National Aeronautics and Space Administration
Small Business Innovation Research 2002 Program Solicitations

TOPIC H5 Space Assembly, Inspection and Maintenance

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H5.01 Automated Rendezvous, Docking and Capture
H5.02 Robotics Assistance, Assembly, Maintenance, and Servicing
H5.03 Non-Destructive Evaluation, Health Monitoring and Life Determination of Aerospace Vehicles/Systems

One goal of the space assembly, inspection and maintenance topic is to enable a much more robust set of options for affordable implementation of ambitious new modular space exploration systems and missions. Another goal is to drive down the cost of human exploration missions and campaigns beyond low Earth orbit. The objectives of this topic include 1) developing and validating technologies for the space assembly of large systems -- including both science mission systems (e.g., observatories) and human operational systems, 2) enabling autonomous and/or tele-presence systems inspection, 3) advancing remote or shared control of these capabilities in near-Earth and interplanetary space, 4) developing and validating the capability to extend the life and reduce the costs if a new generation of space systems through repair, refueling, upgrades and re-use of components from one system to another, 5) minimizing the impact of space system failures by enabling easy access for repair -- thus reducing system-level functional redundancy (and associated costs), 6) enabling a reduction in the total mass launched to orbit for given mission architectures, and 7) establishing a foundation for profitable commercial development of space applications of these technologies in the mid- to far-term. The space program can enrich society by directly enhancing the quality of education. Terrestrial applications of technologies developed for space have saved many lives, made possible medical breakthroughs, created countless jobs, and yielded diverse other tangible benefits for Americans. The further commercial development of space will yield still more jobs, technologies, and capabilities to benefit people the world over in their everyday lives. A goal of NASA is therefore to share the experience, the excitement of discovery, and the benefits of human space flight with all.

H5.01 Automated Rendezvous, Docking and Capture
Lead Center: JSC
Participating Center(s): MSFC

In support of future robotic and human missions, the need for automated rendezvous and docking has been identified. This subtopic addresses hardware and software technologies necessary to develop a robust automated guidance, navigation, and control (GN&C) capability to dock two vehicles from initially large distances (> 1000 kilometers). The "chaser" vehicle will begin the rendezvous after completing orbital insertion. The "target" vehicle may be orbiting for several years prior to the rendezvous. There can be differing levels of cooperativeness, from actively supporting the rendezvous by utilizing powered subsystems to being completely passive, devoid of rendezvous-enhancing retroreflectors.

Because of intended use for future human missions, the rendezvous and docking capability must be low risk ensuring a very high level of mission success. The proposed system should be modular and adaptable to smaller robotic missions in order to validate the technology and spread the investment and experience base. To provide a generalized capability useful for future missions beyond LEO, solutions should not rely on GPS capabilities.

Innovations are sought to solve the following technology challenges:

• Automated techniques for orbit determination of chaser and target spacecraft during the initial phase of rendezvous operations when spacecraft to spacecraft ranges exceed hundreds of kilometers.
• A minimum relative navigation sensor suite addressing spacecraft-to-spacecraft ranges of 100 kilometers through docking, including relative attitude control during the final 100 meters of the approach. Providing capability for circumnavigation of the target at 100 meters is desirable.

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H5.02 Robotics Assistance, Assembly, Maintenance, and Servicing
Lead Center: JSC

Proposals are solicited for innovative concepts that improve robotic capabilities as well as the humans ability to interact with and control robotic systems while minimizing the workload to EVA and IVA astronauts, as well as ground operators.

Robotic Manipulators, End-Effectors, and Joints
Proposals are sought which include improvements to robotic joints, actuators, end-effectors, tools, and mechanisms. Proposals should address issues associated with space compatibility. Specific areas of interest include the following:

• Technologies or systems that provide a reduction to the weight and or volume of robotic systems such as:
  • Reduced scale high power-to-weight ratio actuators including but not limited to magnestostrictive motors and synthetic muscles.
  • Miniaturized actuator control and drive electronics.
  • Miniaturized sensing systems for manipulator position, rate, acceleration, force and torque.

• Robotic systems that accommodate existing EVA tools including but not limited to anthropomorphic systems and multi-fingered dexterous end-effectors.
• Planetary robotic mobility systems and devices; robots will be needed to work with and to transport humans and equipment on a planetary surface. Examples include novel rover drive systems, suspension systems, and manipulator systems.
• Compact low power devices for site setup, operation, and planetary surface exploration. Novel mechanisms are needed to enable human exploration and habitation of planetary bodies. Examples include site clearing and setup devices, equipment deployment devices, sample collection and manipulation devices, and the actuation components for these devices.

Human/Robotic Interface
Proposals that improve operator efficiency via advanced displays, controls and telepresence interfaces and improve the ability of humans and computers to seamlessly control robotic systems are sought. Specific technology requirements include the following:

• Tactile feedback devices that provide operator awareness of contact between work space objects and the robot structure. Key aspects of this technology are ergonomics and safety.
• Force feedback devices that provide operator awareness of manipulator and payload inertia, gripping force, and forces and moments due to contact with external objects. Key aspects of this technology are ergonomics and safety.
• Stereo graphic display systems that provide high-fidelity depth perception, field of view, and high resolution.
• Tracking position and orientation of user appendages (i.e., head, arms, fingers, eyes) for the purpose of providing motion commands to the robot. Key aspects of this technology are to free the operator of any exoskeletons or devices attached to the body which impede or restrict the operator’s movements.
• Innovative miniaturized display hardware for use with Helmet Mounted Display (HMD) systems that project data in a Head Up Display (HUD) format. Emphasis is placed on compact, low mass hardware that can be used with HMD displays and efficiently display data (graphical and alpha-numeric) without detracting from the HMD displayed video.

