Full report

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Technical Memorandum 103851 Advancing Automationand Robotics Technologyfor the SpaceStationFreedom and for the U.S. Economy ProgressReport12 s August23, 1990,through February 14, 1991 Submittedto the Congressof the UnitedStatesMay 1991 Advanced Technology Advisory Committee National Aeronautics and Space Administration National Aeronautics and Space Administration Ames Research Center Moffett Field, California 94035-1000

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Cover: SpaceStation Freedom PermanentlyMannedCapability Insets: Lunar Base PlanetaryExploration

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Tableof Contents Introduction ....................................................................................................... 1 Background ................................................................................................. 1 Climate ........................................................................................................ 2 ATAC Concerns ............................................................................................ 2 Potential Impact to U.S. Leadership in Space Robotics ............................... 4 Focus of Next ATAC Meeting ........................................................................ 4 ATAC Assessments ........................................................................................... 5 Assessment of SSFP Progress on ATAC Report 11 Recommendations ........ 5 A&R Status Review of Levels I and II; WP1, WP2, WP3, and WP4; and CSSP......................................................... 8 New A&R Issues .......................................................................................... 12 ATAC Progress Report 12 Recommendations .................................................. 15 Ground-Based SSF Science, Operations, and Maintenance ........................ 15 Onboard SSF Science, Operations, and Maintenance ................................. 15 A&R Evolution ............................................................................................ 15 References ........................................................................................................ 16 Appendices A: Space Station Freedom Program A&R Progress ................................. 17 B: Flight Telerobotic Servicer Progress ................................................... 27 C: Canadian Space Station Program A&R ............................................... 33 D: Acronyms ........................................................................................... 36 E: NASA Advanced Technology Advisory Committee ............................. 38

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Robotics Systems Integration Standards developed for Robot to Operational Replacement Units (ORU) ORIGINAL PAGE _ ACK AND WHITE PHOTOGRAPH Canadian Special Purpose Dexterous Manipulator (SPDM) \ \ 0 1 2 3 I I I I Inches Micro Standard Robotic Interface 0 1 2 3 4 5 i I I I 1 I Inches H-Handle Standard Robotic Interface \ \ \ \ The Space Station Freedom Program, under the leadership of Level II Automation and Robotics personnel has developed Robotic Systems Integration Standards to to ensure maximum utilization and effectiveness across all work package systems for the robotics replacement of most Space Station Freedom ORUs. Robotic Systems Integration Standards developed include the Micro standard for ORUs from 0 - 250 Ibs. and the H-Handle standard for ORUs from 100- 1200 Ibs. In addition, interfaces have been defined for tool changeout mechanisms and visual cues. These robotics standards are also applicable to the Canadian Spectal Purpose Dexterous Manipulator which provides Space Station Freedom with dexterous manipulator capabilities-.

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Introduction Background of spacestationusersand the long-term goalsof U.S.spacepolicy. In responseto the mandateof Congress, TheATAChas continuedto monitorand NASAestablished,in 1984,theAdvanced preparesemiannualreportsonNASA's TechnologyAdvisoryCommittee(ATAC)to progressin the useof automation and prepare a reportidentifyingspecificSpace roboticsinachievingthis goal.The reports StationFreedom(SSF)systemswhich aredocumentedinthe ATACProgress advanceautomationand robotics(A&R) Reports1 through11 (refs. 2-12). Progress technologies.In March1985, as requiredby Reports1 through5 coveredthedefinition Public Law 98-371, ATACreportedto andpreliminary designphase (PhaseB) of Congressthe resultsof itsstudies(ref.1). SpaceStation Freedom.Progress Reports6 Thefirst ATACreportproposedgoalsfor through 11 coveredthe startupofthe automationandroboticsapplicationsfor the designand developmentphase(phaseC/D) initialandevolutionaryspacestation. ofthe SSF.PhaseC/Dwill leadto a com- Additionally,ATACprovided recommenda- pletelyassembled stationto be operational tions to guidethe implementationof inthe late-1990's. automationand roboticsin theSpace ATACProgressReport11, as previous StationFreedomProgram (SSFP). ATACreports,receivedwidedissemination. A further requirementofthe lawwasthat ATAC ProgressReport11 was distributedin ATACfollow NASA'sprogressin thisarea thefollowing categories: and reportto Congresssemiannually.In this Congress: 25 Copies contextATAC'smissionis consideredto be the following. A TACMission Independentlyreview conductofthe SpaceStationFreedomProgramto NASA: 240 Copies Industn]: 110 Copies Universities: 50 Copies Total: 425 Copies An additional400 copiesof ATAC Progress Report11 weredistributed with the NASA AerospaceSafetyAdvisory PanelAnnual assessthe applicationof A&R technol- Report. ogy with considerationfor safety, Thisreportisthetwelfthinthe seriesof reliability, schedule,performance,and progress updatesand coversthe period of costeffectiveness(includinglife-cycle August23, 1990, throughFebruary14, costa). Basedupontheseassessments, 1991.To provide a useful,concisereport to enhance format, all of the committee'sassessments developrecommendations havebeenincludedinthe section"ATAC A&R technologyapplication,and review with NASA Assessments."This sectionofthe report the recommendations includescommentsonSSFP'sprogress in managementfortheir implementation. respondingto the ATACrecommendations Reportassessmentsand recommendationstwiceannuallyto Congress. Programis Program Officeandthe FlightTelerobotic TheSpaceStation Freedom in Report11. Also, summariesof progress inA & R inthe SpaceStationFreedom a baselinestation Servicer(FTS)as writtenby thoseoffices, chargedwith developing an initial respectively,areprovidedas appendices. configurationthatprovides operationalcapabilityand which,in offuture members'understandingand assessments can beevolvedto supporta range addition, Thereport drawsuponindividualATAC missionscenariosinkeepingwiththe needs

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oftheapplicationofA&RintheSSFPand (1) "to moveall automationfrom realizethosesavingsandincreased uponmaterialpresentedduringan ATAC onboardSSFto the groundexceptfor capabilities,theSSFPmust carryfo_ard a meeting heldFebruary12-14, 1991, for the time critical functions,and (2) to comprehensiveplanfor useof advanced purposesof reviewingtheSSFPA&R transferthe FTSto OAET." activitiesandformulatingthepointsofthis automation in these ground facilities. Thesedecisionshaveseveralpotential ATACis concernedthatplans havenot report. includinghigherlong-termlife- been sufficientlydefinedfor incorporaimplications costs,feweronboard tion of ground-basedadvancedautomacycleoperational Climate capabilitiesfor supportingengineeringand tion technologiesthatwill lead to the In the firsthalf of 1990 the SpaceStation scienceexperiments,degradedscientific achievementof these benefits. Thereis FreedomProgramconducteda descoping experimentalcapabilitiesduringthe man- furtherconcernthatno definitive of the SSFdesignin orderto meetpower tendedphase,andsolerelianceona foreign planningeffort hasbeen initiatedto and weightlimitations.The impactofthat supplieddexterousroboticcapability.The considerthe processfor eventual descopeddesignonA&R was addressedin full impactof thesedecisionshasnotbeen migrationof someof the automation ATACProgressReport11. assessed.In additionit appearsthat no techniquesdevelopedonthe ground In the fall of 1990, Congressmandated planshavebeenspecificallydefinedat this backto theflight system.If this function an $8B budgetreductionfor the Space timefor implementingthe A&Rmoveto the is not addressed,then the long-term StationFreedomProgramoverthe next5 groundnorfor migratingthe capabilities SSF. costofownershipofthe SSFwill years,includinga reductionin FY91from laterto onboard $2.6B to $2.0B. Thisbudgetreductionof significantlyoutweighanyshort-term ATACfullyunderstandsthe SSFP $600M causedtheSSFPto initiatea major advantagesresulting fromthe programrestructuringactivityand a further decisionsin lightof the Congressionally maticdecisions.There is concernabout descopingof the SpaceStationFreedom mandatedbudgetreductions.However, b_eviabilityofkeepingthe "marching design.At thetime of the February1991 ATAC,within its Charter,mustalso army" onthe groundtechnically ATACmeeting,the extentof the restructur- inform Congressthat these decisions competentoverthe 3g-year lifetime of ingwasnot fullydefinedbySSFP,and reflecta loss of U.S. commitmentto be the project.Duringitsnext review cycle, ATACwas notableto completeitsassess- a world leader or evena knowledgeable the ATACcommitteewill requesta menton the impactof restructuringon participantin advancedautomationand advancedautomationand robotics. reviewof groundoperationsimpactsas roboticsfor spaceapplications. However, the currentrestructuring activitywill have a major impacton the ATACConcerns implementationof U.S.-developed a resultofthe recentscrubactivityand detailed briefingsforthe incorporation of advancedautomationtechnologies. ATACis also concernedthatthe feasibiladvancedautomafionand robotics Ground-BasedSSF Science, Operatechnologiesif a plan is not developed ity for teleoperationof the SSFrobotics tions, and Maintenance systems from the ground is not being and implementedto migratethis adequatelyaddressed.Despitethe recom- Forseveralyears the members of the ATAC technologyfromthe groundto onboard mendationof the Fisher-Pricestudy "to communityhaveproposedthat implementa- SSFsystems. implement ground-basedremotecontrolof tion of ground-basedadvancedA&R into SSFrobots for monitoring and control of all SSF A&R Programmatic Decisions the SpaceStationControlCenterand the robot functions" and "to evaluatethe SpaceStationPayloadCentercan leadto TheSSFPreportedtwo majorA&R benefits of the use of ground-controlled significantly increasedcapabilitiesand programmaticdecisionsat the recentATAC reducedcost for SSFP.In that contextand robotsearlyin the assembly time period meeting: betweenshuttle flights,"there isinadequate as a result of a major reduction in program SSFPplanning to determine the feasibility funds, ATACagreeswiththe recent for operation of SSFrobots from the decisionsto move many of the functions to ground. the ground for the short-term initial assemblyphaseof the SSF.However,to

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integration into their overallA&R research permanentlyrelegated to groundcontrol Onboard SSF Science, Operations, program. TheCanadianroboticsprogram due to prohibitivecostsfor future and Maintenance presentedat the lastATACmeetingin onboardimplementation. As partof the restructuring process,Space Restonrepresenteda highlyfocused and A procedurefor assessinglife-cycle Station Freedom'sscientificuseis being integratedtechnologyprogram leadingto of intelligentrobotics. costs should be developedand standardized directedtowardsLife Sciencesand Material the eventualevolution for use in the decision process for the Sciencesresearchandexperiments.It The programaddressedneartermas well implementation of advancedA&R across all appearsthatmost, if notall, of these asfar termtechnologyrequirementsand theAI androboticsresearchwithin workpackages.Industryhasalreadyrealized experimentswill occurafterthe man-tended focused a significant return on its investmentfor phaseis completed.In addition,it appears the Canadiancommunityto a common thatthe experiments'requirementshavenot space-orientedgoal. been evaluatedagainstthe capabilities advancedautomation technologiesin specific areas of ground-basedapplications. ATACis concemed,however,that a SpaceStation Freedom,with a research affordedbythe restructuredSpaceStation backuproboticssystemand]orset of emphasison life sciencesand material infrastructure. validatedroboticstechnologiesare not sciences,can serve as a forcing function for ATAChastwo concernswith this beingpursuedwithinthe UnitedStates the developmentand verification of for U. S. specificmissionrequirements. automationand robotics technologiesto approach:SpaceStationcapabilitiesare not beingfully utilizedto supportthe monitor, maintain, and repair complex TheSpaceStation decisiontotransfer the hardwaresystems in space. researchfocusofSpaceStationduring FTSfrom the SpaceStation program to the man-tendedphase;and, an IVA NASAHeadquartersOAEThas removedthe However,before this canbecomea studyhas not been initiatedto investitechnologyfocus and emphasis for ITS, reality, the technologybasedeveloped gatethe role of humansand machines and its "end product" functional utility is of by OAETmust be integrated,coordiin the conductoftheseexperiments. concern to ATAC. It is the opinionof ATACthat the use of advancedautomation during the man- A&R Evolution nated, and focusedto Space Station's advancedA&R programmaticrequirements. tended phaseof the Station assembly can Thelatest restructuring activities have Withoutthis technology integrationand provide additionalsupport of early experi- drastically reducedthe Data Management coordination, technologywill be developed ments during this period of station opera- System's (DMS) StandardDataProcessors tion. Lack of scientific utilization of the for technology's sake only. With the (SDP) from 14 to 6 with little, if any, technology focused on specific program SpaceStation during the man-tended phase performancecontingency margin. The needs/requirements,the resulting may lead to disinterest in the Science number of sensors and onboard sensor demonstrationswill lead to the flight community in useof theStation afterthe processing hasalsobeensignificantly qualificationof newA&R technologiesto man-tended phaseis over. reducedwith minimum capabilityfor enablefuture missions, reducesystems There is doubt that the SSFEVAactivities onboard FaultDetection,Isolation and costs, and increasethe competitivenessof including maintenanceand operations can Recovery(FDIR) capabilities.Fromthe be conductedwithout the use of robotics. the United States. presentationsgiven to ATAC,the engineer- However,if the use of robotics is required, ing criteria/rationale utilized in the sensor Adequatefunding mustalso be ensured then the SSFprogram willbecome highly selectionprocess could not be determined. dependenton the Canadian-developed and maintainedto achieve a realistic SSFadvancedtechnologydevelopment SpaceStation RemoteManipulator System The capabilityto implementadvanced programwhichcan meet its program (SSRMS) coupled with the SpecialPurpose automationcapabilitiesin the future, objectivesin a timely mannerand allow DexterousManipulator (SPDM). This e.g., automatedfault managementand technologytransferbetweenOAETand dependencyon the CanadianSSRMSand controland systemhealthmanagement, SSFP. ATACfeels that this technology SPDM is due to the deletion of the FTSas a may havebeen severelycompromised "transfer gap" cannotbe ignoredany SpaceStation flight element and has been by thesensordeletionprocessand may transferred to the NASAOffice of Aeronaulongerif the UnitedStates is to maintain resultin all relatedfunctionsbeing tics, Explorationand Technology(OAET)for its leadershipin space. 3

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In addition,testbedsfor supportof engi- PotentialImpactto U.S LeadeF neeringanalysisandtradeoffsare not being ATACis of the opinionthat (1) a longterm U.S. commitmentto teleroboticsis maintained;this capabilityis a valuableand shipin SpaceRobotics still required in the nationalinterest;(2) criticalresourcewhichtheStation should The reasonsfor havinga long-termnational a developmentprojectwith a deliveruseto fullytest, evaluate,and veri_] commitmentto Automationand Robotics able flight system, like FTS,and related integratedsystems/subsystems.These remainrelevant(i.e., long-termproductivity to technology programsis a viableway testbedsrepresenta majorinvestmentby and financialleverage).Thesebenefits to pursuethis interest;(3) with cost/ NASA in previousyearsand, in mostcases, requirea long-termnationalcommitmentto benefittradeoffsin mind, the currently canbe maintainedwith minimumfunding A&R technology.The U.S.applicationsof plannedDTF-1experimentshould and canyield a positivereturnon NASA's teleroboticsto the SpaceStationFreedom proceedunchanged;and (4) as a follow investment. are now on the vergeof disintegration and on to DTF-1, OAETshouldbe encourcollapse.The requirementsfor U.S. In summary,the recent SSFrestructuraged to implementan intelligent assembly,servicing, or repair of U.S.assets ing activitieshave been drivenby cost, plannedto be satisfied by teleroboticsflight developmentproject in spaceare power, and weightconstraints.Due to foreign technology from the Japanese, with deliveryand applicationon SSFor these requirements, advancedonboard Canadians,and Europeans.This represents anotherNASAflight program. roboticscapabilitieshave beenrel- a most dangeroussituation for the future of egated to foreignparticipation,and spacerobotics technology developmentin advancedonboardautomationfunctions the UnitedStates. Focusof NextATACMeeting delegatedto groundmissioncontrol. There is currently a large researchand Restructuringhasshiftedtheemphasisof There is seriousconcernthat these technology basein telerobotics in the United SSFPA&R implementationfrom onboardto decisionswill limit the scientific, Statesas a result of the Congressional the ground. Also,some portions of the operational,and maintenancecapabili- mandatewhich establishedATAC.The U.S. sciencecommunitycontend that experiment holds its own in the internationalforums in ties of the SSFdue to the high long-term A&Rtechnology. costs. In addition,there is a programcapabilitywill be degradedby lack of advancedautomationtechnologies.Because of these reasons,it is proposedthat the next matic trendthat suggeststhat the U.S. However,the U.S. doesnot havea ATACmeeting be focused as follows: role in spaceautomationand robotics commitmentto the engineeringdevelwill not onlybe severelydegradedbut opmentandthe applicationstestingand 1. SSFPplansfor A&Rimplementation will also be highlydependentin the refinementofflight teleroboticsystems. intothe SpaceStationControlCenter futureon foreign-developedA&R and intothe SpaceStationPayload The JapaneseandEuropeanshaveestabtechnologiesfor usein U.S. missions. Center. lisheddevelopmentprograms for intelligent ATACwill require a detailed briefing, robots for terrestrialand spaceapplications, duringthe nextreview cycle, ofthe hasestablisheda significant 2. Capabilityof SSFto supportlife and and Canada plansto implement advancedA&R program as partof SSF.Withthe reduction material scienceexperiments. technologiesinthe groundfacilities of funding and emphasis in the nuclear The currentSSFPproposalisto havethe with eventualmigrationto onboardSSF powerfield, the FTSprogram was the only meetinghostedby LevelIII at JSCin midsystems. major telerobotics activity in the United August1991. States.The removal of the FTSfrom the SpaceStation FreedomProgram could significantlydelaythis technology in the UnitedStates.

