.; Perry, Jay L.
The National Aeronautics and Space Administrations (NASA) technical developments for highly reliable life support systems aim to maximize the viability of long duration deep space missions. Among the life support system functions, airborne particulate matter filtration is a significant driver of launch mass because of the large geometry required to provide adequate filtration performance and because of the number of replacement filters needed to a sustain a mission. A trade analysis incorporating various launch, operational and maintenance parameters was conducted to investigate the trade-offs between the various particulate matter filtration configurations. In addition to typical launch parameters such as mass, volume and power, the amount of crew time dedicated to system maintenance becomes an increasingly crucial factor for long duration missions. The trade analysis evaluated these parameters for conventional particulate matter filtration technologies and a new multi-stage particulate matter filtration system under development by NASAs Glenn Research Center. The multi-stage filtration system features modular components that allow for physical configuration flexibility. Specifically, the filtration system components can be configured in distributed, centralized, and hybrid physical layouts that can result in considerable mass savings compared to conventional particulate matter filtration technologies. The trade analysis results are presented and implications for future transit and surface missions are discussed.
Robotic Missions to Small Bodies and Their Potential Contributions to Human Exploration and Planetary Defense
Abell, Paul A.; Rivkin, Andrew S.
Introduction: Robotic missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration and planetary defense. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near-Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. These data can also be applied for gaining an understanding of pertinent small body physical characteristics that would also be beneficial for formulating future impact mitigation procedures. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the
Human interactions during Shuttle/Mir space missions
Kanas, N.; Salnitskiy, V.; Grund, E. M.; Weiss, D. S.; Gushin, V.; Kozerenko, O.; Sled, A.; Marmar, C. R.
To improve the interpersonal climate of crewmembers involved with long-duration space missions, it is important to understand the factors affecting their interactions with each other and with members of mission control. This paper will present findings from a recently completed NASA-funded study during the Shuttle/Mir program which evaluated in-group/out-group displacement of negative emotions; changes in tension, cohesion, and leader support over time; and cultural differences. In-flight data were collected from 5 astronauts, 8 cosmonauts, and 42 American and 16 Russian mission control personnel who signed informed consent. Subjects completed a weekly questionnaire that assessed their mood and perception of their work group's interpersonal climate using questions from well-known, standardized measures (Profile of Mood States, Group and Work Environment Scales) and a critical incident log. There was strong evidence for the displacement of tension and dysphoric emotions from crewmembers to mission control personnel and from mission control personnel to management. There was a perceived decrease in commander support during the 2nd half of the missions, and for American crewmembers a novelty effect was found on several subscales during the first few months on-orbit. There were a number of differences between American and Russian responses which suggested that the former were less happy with their interpersonal environment than the latter. Mission control personnel reported more tension and dysphoria than crewmembers, although both groups scored better than other work groups on Earth. Nearly all reported critical incidents came from ground subjects, with Americans and Russians showing important differences in response frequencies.
European Space Agency's Fluorescence Explorer Mission: Concept and Applications
Mohammed, G.; Moreno, J. F.; Goulas, Y.; Huth, A.; Middleton, E.; Miglietta, F.; Nedbal, L.; Rascher, U.; Verhoef, W.; Drusch, M.
The Fluorescence Explorer (FLEX) is a dedicated satellite for the detection and measurement of solar-induced fluorescence (SIF). It is one of two candidate missions currently under evaluation by ESA for deployment in its Earth Explorer 8 program, with Phase A/B1 assessments now underway. FLEX is planned as a tandem mission with ESA's core mission Sentinel-3, and would carry an instrument, FLORIS, optimized for discrimination of the fluorescence signal in terrestrial vegetation. The FLEX mission would be the first to be focussed upon optimization of SIF detection in terrestrial vegetation, and using finer spatial resolution than is available with current satellites. It would open up a novel avenue for monitoring photosynthetic function from space, with diverse potential applications. Plant photosynthetic tissues absorbing sunlight in the wavebands of photosynthetically active radiation (400 to 700 nm) emit fluorescence in the form of red and far-red light. This signal confers a small but measurable contribution to apparent reflectance spectra, and with appropriate analysis it may be detected and quantified. Over the last 15-20 years, techniques for SIF detection have progressed from contact or near-contact methods using single leaves to remote techniques using airborne sensors and towers over plant canopies. Ongoing developments in instrumentation, atmospheric correction procedures, signal extraction techniques, and utilization of the SIF signal itself are all critical aspects of progress in this area. The FLEX mission would crystallize developments to date into a state-of-the-art pioneering mission targeting actual photosynthetic function. This compares to existing methods which address only potential function. Thus, FLEX could serve to provide real-time data on vegetation health and stress status, and inputs for parameterization of photosynthetic models (e.g. with measures of light-use efficiency). SIF might be correlated or modelled to photosynthetic rates or
New space vehicle archetypes for human planetary missions
Sherwood, Brent
Contemporary, archetypal, crew-carrying spacecraft concepts developed for NASA are presented for: a lunar transportation system, two kinds of Mars landers, and five kinds of Mars transfer vehicles. These cover the range of propulsion technologies and mission modes of interest for the Space Exploration Initiative, and include both aerobraking and artificial gravity as appropriate. They comprise both upgrades of extant archetypes and completely new ones. Computer solid models, configurations and mass statements are presented for each.
Ultra Reliable Closed Loop Life Support for Long Space Missions
Jones, Harry W.; Ewert, Michael K.
Spacecraft human life support systems can achieve ultra reliability by providing sufficient spares to replace all failed components. The additional mass of spares for ultra reliability is approximately equal to the original system mass, provided that the original system reliability is not too low. Acceptable reliability can be achieved for the Space Shuttle and Space Station by preventive maintenance and by replacing failed units. However, on-demand maintenance and repair requires a logistics supply chain in place to provide the needed spares. In contrast, a Mars or other long space mission must take along all the needed spares, since resupply is not possible. Long missions must achieve ultra reliability, a very low failure rate per hour, since they will take years rather than weeks and cannot be cut short if a failure occurs. Also, distant missions have a much higher mass launch cost per kilogram than near-Earth missions. Achieving ultra reliable spacecraft life support systems with acceptable mass will require a well-planned and extensive development effort. Analysis must determine the reliability requirement and allocate it to subsystems and components. Ultra reliability requires reducing the intrinsic failure causes, providing spares to replace failed components and having "graceful" failure modes. Technologies, components, and materials must be selected and designed for high reliability. Long duration testing is needed to confirm very low failure rates. Systems design should segregate the failure causes in the smallest, most easily replaceable parts. The system must be designed, developed, integrated, and tested with system reliability in mind. Maintenance and reparability of failed units must not add to the probability of failure. The overall system must be tested sufficiently to identify any design errors. A program to develop ultra reliable space life support systems with acceptable mass should start soon since it must be a long term effort.
Writing the History of Space Missions: Rosetta and Mars Express
Coradini, M.; Russo, A.
Mars Express is the first planetary mission accomplished by the European Space Agency (ESA). Launched in early June 2003, the spacecraft entered Mars's orbit on Christmas day of that year, demonstrating the new European commitment to planetary exploration. Following a failed attempt in the mid--1980s, two valid proposals for a European mission to Mars were submitted to ESA's decision--making bodies in the early 1990s, in step with renewed international interest in Mars exploration. Both were rejected, however, in the competitive selection process for the agency's Science Programme. Eventually, the Mars Express proposal emerged during a severe budgetary crisis in the mid--1990s as an exemplar of a "flexible mission" that could reduce project costs and development time. Its successful maneuvering through financial difficulties and conflicting scientific interests was due to the new management approach as well as to the public appeal of Mars exploration. In addition to providing a case study in the functioning of the ESA's Science Programme, the story of Mars Express discussed in this paper provides a case study in the functioning of the European Space Agency's Science Programme and suggests some general considerations on the peculiar position of space research in the general field of the history of science and technology.
Robonaut 2 - The First Humanoid Robot in Space
Diftler, M. A.; Radford, N. A.; Mehling, J. S.; Abdallah, M. E.; Bridgwater, L. B.; Sanders, A. M.; Askew, R. S.; Linn, D. M.; Yamokoski, J. D.; Permenter, F. A.;
NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.
Medical support and technology for long-duration space missions
Furukawa, S.; Nicogossian, A.; Buchanan, P.; Pool, S. L.
The current philosophy and development directions being taken towards realization of medical systems for use on board space stations are discussed. Data was gained on the performance of physical examinations, venipuncture and blood flow, blood smear and staining, white blood cell differential count, throat culture swab and colony count, and microscopy techniques during a 28-day period of the Skylab mission. It is expected that the advent of Shuttle flights will rapidly increase the number of persons in space, create a demand for in-space rather than on-earth medical procedures, and necessitate treatments for disorders without the provision for an early return to earth. Attention is being given to pressurized environment and extravehicular conditions of treatment, the possibilities of the use of the OTV for moving injured or ill crewmembers to other space stations, and to isolation of persons with communicable diseases from station crews.
Distributed Circumnavigation Control with Dynamic Spacings for a Heterogeneous Multi-robot System
Yao, Weijia; Luo, Sha; Lu, Huimin; Xiao, Junhao
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement speeds. Instead of equal-spacings, dynamic spacings according to robots' properties, which are termed utilities in this paper, will be more desirable in a scenario such as target entrapment. A distributed circumnavigation control algorithm based on utilities is ...
High Intensity Laser Power Beaming Architecture for Space and Terrestrial Missions
Nayfeh, Taysir; Fast, Brian; Raible, Daniel; Dinca, Dragos; Tollis, Nick; Jalics, Andrew
High Intensity Laser Power Beaming (HILPB) has been developed as a technique to achieve Wireless Power Transmission (WPT) for both space and terrestrial applications. In this paper, the system architecture and hardware results for a terrestrial application of HILPB are presented. These results demonstrate continuous conversion of high intensity optical energy at near-IR wavelengths directly to electrical energy at output power levels as high as 6.24 W from the single cell 0.8 cm2 aperture receiver. These results are scalable, and may be realized by implementing receiver arraying and utilizing higher power source lasers. This type of system would enable long range optical refueling of electric platforms, such as MUAV s, airships, robotic exploration missions and provide power to spacecraft platforms which may utilize it to drive electric means of propulsion.
Robotic Materials Handling in Space: Mechanical Design of the Robot Operated Materials Processing System HitchHiker Experiment
Voellmer, George
The Goddard Space Flight Center has developed the Robot Operated Materials Processing System (ROMPS) that flew aboard STS-64 in September, 1994. The ROMPS robot transported pallets containing wafers of different materials from their storage racks to a furnace for thermal processing. A system of tapered guides and compliant springs was designed to deal with the potential misalignments. The robot and all the sample pallets were locked down for launch and landing. The design of the passive lockdown system, and the interplay between it and the alignment system are presented.
Issues of geologically-focused situational awareness in robotic planetary missions: Lessons from an analogue mission at Mistastin Lake impact structure, Labrador, Canada
Antonenko, I.; Osinski, G. R.; Battler, M.; Beauchamp, M.; Cupelli, L.; Chanou, A.; Francis, R.; Mader, M. M.; Marion, C.; McCullough, E.; Pickersgill, A. E.; Preston, L. J.; Shankar, B.; Unrau, T.; Veillette, D.
Remote robotic data provides different information than that obtained from immersion in the field. This significantly affects the geological situational awareness experienced by members of a mission control science team. In order to optimize science return from planetary robotic missions, these limitations must be understood and their effects mitigated to fully leverage the field experience of scientists at mission control.Results from a 13-day analogue deployment at the Mistastin Lake impact structure in Labrador, Canada suggest that scale, relief, geological detail, and time are intertwined issues that impact the mission control science team's effectiveness in interpreting the geology of an area. These issues are evaluated and several mitigation options are suggested. Scale was found to be difficult to interpret without the reference of known objects, even when numerical scale data were available. For this reason, embedding intuitive scale-indicating features into image data is recommended. Since relief is not conveyed in 2D images, both 3D data and observations from multiple angles are required. Furthermore, the 3D data must be observed in animation or as anaglyphs, since without such assistance much of the relief information in 3D data is not communicated. Geological detail may also be missed due to the time required to collect, analyze, and request data.We also suggest that these issues can be addressed, in part, by an improved understanding of the operational time costs and benefits of scientific data collection. Robotic activities operate on inherently slow time-scales. This fact needs to be embraced and accommodated. Instead of focusing too quickly on the details of a target of interest, thereby potentially minimizing science return, time should be allocated at first to more broad data collection at that target, including preliminary surveys, multiple observations from various vantage points, and progressively smaller scale of focus. This operational model
Parametric Cost Modeling of Space Missions Using the Develop New Projects (DMP) Implementation Process
Rosenberg, Leigh; Hihn, Jairus; Roust, Kevin; Warfield, Keith
This paper presents an overview of a parametric cost model that has been built at JPL to estimate costs of future, deep space, robotic science missions. Due to the recent dramatic changes in JPL business practices brought about by an internal reengineering effort known as develop new products (DNP), high-level historic cost data is no longer considered analogous to future missions. Therefore, the historic data is of little value in forecasting costs for projects developed using the DNP process. This has lead to the development of an approach for obtaining expert opinion and also for combining actual data with expert opinion to provide a cost database for future missions. In addition, the DNP cost model has a maximum of objective cost drivers which reduces the likelihood of model input error. Version 2 is now under development which expands the model capabilities, links it more tightly with key design technical parameters, and is grounded in more rigorous statistical techniques. The challenges faced in building this model will be discussed, as well as it's background, development approach, status, validation, and future plans.
Enhancing Team Performance for Long-Duration Space Missions
Orasanu, Judith M.
Success of exploration missions will depend on skilled performance by a distributed team that includes both the astronauts in space and Mission Control personnel. Coordinated and collaborative teamwork will be required to cope with challenging complex problems in a hostile environment. While thorough preflight training and procedures will equip creW'S to address technical problems that can be anticipated, preparing them to solve novel problems is much more challenging. This presentation will review components of effective team performance, challenges to effective teamwork, and strategies for ensuring effective team performance. Teamwork skills essential for successful team performance include the behaviors involved in developing shared mental models, team situation awareness, collaborative decision making, adaptive coordination behaviors, effective team communication, and team cohesion. Challenges to teamwork include both chronic and acute stressors. Chronic stressors are associated with the isolated and confined environment and include monotony, noise, temperatures, weightlessness, poor sleep and circadian disruptions. Acute stressors include high workload, time pressure, imminent danger, and specific task-related stressors. Of particular concern are social and organizational stressors that can disrupt individual resilience and effective mission performance. Effective team performance can be developed by training teamwork skills, techniques for coping with team conflict, intracrew and intercrew communication, and working in a multicultural team; leadership and teamwork skills can be fostered through outdoor survival training exercises. The presentation will conclude with an evaluation of the special requirements associated with preparing crews to function autonomously in long-duration missions.
Future Missions for Space Weather Specifications and Forecasts
Onsager, T. G.; Biesecker, D. A.; Anthes, R. A.; Maier, M. W.; Gallagher, F. W., III; St Germain, K.
The progress of technology and the global integration of our economic and security infrastructures have introduced vulnerabilities to space weather that demand a more comprehensive ability to specify and to predict the dynamics of the space environment. This requires a comprehensive network of real-time space-based and ground-based observations with long-term continuity. In order to determine the most cost effective space architectures for NOAA's weather, space weather, and environmental missions, NOAA conducted the NOAA Satellite Observing System Architecture (NSOSA) study. This presentation will summarize the process used to document the future needs and the relative priorities for NOAA's operational space-based observations. This involves specifying the most important observations, defining the performance attributes at different levels of capability, and assigning priorities for achieving the higher capability levels. The highest priority observations recommended by the Space Platform Requirements Working Group (SPRWG) for improvement above a minimal capability level will be described. Finally, numerous possible satellite architectures have been explored to assess the costs and benefits of various architecture configurations.
Summary of astronaut inputs on automation and robotics for Space Station Freedom
Weeks, David J.
Astronauts and payload specialists present specific recommendations in the form of an overview that relate to the use of automation and robotics on the Space Station Freedom. The inputs are based on on-orbit operations experience, time requirements for crews, and similar crew-specific knowledge that address the impacts of automation and robotics on productivity. Interview techniques and specific questionnaire results are listed, and the majority of the responses indicate that incorporating automation and robotics to some extent and with human backup can improve productivity. Specific support is found for the use of advanced automation and EVA robotics on the Space Station Freedom and for the use of advanced automation on ground-based stations. Ground-based control of in-flight robotics is required, and Space Station activities and crew tasks should be analyzed to assess the systems engineering approach for incorporating automation and robotics.
Predictions of space radiation fatality risk for exploration missions.
Cucinotta, Francis A; To, Khiet; Cacao, Eliedonna
In this paper we describe revisions to the NASA Space Cancer Risk (NSCR) model focusing on updates to probability distribution functions (PDF) representing the uncertainties in the radiation quality factor (QF) model parameters and the dose and dose-rate reduction effectiveness factor (DDREF). We integrate recent heavy ion data on liver, colorectal, intestinal, lung, and Harderian gland tumors with other data from fission neutron experiments into the model analysis. In an earlier work we introduced distinct QFs for leukemia and solid cancer risk predictions, and here we consider liver cancer risks separately because of the higher RBE's reported in mouse experiments compared to other tumors types, and distinct risk factors for liver cancer for astronauts compared to the U.S. The revised model is used to make predictions of fatal cancer and circulatory disease risks for 1-year deep space and International Space Station (ISS) missions, and a 940 day Mars mission. We analyzed the contribution of the various model parameter uncertainties to the overall uncertainty, which shows that the uncertainties in relative biological effectiveness (RBE) factors at high LET due to statistical uncertainties and differences across tissue types and mouse strains are the dominant uncertainty. NASA's exposure limits are approached or exceeded for each mission scenario considered. Two main conclusions are made: 1) Reducing the current estimate of about a 3-fold uncertainty to a 2-fold or lower uncertainty will require much more expansive animal carcinogenesis studies in order to reduce statistical uncertainties and understand tissue, sex and genetic variations. 2) Alternative model assumptions such as non-targeted effects, increased tumor lethality and decreased latency at high LET, and non-cancer mortality risks from circulatory diseases could significantly increase risk estimates to several times higher than the NASA limits. Copyright © 2017 The Committee on Space Research (COSPAR
Popov, E. P.; Iurevich, E. I.
The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.
New dimensions for man. [human functions in future space missions
Louviere, A. J.
The functions of man in space have been in a state of constant change since the first manned orbital flight. Initially, the onboard crewmen performed those tasks essential to piloting and navigating the spacecraft. The time devoted to these tasks has steadily decreased and the crewman's time is being allotted to functions other than orbital operations. The evolving functions include added orbital operational capabilities, experimentation, spacecraft maintenance, and fabrication of useful end items. The new functions will include routine utilization of the crewman to extend mission life, satellite retrieval and servicing, remote manipulator systems operations, and piloting of free-flying teleoperator systems. The most demanding tasks are anticipated to be associated with construction of large space structures. The projected changes will introduce innovative designs and revitalize the concepts for utilizing man in space.
A three-finger multisensory hand for dexterous space robotic tasks
Murase, Yuichi; Komada, Satoru; Uchiyama, Takashi; Machida, Kazuo; Akita, Kenzo
The National Space Development Agency of Japan will launch ETS-7 in 1997, as a test bed for next generation space technology of RV&D and space robot. MITI has been developing a three-finger multisensory hand for complex space robotic tasks. The hand can be operated under remote control or autonomously. This paper describes the design and development of the hand and the performance of a breadboard model.
Transoral Robotic Surgery in Retrostyloid Parapharyngeal Space Schwannomas
Ansarin, Mohssen; Tagliabue, Marta; Chu, Francesco; Zorzi, Stefano; Proh, Michele; Preda, Lorenzo
Parapharyngeal space (PPS) tumors are very rare, representing about 0.5% of head and neck neoplasms. An external surgical approach is mainly used. Several recent papers show how transoral robotic surgery (TORS) excision could be a prospective tool to remove mainly benign lesions in PPS; no cases of neurogenic tumors from the retrostyloid space treated with TORS have been reported. We present two cases which underwent TORS for schwannomas from the retrostyloid compartment of the parapharyngeal space. Clinical diagnosis of schwannoma was performed by magnetic resonance imaging (MRI). In the first case a 6 cm neurogenic tumor arose from the vagus nerve and in the second case a 5 cm mass from the sympathetic chain was observed. Both cases were treated successfully by the TORS approach using a new "J"-shaped incision through the mucosa and superior pharyngeal constrictor muscle. Left vocal cord palsy and the Claude Bernard Horner syndrome, respectively, were observed as expected postsurgical sequelae. In case 1 the first bite syndrome developed after three months, while no complications were observed in case 2. Both patients regained a normal swallowing function. TORS seems to be a feasible mini-invasive procedure for benign PPS masses including masses in the poststyloid space. PMID:25202464
Transoral Robotic Surgery in Retrostyloid Parapharyngeal Space Schwannomas
Directory of Open Access Journals (Sweden)
Mohssen Ansarin
Full Text Available Parapharyngeal space (PPS tumors are very rare, representing about 0.5% of head and neck neoplasms. An external surgical approach is mainly used. Several recent papers show how transoral robotic surgery (TORS excision could be a prospective tool to remove mainly benign lesions in PPS; no cases of neurogenic tumors from the retrostyloid space treated with TORS have been reported. We present two cases which underwent TORS for schwannomas from the retrostyloid compartment of the parapharyngeal space. Clinical diagnosis of schwannoma was performed by magnetic resonance imaging (MRI. In the first case a 6 cm neurogenic tumor arose from the vagus nerve and in the second case a 5 cm mass from the sympathetic chain was observed. Both cases were treated successfully by the TORS approach using a new "J"-shaped incision through the mucosa and superior pharyngeal constrictor muscle. Left vocal cord palsy and the Claude Bernard Horner syndrome, respectively, were observed as expected postsurgical sequelae. In case 1 the first bite syndrome developed after three months, while no complications were observed in case 2. Both patients regained a normal swallowing function. TORS seems to be a feasible mini-invasive procedure for benign PPS masses including masses in the poststyloid space.
A methodology for automation and robotics evaluation applied to the space station telerobotic servicer
Smith, Jeffrey H.; Gyanfi, Max; Volkmer, Kent; Zimmerman, Wayne
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.
Interactive Exploration Robots: Human-Robotic Collaboration and Interactions
Fong, Terry
For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.
Landsat Data Continuity Mission (LDCM) space to ground mission data architecture
Nelson, Jack L.; Ames, J.A.; Williams, J.; Patschke, R.; Mott, C.; Joseph, J.; Garon, H.; Mah, G.
