To cut the MLI panel, the tip of the WCT blade must be carefully inserted to pierce between the two MLI layers and then be translated horizontally to cut the seam (Figure 11). Since 2001, the 17-metre long Canadarm2 has been helping move equipment, supplies, astronauts, and even spacecraft such as SpaceX’s Dragon capsule around the ISS. RRM is an experiment designed to demonstrate and test the tools, technologies and techniques needed to robotically refuel satellites in space, even satellites not designed to be serviced. Dragon will mark Canadarm2’s third successful capture and docking of a free-flying spacecraft. Dextre maneuvered and aligned the ENT, outfitted with a Quick Disconnect Connector installed on its tip, towards the now bare FDV, threaded the Quick Disconnect onto the FDV and opened the actuation nut using its torquing mechanism. • RRM Fuel Transfer Demo (Session 3): Over 6 full days of robotic activity in January 2013, Dextre successfully completed the third session of operations for RRM (Robotic Refueling Mission) of NASA/GSFC. The ENT then released the valve, leaving the Quick Disconnect behind for future use. The final task of this session was cutting through a taped MLI panel. Handholds and tether points on the exterior of the modules and other equipment make maneuvering safe and easy. As opposed to solely transferring an assembled payload or a replacing a single ORU, this experiment is a modular telescope that would be assembled by Dextre and installed externally on the ISS (Figure 11). The MSS is composed of three separate components: 1) Canadarm2, also known by its technical name, SSRMS (Space Station Remote Manipulator System). - Installing a plug into an open vent port and providing an air-tight seal, - Installing/removing electrical connectors. • RRM Phase 2: Building on the success of the Phase I demo, Dextre’s analysis and operations team is currently gearing-up to support NASA/GSFC’s RRM Phase 2 demonstration commencing on-orbit in early 2014. - Inspections of tubes and difficult to access spaces with new inspection tool. Figure 9: Satellite servicing technique tasks for the Fourth session of RRM Phase 1 (image credit: NASA, MDA). In this landing module, cosmonauts Gennadi Manakov and Gennadi Strekalov returned to Earth in December 1990 after a four-month stay on space station Mir. Figure 13: Planned ORU configuration for JOTI (image credit: MDA). 202-633-2214 Launched to the ISS in 2001, it plays a key role in station assembly and maintenance; it moves equipment and supplies around the station, supports astronauts working in space, and services instruments and other payloads attached to the ISS and is used for external maintenance.

8), Figure 5: Illustration of the NASA designed RRM module (center) and the Dextre robot (left), image credit: NASA 9). Cosmonaut Sergey Ryazanskiy's visor reflects his surroundings outside the International Space Station while he and another cosmonaut retrieved scientific experiments and installed new high definition cameras on the outside of the space station in early 2014. Constant lateral tension of the blade on the tape needed to be maintained to prevent “bunching” of the MLI and force build-up on the blade (which would have resulted in uncoordinated blade motion). Figure 12: WCT opening the MLI flap (image credit: NASA, MDA). Despite the challenges, two screws were successfully acquired and manipulated during the demo. One of the outputs of these tasks will be increased confidence in the ability for dextrous robots with specialized tools and control systems to handle a broad array of servicing activities for unprepared or lightly prepared satellites. This wire-cutting activity is a prerequisite to removing and servicing various satellite parts during any future in-orbit missions. • Dextre is a two-armed robot, or tele-manipulator which is part of the Mobile Servicing System on the ISS, and extends the function of this system to replace some activities otherwise requiring spacewalks. Once the nut was open, commands were sent by GSFC via Marshall Space Flight Center to the RRM to start the fluid transfer process through the tool (Figure 8). Legend to Figure 2: On June 10, 2002, astronauts Peggy A. Whitson, Expedition Five flight engineer, and Carl E. Walz, Expedition Four flight engineer, attached the MBS to the Mobile Transporter on the S0 (S-zero) Truss.