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ATACAssessments The/STAGassessmentsfor this reporting Assessmentof SSFPProgress periodarebased uponthe committee's appraisals of progress in advancedautoma- onATACReport11 tion and robotics for SpaceStation Freedom to the extentpossible in the midst of the restructuring activities. A review of the Recommendations ATAC Progress Report 11, progress toward the recommendationsfrom ATAC'smost recent report, Progress Report Recommendation I: ORU Standards. 11, will be discussedfirst, followed by a "Define and implement priorto CDRa review of topics explicitlyaddressedduring the February'12-14, 1991, ATACmeeting, formal designstandardfor ORUsthat and then a discussion of new A&R issues. will be bothastronautand robotic Beforeaddressing the Progresson ATAC friendlyin all SSFwork packages." Report 11 recommendations,however, it is It is the ATAC'sassessmentthat the important to note that the program restructuring hasentirelychangedthe context which existedat the time these recommendationswere made. Namely,it was assumedthat the United Stateswould be restructured SSFhas incorporated both astronaut and robotic friendly designsfor accessand reachwhich enable assembly and maintenanceby either humans or robotic systems.This is extremelyencourinvolved in dexterous robotics in the form of aging. Substantialwork(especiallyby Level the FTS.Therefore,making recommenda- II, JSC, GSFC,LeRC,MDSSC, Rocketdyne, tions which integrated FTSinto the SSFPin effectiveways was natural. Now, with the transfer of the FTSout of the SSFPinto OAETas a researchexperiment,the and Canada)has been done to draft the Robotic Systems Integration Standards (RSIS)Volumes 1 and 2, and to complete an InterfaceDesign Review(IDR) on Station's requirementsfor robotics will be standarddesigns for robot-to-ORU interprovided by the CanadianSpecialPurpose DexterousManipulator (SPDM). thatthe program documentation,and the RSIS has It is ATAC'sunderstanding faces. However,despite this, no specific dexterous robotic tasks are identified yet in had providedfundingfor not yet been baselinedas planned 6 months Congress NASA'sA&R programwith the specific ago. There is enough inertia in the design intentto focusand transferthe A&R cycle so that little robotic compatibility yet technologiesintothe U. S. industrial sectorand economybyusingSpace StationFreedomas the focused exists. This is true of both the individual ORU designs and the positioning and orientation of the ORUsin the truss segments. application.Due tothe congressional The IDR recommendedtwo integrated budgetconstraints,the SSFP, as attachment mechanism/grasparea intercurrentlyrestructured, is contraryto this facesfor different mass ORUs,a common intent. tool/end effector design, and a visual cue design. These are standard designs for the In concertwiththis restructuring decision, robot-to-ORU interfaces.Additional robotic ATACnow has a minimal role, if any, in the review and assessmentof robotics applicableto SSFP. interface classes,the ORU-to-Station,the Robot-to-SSF,andthe Robot-to-End

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Effector/Toolinterfacesareundefinedas The ATACassessmentof SSFPprogress and operationsorganizationsisapparently yet, and areintendedto beaddressedin on this recommendationisthatthe intentis well appreciated.A recognitionthatthe futureIDRs. The Human-to-Robotinterfaces there but littlehasactuallybeenimple- fidelityrequiredby individualsubsystemsin and standardsareseparatedorganiza- mented.A RoboticsWorkingGroup theirownsimulationscannot betotally tionallyat LevelII from the roboticsystems meeting,plannedfor March1991, should maintainedin the integratedsimulation enginsefingwhileclearlybeinga critical establisha scheduleof accomplishmentof wouldmakeMIDASa more practicaltoolto elementof robotictaskaccomplishment. A neededcommondesign,modeling, servetheneedsof LevelII integration. futureIDR shouldalsoaddressthisarea. simulation,and analysistoolsfor robotics Viewinghasnotyet beenaddressedfrom as wellas definerolesand responsibilities ATACProgress Report 11, the Pre-lntegratedTruss(PIT) perspective. (includingtheCanadianSpaceAgency)for Criteriafor performance Recommendation II1:End-to-End Forinstance,the numberof cameras thesetools. useablefor roboticoperationshasbeen assessmentsusingall roboticsimulations Software Integration. reducedto four eventhoughthe restruc- and all computermodelswereaddressed turedSSFhasalso removeddirectlineof betweenGSFC,JSC, MartinMarietta,and "Develop and implementpriorto CDR sightfor mostlocations.Also,the deletion MDSSCto supportFTSanalysis,but this softwarestandards,SoftwareSupport of thespecialeffectsprocessor reducesthe activityhasbeeneffectivelyhalteddue to maximumnumberof simultaneousviews restructuringactivities. Environmentstandards,and a planto provideend-to-endsoftwareintegration possible from five to threewhichimpacts Only in thesimulationmodelsand for bothflight and groundapplications." dexteroustaskperformance. collisionpredictionandavoidanceareas Havingthe specifiedLevelII interfaces havetherebeensubstantialeffortsto NeithersoftwarestandardsnorSoftware doesnotensurethat ORUscanbemain- standardizeand coordinatetoolsand their Support Environment(SSE)standardswere tained.Maintenancetask verificationisa use. addressedby LevelII in theATACbriefings. requirementthat is notaddressedor ATACrecognizesthatin regardto As partof restructuring,the SSFPis planned.Thisinvolvesdesignand veri- modelsand simulations,it is difficultto gain rethinkingitssoftwareacquisition,developfication of roboticcapability,designand commonality.In mostcasessimulationsare ment,and integrationapproachand has verificationof interfacesand "reachand developedbydifferentorganizationsfor targetedlateMarch1991 as a decisiondate. clearance"envelopes,and maintenancetask specificanalysisobjectives.Rarelyarethose Certainfunctionalityhasbeenrestructured verificationtesting. objectivesthe same,whichis whyit often from onboardto groundcapability(e.g., The summaryATACassessmentisthat a seemsthatsimulationsor analysesare inventorymanagementand faultdiagnosis reasonablestarthasbeenmadeon this redundantor overlapping,whenin fact they and recovery)whichalsoimpactsstandards ATACrecommendation;however,many aretailoredfor differentpurposes. Models, and integrationplans.Giventhesemajor veryimportantaspectsremainto be bothgeometricand math,arealsohardto changesthereis no softwareintegration addressedby thedeltaPreliminaryDesign transferreadilyfrom onefacility to another planas yet, nora scheduleto producethis Review(PDR) in July. in softwareform unlessa commonsoftware plan. developmentenvironmentis definedand Thereareflightto groundfunctional implementedearlyin theprocess. partitioningrules(e.g., onlytime-critical ATAC Progress Report 11, The MultibodyInteractiveDynamicsof functionswillremainautomatedon the Recommendation I1: theArms andStation (MIDAS) simulation station).Whatfunctions are,and what and analysiseffortatLevel II is focused on functionsarenot criticalremainto be A&R Development Tools. integrationanalyses.Its implementation definedin specificterms.Thefunctional musttakeintoaccountthe user'sneedsfor partitioning rulesdealingwiththe "Zone of "Develop and implement priorto CDRa easyaccessandtrainingat the various Exclusion"andTDRSShandovershould commonset of roboticpdmitives, centersandcontractors.Thiswork seems receiveadditionalattention. simulaUonsystems,and modelingtools to bein its earlystagesandtheimportance Thereiscurrentlynotestbedfor for useby all the roboticsystems of its coordinationwith thevariousdesign IntegratedStationExecutivesoftware developersacrossall work packages." testing as is needed,due to the termination

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operations.The removal of advanced robotic devices, remains a critical need in of the 0MS Integrationtestbed priorto the operationalstatus of theAvionics Integra- automationandrobotics from the program the program especiallyin view of the 1) tion Environment. to reduce upfront costs may result in severalyears of man-tendedoperations and TheATACassessmentis that little greateroperations costs and a potentially 2) marginal capability of crewand in-space critical oversubscriptionof astronaut EVA teleoperatedpartners' robots to satisfy the progress has been reportedin this area as yet, and that essentiallyno software and IVAtime. This concern has been maintenancerequirements. infrastructure exists (or is planned) for the expressedby various SpaceStation and inclusion of advancedautomationap- contractorA&R focal points. A study of IVA ATAC Progress Report 11, proaches.Thus, future inclusion of applica- maintenancerequirementsis plannedto start in the spring of t991. This study, RecommendationVI: Hooksand Scars tions for these technologies does not appear possible. however,only considersthe maintenance issues and not the entire timeline and "At the completionof the SpaceStation utilization of the astronauttime. A complete Freedomscrubactivityand priorto CDR, ATACProgress Report 11, IVA and EVAstudy is neededas soon as determinethe extentto whichthe Recommendation IV: IVA Study. possible.The study should explicitly plannedSSF baselineconfigurationat addressall phasesof SSF(MTC, post-MTC, AssemblyCompletewill supportthe "Complete a studypriorto CDRsimilar PMC,post-PMC,EMCC)to ensure specific implementationof advancedA&R to the Fisher-Pricestudy,to assessand configurations and crewsizesarecorrect. evaluatethe IVAresourcesavailable to meetSSF onboardassembly,operaapplications,with emphasisonthe Data ManagementSystem (DMS) architec- ATAC ProgressReport 11, tare and sensorinstrumentation." tions, and maintenancerequirements." Recommendation V: Ground-Based Sincethe lastATAC briefing, three Space Progresswas made toward recognizing the needto start analysis of IVA resource SSF Robotics Teleoperation requirements. Duringthis period, the Space Station planningexerciseshave beenunder way which could havesignificant impact on "hooks and scars" for advancedA&R: The "Develop and implementa planprior to Station Program was occupiedwith the CDRfor testbeddemonstrationsand ResourceScrub, the Pre-lntegrated Truss, design review of the previous baselinewhile and the SpaceStation Restructuring. simultaneously working on the 90-day flight experimentstovalidate the The ResourceScrub resulted in most redesignof the SpaceStation basedon technologyfor operationof the SSF monitoring and automated controlcapability congressional budget reductions. It is roboticsystemsfrom the groundto necessarythat operationalconsiderations, performstationmaintenance." including the allocationof astronaut time, being movedto the ground.The Restructuring effect on the DMS, still continuing, has OperatorControlled MachineVision resulted in the reduction in the quantity of inside and outside the pressurizedvolume, (OCMV) software has beendevelopedgiving StandardData Processors (SDP)from 14 to be a part of the redesigneffort. It has been the local operatorthe capabilityto help a 6. The goal is to achievefull core station shown by the Fisher-Pricestudy that waiting telerobot interpret datafrom remote vision operations in two "hot" computers and one for a design to be completely definedbefore "hot" workstation. Thefundamental DMS sensors and plan appropriatecollision free analyzingthe IVAand EVAtimelines will motion. However,very little overall progress architecture is unchangedand the system is leaddirectly to unworkable solutions. is evident on this recommendationdespite designedfor easygrowth, if additional core A Level I productivity study was conthe advocacyof the Fisher-Pricestudy and and payloadcomputers are authorized.SDP ducted and reviewed by experienced conductedon the prob- racksand network designs should accomsystems analysis astronauts with recommendationsto of/load robotics teleoperation modate capabilityfor future expansion. lem. Ground-based overheadassociatedwith onboard operato be an important areafor future The DMS software is currentlyundergocontinues tions. However,ATACis still concernedthat operation and maintenanceof the Space ing a scrub. The goal is to reduceall DMS the IVA resourcesfor SpaceStation are Station Freedom.A plan to assessthe systems software to 1M byte.This has oversubscribedin operatingand maintainfeasibility of operating SpaceStation simplified the command andcontrol ing the station, leavinglittle time for science Freedomteleroboticassets from the structure. TheOperationManagement ground, regardlessof the source of those

