The development of remote mechanical systems to augment man's capabilities in our manned space effort is considered. A teleoperator system extends man's innate intelligence and sensory capabilities to distant hostile and hazardous environments through a manipulator-equipped spacecraft and an RF link. Examined are space teleoperator system applications in the space station/space shuttle program, which is where the most immediate need exists and the potential return is greatest

Interian, A.

English

NASA Technical Reports Server

Teleoperator Systems for Manned Space Missions
ALFRED INTERIAN SPACE PRODUCTS DIVISION GENERAL ELECTRIC COMPANY
In November, 1969, the President's Science Advisory Committee under the leadership of the distinguished
Dr. L. DuBridge, unequivocally called for development of remote mechanical systems to augment man's
capabilities in our manned space effort. A "teleoperator system" would extend man's innate intelligence and
sensory capabilities to distant hostile and hazardous environments through a manipulator-equipped spacecraft
and an RF link. This paper examines space teleoperator system applications in the Space Station/Space Shuttle
Program, which is where the most immediate need exists and the potential return is greatest.
INTRODUCTION
As the space station and space shuttle
development proceed, the necessity of apply-
ing teleoperator systems to extend man's
innate intelligence and sensory capabilities to
distant, hostile, and hazardous environments
becomes apparent. The teleoperator system is
a remote, eiectromechanical and visual system
that utilizes video and manipulator-equipped
spacecraft and an RF link to extend human
capabilities across many miles in space.
The possibility of using manipulators in
space environment has been suggested by
space technologists for the last de_;ade. Recent
work in this area has:
1. Detailed the success of teleoperator
systems on earth and described the
extension of their technology to space.
2. Examined the feasibility and cost effec-
tiveness of a ground controlled tele-
operator system for refurbishing on-
orbit satellites.
3. Described a teleoperator spacecraft de-
sign made up primarily of space-
qualified components and with a high
system reliability.
4. Described the space mission analysis
and laboratory work performed to fur-
ther prove feasibility and establish de-
sign criteria and concepts.
As a result of recent studies (References 1
through 4) conducted by the General Electric
Company on remote manipulation, a teleoper-
ator system concept was evolved that has
many applications in the Space Station/Space
Shuttle program. Three views (Figure 1)of
the concept are illustrated, pictured within
the volume envelope of the standard space
station airlock. The system has a free flight
capability with the appropriate attitude con-
trol and propulsion subsystem, and the sys-
tem is controlled through the RF communica-
tion control subsystem either in the space
station or in the shuttle.
The teleoperator is positioned at the work-
site with sufficient accuracy and low enough
drift rates to allow the manipulator arms to
grasp the worksite and attach ihe docking
legs. Of course a video subsystem is needed to
see the worksite. Several cameras and an
illumination subsystem are used to give the
needed visual information despite the harsh
visual condition in space. When properly
280
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w 
SECTION A-A 
Manipulator 
Docking Tethers 
Communications 
Propulsion 
(including fuel) 
Attitude Control 
secured to the work site the manipulator arms 
can perform the needed repairs or refurbish- 
ing with the use of tools and techniques 
previously worked out. 
Estimates of the weight and power for this 
system are shown in Table 1. 
Table 1. Space Station Teleoperator 
Weight and Power Summary 
86.0 40 Video and 
Illumination 
18.0 - 
69.0 30 Power 
81.3 46 Structure 
40.2 35 Total 
Weight 
(Ib) 
44.1 
305.0 
100.0 
743.6 
Average 
Power 
195 
Several methods for station/shuttle main- 
tenance and support are under consideration. 
One of these concepts would be designed 
around intravehicular activity, and another 
method would provide for maintenance 
through extravehicular activity and the use of 
special purpose mechanisms and designs. 
While the current approaches do not con- 
sider general purpose teleoperators, we would 
like to describe their potential application and 
advantages. These applications will be present- 
ed first for the space station program and 
then for the space shuttle program. 
SPACE STATION PROGRAM 
On board a space station, teleoperators 
would support operation and maintenance of 
both the space station and station experiment 
program. A teleoperator of the type evolved 
from the General Electric investigation would 
be useful in performing inspection, mainte- 
nance, mass transfer and assembly. 
