Moore, Randall

NASA Technical Reports Server

Image Science and Analysis Group
KX\Human Exploration Science Office
KA\ARES
ISS Inspection Capabilities
and 
Challenges
NASA Johnson Space Center
Astromaterials Research and Exploration Science (ARES)
Image Science and Analysis Group (ISAG)
KX/Randy Moore
http://isag.jsc.nasa.gov/
July 2014
https://ntrs.nasa.gov/search.jsp?R=20150003019 2019-08-31T13:44:28+00:00Z
ISAG Background
• The JSC Image Science and Analysis Group (ISAG) provides NASA with 
expertise in all areas of imaging science. 
• IS&AG homepage http://isag.jsc.nasa.gov/
• ISAG emerged and evolved during the Shuttle Program.
• ISAG formed from the Crew Earth Observation image analysis capability to fulfill a 
STS-51L lesson learned for screening/analyzing launch/landing imagery  
• Tasks grew to include support of ISS assembly
• STS-114 brought near-realtime mission support for characterization of ascent debris 
shedding and on-orbit vehicle inspection.
• ISAG expertise built and honed for Shuttle is now applied to ISS, Orion Multi-
Purpose Crew Vehicle, Space Launch System, and Commercial Crew & Cargo 
Programs. 
• Imagery acquisition planning
• Requirements development
• Imagery operations and data management
• Imagery based inspection surveys
• 2D and 3D photogrammetric measurements
• 2D and 3D high-precision motion tracking
2
ISAG Support to ISS Program
• Primary focus is on maintaining the safety of the crew and vehicle.
• ISAG personnel screen downlinked imagery to:
• Monitor for, and report changes in the ISS external condition
• Anomalous indications
• Hardware out of configuration
• Detect Micro-Meteoroid or Orbital Debris (MMOD) impacts leading to:
• Hardware failure
• EVA sharp edges 
• ISAG personnel assist in planning for acquiring the imagery needed to 
derive engineering data, supporting:
• Anomaly investigation
• 3-D structural dynamics measurements
• Clearance assessments
• Verifying ISS configuration against models and requirements
• Jettison trajectory calculation
3
Uses and Examples 
ISS Inspection Imagery
4
Monitoring the ISS External Condition
Degrading thermal cover
Areas of 
Discoloration
Uses and Examples of ISS Inspection Imagery
5
Increment 37 Soyuz discoloration near access panel
Monitoring the ISS External Condition
Damaged Radiator Surface
Uses and Examples of ISS Inspection Imagery
6
Monitoring the ISS External Condition
Uses and Examples of ISS Inspection Imagery
7
MMOD  Strikes
Monitoring the ISS External Condition
Uses and Examples of ISS Inspection Imagery
FBG MMOD Strike 8
Monitoring the External Condition
Uses and Examples of ISS Inspection Imagery
Radiator MMOD Strike
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Monitoring the ISS External Condition
Uses and Examples of ISS Inspection Imagery
MMOD  Strikes
10
Monitoring the ISS External Condition
Uses and Examples of ISS Inspection Imagery
Foreign Object Debris detected in pre-berthing survey
11
Situational Awareness
Foreign Object Debris
Uses and Examples of ISS Inspection Imagery
12
Separated Solar Array Leader Panel
Verifying the ISS Configuration
Uses and Examples of ISS Inspection Imagery
13
Verifying the ISS Configuration
Clearance study found FGB Solar Array 
was not fully retracted
Installation gap measured from
EVA helmet video Periodic Inspection of 
Damaged Radiator Panel
Uses and Examples of ISS Inspection Imagery
14
Visual Documentation 
Service Module Debris 
Panel Installations
Uses and Examples of ISS Inspection Imagery
Photo-mosaic constructed from ISS Survey Images
15
Anomaly Assessment
Uses and Examples of ISS Inspection Imagery
Photogrammetric measurements of thermal radiator panel damage 
and MMOD strikes
16
Anomaly Assessment
SARJ Roller Bearing Surface Damage
Wire Harness Survey for S4 
Electrical Anomaly 
Uses and Examples of ISS Inspection Imagery
Solar Array Survey for S4 
Electrical Anomaly 
17
EVA Sharp Edge Inspection
Uses and Examples of ISS Inspection Imagery
MMOD Strike
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EVA Sharp Edge Tracking
Uses and Examples of ISS Inspection Imagery
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Verification of Structural Dynamics
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Uses and Examples of ISS Inspection Imagery
Tracking motion of solar array response 
to thruster firings
20
Visiting Vehicle Inspection and 
Assessment
3D Measurement
Uses and Examples of ISS Inspection Imagery
STS-118 Shuttle TPS 
Damage
21
Visiting Vehicle Inspection 
and Assessment
?