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System(OMS)functionally has been ATAC Progress Report 11, descopedand absorbedby the Integrated effectivenessof thisprogramand have continuedduringthis reviewperiod.The Recommendation VII: Advanced SystemExecutive(ISE) whichhandlesthe SpaceStationrestructuredprogramphases, minimumrequiredtop levelfunctions. Other A&R Technology Implementation functions areallocatedto systemsoftware Funding or to theground.The ISEwill accommodate station-wideFaultDetection,Isolation,and FirstElementLaunch(FEL),Man-Tended Capability(MTC),and PermanentlyManned Configuration(PMC) no longerincludes AssemblyComplete(AC)followingPMC. "Ensure fundingstabilityfor SSF Recovery(FDIR)for Category 1and time- The periodbetweenPMCandACwas the advancedA&R technologydevelopment criticalfunctions. AllotherFDIRis transperiodwhentheA&R technologiesfrom the and emphasizefunding level commenferred to the ground.The numberof AdvancedDevelopmentProgramwereto be sensorsand effectors,and theonboard suratewith that requiredto transferand implemented.The longerperiodoftime sensorprocessing werereducedwhichmay implementthesetechnologiesinto the betweenMTCand PMCcouldbenefit compromisethe capabilityto implement SSFoperationalenvironments." significantlyfrom A&Rfor science,remote advancedA&R capabilityin thefuture. ATAC monitoring,control,and reconfigurationof Asreportedin the lastreportofthe receivedonlylimitedinformationon the systemsduringunmannedperiods. ATAC,theSSFAdvancedDevelopment effectof restructuringon the SpaceStation Toaddressthe budgetreductionsand Programhasbeenthe primarymechanism ControlCenter(SSCC)and thecapabilityof the increasedneedfor A&R dueto Restrucfor the introductionof A&Rtechnologiesfor SSCCto accommodatethe increased turing,the Level1 AdvancedDevelopment the SpaceStationFreedomProgram; ground-basedA&R overthe lifetimeof the Programcontenthasbeenrevisedto be however,the budgethistoryof thisprogram program. more responsiveto criticalbaselineSpace hasnot beenstable.TheAdvancedDevelop- The Pre-lntegratedTruss(PIT) exercise Stationrequirements.Theprogram office mentProgrambudgetprojections,prehad littleeffecton systemautomation but hasimplementeda taskselectionprocess sentedinthe previousATACreport,werefor providedincreasedemphasisand design whichemphasizesnearerterm developa $12M programfor 1991 growingto $16M accommodationfor roboticapplication.The ments.Budgetreductionsand taskschedfor 1992. The 1991 programhas been PIT requiredthe redesignand locationof ulesnotconsistentwith Restructuringhave reducedto $7.7M ofwhichonly$1.8M has ORUs;and standardinterfacesand robotic resultedin theterminationof 14 tasks. beendistributed.The remaining$5.9M has accesswerea majorinfluenceduringthe TheAdvancedDevelopmentProgram beenrequestedbut budgetauthority hadnot PITexerciseincludingaccommodationof hasestablisheda consistentprocessto beenapprovedat thetimeof theATAC roboticdevicemobility.Thisincreased briefing. accommodationfor roboticapplication continuedduringthe restructuring;however,theFTSwas deletedfrom SSFduring evaluatetasks for inclusionand has emphasizedtask demonstrationscompatiblewithSpaceStation Program milestones. The currentlyproposedAdvancedDevelopthis exercise.Therefore,the increased A&RStatusReviewofLevelsI mentProgramconsistsof 19 tasksin a roboticoperationwill bethe responsibilityof four-elementWork BreakdownStructure andII; WP1, WP2,WP3, and the internationalpartners. A comprehensiveanswerto Recommen- WP4;andCSSP dationVI is notavailablesincethe Restruc- (WBS).ATACcommendsthe Advanced DevelopmentProgrameffortsto infuseA&R intothe BaselineSpaceStationFreedom. turingactivityis continuing.A complete Assessment of Level I However,withthe nearertermfocus reviewof "HooksandScars" shouldbe DevelopmentProgramhas requiringearlierdevelopmentand demon- TheAdvanced accomplishedas soonas the newconfigu- beena primarymechanismfor the adration is defined. stration,the budgetlevelsareconsidered vanceddevelopmentof A&Rtechnology for inadequate.ATACfeelsthatfor a successful in SSF.Budgetfluctuation and A&R program,not onlyshouldthe budget inclusion havesignificantly be increasedfor the developmentbutthe fundinglimitations reducedthetechnologytransfer

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recipientofthetechnologyatawork extent doesadvanced control of robots is needed.It should to be asked:"To what packagecenteranditscontractorbe stationor onthe ground includeanalysisof the diagnostic errorrate automationonthe need to fill in to maintainthe same degree of of omissions and commissions due to Builtinvolvedinthedemonstrations.Thiswould ensureeffectivetechnologytransferand program technologicaland safety risks, or In-Test and BuUt-ln-TestEquipment (BIT/ allowrapid implementationfor those how far is the programwilling to increase BITE) relianceand crew need to aid technologieswhichdemonstratepositive these risks by excluding advancedautoma- diagnosisconductedon the ground. In results. tion?" Skylab and Shuttle, such contingencieshave example,the onboard Data had major timeline impacts of hours to Asa second ManagementSystem is being simplified and days. Assessment of Level II much of its original automation is being Turning to robotics, the efforts to achieve ATACreceivedgenerallya verygoodset of means that many of the ORU interfacestandardsseem to be deleted.This in-depth presentationsof Level II activities. formerly onboard core system management progressing well. The dexteroustask LevelII also arrangedan excellentpresentafunctions are being moved to the ground, identification study could apparently benefit tion by the CanadianSpaceAgency. which conflicts with the down-scaling of the from efficient task analysistools asthe There still appearsto be a lack of communicationsand tracking system previously proposed task analysis process adequateLevelII staff to plan, coordinate, (C&T).The C&T system now takes on more is quite time consuming. A preliminary implement, and managean effectiveA&R criticality in the overallcommand and definition of the role of dexterous robots on program which benefits SpaceStation control of the SSF,yet it is also being made SSFhas been defined by LevelII, but the Freedomover its entirelife. For instance, less redundant.The Zone-of-Exclusionof need exists to identify specificdexterous there is no one assigned,evenpart-time, to eachorbit cuts SSFcommunicationswith robotic tasks in program documentation advancedautomation applicationsand the ground for about 10 minutes each orbit, and to baselinethe RSIS.Work in this design accommodations.Also, there has effectivelyleavingSSFon its own. This in regard is ongoing and results are expected beenno apparenteffortto havethe Level II criticalityof the by this summer. Externalmaintenance turn, tends to raisethe GroupDirectorsfor Operationsand ground commandand control functions studies continue and evenwith the reduc- Utilization,andSystemsEngineeringand with respectto the use of advanced tions due to restructuring, there is expected Integrationprovidesemiannualreportsof automation.The DMS has been cut back to be a useful role in maintenancefor progressin the areasof advancedA&R. rather drastically;and ATACurges that robotic systems. The IntegratedSystemsPreliminary additionalfiber optic cables,larger card The restructured design to a pre- DesignReview(ISPDR) didnot addressany cages,and less power-greedyCPUs(which integratedtruss that does not require hardwarescars,softwarehooks,or other exist) should be consideredfor growback onorbit assembly is a sound step. However, provisions neededto supportadvanced before MTCas neededscars for the future. maintenanceand repair of truss members automationevolution,nordid itaddress As a third example,advancedautomation must still be provided for. roboticsystemsevolution.The restructured might be able to make MTCscience more The collision prediction and avoidance SSFdesigndidnotadd these,of course. productive during untendedperiods. efforts appearto be making progress Advancedautomationis detrimentally Softwarecontrolledswitches wereremoved through the use of robotic simulations. impactedby nothavinga sufficientlyclear in lastfall'sscrubactivity.Thus, ifthere isa The summary ATACassessmentis that user missionstatementof objectivesfor the causesa circuitbreaker neitheradvancedautomation nor U.S. powertransientthat restructured SSF.To a lesserextentthe reset untilthecrew robotics is a major part of the restructured to open,it cannotbe same istruefor robotics.Threeexamples this impactsinvestiga- program. SSFPhas essentially no U.S. arrives.Additionally, willbe discussed. whetherthe correct advancedautomation evenon the ground, tionas to cause and Forthefirst example,additionalattention onthe station. nor adequatedesign accommodations for sparesare available shouldbefocused on the reductionin overallIVAcrewtimeanalysishasyet future migration from the ground for those No functional redundancyasa resultof beenconducted.It iscriticalthatSSFP applicationswhere this makessense.Thus, restructuringto reducepower,weight, conductsuchan analysisto identifythe future evolution to reduceoperations costs sophistication,andcost.Thequestion has of crewoversubscriptionfor is most unlikely due to the lack of adequate problems whichadvancedautomationand/orground 9

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designaccommodationsand program Similarly,studiesand architecture clearthatthe scrubandrelated SSF infrastructure.With thetransferof FTSout designsand demonstrationsfunded by the reconfigurationactivitieshaveindeed of the program, no U.S.-furnishedrobotic LevelI AdvancedDevelopmentProgram abolishedanyshort(or medium)term systemsremainonSSFin contrastto very wereconductedon systemsto perform expectationof advancedautomationand activeCanadianand Japaneseonboard FDIR monitoringandcontrolof critical roboticsevolutionontoSpaceStation spaceroboticsprograms. subsystemsinthe EnvironmentalControl Freedom.The recentrestructuringhas Support System.All designsfor resultedin deletionof muchofthe A&R and Life The UnitodStatesis in jeopardyof FDIRmonitoringof thePotableWaterand contentoftheWP2 program.Fourteen(out losingits capabilityto competewith HygieneWatersystemswerecompletedand of fourteen) LevelIII funded advanced foroigncompntitionin space automation a studywas startingon theair revitalization and robotics. automationsupportingdevelopmenttasks system.Anotherautomationsystemto werecancelledor disconnectedfrom SSFP. monitorand controlthe Power Management Thetotalfundingassociatedwith these14 Assessment of Work Package 1 andDistribution(PMAD)systemis being taskswas about$1 M. It is nowconceded During thisand previousreportingperiods, developedwithparticipationof WP4. These thatSSFis unlikelyto haveadvanced Work Package1 (WP1) continuedstudying applicationsarealsofunded bythe LevelI automationfor the man-tendedcapability thosespecificimplementationsof automa- AdvancedDevelopmentProgram and OAET. phaseor evenfor thepermanentlymanned tionand roboticswhichpromisedto result Theseapplicationsarein jeopardyof being capability phase.Theprogram infrastructure in the greatestbenefitsto SpaceStation descopedandphasedout, primarily supportwillnot exist. capabilityand operationalefficiency.The becauseof reducedand uncertainfunding. The constraintson weight,power,and conclusionsof thesedesignstudieshave Reductionsin scopeto the DMS havemade computationwillseverelylimitthe possibilitendedto providestrongsupportto the theeventualmigrationof thissoftwareto ties ofa retrofit.The spacecraftdesignlacks argumentsfor incorporatingrobotic theflightsystemchallenging,but not manysensorsfor anomalyresolutionand operationsand maintenance,andfor using entirelyimpossible. fault diagnosis.It alsolacksaccommodaautomatedexpertsystemmonitoringof In summary,theMAC now seesno tionsfor evolution(hooksand scars).It is, criticalsubsystems.However,the various advancedautomationand roboticsflight of course,stillpossibleto implement budgetaryscrubsand systemreconfig- hardwareor softwarein theWP1 baseline. advancedautomationin theSSFground urationshavenowessentiallyeliminatedthe Thissituationconflictswith the needfor infrastructure.It isclearthatthis alone possibilityof usingthosetechnologiesin moreautomation to supportscience couldhavea majorimpactonSSFPlifethe WP1 baselineprogram. experimentsduringthe Station's longer cyclecost.MAC urgesthatthis areareceive PresentSSFplanscallfor a Man-Teoded man-tendedperiod. It alsoreflectsa a highpriorityin futureSSFPbudgetsand Configurationcapability.This couldbe a disregardfor minimizinglife-cyclecost,in plans. periodof productiveutilizationof the favor of accommodatingthe immediate Thepre-integratedtrussexercisemay MicrogravityLaboratory,if the experiments needto cutfront-end costs. haveprovidedimprovedopportunitiesfor and processescan be runandmaintained efficientlyin an automatedmodebetween of Work Package 2 accessto ORUswouldappearto be Assessment astronautvisits.Usingan assumedcompleroboticaccommodation.Robotic(and EVA) substantiallyimprovedas wasthe provision The currentperspectiveon WP 2 is not mentof eightmaterials processingpayfor roboticdevicemobility.WP2 progressis dramaticallydifferentfromthat reportedin loads,theWP1 studyshowedthat a general apparentin thedevelopmentof ORU ATACProgressReport11. Modest purposeLaboratoryAssistantRobotwould standards,A&R developmenttools,and progress,acrossthework packagesand improvethe facilityutilizationbymorethan end-to-endsoftwareintegration.Muchof levels,in standardizingaccommodationsfor a factor of 2 over a systemin whicheach this progressreflectsprogram wideactivity the limitedroboticcontentremainingin the experimentwas individuallyautomated.This (as ATAChadrecommended).TheSSFP programhascontinued.Howeverit isnow couldsimultaneouslyresultin significantly lowerlife-cyclecost.That studyhasnow beenterminated,with no planto implement IVAautomation. 0 progressin implementingMAC recommendationsis describedelsewhere.

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Assessment of Work Package 3 significant program as part of SSF.With the considerableamount of advancedsystems reduction of funding andemphasisin the automation and will provide SSFwith a The deletion of the external experiments nuclearpower field, the FTSprogram was highly efficient energy managementsystem attachment capability during the 1989 time frame and removal of the FTSfrom the the only major telerobotic activity in the when implemented. Becausethis system United States.The removal of the FTSfrom interacts with the OMS, the effectsof the SSFPin 1991 has effectively eliminated the SpaceStation Freedom Programcould recent SSFrestructuring (with respectto WP3 from the ATACreview process. significantly delayand/or eliminate this reduction of DMS assets and the SSFability However,the following remarksare offered. technology in the United States. to maintain the integrity of the Electrical ATACseparatelyreviewedand assessed PowerSystem) should be studied. Also, the the FTSprogram status at the contractor's ATACis ofthe opinionthat(1) a longeffect of transferring the automated planton February6, 1991, in addition to term U.S. commitmentto teleroboticsis conducting a review at GSFCat the general functions to the ground should be examined still requiredin the nationalinterest;(2) with regard to resourcesavailableto provide ATACmeeting.Though a little late, the a developmentprojectwith a deliver- this capability. contractor is to be commendedfor initiating able flight system,like FTS, and related SeveralRocketdyneInhouse Research and implementing a major management to technologyprogramsis a viable way and Development (IR&D) expert system reorganizationof the FTSprojectwhich has increasedthe cost effectivenessof the interest;(3) with cost] projects were described which will be to pursuethis benefittradeoffsin mind, thecurrently integrated into the advanced development program activities. The program funding testbed. was also reviewedand the results indicated plannedDTF-1experimentshould WP4 is designing the ElectricalPower that the contractor had not exceededthe proceedunchanged;and (4) as a follow System ORUsfor telerobotic replacement allocated budget by more than 25%; the onto DTF-1, OAETshouldbe encourcompatibility. To accomplish this, they overrun was partially due to a changein the agedto implementan intelligent solicited the Mission Utilization Team (MU'I') program requirementsand a lack of teleroboticsflight developmentproject program specifications.Theimpact of the at GSFCto perform graphic simulations to with deliveryand applicationon SSFor decision to transfer the FTSprogram out of determine the feasibility of servicing the anotherNASAflight program. integrated electricalassembly (lEA). In the SSFPinto OAETcould not be assessed at the time of this ATACreview. addition, a comprehensivetest program was Assessment of Work Package 4 The reasonsfor having a long-term implementedin the Robotics Lab at GSFCto Thereis considerablework going on at the examinethe mechanicaland human factors national commitment to Automation and Lewis ResearchCenterwith regardto the issuesassociatedwith IEA-ORUexchange. Robotics remain relevant (i.e. long-term ElectricalPowerSystem Testbed.This Such parametersas attachment mechaproductivity and financial leverage).These testbed is primarily usedto evaluatepower nisms, alignment guides,visual cues,end benefits require a long-term national distribution andcontrol schemes.It also effectorsand tools, operator skill levels,and commitment to A&R technology.The U.S. provides a basis for evaluatingautomation timelines wereexamined.The results of applicationsof telerobotics to the Space techniquesfor later use on SSF.However, these activities should be folded into the Station Freedomare now on the verge of there did not seemto be a direct link back to ORUflight designs, operationaltimelines, disintegration and collapse.The require- SSFfor eventualadaptationof these tools and endeffectors, and robot performents for U.S.assembly, servicing,or techniques. repair of U.S.assets'in space are plannedto mance requirements. In addition,the data With regard to the ElectricalPower accruedfrom these tests should be included be satisfied by foreign technologyfrom the System Automationon SSF,a four-tiered in the robotic systems integration stan- Japanese,Canadians,and Europeans. energymanagementsystem had been dards, modified for operationwith the TheJapaneseand Europeanshave definedprior to restructuring whichinvolves currently baselinedCanadianSPDM, which establisheddevelopment programs for automationof power system operational replacesthe Frs. intelligent robots for terrestrial and space control, system protection, and systems applications,and Canadahas establisheda status monitoring. This representsa