The Landsat Data Continuity Mission (LDCM) is a scientific endeavor to extend the longest continuous multi-spectral imaging record of Earth's land surface. The observatory consists of a spacecraft bus integrated with two imaging instruments; the Operational Land Imager (OLI), built by Ball Aerospace & Technologies Corporation in Boulder, Colorado, and the Thermal Infrared Sensor (TIRS), an in-house instrument built at the Goddard Space Flight Center (GSFC). Both instruments are integrated aboard a fine-pointing, fully redundant, spacecraft bus built by Orbital Sciences Corporation, Gilbert, Arizona. The mission is scheduled for launch in January 2013. This paper will describe the innovative end-to-end approach for efficiently managing high volumes of simultaneous realtime and playback of image and ancillary data from the instruments to the reception at the United States Geological Survey's (USGS) Landsat Ground Network (LGN) and International Cooperator (IC) ground stations. The core enabling capability lies within the spacecraft Command and Data Handling (C&DH) system and Radio Frequency (RF) communications system implementation. Each of these systems uniquely contribute to the efficient processing of high speed image data (up to 265Mbps) from each instrument, and provide virtually error free data delivery to the ground. Onboard methods include a combination of lossless data compression, Consultative Committee for Space Data Systems (CCSDS) data formatting, a file-based/managed Solid State Recorder (SSR), and Low Density Parity Check (LDPC) forward error correction. The 440 Mbps wideband X-Band downlink uses Class 1 CCSDS File Delivery Protocol (CFDP), and an earth coverage antenna to deliver an average of 400 scenes per day to a combination of LGN and IC ground stations. This paper will also describe the integrated capabilities and processes at the LGN ground stations for data reception using adaptive filtering, and the mission operations approach fro- the LDCM
Ultralightweight PV Array Materials for Deep Space Mission Environments, Phase I
National Aeronautics and Space Administration — Photovoltaic arrays for future deep space NASA missions demand multiple functionalities. They must efficiently generate electrical power, have very large areas and...
48 CFR 1852.246-70 - Mission Critical Space System Personnel Reliability Program.
... 48 Federal Acquisition Regulations System 6 2010-10-01 2010-10-01 true Mission Critical Space... CONTRACT CLAUSES Texts of Provisions and Clauses 1852.246-70 Mission Critical Space System Personnel Reliability Program. As prescribed in 1846.370(a), insert the following clause: Mission Critical Space System...
Lightweight Robotic Excavation, Phase I
National Aeronautics and Space Administration — Robust, lightweight, power-efficient excavation robots are mission enablers for lunar outposts and surface systems. Lunar excavators of this type cost-effectively...
The Stratospheric Aerosol and Gas Experiment (SAGE III) on the International Space Station (ISS) Mission
Cisewski, Michael; Zawodny, Joseph; Gasbarre, Joseph; Eckman, Richard; Topiwala, Nandkishore; Rodriquez-Alvarez, Otilia; Cheek, Dianne; Hall, Steve
The Stratospheric Aerosol and Gas Experiment III on the International Space Station (SAGE III/ISS) mission will provide the science community with high-vertical resolution and nearly global observations of ozone, aerosols, water vapor, nitrogen dioxide, and other trace gas species in the stratosphere and upper-troposphere. SAGE III/ISS measurements will extend the long-term Stratospheric Aerosol Measurement (SAM) and SAGE data record begun in the 1970s. The multi-decadal SAGE ozone and aerosol data sets have undergone intense scrutiny and are considered the international standard for accuracy and stability. SAGE data have been used to monitor the effectiveness of the Montreal Protocol. Key objectives of the mission are to assess the state of the recovery in the distribution of ozone, to re-establish the aerosol measurements needed by both climate and ozone models, and to gain further insight into key processes contributing to ozone and aerosol variability. The space station mid-inclination orbit allows for a large range in latitude sampling and nearly continuous communications with payloads. The SAGE III instrument is the fifth in a series of instruments developed for monitoring atmospheric constituents with high vertical resolution. The SAGE III instrument is a moderate resolution spectrometer covering wavelengths from 290 nm to 1550 nm. Science data is collected in solar occultation mode, lunar occultation mode, and limb scatter measurement mode. A SpaceX Falcon 9 launch vehicle will provide access to space. Mounted in the unpressurized section of the Dragon trunk, SAGE III will be robotically removed from the Dragon and installed on the space station. SAGE III/ISS will be mounted to the ExPRESS Logistics Carrier-4 (ELC-4) location on the starboard side of the station. To facilitate a nadir view from this location, a Nadir Viewing Platform (NVP) payload was developed which mounts between the carrier and the SAGE III Instrument Payload (IP).
Radiation Measured for Chinese Satellite SJ-10 Space Mission
Zhou, Dazhuang; Sun, Yeqing; Zhang, Binquan; Zhang, Shenyi; Sun, Yueqiang; Liang, Jinbao; Zhu, Guangwu; Jing, Tao; Yuan, Bin; Zhang, Huanxin; Zhang, Meng; Wang, Wei; Zhao, Lei
Space biological effects are mainly a result of space radiation particles with high linear energy transfer (LET); therefore, accurate measurement of high LET space radiation is vital. The radiation in low Earth orbits is composed mainly of high-energy galactic cosmic rays (GCRs), solar energetic particles, particles of radiation belts, the South Atlantic Anomaly, and the albedo neutrons and protons scattered from the Earth's atmosphere. CR-39 plastic nuclear track detectors sensitive to high LET are the best passive detectors to measure space radiation. The LET method that employs CR-39 can measure all the radiation LET spectra and quantities. CR-39 detectors can also record the incident directions and coordinates of GCR heavy ions that pass through both CR-39 and biosamples, and the impact parameter, the distance between the particle's incident point and the seed's spore, can then be determined. The radiation characteristics and impact parameter of GCR heavy ions are especially beneficial for in-depth research regarding space radiation biological effects. The payload returnable satellite SJ-10 provided an excellent opportunity to investigate space radiation biological effects with CR-39 detectors. The space bio-effects experiment was successfully conducted on board the SJ-10 satellite. This paper introduces space radiation in low Earth orbits and the LET method in radiation-related research and presents the results of nuclear tracks and biosamples hitting distributions of GCR heavy ions, the radiation LET spectra, and the quantities measured for the SJ-10 space mission. The SJ-10 bio-experiment indicated that radiation may produce significant bio-effects.
Hubble Space Telescope: The Telescope, the Observations & the Servicing Mission
Hubble's success is the advantage of being in orbit, beyond the Earth's atmosphere. From there it enjoys a crystal-clear view of the universe - without clouds and atmospheric disturbances to blur its vision. European astronomer Guido De Marchi from ESO in Munich has been using Hubble since the early days of the project. He explains: "HST can see the faintest and smallest details and lets us study the stars with great accuracy, even where they are packed together - just as with those in the centre of our Galaxy". Dieter Reimers from Hamburg Observatory adds: "HST has capabilities to see ultraviolet light, which is not possible from the ground due to the blocking effect of the atmosphere. And this is really vital to our work, the main aim of which is to discover the chemical composition of the Universe." The Servicing Missions In the early plans for telescope operations, maintenance visits were to have been made every 2.5 years. And every five years HST should have been transported back to the ground for thorough overhaul. This plan has changed somewhat over time and a servicing scheme, which includes Space Shuttle Servicing Missions every three years, was decided upon. The two first Servicing Missions, in December 1993 (STS-61) and February 1997 (STS-82) respectively, were very successful. In the first three years of operations HST did not meet expectations because its primary mirror was 2 microns too flat at the edge. The first Servicing Mission in 1993 (on which the European astronaut Claude Nicollier flew) dealt with this problem by installing a new instrument with corrective optics (COSTAR - Corrective Optics Space Telescope Axial Replacement). With this pair of "glasses" HST's golden age began. The images were as sharp as originally hoped and astonishing new results started to emerge on a regular basis. The first Servicing Mission also replaced the solar panels and installed a new camera (Wide Field and Planetary Camera 2 - WFPC2). The High-Speed Photometer (HSP) was
Inventing a space mission the story of the Herschel space observatory
Minier, Vincent; Bontems, Vincent; de Graauw, Thijs; Griffin, Matt; Helmich, Frank; Pilbratt, Göran; Volonte, Sergio
This book describes prominent technological achievements within a very successful space science mission: the Herschel space observatory. Focusing on the various processes of innovation it offers an analysis and discussion of the social, technological and scientific context of the mission that paved the way to its development. It addresses the key question raised by these processes in our modern society, i.e.: how knowledge management of innovation set the conditions for inventing the future? In that respect the book is based on a transdisciplinary analysis of the programmatic complexity of Herschel, with inputs from space scientists, managers, philosophers, and engineers. This book is addressed to decision makers, not only in space science, but also in other industries and sciences using or building large machines. It is also addressed to space engineers and scientists as well as students in science and management.
The Space Mission Design Example Using LEO Bolos
Directory of Open Access Journals (Sweden)
Oleg Nizhnik
Full Text Available Four sample space launch missions were designed using rotating momentum transfer tethers (bolos within low Earth orbit and a previously unknown phenomenon of "aerospinning" was identified and simulated. The momentum transfer tethers were found to be only marginally more efficient than the use of chemical rocket boosters. Insufficient power density of modern spacecrafts was identified as the principal inhibitory factor for tether usage as a means of launch-assistance, with power densities at least 10 W/kg required for effective bolos operation.
Peer-to-Peer Planning for Space Mission Control
Barreiro, Javier; Jones, Grailing, Jr.; Schaffer, Steve
Planning and scheduling for space operations entails the development of applications that embed intimate domain knowledge of distinct areas of mission control, while allowing for significant collaboration among them. The separation is useful because of differences in the planning problem, solution methods, and frequencies of replanning that arise in the different disciplines. For example, planning the activities of human spaceflight crews requires some reasoning about all spacecraft resources at timescales of minutes or seconds, and is subject to considerable volatility. Detailed power planning requires managing the complex interplay of power consumption and production, involves very different classes of constraints and preferences, but once plans are generated they are relatively stable.
Welding iridium heat-source capsules for space missions
International Nuclear Information System (INIS)
Kanne, W.R. Jr.
A remote computer-controlled welding station was developed to encapsulate radioactive PuO 2 in iridium. Weld quench cracking caused an interruption in production of capsules for upcoming space missions. Hot crack sensitivity of the DOP-26 iridium alloy was associated with low melting constituents in the grain boundaries. The extent of cracking was reduced but could not be eliminated by changes to the welding operation. An ultrasonic test was developed to detect underbead cracks exceeding a threshold size. Production was continued using the ultrasonic test to reject capsules with detectable cracks
Earth observations during Space Shuttle Mission STS-42 - Discovery's mission to planet earth
Lulla, Kamlesh P.; Helfert, Michael; Amsbury, David; Pitts, David; Jaklitch, Pat; Wilkinson, Justin; Evans, Cynthia; Ackleson, Steve; Helms, David; Chambers, Mark
The noteworthy imagery acquired during Space Shuttle Mission STS-42 is documented. Attention is given to frozen Tibetan lakes, Merapi Volcano in Java, Mt. Pinatubo in the Philippines, the coastline east of Tokyo Japan, land use in southern India, and the Indus River Delta. Observations of Kamchatka Peninsula, Lake Baikal, Moscow, Katmai National Park and Mt. Augustine, Alaska, the Alaskan coast by the Bering Sea, snow-covered New York, the Rhone River valley, the Strait of Gibraltar, and Mt. Ararat, Turkey, are also reported.
Advancing automation and robotics technology for the Space Station Freedom and for the U.S. Economy
In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the thirteenth in a series of progress updates and covers the period between 14 Feb. - 15 Aug. 1991. The progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology is described. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 12, and issues of A&R implementation into Ground Mission Operations and A&R enhancement of science productivity. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.
Passive Control of Attachment in Legged Space Robots
Directory of Open Access Journals (Sweden)
Alessandro Gasparetto
Full Text Available In the space environment the absence of gravity calls for constant safe attachment of any loose object, but the low-pressure conditions prohibit the use of glue-type adhesives. The attachment system of freely hunting spiders, e.g. Evarcha arcuata, employs van der Waals forces and mechanical interlocking. Furthermore, detachment is achieved passively and requires little force. Hence, the spider serves as a model for a versatile legged robot for space applications, e.g. on the outer surface of a space station. In this paper, we analyse the dry attachment systems of E. arcuata and geckos as well as the kinematics of freely hunting spiders. We generalise the results of biological studies on spider locomotion and mobility, including the major movement and the position constraints set by the dry adhesion system. From these results, we define a simplified spider model and study the overall kinematics of the legs both in flight and in contact with the surface. The kinematic model, the data on spider gait characteristics and the adhesion constraints are implemented in a kinematic simulator. The simulator results confirm the principal functionality of our concept.
Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center
Zia, Omar
The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.
Early Mission Maneuver Operations for the Deep Space Climate Observatory Sun-Earth L1 Libration Point Mission
Roberts, Craig; Case, Sara; Reagoso, John; Webster, Cassandra
The Deep Space Climate Observatory mission launched on February 11, 2015, and inserted onto a transfer trajectory toward a Lissajous orbit around the Sun-Earth L1 libration point. This paper presents an overview of the baseline transfer orbit and early mission maneuver operations leading up to the start of nominal science orbit operations. In particular, the analysis and performance of the spacecraft insertion, mid-course correction maneuvers, and the deep-space Lissajous orbit insertion maneuvers are discussed, com-paring the baseline orbit with actual mission results and highlighting mission and operations constraints..
A comparison of propulsion systems for potential space mission applications
International Nuclear Information System (INIS)
Harvego, E.A.; Sulmeisters, T.K.
A derivative of the NERVA nuclear rocket engine was compared with a chemical propulsion system and a nuclear electric propulsion system to assess the relative capabilities of the different propulsion system options for three potential space missions. The missions considered were (1) orbital transfer from low earth orbit (LEO) to geosynchronous earth orbit (GEO), (2) LEO to a lunar base, and (3) LEO to Mars. The results of this comparison indicate that the direct-thrust NERVA-derivative nuclear rocket engine has the best performance characteristics for the missions considered. The combined high thrust and high specific impulse achievable with a direct-thrust nuclear stage permits short operating times (transfer times) comparable to chemical propulsion systems, but with considerably less required propellant. While nuclear-electric propulsion systems are more fuel efficient than either direct-nuclear or chemical propulsion, they are not stand-alone systems, since their relatively low thrust levels require the use of high-thrust ferry or lander stages in high gravity applications such as surface-to-orbit propulsion. The extremely long transfer times and inefficient trajectories associated with electric propulsion systems were also found to be a significant drawback
3D Embedded Reconfigurable Riometer for Heliospheric Space Missions
Dekoulis, George
This paper describes the development of a new three-dimensional embedded reconfigurable Riometer for performing remote sensing of planetary magnetospheres. The system couples the in situ measurements of probe or orbiter magnetospheric space missions. The new prototype features a multi-frequency mode that allows measurements at frequencies, where heliospheric physics events' signatures are distinct on the ionized planetary plasma. For our planet similar measurements are meaningful for frequencies below 55 MHz. Observation frequencies above 55 MHz yield to direct measurements of the Cosmic Microwave Background intensity. The system acts as a prototyping platform for subsequent space exploration phased-array imaging experiments, due to its high-intensity scientific processing capabilities. The performance improvement over existing systems in operation is in the range of 80%, due to the state-of-the-art hardware and scientific processing used.
Development of automation and robotics for space via computer graphic simulation methods
Fernandez, Ken
A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.
Galaxy Mission Completes Four Star-Studded Years in Space
NASA's Galaxy Evolution Explorer is celebrating its fourth year in space with some of M81's 'hottest' stars. In a new ultraviolet image, the magnificent M81 spiral galaxy is shown at the center. The orbiting observatory spies the galaxy's 'sizzling young starlets' as wisps of bluish-white swirling around a central golden glow. The tints of gold at M81's center come from a 'senior citizen' population of smoldering stars. 'This is a spectacular view of M81,' says Dr. John Huchra, of the Harvard Smithsonian Center for Astrophysics, Cambridge, Mass. 'When we proposed to observe this galaxy with GALEX we hoped to see globular clusters, open clusters, and young stars...this view is everything that we were hoping for.' The image is one of thousands gathered so far by GALEX, which launched April 28, 2003. This mission uses ultraviolet wavelengths to measure the history of star formation 80 percent of the way back to the Big Bang. The large fluffy bluish-white material to the left of M81 is a neighboring galaxy called Holmberg IX. This galaxy is practically invisible to the naked human eye. However, it is illuminated brilliantly in GALEX's wide ultraviolet eyes. Its ultraviolet colors show that it is actively forming young stars. The bluish-white fuzz in the space surrounding M81 and Holmberg IX is new star formation triggered by gravitational interactions between the two galaxies. Huchra notes that the active star formation in Holmberg IX is a surprise, and says that more research needs to be done in light of the new findings from GALEX. 'Some astronomers suspect that the galaxy Holmberg IX is the result of a galactic interaction between M81 and another neighboring galaxy M82,' says Huchra. 'This particular galaxy is especially important because there are a lot of galaxies like Holmberg IX around our Milky Way galaxy. By understanding how Holmberg IX came to be, we hope to understand how all the little galaxies surrounding the Milky Way developed.' 'Four years after GALEX
The Science and Technology of Future Space Missions
Bonati, A.; Fusi, R.; Longoni, F.
The future space missions span over a wide range of scientific objectives. After different successful scientific missions, other international cornerstone experiments are planned to study of the evolution of the universe and of the primordial stellar systems, and our solar system. Space missions for the survey of the microwave cosmic background radiation, deep-field search in the near and mid-infrared region and planetary exploration will be carried out. Several fields are open for research and development in the space business. Three major categories can be found: detector technology in different areas, electronics, and software. At LABEN, a Finmeccanica Company, we are focusing the technologies to respond to this challenging scientific demands. Particle trackers based on silicon micro-strips supported by lightweight structures (CFRP) are studied. In the X-ray field, CCD's are investigated with pixels of very small size so as to increase the spatial resolution of the focal plane detectors. High-efficiency and higly miniaturized high-voltage power supplies are developed for detectors with an increasingly large number of phototubes. Material research is underway to study material properties at extreme temperatures. Low-temperature mechanical structures are designed for cryogenic ( 20 K) detectors in order to maintain the high precision in pointing the instrument. Miniaturization of front end electronics with low power consumption and high number of signal processing channels is investigated; silicon-based microchips (ASIC's) are designed and developed using state-of-the-art technology. Miniaturized instruments to investigate the planets surface using X-Ray and Gamma-Ray scattering techniques are developed. The data obtained from the detectors have to be processed, compressed, formatted and stored before their transmission to ground. These tasks open up additional strategic areas of development such as microprocessor-based electronics for high-speed and parallel data
Implementing Distributed Operations: A Comparison of Two Deep Space Missions
Mishkin, Andrew; Larsen, Barbara
Two very different deep space exploration missions--Mars Exploration Rover and Cassini--have made use of distributed operations for their science teams. In the case of MER, the distributed operations capability was implemented only after the prime mission was completed, as the rovers continued to operate well in excess of their expected mission lifetimes; Cassini, designed for a mission of more than ten years, had planned for distributed operations from its inception. The rapid command turnaround timeline of MER, as well as many of the operations features implemented to support it, have proven to be conducive to distributed operations. These features include: a single science team leader during the tactical operations timeline, highly integrated science and engineering teams, processes and file structures designed to permit multiple team members to work in parallel to deliver sequencing products, web-based spacecraft status and planning reports for team-wide access, and near-elimination of paper products from the operations process. Additionally, MER has benefited from the initial co-location of its entire operations team, and from having a single Principal Investigator, while Cassini operations have had to reconcile multiple science teams distributed from before launch. Cassini has faced greater challenges in implementing effective distributed operations. Because extensive early planning is required to capture science opportunities on its tour and because sequence development takes significantly longer than sequence execution, multiple teams are contributing to multiple sequences concurrently. The complexity of integrating inputs from multiple teams is exacerbated by spacecraft operability issues and resource contention among the teams, each of which has their own Principal Investigator. Finally, much of the technology that MER has exploited to facilitate distributed operations was not available when the Cassini ground system was designed, although later adoption
Possible Space-Based Gravitational-Wave Observatory Mission Concept
Livas, Jeffrey C.
The existence of gravitational waves was established by the discovery of the Binary Pulsar PSR 1913+16 by Hulse and Taylor in 1974, for which they were awarded the 1983 Nobel Prize. However, it is the exploitation of these gravitational waves for the extraction of the astrophysical parameters of the sources that will open the first new astronomical window since the development of gamma ray telescopes in the 1970's and enable a new era of discovery and understanding of the Universe. Direct detection is expected in at least two frequency bands from the ground before the end of the decade with Advanced LIGO and Pulsar Timing Arrays. However, many of the most exciting sources will be continuously observable in the band from 0.1-100 mHz, accessible only from space due to seismic noise and gravity gradients in that band that disturb ground-based observatories. This talk will discuss a possible mission concept developed from the original Laser Interferometer Space Antenna (LISA) reference mission but updated to reduce risk and cost.
Possible Space-Based Gravitational-Wave Observatory Mission Concept
Livas, Jeffrey C.
The existence of gravitational waves was established by the discovery of the Binary Pulsar PSR 1913+16 by Hulse and Taylor in 1974, for which they were awarded the 1983 Nobel Prize. However, it is the exploitation of these gravitational waves for the extraction of the astrophysical parameters of the sources that will open the first new astronomical window since the development of gamma ray telescopes in the 1970's and enable a new era of discovery and understanding of the Universe. Direct detection is expected in at least two frequency bands from the ground before the end of the decade with Advanced LIGO and Pulsar Timing Arrays. However, many of the most exciting sources will be continuously observable in the band from 0.1-100 mHz, accessible only from space due to seismic noise and gravity gradients in that band that disturb groundbased observatories. This talk will discuss a possible mission concept developed from the original Laser Interferometer Space Antenna (LISA) reference mission but updated to reduce risk and cost.
AN/FPS-108 COBRA DANE Space Surveillance Mission Evolution
Chorman, P.; Boggs, J.
It has been ten years since the COBRA DANE radar was restored to continuous full power operations in a more dedicated role of space debris tracking. Over this time, the satellite catalog population has grown and the overall average RCS value of cataloged objects has decreased dramatically, due to a combination of breakups and collisions together with the increased sensitivity offered by COBRA DANE's support to the network. This shift in catalog composition places new challenges on COBRA DANE and other debris tracking radars (PARCS and Eglin/FPS-85) to consistently track the ever-increasing number of small objects. Space Surveillance Network radars now operate at the limits of their detection performance, tracking several thousand new objects in a size category that only the most powerful and sensitive radars can observe (i.e., COBRA DANE's inherent Spacetrack mission software functionality remained better tuned for its original support role against the larger (known) orbital objects than for its more modern role in acquiring and reporting small debris in an appreciable number -- that is, until now. Several newly-identified software changes offer promise of significantly increased data yield that will make COBRA DANE an even more important asset for this evolving mission. In the course of assisting JSpOC, AFSPC, and USSTRATCOM with the ongoing challenges of lost satellite management, it was discovered that the radar's performance is being artificially restricted by mission software, rather than by the system's overall architectural design (power-aperture envelope and radar resources). This paper captures specific opportunities to improve COBRA DANE's Spacetrack mission performance, several of which are currently implemented and slated to become operational with the next two software releases. With one of the more prominent enhancements, COBRA DANE will be capable of autonomously 'fence tasking' all newly acquired small objects. Under the current operating paradigm
Automation and robotics for the Space Station - The influence of the Advanced Technology Advisory Committee
Nunamaker, Robert R.; Willshire, Kelli F.
The reports of a committee established by Congress to identify specific systems of the Space Station which would advance automation and robotics technologies are reviewed. The history of the committee, its relation to NASA, and the reports which it has released are discussed. The committee's reports recommend the widespread use of automation and robotics for the Space Station, a program for technology development and transfer between industries and research and development communities, and the planned use of robots to service and repair satellites and their payloads which are accessible from the Space Station.