Uses and Examples of ISS Inspection Imagery
22
ISS Inspection Assets
23
ISS Visual Inspection Assets
EVA Crew
Internal Crew and Windows
External TV 
Robotic TV 
24
ISS Camera Assets
 EXTERNAL
• Mounted to structure 
• 4 standard definition TV cameras with lights on pan/tilt units
• 4 standard definition TV cameras on the JEM bulkhead and JEM Exposed Facility
• 4 high definition video/still cameras in production
• Mounted to robotics
• 4 standard definition TV cameras (2 with lights and pan/tilt) on SSRMS
• 4 standard definition TV cameras (2 with lights and pan/tilt) on SPDM
• 1 standard definition TV cameras with light and pan/tilt on MBS
• 3 standard definition TV cameras (2 with pan/tilt) on JAXA JEM EF arm
• Crew equipment
• 3 standard definition TV cameras with lights (wireless) on helmet
• Nikon digital SLR with selection of lenses and a flash unit
• Infrared Camera
 INTERNAL
• Mounted to structure
• Wall mounted video camcorders for MCC situational awareness & public affairs
• Centerline Berthing camera system
• Crew handheld
• Selection of Nikon D2XS, D3S and D4 digital SLRs, lenses, and flashes
• 1 Nikon D3S modified for near-IR
• Selection of 2D and one 3D Video Camcorders
• Minicam with fiberscope
25
CP8 
CP9 
CP7
(moving to CP8, 
latter 2014)
CP3
JEF 
Cameras
JEM 
Camera
JEM 
Camera
CP13
ETVCG – External TV Camera Group (4)
NTSC, 525 horizontal lines (USOS Standard)
CCD sensor
FOV: Max: 77x61   Min: 10x8º 
Zoom ratio ~8:1
Note: High Definition Video/Still DSLR/zoom lens to be attached to each ETVCG beginning 2015
External ISS Television Cameras
JEM EF – JAXA Experiment Module 
Exposed Facility 
NTSC, CCD
Robotics
26
External ISS Television Cameras
(Structurally Mounted)
27
ETVCG Inspection Challenges
• Limited camera installation locations, numerous blindspots
• Resolution limitations – generally not adequate for detailed inspections
• Standard definition TV 
• Compression of the video for downlink 
• Distance and high incidence viewing
• External high definition cameras planned for 2015 should 
dramatically improve capability
• Hardware failure and degradation reduces capability
• Three of four ETVCG cameras currently have issues (pink tint, 
intermittent stuck zoom and intermittent stuck iris)
• Limited spares and opportunities to replace
• JEM cameras are not readily available
• Camera operational time is minimized to conserve life
• Pan and tilt via uplinked command script
28
External TV Camera Coverage
(ETVCGs (4) + JEM (4))
Viewing from below, aft port side
Brown shading shows current ETVCG and JEM cameras 
“blind spots”
Forward
Starboard
29
External TV Camera Coverage
(ETVCGs (4) + JEM (4))
Viewing from above Viewing from below
Starboard
Forward
Starboard
Forward
Brown shading shows current ETVCG and JEM cameras “blind spots”
30
ETVCG Inspection Challenges
• Limited camera installation locations, numerous blindspots
• Resolution limitations – generally not adequate for detailed inspections
• Standard definition TV 
• Compression of the video for downlink 
• Distance and high incidence viewing
• External high definition cameras planned for 2015 should 
dramatically improve capability
• Hardware failure and degradation reduces capability
• Three of four ETVCG cameras currently have issues (pink tint, 
intermittent stuck zoom and intermittent stuck iris)
• Limited spares and opportunities to replace
• JEM cameras are not readily available
• Camera operational time is minimized to conserve life
• Pan and tilt via uplinked command script
31
External TV Cameras Resolution Analysis
All ETVCGs Combined (4)
ETVCG “detectable” resolution 
at max zoom is approximately 
.25 inch at 25 feet
.5 inch at 50 feet.