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Assessment of Canadian Space Center, and theirsupportingfacilities increasedthroughthe incorporation of with eventualmigrationto onboard relativelysimplestructuredautomationand Station Program A&R applicationsto ensureIncreased robotics.An exampleof thiscouldbe in the ATACfor thefirst time receiveda reviewof form of devicesthatchangeout samplesin productivityand reducedoverall theA&R statusofthe CanadianSpace operationscosts. Station Program.The CanadianSpace SSFRobotics ATACrecommendsthatSSFPpriorto StationProgramhasestablishedan A&R Ground-Based materialprocessingexperiments. CDRevaluate onboardautomationand programwhichincludesthe developmentof Teleoperation.The Fisher-Pdcestudy the needfor heavyuse of IVA in robotics specificallyneededto permit advancedA&Rtechnology,applicationof results in advancedA&R in space,andthe transferof the support of robotic EVAoperations. operationof desiredscienceexperithe technologyto the privatesector.Results Indicationsarethat such IVAresourceswill ments duringthe unmannedperiodsof ofthis reviewarepresentedin AppendixC, be in short supply, consideringthe scrub the Man-TendedConfigurationphase, "CanadianSpaceStation Program A&R." impact to onboard housekeepingautoma- and implementan advancedA&Rplan tion. Currentlytechnologiesare not as appropriate,to enhanceMTCscience The ATACperceptionis that Canadahas validated to ensurethat such robotic establisheda significantA&R program productivityand utilization. systems can be safelyoperatedfrom the with a high probabilityof accomplishing resourceconstraints are SSFDexterousRobots.A robotic standards ground. If IVA all of itsobjectives. uncoveredlater in the SSFdevelopment documenthas beengenerated.Thisis be inadequatetime excellentandshouldbeimplementedby the program, there will availableto accomplish the technology workpackagecontractors.Eventhoughit New A&R Issues developmentand testbed demonstrationsto appearsthe FTShasbeeneliminatedfrom allow robotic remotegroundoperations. the SpaceStationProgram,the SPDM is a Ground-Based SSF Science, SSFrobotics teleoperation capableroboticdevicethat shouldbeused Ground-based Operations, and Maintenance may havebecome more important dueto to theextentpractical,in particularfor the increasedduration of the MTC un- dexterousrobotictasks. space station ControlCantorand Payload CenterAutomation.It appearsthatvirtually manned phases. all controlfunctionsfor the SpaceStation ATACrecommendsthat SSFPdevelop ATACrecommendsthat SSFPdevelop and implementa plan priorto CDRfor systemsin the restructuredprogramwill and implementa plan priorto CDRfor integrationof dexterousrobots intothe residein the SSCC.Bycarefullyplanningfor demonstrationsandflight onboardSSFoperations,maintenance, tostbod and incorporatingexistingautomation to determinethe feasibility and scienceactivities. experiments technologies,considerablelong-termcost benefitsmay beobtainable.Considedogthis for operationof the SSFrobotic systems A&R Evolution in theformativestagesof the SSCCwould from the groundto performstation resultin lowercostthanif thesetechnolo- maintenance. gieswereaddedat a latertime. In addition, TechnologyTransferand Implementation. Currently, NASAexperiencesa significant Onboard SSF Science, Operations, gap betweentechnologydevelopmentand the increasedcapabilitiesand reducedcosts wouldbeobtainablewith implementationof and Maintenance advancedA&R in theSpaceStationPayload implementationofthetechnologyintoan operationalenvironment.Somesuccesses scienceProductivity.In thescheduleon canbefound,butthesetend to bethe Center. the restructured SSFP,there is a longperiod exceptioninsteadofthe norm. ATACrecommendsthat SSFPdevelop (3 years) that the SpaceStation will be man- The Reportof theAdvisoryCommittee and Implementa plan priorto CDRto tended. Thescience productivityduringthe (Chairedby NormAugustine)onthe Future includeadvancedautomationfunctions unmannedphasescould be greatly ofthe U.S.SpaceProgramstates"there isa inthe Space StationControlCenter (SSCC),the SpaceStationPayload widelyheldopinionthat althoughNASA

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continuesto do excellentresearch,bothin In contrast,the contractordevelopment isa more positiveindicatorof interest. itsCentersand in its affiliateduniversities, or IR&D organizationscancome forward ATACis alsoawarethat the technology with proposals which may also be just as Centersand researchersmust be more the resultsofthework are not being efficientlytransferredintoapplications." inadequateinitially, but haveaccessto all sensitiveto program needsand schedules. Althoughit is recognizedthatprogram the capability of the funded side of their Finally,MAC suggests that some form managersmustmoveforwardon a companies. If theycandemonstrate a of incentive program must be developedfor schedulecommensuratewith a limited capabilitywhich reducescost or increases the contractor community so they will be budget,it appearsthat NASAprogramstend reliability,thesecontractorproposals are receptiveto technology developedfrom to totallylockout advancedtechnology brought forward through the prime contract. within the Agency.At the present time there opportunitiesthat are not broughtforward If the proposalis unsuccessful,the contrac- is no particular reasonfor contractors to by anyoneotherthan a primecontractor. tor writes off the loss as a business support NASAtechnology, especially if it TheAgencyhasinvestedconsiderable expense;if successful, NASApays an might reducetheir award fee. amountsof manpowerand dollarresources incentivebonusfor a good ideaand then MAC recommendsthat SSFPstrengthen in testbedactivitiesat all of the NASA pays to developthe concept into an Centers.Thesetestbedsreceivedactive operationalentity. cooperationbetweenthe technologyand ATAC'sconcern is how to achievethe programmatic(user) sides ofthe supportduringthe PhaseA and B feasibility appropriatelevelof parity in the inhouse Agency,and providethe SSFAdvanced anddefinitionphasesof theSSFProgram. However,thesetestbedsseemto have technologyside of the Agency so that it has DevelopmentProgramwith a funding suffereda disproportionateshareof the an equal opportunity to competewith the level commensuratewith that required budgetreductionactivitiesof the pastyear. contractor community. ATAC believesthat to transferand implement advanced Yet,it is thesetestbedsand theAgency many of the characteristicsandfeatures of A&R technologiesintoSSF operational inhouseexpertisetheyfosterthatwill be the SpaceStation are a direct result of environments. requiredfor assessmentand recommended concepts and techniquesdevelopedin both technology and operational Centertestbeds FlightTeleroboticServicer.The decisionto correctiveactionswhen problemsoccurlate formative period of the remove the FTSfrom the SSFPand place it in the developmentandverificationcycleof during the early Station. However,the flow of ideasfrom in OAETas a research and technology theprogram. these testbeds has virtually ceasedduring program should be carefully planned.MAC A more disturbingperceptionis one in the past 3-4 years. Couldit be that the loss feels the FTSshould be developed(perhaps whichthe inhousetechnologysideof the of this inhouse support and thought process on a relaxedschedule),and the SSFshould AgencyisvirtuallydiscouragedbySSFP has playeda larger role than recognizedin be designedto be compatible with it and projectmanagersfrom makingrecommenthe problems which haveplagued the SSF able to incorporate it in a useful role at a dationsto the program.Currently,for since the beginning of the PhaseC period? later date.This is important for retaining a inhousetechnologycontributionsto the Program managersmust openly U.S.robotic capabilityas part of the SSFP. programto occur,thetechnologydevelopencourageinput from the technology Considerationshould also be given to mentmustbecarriedforwardindependently Centersby stating areasof concern.If the utilizing the FTSor its technologiesin other bythetechnologyorganizationsof the solution requiressome form of flight NASA Programs (for example,EOS). Agencywith minimumto noencouragementfrom the programmaticorganizations demonstration,the programs need to MAC recommendsthat SSP encourage of the Agency.This putsthe burdenfor provide some assurancesto the technology DAETto implement an intelligent initial,andsometimesadditional,flight Centersthat their conceptswill be considteleroboticflight developmentproject qualificationon technologydeveloperswho ered if technology funds are expendedfor like FTS and to conductFTSflight do not haveadequateinsightintoprogram the flight demonstrations. Joint cost sharing requirements.The resultisoftentotal inadequacyto sufficientlycarry a proposal to a satisfactoryconclusion. experimentson SSF and/orSTSwhich will permit evolutionof U.S. dexterous robotsontoSpaceStationFreedom. "13

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SSFLife-Cycle Costs.ATAChasbeen example).ATACfeelsit is ATACrecommendsthat the SSFPutilize Program are an concernedaboutlife-cyclecostsfor many imperativethat life-cycle costs be consid- a standardizedprocedureto assesslifeyears.ATACalso recognizesthe extreme ered.This can be done in some cases cyclecostsacrossthe SpaceStation budgetpressureson thenearterm develop- through modest investments in the design FreedomProgramresulting from the mentphase.However,largelife-cyclecosts and developmentphaseto ensurethat the currentrestructuringactivityand the canbe veryburdensometo NASA(thelarge introduction of automationand robotics is reduction of onboardadvancedA&R operationalcostsonthe SpaceShuttle not precludedat a later date. technologies.

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ATACProgressReport 12 Recommendations SSF Science, Recommendation IV: Ground-Based Operations,and Maintenance Recommendation I: SSF Dexterous Robots. "Developand implementa planpriorto CDR for integration of dexterous robots intothe Space Station ControlCenter and onboard SSFscience, operations, and Payload Center Automation. maintenanceactivities." "Developandimplement a plan prior to CDR to includeadvancedautomationfunctions in the SpaceStation Control Center (SSCC), A&R Evolution the SpaceStation PayloadCenter,and their Recommendation V: Technology supporting facilities with eventualmigration Transfer and Implementation. to onboard applicationsto ensure increased productivity and reducedoverall operations "Strengthen cooperationbetweenthe costs." technology and programmatic (user) sides of the Agency,and provide the SSF AdvancedDevelopmentProgram with a Recommendation Ii: Ground-Based SSF Robotics Teleoperation. "Developand implement a plan prior to CDRfor testbed demonstrationsand flight experimentsto determinethe feasibility funding level commensuratewith that required to transfer and implement advancedA&R technologies into SSFoperational environments." operation of the SSFrobotic systems Recommendation Vh for from the ground to perform station maintenance." OnboardSSFScience, Operations, and Maintenance Recommendation i!1: Science Productivity. Flight Telerobotic Servicer (FTS). "EncourageOAETto implement an intelligent telerobotic flight developmentproject like FTSandto conduct FTSflight experiments on SSFand/or STSwhich will permit evolution of U.S. dexterous robots onto SpaceStation Freedom." Recommendation VII: "Prior to CDRevaluateonboard automation Life-Cycle Costs. and robotics specificallyneededto permit operationof desired scienceexperiments during the unmanned periodsof the Man- "Utilize a standardizedprocedureto assess the life-cycle costs across the SpaceStation FreedomProgram resulting from the TendedConfiguration phase,and implement current restructuring activity and the an advancedA&Rplan as appropriate,to reduction of onboard advancedA&R enhanceMTCscienceproductivity and utilization." technologies." : 15

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References 1. NASA.1985. AdvancingAutomationand Roboticsfor theSpaceStation andfor the U.S.Economy,March1985, NASATM 87566. 2. NASA.1985. AdvancingAutomationand Roboticsfor the SpaceStation andfor the U.S. Economy,ProgressReport1, April-September1985, NASA TM 87772. 3. NASA.1986. AdvancingAutomalk_ and Roboticsfor theSpaceStation andfor the U.S. Economy,ProgressRepect2, October1985-March1986, NASATM 88785. 4. NASA.1986. AdvancingAutomationand Roboticsfor theSpaceStation andfor the U.S.Economy,ProgressReport3, April-September,1986, NASATM 89190. 5. NASA.1987. AdvancingAutomationand Roboticsfor theSpaceStation andfor the U.S.Economy,ProgressReport4, October1986-May 15, 1987, NASATM 89811. 6. NASA.1987. AdvancingAutomationandRoboticsfor the SpaceStation andfor theU.S. Economy,ProgressReport5, May 16 - September1987, NASATM 100777. 7. NASA.1988. AdvancingAutomationand Roboticsfor theSpaceStation andfor theU.S. Economy,ProgressReport6, October 1987-March 1988, NASATM 100989. 8. NASA.1988. AdvancingAutomationand Roboticsfor the SpaceStation andfor the U.S. Economy,ProgressReport7, April1988-September1988, NASATM 101691. 9. NASA.1989. AdvancingAutomationand Roboticsfor theSpaceStation andfor the U.S.Economy,ProgressReport8, October 1988-March 1989, NASATM 101561. 10. NASA.1990.AdvancingAutomationandRoboticsfor the SpaceStation andfor the U.S.Economy,ProgressReport9, March1989-July1990, NASATM 101647. 11. NASA.1990. AdvancingAutomationand Roboticsfor the SpaceStation andfor the U.S.Economy,ProgressReport10, July13, 1989to February 14, 1990, NASATM 102668. 12. NASA.1990. AdvancingAutomationand Roboticsfor theSpaceStation andfor the U.S.Economy,ProgressReport11, February14, 1990 to August23, 1990, NASATM 102872.

