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  • 1
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    Future needs for space robots for SEI (1992)
    In:  Other Sources
    Details
    Publication Date: 2011-08-24
    Description: High level systems engineering modeling and analysis activities for the Space Exploration Initiative (SEI) are reviewed, with emphasis on planet surface systems. Particular attention is given to SEI studies, preliminary space robotic system requirements, and usefulness of space robotic systems developed to operate on planetary surfaces on earth. It is concluded that supervised intelligent systems on the planet surfaces are necessary to make SEI planet surface activities reliable and productive and encompass capabilities for control and monitoring of all elements, including supervised autonomous robotic systems. Amplification of human capabilities due to applying more knowledge and reasoning in more flexible and appropriate ways than conventional automation approaches will provide more robust performance, greater choice of interaction modes with operators, and greater transparency of operation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54); p. 2-12.
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  • 2
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    Dexterous Orbital Servicing System (DOSS) (1994)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Dexterous Orbiter Servicing System (DOSS) is a dexterous robotic spaceflight system that is based on the manipulator designed as part of the Flight Telerobotics Servicer program for the Space Station Freedom and built during a 'technology capture' effort that was commissioned when the FTS was cancelled from the Space Station Freedom program. The FTS technology capture effort yielded one flight manipulator and the 1 g hydraulic simulator that had been designed as an integrated test tool and crew trainer. The DOSS concept was developed to satisfy needs of the telerobotics research community, the space shuttle, and the space station. As a flight testbed, DOSS would serve as a baseline reference for testing the performance of advanced telerobotics and intelligent robotics components. For shuttle, the DOSS, configured as a movable dexterous tool, would be used to provide operational flexibility for payload operations and contingency operations. As a risk mitigation flight demonstration, the DOSS would serve the International Space Station to characterize the end to end system performance of the Special Purpose Dexterous Manipulator performing assembly and maintenance tasks with actual ISSA orbital replacement units. Currently, the most likely entrance of the DOSS into spaceflight is a risk mitigation flight experiment for the International Space Station.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994; p 257-260
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  • 3
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    Telerobotic activities at Johnson Space Center (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The Johnson Space Center telerobotic efforts span three major thrusts: (1) sustaining and expanding the capability of the Shuttle manipulator; (2) developing and integrating the multiple telerobotic system of the Space Station; and (3) fostering and applying research in all areas of telerobotics technology within the government, private, and academic sectors.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 5; p 3-7
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  • 4
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    Application of recursive manipulator dynamics to hybrid software/hardware simulation (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Computer simulations of robotic mechanisms have traditionally solved the dynamic equations of motion for an N degree of freedom manipulator by formulating an N dimensional matrix equation combining the accelerations and torques (forces) for all joints. The use of an alternative formulation that is strictly recursive is described. The dynamic solution proceeds on a joint by joint basis, so it is possible to perform inverse dynamics at arbitrary joints. The dynamic formulation is generalized with respect to both rotational and translational joints, and it is also directly extendable to branched manipulator chains. A hardware substitution test is described in which a servo drive motor was integrated with a simulated manipulator arm. The form of the dynamic equation permits calculation of acceleration given torque or vice versa. Computing torque as a function of acceleration is required for the hybrid software/hardware simulation test described. For this test, a joint servo motor is controlled in conjunction with the simulation, and the dynamic torque on the servo motor is provided by a load motor on a common driveshaft.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 5; p 11-20
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  • 5
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    Technology transfer and evaluation for Space Station telerobotics (1994)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The international space station (SS) must take advantage of advanced telerobotics in order to maximize productivity and safety and to reduce maintenance costs. The Automation and Robotics Division at the NASA Lyndon B. Johnson Space Center (JSC) has designed, developed, and constructed the Automated Robotics Maintenance of Space Station (ARMSS) facility for the purpose of transferring and evaluating robotic technology that will reduce SS operation costs. Additionally, JSC had developed a process for expediting the transfer of technology from NASA research centers and evaluating these technologies in SS applications. Software and hardware system developed at the research centers and NASA sponsored universities are currently being transferred to JSC and integrated into the ARMSS for flight crew personnel testing. These technologies will be assessed relative to the SS baseline, and, after refinements, those technologies that provide significant performance improvements will be recommended as upgrades to the SS. Proximity sensors, vision algorithms, and manipulator controllers are among the systems scheduled for evaluation.
    Keywords: CYBERNETICS
    Type: AIAA PAPER 94-1190-CP , Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), Volume 1; p 103-111
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  • 6
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    Integration of a sensor based multiple robot environment for space applications: The Johnson Space Center Teleoperator Branch Robotics Laboratory (1989)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An integrated operating environment was designed to incorporate three general purpose robots, sensors, and end effectors, including Force/Torque Sensors, Tactile Array sensors, Tactile force sensors, and Force-sensing grippers. The design and implementation of: (1) the teleoperation of a general purpose PUMA robot; (2) an integrated sensor hardware/software system; (3) the force-sensing gripper control; (4) the host computer system for dual Robotic Research arms; and (5) the Ethernet integration are described.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 5; p 151-160
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  • 7
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    Sprint: The first flight demonstration of the external work system robots (1995)
    In:  Other Sources
    Details
    Publication Date: 2019-07-17
    Description: The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.
    Keywords: Engineering (General)
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  • 8
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    Multiple manipulator control from orbiter for Space Station assembly (1990)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: This paper discusses the assembly process of the Space Station Freedom. It is shown that the assembly of the Space Station will require 29 flights of the Space Shuttle Orbiter: six shuttle flights during the initial assembly stage when the Space Station will not have sufficient life-support capability; seven more flights before the Station will support human occupation independent of the presence of the Space Shuttle; and 16 more flights for achieving full operational capability. The shuttle systems to be used in the Space Station assembly are described together with the results of simulation and analyses. Special attention is given to the Space Shuttle Remote Manipulator System which will be available on all Shuttle flights to support the Space Station assembly.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: AAS PAPER 90-007 , Annual Rocky Mountain Guidance and Control Conference; Feb 03, 1990 - Feb 07, 1990; Keystone, CO; United States
    Format: text
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