Viewing from 
below
Forward
Starboard
32
ETVCG Inspection Challenges
• Limited camera installation locations, numerous blindspots
• Resolution limitations – generally not adequate for detailed inspections
• Standard definition TV 
• Compression of the video for downlink 
• Distance and high incidence viewing
• External high definition cameras planned for 2015 should 
dramatically improve capability
• Hardware failure and degradation reduces capability
• Three of four ETVCG cameras currently have issues (pink tint, 
intermittent stuck zoom and intermittent stuck iris)
• Limited spares and opportunities to replace
• JEM cameras are not readily available
• Camera operational time is minimized to conserve life
• Pan and tilt via uplinked command script
33
External Television Cameras
(Mobile Servicing System)
Special Purpose Dexterous Manipulator
(SPDM)/DEXTRE
Mobile Base System
SSRMS
CLA - Camera and Light Assembly (CLA)
CLPA - Camera / Light / Pan-Tilt Unit Assembly
SSRMS moves along truss when attached to Mobile 
Transport/Mobile Base System (MT/MBS).
SSRMS is operational along truss at MT Worksites 
and Power and Data Grapple Fixtures (PDGF) located 
on USOS modules and Russian FGB.
34
External Television Cameras
(Mobile Servicing System)
• Both CLA and CLPA utilize the same CCD camera and lights
• FOV Max ~ 52° x 40°, ~9mm focal length, 
Min ~ 6°x4° , ~84mm focal length
• Zoom ratio ~9:1 
• The minimum viewing distance is 14 in. 
• MSS camera “detectable” resolution at max zoom is approximately 
• ~.2 inch at 25 feet
• ~.4 inch at 50 feet.
• Standard ETVCG and MSS frame rate: 30 fps
CLA
CLPA
35
SPDM (DEXTRE) Overview
1. Two ORU/Tool Changeout Mechanisms (OTCMs)
2. Two Camera/Light/Pan-Tilt Assemblies (CLPAs); 
3. Body Roll Joint
4. Tool Holder Assembly (THA)
a) 2 Robot Micro Conical Tools (RMCTs)
b) Socket Extension Tool (SET)
c) Robotic Offset Tool (ROST)
5. Enhanced ORU Temporary Platform (EOTP) 
6. SPDM Latching End Effector (LEE) with Camera/Light Assembly (CLA)
1
2
2
3
4
6
5
1
OTCM
Camera
Light
Light
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Video Borescope Assembly (VBA)
• Miniaturized Close-range Inspection Camera and light
• NTSC Color Video (224 x224 pixels)
• 0.93” diameter tube
• 36” maximum deployment - straight line
• Tip manipulation only
• Tip Control, limited monitoring from ground
• Limited to one camera view at a time through SPDM 
Primary and Secondary Tool Vision Cameras
• NTSC, Color, VGA (640 x 480) 
• Fixed 6mm and 8-24mm zoom focal lengths 
• Full view of Reel Position visual indicators 
90° FOV 
2.75”
DEPTH OF FIELD
Visual Inspection Poseable Invertebrate 
Robot (VIPIR)
37
• Manifested on ATV-5 for the Robotic Refueling Mission demonstration.
• VIPIR is a "boroscope" inspection tool that provides a set of eyes for 
internal satellite repair jobs.
• Operated through SPDM (DEXTRE)
• Not currently planned for permanent stowage on ISS.
Robotics Inspection Challenges
• Robotic Operations are generally complex and require extensive 
planning. 
• After planning joint angles/operations and then moving the 
manipulator to the inspection location,  the viewing and resolution still 
might not be sufficient.
• Future inspection systems could plan to launch internally, but then go 
external, however the only robotic option is to go through the JEM 
Airlock
• JEM Airlock usage is limited to a certain number of cycles per year
• JEM Airlock usage requires use of limited IVA crew time
38
EVA Crew Cameras
Wireless Video System
Digital SLR
• Three SONY XC-999 cameras
• HFOV = 85°, 56° and 30°
• Fixed depth of focus 12 inches to 25 feet.
• Detectable resolution .25-.5 inch at 10 feet.  
US WVS on Orlon
• Nikon D2XS and soon, D4
• Lens focal lengths 10.5-180mm  
39
External/Internal IR Camera
Infrared View of Damaged Thermal Radiator
(back-side surface)
Used for inspections of:
- Electrical components
- Radiators
- Solar Arrays
- Heaters
Repackaged FLIR Systems ThermaCAM S60 Infrared 
Camera
40
Internal Crew Cameras
• Nikon D2XS, D3S and D4 Digital Still Cameras
• Lenses ranging from 8mm to 1200mm
• One Nikon D3s modified for near IR 
photography/video
High Definition Video
Canon XF305 – mounted and handheld.