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AppendixA ATACProgress Report 7, Appendix8, SpaceStationFreedom "Overall Plan for ApplyingA&R to the Space Station and for Advancing A&R Technol- ProgramA&RProgress ogy." Additional information can be found in ATACProgress Report 8, AppendixA, "OSS The SpaceStation FreedomProgram A&R Progress," and ATACProgress (SSFP)policy for A&R reflects a commit- Reports9, 10, and 11, AppendixA. The ment to applyA&R technologiesto the Advanced Programs activity is managedby design, development,and operation of the the Level I SpaceStation Engineering baselineSpaceStation. A&R applications organization and involvesall the NASA will be utilized when found to be appropriate centersand SSFPwork packages. within the context of the overall system TheAdvanced DevelopmentProgram design, when found to havea favorable enhancesbaselineStation capabilitiesand, cost-to-benefit ratio, and wherethe enabling in the future, will enableStation evolutionin technology is sufficiently mature.The support of advancedmissions (e.g., the program recognizesA&R technologies SpaceExploration Initiative missions). experiencerapid change,exhibit varying Specifically,the program tasks are targeted levels of technology readiness,and have to improve the productivity and reliability of unique requirementsfor successful flight and ground systems, reduce operaintegration with conventionaldesign tions and sustaining engineeringcosts, and approachesand system engineering overcomeobsolescenceby providing a methodologies.Consequently,an important flexible, upgradablesystem. Products of the component of SSFPA&R policy is the AdvancedDevelopmentProgram which provision for design accommodationsand underpin these objectives include engineermature technologieswhich permit the ing fidelity demonstrations and evaluations programto fully capitalizeon A&R advances on SpaceStation developmenttestbeds, occurring during the developmentand design accommodations which permit evolution of SpaceStation Freedom.Lastly, insertion of new applications and/or for all program phases,the program intends maturing technology into Station flight and to leveragethe significant momentum in ground systems, and the associatedtools A&R researchand technology development requiredto develop and support advanced within other government,industrial, and technology applications, especiallyin the academicinitiatives. A&R area. Progress has been madeby the SSFPin Currently,the majority of the Advanced eachof the aboveareasand will be de- DevelopmentProgram's FY91budgetof scribed in the following sections. $6.9M is dedicatedto A&R applications and technology development.Nineteentasks are A&R ProgressWithin the Level I divided between Flight and GroundSystem Automation ($2.6M), SpaceStation Advanced Development Program Information Systems($2.4M), Advanced TheAdvancedDevelopmentPrograms Software Engineering($1.3M), and activity at Level I is divided into two major TeleroboticSystems Technology($530K). components, Evolution Studies and Thirteen of the tasks are leveragedby joint Advanced Development.A detailedoverview funding from the Office of Aeronautics, of Advanced Programswas provided in Exploration and Technology (OAET),the SpaceTransportation System Program, the

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U.S.Air Force(USAF),and the Defense In theFlightand GroundSystemsarea, later migrate those functions backto space. AdvancedResearchProjectsAgency advancedautomationapplicationsare being Themost significant accomplishments (DARPA).The jointfunding adds$7.4M to developedfor Power Managementand during this reporting period follow. the tasksand enablestheAdvanced Distribution(PMAD)and Environmental PMADFDIRapplication and user DevelopmentProgram to haveconsiderably ControlandLife-Support System(ECLSS) interfacesoftware on the Marshall Space greaterimpactwithinthe Stationprogram at WorkPackage1,the ThermalControl Flight Center (MSFC)PMADtestbed has than itsfunding levelwouldindicate.Also System (TCS)andapplicationsfor the been linked with the Lewis ResearchCenter worthyof noteis thesignificantparticipation MissionControlCenter(MCC)and Space (LeRC) PowerManagementand Control of workpackagecontractorswithinthe Station Control Center(SSCC)at Work (PMAC)testbed. The first successful test of AdvancedDevelopmentProgram. Several Package2, PowerManagementandControl this linkagedemonstrated the ability for havefocused theirown internalIndependent (PMAC)at WorkPackage4, and aSpacelab MSFCto scheduleload, LeRCto issue a Research& Developmentfunding to scientificexperiment.The applicationsfocus power reduction warning, and MSFCto addresscomplimentaryobjectiveswith the heavilyon FaultDetection,Isolation,and automatically shedall low priority loads. It is AdvancedDevelopmentProgram.Thisjoint Reconfiguration(FDIR)and providea range planned to continue linked testbed demonfunding and coordinationsignificantly of supportin systemstatusmonitoring, strations to further integrate power generaaugmentsthe amountof resourcesdevoted sating,and reconfiguration.Allarea mix of tion andpower distribution automation. to buildingSSFA&R applicationsand conventionaland Knowledge-BasedSystem Additional Human-Systeminterface facilitating the technologytransitionto the (KBS)techniquesandeachprovidesa improvements havebeen reviewedand baselinestation. powerfuluserinterfaceto supportinteracdocumentedon the PMADtestbed. DuringFY91,the continuingresolution tionsin anadvisorymode.Theprimary ECLSSwork on a potablewater quality processalloweddistributionof$1.8M in benefitsof theseapplicationsareimproved monitor prototype continuesby using input OctoberandNovemberof 1990. Continued systemmonitoring,enhancedfault detec- from a high-fidelity simulation. Prototypes fundinghasbeendelayedpursuantto tionand isolationcapabilities,and increased of the HygieneWater System and Vapor decisionsbasedon the currentSSF productivityfor SSFmissioncontrol CompressionDistillation subsystemshave restructuringactivity.It is expectedthat the personneland crewmembers.Increased beenfacilitated by using other KBSdevelopremainingFY91funding authoritywillbe systemreliabilityviathe detectionand ment tools. This prototype activity will finalized in February1991, andthatfunding preventionof incipientfailures,reducedIVA continuein FY91and will be demonstrated will be distributedin one or two increments. maintenancetime,and bettermonitoring on the ECLSStestbedat MSFC. The resultofthis programexercisehas with fewersensorsare alsoaddedbenefits The RTDShasbeen selectedasthe beennumerousscheduleslipsandconse- of advancedFDIRtechniques. developmentmigration path for the MCC quent uncertaintyin continuingtasksin the Thesetasksprovidean understandingof Upgradeand potentiallyfor SSCC.Recently LevelI AdvancedDevelopmentProgram.At the designaccommodationsrequiredto the Flight Director Wind Monitor system this time, giventhetransitionof the FTS supportadvancedautomation(e.g., was operatedby Flight Directors during from OSFto OAET,it isuncertainhow instrumentation,interfaces,control STS-41,STS-38, and STS-35. In addition, TeleroboticsTechnologywill beaddressed redundancy,etc.)and identifyKBSimple- new DataAcquisition Status and Control in the restructuredSSFProgram.Asa mentationissues(e.g., in.tegrationof KBS ExpertSystemswill soon be on-line in the result,it is expectedthatthe Level I and conventionalalgorithmictechniques; Shuttle MCC.Thetechnologies deployedin AdvancedDevelopmentProgramwill processing;datastorage,communication the MCCinclude bit-mapped color graphics, continueto fund the currentTelerobotics requirements,and softwaredevelopment, real-time telemetry-drivenvisualizations Technologytasks,whiledevelopingan FTS testing,and maintenanceprocedures) (schematics,three-dimensionalgraphics, transitionplanand an assessmentof the requiredfor KBSdevelopmentandsupport. flight instrument emulation), rule-basedand roleof roboticsin the restructuredstation. Asmoreand morefunctions are scrubbed model based expert systemsfor monitoring, to a groundimplementation,the valueand FDIR,and task automation, and software importanceof thesetasksincrease,for they developmenttools which permit the end providethe necessaryR&Dfoundation to user (i.e., the Mission Controller) to developground-basedcapabilitiesand to personally developthe application software required for his or her position. RTDS

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applicationshavebeendevelopedforthe this task will be usedto influencedesign other user interfaceoriented issues.A future followingconsolepositions:Communica- requirementsfor SpaceStation Freedom STSDro is scheduledfor S,rS-43 to tions, Main Engine Monitoring, Guidance, laboratory experimentinterfacesto ensure perform further evaluations,with eventual Navigation& Control, MechanicalSystems that analogouscapabilitiesare provided tests on a system more closely resembling an SSFDMS environment. (Tire Pressure,PayloadBayDoors), the during MTCand at PMC. RemoteManipulator System, and the In the SpaceStation Information In AdvancedSoftware Engineering, EmergencyMission Control Center.All Systemsarea,advanceddata management environments and architecturesare being these applicationshavemade a positive applicationsand the computer and network pursued which support the design, developarchitectures requiredto enable them are ment, and maintenanceof SSFPadvanced impact on MCCoperations by providing monitoring and fault detectioncapabilities being addressed.Applicationsand technolo- automation applications. Tasks include well beyond those availablein the main- gies for the SpaceStation Operations developingand evaluatingAdacrossframe computer. Additionally,the RTDS ManagementSystem (OMS) and the compilers for existing KBStools, and hardwareand software architecture permits onboard Data ManagementSystem (DMS) benchmarkingtheir performanceusing less expensiveand faster insertion of new are under development.Strategic support- operationaladvancedautomation protoapplicationsand technology into the MCC. ing technologyissues are being addressed types; creating toolkits which support the The successof RTDSwill significantly for computerand network functionality and reuse of design information; and developing influencethe design and architecture of performance.The most significant accom- and demonstrating verification, validation, both the MCC Upgradeand the SSCC.RTDS plishments during this reporting period testing, and maintenancetools and techis a joint developmentof OAET,STS,and follow. niquesfor flight and ground software. The SSFadvanceddevelopment. The DMS Evolution ArchitecturesStudy most significant accomplishmentsduring was published.A number of important this reporting period follow. A prototype KBSexperimentprotocol issues wereaddressed regarding DMS A final report was published evaluating managerhas been developedat Ames ResearchCenter(ARC) andthe Massachu- growth options with emphasison existing two prototype Ada-based KBSprogramming setts Institute of Technology(MIT) for a and proposed uni- and multiprocessors; tools. One prototype is dedved from a Spacelab-basedvestibular physiology network, protocol and connectivity options; commercial product while the other is and system managementsoftware.Tests developedinternally by NASA.Eachwas experiment (manifestedon SLS-1 and SLSand evaluationsdefining requirementsand evaluatedusing existing KBSapplications. 2). This prototype demonstratedthat KBS interfacespecifications (hardwareand Results indicatedthat KBS applicationscan techniquescan significantly improve an astronaut's ability to perform in-flight software) for high performancefault tolerant be developedin Adaand still retain their scienceand provides protocol flexibility, multiprocessors capableof numeric and efficiencyand effectiveness.Detaileddesign detectionof interesting phenomena, symbolic computation are currently being requirementsfor transitioning tools to improved user interfacefor experiment performed.An evaluation of baselineDMS support KBSapplication developmentwithin control, real-time data acquisition, monitor- performanceand recommendedgrowth and the Software Support Environment(SSE) ing, and onboard trouble shooting of evolution options will be reported annually. were collected. Theseprogramming tools experimentequipment.The system, known Continuing benchmarkevaluationsare being allow developmentof advanced automation asthe Astronaut Scientific Associate,was communicatedto cognizantSSFPand applicationsin the language baselinedfor ground tested in the SpacelabBaselineData contractor managementand staff. flight system software. CollectionFacility in preparationfor, andwill An evaluationof DMS system interface SSFis expectedto require significantly be usedin support of, the SLS-1 mission on options and computer hardwareand large amounts of application and support STS-40.The prototype system will be flown software interfaces is currently being software to operate. As a result, there will be and used in-flight on SLS-2 on STS-63. supported by a set of STS Development large demandsfor training operations staff Crew membersand the experiment's `rest Objective(DTO)tasks. Recently,an and crew. Current training approaches STS DTOon STS-41using a Macintosh involve cumbersomeoverheadfor schedul- Principal Investigatorare actively involved in the developmentand evaluation.Results of portableevaluatedcursor control hardware, ing computer simulations and staff. use of on-line manuals,word processing, managementof diskettes, and a number of

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OperatorControlledMachineVision Level II A&R Progress IntelligentComputerAidedTraining(ICAT) technologyimprovestrainingby reducing (OCMV)softwarehasbeen developedgiving Presentationswereprovidedto the ATACby theoverheadinvolvedin settingup training thelocaloperatorthe capabilityto helpa Level II managementandworkinglevel environmentsand schedulingclassesand telerobotinterpretdatafrom remotevision personnelconcerningLevel 11progressin simulations.In addition,ICATtechnology sensorsand planappropriatecollisionfree Automationand Robotics.Divisionmanagcanbe usedas an"anytime you needit" motion.With OCMV,operatorscanuse ersfrom theLevel II SystemEngineering capabilityfor on-linetraining.Recently, severalscreencursorsto overlaygraphic Officeand AvionicsSystems Officeprovided ICATtechnologyhasbeentransferredto the edgesand verticeson a videoobjectand briefingsonLevelII A&R organization, MOD orbitdesignsection,McDonnell then matchthatobjectto a CADmodel.By IntegratedSystems PreliminaryDesign DouglasSpaceSystems Company(MDSSC) installingsharedcontrolsoftwareat the Review(ISPDR)baseline,and recommen- WP2, andJSC IRM computeroperations. remotesiteand controllingthe Martin dations from the recent program restructur- Currently,MDSSCisdevelopingan ICAT MariettamanipulatorsthroughtheOCMV ingactivity. applicationto supportthe SSFThermal interfaceat JPL,thetask willagainoperate LevelII hasaddedan additionalfull-time Control System at WP2. manipulatorsin a NASREM-baseddevelop- civilservantto the Roboticsarea.The TelemboticSystemsTechnologyfocuses mentenvironmentwhileperforming FTS CanadianMobileServicingSystem(MSS) onthe reductionof IVA teleoperationtime DTF-liketasksin the presenceof reaitime program continuesto behandledbythe for dexterousroboticstasksandthe delayovergreatdistances.Thisactivity otherfull timecivilservantin theSystem eventualprovision of a ground-based surpassesthe 1989 successfuloperationof EngineeringOffice.TheSpaceStation operationmodefor Station roboticsystems. the KennedySpaceCenterprototype robotic Engineeringand IntegrationContractor Advancedteleroboticsreducesan operator's inspectionsystemundertimedelaywhich (SSEIC)and an SSEICsubcontractor, Ocean workloadbyallowingrobotcontrolof fine simulatedground-to-spacerobotoperation. Systems Engineering,provide additional parameters(suchasforce exertedagainsta RecentOCMVtestsat JPLhavedemon- robotic systems support by adding another surface)whiletheoperatordirectsthe task. stratedthehands-onreplanningofa six individuals. With improvedsensing,planningand detailedmaintenancetaskin 6 minutes, Restructuring has resulted in the reasoning,and displays and controls, indicatingthatthis technologyhaspotential recommendationto transfer the Flight simple tasks like unobstructed inspections for allowingveryproductive ground-remote- TeleroboticServicerto OAETand usethe and translations may be accomplished by teleoperationof SSFrobots. CanadianSpecialPurposeDexterous ground-based _perators in the presenceof Accomplishmentswiththe Collision Manipulator (SPDM) and Extravehicular significant communications time delay. AvoidanceSensingSkin taskat Goddard Activity (EVA)for dexterousexternal Such ground-remote operations free the on- includesuccessfullytestinga singleelement maintenancetasks in the initial phasesof orbit crew from routine, repetitive,and sensorbuiltfrom materialsalreadyspace the program. The CanadianMSS would also boring maintenancetasks whenever qualified andflown;reducinga single be simplified to eliminate Mobile Transpossible.The most significant accomplish- sensorelementto 6.4 mm widthand0.8 porter rotationandplane changecapabilities ments duringthis reportingperiodfollow. mm standoff.The sensor(see FigureA1) and to providefor MSStranslation on a Sharedcontrolsoftware algorithms that hasalsobeendemonstratedto avoid simplified rail systemas opposedto permit simultaneous human and computer- objectsapproachingwithin0.3 metersof a translation by stepping from one set of node generatedcontrol havebeen developedand Puma robot.This"capaciflector"technology pins to another. demonstratedunder the NASREMinterface hassuccessfullypassedtestsfor EMI and OnorbitAdvancedAutomation provisions standardson the JPL Telerobotics Testbed. thermalconstraints.BothProgramofficials havebeenimpactedby the 1990 Turbo User Macro Interfacetechnology has been andthe FTSprime contractorhaveformally Teamdecisionsand byprogram restructurtransferred from JPL to GSFC.This reviewedthecapaciflectorsensorskinand ing recommendations.Boththe numberof technology facilitates the incorporation of recommendedit beusedas a primary StandardDataProcessors(SDP) and sharedcontroland force reflection technol- collisionavoidancesystemfor the FTSand sensorsavailableon orbithavedecreased. ogy into the GSFCtestbed, and eventual all SSFtelerobots.A studyhasbeeninitiated Recommendedrestructuringof the Data transition to Martin Marietta. for potentialapplicationsto all SSFexternal ManagementSystem(DMS) will result in ORUsandpayloads. sixSDPsinthe core systemwith twoof