A Mission Concept: Re-Entry Hopper-Aero-Space-Craft System on-Mars (REARM-Mars)
Davoodi, Faranak
Future missions to Mars that would need a sophisticated lander, hopper, or rover could benefit from the REARM Architecture. The mission concept REARM Architecture is designed to provide unprecedented capabilities for future Mars exploration missions, including human exploration and possible sample-return missions, as a reusable lander, ascend/descend vehicle, refuelable hopper, multiple-location sample-return collector, laboratory, and a cargo system for assets and humans. These could all be possible by adding just a single customized Re-Entry-Hopper-Aero-Space-Craft System, called REARM-spacecraft, and a docking station at the Martian orbit, called REARM-dock. REARM could dramatically decrease the time and the expense required to launch new exploratory missions on Mars by making them less dependent on Earth and by reusing the assets already designed, built, and sent to Mars. REARM would introduce a new class of Mars exploration missions, which could explore much larger expanses of Mars in a much faster fashion and with much more sophisticated lab instruments. The proposed REARM architecture consists of the following subsystems: REARM-dock, REARM-spacecraft, sky-crane, secure-attached-compartment, sample-return container, agile rover, scalable orbital lab, and on-the-road robotic handymen.
Propulsion Utilizing Laser-Driven Ponderomotive Fields for Deep-Space Missions
International Nuclear Information System (INIS)
Williams, George J.; Gilland, James H.
The generation of large amplitude electric fields in plasmas by high-power lasers has been studied for several years in the context of high-energy particle acceleration. Fields on the order of GeV/m are generated in the plasma wake of the laser by non-linear ponderomotive forces. The laser fields generate longitudinal and translational electron plasma waves with phase velocities close to the speed of light. These fields and velocities offer the potential to revolutionize spacecraft propulsion, leading to extended deep space robotic probes. Based on these initial calculations, plasma acceleration by means of laser-induced ponderomotive forces appears to offer significant potential for spacecraft propulsion. Relatively high-efficiencies appear possible with proper beam conditioning, resulting in an order of magnitude more thrust than alternative concepts for high I SP (>10 5 s) and elimination of the primary life-limiting erosion phenomena associated with conventional electric propulsion systems. Ponderomotive propulsion readily lends itself to beamed power which might overcome some of the constraints of power-limited propulsion concepts. A preliminary assessment of the impact of these propulsion systems for several promising configurations on mission architectures has been conducted. Emphasizing interstellar and interstellar-precursor applications, performance and technical requirements are identified for a number of missions. The use of in-situ plasma and gas for propellant is evaluated as well.
A plan for time-phased incorporation of automation and robotics on the US space station
Purves, R. B.; Lin, P. S.; Fisher, E. M., Jr.
A plan for the incorporation of Automation and Robotics technology on the Space Station is presented. The time phased introduction of twenty two selected candidates is set forth in accordance with a technology development forecast. Twenty candidates were chosed primarily for their potential to relieve the crew of mundane or dangerous operations and maintenance burdens, thus freeing crew time for mission duties and enhancing safety. Two candidates were chosen based on a potential for increasing the productivity of laboratory experiments and thus directly enhancing the scientific value of the Space Station. A technology assessment for each candidate investigates present state of the art, development timelines including space qualification considerations, and potential for technology transfer to earth applications. Each candidate is evaluated using a crew workload model driven by crew size, number of pressurized U.S. modules and external payloads, which makes it possible to assess the impact of automation during a growth scenario. Costs for each increment of implementation are estimated and accumulated.
Fast estimation of space-robots inertia parameters: A modular mathematical formulation
Nabavi Chashmi, Seyed Yaser; Malaek, Seyed Mohammad-Bagher
This work aims to propose a new technique that considerably helps enhance time and precision needed to identify ;Inertia Parameters (IPs); of a typical Autonomous Space-Robot (ASR). Operations might include, capturing an unknown Target Space-Object (TSO), ;active space-debris removal; or ;automated in-orbit assemblies;. In these operations generating precise successive commands are essential to the success of the mission. We show how a generalized, repeatable estimation-process could play an effective role to manage the operation. With the help of the well-known Force-Based approach, a new ;modular formulation; has been developed to simultaneously identify IPs of an ASR while it captures a TSO. The idea is to reorganize the equations with associated IPs with a ;Modular Set; of matrices instead of a single matrix representing the overall system dynamics. The devised Modular Matrix Set will then facilitate the estimation process. It provides a conjugate linear model in mass and inertia terms. The new formulation is, therefore, well-suited for ;simultaneous estimation processes; using recursive algorithms like RLS. Further enhancements would be needed for cases the effect of center of mass location becomes important. Extensive case studies reveal that estimation time is drastically reduced which in-turn paves the way to acquire better results.
Constraint and Flight Rule Management for Space Mission Operations
Barreiro, J.; Chachere, J.; Frank, J.; Bertels, C.; Crocker, A.
The exploration of space is one of the most fascinating domains to study from a human factors perspective. Like other complex work domains such as aviation (Pritchett and Kim, 2008), air traffic management (Durso and Manning, 2008), health care (Morrow, North, and Wickens, 2006), homeland security (Cooke and Winner, 2008), and vehicle control (Lee, 2006), space exploration is a large-scale sociotechnical work domain characterized by complexity, dynamism, uncertainty, and risk in real-time operational contexts (Perrow, 1999; Woods et al, 1994). Nearly the entire gamut of human factors issues - for example, human-automation interaction (Sheridan and Parasuraman, 2006), telerobotics, display and control design (Smith, Bennett, and Stone, 2006), usability, anthropometry (Chaffin, 2008), biomechanics (Marras and Radwin, 2006), safety engineering, emergency operations, maintenance human factors, situation awareness (Tenney and Pew, 2006), crew resource management (Salas et al., 2006), methods for cognitive work analysis (Bisantz and Roth, 2008) and the like -- are applicable to astronauts, mission control, operational medicine, Space Shuttle manufacturing and assembly operations, and space suit designers as they are in other work domains (e.g., Bloomberg, 2003; Bos et al, 2006; Brooks and Ince, 1992; Casler and Cook, 1999; Jones, 1994; McCurdy et al, 2006; Neerincx et aI., 2006; Olofinboba and Dorneich, 2005; Patterson, Watts-Perotti and Woods, 1999; Patterson and Woods, 2001; Seagull et ai, 2007; Sierhuis, Clancey and Sims, 2002). The human exploration of space also has unique challenges of particular interest to human factors research and practice. This chapter provides an overview of those issues and reports on some of the latest research results as well as the latest challenges still facing the field.
TAMU: Blueprint for A New Space Mission Operations System Paradigm
Ruszkowski, James T.; Meshkat, Leila; Haensly, Jean; Pennington, Al; Hogle, Charles
The Transferable, Adaptable, Modular and Upgradeable (TAMU) Flight Production Process (FPP) is a System of System (SOS) framework which cuts across multiple organizations and their associated facilities, that are, in the most general case, in geographically disperse locations, to develop the architecture and associated workflow processes of products for a broad range of flight projects. Further, TAMU FPP provides for the automatic execution and re-planning of the workflow processes as they become operational. This paper provides the blueprint for the TAMU FPP paradigm. This blueprint presents a complete, coherent technique, process and tool set that results in an infrastructure that can be used for full lifecycle design and decision making during the flight production process. Based on the many years of experience with the Space Shuttle Program (SSP) and the International Space Station (ISS), the currently cancelled Constellation Program which aimed on returning humans to the moon as a starting point, has been building a modern model-based Systems Engineering infrastructure to Re-engineer the FPP. This infrastructure uses a structured modeling and architecture development approach to optimize the system design thereby reducing the sustaining costs and increasing system efficiency, reliability, robustness and maintainability metrics. With the advent of the new vision for human space exploration, it is now necessary to further generalize this framework to take into consideration a broad range of missions and the participation of multiple organizations outside of the MOD; hence the Transferable, Adaptable, Modular and Upgradeable (TAMU) concept.
An overview of the program to place advanced automation and robotics on the Space Station
Heydorn, Richard P.
The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.
Gamma radiation in ceramic capacitors: a study for space missions
dos Santos Ferreira, Eduardo; Sarango Souza, Juliana
We studied the real time effects of the gamma radiation in ceramic capacitors, in order to evaluate the effects of cosmic radiation on these devices. Space missions have electronic circuits with various types of devices, many studies have been done on semiconductor devices exposed to gamma radiation, but almost no studies for passive components, in particular ceramic capacitors. Commercially sold ceramic capacitors were exposed to gamma radiation, and the capacitance was measured before and after exposure. The results clearly show that the capacitance decreases with exposure to gamma radiation. We confirmed this observation in a real time capacitance measurement, obtained using a data logging system developed by us using the open source Arduino platform.
The transition radiation detector of the PAMELA space mission
Ambriola, M.; Bellotti, R.; Cafagna, F.; Circella, M.; de Marzo, C.; Giglietto, N.; Marangelli, B.; Mirizzi, N.; Romita, M.; Spinelli, P.
PAMELA space mission objective is to flight a satellite-borne magnetic spectrometer built to fulfill the primary scientific goals of detecting antiparticles (antiprotons and positrons) and to measure spectra of particles in cosmic rays. The PAMELA telescope is composed of: a silicon tracker housed in a permanent magnet, a time-of-flight and an anticoincidence system both made of plastic scintillators, a silicon imaging calorimeter, a neutron detector and a Transition Radiation Detector (TRD). The TRD is composed of nine sensitive layers of straw tubes working in proportional mode for a total of 1024 channels. Each layer is interleaved with a radiator plane made of carbon fibers. The TRD characteristics will be described along with its performances studied at both CERN-PS and CERN-SPS facilities, using electrons, pions, muons and protons of different momenta.
The transition radiation detector of the PAMELA space mission
International Nuclear Information System (INIS)
Ambriola, M.; Bellotti, R.; Cafagna, F.; Circella, M.; De Marzo, C.; Giglietto, N.; Marangelli, B.; Mirizzi, N.; Romita, M.; Spinelli, P.
PAMELA space mission objective is to flight a satellite-borne magnetic spectrometer built to fulfill the primary scientific goals of detecting antiparticles (antiprotons and positrons) and to measure spectra of particles in cosmic rays. The PAMELA telescope is composed of: a silicon tracker housed in a permanent magnet, a time-of-flight and an anticoincidence system both made of plastic scintillators, a silicon imaging calorimeter, a neutron detector and a Transition Radiation Detector (TRD). The TRD is composed of nine sensitive layers of straw tubes working in proportional mode for a total of 1024 channels. Each layer is interleaved with a radiator plane made of carbon fibers. The TRD characteristics will be described along with its performances studied at both CERN-PS and CERN-SPS facilities, using electrons, pions, muons and protons of different momenta
Advances in Rodent Research Missions on the International Space Station
Choi, S. Y.; Ronca, A.; Leveson-Gower, D.; Gong, C.; Stube, K.; Pletcher, D.; Wigley, C.; Beegle, J.; Globus, R. K.
A research platform for rodent experiment on the ISS is a valuable tool for advancing biomedical research in space. Capabilities offered by the Rodent Research project developed at NASA Ames Research Center can support experiments of much longer duration on the ISS than previous experiments performed on the Space Shuttle. NASAs Rodent Research (RR)-1 mission was completed successfully and achieved a number of objectives, including validation of flight hardware, on-orbit operations, and science capabilities as well as support of a CASIS-sponsored experiment (Novartis) on muscle atrophy. Twenty C57BL6J adult female mice were launched on the Space-X (SpX) 4 Dragon vehicle, and thrived for up to 37 days in microgravity. Daily health checks of the mice were performed during the mission via downlinked video; all flight animals were healthy and displayed normal behavior, and higher levels of physical activity compared to ground controls. Behavioral analysis demonstrated that Flight and Ground Control mice exhibited the same range of behaviors, including eating, drinking, exploratory behavior, self- and allo-grooming, and social interactions indicative of healthy animals. The animals were euthanized on-orbit and select tissues were collected from some of the mice on orbit to assess the long-term sample storage capabilities of the ISS. In general, the data obtained from the flight mice were comparable to those from the three groups of control mice (baseline, vivarium and ground controls, which were housed in flight hardware), showing that the ISS has adequate capability to support long-duration rodent experiments. The team recovered 35 tissues from 40 RR-1 frozen carcasses, yielding 3300 aliquots of tissues to distribute to the scientific community in the U.S., including NASAs GeneLab project and scientists via Space Biology's Biospecimen Sharing Program Ames Life Science Data Archive. Tissues also were distributed to Russian research colleagues at the Institute for
Potential renovascular hypertension, space missions, and the role of magnesium
Directory of Open Access Journals (Sweden)
William J Rowe
Full Text Available William J RoweFormer Assistant Clinical Professor of Medicine, Medical University of Ohio at Toledo, Keswick, VA, USAAbstract: Space flight (SF and dust inhalation in habitats cause hypertension whereas in SF (alone there is no consistent hypertension but reduced diurnal blood pressure (BP variation instead. Current pharmaceutical subcutaneous delivery systems are inadequate and there is impairment in the absorption, metabolism, excretion, and deterioration of some pharmaceuticals. Data obtained from the National Aeronautics and Space Administration through the Freedom of Information Act shows that Irwin returned from his 12-day Apollo 15 mission in 1971 and was administered a bicycle stress test. With just three minutes of exercise, his BP was >275/125 mm Hg (heart rate of only 130 beats per minute. There was no acute renal insult. Irwin's apparent spontaneous remission is suggested to be related to the increase of a protective vasodilator, and his atrial natriuretic peptide (ANP reduced with SF because of reduced plasma volume. With invariable malabsorption and loss of bone/muscle storage sites, there are significant (P < 0.0001 reductions of magnesium (Mg required for ANP synthesis and release. Reductions of Mg and ANP can trigger pronounced angiotensin (200%, endothelin, and catecholamine elevations (clearly shown in recent years and vicious cycles between the latter and Mg deficits. There is proteinuria, elevated creatinine, and reduced renal concentrating ability with the potential for progressive inflammatory and oxidative stress-induced renal disease and hypertension with vicious cycles. After SF, animals show myocardial endothelial injuries and increased vascular resistance of extremities in humans. Even without dust, hypertension might eventually develop from renovascular hypertension during very long missions. Without sufficient endothelial protection from pharmaceuticals, a comprehensive gene research program should begin now
An Alternative Water Processor for Long Duration Space Missions
Barta, Daniel J.; Pickering, Karen D.; Meyer, Caitlin; Pennsinger, Stuart; Vega, Leticia; Flynn, Michael; Jackson, Andrew; Wheeler, Raymond
A new wastewater recovery system has been developed that combines novel biological and physicochemical components for recycling wastewater on long duration human space missions. Functionally, this Alternative Water Processor (AWP) would replace the Urine Processing Assembly on the International Space Station and reduce or eliminate the need for the multi-filtration beds of the Water Processing Assembly (WPA). At its center are two unique game changing technologies: 1) a biological water processor (BWP) to mineralize organic forms of carbon and nitrogen and 2) an advanced membrane processor (Forward Osmosis Secondary Treatment) for removal of solids and inorganic ions. The AWP is designed for recycling larger quantities of wastewater from multiple sources expected during future exploration missions, including urine, hygiene (hand wash, shower, oral and shave) and laundry. The BWP utilizes a single-stage membrane-aerated biological reactor for simultaneous nitrification and denitrification. The Forward Osmosis Secondary Treatment (FOST) system uses a combination of forward osmosis (FO) and reverse osmosis (RO), is resistant to biofouling and can easily tolerate wastewaters high in non-volatile organics and solids associated with shower and/or hand washing. The BWP has been operated continuously for over 300 days. After startup, the mature biological system averaged 85% organic carbon removal and 44% nitrogen removal, close to stoichiometric maximum based on available carbon. To date, the FOST has averaged 93% water recovery, with a maximum of 98%. If the wastewater is slighty acidified, ammonia rejection is optimal. This paper will provide a description of the technology and summarize results from ground-based testing using real wastewater
Experiments in Neural-Network Control of a Free-Flying Space Robot
National Research Council Canada - National Science Library
Wilson, Edward
Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype...
Brain Machine Interfaces for Robotic Control in Space Applications, Phase I
National Aeronautics and Space Administration — This SBIR will study the application of a brain machine interface (BMI) to enable crew to remotely operate and monitor robots from inside a flight vehicle, habitat...
Increasing Efficiency of Routine Robot Space Operations through Adjustable Autonomy and Learning from Human Instructions
National Aeronautics and Space Administration — This research aims to address the execution of repetitive, routine and potentially hazardous tasks by robots operating in crewed low Earth orbit, lunar and...
Definition of technology development missions for early space station, orbit transfer vehicle servicing, volume 2
Propellant transfer, storage, and reliquefaction TDM; docking and berthing technology development mission; maintenance technology development mission; OTV/payload integration, space station interface/accommodations; combined TDM conceptual design; programmatic analysis; and TDM equipment usage are discussed.
Crew of Hubble Space Telescope servicing mission visits Europe
The Hubble Space telescope servicing mission in December (STS-61) was a great success and the fully refurbished orbiting telescope produced absolutely remarkable first results just two weeks ago. The 7-member crew who carried out the mission will soon be in Europe to share their experience with the Press, ESA space specialists and the European space community. Public conferences will also be held in Switzerland, the home country of ESA astronaut Claude Nicollier. The visit of the STS-61 crew is scheduled as follows: Friday 11 February, 1994 - ESA Paris, France Presentation and Press Conference Location: ESA, 8/10 Rue Mario Nikis, 75015 Paris time: 16:00 hrs - 17:30 hrs contact: ESA, Public Relations Office Tel. (+33) 1 42 73 71 55 Fax. (+33) 1 42 73 76 90 Monday 14 February, 1994 - British Aerospace, Bristol, United Kingdom Presentation and Press Conference Location: British Aerospace, FPC 333, Filton, Bristol BS12 7QW time: 10:00 hrs - 12:00 hrs contact: BAe, Public Relations Tel. (+44) 272 36 33 69 Tel. (+44) 272 36 33 68 Tuesday 15 February, 1994 - ESA/ESTEC, Noordwijk, the Netherlands Presentation and Press Conference Location: Noordwijk Space Expo, Keplerlaan 3, 2201 AZ Noordwijk, the Netherlands time: 09:30 hrs - 12:00 hrs contact: ESTEC Public Relations Office Tel. (+31) 1719 8 3006 Fax. (+31) 1719 17 400 Wednesday 16 February, 1944 - ESO, Garching - Munich, Germany Presentation and Press Conference Location: European Southern Observatory, Karl- Schwarzschild-Str. 2, 85748 Garching -Munich, Germany time: to be decided contact: ESO Information Service Tel. (+49) 89 32 006 276 Fax. (+49) 89 320 23 62 Thursday 17 February, 1994 - Bern, Switzerland a. Presentation and Press Conference Location: Hotel Bern, Zeughausgasse 9, 3001 Bern, Switzerland time: 09:30 hrs contact: Press & Information Service of the Federal Dept. for Education & Sciences Tel. (+41) 31 322 80 34 Fax. (+41) 31 312 30 15 b. Public conference Location: University of Bern, Institute of Physics
Advances in Robotic Servicing Technology Development
Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin
NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.
Reaction Null Space of a multibody system with applications in robotics
Directory of Open Access Journals (Sweden)
D. N. Nenchev
Full Text Available This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.
Second Annual Workshop on Space Operations Automation and Robotics (SOAR 1988)
Griffin, Sandy (Editor)
Papers presented at the Second Annual Workshop on Space Operation Automation and Robotics (SOAR '88), hosted by Wright State University at Dayton, Ohio, on July 20, 21, 22, and 23, 1988, are documented herein. During the 4 days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Panel discussions on Human Factors, Artificial Intelligence, Robotics, and Space Systems were held but are not documented herein. Technical topics addressed included knowledge-based systems, human factors, and robotics.
ESA unveils Spanish antenna for unique space mission
The newly refurbished antenna, which is located at the Villafranca del Castillo Satellite Tracking Station site (VILSPA) near Madrid, has been selected as the prime communication link with the Cluster II spacecraft. The VIL-1 antenna will play a vital role in ESA's Cluster mission by monitoring and controlling the four spacecraft and by receiving the vast amounts of data that will be returned to Earth during two years of operations. Scheduled for launch in summer 2000, the Cluster quartet will complete the most detailed investigation ever made into the interaction between our pl0anet's magnetosphere - the region of space dominated by Earth's magnetic field - and the continuous stream of charged particles emitted by the Sun - the solar wind. This exciting venture is now well under way, following completion of the satellite assembly and test programme and two successful verification flights by the newly developed Soyuz-Fregat launch vehicle. The ESA Flight Acceptance Review Board has accordingly given the go-ahead for final launch preparations at the Baikonur Cosmodrome in Kazakhstan. VILSPA, ESA and Cluster II Built in 1975, after an international agreement between the European Space Agency and the Spanish government, VILSPA is part of the European Space Operations Centre (ESOC) Tracking Station Network (ESTRACK). In the last 25 years, VILSPA has supported many ESA and international satellite programmes, including the International Ultraviolet Explorer (IUE), EXOSAT and the Infrared Space Observatory (ISO). In addition to supporting the Cluster II mission, it has been designated as the Science Operations Centre for ESA's XMM Newton mission and for the Far-Infrared Space Telescope (FIRST), which is due to launch in 2007. There are now more than half a dozen large dish antennae installed at VILSPA. One of these is the VIL-1 antenna, a 15 metre diameter dish which operates in the S-band radio frequency (1.8 - 2.7 GHz). This antenna has been modernised recently in order
A new space technology for ocean observation: the SMOS mission
Directory of Open Access Journals (Sweden)
Jordi Font
Full Text Available Capability for sea surface salinity observation was an important gap in ocean remote sensing in the last few decades of the 20th century. New technological developments during the 1990s at the European Space Agency led to the proposal of SMOS (Soil Moisture and Ocean Salinity, an Earth explorer opportunity mission based on the use of a microwave interferometric radiometer, MIRAS (Microwave Imaging Radiometer with Aperture Synthesis. SMOS, the first satellite ever addressing the observation of ocean salinity from space, was successfully launched in November 2009. The determination of salinity from the MIRAS radiometric measurements at 1.4 GHz is a complex procedure that requires high performance from the instrument and accurate modelling of several physical processes that impact on the microwave emission of the ocean's surface. This paper introduces SMOS in the ocean remote sensing context, and summarizes the MIRAS principles of operation and the SMOS salinity retrieval approach. It describes the Spanish SMOS high-level data processing centre (CP34 and the SMOS Barcelona Expert Centre on Radiometric Calibration and Ocean Salinity (SMOS-BEC, and presents a preliminary validation of global sea surface salinity maps operationally produced by CP34.