Intelligent Autonomous Systems

• Artificial intelligence based systems and architectures with provision for crew oversight.

Robotic EVR Systems

Proposals are solicited for innovative concepts which will increase the functionality and robustness of extravehicular robotic (EVR) systems for science and operations. One example of such a robot is an EVA Robotic Assistant for planetary surface exploration. This robot should be able to follow a geologist, carry his tools and samples, provide video documentation of his activities plus real-time video for remote viewing and be commandable via a combination of gesture/voice by the geologist. Innovative concepts in machine vision, as well as in other non-vision forms of sensing and perception, which can provide the necessary input for the robotic system to function under a wide variety of operating conditions are required. Some specific technology needs to enable this EVA Robotic Assistant are:

• Small, low power machine vision systems for tracking a moving, articulated object, such as a geologist exploring a planetary surface on foot. The tracker should not encumber the geologist by requiring him to wear special targets or beacons.
• Aided dead-reckoning and landmark navigation to keep a record, referenced to the terrain, of where the geologist is now and where he has been. Systems which do not require emplacement of external beacons are needed.
• Machine vision techniques for real-time image registration to create mosaics suitable for human viewing are needed. Mosaic construction must take into account camera motion and changes in lighting over extended periods, either several hours of EVA activity or a subsequent return to a previously visited location. This is intended to let the crew back in the habitat see what the geologist sees or to look around as if they were there.

Another example of an EVR is a mobile, remotely controlled video camera platform capable of transmitting video to its operator. For planetary surface exploration this could be a scout intended to locate sites for follow-up EVA. For in-space operations, this could be an AERCam used to provide video views on demand of the exterior of the International Space Station or a future Space Solar Power Satellite to inspect for damage, plan or supervise repair work, etc. Specific technology needs include:

• Supervised and traded control systems which allow for seamless human/robot interaction. The ability to accommodate both planned and unplanned human and autonomous operations within a task is essential.
• Model based landmark navigation to allow a mobile camera platform to find its way around the outside of a large satellite without requiring the addition of expensive external beacons including the ability to update the model of the satellite exterior as it changes.
• Machine vision techniques, including the construction of image mosaics, for detection of unspecified changes in objects being inspected under changing lighting and viewing conditions.
• Virtual reality interfaces that make it practical to operate such a robotic camera platform in close proximity to a large satellite when the operator has the view from the camera platform but no views of the platform.

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H5.03 Non-Destructive Evaluation, Health Monitoring and Life Determination of Aerospace Vehicles/Systems
Lead Center: LaRC
Participating Center(s): ARC, JSC

Innovative and commercially viable concepts are being solicited for the development of resilient space qualified non-destructive evaluation (NDE) and health-monitoring technologies for on-orbit inspection and maintenance of aerospace systems. Advancements in integrated multi-functional sensor systems, autonomous inspection approaches, distributed/embedded sensors, roaming inspectors, and shape adaptive sensors are sought. Concepts in computational models for signal processing and data interpretation to establish quantitative characterization and event determination are also of interest. Evaluation sciences include ultrasonics, laser ultrasonics, optics and fiber optics, shearography, video optics and metrology, thermography, electromagnetics, acoustic emission, X-ray, management of digital NDE data, biomimetic, and nano-scale sensing approaches for structural health monitoring.

Technologies may be applied to:

• Adhesives, sealants, bearings, coatings, glasses, alloys, laminates, monolithics, material blends, weldments;
• Thermal protection systems;
• Complex composite and hybrid structural systems;
• Low density and high temperature materials.

Technologies may be used for:

• Characterizing material properties;
• Assessing effects of defects in materials and structures;
• Evaluation of mass-loss in materials;
• Detecting cracks, porosity, foreign material, inclusions, corrosion, disbonds;
• Detecting cracks under bolts;
• Real time and in situ monitoring, reporting, and damage characterization for structural durability and life prediction;
• Repair certification;
• Environmental sensing;
• Planetary entry aeroshell validation;
• Micro-meteor impact damage assessment;
• Electronic system/wiring integrity assessment;
• Characterization of load environment on a variety of structural materials and geometries including thermal protection systems and bonded configurations;
• Identification of loads exceeding design;
• Monitoring loads for fatigue and preventing overloads;
• Suppression of acoustic loads;
• Early detection of damage;
• In situ monitoring and control of materials processing.

Structural applications to be considered for NDE and health monitoring development include a variety of high stress and hostile aero-thermo-chemical service environments projected for complex structural aero-space vehicle systems. There is additional specific interest in autonomous, non-contacting, remote, rapid, and less geometry sensitive technologies that reduce weight and acquisition costs or improve system sensitivity, stability, and operational costs.

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