ALBERT

Description: The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

Description: A study was conducted to develop a preliminary definition of the Flight Telerobotic Servicer (FTS) that could be used to understand the operational concepts and scenarios for the FTS. Called the Tinman, this design concept was also used to begin the process of establishing resources and interfaces for the FTS on Space Station Freedom, the National Space Transportation System shuttle orbiter, and the Orbital Maneuvering vehicle. Starting with an analysis of the requirements and task capabilities as stated in the Phase B study requirements document, the study identified eight major design drivers for the FTS. Each of these design drivers and their impacts on the Tinman design concept are described. Next, the planning that is currently underway for providing resources for the FTS on Space Station Freedom is discussed, including up to 2000 W of peak power, up to four color video channels, and command and data rates up to 500 kbps between the telerobot and the control station. Finally, an example is presented to show how the Tinman design concept was used to analyze task scenarios and explore the operational capabilities of the FTS. A structured methodology using a standard terminology consistent with the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) was developed for this analysis.

Description: NASA has just completed an in-house Phase B Study (one of three studies) for the preliminary definition of a teleoperated robotic device that will be used on the National Space Transportation System (NSTS) and the Space Station to assist the astronauts in the performance of assembly, maintenance, servicing, and inspection tasks. This device, the Flight Telerobotic Servicer (FTS), will become a permanent element on the Space Station. Although it is primarily a teleoperated device, the FTS is being designed to grow and evolve to higher states of autonomy. Eventually, it will be capable of working from the Orbital Maneuvering Vehicle (OMV) to service free-flying spacecraft at great distances from the Space Station. A version of the FTS could also be resident on the large space platforms that are part of the Space Station Program.

Description: The Development Test Flight (DTF-1) is the first of two shuttle flights to test operations of the Flight Telerobotic Servicer (FTS) in space and to demonstrate its capabilities in performing tasks for Space Station Freedom. The DTF-1 system, which Martin Marietta Astronautics Group is designing and building for the Goddard Space Flight Center, will be flown in December, 1991, as an attached payload on the shuttle. The design of the DTF-1 system, the tests to be performed, and the data to be gathered are discussed.

Description: NASA has completed the preliminary definition phase of the Flight Telerobotic Servicer (FTS) and is now preparing to begin the detailed design and fabrication phase. The FTS will be designed and built by Martin Marietta Astronautics Group in Denver, CO, for the Goddard Space Flight Center, in support of the Space Station Freedom Program. The design concepts for the FTS are discussed, as well as operational scenarios for the assembly, maintenance, servicing and inspection tasks which are being considered for the FTS. The upcoming Development Test Flight (DTF-1) is the first of two shuttle test flights to test FTS operations in the environment of space and to demonstrate the FTS capabilities in performing tasks for Space Station Freedom. Operational planning for DTF-1 is discussed as well as development plans for the operational support of the FTS on the space station.

Description: Proton variations in earth radiation belt due to solar cycle - calculation programs

Description: Instantaneous net radiation flux at the top of the atmosphere is one of the primary drivers of climate and global change. Since the dawn of the satellite era, great efforts and expense have gone into measuring this flux from single satellites and even (for a several-year period) from a constellation of three satellites called ERBE. However, the reflected solar flux is an angular and spectral integral over the so-called "BRDF" or Bidirectional Reflectance Distribution Function, which is the angular distribution of reflected solar radiation for each solar zenith angle and each wavelength. Previous radiation flux satellites could not measure instantaneous BRDF, so scientists have had to fall back on models or composites. Because their range of observed solar zenith angles was very limited due to sunsynchronous orbits, the resultant flux maps are too inaccurate to see the dynamics of radiation flux or to reliably correlate it with specific phenomena (hurricanes, biomass fires, urban pollution, dust outbreaks, etc.). Accuracy only becomes acceptable after monthly averaging, but this washes out almost all cause-and-effect information, further exacerbated by the lack of spectral resolution. Leonardo-BRDF is a satellite system designed to measure the instantaneous spectral BRDF using a formation of highly coordinated satellites, all pointing at the same Earth targets at the same time. It will allow scientists for the first time to assess the radiative forcing of climate due to specific phenomena, which is bound to be important in the ongoing debate about global warming and what is causing it. The formation is composed of two satellite types having, as instrument payloads, single highly-integrated miniature imaging spectrometers or radiometers. Two nearby "keystone" satellites anchor the formation and fly in static orbits. They employ wide field of view imaging spectrometers that are extremely light and compact. The keystone satellites are identical and can operate in alongtrack or cross-track mode, or anything in between, at ground command. This provides inherent system redundancy and cross-calibration capability. Several "wing-man" satellites in non-static orbits fly in formation up to 1000 km out from the keystone satellites to provide additional along- and cross-track angular sampling. They view the target(s) observed by the keystone satellites from different zenith and azimuth angles and are maneuverable within a limited range of zenith angle using thrusters, and within a large range of azimuth angle using clever orbit design. The wing-man satellites carry single miniature imaging radiometers with just a few wavelength bands in order to be lighter and more agile.

Description: Using a computer program to model the earth's horizon and to duplicate the signal processing procedure employed by the ESA (Earth Sensor Assembly), errors due to radiance variation have been computed for a particular time of the year. Errors actually occurring in flight at the same time of year are inferred from integrated rate gyro data for a satellite of the TIROS series of NASA weather satellites (NOAA-A). The predicted performance is compared with actual flight history.