Leaders in space: Mission commanders and crew on the International Space Station
Brcic, Jelena
Understanding the relationship between leaders and their subordinates is important for building better interpersonal connections, improving group cohesion and cooperation, and increasing task success. This relationship has been examined in many types of groups but not a great amount of analysis has been applied to spaceflight crews. We specifically investigated differences between mission commanders and flight commanders during missions to the International Space Station (ISS). Astronauts and cosmonauts on the ISS participate in long-duration missions (2 to 6 months in length) in which they live and work in close proximity with their 2 or 3 member crews. The leaders are physically distant from their command centres which may result in delay of instructions or important advice. Therefore, the leaders must be able to make quick, sound decisions with unwavering certainty. Potential complications include that the leaders may not be able to exercise their power fully, since material reward or punishment of any one member affects the whole group, and that the leader's actions (or lack thereof) in this isolated, confined environment could create stress in members. To be effective, the mission commander must be able to prevent or alleviate any group conflict and be able to relate to members on an emotional level. Mission commanders and crew are equal in the competencies of spaceflight; therefore, what are the unique characteristics that enable the commanders to fulfill their role? To highlight the differences between commander and crew, astronaut journals, diaries, pre- flight interviews, NASA oral histories, and letters written to family from space were scored and analyzed for values and coping styles. During pre-flight, mission commanders scored higher than other crew members on the values of Stimulation, Security, Universalism, Conformity, Spirituality, and Benevolence, and more often used Self-Control as a coping style. During the long-duration mission on ISS, mission
Space station needs, attributes and architectural options study. Volume 3: Mission requirements
User missions that are enabled or enhanced by a manned space station are identified. The mission capability requirements imposed on the space station by these users are delineated. The accommodation facilities, equipment, and functional requirements necessary to achieve these capabilities are identified, and the economic, performance, and social benefits which accrue from the space station are defined.
NASA Johnson Space Center's Planetary Sample Analysis and Mission Science (PSAMS) Laboratory: A National Facility for Planetary Research
Draper, D. S.
NASA Johnson Space Center's (JSC's) Astromaterials Research and Exploration Science (ARES) Division, part of the Exploration Integration and Science Directorate, houses a unique combination of laboratories and other assets for conducting cutting edge planetary research. These facilities have been accessed for decades by outside scientists, most at no cost and on an informal basis. ARES has thus provided substantial leverage to many past and ongoing science projects at the national and international level. Here we propose to formalize that support via an ARES/JSC Plane-tary Sample Analysis and Mission Science Laboratory (PSAMS Lab). We maintain three major research capa-bilities: astromaterial sample analysis, planetary process simulation, and robotic-mission analog research. ARES scientists also support planning for eventual human ex-ploration missions, including astronaut geological training. We outline our facility's capabilities and its potential service to the community at large which, taken together with longstanding ARES experience and expertise in curation and in applied mission science, enable multi-disciplinary planetary research possible at no other institution. Comprehensive campaigns incorporating sample data, experimental constraints, and mission science data can be conducted under one roof.
Sensitivity studies for a space-based methane lidar mission
Directory of Open Access Journals (Sweden)
C. Kiemle
Full Text Available Methane is the third most important greenhouse gas in the atmosphere after water vapour and carbon dioxide. A major handicap to quantify the emissions at the Earth's surface in order to better understand biosphere-atmosphere exchange processes and potential climate feedbacks is the lack of accurate and global observations of methane. Space-based integrated path differential absorption (IPDA lidar has potential to fill this gap, and a Methane Remote Lidar Mission (MERLIN on a small satellite in polar orbit was proposed by DLR and CNES in the frame of a German-French climate monitoring initiative. System simulations are used to identify key performance parameters and to find an advantageous instrument configuration, given the environmental, technological, and budget constraints. The sensitivity studies use representative averages of the atmospheric and surface state to estimate the measurement precision, i.e. the random uncertainty due to instrument noise. Key performance parameters for MERLIN are average laser power, telescope size, orbit height, surface reflectance, and detector noise. A modest-size lidar instrument with 0.45 W average laser power and 0.55 m telescope diameter on a 506 km orbit could provide 50-km averaged methane column measurement along the sub-satellite track with a precision of about 1% over vegetation. The use of a methane absorption trough at 1.65 μm improves the near-surface measurement sensitivity and vastly relaxes the wavelength stability requirement that was identified as one of the major technological risks in the pre-phase A studies for A-SCOPE, a space-based IPDA lidar for carbon dioxide at the European Space Agency. Minimal humidity and temperature sensitivity at this wavelength position will enable accurate measurements in tropical wetlands, key regions with largely uncertain methane emissions. In contrast to actual passive remote sensors, measurements in Polar Regions will be possible and biases due to aerosol
An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System
Directory of Open Access Journals (Sweden)
Mariana Rampinelli
Full Text Available This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.
An intelligent space for mobile robot localization using a multi-camera system.
Rampinelli, Mariana; Covre, Vitor Buback; de Queiroz, Felippe Mendonça; Vassallo, Raquel Frizera; Bastos-Filho, Teodiano Freire; Mazo, Manuel
This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.
Robust online belief space planning in changing environments: Application to physical mobile robots
Agha-mohammadi, Ali-akbar
© 2014 IEEE. Motion planning in belief space (under motion and sensing uncertainty) is a challenging problem due to the computational intractability of its exact solution. The Feedback-based Information RoadMap (FIRM) framework made an important theoretical step toward enabling roadmap-based planning in belief space and provided a computationally tractable version of belief space planning. However, there are still challenges in applying belief space planners to physical systems, such as the discrepancy between computational models and real physical models. In this paper, we propose a dynamic replanning scheme in belief space to address such challenges. Moreover, we present techniques to cope with changes in the environment (e.g., changes in the obstacle map), as well as unforeseen large deviations in the robot\\'s location (e.g., the kidnapped robot problem). We then utilize these techniques to implement the first online replanning scheme in belief space on a physical mobile robot that is robust to changes in the environment and large disturbances. This method demonstrates that belief space planning is a practical tool for robot motion planning.
Studies of relativistic effects with radioastron space mission
Directory of Open Access Journals (Sweden)
Zakharov A.F.
Full Text Available In the review we discuss possible studies of GR phenomena such as gravitational microlensing and shadow analysis with the forthcoming RadioAstron space mission. It is well-known that gravitational lensing is a powerful tool in the investigation of the distribution of matter, including that of dark matter (DM. Typical angular distances between images and typical time scales depend on the gravitational lens masses. For the microlensing, angular distances between images or typical astrometric shifts are about 10-5 – 10-6 as1. Such an angular resolution will be reached with the space-ground VLBI interferometer, Radioastron. The basic targets for microlensing searches should be bright point-like radio sources at cosmological distances. In this case, an analysis of their variability and a reliable determination of microlensing could lead to an estimation of their cosmological mass density. Moreover, one could not exclude the possibility that non-baryonic dark matter could also form microlenses if the corresponding optical depth were high enough. It is known that in gravitationally lensed systems, the probability (the optical depth to observe microlensing is relatively high; therefore, for example, such gravitationally lensed objects, like CLASS gravitational lens B1600+434, appear the most suitable to detect astrometric microlensing, since features of photometric microlensing have been detected in these objects. However, to directly resolve these images and to directly detect the apparent motion of the knots, the Radioastron sensitivity would have to be improved, since the estimated flux density is below the sensitivity threshold, alternatively, they may be observed by increasing the integration time, assuming that a radio source has a typical core - jet structure and microlensing phenomena are caused by the superluminal apparent motions of knots. In the case of a confirmation (or a disproval of claims about microlensing in gravitational lens
Robotic Design Choice Overview using Co-simulation and Design Space Exploration
DEFF Research Database (Denmark)
Christiansen, Martin Peter; Larsen, Peter Gorm; Nyholm Jørgensen, Rasmus
. Simulations are used to evaluate the robot model output response in relation to operational demands. An example of a load carrying challenge in relation to the feeding robot is presented and a design space is defined with candidate solutions in both the mechanical and software domains. Simulation results......Rapid robotic system development has created a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present a collaborative modelling technique that combines discrete-event models of controller software with continuous-time models of physical...... robot components. The proposed co-modelling method utilises Vienna Development Method (VDM) and Matlab for discrete-event modelling and 20-sim for continuous-time modelling. The model-based development of a mobile robot mink feeding system is used to illustrate the collaborative modelling method...
Preface: Terrestrial Fieldwork to Support in situ Resource Utilization (ISRU) and Robotic Resource Prospecting for Future Activities in Space
Sanders, Gerald B.
Finding, extracting, and using resources at the site of robotic and human exploration activities holds the promise of enabling sustainable and affordable exploration of the Moon, Mars, and asteroids, and eventually allow humans to expand their economy and habitation beyond the surface of the Earth. Commonly referred to as in situ Resource Utilization (ISRU), mineral and volatile resources found in space can be converted into oxygen, water, metals, fuels, and manufacturing and construction materials (such as plastics and concrete) for transportation, power, life support, habitation construction, and part/logistics manufacturing applications. For every kilogram of payload landed on the surface of the Moon or Mars, 7.5-11 kg of payload (mostly propellant) needs to be launched into low Earth orbit. Therefore, besides promising long-term self-sufficiency and infrastructure growth, ISRU can provide significant reductions in launch costs and the number of launches required. Key to being able to use space resources is knowing where they are located, how much is there, and how the resources are distributed. While ISRU holds great promise, it has also never been demonstrated in an actual space mission. Therefore, operations and hardware associated with each ISRU prospecting, excavation, transportation, and processing step must be examined, tested, and finally integrated to enable the end goal of using space resources in future human space missions.
A new planetary mapping for future space missions
Karachevtseva, Irina; Kokhanov, Alexander; Rodionova, Janna; Zubarev, Anatoliy; Nadezhdina, Irina; Kreslavsky, Mikhail; Oberst, Jürgen
The wide studies of Solar system, including different planetary bodies, were announced by new Russian space program. Their geodesy and cartography support provides by MIIGAiK Extraterrestrial Laboratory (http://mexlab.miigaik.ru/eng) in frames of the new project "Studies of Fundamental Geodetic Parameters and Topography of Planets and Satellites". The objects of study are satellites of the outer planets (satellites of Jupiter - Europa, Calisto and Ganymede; Saturnine satellite Enceladus), some planets (Mercury and Mars) and the satellites of the terrestrial planets - Phobos (Mars) and the Moon (Earth). The new research project, which started in 2014, will address the following important scientific and practical tasks: - Creating new three-dimensional geodetic control point networks of satellites of the outer planets using innovative photogrammetry techniques; - Determination of fundamental geodetic parameters and study size, shape, and spin parameters and to create the basic framework for research of their surfaces; - Studies of relief of planetary bodies and comparative analysis of general surface characteristics of the Moon, Mars, and Mercury, as well as studies of morphometric parameters of volcanic formations on the Moon and Mars; - Modeling of meteoritic bombardment of celestial bodies and the study of the dynamics of particle emissions caused by a meteorite impacts; - Development of geodatabase for studies of planetary bodies, including creation of object catalogues, (craters and volcanic forms, etc.), and thematic mapping using GIS technology. The significance of the project is defined both by necessity of obtaining fundamental characteristics of the Solar System bodies, and practical tasks in preparation for future Russian and international space missions to the Jupiter system (Laplace-P and JUICE), the Moon (Luna-Glob and Luna-Resource), Mars (Exo-Mars), Mercury (Bepi-Colombo), and possible mission to Phobos (project Boomerang). For cartographic support of
Earth observations during Space Shuttle mission STS-45 Mission to Planet Earth - March 24-April 2, 1992
Pitts, David E.; Helfert, Michael R.; Lulla, Kamlesh P.; Mckay, Mary F.; Whitehead, Victor S.; Amsbury, David L.; Bremer, Jeffrey; Ackleson, Steven G.; Evans, Cynthia A.; Wilkinson, M. J.
A description is presented of the activities and results of the Space Shuttle mission STS-45, known as the Mission to Planet Earth. Observations of Mount St. Helens, Manila Bay and Mt. Pinatubo, the Great Salt Lake, the Aral Sea, and the Siberian cities of Troitsk and Kuybyshev are examined. The geological features and effects of human activity seen in photographs of these areas are pointed out.
International Nuclear Information System (INIS)
Scheide, A.W.
This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS
Design Concepts for a Small Space-Based GEO Relay Satellite for Missions Between Low Earth and near Earth Orbits
Bhasin, Kul B.; Warner, Joseph D.; Oleson, Steven; Schier, James
the number of links looking above and below GEO; the detailed design of a GEO SSBS spacecraft bus and its accommodation of the communication payload, and a summary of the trade study that resulted in the selection of the Falcon 9 launch vehicle to deploy the SSBS and its impact on cost reductions per satellite. ======================================================================== Several initiatives have taken place within NASA1 and international space agencies2 to create a human exploration strategy for expanding human presence into the solar system; these initiatives have been driven by multiple factors to benefit Earth. Of the many elements in the strategy one stands out: to send robotic and human missions to destinations beyond Low Earth Orbit (LEO), including cis-lunar space, Near-Earth Asteroids (NEAs), the Moon, and Mars and its moons.3, 4 The time frame for human exploration to various destinations, based on the public information available,1,4 is shown in Figure 1. Advance planning is needed to define how future space communications services will be provided in the new budget environment to meet future space communications needs. The spacecraft for these missions can be dispersed anywhere from below LEO to beyond GEO, and to various destinations within the solar system. NASA's Space Communications and Navigation (SCaN) program office provides communication and tracking services to space missions during launch, in-orbit testing, and operation phases. Currently, SCaN's space networking relay satellites mainly provide services to users below GEO, at Near Earth Orbit (NEO), below LEO, and in deep space. The potential exists for using a space-based relay satellite, located in the vicinity of various solar system destinations, to provide communication space links to missions both below and above its orbit. Such relays can meet the needs of human exploration missions for maximum connectivity to Earth locations and for reduced latency. In the past, several studies
Maximizing Function through Intelligent Robot Actuator Control
National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...
Space Mission Design in the Vicinity of Small Bodies and Libration Points, Phase I
National Aeronautics and Space Administration — To address NASA's need for applying advanced dynamical theories to space mission design and analysis, especially in the context of unstable orbital trajectories in...
High-Efficiency Reliable Stirling Generator for Space Exploration Missions, Phase I
National Aeronautics and Space Administration — NASA needs advanced power-conversion technologies to improve the efficiency and reliability of power conversion for space exploration missions. We propose to develop...
L'espace articulaire de la Robotique Industrielle est un espace vectorielIndustrial Robotics joint space is a vector space
Tondu, Bertrand
The mathematical modelling of industrial robots is based on the vectorial nature of the n-dimensional joint space of the robot, defined as a kinematic chain with n degrees of freedom. However, in our opinion, the vectorial nature of the joint space has been insufficiently discussed in the literature. We establish the vectorial nature of the joint space of an industrial robot from the fundamental studies of B. Roth on screws. To cite this article: B. Tondu, C. R. Mecanique 331 (2003).
Assessing the Biohazard Potential of Putative Martian Organisms for Exploration Class Human Space Missions
Warmflash, David; Larios-Sanz, Maia; Jones, Jeffrey; Fox, George E.; McKay, David S.
Exploration Class missions to Mars will require precautions against potential contamination by any native microorganisms that may be incidentally pathogenic to humans. While the results of NASA's Viking biology experiments of 1976 have been generally interpreted as inconclusive for surface organisms, the possibility of native surface life has never been ruled out and more recent studies suggest that the case for biological interpretation of the Viking Labeled Release data may now be stronger than it was when the experiments were originally conducted. It is possible that, prior to the first human landing on Mars, robotic craft and sample return missions will provide enough data to know with certainty whether or not future human landing sites harbor extant life forms. However, if native life is confirmed, it will be problematic to determine whether any of its species may present a medical risk to astronauts. Therefore, it will become necessary to assess empirically the risk that the planet contains pathogens based on terrestrial examples of pathogenicity and to take a reasonably cautious approach to bio-hazard protection. A survey of terrestrial pathogens was conducted with special emphasis on those pathogens whose evolution has not depended on the presence of animal hosts. The history of the development and implementation of Apollo anticontamination protocol and recent recommendations of the NRC Space Studies Board regarding Mars were reviewed. Organisms can emerge in nature in the absence of indigenous animal hosts and both infectious and non-infectious human pathogens are theoretically possible on Mars. The prospect of Martian surface life, together with the existence of a diversity of routes by which pathogenicity has emerged on Earth, suggests that the possibility of human pathogens on Mars, while low, is not zero. Since the discovery and study of Martian life can have long-term benefits for humanity, the risk that Martian life might include pathogens should not
Description of the attitude control, guidance and navigation space replaceable units for automated space servicing of selected NASA missions
Chobotov, V. A.
Control elements such as sensors, momentum exchange devices, and thrusters are described which can be used to define space replaceable units (SRU), in accordance with attitude control, guidance, and navigation performance requirements selected for NASA space serviceable mission spacecraft. A number of SRU's are developed, and their reliability block diagrams are presented. An SRU assignment is given in order to define a set of feasible space serviceable spacecraft for the missions of interest.
Nuclear reactor power as applied to a space-based radar mission
Jaffe, L.; Beatty, R.; Bhandari, P.; Chow, E.; Deininger, W.; Ewell, R.; Fujita, T.; Grossman, M.; Bloomfield, H.; Heller, J.
A space-based radar mission and spacecraft are examined to determine system requirements for a 300 kWe space nuclear reactor power system. The spacecraft configuration and its orbit, launch vehicle, and propulsion are described. Mission profiles are addressed, and storage in assembly orbit is considered. Dynamics and attitude control and the problems of nuclear and thermal radiation are examined.
Definition of technology development missions for early space station satellite servicing, volume 1
The testbed role of an early manned space station in the context of a satellite servicing evolutionary development and flight demonstration technology plan which results in a satellite servicing operational capability is defined. A satellite servicing technology development mission (a set of missions) to be performed on an early manned space station is conceptually defined.
The space infrared telescope for cosmology and astrophysics : SPICA A joint mission between JAXA and ESA
Swinyard, Bruce; Nakagawa, Takao; Wild, Wolfgang
The Space Infrared telescope for Cosmology and Astrophysics (SPICA) is planned to be the next space astronomy mission observing in the infrared. The mission is planned to be launched in 2017 and will feature a 3.5 m telescope cooled to <5 K through the use of mechanical coolers. These coolers will
Space station automation: the role of robotics and artificial intelligence (Invited Paper)
Park, W. T.; Firschein, O.
Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.
Using New Technologies in Support of Future Space Missions
Hooke, Adrian J.; Welch, David C.
This paper forms a perspective of how new technologies such as onboard autonomy and internet-like protocols will change the look and feel of operations. It analyzes the concept of a lights-out mission operations control center and it's role in future mission support and it describes likely scenarios for evolving from current concepts.
Risk based decision tool for space exploration missions
Meshkat, Leila; Cornford, Steve; Moran, Terrence
This paper presents an approach and corresponding tool to assess and analyze the risks involved in a mission during the pre-phase A design process. This approach is based on creating a risk template for each subsystem expert involved in the mission design process and defining appropriate interactions between the templates.
The Influence of Free Space Environment in the Mission Life Cycle: Material Selection
Edwards, David L.; Burns, Howard D.; de Groh, Kim K.
The natural space environment has a great influence on the ability of space systems to perform according to mission design specification. Understanding the natural space environment and its influence on space system performance is critical to the concept formulation, design, development, and operation of space systems. Compatibility with the natural space environment is a primary factor in determining the functional lifetime of the space system. Space systems being designed and developed today are growing in complexity. In many instances, the increased complexity also increases its sensitivity to space environmental effects. Sensitivities to the natural space environment can be tempered through appropriate design measures, material selection, ground processing, mitigation strategies, and/or the acceptance of known risks. The design engineer must understand the effects of the natural space environment on the space system and its components. This paper will discuss the influence of the natural space environment in the mission life cycle with a specific focus on the role of material selection.
Energy Technology Data Exchange (ETDEWEB)
Lorino, P; Altwegg, J M
This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.
The external respiration and gas exchange in space missions
Baranov, V. M.; Tikhonov, M. A.; Kotov, A. N.
Literature data and results of our own studies into an effect of micro- and macro-gravity on an external respiration function of man are presented. It is found that in cosmonauts following the 7-366 day space missions there is an enhanced tendency associated with an increased flight duration toward a decrease in the lung volume and breathing mechanics parameters: forced vital capacity of the lungs (FVC) by 5-25 percent, peak inspiratory and expiratory (air) flows (PIF, PEF) by 5-40 percent. A decrease in FVC appears to be explained by a new balance of elastic forces of the lungs, chest and abdomen occuring in microgravity as well as by an increased blood filling and pulmonary hydration. A decline of PIF and PEF is probalbly resulted from antigravitational deconditioning of the respiratory muscles with which a postflight decreased physical performance can in part be associated. The ventilation/perfusion ratios during orthostasis and +G Z and +G X accelerations are estimated. The biophysical nature of developing the absorption atelectases on a combined exposure to accelerations and 100% oxygen breathing is confirmed. A hypothesis that hypervolemia and pulmonary congestion can increase the tendency toward the development of atelectases in space in particular during pure oxygen breathing is suggested. Respiratory physiology problem area which is of interest for space medicine is defined. It is well known that due to present-day technologic progress and accomplishments in applied physiology including applied respiration physiology there currently exist sophisticated technical facilities in operation maintaining the life and professional working capacity of a man in various natural environments: on Earth, under water and in space. By the way, the biomedical involvement in developing and constructing such facilities has enabled an accumulation of a great body of information from experimental studies and full-scale trails to examine the effects of the changed environments
Force-sensed interface for control and training space robot
Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.
A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.
Automation and Robotics for space operation and planetary exploration
Montemerlo, Melvin D.
This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.
Development of a Deep-Penetrating, Compact Geothermal Heat Flow System for Robotic Lunar Geophysical Missions
Nagihara, Seiichi; Zacny, Kris; Hedlund, Magnus; Taylor, Patrick T.
Geothermal heat flow measurements are a high priority for the future lunar geophysical network missions recommended by the latest Decadal Survey of the National Academy. Geothermal heat flow is obtained as a product of two separate measurements of geothermal gradient and thermal conductivity of the regolith/soil interval penetrated by the instrument. The Apollo 15 and 17 astronauts deployed their heat flow probes down to 1.4-m and 2.3-m depths, respectively, using a rotary-percussive drill. However, recent studies show that the heat flow instrument for a lunar mission should be capable of excavating a 3-m deep hole to avoid the effect of potential long-term changes of the surface thermal environment. For a future robotic geophysical mission, a system that utilizes a rotary/percussive drill would far exceed the limited payload and power capacities of the lander/rover. Therefore, we are currently developing a more compact heat flow system that is capable of 3-m penetration. Because the grains of lunar regolith are cohesive and densely packed, the previously proposed lightweight, internal hammering systems (the so-called moles ) are not likely to achieve the desired deep penetration. The excavation system for our new heat flow instrumentation utilizes a stem which winds out of a pneumatically driven reel and pushes its conical tip into the regolith. Simultaneously, gas jets, emitted from the cone tip, loosen and blow away the soil. Lab tests have demonstrated that this proboscis system has much greater excavation capability than a mole-based heat flow system, while it weighs about the same. Thermal sensors are attached along the stem and at the tip of the penetrating cone. Thermal conductivity is measured at the cone tip with a short (1- to 1.5-cm long) needle sensor containing a resistance temperature detector (RTD) and a heater wire. When it is inserted into the soil, the heater is activated. Thermal conductivity of the soil is obtained from the rate of temperature
Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization
Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich
Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.
Anaesthesia in austere environments: literature review and considerations for future space exploration missions.
