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

Cliffone, D. L.

Lum, H., Jr.

English

NASA Technical Reports Server

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Space Missions for Automation 
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Donald L. Ciffone and Henry Lum, Jr. 
August 1985 
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NASA Technical Memorandum 86820 
Space Missions for Automation 
and Robotics Technologies 
(SMART) Program 
Donald L Clffone 
Henry Lum, Jr., Ames Research Center, Moffett Field, California 
August 1985 
NI\S/\ 
National Aeronautics and 
Space Administration 
Ames Research Center 
Moffett Field California 94035 
Space missions for automation and robotics technologies (SMART) program 
Donald L. Ciffone and Henry Lum, Jr. 
Information SClences Office, NASA Ames Research Center 
Mall Stop 244-7, Moffett Fleld, Callfornia 94035 
Abstract 
NASA lS currently conslderlng the establishment of a Space Mlssions for Automatlon and Robotlcs Technol-
ogles (SMART) Program to deflne, develop, integrate, test, and operate a spaceborne natlonal research faclI-
lty for the valldatlon of advanced automatlon and robotics technologles. Initially, the concept lS enVl-
sioned to be lmplemented through a series of Shuttle-based flight experiments WhICh wIll utillze telepresence 
technologies and real-tlme operatlonal concepts. However, eventually the facllity will be capable of a more 
autonomous role and will be supported by either the Shuttle or the Space Station To ensure lncorporatlon of 
leading-edge technology ln the facIlity, performance capability will periodically and systematically be 
upgraded by the sollcitation of recommendations from a user advisory group. The facilIty will be managed by 
NASA, but wlil be avaIlable to all potential investigators Experlments for each flight wlil be selected by 
a peer rev lew group DetaIled defInItIon and desIgn is proposed to take place durIng FY 86, wIth the fIrst 
SMART fllght projected for FY 89. This paper dlscusses the objectives and ratIonale for the proposed SMART 
Program, potentlal ImplementatIon scenarios, and the management approach. The maIn purpose of the paper lS 
to make the reader aware of thIS upcoming program, and to encourage partIcIpatIon beginning WIth the concep-
tual defInItIon phase. 
Introduction 
In response to PublIC Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Commlttee 
(ATAC) has studied automatIon and robotics for use In the Space StatIon and prepared a report 1 for the House 
and Senate Committees on Appropriations. The study has drawn from the work by groups both wlthln NASA and 
outslde NASA, and 111 the academic and lndustrial communIties. Page iii of the ExecutIve Overvlew (Volume 1) 
of thlS report states, "The development of the Space Statlon offers a chance both to advance the technology 
of automatIon and robotics, as proposed by Congress, and to put that technology to use The use of advanced 
automatIon and robotICS teChnology In the Space Station would greatly enhance Its capabIlIties And the 
Space Station would thereby provlde a logical driving force for a new generation of machlne intelilgence and 
robotics technology, bUIlt on recent advances ln artificial intelligence, robotics, computer science, and 
mIcroelectronIcs." The proposed SMART Program IS fully responslve to this recommendatlon as well as to 
NASA's more generic research and technology objectives and plans "to develop and provlde spacecraft technol-
ogy for advanced spacecraft to support the natIon's commercial and scientific objectives in space" The 
SMART Program wlll focus the automation and robotics technologies toward space applIcations, and through 
evolutIonary and systematic development and validatIon demonstrations, it will stImulate use, bUIld user 
confIdence, and accelel'ate both technology transfer and incorporation into operatIonal systems. While auto-
matIon and robotICS technologIes can be evaluated USIng ground test facilities, the neceSSIty of technology 
testing and valIdatIng In a realIstic space environment is dictated by the constraInts imposed by space, such 