Inspection 
Periodic visual inspection of the exterior of 
the station would include a check for punc- 
tures, breaks or fouled deployment mecha- 
nisms. By taking along leak detectors, IR 
cameras, or contamination sensors, the tele- 
operator could carefully search for leaks from 
within the station, or from the RCS system, 
and for local hot spots. The environment in 
the vicinity of the station could also be 
measured in this way. 
281 
Main tenan ce Mass Transfer 
RCS Quadjets wear out and will have to be 
replaced periodically. Currently they are con- 
figured for IVA replacement, but these units 
could be replaced more simply from the 
outside of the station (Figure 2). The present 
technique requires large internal crew tunnels 
and work volumes and deployable outside 
covers or seals to maintain the station airtight 
integrity and environment in the work vol- 
ume. Degraded thermal coatings could be 
replaced with properly coated tapes. Fouled 
deployment mechanisms usually operate 
with spring force.levels of about 5 pounds and 
motor torques of about 200 inch-pounds. 
This is within the force capability of the 
general purpose teleoperator in the system 
anticipated by GE, so these devices could be 
overridden and deployed or undeployed by a 
teleoperator . 
r 
For those cases in which complete modules 
would not be transferred from the shuttle to 
the station, teleoperators could be used to 
transfer packaged logistics and equipment 
from the shuttle cargo bay to a station airlock 
(Figure 3). This operation would eliminate 
the need for docking the shuttle to the 
station. 
Assembly 
In addition to the assembly of such systems 
as antennas or solar arrays, a teleoperator 
could be used to assist in assembly of a 
modular space station in orbit and aid in the 
evolutionary operations of growing the sta- 
tion into a base. 
Figure 2. RCS Quadjet Replacement 
282 
Figure 3. Logistics Transfer 
EXPERIMENT PROGRAM SUPPORT 
The diverse experiment program planned 
for the space station calls for the deployment 
and positioning of sensors and equipment on 
the station exterior. Some of these sensors 
will be grouped in modules that are attached 
to the station. Others will be part of free 
flight modules remote from the station. In 
order to accomplish this operation, use will be 
made of many special purpose booms, posi- 
tioning devices, and special purpose subsatel- 
lites as well as frequent revisits and docking of 
detached modules to resupply the expend- 
ables. 
Table 2 is a summary of the potential 
teleoperator applications that might be used 
in support of the experiment program; The 
techniques being considered are shown in the 
right-hand column. 
Table 2. Teleoperator Applications on the NASA Space Station 
Technique Presently 
Considered Functional Program Elements Teleoperator Applications 
5.1 Grazing Incidence Film and tape retrieval Module docks to Space 
5.5A and High Energy Routine Maintenance and Astronauts enter module 
X-Ray Telescope and change Station periodically. 
Stellar Survey Servicing through docking port 
(X-Ray) Refueling and service 
283 
Table 2. Teleoperator Applications on the NASA Space Station (Cont)
Functional Program Element Teleoperator Applications Technique Presently
Considered
5.2 Stellar Astronomy
Module
5.3A Advanced Solar
Astronomy
5.3B Advanced Solar
Astronomy
5.4A Ultraviolet Stellar
Astronomy
5.4B Ultraviolet Stellar
Astronomy Survey
5.5B High Energy Stellar
Astronomy Survey
(Gamma-Ray)
5.6 Space Physics
Airlock
5.7 Plasma Physics
and Perturbation
Investigation
Film and tape retrieval
and change
Routine Maintenance and
Servicing
Refueling
Film and tape retrieval
and change
Routine Maintenance and
Servicing
Refueling
Film and tape retrieval
and change
Routine Maintenance and
Servicing
Refueling
Film and tape retrieval
and change
Routine Maintenance and
Servicing
Refueling
Film and tape retrieval
and change
Routine Maintenance and
Servicing
Refueling
Repair of fouled deployment
mechanism for detectors
Deployment and installation
of sensors and instrumenta-
tion outside station
Repair of fouled deployment
mechanisms (booms)
Deploy Langmiur probes.