Komorowski, Matthieu; Fleming, Sarah; Mawkin, Mala; Hinkelbein, Jochen
Future space exploration missions will take humans far beyond low Earth orbit and require complete crew autonomy. The ability to provide anaesthesia will be important given the expected risk of severe medical events requiring surgery. Knowledge and experience of such procedures during space missions is currently extremely limited. Austere and isolated environments (such as polar bases or submarines) have been used extensively as test beds for spaceflight to probe hazards, train crews, develop clinical protocols and countermeasures for prospective space missions. We have conducted a literature review on anaesthesia in austere environments relevant to distant space missions. In each setting, we assessed how the problems related to the provision of anaesthesia (e.g., medical kit and skills) are dealt with or prepared for. We analysed how these factors could be applied to the unique environment of a space exploration mission. The delivery of anaesthesia will be complicated by many factors including space-induced physiological changes and limitations in skills and equipment. The basic principles of a safe anaesthesia in an austere environment (appropriate training, presence of minimal safety and monitoring equipment, etc.) can be extended to the context of a space exploration mission. Skills redundancy is an important safety factor, and basic competency in anaesthesia should be part of the skillset of several crewmembers. The literature suggests that safe and effective anaesthesia could be achieved by a physician during future space exploration missions. In a life-or-limb situation, non-physicians may be able to conduct anaesthetic procedures, including simplified general anaesthesia.
Human Exploration using Real-Time Robotic Operations (HERRO): A space exploration strategy for the 21st century
Schmidt, George R.; Landis, Geoffrey A.; Oleson, Steven R.
This paper presents an exploration strategy for human missions beyond Low Earth Orbit (LEO) and the Moon that combines the best features of human and robotic spaceflight. This "Human Exploration using Real-time Robotic Operations" (HERRO) strategy refrains from placing humans on the surfaces of the Moon and Mars in the near-term. Rather, it focuses on sending piloted spacecraft and crews into orbit around Mars and other exploration targets of interest, and conducting astronaut exploration of the surfaces using telerobots and remotely-controlled systems. By eliminating the significant communications delay or "latency" with Earth due to the speed of light limit, teleoperation provides scientists real-time control of rovers and other sophisticated instruments. This in effect gives them a "virtual presence" on planetary surfaces, and thus expands the scientific return at these destinations. HERRO mitigates several of the major issues that have hindered the progress of human spaceflight beyond Low Earth Orbit (LEO) by: (1) broadening the range of destinations for near-term human missions; (2) reducing cost and risk through less complexity and fewer man-rated elements; (3) offering benefits of human-equivalent in-situ cognition, decision-making and field-work on planetary bodies; (4) providing a simpler approach to returning samples from Mars and planetary surfaces; and (5) facilitating opportunities for international collaboration through contribution of diverse robotic systems. HERRO provides a firm justification for human spaceflight—one that expands the near-term capabilities of scientific exploration while providing the space transportation infrastructure needed for eventual human landings in the future.
Mobile Mixed-Reality Interfaces That Enhance Human–Robot Interaction in Shared Spaces
Directory of Open Access Journals (Sweden)
Jared A. Frank
Full Text Available Although user interfaces with gesture-based input and augmented graphics have promoted intuitive human–robot interactions (HRI, they are often implemented in remote applications on research-grade platforms requiring significant training and limiting operator mobility. This paper proposes a mobile mixed-reality interface approach to enhance HRI in shared spaces. As a user points a mobile device at the robot's workspace, a mixed-reality environment is rendered providing a common frame of reference for the user and robot to effectively communicate spatial information for performing object manipulation tasks, improving the user's situational awareness while interacting with augmented graphics to intuitively command the robot. An evaluation with participants is conducted to examine task performance and user experience associated with the proposed interface strategy in comparison to conventional approaches that utilize egocentric or exocentric views from cameras mounted on the robot or in the environment, respectively. Results indicate that, despite the suitability of the conventional approaches in remote applications, the proposed interface approach provides comparable task performance and user experiences in shared spaces without the need to install operator stations or vision systems on or around the robot. Moreover, the proposed interface approach provides users the flexibility to direct robots from their own visual perspective (at the expense of some physical workload and leverages the sensing capabilities of the tablet to expand the robot's perceptual range.
Obstacle avoidance handling and mixed integer predictive control for space robots
Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping
This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance
Systems integration for the Kennedy Space Center (KSC) Robotics Applications Development Laboratory (RADL)
Davis, V. Leon; Nordeen, Ross
A laboratory for developing robotics technology for hazardous and repetitive Shuttle and payload processing activities is discussed. An overview of the computer hardware and software responsible for integrating the laboratory systems is given. The center's anthropomorphic robot is placed on a track allowing it to be moved to different stations. Various aspects of the laboratory equipment are described, including industrial robot arm control, smart systems integration, the supervisory computer, programmable process controller, real-time tracking controller, image processing hardware, and control display graphics. Topics of research include: automated loading and unloading of hypergolics for space vehicles and payloads; the use of mobile robotics for security, fire fighting, and hazardous spill operations; nondestructive testing for SRB joint and seal verification; Shuttle Orbiter radiator damage inspection; and Orbiter contour measurements. The possibility of expanding the laboratory in the future is examined.
Applications of artificial intelligence to space station and automated software techniques: High level robot command language
Mckee, James W.
The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.
Topology Optimization and Robotic Fabrication of Advanced Timber Space-frame Structures
DEFF Research Database (Denmark)
Søndergaard, Asbjørn; Amir, Oded; Eversmann, Phillip
This paper presents a novel method for integrated topology optimization and fabrication of advanced timber space-frame structures. The method, developed in research collaboration between ETH Zürich, Aarhus School of Architecture and Israel Institute of Technology, entails the coupling of truss...... processes solving timber joint intersections, robotically controlling member prefabrication, and spatial robotic assembly of the optimized timber structures. The implication of this concept is studied through pilot fabrication and load-testing of a full scale prototype structure.......-based topology optimization with digital procedures for rationalization and robotic assembly of bespoke timber members, through a procedural, cross-application workflow. Through this, a direct chaining of optimization and robotic fabrication is established, in which optimization data is driving subsequent...
Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces
Directory of Open Access Journals (Sweden)
Luis Pallarés Puerto
Full Text Available The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems.
A&R challenges for in-space operations. [Automation and Robotic technologies
Underwood, James
Automation and robotics (A&R) challenges for in-space operations are examined, with emphasis on the interaction between developing requirements, developing solutions, design concepts, and the nature of the applicability of automation in robotic technologies. Attention is first given to the use of A&R in establishing outposts on the moon and Mars. Then emphasis is placed on the requirements for the assembly of transportation systems in low earth orbit. Concepts of the Space Station which show how the assembly, processing, and checkout of systems in LEO might be accommodated are examined.
The successful conclusion of the Deep Space 1 Mission: important results without a flashy title
Rayman, M. D.
In September 2001, Deep Space 1 (DS1) completed a high-risk and flawless encounter with comet 19P/Borrelly. Its data provide a detailed view of this comet and offere surprising and exciting insights. With this successful conclusion of its extended mission, DS1 undertook a hyperextended mission. Following this period of extremely agressive testing, with no further technology or science objectives, the mission was terminated on December 18, 2001, with the powering off of the spacecraft's trnasmitter, although the receiver was left on. By the end of its mission, DS1 had returned a wealth of important science data and engineering data for future missions.
The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.
State-space Generalized Predicitve Control for redundant parallel robots
Czech Academy of Sciences Publication Activity Database
Belda, Květoslav; Böhm, Josef; Valášek, M.
Roč. 31, č. 3 (2003), s. 413-432 ISSN 1539-7734 R&D Projects: GA ČR GA101/03/0620 Grant - others:CTU(CZ) 0204512 Institutional research plan: CEZ:AV0Z1075907 Keywords : parallel robot construction * generalized predictive control * drive redundancy Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0411126.pdf
Space Geodetic Technique Co-location in Space: Simulation Results for the GRASP Mission
Kuzmicz-Cieslak, M.; Pavlis, E. C.
The Global Geodetic Observing System-GGOS, places very stringent requirements in the accuracy and stability of future realizations of the International Terrestrial Reference Frame (ITRF): an origin definition at 1 mm or better at epoch and a temporal stability on the order of 0.1 mm/y, with similar numbers for the scale (0.1 ppb) and orientation components. These goals were derived from the requirements of Earth science problems that are currently the international community's highest priority. None of the geodetic positioning techniques can achieve this goal alone. This is due in part to the non-observability of certain attributes from a single technique. Another limitation is imposed from the extent and uniformity of the tracking network and the schedule of observational availability and number of suitable targets. The final limitation derives from the difficulty to "tie" the reference points of each technique at the same site, to an accuracy that will support the GGOS goals. The future GGOS network will address decisively the ground segment and to certain extent the space segment requirements. The JPL-proposed multi-technique mission GRASP (Geodetic Reference Antenna in Space) attempts to resolve the accurate tie between techniques, using their co-location in space, onboard a well-designed spacecraft equipped with GNSS receivers, a SLR retroreflector array, a VLBI beacon and a DORIS system. Using the anticipated system performance for all four techniques at the time the GGOS network is completed (ca 2020), we generated a number of simulated data sets for the development of a TRF. Our simulation studies examine the degree to which GRASP can improve the inter-technique "tie" issue compared to the classical approach, and the likely modus operandi for such a mission. The success of the examined scenarios is judged by the quality of the origin and scale definition of the resulting TRF.
Earth scientists list top priorities for space missions
Voosen, Paul
Earth scientists hope a new priority setting effort will help them make the most of NASA's limited budget for satellite missions that watch over the planet. The so-called decadal survey, issued in January by the National Academies of Sciences, Engineering, and Medicine, laid out the community's consensus wish list, ranging from cloud monitoring to multiwavelength imaging—and recommends a strong dose of competition to keep costs down. The report prioritizes five observations for launch, including hyperspectral imaging, clouds, atmospheric particles, and missions to chart gravity variations and tiny crustal movements. It also advocates creating a new line of $350 million missions targeting seven observations, with competitions to choose three for flight in the next 10 years.
Enabling Autonomous Space Mission Operations with Artificial Intelligence
Frank, Jeremy
For over 50 years, NASA's crewed missions have been confined to the Earth-Moon system, where speed-of-light communications delays between crew and ground are practically nonexistent. This ground-centered mode of operations, with a large, ground-based support team, is not sustainable for NASAs future human exploration missions to Mars. Future astronauts will need smarter tools employing Artificial Intelligence (AI) techniques make decisions without inefficient communication back and forth with ground-based mission control. In this talk we will describe several demonstrations of astronaut decision support tools using AI techniques as a foundation. These demonstrations show that astronauts tasks ranging from living and working to piloting can benefit from AI technology development.
Advancing automation and robotics technology for the space station and the US economy
Cohen, A.
In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and rebotics for use in the space station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the space station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the space station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.
Aerospace Engineering Space Mission Concept Feasibility Study: A Neptune Mission Design Example
Esper, Jaime
This viewgraph document reviews the feasibility study of a mission to Neptune. Included are discussions of the science instruments, the design methodology, the trajectory, the spacecraft design, the alternative propulsion systems, (chemical, solar electric (SEP)), the communications systems, the power systems, the thermal system.
Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates
International Nuclear Information System (INIS)
Mo, Se Hyun; Jeon, Young Pil; Park, Jong Ho; Chong, Kil To
With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.
Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates
Energy Technology Data Exchange (ETDEWEB)
Mo, Se Hyun [Amotech, Seoul (Korea, Republic of); Jeon, Young Pil [Samsung Electronics Co., Ltd. Suwon (Korea, Republic of); Park, Jong Ho [Seonam Univ., Namwon (Korea, Republic of); Chong, Kil To [Chon-buk Nat' 1 Univ., Junju (Korea, Republic of)
With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.
"I would like to get close to you": Making robot personal space invasion less intrusive with a social gaze cue
DEFF Research Database (Denmark)
Suvei, Stefan-Daniel; Vroon, Jered; Somoza Sanchez, Vella Veronica
participants (n=83), with/without personal space invasion, and with/without a social gaze cue. With a questionnaire, we measured subjective perception of warmth, competence, and comfort after such an interaction. In addition, we used on-board sensors and a tracking system to measure the dynamics of social......How can a social robot get physically close to the people it needs to interact with? We investigated the effect of a social gaze cue by a human-sized mobile robot on the effects of personal space invasion by that robot. In our 2x2 between-subject experiment, our robot would approach our...
A Virtual Social Support System for Long-Duration Space Exploration Missions, Phase I
National Aeronautics and Space Administration — Our overall goal is to enhance the overall behavior health and performance of personnel on (future potential) long-duration missions. We propose to use a local...
Coordination Mechanisms for Human-Robot Teams in Space
National Aeronautics and Space Administration — A major challenge of coordination in space environments is that teams are often spatially separated and operate at different time scales. Currently, there are few...
Evaluation of robot deployment in live missions with the military, police, and fire brigade
Lundberg, Carl; Reinhold, Roger; Christensen, Henrik I.
Robots have been successfully deployed within bomb squads all over the world for decades. Recent technical improvements are increasing the prospects to achieve the same benefits also for other high risk professions. As the number of applications increase issues of collaboration and coordination come into question. Can several groups deploy the same type of robot? Can they deploy the same methods? Can resources be shared? What characterizes the different applications? What are the similarities and differences between different groups? This paper reports on a study of four areas in which robots are already, or are about to be deployed: Military Operations in Urban Terrain (MOUT), Military and Police Explosive Ordnance Disposal (EOD), Military Chemical Biological Radiological Nuclear contamination control (CBRN), and Fire Fighting (FF). The aim of the study has been to achieve a general overview across the four areas to survey and compare their similarities and differences. It has also been investigated to what extent it is possible for the them to deploy the same type of robot. It was found that the groups share many requirements, but, that they also have a few individual hard constrains. A comparison across the groups showed the demands of man-portability, ability to access narrow premises, and ability to handle objects of different weight to be decisive; two or three different sizes of robots will be needed to satisfy the need of the four areas.
Risk Assessment of Bone Fracture During Space Exploration Missions to the Moon and Mars
Lewandowski, Beth E.; Myers, Jerry G.; Nelson, Emily S.; Griffin, Devon
The possibility of a traumatic bone fracture in space is a concern due to the observed decrease in astronaut bone mineral density (BMD) during spaceflight and because of the physical demands of the mission. The Bone Fracture Risk Module (BFxRM) was developed to quantify the probability of fracture at the femoral neck and lumbar spine during space exploration missions. The BFxRM is scenario-based, providing predictions for specific activities or events during a particular space mission. The key elements of the BFxRM are the mission parameters, the biomechanical loading models, the bone loss and fracture models and the incidence rate of the activity or event. Uncertainties in the model parameters arise due to variations within the population and unknowns associated with the effects of the space environment. Consequently, parameter distributions were used in Monte Carlo simulations to obtain an estimate of fracture probability under real mission scenarios. The model predicts an increase in the probability of fracture as the mission length increases and fracture is more likely in the higher gravitational field of Mars than on the moon. The resulting probability predictions and sensitivity analyses of the BFxRM can be used as an engineering tool for mission operation and resource planning in order to mitigate the risk of bone fracture in space.
Designing future dark energy space missions. II. Photometric redshift of space weak lensing optimized surveys
Jouvel, S.; Kneib, J.-P.; Bernstein, G.; Ilbert, O.; Jelinsky, P.; Milliard, B.; Ealet, A.; Schimd, C.; Dahlen, T.; Arnouts, S.
scale of 0.15'', we found that a homogeneous survey reaching a survey population of IAB = 25.6 (10σ) with a sky coverage of ~11 000 deg2 maximizes the weak lensing FoM. The effective number density of galaxies used for WL is then ~45 gal/arcmin2, which is at least a factor of two higher than ground-based surveys. Conclusions: This study demonstrates that a full account of the observational strategy is required to properly optimize the instrument parameters and maximize the FoM of the future weak-lensing space dark energy mission.
Mission Trade Space Evaluation through Multiphysics Design and Optimization
National Aeronautics and Space Administration — In recent years, modeling and simulation tools have enabled engineers to design highly complex systems while taking into consideration constraints across multiple...
An integrated control scheme for space robot after capturing non-cooperative target
Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich
How to identify the mass properties and eliminate the unknown angular momentum of space robotic system after capturing a non-cooperative target is of great challenge. This paper focuses on designing an integrated control framework which includes detumbling strategy, coordination control and parameter identification. Firstly, inverted and forward chain approaches are synthesized for space robot to obtain dynamic equation in operational space. Secondly, a detumbling strategy is introduced using elementary functions with normalized time, while the imposed end-effector constraints are considered. Next, a coordination control scheme for stabilizing both base and end-effector based on impedance control is implemented with the target's parameter uncertainty. With the measurements of the forces and torques exerted on the target, its mass properties are estimated during the detumbling process accordingly. Simulation results are presented using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.
SCOC3: A Brand New Heart for Space Mission
Poupat, Jean-Luc; Lefevre, Aurelien
Satellites are controlled via a platform On Board Computer (OBC) that manages different parameters (attitude, orbit, modes, temperatures ...) with respect to its payload mission (telecommunication, earth observation, scientific mission). The platform OBC is connected to the satellite and the ground control via digital links, and executes on board software.The main functions of a platform OBC are to provide the satellite flight segment with the following features: o Processing resources for the flight mission softwareo TM/TC services and interfaces with the RF communication chaino General communication services with the Avionics and payload equipments through on- board communication buso Time synchronization and distributiono Failure tolerant architecture based on the use of redounded reconfiguration units and redundancy implementationIn order to reach an ultimate level of integration, Astrium has designed an ASIC gathering on a single chip all these required digital functions: the SCOC3 ASIC.This paper presents in a first part the major innovations introduced by Astrium for SCOC3, in a second part the development tools associated to SCOC3, and in a third part the status concerning its commercialization.
Habitability during long-duration space missions - Key issues associated with a mission to Mars
Stuster, Jack
Isolation and confinement conditions similar to those of a long-duration mission to Mars are examined, focusing on 14 behavioral issues with design implications. Consideration is given to sleep, clothing, exercise, medical support, personal hygiene, food preparation, group interaction, habitat aesthetics, outside communications, recreational opportunities, privacy, waste disposal, onboard training, and the microgravity environment. The results are used to develop operational requirements and habitability design guidelines for interplanetary spacecraft.
Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)
Griffin, Sandy (Editor)
Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon B. Johnson Space Center at Houston, Texas, on July 25 to 27, 1989, are given. Approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA Artificial Intelligence Overview and Expert System Verification and Validation.
Bacillus subtilis spores PROTECT experiment Space-exposed and Mars-exposed vs. Earth-control
National Aeronautics and Space Administration — Because of their ubiquity and resistance to spacecraft decontamination bacterial spores are considered likely potential forward contaminants on robotic missions to...
An overview of the risk uncertainty assessment process for the Cassini space mission
International Nuclear Information System (INIS)
Wyss, G.D.
The Cassini spacecraft is a deep space probe whose mission is to explore the planet Saturn and its moons. Since the spacecraft's electrical requirements will be supplied by radioisotope thermoelectric generators (RTGs), the spacecraft designers and mission planners must assure that potential accidents involving the spacecraft do not pose significant human risk. The Cassini risk analysis team is seeking to perform a quantitative uncertainty analysis as a part of the overall mission risk assessment program. This paper describes the uncertainty analysis methodology to be used for the Cassini mission and compares it to the methods that were originally developed for evaluation of commercial nuclear power reactors
Space Station Freedom automation and robotics: An assessment of the potential for increased productivity
Weeks, David J.; Zimmerman, Wayne F.; Swietek, Gregory E.; Reid, David H.; Hoffman, Ronald B.; Stammerjohn, Lambert W., Jr.; Stoney, William; Ghovanlou, Ali H.
This report presents the results of a study performed in support of the Space Station Freedom Advanced Development Program, under the sponsorship of the Space Station Engineering (Code MT), Office of Space Flight. The study consisted of the collection, compilation, and analysis of lessons learned, crew time requirements, and other factors influencing the application of advanced automation and robotics, with emphasis on potential improvements in productivity. The lessons learned data collected were based primarily on Skylab, Spacelab, and other Space Shuttle experiences, consisting principally of interviews with current and former crew members and other NASA personnel with relevant experience. The objectives of this report are to present a summary of this data and its analysis, and to present conclusions regarding promising areas for the application of advanced automation and robotics technology to the Space Station Freedom and the potential benefits in terms of increased productivity. In this study, primary emphasis was placed on advanced automation technology because of its fairly extensive utilization within private industry including the aerospace sector. In contrast, other than the Remote Manipulator System (RMS), there has been relatively limited experience with advanced robotics technology applicable to the Space Station. This report should be used as a guide and is not intended to be used as a substitute for official Astronaut Office crew positions on specific issues.
Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly
Klein, C. A.; Patterson, M. R.
Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.
Optimization of the Robotic Joint Equipped with Epicyloidal Gear and Direct Drive for Space Applications
Seweryn, Karol; Grassmann, Kamil; Ciesielska, Monika; Rybus, Tomasz; Turek, Michal
One of the most critical element in the orbital manipulators are kinematic joints. Joints must be adapted to work in tough conditions of space environment and must ensure the greatest efficiency and work without backlash. At the Space Mechatronics and Robotics Laboratory (LMRS) of the Space Research Centre, PAS our team designed and built a lightweight kinematic pair based on a new concept. The new concept is based on the epicycloid two-stage gearbox with torque motor. In this paper we have focused on optimization of the joint design for space application. The optimization was focused on the minimization of the mass and backlash effects and on maximizing the joint efficiency.
Multi-mission space science data processing systems - Past, present, and future
Stallings, William H.
Packetized telemetry that is consistent with the international Consultative Committee for Space Data Systems (CCSDS) has been baselined for future NASA missions such as Space Station Freedom. Some experiences from past and present multimission systems are examined, including current experiences in implementing a CCSDS standard packetized data processing system, relative to the effectiveness of the multimission approach in lowering life cycle cost and the complexity of meeting new mission needs. It is shown that the continued effort toward standardization of telemetry and processing support will permit the development of multimission systems needed to meet the increased requirements of future NASA missions.
Portable Diagnostics Technology Assessment for Space Missions. Part 2; Market Survey
Nelson, Emily S.; Chait, Arnon
A mission to Mars of several years duration requires more demanding standards for all onboard instruments than a 6-month mission to the Moon or the International Space Station. In Part 1, we evaluated generic technologies and suitability to NASA needs. This prior work considered crew safety, device maturity and flightworthiness, resource consumption, and medical value. In Part 2, we continue the study by assessing the current marketplace for reliable Point-of-Care diagnostics. The ultimate goal of this project is to provide a set of objective analytical tools to suggest efficient strategies for reaching specific medical targets for any given space mission as program needs, technological development, and scientific understanding evolve.
Radiation dose assessment in space missions. The MATROSHKA experiment
International Nuclear Information System (INIS)
Reitz, Guenther
The exact determination of radiation dose in space is a demanding and challenging task. Since January 2004, the International Space Station is equipped with a human phantom which is a key part of the MATROSHKA Experiment. The phantom is furnished with thousands of radiation sensors for the measurement of depth dose distribution, which has enabled the organ dose calculation and has demonstrated that personal dosemeter at the body surface overestimates the effective dose during extra-vehicular activity by more than a factor two. The MATROSHKA results serve to benchmark models and have therefore a large impact on the extrapolation of models to outer space. (author)
Integrated Modeling, Analysis, and Verification for Space Missions, Phase I
National Aeronautics and Space Administration — This project will further MBSE technology in fundamental ways by strengthening the link between SysML tools and framework engineering execution environments. Phoenix...
