Space station needs, attributes and architectural options. Volume 2, attachment 2: Supporting data and analysis reports

Architectural impact analysis, configuration concepts evaluation, CADAM draining file, EVA technology needs and manned system technology requirements are provided

Robotique : des aides abordables pour nos aînés

National audienceLe maintien à domicile aussi longtemps que possible des personnes vieillissantes s'avère être la solution la plus rationnelle, tant en termes de confort que de coûts sociaux. D'où l'intérêt de dispositifs robotisés pour les assister au quotidien

Space station system analysis study. Part 3: Documentation. Volume 2: Technical report

An analysis of construction operation is presented as well as power system sizing requirements. Mission hardware requirements are reviewed in detail. Space construction base and design configurations are also examined

Modular Relative Jacobian for Combined 3-Arm Parallel Manipulators

This work presents a new formulation of a modular relative Jacobian used to control combined manipulators as a single manipulator with a single effector. In particular, this modular relative Jacobian is designed for 3-arm parallel manipulators. It is called a relative Jacobian because it is expressed relative to the reference frames at the manipulator end-effectors. It is modular because it uses the existing information of each standalone manipulator component to arrive at the necessary expressions for the combined system. This work is part of a series of studies to express a single end-effector control of combined manipulators, in parallel as well as other types of base configurations. This holistic approach of controlling combined manipulators affords a drastic increase of the null-space dimension and the convenience to use all the principles of controlling a single manipulator for the resulting combined system. Derivation of the modular relative Jacobian for a 3-arm parallel manipulator is shown, together will simulation results

WHOI Hawaii Ocean Timeseries Station (WHOTS) : WHOTS-6 2009 mooring turnaround cruise report

The Woods Hole Oceanographic Institution (WHOI) Hawaii Ocean Timeseries Site (WHOTS), 100 km north of Oahu, Hawaii, is intended to provide long-term, high-quality air-sea fluxes as a part of the NOAA Climate Observation Program. The WHOTS mooring also serves as a coordinated part of the Hawaiian Ocean Timeseries (HOT) program, contributing to the goals of observing heat, fresh water and chemical fluxes at a site representative of the oligotrophic North Pacific Ocean. The approach is to maintain a surface mooring outfitted for meteorological and oceanographic measurements at a site near 22.75°N, 158°W by successive mooring turnarounds. These observations will be used to investigate air–sea interaction processes related to climate variability. The first WHOTS mooring (WHOTS-1) was deployed in August 2004. Turnaround cruises for successive moorings (WHOTS-2 through WHOTS-5) have typically been in either June or July. This report documents recovery of the WHOTS-5 mooring and deployment of the sixth mooring (WHOTS-6). The moorings utilize Surlyn foam buoys as the surface element and are outfitted with two Air–Sea Interaction Meteorology (ASIMET) systems. Each ASIMET system measures, records, and transmits via Argos satellite the surface meteorological variables necessary to compute air–sea fluxes of heat, moisture and momentum. The upper 155 m of the mooring is outfitted with oceanographic sensors for the measurement of temperature, conductivity and velocity in a cooperative effort with R. Lukas of the University of Hawaii (UH). A pCO2 system is installed on the buoy in a cooperative effort with Chris Sabine at the Pacific Marine Environmental Laboratory. Dr. Frank Bradley, CSIRO, Australia, assisted with meteorological sensor comparisons. A NOAA “Teacher at Sea” and a NOAA “Teacher in the Lab” participated in the cruise. The WHOTS mooring turnaround was done on the University of Hawaii research vessel Kilo Moana, Cruise KM-09-16, by the Upper Ocean Processes Group of the Woods Hole Oceanographic Institution in cooperation with UH and NOAA’s Earth System Research Laboratory, Physical Sciences Division (ESRL/PSD). The cruise took place between 9 and 17 July 2009. Operations began with deployment of the WHOTS-6 mooring on 10 July at approximately 22°40.0'N, 157°57.0'W in 4758 m of water. This was followed by meteorological intercomparisons and CTDs at the WHOTS-6 and WHOTS-5 sites. The WHOTS-5 mooring was recovered on 15 July 2009. The Kilo Moana then moved to the HOT central site (22°45.0'N, 158°00.0'W) for CTD casts. This report describes the cruise operations in more detail, as well as some of the in-port operations and pre-cruise buoy preparations.Funding was provided by the National Oceanic and Atmospheric Administration under Grant No. NA17RJ1223 for the Cooperative Institute for Climate and Ocean Research (CICOR)

Ground Robotic Hand Applications for the Space Program study (GRASP)

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

Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables

International audienceFinding the workspace of cable driven parallel robots (CDPR) with sagging cables (i.e. elastic and deformable cables) is a problem that has never been fully addressed in the literature as this is a complex issue: the inverse kinematics may have multiple solutions and the equations that describe the problem are non-linear and non algebraic. We address here the problem of determining an approximation of the border of horizontal cross-sections of the workspace for CDPR with 6 cables. We present an algorithm that give an outline of this border but also rises several theoretical issues. We then propose another algorithm that allow to determine a polygonal approximation of the workspace border induced by a specific constraint. All these algorithms are illustrated on a very large CDPR