Faraday cups, and
cyclotron harmonic
resonance mechanism
(boom)
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Deployed on boom through
airlock
Some deployed on boom
through airlock
Dedicated subsatellite is
presently used to deploy
others
284
Table 2. Teleoperator Applications on the NASA Space Station (Cont)
Functional Program Element
5.8 Cosmic Ray
Physics
Laboratory
5.11 Earth Surveys
5.12 Meterology Sub-
satellite
5.14 Man System
Integration
5.16 Materials Science
and Processing
5.17 Contamination
Measurements
5.18 Exposure
Experiments
5.20 Fluid Physics
5.21 IR Stellar Survey
Teleoperator Applications
Photographic plate
retrieval and change
Resupply of liquid cryogen
and plate emulsion
Refueling
Routine maintenance
and service
Retrieve and replace film
Repair fouled deployment
mechanism
Transport sensors,
probes and instrumenta-
tion to new orbital
position
Experiment calls for
maneuvering subsatellite
and teleoperators
Deployment of processing
equipment outside station
during experiment operating
Deploy and install sensors
and instrumentation outside
station
Deploy, install and retrieve
sensors and instrumentation
outside station
Film retrieval and change
Routine maintenance and
Servicing
Refueling
Resupply of liquid cryogenics
Routine Maintenance and
Service Refueling
Technique Presently
Considered
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
Module is unpressurized
during operational phase
and is pressurized during
maintenance phase
Dedicated subsateUite
is presently used
A teleoperator system
is called for
Space chamber is built
into laboratory area for
experiment operating mode
Deployed on boom through
airlock
Deployed on panel pallet
through airlock and in-
stalled on outer skin of
station - retrieved again
using panel pallet.
Module docks to Space
Station periodically.
Astronauts enter module
through docking port and
service
Module docks to Space
Station periodically.
Astronauts enter module
through docking port
and service
285
Table 2. Teleoperator Applications on the NASA Space Station (Cont)
Technique Presently
Functional Program Element Teleoperator Applications Considered
5.22 Component Test
5.24 MSF Engineering
Deploy and install equipment
and instrumentation outside
station
Conduct space welding
experiment in space
Experiment calls for a
maneuvering subsatellite
and teleoperator
Maintenance of isotope
Brayton power system
Equipment installed in
space chamber in station
and operated
Conduct space welding
experiment in space
chamber
Use teleoperators
No extensive maintenance
planned
A listing is made in Table 3 of the
estimated weight and volume of current tech-
niques considered for performing experi-
ments.
The weight and volume summary of special
purpose booms and subsatellites is shown in
this table but no attempt has been made to
include such special mechanisms as: tunnels,
structure, or gases, which will be necessary to
environmentally seal-off work areas or pro-
vide access and habitability in work areas.
These items are not completely defined or
estimated yet but will clearly be large and
heavy.
A comparison is made in Table 4 of weight
and volume between current techniques for
experiments and the use of a teleoperator.
Table 3. Currently Planned Techniques
Item Weight (lbs) Volume (ft 3)
|t , ,,, ,,,
Articulated Booms
Panel Pallet
Materials Processing Vacuum Chamber
Remote Maneuvering Satellite - FPE
5.7 & 5.12 (Mobility Package Savings)
Remote Maneuvering Satellite - FPE 5.24
TOTAL
170
35
5O0
100
80
885
120
120
72
m
5.0
317
286
r 
Item Weight (lbs) 
General Purpose Teleoperator 750 
Other Techniques 885 
i 
This same teleoperator lighter and more 
compact wouid be capable of pcrforrring the 
maintenance missions previously described in 
addition to supporting the experiment pro- 
gram. 
Volume (ft3) 
60 
317 
SPACE SHUTTLE PROGRAM 
Some of the applications mentioned for the 
station are also applicable to the shuttle. 
Additional applications arise from the 
shuttle’s ability to inject and maneuver into 
many different orbits. Some important appli- 
cations are now being considered: 
Visual Inspection 
Visual inspection (Figure 4) will include 
the condition of the shuttle heat shield and 
the condition and operation of the aerody- 
namic control surfaces and doors prior to 
de-orbit and re-entry. 