LunarCube for Deep Space Missions, Phase I
National Aeronautics and Space Administration — Busek Co., Inc. and Morehead State University propose to develop a 6U CubeSat capable of reaching a lunar orbit from GEO. The primary objective is to demonstrate...
Blue Light for Enhancing Alertness in Space Missions
National Aeronautics and Space Administration — This is the final year of a directed research project that had reduced aims due to an unexpected funding reduction. The goal is to study the efficacy of blue or...
A look towards the future in the handling of space science mission geometry
Acton, Charles; Bachman, Nathaniel; Semenov, Boris; Wright, Edward
The "SPICE" system has been widely used since the days of the Magellan mission to Venus as the method for scientists and engineers to access a variety of space mission geometry such as positions, velocities, directions, orientations, sizes and shapes, and field-of-view projections (Acton, 1996). While originally focused on supporting NASA's planetary missions, the use of SPICE has slowly grown to include most worldwide planetary missions, and it has also been finding application in heliophysics and other space science disciplines. This paper peeks under the covers to see what new capabilities are being developed or planned at SPICE headquarters to better support the future of space science. The SPICE system is implemented and maintained by NASA's Navigation and Ancillary Information Facility (NAIF) located at the Jet Propulsion Laboratory in Pasadena, California (http://naif.jpl.nasa.gov).
Proxemics models for human-aware navigation in robotics: Grounding interaction and personal space models in experimental data from psychology
Barnaud , Marie-Lou; Morgado , Nicolas; Palluel-Germain , Richard; Diard , Julien; Spalanzani , Anne
International audience; In order to navigate in a social environment, a robot must be aware of social spaces, which include proximity and interaction-based constraints. Previous models of interaction and personal spaces have been inspired by studies in social psychology but not systematically grounded and validated with respect to experimental data. We propose to implement personal and interaction space models in order to replicate a classical psychology experiment. Our robotic simulations ca...
Astrobee: A New Platform for Free-Flying Robotics on the International Space Station
Smith, Trey; Barlow, Jonathan; Bualat, Maria; Fong, Terrence; Provencher, Christopher; Sanchez, Hugo; Smith, Ernest
The Astrobees are next-generation free-flying robots that will operate in the interior of the International Space Station (ISS). Their primary purpose is to provide a flexible platform for research on zero-g freeflying robotics, with the ability to carry a wide variety of future research payloads and guest science software. They will also serve utility functions: as free-flying cameras to record video of astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. The Astrobee system includes two robots, a docking station, and a ground data system (GDS). It is developed by the Human Exploration Telerobotics 2 (HET-2) Project, which began in Oct. 2014, and will deliver the Astrobees for launch to ISS in 2017. This paper covers selected aspects of the Astrobee design, focusing on capabilities relevant to potential users of the platform.
Technology under Moon and Mars Analog Missions Activities (MMAMA)
National Aeronautics and Space Administration — NASA Analog Missions research addresses the need for integrated interdisciplinary field experiments as an integral part of preparation for planned human and robotic...
Joint Space Operations Center (JSpOC) Mission System (JMS)
Morton, M.; Roberts, T.
US space capabilities benefit the economy, national security, international relationships, scientific discovery, and our quality of life. Realizing these space responsibilities is challenging not only because the space domain is increasingly congested, contested, and competitive but is further complicated by the legacy space situational awareness (SSA) systems approaching end of life and inability to provide the breadth of SSA and command and control (C2) of space forces in this challenging domain. JMS will provide the capabilities to effectively employ space forces in this challenging domain. Requirements for JMS were developed based on regular, on-going engagement with the warfighter. The use of DoD Architecture Framework (DoDAF) products facilitated requirements scoping and understanding and transferred directly to defining and documenting the requirements in the approved Capability Development Document (CDD). As part of the risk reduction efforts, the Electronic System Center (ESC) JMS System Program Office (SPO) fielded JMS Capability Package (CP) 0 which includes an initial service oriented architecture (SOA) and user defined operational picture (UDOP) along with force status, sensor management, and analysis tools. Development efforts are planned to leverage and integrate prototypes and other research projects from Defense Advanced Research Projects Agency, Air Force Research Laboratories, Space Innovation and Development Center, and Massachusetts Institute of Technology/Lincoln Laboratories. JMS provides a number of benefits to the space community: a reduction in operational "transaction time" to accomplish key activities and processes; ability to process the increased volume of metric observations from new sensors (e.g., SBSS, SST, Space Fence), as well as owner/operator ephemerides thus enhancing the high accuracy near-real-time catalog, and greater automation of SSA data sharing supporting collaboration with government, civil, commercial, and foreign
Multipoint Space Measurements of TGF's with the TRYAD Mission
Fuchs, J.; Briggs, M. S.; Jenke, P.
The Terrestrial RaY Analysis and Detection (TRYAD) is a twin 6U cubesat mission designed to detect Terrestrial Gamma-ray Flashes (TGF's) from low earth orbit. Current observations of TGF's are predominantly done from single point measurements; the objective of this mission is to capture two simultaneous observations to identify a characteristic beam profile. Working models for production of TGF's suggest two main scenarios exist: one being creation in the lightening step leader which results in a wider beam profile, the other is a larger field effect in the storm resulting in a narrow beam. The TRYAD detector consists of four plastic scintillation bars that will detect flux correlated with GPS position and time. Both satellites will fly at a controlled separation of several hundred kilometers gathering data over the tropics. The data gathered from the spacecraft are matched to lightening data from the World Wide Lightning Location Network (WWLLN) to get ground and time localization along with the two point flux measurement. TRYAD will fly in 2019. We will present simulations describing TRYADs ability to discriminate between current TGF models, the TRYAD science instrument, along with its capabilities and impact for TGF science.
Advancing automation and robotics technology for the space station and for the US economy
Nunamaker, Robert
In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memo 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixth in a series of progress updates and covers the period between October 1, 1987 and March 1, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.
Compliant behaviour of redundant robot arm - experiments with null-space
Directory of Open Access Journals (Sweden)
Petrović Petar B.
Full Text Available This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators, but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm. [Projekat Ministarstva nauke Republike Srbije, br. TR35007
Soft-Robotic Rover with Electrodynamic Power Scavenging
National Aeronautics and Space Administration — We propose a rover architecture for Europa and other planetary environments where soft robotics enables scientific investigation or human-precursor missions that...
Indian Academy of Sciences (India)
netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...
Long-range planning cost model for support of future space missions by the deep space network
Sherif, J. S.; Remer, D. S.; Buchanan, H. R.
A simple model is suggested to do long-range planning cost estimates for Deep Space Network (DSP) support of future space missions. The model estimates total DSN preparation costs and the annual distribution of these costs for long-range budgetary planning. The cost model is based on actual DSN preparation costs from four space missions: Galileo, Voyager (Uranus), Voyager (Neptune), and Magellan. The model was tested against the four projects and gave cost estimates that range from 18 percent above the actual total preparation costs of the projects to 25 percent below. The model was also compared to two other independent projects: Viking and Mariner Jupiter/Saturn (MJS later became Voyager). The model gave cost estimates that range from 2 percent (for Viking) to 10 percent (for MJS) below the actual total preparation costs of these missions.
Life sciences payloads analyses and technical program planning studies. [project planning of space missions of space shuttles in aerospace medicine and space biology
Contractural requirements, project planning, equipment specifications, and technical data for space shuttle biological experiment payloads are presented. Topics discussed are: (1) urine collection and processing on the space shuttle, (2) space processing of biochemical and biomedical materials, (3) mission simulations, and (4) biomedical equipment.
Private ground infrastructures for space exploration missions simulations
Souchier, Alain
The Mars Society, a private non profit organisation devoted to promote the red planet exploration, decided to implement simulated Mars habitat in two locations on Earth: in northern Canada on the rim of a meteoritic crater (2000), in a US Utah desert, location of a past Jurassic sea (2001). These habitats have been built with large similarities to actual planned habitats for first Mars exploration missions. Participation is open to everybody either proposing experimentations or wishing only to participate as a crew member. Participants are from different organizations: Mars Society, Universities, experimenters working with NASA or ESA. The general philosophy of the work conducted is not to do an innovative scientific work on the field but to learn how the scientific work is affected or modified by the simulation conditions. Outside activities are conducted with simulated spacesuits limiting the experimenter abilities. Technology or procedures experimentations are also conducted as well as experimentations on the crew psychology and behaviour.
Reducing Human Radiation Risks on Deep Space Missions
101 Figure 49. Human Health, Life Support, and Habitation System...2013). These same studies reveal that for astronauts returning home, this may result in significant loss of lifespan and quality of life due to...warnings to the satellites in orbit at either planet , or to spacecraft in transit (Phys.org 2010). C. IMPROVEMENTS TO MEASUREMENTS OF SPACE RADIATION
SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD
Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David
The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.
Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression
Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin
For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.
Problems of microbial ecology in man space mission
Lizko, N. N.
The state of microflora should be considered as one of the important links in chain of the specific functional disorders involving the spaceflight factors effects. At the same time, there occurs an astablishment of nonspecific disbiotic response of the human microflora in the space flights of various duration characterized by a decrease up to a reduction of the "defence" group of microorganisms; by an appearence of unusual microorganisms in various biotypes, by accummulatoin of the potential of pathogenic species of automicroflora with their succeeding colonization and longterm persistence. In experimental animal models to simulate dysbacteriosis and with the use of SPF-rats and primates flow aboard Cosmos biosatellites, the significance of indigenous microflora for preserving microecological homeostasis. Theoretically based and experimentally proven need for increasing the colonization resistence is cofirmed dy the practical use of the measures to stabilize microflora of the cosmonauts during space flights.
In search of empty space: the Cluster mission
International Nuclear Information System (INIS)
Johnstone, Alan
Using four spacecraft, orbiting the earth, in the formation of a regular tetrahedron, European scientists will study the auroras around the planet caused by variations in the Sun's magnetic field. These cluster satellites will also study supernovae from their interplanetary position and the plasma of space surrounding us on the Earth. A growing understanding of the plasma dynamics is hoped to assist in the study of nuclear fusion. (UK)
New Magneto-Inductive DC Magnetometer for Space Missions
Moldwin, M.; Bronner, B.; Regoli, L.; Thoma, J.; Shen, A.; Jenkins, G.; Cutler, J.
A new magneto-inductive DC magnetometer is being developed at the University of Michigan that provides fluxgate quality measurements in a low mass, volume, power and cost package. The magnetometer enables constellation-class missions not only due to its low-resource requirements, but also its potential for commercial integrated circuit fabrication. The magneto-inductive operating principle is based on a simple resistance-inductor (RL) circuit and involves measurement of the time it takes to charge and discharge the inductor between an upper and lower threshold by means of a Schmitt trigger oscillator. This time is proportional to the inductance that in turn is proportional to the field strength. We have modeled the operating principle in the circuit simulator SPICE and have built a proto-type using modified commercial sensors. The performance specifications include a dynamic range over the full-Earth's field, sampling rates up to 80 Hz, sensor and electronics mass of about 30 g, circuit board and sensor housing volume of magnetometer.
EUV imager and spectrometer for LYOT and solar orbiter space missions
Millard, Anne; Lemaire, Philippe; Vial, Jean-Claude
In the 2010 horizon, solar space missions such as LYOT and Solar Orbiter will allow high cadence UV observations of the Sun at spatial and spectral resolution never obtained before. To reach these goals, the two missions could take advantage of spectro-imagers. A reflective only optical solution for such an instrument is described in this paper and the first results of the mock-up being built at IAS are shown.
Dynamical modeling approach to risk assessment for radiogenic leukemia among astronauts engaged in interplanetary space missions.
Smirnova, Olga A; Cucinotta, Francis A
A recently developed biologically motivated dynamical model of the assessment of the excess relative risk (ERR) for radiogenic leukemia among acutely/continuously irradiated humans (Smirnova, 2015, 2017) is applied to estimate the ERR for radiogenic leukemia among astronauts engaged in long-term interplanetary space missions. Numerous scenarios of space radiation exposure during space missions are used in the modeling studies. The dependence of the ERR for leukemia among astronauts on several mission parameters including the dose equivalent rates of galactic cosmic rays (GCR) and large solar particle events (SPEs), the number of large SPEs, the time interval between SPEs, mission duration, the degree of astronaut's additional shielding during SPEs, the degree of their additional 12-hour's daily shielding, as well as the total mission dose equivalent, is examined. The results of the estimation of ERR for radiogenic leukemia among astronauts, which are obtained in the framework of the developed dynamical model for various scenarios of space radiation exposure, are compared with the corresponding results, computed by the commonly used linear model. It is revealed that the developed dynamical model along with the linear model can be applied to estimate ERR for radiogenic leukemia among astronauts engaged in long-term interplanetary space missions in the range of applicability of the latter. In turn, the developed dynamical model is capable of predicting the ERR for leukemia among astronauts for the irradiation regimes beyond the applicability range of the linear model in emergency cases. As a supplement to the estimations of cancer incidence and death (REIC and REID) (Cucinotta et al., 2013, 2017), the developed dynamical model for the assessment of the ERR for leukemia can be employed on the pre-mission design phase for, e.g., the optimization of the regimes of astronaut's additional shielding in the course of interplanetary space missions. The developed model can
Carrington-L5: The UK/US Space Weather Operational Mission.
Bisi, M. M.; Trichas, M.
Airbus Defence and Space (UK) have carried out a study for an operational L5 space weather mission, in collaboration with RAL, the UK Met Office, UCL and Imperial College London. The study looked at the user requirements for an operational mission, a model instrument payload, and a mission/spacecraft concept. A particular focus is cost effectiveness and timelineness of the data, suitable for operational forecasting needs. The study focussed on a mission at L5 assuming that a US mission to L1 will already occur, on the basis that L5 offers the greatest benefit for SWE predictions. The baseline payload has been selected to address all MOSWOC/SWPC priorities using UK/US instruments, consisting of: a heliospheric imager, coronagraph, EUV imager, magnetograph, magnetometer, solar wind analyser and radiation monitor. The platform is based on extensive re-use from Airbus' past missions to minimize the cost and a Falcon-9 launcher has been selected on the same basis. A schedule analysis shows that the earliest launch could occur in 2020, assuming Phase A KO in 2015. The study team have selected the name "Carrington" for the mission, reflecting the UK's proud history in this domain.
Conceptual Kinematic Design and Performance Evaluation of a Chameleon-Like Service Robot for Space Stations
Directory of Open Access Journals (Sweden)
Marco Ceccarelli
Full Text Available In this paper a conceptual kinematic design of a chameleon-like robot with proper mobility capacity is presented for service applications in space stations as result of design considerations with biomimetic inspiration by looking at chameleons. Requirements and characteristics are discussed with the aim to identify design problems and operation features. A study of feasibility is described through performance evaluation by using simulations for a basic operation characterization.
Nuclear power supplies: their potential and the practical problems to their achievement for space missions
International Nuclear Information System (INIS)
Colston, B.W.; Brehm, R.L.
The anticipated growth of the space station power requirement provides a good example of the problem the space nuclear power supply developers have to contend with: should a reactor power supply be developed that attempts to be all things to all missions, i.e., is highly flexible in its ability to meet a wide variety of missions, or should the development of a reactor system await a specific mission definition and be customized to this mission. This leads, of course, to a chicken-and-egg situation. For power requirements of several hundreds of kilowatts or more, no nuclear power source exists or is even far enough along in the definition stage (much less the development stage) for NASA to reasonably assume probable availability within the next 10 years. The real problem of space nuclear power is this ''chicken-and-egg'' syndrome: DOE will not develop a space reactor system for NASA without a firm mission, and NASA will not specify a firm mission requiring a space reactor because such a system doesn't exist and is perceived not to be developable within the time frame of the mission. The problem is how to break this cycle. The SP-100 program has taken an important first step to breaking this cycle, but this program is much more design-specific than what is required to achieve a broad technology base and latitude in achievable power level. In contrast to the SP-100 approach, a wider perspective is required: the development of the appropriate technologies for power levels can be broken into ranges, say, from 100 kWe to 1000 kWe, and from 1000 kWe to 10,000 kWe
The Successful Conclusion of the Deep Space 1 Mission: Important Results without a Flashy Title
Rayman, Marc D.
Conceived in 1995, Deep Space 1 (DS1) was the first mission of NASA s New Millennium program. Its purpose was to test high-risk, advanced technologies important for space and Earth science missions. DS1 s payload included ion propulsion, solar concentrator arrays, autonomous navigation and other autonomous systems, miniaturized telecommunications and microelectronic systems, and two highly integrated, compact science instruments. DS1 was launched in October 1998, only 39 months after the initial concept study began, and during its 11-month primary mission it exceeded its requirements. All technologies were rigorously exercised and characterized, thus reducing the cost and risk of subsequent science missions that could consider taking advantage of the capabilities offered by these new systems. Following its primary mission, DS1 embarked on an extended mission devoted to comet science, although it had not been designed for a comet encounter. Less than two months after the beginning of the extended mission, the spacecraft suffered a critical failure with the loss of its star tracker, its only source of 3-axis attitude knowledge. Although this was initially considered to be a catastrophic failure, the project completed an ambitious two-phase, seven-month recovery that included the development of extensive new software and new operations procedures. In September 2001, the spacecraft flawlessly completed a high-risk encounter with comet 19P/Borrelly. Using the two instruments included on the flight for technology tests as well as reprogrammed sensors originally intended for monitoring the effects of the ion propulsion system on the space environment, DS1 returned a rich harvest of data, with panchromatic images, infrared spectra, energy and angle distributions of electron and ion fluxes, ion compositions, and magnetic field and plasma wave measurements. These data constitute the most detailed view of a comet and offer surprising and exciting insights. In addition to the
Carrington-L5: The UK/US Operational Space Weather Monitoring Mission
Trichas, Markos; Gibbs, Mark; Harrison, Richard; Green, Lucie; Eastwood, Jonathan; Bentley, Bob; Bisi, Mario; Bogdanova, Yulia; Davies, Jackie; D'Arrigo, Paolo; Eyles, Chris; Fazakerley, Andrew; Hapgood, Mike; Jackson, David; Kataria, Dhiren; Monchieri, Emanuele; Windred, Phil
Airbus Defence and Space (UK) has carried out a study to investigate the possibilities for an operational space weather mission, in collaboration with the Met Office, RAL, MSSL and Imperial College London. The study looked at the user requirements for an operational mission, a model instrument payload, and a mission/spacecraft concept. A particular focus is cost effectiveness and timelineness of the data, suitable for 24/7 operational forecasting needs. We have focussed on a mission at L5 assuming that a mission to L1 will already occur, on the basis that L5 (Earth trailing) offers the greatest benefit for the earliest possible warning on hazardous SWE events and the most accurate SWE predictions. The baseline payload has been selected to cover all UK Met Office/NOAA's users priorities for L5 using instruments with extensive UK/US heritage, consisting of: heliospheric imager, coronograph, magnetograph, magnetometer, solar wind analyser and radiation monitor. The platform and subsystems are based on extensive re-use from past Airbus Defence and Space spacecraft to minimize the development cost and a Falcon-9 launcher has been selected on the same basis. A schedule analysis shows that the earliest launch could be achieved by 2020, assuming Phase A kick-off in 2015-2016. The study team have selected the name "Carrington" for the mission, reflecting the UK's proud history in this domain.
Risk evaluation of cosmic-ray exposure in long-term manned space mission
International Nuclear Information System (INIS)
Fujitaka, Kazunobu; Majima, Hideyuki; Ando, Koichi; Yasuda, Hiroshi; Suzuki, Masao
Long-term manned space missions are planned to be implemented within the first two decades of the 21st century. The International Space Station (ISS) will be ready to run, and a plan to visit Mars is also under way. Humans will live in space for long periods of time and we are planning to do experiments in space to examine various aspects of space science. The main risk in long-term manned space missions is large exposure to space radiation. Human safety must be ensured in space where exposure to cosmic rays is almost 1 mSv a day. As such missions will inevitably result in significant exposure for astronauts, there is increasing need to protect them adequately based on both physical and biological knowledge. A good method to evaluate realistic risk associated with space missions will be in urgent demand. At the National Institute of Radiological Sciences (NIRS), Chiba, Japan, a research institutes of the Science Technology Agency of Japan, high energy cosmic radiation can be simulated only with heavy ion irradiation accelerated by the particle accelerator, Heavy Ion Medical Accelerator (HIMAC). Research to evaluate risk of space radiation, including physical measurement techniques, protective effects, biological effects and risk adjustment, aging, neuronal cell damage and cancer risk are undergoing. We organized a workshop of the latest topics and experimental results of physics and biology related to space radiation supported by Japan Science and Technology Corporation (JST). This workshop was held as a satellite meeting associated with the 32nd Committee on Space Research (COSPAR) Scientific Assembly (Nagoya, July 12-19th, 1998). This volume is an extended proceedings of the workshop. The proceedings contain six main subjects covering the latest information on Risk Evaluation of Cosmic-Ray Exposure in Long-Term Manned Space Mission'. 1. Risk Estimation of Heavy Ion Exposure in Space. 2. Low Dose-Rate Effects and Microbeam-Related Heavy Ions. 3. Chromosome and
A Ground-Based Validation System of Teleoperation for a Space Robot
Directory of Open Access Journals (Sweden)
Xueqian Wang
Full Text Available Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, global-vision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.
Technology for an intelligent, free-flying robot for crew and equipment retrieval in space
Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.
Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.
Stability of Dosage Forms in the Pharmaceutical Payload Aboard Space Missions
Du, Brian J.; Daniels, Vernie; Boyd, Jason L.; Crady, Camille; Satterfield, Rick; Younker, Diane R.; Putcha, Lakshmi
Efficacious pharmaceuticals with adequate shelf lives are essential for successful space medical operations. Stability of pharmaceuticals, therefore, is of paramount importance for assuring the health and wellness of astronauts on future space exploration missions. Unique physical and environmental factors of space missions may contribute to the instability of pharmaceuticals, e.g., radiation, humidity and temperature variations. Degradation of pharmaceutical formulations can result in inadequate efficacy and/or untoward toxic effects, which could compromise astronaut safety and health. Methods: Four identical pharmaceutical payload kits containing 31 medications in different dosage forms (liquid, tablet, capsule, ointment and suppository) were transported to the International Space Station aboard the Space Shuttle (STS-121). One of the 4 kits was stored on the Shuttle and the other 3 were stored on the International Space Station (ISS) for return to Earth at 6-month interval aboard a pre-designated Shuttle flight for each kit. The kit stored on the Shuttle was returned to Earth aboard STS-121 and 2 kits from ISS were returned on STS 117 and STS-122. Results: Analysis of standard physical and chemical parameters of degradation was completed for pharmaceuticals returned by STS-121 after14 days, STS - 117 after11 months and STS 122 after 19 months storage aboard ISS. Analysis of all flight samples along with ground-based matching controls was completed and results were compiled. Conclusion: Evaluation of results from the shuttle (1) and ISS increments (2) indicate that the number of formulations degraded in space increased with duration of storage in space and was higher in space compared to their ground-based counterparts. Rate of degradation for some of the formulations tested was faster in space than on Earth. Additionally, some of the formulations included in the medical kits were unstable, more so in space than on the ground. These results indicate that the
Historical Trends of Participation of Women Scientists in Robotic Spacecraft Mission Science Teams: Effect of Participating Scientist Programs
Rathbun, Julie A.; Castillo-Rogez, Julie; Diniega, Serina; Hurley, Dana; New, Michael; Pappalardo, Robert T.; Prockter, Louise; Sayanagi, Kunio M.; Schug, Joanna; Turtle, Elizabeth P.; Vasavada, Ashwin R.
