"6_10_7_4_9.TXT" (9419 bytes) was created on 08-11-89 JET PROPULSION LABORATORY Supporting Activities The Jet Propulsion Laboratory (JPL) supports the space station program in three areas: program requirements and assessment, automation and robotics, and attached payloads. JPL took on a major role for NASA's space station project by establishing the project facilities in Reston, Va. and by leading the Program Requirements and assessment (PR&A) effort as a member of space station Level II management. The PR&A participates in program management, including leadership of the Program Plan effort, responsibility for the Program Requirements Document, and support for generating and revising the Program Approval Document. Other tasks include developing a cost-management process and conducting analyses and assessments. NASA's interest in automation and robotics for the space station is represented by three main components: the Flight Telerobotic Servicer (FTS) for the baseline station, the evolution of the FTS, and the Office of Aeronautics and Space Technology (OAST) R&D program. JPL supports the the R&D effort. The OAST Telerobotics R&D program has two major thrusts: a core technology research element, and a telerobotic technology testbed research and development effort. The core program is focused in five areas. They are: ?#Sensing and Perception: Including machine vision hardware and software; "feel" sensing by force, torque, grasp and tactile sensing. ?#Task Planning and Reasoning: The application of artificial intelligence to robotic tasks. ?#Operator Interface: Design and analysis of controls and displays command. ?#Control Execution: Research and development of hardware and control software to execute manipulation with robotic arms and end-effectors. ?#System Architecture and Integration: Hardware and software technologies for integrating telerobotic systems. The telerobotic testbed integrates and demonstrates the ability of these "core" telerobotic technologies to perform space assembly and servicing tasks when integrated into a telerobotic system. A series of demonstrations is scheduled to be implemented on this testbed through the year 2000. Several "core" technologies will be integrated to perform autonomous satellite servicing tasks, directed by machine vision and force sensing, and using 6-degree-of-freedom, dual arm manipulation. Teleoperator control technology will be then integrated with this autonomous system to create a telerobotic system, capable of trading control between teleoperated and autonomous modes, for demonstrating a variety of space assembly and servicing tasks. As a next step the testbed plans to add two 7- degree-of-freedom, flight qualifiable, manipulator arms being developed by the NASA Langley Research Center and the Oak Ridge National Laboratories. End-effectors, developed by JPL, capable of sensing grasp force, will also be added to the demonstration, as will the software and control hardware adaptations to control them. Future OAST demonstrations will consider the incorporation of mobility, laser sensing, and artificial intelligence-based planning. Later demonstrations are planned to include the ability to recognize and acquire unlabeled objects from a cluttered background, autonomous navigation, and the use of multiple cooperating robots. The testbed will be a national test facility and will support NASA Centers, private industry and universities. The OSS and OAST have developed and are implementing a plan for the exploitation of the Telerobotic Program results. The plan includes the transfer of the technology from JPL to the design and construction of the FTS under the cognizance of the Goddard Space Flight Center. Thus, the FTS project, which is intended to aid in the assembly and maintenance of the station and to be used in servicing space station attached payloads and visiting spacecraft, will be in a position to take advantage of the most advanced technology available. JET PROPULSION LABORATORY Supporting Activities The Jet Propulsion Laboratory (JPL) supports the space station program in three areas: program requirements and assessment, automation and robotics, and attached payloads. JPL took on a major role for NASA's space station project by establishing the project facilities in Reston, Va. and by leading the Program Requirements and assessment (PR&A) effort as a member of space station Level II management. The PR&A participates in program management, including leadership of the Program Plan effort, responsibility for the Program Requirements Document, and support for generating and revising the Program Approval Document. Other tasks include developing a cost-management process and conducting analyses and assessments. NASA's interest in automation and robotics for the space station is represented by three main components: the Flight Telerobotic Servicer (FTS) for the baseline station, the evolution of the FTS, and the Office of Aeronautics and Space Technology (OAST) R&D program. JPL supports the the R&D effort. The OAST Telerobotics R&D program has two major thrusts: a core technology research element, and a telerobotic technology testbed research and development effort. The core program is focused in five areas. They are: ?#Sensing and Perception: Including machine vision hardware and software; "feel" sensing by force, torque, grasp and tactile sensing. ?#Task Planning and Reasoning: The application of artificial intelligence to robotic tasks. ?#Operator Interface: Design and analysis of controls and displays command. ?#Control Execution: Research and development of hardware and control software to execute manipulation with robotic arms and end-effectors. ?#System Architecture and Integration: Hardware and software technologies for integrating telerobotic systems. The telerobotic testbed integrates and demonstrates the ability of these "core" telerobotic technologies to perform space assembly and servicing tasks when integrated into a telerobotic system. A series of demonstrations is scheduled to be implemented on this testbed through the year 2000. Several "core" technologies will be integrated to perform autonomous satellite servicing tasks, directed by machine vision and force sensing, and using 6-degree-of-freedom, dual arm manipulation. Teleoperator control technology will be then integrated with this autonomous system to create a telerobotic system, capable of trading control between teleoperated and autonomous modes, for demonstrating a variety of space assembly and servicing tasks. As a next step the testbed plans to add two 7- degree-of-freedom, flight qualifiable, manipulator arms being developed by the NASA Langley Research Center and the Oak Ridge National Laboratories. End-effectors, developed by JPL, capable of sensing grasp force, will also be added to the demonstration, as will the software and control hardware adaptations to control them. Future OAST demonstrations will consider the incorporation of mobility, laser sensing, and artificial intelligence-based planning. Later demonstrations are planned to include the ability to recognize and acquire unlabeled objects from a cluttered background, autonomous navigation, and the use of multiple cooperating robots. The testbed will be a national test facility and will support NASA Centers, private industry and universities. The OSS and OAST have developed and are implementing a plan for the exploitation of the Telerobotic Program results. The plan includes the transfer of the technology from JPL to the design and construction of the FTS under the cognizance of the Goddard Space Flight Center. Thus, the FTS project, which is intended to aid in the assembly and maintenance of the station and to be used in servicing space station attached payloads and visiting spacecraft, will be in a position to take advantage of the most advanced technology available. JET PROPULSION LABORATORY Space Station Freedom Organization The Jet Propulsion Laboratory (JPL) carries out a range of support activities for on NASA's Space Station Freedom program. The Space Station Support Office (SSSO) is part of the JPL Director's office. SSSO's responsibilities include providing detailees to the Office of the Space Station (OSS) to carry out temporary assignments and to provide a limited amount of policy study support to Level I. The SSSO's major responsibility is to manage and staff the Level II Program Requirements and Assessment Office (PR&A). JPL's space station payload definition and development activities are centered in the Office of Space Science and Instruments. This currently involves the execution of studies of possible evolution-era payloads and missions in support of Level I, as well as the Office of Space Science and Applications (OSSA) supported definition and development. The Office of Technology and Applications also supports Level I with studies of possible evolution paths for telerobotics technology. This office is also responsible for leading the NASA Office of Aeronautics and Space Technology (OAST) Telerobotics Technology Program. The Flight Projects Office is the focal point for Earth Observation System (EOS) mission and system level activities in support of OSSA's EOS Program, which is to be the ultimate user of the U.S. Polar Platform. Approximately 100 to 150 professionals are involved in space station activities at JPL.