as remoteness, zero gravitatlon, the generally hostIle nature of the space enVironment, and operatIon under 
realistic mISSIon constraints. 
Technical Approach 
The use of automation In spacecraft IS not a new concept, preVIOUS and existIng space systems utilIzed it 
to varylng degrees, and Space Station plans have always called for the use of mobIle remote manIpulators and 
advanced control deVIces. However, as the NASA ATAC 1 pOInts out, the demands of a multipurpose faCIlIty lIke 
the Space StatIon are so great that major advances into the challengIng terrltory of adaptable and general-
purpose automatlon and robotics should be made if the full potential of the Space Statlon lS to be 
realIzed ATAC 1 strongly recommends that the initIal Space Station utllize slgniflcant elements of automa-
tlon and robotICS technology and that verificatlon of the performance of automated equlpment should be 
stressed, including terrestrIal and space demonstrations to valIdate technology for Space Station use. 
EssentIal to the success of the demonstrations is that testing be done under realistic conditIons. ThlS 
requlres that evaluatlons be conducted wlth the test ltem "embedded"; that IS, functIonIng In an enVIronment 
that resembles the eventual operational environment. Consistent with these recommendatlons the SMART Program 
IS conceptlonally enVIsioned to be a long-life fllght test and validation program for automatlon and robotics 
technology. It will prOVIde a modularly deSIgned hardware arrangement consisting of sensors, manipulators, 
computers, and other subsystems which can be exchanged with new, more advanced subsystems to evolve into a 
highly capable and autonomous flIght test facility. 
The detailed definition and design phase of the SMART Program is scheduled to begin in FY 86 after fInal 
Program approval. In preparation for this phase of the Program, a SMART workshop is to be held at NASA's 
Ames Research Center on August 26-21, 1985. Approximately 25 to 30 participants from academia, Industry, and 
the NASA Centers have been invited to attend. The purpose of the workshop is to begin establIshIng user and 
technical requirements for the SMART facility and to address related questions, such as 
1. What is the expected utIlity of this kind of facility? 
2. What should be the procedures for using the facility? 
3. What is required to operate such a facility in space? 
4. What Impact WIll this facility have on automation and robotics research and development? 
The results of the workshop will be summarized and published in a proceedings. Facility concepts discussed 
at the workshop will probably center around a Space Shuttle-based facility and will include possibilities 
such as 
1. A robotIC system attached to the Shuttle Remote Manipulator System (RMS), FIgure 1. 
2. A robotIC system attached to the Manned Maneuvering Unit (MMU), FIgure 2. 
3. A robotic system attached to the OrbIting Maneuvering Vehicle (OMV), Figure 3. 
4. A self-contained automation and robotics module similar to the concept shown in Figure 4. 2 
While these concepts wIll serve as a starting point to acquaint participants with potential possibilItIes 
and operational constraints, it should be pointed out that preliminary conversations with industry and aca-
demia show dIstinct advantages for the module approach. An automation and robotICS module of this type would 
be self-contained, need not be pressurized nor manned, and would minimize the Interface and interference with 
Shuttle operators The module concept also has the potential of being mated with the OMV for orbItal 
mobility and eventual docking and connection with the Space Station, as shown in Figure 5. Shells for such a 
module may be available from NASA Inventory (i e , Space Lab). The Interior architecture could be deSIgned 
to allow an evolutionary growth in experiment complexity and autonomy from simple robots constrained to rails 
to free-flying multiple robots working In a controlled, distributed environment toward a common work objec-
tive. Within the module, space application demonstrations could include various phases of satellite servic-