Many planetary scientists consider involvement in a robotic spacecraft mission the highlight of their career. We have searched for names of science team members and determined the percentage of women on each team. We have limited the lists to members working at US institutions at the time of selection. We also determined the year each team was selected. The gender of each team member was limited to male and female and based on gender expression. In some cases one of the authors knew the team member and what pronouns they use. In other cases, we based our determinations on the team member's name or photo (obtained via a google search, including institution). Our initial analysis considered 22 NASA planetary science missions over a period of 41 years and only considered NASA-selected PI and Co-Is and not participating scientists, postdocs, or graduate students. We found that there has been a dramatic increase in participation of women on spacecraft science teams since 1974, from 0-2% in the 1970s - 1980s to an average of 14% 2000-present. This, however, is still lower than the recent percentage of women in planetary science, which 3 different surveys found to be ~25%. Here we will present our latest results, which include consideration of participating scientists. As in the case of PIs and Co-Is, we consider only participating scientists working at US institutions at the time of their selection.
Nuclear reactor power as applied to a space-based radar mission
Jaffe, L.; Fujita, T.; Beatty, R.; Bhandari, P.; Chow, E.; Deininger, W.; Ewell, R.; Grossman, M.; Kia, T.; Nesmith, B.
The SP-100 Project was established to develop and demonstrate feasibility of a space reactor power system (SRPS) at power levels of 10's of kilowatts to a megawatt. To help determine systems requirements for the SRPS, a mission and spacecraft were examined which utilize this power system for a space-based radar to observe moving objects. Aspects of the mission and spacecraft bearing on the power system were the primary objectives of this study; performance of the radar itself was not within the scope. The study was carried out by the Systems Design Audit Team of the SP-100 Project.
Definition of technology development missions for early space station satellite servicing, volume 2
The results of all aspects of the early space station satellite servicing study tasks are presented. These results include identification of servicing tasks (and locations), identification of servicing mission system and detailed objectives, functional/operational requirements analyses of multiple servicing scenarios, assessment of critical servicing technology capabilities and development of an evolutionary capability plan, design and validation of selected servicing technology development missions (TDMs), identification of space station satellite servicing accommodation needs, and the cost and schedule implications of acquiring both required technology capability development and conducting the selected TDMs.
Space Network IP Services (SNIS): An Architecture for Supporting Low Earth Orbiting IP Satellite Missions
Israel, David J.
The NASA Space Network (SN) supports a variety of missions using the Tracking and Data Relay Satellite System (TDRSS), which includes ground stations in White Sands, New Mexico and Guam. A Space Network IP Services (SNIS) architecture is being developed to support future users with requirements for end-to-end Internet Protocol (IP) communications. This architecture will support all IP protocols, including Mobile IP, over TDRSS Single Access, Multiple Access, and Demand Access Radio Frequency (RF) links. This paper will describe this architecture and how it can enable Low Earth Orbiting IP satellite missions.
Results from the NASA Spacecraft Fault Management Workshop: Cost Drivers for Deep Space Missions
Newhouse, Marilyn E.; McDougal, John; Barley, Bryan; Stephens Karen; Fesq, Lorraine M.
Fault Management, the detection of and response to in-flight anomalies, is a critical aspect of deep-space missions. Fault management capabilities are commonly distributed across flight and ground subsystems, impacting hardware, software, and mission operations designs. The National Aeronautics and Space Administration (NASA) Discovery & New Frontiers (D&NF) Program Office at Marshall Space Flight Center (MSFC) recently studied cost overruns and schedule delays for five missions. The goal was to identify the underlying causes for the overruns and delays, and to develop practical mitigations to assist the D&NF projects in identifying potential risks and controlling the associated impacts to proposed mission costs and schedules. The study found that four out of the five missions studied had significant overruns due to underestimating the complexity and support requirements for fault management. As a result of this and other recent experiences, the NASA Science Mission Directorate (SMD) Planetary Science Division (PSD) commissioned a workshop to bring together invited participants across government, industry, and academia to assess the state of the art in fault management practice and research, identify current and potential issues, and make recommendations for addressing these issues. The workshop was held in New Orleans in April of 2008. The workshop concluded that fault management is not being limited by technology, but rather by a lack of emphasis and discipline in both the engineering and programmatic dimensions. Some of the areas cited in the findings include different, conflicting, and changing institutional goals and risk postures; unclear ownership of end-to-end fault management engineering; inadequate understanding of the impact of mission-level requirements on fault management complexity; and practices, processes, and tools that have not kept pace with the increasing complexity of mission requirements and spacecraft systems. This paper summarizes the
The Sun Radio Imaging Space Experiment (SunRISE) Mission
Kasper, J. C.; Lazio, J.; Alibay, F.; Amiri, N.; Bastian, T.; Cohen, C.; Landi, E.; Hegedus, A. M.; Maksimovic, M.; Manchester, W.; Reinard, A.; Schwadron, N.; Cecconi, B.; Hallinan, G.; Krupar, V.
Radio emission from coronal mass ejections (CMEs) is a direct tracer of particle acceleration in the inner heliosphere and potential magnetic connections from the lower solar corona to the larger heliosphere. Energized electrons excite Langmuir waves, which then convert into intense radio emission at the local plasma frequency, with the most intense acceleration thought to occur within 20 R_S. The radio emission from CMEs is quite strong such that only a relatively small number of antennas is required to detect and map it, but many aspects of this particle acceleration and transport remain poorly constrained. Ground-based arrays would be quite capable of tracking the radio emission associated with CMEs, but absorption by the Earth's ionosphere limits the frequency coverage of ground-based arrays (nu > 15 MHz), which in turn limits the range of solar distances over which they can track the radio emission (concept: A constellation of small spacecraft in a geostationary graveyard orbit designed to localize and track radio emissions in the inner heliosphere. Each spacecraft would carry a receiving system for observations below 25 MHz, and SunRISE would produce the first images of CMEs more than a few solar radii from the Sun. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.
The space instrument SOVAP of the PICARD mission
Conscience, C.; Meftah, M.; Chevalier, A.; Dewitte, S.; Crommelynck, D.,
PICARD is a Satellite dedicated to the simultaneous measurement of the absolute total and spectral solar irradiance, the diameter and solar shape and the Sun's interior probed by helioseismology method. Its objectives are the study of the origin of the solar variability and the study of the relations between the Sun and the Earth's climate. PICARD was launched on June 15, 2010. The Satellite was placed into the heliosynchronous orbit of 735 km with inclination of 98.28 degrees. The payload consists in two absolute radiometers measuring the TSI (Total Solar Irradiance) and an imaging telescope to determine the solar diameter, the limb shape and asphericity. SOVAP (SOlar VAriability Picard) is an experiment developed by the Belgian STCE (Solar Terrestrial Center of Excellence) with a contribution of the CNRS (Centre National de la Recherche Scientifique) composed of an absolute radiometer provided by the RMIB (Royal Meteorological Institute of Belgium) to measure the TSI and a bolometer provided by the ROB (Royal Observatory of Belgium). The continuous observation of the solar irradiance at the highest possible precision and accuracy is an important objective of the Earth climate change. This requires: high quality metrology in the space environment. In this article, we describe the SOVAP instrument, its performances and uncertainties on the measurements of the TSI.
Pilot Study of Person Robot Interaction in a Public Transit Space
DEFF Research Database (Denmark)
Svenstrup, Mikael; Bak, Thomas; Maler, Ouri
This paper describes a study of the effect of a human interactive robot placed in an urban transit space. The underlying hypothesis is that it is possible to create interesting new living spaces and induce value in terms of experiences, information or economics, by putting socially interactive...... showed harder than expected to start interaction with commuters due to their determination and speed towards their goal. Further it was demonstrated that it was possible to track and follow people, who were not beforehand informed about the experiment. The evaluation indicated that the distance...... to initiate interaction was shorter than would be expected for normal human to human interaction....
EXPOSE-R2: The Astrobiological ESA Mission on Board of the International Space Station
Directory of Open Access Journals (Sweden)
Elke Rabbow
Full Text Available On July 23, 2014, the Progress cargo spacecraft 56P was launched from Baikonur to the International Space Station (ISS, carrying EXPOSE-R2, the third ESA (European Space Agency EXPOSE facility, the second EXPOSE on the outside platform of the Russian Zvezda module, with four international astrobiological experiments into space. More than 600 biological samples of archaea, bacteria (as biofilms and in planktonic form, lichens, fungi, plant seeds, triops eggs, mosses and 150 samples of organic compounds were exposed to the harsh space environment and to parameters similar to those on the Mars surface. Radiation dosimeters distributed over the whole facility complemented the scientific payload. Three extravehicular activities later the chemical samples were returned to Earth on March 2, 2016, with Soyuz 44S, having spent 588 days in space. The biological samples arrived back later, on June 18, 2016, with 45S, after a total duration in space of 531 days. The exposure of the samples to Low Earth Orbit vacuum lasted for 531 days and was divided in two parts: protected against solar irradiation during the first 62 days, followed by exposure to solar radiation during the subsequent 469 days. In parallel to the space mission, a Mission Ground Reference (MGR experiment with a flight identical Hardware and a complete flight identical set of samples was performed at the premises of DLR (German Aerospace Center in Cologne by MUSC (Microgravity User Support Center, according to the mission data either downloaded from the ISS (temperature data, facility status, inner pressure status or provided by RedShift Design and Engineering BVBA, Belgium (calculated ultra violet radiation fluence data. In this paper, the EXPOSE-R2 facility, the experimental samples, mission parameters, environmental parameters, and the overall mission and MGR sequences are described, building the background for the research papers of the individual experiments, their analysis and results.
Evaluating the feasibility of biological waste processing for long term space missions
Garland, J. L.; Alazraki, M. P.; Atkinson, C. F.; Finger, B. W.; Sager, J. C. (Principal Investigator)
Recycling waste products during orbital (e.g., International Space Station) and planetary missions (e.g., lunar base, Mars transit mission, Martian base) will reduce storage and resupply costs. Wastes streams on the space station will include human hygiene water, urine, faeces, and trash. Longer term missions will contain human waste and inedible plant material from plant growth systems used for atmospheric regeneration, food production, and water recycling. The feasibility of biological and physical-chemical waste recycling is being investigated as part of National Aeronautics and Space Administration's (NASA) Advanced Life Support (ALS) Program. In-vessel composting has lower manpower requirements, lower water and volume requirements, and greater potential for sanitization of human waste compared to alternative bioreactor designs such as continuously stirred tank reactors (CSTR). Residual solids from the process (i.e. compost) could be used a biological air filter, a plant nutrient source, and a carbon sink. Potential in-vessel composting designs for both near- and long-term space missions are presented and discussed with respect to the unique aspects of space-based systems.
The NASA GOLD Mission: Exploring the Interface between Earth and Space
Mason, T.; Costanza, B.
NASA's Global-scale Observations of the Limb and Disk, or GOLD, mission will explore a little understood area close to home, but historically hard to observe: the interface between Earth and space, a dynamic area of near-Earth space that responds both to space weather above, and the lower atmosphere below. GOLD, scheduled to launch into geostationary orbit in early 2018, will collect observations with a 30-minute cadence, much higher than any mission that has come before it. This will enable GOLD to be the first mission to study the day-to-day weather of a region of space—the thermosphere and ionosphere—rather than its long-term climate. GOLD will explore the near-Earth space environment, which is home to astronauts, radio signals used to guide airplanes and ships, and satellites that provide our communications and GPS systems. GOLD's unprecedented images and data will enable research that can improve situational awareness to help protect astronauts, spacecraft, and humans on the ground. As part of the GOLD communications and outreach program, the Office of Communications & Outreach at the Laboratory for Atmospheric and Space Physics (LASP) is developing a suite of products and programs to introduce the science of the GOLD mission to a broad range of public audiences, including students, teachers, journalists, social media practitioners, and the wider planetary and Earth science communities. We plan to showcase with this poster some of the tools we are developing to achieve this goal.
Logistics Reduction and Repurposing Technology for Long Duration Space Missions
Broyan, James Lee, Jr.; Chu, Andrew; Ewert, Michael K.
One of NASA's Advanced Exploration Systems (AES) projects is the Logistics Reduction and Repurposing (LRR) project, which has the goal of reducing logistics resupply items through direct and indirect means. Various technologies under development in the project will reduce the launch mass of consumables and their packaging, enable reuse and repurposing of items, and make logistics tracking more efficient. Repurposing also reduces the trash burden onboard spacecraft and indirectly reduces launch mass by one manifest item having two purposes rather than two manifest items each having only one purpose. This paper provides the status of each of the LRR technologies in their third year of development under AES. Advanced clothing systems (ACSs) are being developed to enable clothing to be worn longer, directly reducing launch mass. ACS has completed a ground exercise clothing study in preparation for an International Space Station technology demonstration in 2014. Development of launch packaging containers and other items that can be repurposed on-orbit as part of habitation outfitting has resulted in a logistics-to-living (L2L) concept. L2L has fabricated and evaluated several multi-purpose cargo transfer bags for potential reuse on-orbit. Autonomous logistics management is using radio frequency identification (RFID) to track items and thus reduce crew time for logistics functions. An RFID dense reader prototype is under construction and plans for integrated testing are being made. A heat melt compactor (HMC) second generation unit for processing trash into compact and stable tiles is nearing completion. The HMC prototype compaction chamber has been completed and system development testing is under way. Research has been conducted on the conversion of trash-to-gas (TtG) for high levels of volume reduction and for use in propulsion systems. A steam reformation system was selected for further system definition of the TtG technology.
Logistics Reduction and Repurposing Technology for Long Duration Space Missions
Broyan, James L.; Chu, Andrew; Ewert, Michael K.
One of NASA's Advanced Exploration Systems (AES) projects is the Logistics Reduction and Repurposing (LRR) project, which has the goal of reducing logistics resupply items through direct and indirect means. Various technologies under development in the project will reduce the launch mass of consumables and their packaging, enable reuse and repurposing of items and make logistics tracking more efficient. Repurposing also reduces the trash burden onboard spacecraft and indirectly reduces launch mass by replacing some items on the manifest. Examples include reuse of trash as radiation shielding or propellant. This paper provides the status of the LRR technologies in their third year of development under AES. Advanced clothing systems (ACS) are being developed to enable clothing to be worn longer, directly reducing launch mass. ACS has completed a ground exercise clothing study in preparation for an International Space Station (ISS) technology demonstration in 2014. Development of launch packaging containers and other items that can be repurposed on-orbit as part of habitation outfitting has resulted in a logistics-to-living (L2L) concept. L2L has fabricated and evaluated several multi-purpose cargo transfer bags (MCTBs) for potential reuse on orbit. Autonomous logistics management (ALM) is using radio frequency identification (RFID) to track items and thus reduce crew requirements for logistics functions. An RFID dense reader prototype is under construction and plans for integrated testing are being made. Development of a heat melt compactor (HMC) second generation unit for processing trash into compact and stable tiles is nearing completion. The HMC prototype compaction chamber has been completed and system development testing is underway. Research has been conducted on the conversion of trash-to-gas (TtG) for high levels of volume reduction and for use in propulsion systems. A steam reformation system was selected for further system definition of the TtG technology
Mission planning for space based satellite surveillance experiments with the MSX
Sridharan, R.; Fishman, T.; Robinson, E.; Viggh, H.; Wiseman, A.
The Midcourse Space Experiment is a BMDO-sponsored scientific satellite set for launch within the year. The satellite will collect phenomenology data on missile targets, plumes, earth limb backgrounds and deep space backgrounds in the LWIR, visible and ultra-violet spectral bands. It will also conduct functional demonstrations for space-based space surveillance. The Space-Based Visible sensor, built by Lincoln Laboratory, Massachusetts Institute of Technology, is the primary sensor on board the MSX for demonstration of space surveillance. The SBV Processing, Operations and Control Center (SPOCC) is the mission planning and commanding center for all space surveillance experiments using the SBV and other MSX instruments. The guiding principle in the SPOCC Mission Planning System was that all routine functions be automated. Manual analyst input should be minimal. Major concepts are: (I) A high level language, called SLED, for user interface to the system; (2) A group of independent software processes which would generally be run in a pipe-line mode for experiment commanding but can be run independently for analyst assessment; (3) An integrated experiment cost computation function that permits assessment of the feasibility of the experiment. This paper will report on the design, implementation and testing of the Mission Planning System.
Calling Taikong a strategy report and study of China's future space science missions
Wu, Ji
This book describes the status quo of space science in China, details the scientific questions to be addressed by the Chinese space science community in 2016-2030, and proposes key strategic goals, space science programs and missions, the roadmap and implementation approaches. Further, it explores the supporting technologies needed and provides an outlook of space science beyond the year 2030. "Taikong" means "outer space" in Chinese, and space science is one of the most important areas China plans to develop in the near future. This book is authored by Ji Wu, a leader of China's space science program, together with National Space Science Center, Chinese Academy of Sciences, a leading institute responsible for planning and managing most of China's space science missions. It also embodies the viewpoints shared by many space scientists and experts on future space science development. Through this book, general readers and researchers alike will gain essential insights into the current developments an...
Hybrid task priority-based motion control of a redundant free-floating space robot
Directory of Open Access Journals (Sweden)
Cheng ZHOU
Full Text Available This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the least-squares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning, and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary taskâs null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology. Keywords: Base attitude control, Hybrid task-priority, Motion planning, Multiple constraints, Redundant space robot
The Potassium-Argon Laser Experiment (KArLE): In Situ Geochronology for Planetary Robotic Missions
Cohen, Barbara
The Potassium (K) - Argon (Ar) Laser Experiment (KArLE) will make in situ noble-gas geochronology measurements aboard planetary robotic landers and roverss. Laser-Induced Breakdown Spectroscopy (LIBS) is used to measure the K abun-dance in a sample and to release its noble gases; the evolved Ar is measured by mass spectrometry (MS); and rela-tive K content is related to absolute Ar abundance by sample mass, determined by optical measurement of the ablated volume. KArLE measures a whole-rock K-Ar age to 10% or better for rocks 2 Ga or older, sufficient to resolve the absolute age of many planetary samples. The LIBS-MS approach is attractive because the analytical components have been flight proven, do not require further technical development, and provide complementary measurements as well as in situ geochronology.
Psychosocial issues affecting crews during long-duration international space missions
Kanas, N.
Psychosocial issues can negatively impact on crew performance and morale during long-duration international space missions. Major psychosocial factors that have been described in anecdotal reports from space and in studies from analog situations on Earth include: 1) crew heterogeneity due to gender differences, cultural issues, and work experiences and motivations; 2) language and dialect variations; and 3) task versus supportive leadership roles. All of these factors can lead to negative sequelae, such as intra-crew tension and cohesion disruptions. Specific sequelae that can result from single factors include subgrouping and scapegoating due to crew heterogeneity; miscommunication due to major or subtle language differences; and role confusion, competition, and status leveling due to inappropriate leadership role definition. It is time to conduct research exploring the impact of these psychosocial factors and their sequelae on space crews during actual long-duration international space missions.
Living with a Star (LWS) Space Environment Testbeds (SET), Mission Carrier Overview and Capabilities
Patschke, Robert; Barth, Janet; Label, Ken; Mariano, Carolyn; Pham, Karen; Brewer, Dana; Cuviello, Michael; Kobe, David; Wu, Carl; Jarosz, Donald
NASA has initiated the Living With a Star (LWS) Program to develop the scientific understanding to address the aspects of the Connected Sun-Earth system that affect life and society. A goal of the program is to bridge the gap between science, engineering, and user application communities. This will enable future science, operational, and commercial objectives in space and atmospheric environments by improving engineering approaches to the accommodation and/or mitigation of the effects of solar variability on technological systems. The three program elements of the LWS Program are Science Missions; Targeted Research and Technology; and Space Environment Testbeds (SETS). SET is an ideal platform for small experiments performing research on space environment effects on technologies and on the mitigation of space weather effects. A short description of the LWS Program will be given, and the SET will be described in detail, giving the mission objectives, available carrier services, and upcoming flight opportunities.
Game Changing Transformable Entry System Technology Applicability to Robotic Venus Science Missions
National Aeronautics and Space Administration — The innovative adpative deployable entry and placement technology (ADEPT), also known as transformable entry system technology (TEST) concept, akin to an umbrella,...
Technical Challenges and Opportunities of Centralizing Space Science Mission Operations (SSMO) at NASA Goddard Space Flight Center
Ido, Haisam; Burns, Rich
The NASA Goddard Space Science Mission Operations project (SSMO) is performing a technical cost-benefit analysis for centralizing and consolidating operations of a diverse set of missions into a unified and integrated technical infrastructure. The presentation will focus on the notion of normalizing spacecraft operations processes, workflows, and tools. It will also show the processes of creating a standardized open architecture, creating common security models and implementations, interfaces, services, automations, notifications, alerts, logging, publish, subscribe and middleware capabilities. The presentation will also discuss how to leverage traditional capabilities, along with virtualization, cloud computing services, control groups and containers, and possibly Big Data concepts.
Fuzzy adaptive robust control for space robot considering the effect of the gravity
Directory of Open Access Journals (Sweden)
Qin Li
Full Text Available Space robot is assembled and tested in gravity environment, and completes on-orbit service (OOS in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control (FARC strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative (PD controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.
A comprehensive mission to planet Earth: Woods Hole Space Science and Applications Advisory Committee Planning Workshop
The NASA program Mission to Planet Earth (MTPE) is described in this set of visuals presented in Massachusetts on July 29, 1991. The problem presented in this document is that the earth system is changing and that human activity accelerates the rate of change resulting in increased greenhouse gases, decreasing levels of stratospheric ozone, acid rain, deforestation, decreasing biodiversity, and overpopulation. Various national and international organizations are coordinating global change research. The complementary space observations for this activity are sun-synchronous polar orbits, low-inclination, low altitude orbits, geostationary orbits, and ground measurements. The Geostationary Earth Observatory is the major proposed mission of MTPE. Other proposed missions are EOS Synthetic Aperture Radar, ARISTOTELES Magnetic Field Experiment, and the Global Topography Mission. Use of the NASA DC-8 aircraft is outlined as carrying out the Airborne Science and Applications Program. Approved Earth Probes Program include the Total Ozone Mapping Spectrometer (TOMS). Other packages for earth observation are described.
Asteroid Redirect Crewed Mission Space Suit and EVA System Architecture Trade Study
Bowie, Jonathan T.; Blanco, Raul A.; Watson, Richard D.; Kelly, Cody; Buffington, Jesse; Sipila, Stephanie A.
This paper discusses the Asteroid Redirect Crewed Mission (ARCM) space suit and Extravehicular Activity (EVA) architecture trade study and the current state of the work to mature the requirements and products to the mission concept review level. The mission requirements and the resulting concept of operations will be discussed. A historical context will be presented as to present the similarities and differences from previous NASA missions. That will set the stage for the trade study where all options for both pressure garment and life support were considered. The rationale for the architecture decisions will then be presented. Since the trade study did identity risks, the subsequent tests and analyses that mitigated the risks will be discussed. Lastly, the current state of the effort will be provided.
