DOCSLIB.ORG

International External Robotic Interoperability Standards (IERIS)

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
International External Robotic Interoperability Standards (IERIS) International External Robotic Interoperability Standards (IERIS) Draft C – February 2018 Verify this is the current version before use IERIS Draft Release Copy February 2018 REVISION AND HISTORY PUB. REV. DESCRIPTION DATE Draft Draft Release 04-18-17 Draft A Major update for September and Checkpoint Review 09-29-17 Draft B Update based on NASA internal feedback 10-27-17 Draft C Update based on Industry feedback 02-09-18 Verify this is the current version before use IERIS Draft Release Copy February 2018 PREFACE INTERNATIONAL EXTERNAL ROBOTIC INTEROPERABILITY STANDARDS (IERIS) This International External Robotic Interoperability Standards (IERIS) establishes a standard interface to enable on-orbit robotic operations and joint collaborative endeavors utilizing different robotic compatible spacecraft or equipment. Configuration control of this document is the responsibility of the International Space Station (ISS) Multilateral Coordination Board (MCB), which is comprised of the international partner members of the ISS. The National Aeronautics and Space Administration (NASA) will maintain the International External Robotic Interoperability Standards under Human Exploration and Operations Mission Directorate (HEOMD). Any revisions to this document will be approved by the ISS MCB. Verify this is the current version before use 2 IERIS Draft Release Copy February 2018 INTERNATIONAL EXTERNAL ROBOTIC INTEROPERABILITY STANDARDS (IERIS) CONCURRENCE FEBRUARY 2018 Associate Administrator Human Exploration and Date Operations NASA Executive Director, Human Space Programs Date State Space Corporation “Roscosmos” Director of Human Spaceflight and Operations Date European Space Agency Director General, Space Exploration Date Canadian Space Agency Executive Director Date Japan Aerospace Exploration Agency Verify this is the current version before use 3 IERIS Draft Release Copy February 2018 TABLE OF CONTENTS PARAGRAPH PAGE INTRODUCTION .....................................................................................................................................1-1 1.1 GENERAL ............................................................................................................................................1-1 1.2 PURPOSE AND SCOPE .....................................................................................................................1-1 1.3 RESPONSIBILITY AND CHANGE AUTHORITY .................................................................................1-2 1.4 PRECEDENCE ....................................................................................................................................1-2 DOCUMENTS .........................................................................................................................................2-1 2.1 APPLICABLE DOCUMENTS ...............................................................................................................2-1 2.2 REFERENCE DOCUMENTS ...............................................................................................................2-1 INTERNATIONAL EXTERNAL ROBOTIC INTEROPERABILITY STANDARDS ..................................3-1 3.1 GENERAL ............................................................................................................................................3-1 3.1.1 DESCRIPTION ...........................................................................................................................3-1 3.1.2 COMMON MOUNTING INTERFACE PLANES ..........................................................................3-3 3.1.2.1 LARGE FIXTURE INTERFACE ...........................................................................................3-3 3.1.2.2 SMALL ORU PLATFORM INTERFACES ............................................................................3-3 3.1.2.3 LARGE ORU PLATFORM INTERFACE ..............................................................................3-4 3.1.2.4 DEXTEROUS FIXTURE INTERFACE .................................................................................3-4 3.1.2.5 SMALL ORU DIRECT INTERFACE ....................................................................................3-5 3.1.2.6 IERIS ROADMAP ................................................................................................................3-6 3.1.2.7 INTERFACE SUMMARY .....................................................................................................3-7 3.1.3 STANDARD OPERATIONS REFERENCE FRAMES .................................................................3-7 3.1.4 ENGINEERING UNITS OF MEASURE ......................................................................................3-8 3.2 INTERFACES ......................................................................................................................................3-9 LARGE FIXTURE INTERFACE ..............................................................................................................4-1 4.1 GENERAL ............................................................................................................................................4-1 4.1.1 COMMON INTERFACE DESCRIPTION ....................................................................................4-1 4.1.2 COMMON INTERFACE FUNCTIONS ........................................................................................4-1 4.2 COMMON REQUIREMENTS ..............................................................................................................4-1 