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The statusof roboticsystemcollision crewtime requiredto performIVA maintetheseSDPsrunning"hot." Thisrecommendedprogramrestructuringhas avoidancerequirementswas alsopresented. nanceand thecrewtime requiredto support requirementswere roboticsystemoperationsand EVA. impactedthecapabilityofthe baseline CollisionAvoidance stationto supportonorbitapplicationsof summarizedas direct(cupola)and indirect Assemblyandoperationsdemandsarenot advancedautomationand robotics.The (camera)viewsfor crewcontrolof collision currentlyprojectedor estimmledusing reductionof SDPsanddistributedsensors free robotic systemoperations.Backup EMTTmethods.The EMTTstudyencomwas necessaHto remainwithinpower systemsfor onorbitautomatedcollision passedexternalmaintenance(EVNrobotic) resourceaflocations.Asa result,many predictionandwarningand ground-bau4 demand Asw= ml functions are beingmovedto theground. co sk fru pathpW nOwWbe resourceswillbomimmmlby means Initially,the programwill automate meritedconsistentwith availableresources. as a functtoflof the cr_ t_ alkcaion functionsinthe groundsystem.Sensorsare Programactivityinthe areaof integrated process. beinglocatedto supportautomationby roboticsystemsimulationswas presented closingthe looponthe ground.Thus,add- bySSEIC.SSEICis responsiblefor non-real WorkPackageI A&R Progress backofSDPslaterin the programto time simulationofthe MuttibodyInteractive Witha plannedminimum30-yearoperasupportonorbitadvancedautomation DynamicsofArms andSpacecraft(MIDAS). tionallifetime,significantlylargeamountsof remainsa possibility. Migrationof auto- SSEICisdevelopingthe simulationbased SpaceStation Freedomdesignknowledge matedfunctions from the groundto orbit on attitudecontrolsystemmodelssupplied and experienceconcerningthedifferent will occurconsistentwith availableprogram from JSC/MDSSC/HoneywelI,SSRMS subsystemsand componentsare, andwill funding and onorbitrequirements. simulationdatato be providedfrom CSN continueto begenerated.Tradestudies, The developmentstatusof engineering SPAR,and structuraldynamicmodels alternativedesigns,configurationsimuladesignstandardsfor roboticsystem developedbySSEICengineers. tions,and prototypesystemswill be interfaceswaspresented.Roboticinterface Programstatusin theareaof external commissionedand conductedto producea classesbeingaddressedareshownin maintenancedemandsandassociatedEVA/ issueswere flowof knowledgeand experiencethrough- FigureA2.Significant progresshasbeen IrA resourceallocation outthe wholespectrumof engineeringand madein thisareasinceATACreport#11. presented.The ExternalMaintenance scientificdisciplines.Tocaptureand hold TheCanadianProgram "H handle,"micro- SolutionsTeam(EMST) activity(follow-on availablethe manysolution/optionsets ORU,and visualtarget havebeenselected to EMTT)hasrecommendedincorporating generatedfrom this work,DesignKnowlas programstandardsfor all"box-type" mostrecommendationsofthe EMTr. In edgeCapture(DKC)hasbecomeevenmore ORUs.Thisselectionwas madethroughthe addition,program andproject-levelonorbit criticalwithintheSSFprogram. RoboticSystems IntegrationStandards maintenancemanagershavebeenap- To supportthe DKCrequirementsof (RSIS) InterfaceDesignReview(IDR) pointed andan In-flightMaintenance(IFM) WP1, severaltoolsarecurrentlybeing activity.Thisactivitywillcontinueto select WorkingGrouphasbeenestablishedasa developed.Thesearethe DesignAlternastandarddesigninterfacesbetweenbox programlevelforumfor bothexternaland tives/RationaleTool (DART),Environmental type ORUsandthe station.(Referto written internalmaintenanceissues.Restructuring Controland Life-SupportSystem (ECLSS) responseto ATACReport#11, Recommen- efforts,partioularlyin the intensivePre- Simulator, ModuleRackIntegration dationI, for additionalinformation.) IntegratedTruss(PIT) teamactivity,has Analysisand OptimizationTool,Packaging The statusof a DexterousTaskIdentifi- considered"maintenancefriendly"design Manager(PACKMAN)andAutomated cation Study was alsopresented.Thistask as a priorityissue.A studyto project demandwill be Logistics ElementPlanning System will identifyanddocumentin the PDRD,a internalmaintenance (ALEPS).Thoughfunding for theseefforts listof dexteroustasks whichcanand should conductedusingthe samemethodologies hasbeencurtailed,progresshasbeen bedesignedfor roboticsystemcompatibil- employedbythe EMSTand thePIT design made. ity.Thesetaskswill berequiredto comply teamsto projectexternalmaintenance Two toolscurrentlyprovidesupportto with the requirementsof RSIS,VolumeI, demand.IVAdemandwill includeboththe WP1 designcaptureefforts.Theseare the whichestablishesrequirementsfor robotic MacQuinas(BAEtradestudyrationale)and systemcompatibletask design.

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NASADART.The DARTin particularcollects manipulation are identified, these hooks and Boeing IndependentResearchand designknowledgefrom all work packages scars may be defined.Thispreliminary Developmentseeksto increasecrew intoa standardformat. It is a descendantof design willtake place ina prioritized fashion effectivenessandproductivity by using MacQuinas,and isintendedto collectdata so that the most beneficialautomation automation and robotic systems. Restrucfor incorporationintothe Level II TMIS applicationsmay be addressedfirst. turing is resulting in a longer Man-Tended system. Hooksand scarsfor robotics applica- phaseof SSF(a duration of 3 years). This tions allow inclusion of IVA robotics during extendedMan-Tendedphasepresentsa ModuleRackIntegration(and optimization)AnalysisTool modelsthe layoutof SSF evolutionarygrowth, or at whatever point in goldenopportunity for scientificuseofthe modules,includingresourcesandcon- time the life-cycle cost and operations/ microgravity environment. Advanced straints,in orderto givetheuseroperational logistics needswarrant their use. The move automationand IVA robotics can be applied efficiency,coordination,and requirement toward a longer Man-Tendedphase,and the to increaseexperiment utilizationduring this complianceinformation.The software resulting reduction in crewhours available phase. Particularlysuitableto robotics systemhasbeendevelopedusingcommer- for test and maintenance,createsa greater application are materialstransfer and cial off-the-shelfsoftware.Datahasbeen opportunity for IVArobotics to handle packaging,experimentloading and unloadstoredviaExceland is currentlybeing scheduled and non-scheduledcritical ing, limited remote operation of lab ported to Oracle.The objecttemplatesand maintenance.Hooksand scars basedon equipment,and remote maintenance rackintegrationknowledgeisstoredin a standard IVA crew designswill smooth the inspection.Afterthe PermanentlyManned commercialexpertsystemshellwiththe transition to IVA robotics while minimizing Capabilitymilestone is reached,crewtime pointJclickgraphicaluserinterfacesup- interferenceto crewoperations.Use of will continue to be in great demand.The ported byHypercard. advancedmanipulators, dexterousend Man-Tendedphasecan be used as a period ECLSSAdvancedSimulation includes six effectors, and knowledge-basedcontrol to prove the capabilitiesof advanced major subsystemswhich work together to systems will allow use of "gentler" hooks embeddedautomationand robotics and to provide a safeworking environmentfor the and scars. AsBoeingpreparesits Robotics verify both the low levelof risk and encrew. The ECLSSsimulation of ORU level Plan,the RSlS standardsas well as the hancedstation operationalcapabilities models are currently complete,with work recommendationsof the ATACwill be expectedfrom robotics application prior to begun on air revitalization.Color capability incorporated. the permanentlymannedphase. has been addedto this tool. WP1 has supportedand continues to A system has been developedfor Automated LogisticsElementPlanning support the RSISefforts to establish automatedfault detection, isolation, and Systemcombinesobject oriented program- interfacestandards. In particular,the Robot- recoveryfor selectedcomponents of the to-ORU standardsrecently proposed H- SSFEnvironmentalControl and Lifeming, knowledge-basedsearch,and advancedoptimization techniquesto allow Handleconfiguration was reviewed by WPI. Support System. A dexterousthree-fingered automated preparation of a packing plan. Boeingdesign teams havebeen continu- robotic gripper using force feedbackcontrol This system being developedin LISP is ously updatedwithRSlS statusandinputs is being integrated with the robotic currentlyplanned to be convertedto Ada. from other work packages,and contact/ workspace.The presentfocus integratesthe A plan has beenestablishedto provide dialog with other work packagesand automatedcomponents for planning and for hooks and scars to allow future up- contractors hasbeen encouraged.Recent replanning,simulation, execution,and grades to SSFin automation androbotics effort has been in the Logistics areas,with diagnosis.This integration takes placein a capabilities.Software hooks andhardware interfacebetweenSSRMSand logistics testbedmockup of a common module scars accompaniedwithinterfacespecifica- carriers of prime interest. providing an environmentfor exhibiting tions are necessaryto accommodatethe baselineSSFwith enhancedautomation growth potential. Oncecandidateapplications for automation and potential robotic housekeeping,maintenance,and payload operations. Results Driven Design (RDD) system is a computer aidedengineeringsoftwaretool adoptedby Boeingto replace RT2as a method to automate(generateand

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simulate)via a graphicalhierarchy,in a Sincethe last ATACmeeting,three submitted to support the ATACmeeting and sequentialandfunctional manner, the activitieshave impactedthe program's A&R a new A&R plan will be submitted 90 days developmentof system specificationsfrom content: ResourceScrub, Pre-lntegrated prior to project critical design review.The client requirements.Thissystem provides Truss, and Restructuring.The first two had last three A&R reports haveaddressedall minimal impact, but Restructuringmay applicableATACrecommendations. and maintains traceability to customer and derived requirementsand is alreadyproving deferthe program's Assembly Complete Two planned onboard AI applications to be an asset in reducing manpower (AC)which couldhavea significant effect. were reported at the ATACmeeting.The neededto ensure requirementsare satisfied. The PIT activity resulted in better robotic software scrub movedthe functionality of RDDwill deliver completeand tested accommodation in terms of access and one, a medical expert system, to the system requirementsto SSFdesign robotic devicemobility. ground. Thesecond, an onboard fault engineerswhile providing a tool to enhance Pre-lntegratedtruss conceptsfor ORU managementfunction using parsed sets, is configuration control. This tool is currently accessibility are shown in FigureA3. JSC is being evaluatedfor inclusion in the new being used to developthe specifications for now working with the Canadiansto ensure softwarearchitecture'sIntegratedStation IVA robotics concurrently with researchand that WP20RUs are compatiblewith the Executive(ISE). The Level I Advanced developmentefforts. SPDM and EVAastronauts. DevelopmentProgram fund Thermal TheWP2prime contractor's A&R group Control System automation task is proceed- Work Package 2 A&R Progress was organizedsimilarly to the JSC organiza- ing on schedule,and will be deployedon the tion. Threemain groups are managedwithin ground initially in the EngineeringSupport Thefollowing paragraphsdescribe the systems engineeringand integration:A&R Center.This task leveragesprevious work in organizationfor automationand robotics analysis,A&R development,and A&R the Thermal Expert System (TEXSYS) being developedwithinWork Package2 at integration.While there is no strong project.The lessonslearned are particularly both JSC and MDSSCunder internal contractualobligation or requirementfor applicableconsideringthe currently funding and the prime contract. These A&R, the prime contractor has been baselinedmechanically pumped thermal activitiesare couched in terms of the overall working to ensurethat the high mainte- bus is similar to that used in TEXSYS.The effect of restructuring on the SpaceStation nanceexternalORUsare robotically DMS system managementAI demonstration in general,and automation and robotics in compatible.A defined processfor evaluation has evolvedfrom being an A&R prototyping particular. of robotic compatibility has also been activity to being a useful componentof the SpaceStation A&R is centered in the developed.Thefirst step is the Robotic ORU Fault Detection,Isolation, and Recovery Project Integration Office of the Space Assembly and Maintenance(ROAM) design process. Station Projects Office.This office is provides a preliminary The DMS and software are still in the methodologywhich responsiblefor defining requirementsfor assessmentof an ORU'srobotic compatibil- processof being restructured so definite A&R while the actual implementation is ity. Computersimulations and 1-g testing statementsof contentand capability are done by the various system and element are usedfor verification of robot friendly currently not possible. The SSEhas no organizations. Engineeringmanagement design concepts.These robot and EVA known plan to support A&R development, support from the institution comes from the astronaut compatibledesign concepts have but LevelI through AdvancedDevelopment A&R division's chief scientist who is also been documentedand includedin the EVN funding is maintaining activities to develop the FunctionalArea Manager(FAM)for Robotics DesignStandards (EVARDS). such capabilities.The restructuring has had A&R. Support for integration of the Dueto the PIT activity, the mobile an impacton the plannedcapabilitiesof the Canadianrobotics elementswith Work transporter no longer requires planechange SpaceStation Control Center,sliding many Package2's mobile transporter is provided and rotation capability, so the astronaut advancedcapabilitiesinto the future. by both the project office and the institution. positioning system is no longer neededand In a recent institutional reorganization,JSC FTSaccommodationshave beendeleted. Work Package 3 A&R Progress formed an A&R division with four branches: Subcontractorand A&R activities have been IntelligentSystems, Flight Robotic Systems, SeeAppendix B,"Flight Telerobotic greatly reduced.An A&R report was Robotic SystemsTechnology, and Space Servicer,"for automationandrobotics SystemsAutomated Integration and progress in WP3. Assembly Facility (SSAIAF). !i ;!;!:i:i:i:i_ii:i_i:i:!:i:!:!:i:ii:i:i:i?i:i_i !:!:!:!:i:i::!! : i :!:!:iili_i::_ :_??_i:!:!:?i ii!:i:i:iii:iiiii:i:i:iii:?iiii!ii!:i:iii:i_i!:_ii!i:!:i:i:!:i:i:i 23

