Human-Robot Teaming in a Multi-Agent Space Assembly Task

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

Suited for Spacewalking: A Teacher's Guide with Activities for Technology Education, Mathematics, and Science

A Teacher's Guide with Activities for Technology Education, Mathematics, and Science National Aeronautics and Space Administration Office of Human Resources and Education Education Division Washington, DC Education Working Group NASA Johnson Space Center Houston, Texas This publication is in the Public Domain and is not protected by copyright. Permission is not required for duplication

Advancing automation and robotics technology for the Space Station Freedom and for the US 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 the Freedom space station. 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 seventh in a series of progress updates and covers the period between April 1, 1988 and September 30, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station Freedom 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 Freedom 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 Freedom study contractors. It also describes research in progress, and it makes assessments of the advancement of automation and robotics technology on the Freedom space station

Boundary Layer Transition Results From STS-114

The tool for predicting the onset of boundary layer transition from damage to and/or repair of the thermal protection system developed in support of Shuttle Return to Flight is compared to the STS-114 flight results. The Boundary Layer Transition (BLT) Tool is part of a suite of tools that analyze the aerothermodynamic environment of the local thermal protection system to allow informed disposition of damage for making recommendations to fly as is or to repair. Using mission specific trajectory information and details of each damage site or repair, the expected time of transition onset is predicted to help determine the proper aerothermodynamic environment to use in the subsequent thermal and stress analysis of the local structure. The boundary layer transition criteria utilized for the tool was developed from ground-based measurements to account for the effect of both protuberances and cavities and has been calibrated against flight data. Computed local boundary layer edge conditions provided the means to correlate the experimental results and then to extrapolate to flight. During STS-114, the BLT Tool was utilized and was part of the decision making process to perform an extravehicular activity to remove the large gap fillers. The role of the BLT Tool during this mission, along with the supporting information that was acquired for the on-orbit analysis, is reviewed. Once the large gap fillers were removed, all remaining damage sites were cleared for reentry as is. Post-flight analysis of the transition onset time revealed excellent agreement with BLT Tool predictions

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 373)

This bibliography lists 206 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during Feb. 1993. Subject coverage includes: aerospace medicine and physiology, pharmacology, toxicology, environmental effect, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance

Centaur: NASA’s mobile humanoid designed for filed work

Abstract -NASA's future lunar and martian missions will require a suite of advanced robotic systems to complete tasks during precursor visits and to assist humans while present on the surface. The Centaur is a new mobile, dexterous manipulation system designed with this future role in mind. Centaur combines the sophisticated upper body dexterity of NASA's humanoid, Robonaut, with a rugged and versatile four-wheeled base. This combination allows for robotic use of human tools and interfaces in remote locations by incorporating design improvements to the existing Robonaut that target the challenges of planetary field work: rough terrain, a varied environment (temperature, dust, wind, etc.), and distance from human operators. An overview of Centaur's design is presented focusing on the features that serve to mitigate the above risks and allow the robot to perform human-like tasks in unstructured environments. The success of this design is also demonstrated by the results of a recent coordinated field demonstration in which Centaur, under both teleoperated and autonomous control, cooperated with other NASA robots

Chronology of KSC and KSC Related Events for 1997

This document is intended to serve as a record of KSC events and is a reference source for historians and other researchers. Arrangement is by day and month and individual articles are attributed to published sources. Materials were researched and described by the KSC Library Archivist for KSC Library Services Contractor, Sherikon Space Systems, Inc

Generalized modelling of a space station and determination of the transfer function

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1999.Includes bibliographical references (leaves 127-132).An elementary structural model of a modular space station, such as the Russian Space Station Mir or the International Space Station (ISS), was formulated using Euler-Bernoulli beam theory. Based on structural dynamic techniques and modal analysis, a generalized method for deriving a theoretical transfer function between astronaut force inputs and station acceleration outputs is postulated. The validity of this transfer function can then be examined using the experimental force and acceleration data collected from Mir from the period of 1996 to 1998. In order to quantify astronaut-induced disturbances to the microgravity environment onboard a space station during long duration spaceflight, the Enhanced Dynamic Load Sensors (EDLS) Spaceflight experiment measured the forces and moments exerted by astronauts on the Russian Space Station Mir. Approximately 95% of all processed astronaut motions possessed a maximum force less that 275 N, a root mean square force less than 60 N and a power spectral density less than 22 Hz. Thus, astronaut motions are not the most stringent of design constraints upon a space station. Coupled with accelerometer data from the Space Acceleration Measurement System (SAMS), forces from crew motions can be temporally correlated with the overall acceleration of the Mir Space Station. An operator similar to the Fourier transform is developed in order to convert the force and acceleration data from the time domain into the frequency domain. A least-squares approach is used in order to obtain the optimal transfer function between the force and acceleration experimental data. The maximum residue of this transfer function was found at the pole at 0.375 Hz with a magnitude of approximately 7.5x10 -6, which is in accord with transient time domain analysis performed previously. Unfortunately, due to a lack of collocation between the EDLS force plate sensors and the SAMS accelerometer heads, a meaningful comparison between the theoretical transfer function and the experimental transfer function could not be conducted.by Natasha A. Neogi.S.M

Wings in Orbit: Scientific and Engineering Legacies of the Space Shuttle, 1971-2010

The Space Shuttle is an engineering marvel perhaps only exceeded by the station itself. The shuttle was based on the technology of the 1960s and early 1970s. It had to overcome significant challenges to make it reusable. Perhaps the greatest challenges were the main engines and the Thermal Protection System. The program has seen terrible tragedy in its 3 decades of operation, yet it has also seen marvelous success. One of the most notable successes is the Hubble Space Telescope, a program that would have been a failure without the shuttle's capability to rendezvous, capture, repair, as well as upgrade. Now Hubble is a shining example of success admired by people around the world. As the program comes to a close, it is important to capture the legacy of the shuttle for future generations. That is what "Wings In Orbit" does for space fans, students, engineers, and scientists. This book, written by the men and women who made the program possible, will serve as an excellent reference for building future space vehicles. We are proud to have played a small part in making it happen. Our journey to document the scientific and engineering accomplishments of this magnificent winged vehicle began with an audacious proposal: to capture the passion of those who devoted their energies to its success while answering the question "What are the most significant accomplishments?" of the longestoperating human spaceflight program in our nation s history. This is intended to be an honest, accurate, and easily understandable account of the research and innovation accomplished during the era

The Capabilities of Space Stations

Over the past two years the U.S. space station program has evolved to a three-phased international program, with the first phase consisting of the use of the U.S. Space Shuttle and the upgrading and use of the Russian Mir Space Station, and the second and third phases consisting of the assembly and use of the new International Space Station. Projected capabilities for research, and plans for utilization, have also evolved and it has been difficult for those not directly involved in the design and engineering of these space stations to learn and understand their technical details. The Committee on the Space Station of the National Research Council, with the concurrence of NASA, undertook to write this short report in order to provide concise and objective information on space stations and platforms -- with emphasis on the Mir Space Station and International Space Station -- and to supply a summary of the capabilities of previous, existing, and planned space stations. In keeping with the committee charter and with the task statement for this report, the committee has summarized the research capabilities of five major space platforms: the International Space Station, the Mir Space Station, the Space Shuttle (with a Spacelab or Spacehab module in its cargo bay), the Space Station Freedom (which was redesigned to become the International Space Station in 1993 and 1994), and Skylab. By providing the summary, together with brief descriptions of the platforms, the committee hopes to assist interested readers, including scientists and engineers, government officials, and the general public, in evaluating the utility of each system to meet perceived user needs