4.2.1 COORDINATE SYSTEMS ..........................................................................................................4-1 4.2.2 ENVELOPES ..............................................................................................................................4-3 4.2.2.1 FIXTURE ENVELOPE .........................................................................................................4-3 4.2.2.2 CLEARANCE APPROACH ENVELOPE .............................................................................4-3 4.2.3 MECHANICAL INTERFACE .......................................................................................................4-4 4.2.3.1 MOUNTING BOLT HOLE PATTERNS ................................................................................4-4 4.2.4 STRUCTURAL INTERFACE ......................................................................................................4-5 4.2.4.1 MOUNTING INTERFACE LOADS .......................................................................................4-5 4.2.4.2 MOUNTING INTERFACE STIFFNESS ...............................................................................4-5 4.3 VERIFICATION ....................................................................................................................................4-5 4.4 SPECIFIC LARGE FIXTURE INTERFACES .......................................................................................4-6 4.4.1 LOW PROFILE GRAPPLE FIXTURE INTERFACE ....................................................................4-6 4.4.1.1 GENERAL............................................................................................................................4-6 4.4.1.1.1 LPGF DESCRIPTION .................................................................................................4-6 Verify this is the current version before use 4 IERIS Draft Release Copy February 2018 4.4.1.1.2 COORDINATE SYSTEMS ..........................................................................................4-7 4.4.1.1.3 LPGF FUNCTIONS.....................................................................................................4-8 4.4.1.2 REQUIREMENTS ................................................................................................................4-8 4.4.1.2.1 ENVELOPES ..............................................................................................................4-8 4.4.1.2.1.1 CLEARANCE APPROACH ENVELOPE .....................................................................4-8 4.4.1.2.2 MECHANICAL INTERFACE .......................................................................................4-10 4.4.1.2.3 STRUCTURAL INTERFACE ......................................................................................4-10 4.4.1.2.3.1 MASS..........................................................................................................................4-10 4.4.1.2.4 ELECTRICAL INTERFACE ........................................................................................4-10 4.4.1.2.4.1 ELECTRICAL CONNECTORS ...................................................................................4-10 4.4.1.2.4.2 POWER QUALITY ......................................................................................................4-11 4.4.1.3 VERIFICATION ....................................................................................................................4-11 4.4.2 FREE FLYER GRAPPLE FIXTURE INTERFACE ......................................................................4-11 4.4.2.1 GENERAL............................................................................................................................4-11 4.4.2.1.1 FFGF DESCRIPTION .................................................................................................4-11 4.4.2.1.2 COORDINATE SYSTEMS ..........................................................................................4-12 4.4.2.1.3 FFGF FUNCTIONS.....................................................................................................4-14
Load more

Recommended publications
  • STS-134 Press
    CONTENTS Section Page STS-134 MISSION OVERVIEW ................................................................................................ 1 STS-134 TIMELINE OVERVIEW ............................................................................................... 9 MISSION PROFILE ................................................................................................................... 11 MISSION OBJECTIVES ............................................................................................................ 13 MISSION PERSONNEL ............................................................................................................. 15 STS-134 ENDEAVOUR CREW .................................................................................................. 17 PAYLOAD OVERVIEW .............................................................................................................. 25 ALPHA MAGNETIC SPECTROMETER-2 .................................................................................................. 25 EXPRESS LOGISTICS CARRIER 3 ......................................................................................................... 31 RENDEZVOUS & DOCKING ....................................................................................................... 43 UNDOCKING, SEPARATION AND DEPARTURE ....................................................................................... 44 SPACEWALKS ........................................................................................................................