Earth observations during Space Shuttle flight STS-41 - Discovery's mission to planet earth
Lulla, Kamlesh P.; Helfert, Michael R.; Amsbury, David L.; Whitehead, Victor S.; Richards, Richard N.; Cabana, Robert D.; Shepherd, William M.; Akers, Thomas D.; Melnick, Bruce E.
An overview of space flight STS-41 is presented, including personal observations and comments by the mission astronauts. The crew deployed the Ulysses spacecraft to study the polar regions of the sun and the interplanetary space above the poles. Environmental observations, including those of Lake Turkana, Lake Chad, biomass burning in Madagascar and Argentina, and circular features in Yucatan are described. Observations that include landforms and geology, continental sedimentation, desert landscapes, and river morphology are discussed.
Verification Test of Automated Robotic Assembly of Space Truss Structures
Rhodes, Marvin D.; Will, Ralph W.; Quach, Cuong C.
A multidisciplinary program has been conducted at the Langley Research Center to develop operational procedures for supervised autonomous assembly of truss structures suitable for large-aperture antennas. The hardware and operations required to assemble a 102-member tetrahedral truss and attach 12 hexagonal panels were developed and evaluated. A brute-force automation approach was used to develop baseline assembly hardware and software techniques. However, as the system matured and operations were proven, upgrades were incorporated and assessed against the baseline test results. These upgrades included the use of distributed microprocessors to control dedicated end-effector operations, machine vision guidance for strut installation, and the use of an expert system-based executive-control program. This paper summarizes the developmental phases of the program, the results of several assembly tests, and a series of proposed enhancements. No problems that would preclude automated in-space assembly or truss structures have been encountered. The test system was developed at a breadboard level and continued development at an enhanced level is warranted.
Space Station Human Factors: Designing a Human-Robot Interface
Rochlis, Jennifer L.; Clarke, John Paul; Goza, S. Michael
The experiments described in this paper are part of a larger joint MIT/NASA research effort and focus on the development of a methodology for designing and evaluating integrated interfaces for highly dexterous and multifunctional telerobot. Specifically, a telerobotic workstation is being designed for an Extravehicular Activity (EVA) anthropomorphic space station telerobot called Robonaut. Previous researchers have designed telerobotic workstations based upon performance of discrete subsets of tasks (for example, peg-in-hole, tracking, etc.) without regard for transitions that operators go through between tasks performed sequentially in the context of larger integrated tasks. The experiments presented here took an integrated approach to describing teleoperator performance and assessed how subjects operating a full-immersion telerobot perform during fine position and gross position tasks. In addition, a Robonaut simulation was also developed as part of this research effort, and experimentally tested against Robonaut itself to determine its utility. Results show that subject performance of teleoperated tasks using both Robonaut and the simulation are virtually identical, with no significant difference between the two. These results indicate that the simulation can be utilized as both a Robonaut training tool, and as a powerful design platform for telepresence displays and aids.
Advanced Exploration Technologies: Micro and Nano Technologies Enabling Space Missions in the 21st Century
Krabach, Timothy
Some of the many new and advanced exploration technologies which will enable space missions in the 21st century and specifically the Manned Mars Mission are explored in this presentation. Some of these are the system on a chip, the Computed-Tomography imaging Spectrometer, the digital camera on a chip, and other Micro Electro Mechanical Systems (MEMS) technology for space. Some of these MEMS are the silicon micromachined microgyroscope, a subliming solid micro-thruster, a micro-ion thruster, a silicon seismometer, a dewpoint microhygrometer, a micro laser doppler anemometer, and tunable diode laser (TDL) sensors. The advanced technology insertion is critical for NASA to decrease mass, volume, power and mission costs, and increase functionality, science potential and robustness.
Environmental control and life support technologies for advanced manned space missions
Powell, F. T.; Wynveen, R. A.; Lin, C.
Regenerative environmental control and life support system (ECLSS) technologies are found by the present evaluation to have reached a degree of maturity that recommends their application to long duration manned missions. The missions for which regenerative ECLSSs are attractive in virtue of the need to avoid expendables and resupply requirements have been identified as that of the long duration LEO Space Station, long duration stays at GEO, a permanently manned lunar base (or colony), manned platforms located at the earth-moon libration points L4 or L5, a Mars mission, deep space exploration, and asteroid exploration. A comparison is made between nonregenerative and regenerative ECLSSs in the cases of 10 essential functions.
Generic procedure for designing and implementing plan management systems for space science missions operations
Chaizy, P. A.; Dimbylow, T. G.; Allan, P. M.; Hapgood, M. A.
This paper is one of the components of a larger framework of activities whose purpose is to improve the performance and productivity of space mission systems, i.e. to increase both what can be achieved and the cost effectiveness of this achievement. Some of these activities introduced the concept of Functional Architecture Module (FAM); FAMs are basic blocks used to build the functional architecture of Plan Management Systems (PMS). They also highlighted the need to involve Science Operations Planning Expertise (SOPE) during the Mission Design Phase (MDP) in order to design and implement efficiently operation planning systems. We define SOPE as the expertise held by people who have both theoretical and practical experience in operations planning, in general, and in space science operations planning in particular. Using ESA's methodology for studying and selecting science missions we also define the MDP as the combination of the Mission Assessment and Mission Definition Phases. However, there is no generic procedure on how to use FAMs efficiently and systematically, for each new mission, in order to analyse the cost and feasibility of new missions as well as to optimise the functional design of new PMS; the purpose of such a procedure is to build more rapidly and cheaply such PMS as well as to make the latter more reliable and cheaper to run. This is why the purpose of this paper is to provide an embryo of such a generic procedure and to show that the latter needs to be applied by people with SOPE during the MDP. The procedure described here proposes some initial guidelines to identify both the various possible high level functional scenarii, for a given set of possible requirements, and the information that needs to be associated with each scenario. It also introduces the concept of catalogue of generic functional scenarii of PMS for space science missions. The information associated with each catalogued scenarii will have been identified by the above procedure and
EXPOSE-E: an ESA astrobiology mission 1.5 years in space.
Rabbow, Elke; Rettberg, Petra; Barczyk, Simon; Bohmeier, Maria; Parpart, André; Panitz, Corinna; Horneck, Gerda; von Heise-Rotenburg, Ralf; Hoppenbrouwers, Tom; Willnecker, Rainer; Baglioni, Pietro; Demets, René; Dettmann, Jan; Reitz, Guenther
The multi-user facility EXPOSE-E was designed by the European Space Agency to enable astrobiology research in space (low-Earth orbit). On 7 February 2008, EXPOSE-E was carried to the International Space Station (ISS) on the European Technology Exposure Facility (EuTEF) platform in the cargo bay of Space Shuttle STS-122 Atlantis. The facility was installed at the starboard cone of the Columbus module by extravehicular activity, where it remained in space for 1.5 years. EXPOSE-E was returned to Earth with STS-128 Discovery on 12 September 2009 for subsequent sample analysis. EXPOSE-E provided accommodation in three exposure trays for a variety of astrobiological test samples that were exposed to selected space conditions: either to space vacuum, solar electromagnetic radiation at >110 nm and cosmic radiation (trays 1 and 3) or to simulated martian surface conditions (tray 2). Data on UV radiation, cosmic radiation, and temperature were measured every 10 s and downlinked by telemetry. A parallel mission ground reference (MGR) experiment was performed on ground with a parallel set of hardware and samples under simulated space conditions. EXPOSE-E performed a successful 1.5-year mission in space.
Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot
Directory of Open Access Journals (Sweden)
Yicheng Liu
Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.
Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot
Directory of Open Access Journals (Sweden)
Panfeng Huang
Full Text Available In the ultra-close approaching phase of tethered space robot, a highly stable self-attitude control is essential. However, due to the field of view limitation of cameras, typical point features are difficult to extract, where commonly adopted position-based visual servoing cannot be valid anymore. To provide robot's relative position and attitude with the target, we propose a monocular visual servoing control method using only the edge lines of satellite brackets. Firstly, real time detection of edge lines is achieved based on image gradient and region growing. Then, we build an edge line based model to estimate the relative position and attitude between the robot and the target. Finally, we design a visual servoing controller combined with PD controller. Experimental results demonstrate that our algorithm can extract edge lines stably and adjust the robot's attitude to satisfy the grasping requirements.
Communicating LightSail: Embedded Reporting and Web Strategies for Citizen-Funded Space Missions
Hilverda, M.; Davis, J.
The Planetary Society (TPS) is a non-profit space advocacy group with a stated mission to "empower the world's citizens to advance space science and exploration." In 2009, TPS began work on LightSail, a small, citizen-funded spacecraft to demonstrate solar sailing propulsion technology. The program included a test flight, completed in June 2015, with a primary mission slated for late 2016. TPS initiated a LightSail public engagement campaign to provide the public with transparent mission updates, and foster educational outreach. A credentialed science journalist was given unrestricted access to the team and data, and provided regular reports without editorial oversight. An accompanying website, sail.planetary.org, provided project updates, multimedia, and real-time spacecraft data during the mission. Design approaches included a clean layout with text optimized for easy reading, balanced by strong visual elements to enhance reader comprehension and interest. A dedicated "Mission Control" page featured social media feeds, links to most recent articles, and a ground track showing the spacecraft's position, including overflight predictions based on user location. A responsive, cross-platform design allowed easy access across a broad range of devices. Efficient web server performance was prioritized by implementing a static content management system (CMS). Despite two spacecraft contingencies, the test mission successfully completed its primary objective of solar sail deployment. Qualitative feedback on the transparent, embedded reporting style was positive, and website metrics showed high user retention times. The website also grew awareness and support for the primary 2016 mission, driving traffic to a Kickstarter campaign that raised $1.24 million. Websites constantly evolve, and changes for the primary mission will include a new CMS to better support multiple authors and a custom dashboard to display real-time spacecraft sensor data.
Enhancing the Meaningfulness of Work for Astronauts on Long Duration Space Exploration Missions.
Britt, Thomas W; Sytine, Anton; Brady, Ashley; Wilkes, Russ; Pittman, Rebecca; Jennings, Kristen; Goguen, Kandice
Numerous authors have identified the stressors likely to be encountered on long duration space exploration missions (e.g., to Mars), including the possibility of significant crises, separation from family, boredom/monotony, and interpersonal conflict. Although many authors have noted that meaningful work may be beneficial for astronauts on these missions, none have detailed the sources of meaningful work for astronauts and how these sources may differ between astronauts. The present article identifies how engagement in meaningful work during long duration missions may mitigate the adverse effects of demands and increase the potential for benefits resulting from the missions. Semistructured interviews were conducted with nine NASA personnel, including astronauts, flight directors, and flight surgeons. Questions addressed sources of meaning for astronauts, characteristics of tasks that enhance vs. detract from meaning, and recommendations for enhancing meaning. Personnel mentioned contributing to humanity and the next generation, contributing to the mission, and exploration as the most meaningful aspects of their work. Characteristics of tasks that enhanced meaning included using a variety of skills, feeling personal control over their schedule, autonomy in the execution of tasks, and understanding the importance of the experiments conducted on the mission. Top recommendations to sustain meaning were insuring social needs were met through such activities as the strategic use of social media, giving astronauts autonomy as well as structure, and conducting training during transit. Implications are addressed for tailoring meaning-based interventions for astronauts participating on long duration missions and assessing the effectiveness of these interventions.Britt TW, Sytine A, Brady A, Wilkes R, Pittman R, Jennings K, Goguen K. Enhancing the meaningfulness of work for astronauts on long duration space exploration missions. Aerosp Med Hum Perform. 2017; 88(8):779-783.
Advancing automation and robotics technology for the Space Station and for the US economy. Volume 1: Executive overview
In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the Space Station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the Space Station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.
Earthbound mission how UK funding fails to match enthusiasm for space exploration
Nordling, L
Article discussing the UK governments reluctance to fund space research projects. An example is the ESA Aurora programme which is aiming to put humans on Mars by 2030, with interim visits to the moon and a series of unmanned probes preparing the way for interplanetary manned missions (1 page)
Preparing the COROT Space Mission: New Variable Stars in the Galactic Anticenter Direction
Poretti, E.; Alonso, R.; Amado, P.J.; Belmonte, J.A.; Garrido, R.; Martín-Ruiz, S.; Uytterhoeven, K.; Catala, C.; Lebreton, Y.; Michel, E.; Suárez, J.C.; Aerts, C.C.; Creevey, O.; Goupil, M.J.; Mantegazza, L.; Mathias, P.; Rainer, M.; Weiss, W.W.
The activities related to the preparation of the asteroseismic, photometric space mission COROT are described. Photoelectric observations, wide-field CCD photometry, uvbybeta calibrations, and further time series have been obtained at different observatories and telescopes. They have been planned to
Monitor and Control of the Deep-Space network via Secure Web
Lamarra, N.
(view graph) NASA lead center for robotic space exploration. Operating division of Caltech/Jet Propulsion Laboratory. Current missions, Voyagers, Galileo, Pathfinder, Global Surveyor. Upcoming missions, Cassini, Mars and New Millennium.
NASA's Space Launch System: A Heavy-Lift Platform for Entirely New Missions
Creech, Stephen A.
The National Aeronautics and Space Administration s (NASA's) Space Launch System (SLS) will contribute a new capability for human space flight and scientific missions beyond low-Earth orbit. The SLS Program, managed at NASA s Marshall Space Fight Center, will develop the heavy-lift vehicle that will launch the Orion Multi-Purpose Crew Vehicle (MPCV), equipment, supplies, and major science missions. Orion will carry crews to space, provide emergency abort capability, sustain the crew during space travel, and provide safe reentry from deep-space return velocities. Supporting Orion s first autonomous flight to lunar orbit and back in 2017 and its first crewed flight in 2021, the SLS ultimately offers a flexible platform for both human and scientific exploration. The SLS plan leverages legacy infrastructure and hardware in NASA s inventory, as well as continues with advanced propulsion technologies now in development, to deliver an initial 70 metric ton (t) lift capability in 2017, evolving to a 130-t capability after 2021, using a block upgrade approach. This paper will give an overview of the SLS design and management approach against a backdrop of the missions it will support. It will detail the plan to deliver the initial SLS capability to the launch pad in the near term, as well as summarize the innovative approaches the SLS team is applying to deliver a safe, affordable, and sustainable long-range capability for entirely new missions opening a new realm of knowledge and a world of possibilities for multiple partners. Design reference missions that the SLS is being planned to support include asteroids, Lagrange Points, and Mars, among others. The Agency is developing its mission manifest in parallel with the development of a heavy-lift flagship that will dramatically increase total lift and volume capacity beyond current launch vehicle options, reduce trip times, and provide a robust platform for conducting new missions destined to rewrite textbooks with the
i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990
The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.
Design of shipping packages to transport varying radioisotopic source materials for future space and terrestrial missions
International Nuclear Information System (INIS)
Barklay, C.D.
The exploration of space will begin with manned missions to the moon and to Mars, first for scientific discoveries, then for mining and manufacturing. Because of the great financial costs of this type of exploration, it can only be accomplished through an international team effort. This unified effort must include the design, planning and, execution phases of future space missions, extending down to such activities as isotope processing, and shipping package design, fabrication, and certification. All aspects of this effort potentially involve the use of radioisotopes in some capacity, and the transportation of these radioisotopes will be impossible without a shipping package that is certified by the Nuclear Regulatory Commission or the U.S. Department of Energy for domestic shipments, and the U.S. Department of Transportation or the International Atomic Energy Agency for international shipments. To remain without the international regulatory constraints, and still support the needs of new and challenging space missions conducted within ever-shrinking budgets, shipping package concepts must be innovative. A shipping package must also be versatile enough to be reconfigured to transport the varying radioisotopic source materials that may be required to support future space and terrestrial missions. One such package is the Mound USA/9516/B(U)F. Taking into consideration the potential need to transport specific types of radioisotopes, approximations of dose rates at specific distances were determined taking into account the attenuation of dose rate with distance for varying radioisotopic source materials. As a result, it has been determined that the shipping package requirements that will be demanded by future space (and terrestrial) missions can be met by making minor modifications to the USA/9516/B(U)F. copyright 1995 American Institute of Physics
SMART-1 technology, scientific results and heritage for future space missions
Foing, B. H.; Racca, G.; Marini, A.; Koschny, D.; Frew, D.; Grieger, B.; Camino-Ramos, O.; Josset, J. L.; Grande, M.; Smart-1 Science; Technology Working Team
ESA's SMART-1 mission to the Moon achieved record firsts such as: 1) first Small Mission for Advanced Research and Technology; with spacecraft built and integrated in 2.5 years and launched 3.5 years after mission approval; 2) first mission leaving the Earth orbit using solar power alone; 3) most fuel effective mission (60 L of Xenon) and longest travel (13 months) to the Moon!; 4) first ESA mission reaching the Moon and first European views of lunar poles; 5) first European demonstration of a wide range of new technologies: Li-Ion modular battery, deep-space communications in X- and Ka-bands, and autonomous positioning for navigation; 6) first lunar demonstration of an infrared spectrometer and of a Swept Charge Detector Lunar X-ray fluorescence spectrometer; 7) first ESA mission with opportunity for lunar science, elemental geochemistry, surface mineralogy mapping, surface geology and precursor studies for exploration; 8) first controlled impact landing on the Moon with real time observations campaign; 9) first mission supporting goals of the International Lunar Exploration Working Group (ILEWG) in technical and scientific exchange, international collaboration, public and youth engagement; 10) first mission preparing the ground for ESA collaboration in Chandrayaan-1, Chang' E1 and future international lunar exploration. We review SMART-1 highlights and new results that are relevant to the preparation for future lunar exploration. The technology and methods had impact on space research and applications. Recent SMART-1 results are relevant to topics on: 1) the study of properties of the lunar dust, 2) impact craters and ejecta, 3) the study of illumination, 4) radio observations and science from the Moon, 5) support to future missions, 6) identifying and characterising sites for exploration and exploitation. On these respective topics, we discuss recent SMART-1 results and challenges. We also discuss the use of SMART-1 publications library. The SMART-1 archive
Mobility Systems For Robotic Vehicles
Chun, Wendell
The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.
Dried Colony in Cyanobacterium, Nostoc sp. HK-01 — Several high Space Environment Tolerances for ``Tanpopo'' Mission
Tomita-Yokotani, K.; Kimura, S.; Kimura, Y.; Igarashi, Y.; Ajioka, R.; Sato, S.; Katoh, H.; Baba, K.
A cyanobacterium, Nostoc sp. HK-01, has high several space environmental tolerance. Nostoc sp HK-01 would have high contribution for the "Tanpopo" mission in Japan Experimental Module of the International Space Station.
Vacuum-Compatible Multi-Axis Manipulator/Machining Center for Long-Duration Space Missions, Phase II
National Aeronautics and Space Administration — NASA has many needs for maintenance and repair technologies for long-duration human space missions. We propose to continue developing a compact, portable,...
Vacuum-Compatible Multi-Axis Manipulator/Machining Center for Long-Duration Space Missions, Phase I
National Aeronautics and Space Administration — NASA has many needs for maintenance and repair technologies for long-duration human space missions. We propose to develop a compact, portable, vacuum-compatible,...
Application of virtual reality for crew mental health in extended-duration space missions
Salamon, Nick; Grimm, Jonathan M.; Horack, John M.; Newton, Elizabeth K.
Human exploration of the solar system brings a host of environmental and engineering challenges. Among the most important factors in crew health and human performance is the preservation of mental health. The mental well-being of astronaut crews is a significant issue affecting the success of long-duration space missions, such as habitation on or around the Moon, Mars exploration, and eventual colonization of the solar system. If mental health is not properly addressed, these missions will be at risk. Upkeep of mental health will be especially difficult on long duration missions because many of the support systems available to crews on shorter missions will not be available. In this paper, we examine the use of immersive virtual reality (VR) simulations to maintain healthy mental states in astronaut crews who are removed from the essential comforts typically associated with terrestrial life. Various methods of simulations and their administration are analyzed in the context of current research and knowledge in the fields of psychology, medicine, and space sciences, with a specific focus on the environment faced by astronauts on long-term missions. The results of this investigation show that virtual reality should be considered a plausible measure in preventing mental state deterioration in astronauts, though more work is needed to provide a comprehensive view of the effectiveness and administration of VR methods.
Advanced biosensors for monitoring astronauts' health during long-duration space missions.
Roda, Aldo; Mirasoli, Mara; Guardigli, Massimo; Zangheri, Martina; Caliceti, Cristiana; Calabria, Donato; Simoni, Patrizia
Long-duration space missions pose important health concerns for astronauts, especially regarding the adverse effects of microgravity and exposure to high-energy cosmic rays. The long-term maintenance of crew health and performance mainly relies on prevention, early diagnoses, condition management, and medical interventions in situ. In-flight biosensor diagnostic devices and medical procedures must use few resources and operate in a microgravity environment, which complicates the collection and management of biological samples. Moreover, the biosensors must be certified for in-flight operation according to strict design and safety regulations. Herein, we report on the state of the art and recent advances in biosensing diagnostic instrumentation for monitoring astronauts' health during long-duration space missions, including portable and wearable biosensors. We discuss perspectives on new-format biosensors in autonomous space clinics. We also describe our own work in developing biosensing devices for non-invasively diagnosing space-related diseases, and how they are used in long-duration missions. Finally, we discuss the benefits of space exploration for Earth-based medicine. Copyright © 2018 Elsevier B.V. All rights reserved.
Sustaining PICA for Future NASA Robotic Science Missions Including NF-4 and Discovery
Stackpoole, Mairead; Venkatapathy, Ethiraj; Violette, Steve
Phenolic Impregnated Carbon Ablator (PICA), invented in the mid 1990's, is a low-density ablative thermal protection material proven capable of meeting sample return mission needs from the moon, asteroids, comets and other unrestricted class V destinations as well as for Mars. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions. It is important that NASA maintain this thermal protection material capability and ensure its availability for future NASA use. The rayon based carbon precursor raw material used in PICA preform manufacturing has experienced multiple supply chain issues and required replacement and requalification at least twice in the past 25 years and a third substitution is now needed. The carbon precursor replacement challenge is twofold - the first involves finding a long-term replacement for the current rayon and the second is to assess its future availability periodically to ensure it is sustainable and be alerted if additional replacement efforts need to be initiated. This paper reviews current PICA sustainability activities to identify a rayon replacement and to establish that the capability of the new PICA derived from an alternative precursor is in family with previous versions.
Dynamic Sampling of Trace Contaminants During the Mission Operations Test of the Deep Space Habitat
Monje, Oscar; Valling, Simo; Cornish, Jim
The atmospheric composition inside spacecraft during long duration space missions is dynamic due to changes in the living and working environment of crew members, crew metabolism and payload operations. A portable FTIR gas analyzer was used to monitor the atmospheric composition within the Deep Space Habitat (DSH) during the Mission Operations Test (MOT) conducted at the Johnson Space Center (JSC). The FTIR monitored up to 20 gases in near- real time. The procedures developed for operating the FTIR were successful and data was collected with the FTIR at 5 minute intervals. Not all the 20 gases sampled were detected in all the modules and it was possible to measure dynamic changes in trace contaminant concentrations that were related to crew activities involving exercise and meal preparation.