On-Orbit Resupply of Unmanned Satellites 
The life of operational satellites may in 
many cases be economically extended by 
resupplying spent consummables such as fuel, 
cold gas, or batteries. Close rendezvous with 
the target satellite would be accomplished by 
the shuttle followed by deployment of the 
teleoperator from the shuttle, and terminal 
rendezvous and docking of the teleoperator to 
the target satellite. The teleoperator would 
then perform the resupply operations and 
return to the shuttle. 
Figure 4. Inspection of Space Shuttle Re-entry Shield 
207 
On-Orbit Refurbishment or RetrievallDeploy- 
ment of Unmanned Satellites 
general purpose teleoperator but the tasks 
would be greatly simplified if consideration 
were given to designing satellites for maintain- 
An extension of the resupply mission would ability. The teleoperator would transfer the 
be to change satellite payloads or perform satellite to the cargo bay for complex tasks 
diagnosis and repair on-orbit. These missions for operations by the astronaut crew or 
(Figure 5 )  would again be performed by the perhaps for return to earth. 
Figure 5. Satellite Retrieval 
GROWTH POTENTIAL 
The same teleoperator systems would play 
an important role in the space program of the 
next decade. Such studies as “The Nuclear 
Rocket in the Space Future,” which was 
prepared for NASA by D. S. Gabriel, have 
shown that great savings can be achieved if 
the nuclear shuttle is made reusable. One 
limiting item, however, is the engine life. By 
replacing the engine in orbit (after approxi- 
mately 10 reuses) the life of the nuclear 
shuttle could be greatly lengthened. This mis- 
sion is illustrated in Figure 6. The radiation 
environment in the vicinity of the spent 
engine presents a hazard for man-attendance 
methods but is an ideal application for the 
mechanical teleoperator. A similar situation 
will exist on the space base where nuclear 
reactors will be used for electrical power and 
require replacement every two years. 
Teleoperators with surface roving mobility 
units could be used to perform lunar or 
planetary surface explorations (Figure 7). 
These teleoperators would include many of 
the same subsystems as their orbiting rela- 
tives, such as: manipulators, video, power and 
communications. They could be deployed and 
controlled from lunar landing space tugs or 
from orbiting space stations. As teleoperators 
with limited artificial intelligence (robots) are 
developed, extensive exploration activities can 
be envisioned on distant planets without the 
detrimental effects of long transmission time 
delays. 
Spsce teleoperator systems can be made 
ready for the first space station/space shuttle 
missions currently planned for about 1977. 
Complete on-orbit checkout and test would 
be performed following launch to evaluate 
predicted teleoperator performance in space. 
Based upon the results of this phase, system 
288 
Figure 6. Nuclear Shuttle Engine Replacement 
Figure 7. Teleoperations on the Lunar Surface 
289 
~ ~ ~~ 
operating procedures, crew work schedules,
and final system adjustments could be made
in preparation for its operational deployment.
REFERENCES
1. "Remote Manipulator Spacecraft Systems," by A. Interian and R.H. Blackmer, General Electric
Company, and W.H. Allen, National Aeronautics and Space Administration, prepared for the Twentieth
Congress of the International Astronautical Federation in October, 1969.
2. "The Role of Space Manipulator Systems for Extravehicular Tasks," by R.H. Blackmer and A. Interian,
General Electric Company and R.G. Clodfelter, United States Air Force, prepared for the Second
National Conference on Space Maintenance and Extravehicular Activities in August, 1968.
3. "Satellite Maintenance Using Remote Manipulator Spacecraft," by A. Interian and D.A. Kugath, General
Electric Company, and W.H. Allen, National Aeronautics and Space Administration, prepared for the
AIAA Eighth Conference on Reliability and Maintainability, in July, 1969.
4. "A Remote Manipulator System for Space Applications," by A. Interian and D.A. Kugath, General
Electric Company and W.H. Allen, National Aeronautics and Space Administration, prepared for the
International Symposium on Man-Machine Systems in September, 1969.
5. "The Nuclear Rocket in the Space Future," by D.S. Gabriel, National Aeronautics and Space
Administration, for the Atomic Energy Forum, 1969.
290


Teleoperator systems for manned space missions

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