    [Show full text]
  • Robotic Arm.Indd
    Ages: 8-12 Topic: Engineering design and teamwork Standards: This activity is aligned to national standards in science, technology, health and mathematics. Mission X: Train Like an Astronaut Next Generation: 3-5-ETS1-2. Generate and compare multiple possible solutions to a problem based on how well each is likely A Robotic Arm to meet the criteria and constraints of the problem. 3-5-ETS1-3. Plan and carry out fair tests in which variables are controlled and failure points are considered to identify aspects of a model or prototype that can be EDUCATOR SECTION (PAGES 1-7) improved. STUDENT SECTION (PAGES 8-15) Background Why do we need robotic arms when working in space? As an example, try holding a book in your hands straight out in front of you and not moving them for one or two minutes. After a while, do your hands start to shake or move around? Imagine how hard it would be to hold your hands steady for many days in a row, or to lift something really heavy. Wouldn’t it be nice to have a really long arm that never gets tired? Well, to help out in space, scientists have designed and used robotic arms for years. On Earth, scientists have designed robotic arms for everything from moving heavy equipment to performing delicate surgery. Robotic arms are important machines that help people work on Earth as well as in space. Astronaut attached to a robotic arm on the ISS. Look at your arms once again. Your arms are covered in skin for protection.
    [Show full text]
  • Kibo HANDBOOK
    Kibo HANDBOOK September 2007 Japan Aerospace Exploration Agency (JAXA) Human Space Systems and Utilization Program Group Kibo HANDBOOK Contents 1. Background on Development of Kibo ............................................1-1 1.1 Summary ........................................................................................................................... 1-2 1.2 International Space Station (ISS) Program ........................................................................ 1-2 1.2.1 Outline.........................................................................................................................1-2 1.3 Background of Kibo Development...................................................................................... 1-4 2. Kibo Elements...................................................................................2-1 2.1 Kibo Elements.................................................................................................................... 2-2 2.1.1 Pressurized Module (PM)............................................................................................ 2-3 2.1.2 Experiment Logistics Module - Pressurized Section (ELM-PS)................................... 2-4 2.1.3 Exposed Facility (EF) .................................................................................................. 2-5 2.1.4 Experiment Logistics Module - Exposed Section (ELM-ES)........................................ 2-6 2.1.5 JEM Remote Manipulator System (JEMRMS)............................................................
    [Show full text]
  • International Space Station Basics Components of The
    National Aeronautics and Space Administration International Space Station Basics The International Space Station (ISS) is the largest orbiting can see 16 sunrises and 16 sunsets each day! During the laboratory ever built. It is an international, technological, daylight periods, temperatures reach 200 ºC, while and political achievement. The five international partners temperatures during the night periods drop to -200 ºC. include the space agencies of the United States, Canada, The view of Earth from the ISS reveals part of the planet, Russia, Europe, and Japan. not the whole planet. In fact, astronauts can see much of the North American continent when they pass over the The first parts of the ISS were sent and assembled in orbit United States. To see pictures of Earth from the ISS, visit in 1998. Since the year 2000, the ISS has had crews living http://eol.jsc.nasa.gov/sseop/clickmap/. continuously on board. Building the ISS is like living in a house while constructing it at the same time. Building and sustaining the ISS requires 80 launches on several kinds of rockets over a 12-year period. The assembly of the ISS Components of the ISS will continue through 2010, when the Space Shuttle is retired from service. The components of the ISS include shapes like canisters, spheres, triangles, beams, and wide, flat panels. The When fully complete, the ISS will weigh about 420,000 modules are shaped like canisters and spheres. These are kilograms (925,000 pounds). This is equivalent to more areas where the astronauts live and work. On Earth, car- than 330 automobiles.
    [Show full text]
  • Space Reporter's Handbook Mission Supplement Shuttle Mission STS
    CBS News Space Reporter's Handbook - Mission Supplement! Page 1 The CBS News Space Reporter's Handbook Mission Supplement Shuttle Mission STS-134/ISS-ULF6: International Space Station Assembly and Resupply Written and Produced By William G. Harwood CBS News Space Analyst [email protected] CBS News!!! 4/26/11 Page 2 ! CBS News Space Reporter's Handbook - Mission Supplement Revision History Editor's Note Mission-specific sections of the Space Reporter's Handbook are posted as flight data becomes available. Readers should check the CBS News "Space Place" web site in the weeks before a launch to download the latest edition: http://www.cbsnews.com/network/news/space/current.html DATE RELEASE NOTES 03/18/11 Initial STS-134 release 04/27/11 Updating throughout Introduction This document is an outgrowth of my original UPI Space Reporter's Handbook, prepared prior to STS-26 for United Press International and updated for several flights thereafter due to popular demand. The current version is prepared for CBS News. As with the original, the goal here is to provide useful information on U.S. and Russian space flights so reporters and producers will not be forced to rely on government or industry public affairs officers at times when it might be difficult to get timely responses. All of these data are available elsewhere, of course, but not necessarily in one place. The STS-134 version of the CBS News Space Reporter's Handbook was compiled from NASA news releases, JSC flight plans, the Shuttle Flight Data and In-Flight Anomaly List, NASA Public Affairs and the Flight Dynamics office (abort boundaries) at the Johnson Space Center in Houston.