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Work Package 4 A&R Progress computingto producean optimumsched- cooperativeproblemsolvingbetweenpower SpaceStationFreedorn'selectricalpower ule.Softwaremoduleshavebeenproduced supplierand consumer.A simpleautomated systemprovidesthe necessarypowerto for numerouspayloads,electricpower, transactioninvolvingcurtailmentof power thermal,life support,navigation,andcrew to the modulehasbeendemonstrated. operatestationsubsystemsandpayloads. Usingautomationreducesthe human systems.Experimentshavebeenconducted Futuredemonstrationswill increasethe interventionrequiredfor dailymaintenance to evaluatepricingstrategiesand value transactioncomplexityto identifydesign andmonitoring of the powersystemand structuresrequiredduringthe biddingfor requirementsfor cooperatingexpert willsubsequentlyincreasecrewproductiv- resources.A prototype scheduler,using systems. manyof theseconceptsbut runningon a Roboticsrequirementsfocus on ORU ity.The LevelI AdvancedDevelopment Programactivitiesat WP4 aredescribedin singleprocessor,hasbeendevelopedby teleroboticmaintenancecapabilitiesto the followingmaterial. DSA,Inc., andevaluated.Many of the minimize EVAtimefor onorbitmaintenance The APEXandTROUBLEIII diagnostics featuresof thisprototype havebeen (seeTableA1).Standardtelerobotic expertsystemsare beingintegratedintoa incorporatedintothedistributedscheduler interfacesareprovided to facilitate remote singlesystem.The bestfeaturesof both design.The schedulingsystemwillbe used assembly,removaland replacementof designsare beingcombinedto produceone to automateloadmanagementonboardthe ORUs.Robotcompatibleinterfacesand systemfor the entirepowermanagement spacecraft. operationsare beingtestedand evaluatedin and controlfunction.Failuredetectionrules Advancedautomationproductsarebeing collaborationwith GSFC,JSC, CSA/SPAR, integratedintothe Lewis PowerSystem Martin Marietta,and RockwellInternational. comefromthe APEXsystemwhilegeneral failureknowledgeis takenfrom TROUBLE Testbed.Severaldifferentoptionsfor Testand evaluationmethodsinclude II1.Failurehypothesisgenerationand communicatingamongexpertsystems, computersimulations(GSFC,JSC,CSA/ probablefailurecauseidentificationarea theirdevelopmentenvironments,andthe SPAR),1-g remotemanipulatortests(JSC), testbedcomputersystemshaveshownthe 1-g dexterousmanipulatortests(GSFC, blendof the techniquesfrom bothsystems. needfor botha standardandcustomized MartinMarietta),neutralbuoyancytests The powersystemfailure detectionknowlnetworkinterface.Basicdesignsfor these (JSC,MSFC),and developmenttestflights. edgehasbeenexpandedandthe integration, verification,and validationof the interfaceshavebeencompleted,and their Recently,the 1-g dexterousmanipulator diagnosticfeaturescontinue. developmentis underway.Procurements testsweresuccessfullycompletedat Automatedresourceschedulingwork havebeeninitiatedfor distributedcomput- Goddard.ThesetestsinvestigatedORU hasproduceda designarchitecturethat ing softwarethatwillfacilitatethe message replacementtimes, evaluatedalignment identifiesrolesand responsibilitiesfor passinginvolvedwhenintegratingthese features,verifiedpropermeshingof radiant suppliersand consumersonboardthe expertsystems. heatexchangerfins, determinedoptimum The MarshallCommon ModulePower cameraviews,andvalidatedthe procedures spacecraft.A hierarchicalpartitioningof Testbedhasbeenlinkedwitha 20kHZ Lewis usedbyteleroboticoperators. Fromthis authoritypermitsbargainingamong PowerSystemTestbedto demonstrate experiment,completeteleroboticchangeout resourceconsumersand resourcesuppliers of a powersystemORUusingFTSand undertheguidanceof a free-market SSRMSwasestimatedat 50 minutes. coordinator.Thisconceptusesdistributed

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O_IGINAL PAGE BLACK AI_4D WHITE PHOTOGRAPN Figure A 1. Collisionavoidancesensing skin attached to Pumarobot arm for testing. Robot Robot-to-SSF (Group 2A) FigureA2. Robotic interface classesbeing addressed by SSFPRSISactivity Robot-to-end effector u EE/Tool '/ (Group 1A) o.uI /Y_//// ORU-to-station (Group 1 B)

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Utility Distribution System Standard ORU Rack FigureA3. Pre-lntegratedTrussconceptsfor ORUaccessibility. Table A1. WP40RU TELEROBOTICREPLACEMENTCANDIDATES. EXTERNALORU QUANTITY LOCATION BatterySubassembly 48 lEA BCDU 24 lEA DCSU 8 lEA DDCU-IEA 8 lEA PVCU 8 lEA PVCableS=.t 4 lEA lEA 4 lEA lEATransitionStruc Set 4 lEA Pump 8 lEA CableTray 8 lEA CableBox 16 lEA Radiator Assembly 4 lEA Mobile Transporter Rails Direction of Flight REPLACEMENTOPTIONS MSC/SSRMS/FTS MSC/SSRMS/FTS MSC/SSRMS/FTS MSC/SSRMS/FTS MSC/SSRMS/FTS EVAwith MSC/SSRMS/FTS EVAwith MSC/SSRMS EVAwith MSC/SSRMS MSC/SSRMS/FTS TBD MSC/SSRMS/FTS EVAwith MSC/SSRMS MBSU 4 PMADPallet MSC/SSRMS/FTS DDCU 32 Pallet& Modules MSC/SSRMS/FTS RPCM TBD ITAPallets MSC/SSRMSETS PMADCableSet 2 ITA EVAwith MSC/SSRMS/FTS SolarArrayWing EVAwith MSC/SSRMS/FTS DeployableMast & Cann 8 PVBlanket& Box 16 SolarArrayWing EVAwith MSC/SSRMS/FTS SSU 8 BetaGimbal MSC/SSRMS/FTS Bearing/Gear 8 BetaGimbal EVA Roll Ring Subassembly 8 BetaGimbal EVA DriveMotorSubassembly 8 BetaGimbal MSC/SSRMS/FrS Gimbal MSC/SSRMS/RS ElectronicsControlUnit 8 Beta PlatformSubassembly 8 Gimbal EVAwith MSC/SSRMS/FTS Beta BetaGimbalAssembly 8 Gimbal EVAwith MSC/SSRMS/FTS Beta BGATransitionStrucSet 8 BetaGimbal EVAwith MSC/SSRMS/FTS 26

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AppendixB delivery to KennedySpaceCenterof May FlightTeleroboticServicer Progress Introduction Servicer (FTS)has developmentprocess continued to uncover The FlightTelerobotic 1992,with launch in December1992. The schedulewas consideredoptimistic but achievablewith the proposed budgetand was agreedto by the FTSIJrimecontractor, Martin Marietta Astronautics Group.The continued to progress technicallywhile and then solve technical problems in many programmatically reactingto its changing areas. Most of these were minor and role in the SpaceStation Freedom(SSF) consideredtypical of a researchand Program and within NASA. Many technical developmentprogram; however,two of problems havebeen resolved and consider- them should be highlighted. able progress has beenmade on Develop- Manipulator controls simulations ment Test Flight (DTF-1).Thefirst Flight indicated stability problems due to a wide TeleroboticServicer industrial briefing took range of contract complianceconditions in placein December1990 and was well the task hardware. For DTF-1,the solution attended.Informative presentationswere to this problem is gain scheduling that tunes contractorand all major the system to the environmental stiffness. made by the prime subcontractors.Also, major strides were TheOrbiter safety requirementsprovide made in integrating the FTSwith the SSF a major challengefor the spacetelerobotics architecture prior to the decision to redirect designer. A computer controlledmanipula- FTSas an Office of Aeronautics, Exploration tor system must bewatchedby an indepenand Technology(OAET)technology dent computersystem in order to provide program. an effectiveinhibitor to certain hazards, The transfer of FTSfrom the Officeof such as joint runaway.Thesafety rules SpaceFlight (OSF)to the OAEThas created require that there be a non-computer inhibit the needto developa new program plan to eachhazard.Additionally, the DTF-1 beyondDTF-1and a new schedulefor design requiresthat some fault tolerance DTF-1completion, consistent with projected valuebe assignedto processors in which a funding profiles beyondFY91. An effort to smart failure can causea hazard. (A smart contractaccordingly failure is one in which a computerpromodify the FTS prime is under way. cesses bad data to make it look good and simultaneously processes good commands to generatebad instructions.) Thespace Development Test Flight Progress and weight limits do not allow for multiple The DTF-1mission was replannedfollowing independentcomputers at eachjoint to successful completion of the system level avoid this problem. Critical Design Review(CDR)in October 1990. This producedan expecteddatefor _ :!if: i ¸ : ::i::::i ¸¸¸¸¸¸ _ ::! ! !!i 27

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The safetypanelat JohnsonSpace OpenOrbiterintegrationissuescontinue Ob/ectives Center(JSC)hasdedicatedconsiderable to be resolvedand documented.The Thereare severalspecificgoalsfor timeto understandingthe DTF-1designand PayloadIntegrationPlan(PIP) was telerobotics.Thefirst isto reducedepentreatingtheseissuesin a comprehensive, baselinedin July1990 and revision1 was denceon crewExtravehicularActivity (EVA). objectivemanner.It appearsthatadded issuedin January1991. Presentlythe PIP is FTScanaccomplishthisbyaddingflexibility analysisandathoroughsoftwarevalidation undergoinga reviewand incorporating to assemblyflightsand byhelpingto meet program willsatisfythe intentof thesafety additionalchangerequests.All PIPannexes onorbitmaintenancerequirements.Another rules.The payloadsof the SSFerawill werereviewedat GoddardSpaceFlight goalis to enhancecrewutilizationand requiregenericguidelinesfor systemdesign Centerandforwarded to JSC;an updateto improvecrewsafety.Still anothergoalisto and implementationas thistype of complex theflightoperationssupportannexis providea primarymethodfor performance computerizedmechanicaldevicebecomes expectedin thelastquarter of 1991. The of high risk tasks, such as moving large more prevalent.The DTF-1payloadforms payload-uniqueand middeckInterface objects, handling hazardousfluids, being an excellenttest casedueto itsgeometric Control Documents(ICDs)werepublished exposedto energy releasefrom deployable limitsin the payload bayand its simple for reviewinOctober 1990. BothICDswill or pre-loadeditems, working in locations removabletask hardware.The safetyreview bebaselinedin April1991. Thephase2 with a possible focus of solar energy, and processthusfar hasbeenextremely safetyreviewisscheduledfor May 1991. doing long duration tasks. Thesetasks were valuablein ensuringthatITS hasa safe, An analysisof the DTF-1scheduleshows targetedfor SSF,but are basicallygeneric reliablecontrolarchitecture. two criticalpathsto meetcurrentpayload for most space applications. bayelementplans.The primarycriticalpath Telerobotictechnology transfer can be followsthe designand productionof motor achievedby outreach programs, industrial Mission Content and Status controllerboards,theirinstallationin the briefings, publication of papers,and DTF-1deliverablesaretheflight system,a shouldercontroller,andthesubsequent conferencessuch as NASATechnology trainer,a simulatorand a mockup. Figure assemblyof the manipulator.The secondary 2000. FigureB2 shows possibilities for B1 illustratestheseelements.Theflight criticalpathfollowsthealternatecontrolunit utilization of the technology developedby systemconsistsof a payloadbayelement design,assemblyandtests.Thesetwo the ITS Project. and anaft flightdeckelementreadyfor pathsconvergefor systemintegrationand The FTSProject had two Orbiter-based integrationwiththe Orbiter.The traineris a test at the endof September1991. test flights scheduled.Although the current form,fit, andfu,lctionversionof theflight contractual requirement for DTF-1is systemdesignedto preparethe flightcrew Flight Telerobotic Servicer December1992, the flight is expectedto to accomplishmissiontasks. The simulator occur in 1993. Thecurrent contractual meetsthe requirementsfor real-time Program Overview requirementfor the DTF-2is June 1994. kinematicsimulation,task scenario Thefollowingsummaryofthe originalFTS Figure B3 illustrates the planned progresdevelopment,crewtrainingand joint- Program,as approvedfor SSFin December sion from the test flights to the FTS integratedsimulationsupport.TheDTF-1 1986, is provided as a baselinefrom which operationalconfiguration. mockupisWeightlessEnvironmentTraining to formulatea newprogramplanconsistent Facility(WETF)compatible.All DTF-1 withNASAobjectivesandfunding. The deliverablesincorporateresultsfrom the original(priorto OAETtransfer)ITS CDR. Programhadtwo objectives.Thefirst was to developa teleroboticsystemfor SSF.The secondwasto providerobotictechnology transferto UnitedStatesindustry.

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Development Test Flight Thereare severalunresolved issues installation of a connector. Evolution plans TheDTF-1mission objectives are to concerning the DTF-2and FTSdesigns. also include developmentof techniquesto evaluatethedesign approachof the FTS They fall into the areasof controls, safety, add structure to the worksite, such as manipulatorand theworkstation, to packaging,thermal design, mobility, navigationalaids and parts identification correlate system performanceinzero manipulator kinematics,human-machine markings. interface, and evolution. Controls issues gravity with ground simulation and analyses, to evaluatethe human-machine include force reflection (around-the-loop- Space Station Freedom Integration interfaceand operatorfatigue, to demon- timing), contact stability, and impedance compliance).The safety and Restructuring stratetelerobot potential capabilities,and to control (active verify elementsof FTStasks. DTF-1 concern is two-fault tolerance using During the last5 months of 1990, therewas contains advancedrobot control technolo- computer inhibits. Packagingissuesinclude an emphasison assembly tasks sanctioned gies. As such, it is a pathfinder in manned the manipulator internal harness design (flat for FTSaccomplishment on SSF.These spaceflight robotic safety. Thecomplex cable)and the joint controller boards tasks are described in ATACProgess Report robot is controlled from the Orbiter worksta- (surfacemount technology). In thermal 11. The task selectionswere basedupon tion. It featuresforce feedbackto the design,the issue is whether to use passive mission timing predictions, non-interference operator in zero gravity. Although DTF-1has surfacecoatings or heat pipes. Themobility with crew EVA,availability of intravehicular just one manipulator, the dexterous issue consists of the number of degreesof activity crew support, and ability for end-tomanipulator technology hasdirect applica- freedom in the ASPSvs. required stiffness. end performance during a single session. tion to all FTSoptions for onorbit tasks. The manipulator kinematicsissue is the Eachtask was subjected to detailed Figure B4 shows the DTF-1configuration. wrist configuration. The human-machine evaluation in the following areas:detailed interfaceconcern is the interleaving of scripts, interface assessments,computer teleoperationand autonomous capabilities. aided design simulations, subtask analyses, Flight Telerobotic Servicer Evolution issuesare datasystem architec- orbital replaceableunit hardwaretesting, Technical Approach ture, and reservecomputethroughput and and validation plans. A task evaluationplan memory. containing this material was producedfor The technology integration required for FTS implementationwill advancerobotic state FTShasthe capability to evolve.The eachtask. An overalltask evaluationreport basic system hasattributes that can support was published.All sanctionedtasks were of-the-art. FTScombines technologiesfrom both teleoperationandautonomous control. found to be well within the capabilityof the existing nuclear,underseaand manufactur- It has designed-incapabilitiesfor increased FTS. ing robotic systems into a singlesystem autonomousoperation as technology While the sanctionedtask evaluations that must be reliable during spaceflight and advances.Evolutionplans include the were being completed,the SSFrestructuralso responsiveto SSFassemblyand maintenanceneeds. An operational introduction of supervisedautonomy. Under ing exercisestook place. In supporting supervisedautonomy,the operator per- theseexercises,the role of FTSon a telerobotic system with the required FTS forms imageprocessing and real-time capabilitieshas never beenbuilt. planning,while the robot, when properly positioned,performs a subtask. Examples of suitable subtasksare removal of a bolt or

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Conclusion restructuredSSFwas examined.Alternative mobility in transport to the worksite, FTSdesignapproacheswereanalyzed.New stabilizationat the worksite,andpower,data TheFTSProgram progressestoward designsrelieduponthe maximumuseof and video supplied to the worksite. At the completion of the DTF-1mission while in validatedtechnologies,suchas DTF-1,for conclusionof the SSFrestructuring transition to a role in developmentof flight dexterousrobots,with an emphasison the exercises,however,planned SSFrobotics telerobotic technology. DTF-1will provide a perceivedneedsof SSFduringits30-year no longer includedFTS,FTSutility ports, or basic qualifiedset of hardwarethat canbe life.The mostpromisingsuggesteddesigns FTSaccommodations. used as a flying testbedto evaluateimassumedFTSperformanceindependentof otherroboticsystems.Theyalsoassumed thatFTScouldmeet itsrequirementsfor provements and additions to this technology. Utilization of telerobotics in future space missions will become a low risk option as onorbit experiencegrows.