ing, space station servicing, in-space assembly and construction, expendables resupply, in-space manufactur-
Ing, and monitoring diagnosIs. Advanced robotics, automation, and telepresence technologies as well as real-
time control and operational concepts would be evaluated. As a minimum an Initial experiment might include 
teleoperation via real-tIme video feedback of a dual-arm/hand on a nonfree-flying robotic platform with force 
and contact sensing performIng an assembly task. Later experiments could include free-flying robotIC plat-
forms with multiple arms, automated planners, and color vision performing assembly, servicing, and fabrica-
tion tasks. Total systems could be verified In a space-operational environment prior to technology transfer 
to Shuttle or Space Station. This approach benefits industry by allowing the test and validatIon of in-space 
manufacturing technIques before committing to large investments. Resulting technologies will also be applI-
cable to terrestrial applications It is planned that all facility experiments will be evaluated prior to 
flight in NASA ground test faCIlIties such as automation laboratories and the Marshall Space Flight Center's 
Neutral Buoyancy Facility. ThIS approach will maXImize the potential for a successful flight. 
The SMART facility will provide the basic hardware and software to accommodate flight investigators. 
These basics could include, but not be lImIted to, symbolic and numerical processors, sensors (IncludIng 
vision), interchangeable manipulators and end effectors, a LISP and ADA programming environment, and payload 
space for demonstration experiments. Operation from a ground control station will be provided to allow valI-
dation of the effects of time delay on the operation of an automated facility. 
Beginning with the initial flIght, emphasis will be given to establishing "robot factor" criteria to orga-
nize the robot workspace, and to evaluate and validate "hooks and scars" concepts for the Space Station. 
Areas of particular interest include automated monitoring of subsystems, change-out of subsystems in a 
"power-up" environment, and integration of evolving technologies. 
In the facility development NASA will utilize and leverage, as much as possible, the automation and robot-
ics research and development programs of other government agencies. 
2 
Management Approach 
The SMART Program management structure is shown in Figure 6. It is envisioned that the Program wlil be 
managed by NASA Ames Research Center A multicenter NASA team wlil be establlshed to implement the Program 
and operate the faClllty. Center roles are being defined; their involvement is being negotiated to optimize 
the use of eXlsting resources. NASA Headquarters will assume the responsibility of overall Program manage-
ment and advocacy. Industry, academia, and other government agencies will be involved wlth NASA In estab-
llshing the faclilty deflnltion and requirements, as well as in periodic and systematic upgrades of the 
faclilty to ensure leading-edge performance capability. This function wlil be accompllshed through a user 
advlsory group which wlil be chalred by NASA The composition and numbers of membershlp of thlS group have 
not yet been establlshed. Although the faCllity will be managed by NASA, It wlil be open to any potentlal 
Investlgator A peer reVlew group will be established to select the principal investlgators for each 
fllght It IS belng considered that this group should consist of four members each from academia and Indus-
try and be chalred by NASA. Each member would serve for 2 years, and the terms would be staggered so that 
there would be a 50~ turnover in membershlp each year. The NASA Chair would be rotated among the partlclpat-
Ing Centers. Program plans and documentatlon wlil be developed and made avallable to the user communIty. 
The conceptual deflnitlon and design phase of the SMART Program wlil begln durlng FY 86 after flnal Pro-
gram approval. It 1S ant1c1pated that a fl1ght proposal will be subm1tted to NASA Headquarters 1n the spr1ng 
of 1986 for a flrst Shuttle-based flight during FY 89. 
References 
1. NASA Advanced Technology Advisory Committee, "Advanclng Automatlon and Robotics Technology for the 