• Handheld still cameras provide the 
highest imaging resolution of any of 
the existing ISS imaging assets. 
Panasonic 3DA1 – 3D video capability
41
Internal Crew Cameras
Sony XC-999 Mini-cam 
Video camera with fiberscope
Drift Ghost S Action Camera used for:
- Obtaining HD video in tight spaces
- Over the shoulder views for ground 
situational awareness.
Binoculars
• 8x32
• 20x60
42
Service Module:  W1 (Port),  
W2 (Stbd) (2)
MRM2 : 
Port/Aft, 
Stbd/Fwd
Windows (2)
DC1 : Stbd/Aft, Port/FWD 
Windows (2)
Cupola: 
Windows (7)
JEM: Port Windows (2)
Windows for External Surface Inspection
Not all windows are referenced
Soyuz:
Port Window
Soyuz 
Window
Russian segment and Cupola windows provide 
coverage of truss aft surfaces and JEM windows 
provide coverage of port, forward truss surfaces not 
visible in ETVCG blind spots.
43
Example Views from ISS Windows
MRM2 Starboard/Forward Window
MRM2 Port/Aft Window
JEM Window
Cupola Windows
44
Crew External Inspection Challenges
• Limited windows, numerous blindspots
• Distance and high incidence viewing 
• Protective plastic scratch panes installed over Cupola and JEM 
windows reduce image resolution but need justification for removal 
and the removal and reinstallation process is time consuming (Cupola 
~4 hours).
• Limited crew time for imagery acquisition support (IVA and EVA)
• EVA – no time for dedicated surveys
• Lens usually selected for large field of view
45
ISS Window View Coverage
Viewing from above
Brown shading shows window “blind spots”
Forward
STBD
46
ISS Window View Coverage
Viewing from below
Brown shading shows window “blind spots”
Forward
STBD
47
Crew External Inspection Challenges
• Limited windows, numerous blindspots
• Distance and high incidence viewing 
• Protective plastic scratch panes installed over Cupola and JEM 
windows reduce image resolution but need justification for removal 
and the removal and reinstallation process is time consuming (Cupola 
1-4 hours).
• Limited crew time for imagery acquisition support (IVA and EVA)
• EVA – no time for dedicated surveys
• Lens usually selected for large field of view
48
Crew External Inspection Challenges
• Limited windows, numerous blindspots
• Distance and high incidence viewing 
• Protective plastic scratch panes installed over Cupola and JEM 
windows reduce image resolution but need justification for removal 
and the removal and reinstallation process is time consuming (Cupola 
~4 hours).
• Limited crew time for imagery acquisition support (IVA and EVA)
• EVA – no time for dedicated surveys
• Lens usually selected for large field of view
49
Other ISS Inspection Technologies
• Handheld Ultrasonic leak detector
• Ammonia Mass spectrometer
• Challenges for Internal Inspection:
• Stowage can be in the way
• Crew time to rotate racks can be hours
• Some issues (e.g. module leak) could reduce risk(time) with better IVA tools:
• Improve Ultrasonic Leak Detector adapters
• Full-length Controllable Stereo View Endoscopes
• Access NDE inspection after leak plug has been installed
50
Inspection Challenges Summary
• Regular, periodic inspection is limited to line-of-sight views
• Limited available IVA crew time
• General ISS periodic inspection is lower priority to science and 
maintenance
• Scheduling ground controlled imagery surveys with ETVCGs is not an 
issue, but it is low resolution and there are significant blind spots.
• Complex robotics and EVA planning
• Limited and lack of suitable technology on-orbit (resolution, 
penetration)
• Few inspection requirements agreed to – we only buy/fly what we 
can prove we need ahead of time.
• Limited Access – internally and externally
• Observable MMOD surface damage is not indicative of damage 
underneath.
51
ETVCG & JEM cameras and Windows 
Viewing Coverage
Brown shading shows window “blind spots”
Viewing from belowViewing from above
52
ISS Visual Inspection 
Technology Needs
• Fill in Blind-Spots and areas of low resolution resulting from fixed 
camera locations and windows
• Replace Shuttle fly-around imagery set which provided general ISS 
periodic inspection and views of overall ISS configuration
• Upgraded camera capabilities
• Better resolution – lack a good close-up, inspection capability
• Color, Stereo, 3D vision for better depth determination
• Penetrating sensor technology (e.g. backscatter x-ray)
53


ISS Inspection Capabilities and Challenges

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