_L�����P]�>O`1b�d�h9���9��vN?����v{Rꇨ�p���9�`��ٶ7fֈ�kb�ic���N-���l���-:,:�4�4cyGCz��Z"��$X8JV@6�t4Щ��n���$+���A���1�A��o�h� �{,�4+X����_�%6���7P��Ò�s��1F0�;(�n�� ��]OY��&:T%�Ҟ�}�"u ���>� H3�~ �W�AT1\ 0 �Qu% endstream endobj 124 0 obj <> endobj 125 0 obj <>/Font<>/ProcSets[/PDF/Text/ImageB/ImageC/ImageI]/XObject<>>>/Rotate 0/StructParents 0/Type/Page>> endobj 126 0 obj <>stream m���VdF���;?����gZ�?o�� Z�J" endstream endobj 127 0 obj <>stream hU��ɼJ��x�x�/^�:uH00�'���N� �v0��������8;�N��{&�`n�=�g_m��;�P��q�GH ]�f�};H�R�/�`P�>&/�J�x�o ) �C��.��~�.����S�惙_ Here it was used to position Stephen Robinson during STS-114. The information compiled and edited in this article was provided by Herbert J. Kramer from his documentation of: ”Observation of the Earth and Its Environment: Survey of Missions and Sensors” (Springer Verlag) as well as many other sources after the publication of the 4th edition in 2002. ���A���PŖ\�������!39�ڽ|�{�[Z��V1i諙�[Ì��Zfl��1�-�Q�&����a� �l���L�H3 satellites with features and interfaces not originally designed for robotic servicing). The overall project success of this current phase of RRM (referred to as Phase I of the RRM project) could only be achieved through a close coordination and strong partnership between programmatic, engineering and operations teams at CSA and MDA, NASA/GSFC, and NASA/JSC. This astronaut's gold-coated EMU visor reflects Space Shuttle Discovery's payload bay and the limb of the Earth during the third Hubble servicing mission in 1999. Debris is always a potential concern for the ISS and its external hardware. • JAXA's JEM/Kibo (Japanese Experiment Module) was installed on the ISS in July 2009, using Canadarm2 (STS-127 assembly flight 2J/A of Endeavour). 1) 2), The SPDM (Special Purpose Dextrous Manipulator) or Dextre, along with the SSRMS (Space Station Remote Manipulator System), also known as Canadarm2, and the MBS (Mobile Base System) forms the Mobile Servicing System, provided by CSA (Canadian Space Agency), representing Canada’s major contribution to the ISS. Figure 11: WCT tool tip cutting the MLI seam (image credit: NASA, MDA). Canadarm2 is a Canadian-made robotic arm located on the International Space Station (ISS) that helped astronauts such as Marc Garneau and Chris Hadfield build the ISS in space. The new tasks in phase 2 will present many of the same challenges that were overcome by Canadarm2 and Dextre, namely fine arm positioning and controlling worksite forces and moments with small tools and interfaces. Figure 2: The MBS is moved by the Canadarm2 for installation on the ISS (image credit: NASA) 6). That is why the transferable techniques demonstrated in the Fourth session are vital for the future of satellite servicing. Figure 14: JPL’s OpTIIX modular components and assembled configuration (image credit: NASA, MDA) 11), 1) “Mobile Servicing System (MSS),” NASA, URL: http://www.nasa.gov/externalflash/ISSRG/pdfs/mss.pdf, 2) “MSS Operation Complex,” CSA, URL: http://www.asc-csa.gc.ca/eng/iss/moc.asp, 3) Lyndsey Poynter, Richard Rembala, P. Andrew Keenan, Andrew Ogilvie, “The Advancement of Robotic Servicing Capabilities through Dextre Utilization and Technology Demonstration on the International Space Station,” Proceedings of the 64th International Astronautical Congress (IAC 2013), Beijing, China, Sept. 23-27, 2013, paper: IAC-13-B3.4-B6.5.6, 4) “Mobile Servicing System,” CSA, URL: http://www.asc-csa.gc.ca/eng/iss/mobile-base/overview.asp, 5) “Canadarm2 and the Mobile Servicing System,” NASA, URL: http://www.nasa.gov/mission_pages/station/structure/elements/mss.html, 6) “STS-111 Shuttle mission imagery,” NASA, June 10, 2002, URL: http://spaceflight.nasa.gov/gallery/images/shuttle/sts-111/hires/s111e5139.jpg, 7) “ISS Elements: Mobile Servicing System (MSS),” URL: http://www.spaceref.com/iss/elements/mss.html, 8) Ken Kremer, “Revolutionary Robotic Refueling Experiment Opens New Research Avenues at Space Station,” Universe Today, July 16, 2011, URL: http://www.universetoday.com/87419/revolutionary-robotic-refueling-experiment-opens-new-research-avenues-at-space-station/, 9) “Robotic Refueling Mission : Image Gallery,” NASA, URL: http://ssco.gsfc.nasa.gov/rrm-gallery.html, 10) “RRM (Robotic Refueling Mission),” NASA, URL: http://ssco.gsfc.nasa.gov/rrm_tools.html, 11) Kenneth G. Carpenter, Shar Etemad, Bernard D. Seery, Harley Thronson, Gary M. Burdick, Dan Coulter, Renaud Goullioud, Joseph J. The app provides an exciting experience marked by. On May 15, 2012, Smokey traveled aboard the Soyuz spacecraft with NASA astronaut Joe Acaba and Russian cosmonauts Gennady Padalka and Sergei Revin to the space station. It is 17.6 m long when fully extended and has seven motorized joints. Figure 7: Dextre unstows ENT (image credit: NASA, MDA). This session began by preparing the FDV assembly, so that the ENT (EVR Nozzle Tool) could access the Actuation Nut. The next generation Canadarm2 is a bigger, better, smarter version of the Space Shuttle's robotic arm. x�]��n�0E�|���"�#EBH)Q$}�� ��Z*�2΂���!�T$@�;��8��S��cᇝD� JK�t�X���3����b�Lzs���FSP����~uvva���zx

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