Space Statlon and for the U.S. Economy," NASA TM 87566, Vols. 1 and 2, 1985. 
2 General EI~ctrlc Co., "Automatlon Requirements Derived From Space Manufacturlng Concepts," Space Sta-
tion Automatlon Study, Vol 2, 1984. 
Flgure 1. Proposed SMART facility concept: robotlc system attached to the Shuttle RMS. 
3 
Figure 2. Proposed SMART facility concept: robotlc system attached to the MMU. 
Figure 3. Proposed SMART facility concept: robotic system attached to the OMV. 
4 
INSPECTION 
HATCHES 
ASTRONAUT 
FOR MANUAL 
REPAIRS & 
MAINTENANCE 
REACTIVE 
ION ETCH 
1 ..... _--168010 --~ 
70010 
SPACE STATION 
MODULE 
PLASMA 
DEPOSITION 
REACTIVE 
E-BEAM 
OVERHEAD 
POWER SUPPLY 
DIRECT-WRITE SUBSYSTEM 
ION ETCH SUBSYSTEM 
WAFER & SUPPLY 
STORAGE CONTAINERS 
TRAVELING 
ROBOT 
ARMS 
Figure 4. Proposed SMART facility concept: self-contained automation and robotics module 
5 
TELECOMMUNICATIONS 
( FREE-FLYER ) SMART FACILITY ~DATA RELAY SATELLITE ~ (-sa 
~RMS 
( SHUTTLE-BASED) SMART FACILITY 
(
GROUND BASED) 
SMART FACILITY 
" AT NASA CENTER SPACE STATION 
OPERATIONS CENTER ~ ~Q~ 
( 
SPACE-STATION- ) 
CONNECTED 
SMART FACILITY 
GROUND BASED 
TECH DEVELOP 
Q ~fl G!OCC 
PAYLOADS OPERATIONS t=J (UNIVERSITY) 
NASA CONTROL CENTER CENTERS 
(USER) 
Figure 5. Evolution of the proposed SMART module facility concept. 
6 
I PROGRAM MANAGEMENT I 
NASA HEADQUARTERS 
I 
PROJECT MANAGEMENT 
I NASA Ames Research Center 
USER PEER 
ADVISORY REVIEW 
GROUP GROUP 
I I 
. . . . 
I 
FLIGHT INTEGRATION FLIGHT 
OPERATIONS AND TEST EXPERIMENTS 
MANAGEMENT MANAGEMENT MANAGEMENT 
~~----------------------~vr----------------------J 
MULTICENTER NASA TEAM INVOLVEMENT 
Figure 6. SMART Program management structure. 
7 
1 Report No I 2 Government AccessIon No 3 RecIpIent's Catalog No 
NASA TM-86820 
4 TItle and SubtItle 5 Report Date 
SPACE MISSIONS FOR AUTOMATION AND ROBOTICS August 1985 
TECHNOLOGIES (SMART) PROGRAM 6 Performong OrganizatIon Code 
7 Author(s) 8 PerformIng OrganizatIon Report No 
Donald L. Ciffone and Henry Lum, Jr. 85375 
10 Work Unit No 
9 Performong OrganIzatIon Name and Address T-6313 
Ames Research Center 11 Contract or Grant No 
Moffett Field, CA 94035 
13 Type of Report and PerIod Covered 
12 Sponsorong Agency Name and Address Technical Memorandum 
Nat10nal Aeronautics and Space Admin1stration 14 SponsOring Agency Code 
Washington, DC 20546 506-54-61 
15 Supplementary Notes 
Point of Contact: Donald L. Ciffone, Ames Research Center, MS 244-7, 
Moffett Field, CA 94035, (415)694-5699 or FTS 464-5699 
16 Abstract 
NASA is currently considering the establishment of a Space Mission for 
Automation and Robotics Technologies (SMART) Program to def1ne, 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 exper1ments which will utilize telepresence technologies and real-time 
operational concepts. However, eventually the fac1lity will be capable of a 
more autonomous role and will be supported by either the Shuttle or the Space 
Stat10n. To ensure incorporation of leading-edge technology in the facility, 
performance capabil1ty w111 per10dically 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 investiga-
tors. Exper1ments for each flight will be selected by a peer reV1ew group. 
Detailed definition and design is proposed to take place during FY 86, with 
the first SMART flight projected for FY 89. This paper discusses the obJec-
tives and rationale for the proposed SMART Program, potential implementation 
scenarios, and the management approach. The main purpose of the paper is to 
make the reader aware of this upcoming program, and to encourage participa-
tion beg1nning with the conceptual definition phase. 
17 Key Words (Suggested by Author(s)) 18 D,strobut,on Statement 
Automation Unlimited 
Robotics 
Space facility 
SMART facility Subject category - 12 
19 Securoty Oasslf (of thIS report) 20 Securoty Classlf (of th,s page) 21 No of Pages 22 Price· 
Unclassified Unclassified 9 A02 
'For sale by thelta~lonal Technical InformatIon ServIce, Spnngfleld, VirgInia 22161 
End of Document 


Space Missions for Automation and Robotics Technologies (SMART) Program

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