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•/ Flight Simulator 1- FigureB1.OTF-1deliverables. I ApplicationsIndustrial FTS Prime Contract DTF 1 Preliminary System Mature System Design/Tech Test Mockups I Flight System Assy, / SS ApplicationOTF2Test1994 I Maintenance,SS_SEtc.995_1_ IncreasedSystem EvolutionAutonomy I 1992 & I I T t" .......... I I I Development, Integration and Test Facility I FTS Advanced System Test Bed GFSC t ,,o.s t _ National Institute Industry of Standards & Aerospacei _ JPL I L=RC I Technology Nuclear I NASA/OAETI I Ames J (Formerly NBS) Undersea ! 1 Manufacturing [°::".'r'..J [Industry FigureB2.FTSdevelopmentand technologyutilization. Q Advanced Technology _ OPS_ _ Anomalies r Ground-Based FTS GFSC Advanced Hardware t and Software I Software DevelopmentETS I Fac.lty I GSFC I 31

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DTF-1 Development Test Flight (1992) DTF-2 _ Technology Design I_ Hardware Demonstration Test Flight (1994) _ • " _ I I _ " _ RgureB3.RightTeleroboticServicermissionflow. • Advanced Robot Control Technologies Control of complex Robot from Orbiter Workstation RgureB4.DTF-1configuration. 2 I Operational Configuration (1995) • Pathfinder in Manned Space Flight Robotic Safety Force feedback to operator in zero gravity

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AppendixC SPDM,toolsandtwo Payload/ORU CanadianSpaceStation Accommodation(POA)systemsfor holding andtransportingOrbital ReplacementUnits ProgramA&R (ORU)andpayloads.The MBS alsoincludes an interfacefor the FlightTelerobotic Canadais responsiblefor the development Servicer(R'S). and constructionof the onlycurrently TheSSRMSisfunctionally similarto the operationalspace telerobot,the Shuttle ShuttleRMS but hasincreasedreachand RemoteManipulator System (SRMS). loadcapability. The SSRMS isa redundant Canada'srole under the SpaceStation systemwith 7 degrees-of-freedom.The InternationalAgreementis the development mostuniquefeatureof theSSRMSis that and operation of the Mobile Servicing bothendsareidenticaland eitherendcan System (MSS). The objectives of the act as the baseor the tip. Eitherend CanadianSpaceStation Programinclude thereforecan becoupledand operatedfrom the developmentand operationof the MSS, any Power DataGrappleFixture(PDGF)on participation in the operation and utilization the MBS or anyotherlocationon the Space of SpaceStation Freedom,and the genera- Station.Thisallowsthesystemto include tion and spinoff of technology development, self-relocatabilityby moving from onePDGF primarily in A&R. to anotherlikean inchworm. Themajor hardwareelementsof the TheSPDMcanmountandoperatefrom MSS are the Mobile ServicingCenterwhich any PDGFonSpaceStation,the MBS or the is the responsibility of Canada,and the endofthe SSRMSas showninthe figure. mobile transporter (MT) which is United The SPDM includestwo identical7-degree- Statessupplied. The MT allows linear of-freedomarmswhichare mountedon a motion along the Station.The MT was bodywith an additional4 degrees-ofremovedas part of the SpaceStation freedom. The systemincludesstereo,wrist Restructuring; however,transport function and body"IVcameras,a tool changeout along one side of the RestructuredSSFcan mechanismat eachwrist,andtool storage. be supplied using the Crew and Equipment The MSS hasbeenassigneda role in a TranslationAid (CETA). numberof SpaceStationfunctionsinclud- TheMobile Servicing Center(MSC) ingassembly,externalmaintenance, shown in figure C1 is composedof three payloadservicing,payloaddeployment, major components: the Mobile Remote retrieval,transportation,and handling.The Servicer BaseSystem (MBS), the Space SPDMwill providethe dexterouscapabili- Station RemoteManipulator System tiesrequiredto accomplish thesefunctions. (SSRMS),and the Special PurposeDexter- SPDMfunctions includeinspectionand ous Manipulator (SPDM).The MBS is the monitoring,ORUexchange,utilityconnect mechanicalinterfaceto the U. S.-supplied and disconnect,mateand demateof transporter and also includes the power, connectors,removaland installationof data, andcommunicationsystems for the thermalcoversand blankets,surface MSC.The MBSaccommodatesthe SSRMS, cleaning,andthe positioning oftoolsand materialsto supportEVA. 33

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ToaccomplishtheseSpaceStation Advancedtechnologies currentlybeing A. Todevelopstrategically important functions, the MSS includesan impressive studiedincludean MSS Commandand automation androbotics technologiesfor list of baselineA & R technologies.The Programming Language(MCPL);collision potential incorporation into the MSS over its SSRMSandSPDMwill bothhaveforce and prevention and collision avoidance;and an lifetime by contracting out industry led momentaccommodation,whichallows advancedvision system for possible onorbit research. limitingandthe controlledapplicationof tip implementationandproceduralexpert B. To support national socio-economic forces and moments.Thisforce/torque systems,databases,and planningsystems developmentby directing STEARexpendiinformationis alsodisplayedto theopera- for groundimplementationto supportMSS tures so as to contribute to regional tor. All manipulatorswillhaveclosed-loop operations.The MSS Commandand distribution targets; encouragingnationwide controlusingan artificialvisionfunction ProgrammingLanguageis aflexible diffusion of information and capability allowingautomatictrackingand captureof automationtool basedon a hierarchical regardingthe technologies generatedby markedtargets.The two SPDM manipula- object-orientedworldmodelfor path STEAR;and fostering an environment tors includecoordinatedcontrol,allowing planninganda priorisimulation.MCPLwas conduciveto bringing about industry led the multi-armhandlingand maneuveringof reviewedin February1990 and has been commercializationof technologiesgeneran object.Coordinatedcontrolisalso recommendedfor incorporation.The ated by STEAR. incorporatedfor the SSRMS/SPDM collision prevention systemwhich is also The STEARprogramfunds parallel combination,suchthatthe operatorcan recommendedfor incorporation is a model- feasibility studies at $100K for 9 months controlthetip andall joint motionsofthe basedsystemfor detectionof potential and approximately half of these result in SSRMSandSPDM.Automatictask collisions of manipulatorsand their proof-of-concept phases of $1.0M over 2 to primitivesfor manipulatormotion,tool environment and for warning the operator. 3 years.This $70.0M program was initiated positioningandactivation,and ORU The collisionavoidancesystem objectives in 1987 and will run through 1998. Approxiremovaland installationareplannedas part include real-timecontrolfor obstacle mately half the funds havebeencommitted of the baselinesystem.A numberof routine avoidanceand planning of collision-free to date.The sevenA & R technology areas functions for systemoperationwillalso be trajectories.The advancedvision system and the funds allocated, including future automatedsuchas systemstartupandshut work is addressing unlabelledobject years, are: down, deploymentand storageand tool identification, shapedetermination, 1. Automation of Operations($6.0M) acquisition. automatic target acquisition, and world 2. Automated PowerManagement TheCanadianprogram includesan model verification and update. ($1.1M) advancedtechnologydevelopmenteffort, Theadvanceddevelopmentsfor ground- 3. Autonomous Robots ($8.1M) with theaim of progressiveevolutionfrom basedsupport of MSS operations includes a 4. EnhancedVision System ($3.3M) teleoperationtowardsautonomousopera- hierarchical multi-media representationof 5. EnhancedManipulator Control tions,to increasethe operationaleffective- all MSS engineeringdataand expert Systems ($3.1M) nessofthe MSS. The program isfocused in systems for failure resolution of MSS 6. Protectionof Materialsin Space selectedareaswith theobjectiveof develop- systems.The planning system element ($3.6M) ing newmodulesor add-on-typeconcepts. objectiveis to developa tool for MSS 7. EnhancedSensors,Tactile ($3.6M) The programis structuredto haveproof-of- operations planning and task analysis. Thesecontracts must be led by industry principle demonstrationsprior to decisionto Canadahasalso establisheda program with the MSS "Industrial Team" excludedto proceedwiththe conceptaspart of the MSS to generateand spin off technology encouragethe growth of small companies designand developmentprogram. developmentin A&R.This program, which and the inclusion of universities and is similar to the U. S. Small Business research labs. Innovative ResearchProgram (SBIR),is calledSTEAR(StrategicTechnologiesin AutomationandRobotics). STEARhastwo interrelatedobjectives:

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The PreliminaryDesignReview(PDR) advanceddevelopmentactivities. A shuttle review.With the removal of the FTSfrom for the MSC is scheduledfor March 1992. flight experimentin 1992 will evaluatethe the Restructured SpaceStation, the role of The RestructuredSpaceStation launch artificial vision system for automated the MSS and particularly the SPDM will dates are March 1996 for the SSRMS and berthing. increasesignificantly. The Canadianshave March 1997 for the SPDM.There are no TheCanadianprogram is an investment undertakena detailedimpact assessment plannedflight tests for the system, just a of $1.2Bto developand construct the MSS. and planning exerciseto address the checkoutphasewhen the equipment arrives The system design, baselinecapabilities, Restructuring issues.The engineering onorbit. They feel this is adequatebecause and advancedprogram elements represent design and the program plan are well of their experiencewith the Shuttle RMS.An significantadvancementin A & R technol- conceivedand managedand the proper SPDM ground testbed is in operation ogy. The exactlevel of capability currently hooks and scarsfor evolution of the system currentlysupporting both baselineand operationalcould not be assessedfrom the are included. Space Station Remote Manipulator System (SSRMS) . ?'_ *US (NASA) SUDDIIed " - figure Cl. MobileServicingCenter / .........................::::......................... 35

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AppendixD Acronyms A&R Automation and Robotics AC Assembly Complete ARC Ames ResearchCenter ATAC AdvancedTechnologyAdvisory Committee AWP Assembly Work Platform C&T Communicationsand Tracking CDR Critical Design Review CETA Crew and EquipmentTranslationAid Code M NASAHQCodefor the Officeof SpaceFlight CodeMT NASAHQCodefor the Officeof SpaceFlight, SpaceStation Engineering CodeR NASAHQCodefor the Officeof Aeronautics,Exploration and Technology CodeS NASAHQCodefor the Officeof SpaceScienceand Applications CR ChangeRequest CSSP CanadianSpaceStation Program DARPA DefenseAdvanced ResearchProjectsAgency DKC DesignKnowledgeCapture DMS DataManagementSystem DTF-1 DevelopmentTest Flight (first FTStest flight) DTLCC Designto Life-CycleCosts ECLSS EnvironmentalControl Life-Support System EMI Electric-MagneticInterference EMST ExternalMaintenanceSolutionsTeam EPS ElectricalPowerSystem EVA ExtravehicularActivity FDIR Fault Detection,Isolation, and Recovery FEL First ElementLaunch FSE Flight Support Equipment FTS Flight TeleroboticServicer GN&C Guidance,Navigation,and Control GSFC GoddardSpaceFlight Center ISE IntegratedStation Executive IDR IntegratedDesign Review IVA IntravehicularActivity JPL Jet Propulsion Laboratory JSC Johnson SpaceCenter KBS Knowledge-BasedSystems KSC KennedySpaceCenter LaRC LangleyResearchCenter LCC Life-CycleCost LeRC Lewis ResearchCenter

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Acronyms---continued MSC MobileServicing Center MSFC MarshallSpaceFlightCenter MTC Man-TendedCapability MUT MissionUtilizationTeam NASA NationalAeronauticsand SpaceAdministration OAET Officeof Aeronautics,ExplorationandTechnology OMS OperationsManagementSystem ORU OperationalReplacementUnit PDR PreliminaryDesignReview PDRD PDR Document PIT Pre-lntegratedTruss PMAD Power Managementand Distribution PMC PermanentlyManned Capability POP Program OperatingPlan RSIS Robotic Systems IntegrationStandards RTDS Real-TimeDataSystem SDP Standard DataProcessor SDTM Station DesignTradeoff Model SPDM Special PurposeDexterousManipulator SSCC SpaceStation Control Center SSE Software Support Environment SSF SpaceStation Freedom SSFP SpaceStation FreedomProgram TCS Thermal Control System TEXSYS Thermal Expert System WETF Weightless EnvironmentalTest Facility WP Work Package 37

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AppendixE NASA Advanced Technology Advisory Committee MembersandAlternates HenryLure,Jr., Chairman,Chief,InformationSciencesDivision, ARC JohnBull,ExecutiveSecretary,ARC EdChevers,AlternateExecutiveSecretary,ARC LeslieHoffman,Administrative Assistant,ARC Henry Plotkin,Assistant Director for DevelopmentProjects, GSFC Stan Ollendorf,Alternate, GSFC GiulioVarsi, Manager,SpaceAutomation and Robotics Program, JPL WayneSchober, Alternate,JPL Jon D. Erickson, Chief Scientist,Automation and Robotics Division, JSC Tom Davis, Chief,AdvancedSystemsand TechnologyOffice, KSC Astfid Heard,Alternate,KSC Alfred Meintel,Jr., Asst. Chief,Information Systems Division, LaRC KelliWillshire,Alternate,LaRC DenisConnolly, DeputyChiefof AppliedResearch,SpaceElectronicsDivision,LeRC JonathanHaussler,ResearchandTechnologyOffice, MSFC LiaisonMembers Gregg Swietek,Managerof SpaceStation AdvancedDevelopmentProgram, HQ/MT Mark Gersh,Alternate,HQ/MT LeeHolcomb,Director,Information Sciencesand HumanFactors Division,HQ/RC Mel Montemerlo,Alternate, HQ/RC G. Roth,AerospaceSafetyAdvisoryPanel JoAnn Clayton,AeronauticsandSpaceEngineeringBoard

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PRECEDING PAGE BLANK NOT FILMED NallO_d Altonlut¢. IM Report Documentation Page _l_aoo Admtntl_rdon I. Report No. 2. Govemment Accession No. 3. Recipient's Catalog No. NASA TM-103851 4. Title and Subtitle 5. Report Date Advancing Automation and Robotics Technology for the Space May 1991 Station Freedom and for the U.S. Economy--Progress Report 12 6. Performing Organization Code 7. Author(s) Advanced Technology Advisory Committee (ATAC) 8. Performing Organization Report No. A-91105 [ATAC Progress Report 12] Henry Lum, Jr., Chairman 10. Work Unit No. 9. Performing Organization Name and Address Advanced Technology Advisory Committee Chairman, Henry Lum, Jr./FI NASA ARC, Moffett Field, CA 94035-1000 12. Sponsoring Agency Name and Address NASA Headquarters ATTN: Earle Huckins/MT Washington, DC 20546-0001 15. Supplementary Notes 476-14-01 11. Contract or Grant No. 13. Type of Report and Period Covered Technical Memorandum 14. Sponsoring Agency Code Point of Contact: Henry Lum, Jr., Ames Research Center, MS 244-7, Moffett Field, CA 94035-1000 (415) 604-6544 or FTS 464-6544 16. Abstract In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. and covers the period August 23, 1990, through This report is the twelfth in a series of progress updates February 14, 1991. The report describes the progress made by Levels I, II, and III of the Office of Space Station in developing and applying advanced automation and robotics technology. Emphasis has been placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 11, the status of the Flight Telerobotic Servicer, and the status of the Advanced Development automation and robotics status of the Canadian 17. Key Words (Suggested by Author(s)) Robotics, Space Station, Automation, Expert systems, Artificial intelligence, Freedom Program. In addition, an assessment is provided of the Space Station Program. 18. Distribution Statement Unclas sifted-Unlimited Subject Category - 59 19. Security Classif. (of this report) 20. Security Classif. (of this page) 21. No. of Pages 22. Pdce Unclassified Unclassified NASA FORM 1626 OCT88 42 A03 For sale by the National Technical Informa6on Service, Springfield, Virginia 22161