    [Show full text]
  • Space Exploration Contract Nnj09ga04b
    NNJ09GA04B Table of Contents 1 Standard Form 1449 ................................................................................................................ ii 2 Model Contract: Contract Terms and Conditions ................................................................... 1 3 Section IV Offer Representations and Certifications/Minimum Requirements / Representations and Warranties ............................................. ErrorZ Bookmark not defined. 4 Deviations, Exceptions and Conditional Assumptions ....................................................... 149 Pagel i NNJ09GA04B 1 StandardForm 1449 Pagelii NNJ09GA04B 2 ModelContract:ContractTermsand Conditions Table of Contents 1 Standard Form 1449 ................................................................................................................ii 2 Model Contract: Contract Terms and Conditions ................................................................... 1 I.A. Addendum to Standard Form 1449 ......................................................................................... 5 I.A.1 Schedule of Supplies and/or Services to be Provided ...................................................... 5 I.A.2 Period Covered by Procurement ...................................................................................... 5 I.A.3 Indefinite Delivery IndefiniteQuantity(IDIQ), Firm Fixed Price Contract ................... 5 I.A.4 Contract Line Items (CLINs)........................................................................................... 5 The parties
    [Show full text]
  • + STS-115 Press
    STS-121 Press Kit CONTENTS Section Page STS-115 MISSION OVERVIEW: SPACE STATION ASSEMBLY RESUMES................................ 1 STS-115 TIMELINE OVERVIEW ............................................................................................... 10 MISSION PRIORITIES............................................................................................................. 12 LAUNCH AND LANDING ........................................................................................................... 14 LAUNCH............................................................................................................................................... 14 ABORT-TO-ORBIT (ATO)...................................................................................................................... 14 TRANSATLANTIC ABORT LANDING (TAL)............................................................................................. 14 RETURN-TO-LAUNCH-SITE (RTLS)....................................................................................................... 14 ABORT ONCE AROUND (AOA)............................................................................................................... 14 LANDING ............................................................................................................................................. 14 MISSION PROFILE................................................................................................................... 15 STS-115 ATLANTIS CREW .....................................................................................................
    [Show full text]
  • Parisch, Manlio
    7th ESA Workshop on Advanced Space Technologies for Robotics and Automation ASTRA 2002 Robotic Assembly of Large Space Structures: Application to XEUS R. Licata(1), M. Parisch(1), I.J. Ruiz Urien(2), M. De Bartolomei(3), G. Grisoni(4), F. Didot(5) (1)ALENIA Spazio,Turin, Italy; [email protected] (2)SENER, Bilbao, Spain; [email protected] (3)Tecnospazio, Milan, Italy; [email protected] (4)Media Lario, Lecco, Italy: [email protected] (5)ESTEC, The Netherlands; [email protected] INTRODUCTION In-orbit robotic assembly and/or maintenance is an enabling technology for large space structures that, due to their substantial mass or dimensions, cannot be assembled on ground and hence be transported into space with conventional space vehicles The objectives of the Robotic Assembly of Large Space Structure (RALSS) ESA-Study, conducted by Alenia Spazio in the years 2001-2002, as Prime Contractor, with SENER and Tecnospazio as Sub- contractors, are related to this important technology or topic development, starting with some detailed analysis of the first important example of this type of activity, that is the on- going International Space Station (ISS) in-orbit build-up or assembly. During the ESA RALSS study development, detailed investigation has been conducted for the design and the application of the robotic assembly on the ISS of the required Mirror Sectors (MS) for the large Mirror Spacecraft Figure 1: XEUS Mission Illustration needed for the second phase of the XEUS mission, called · to perform cinematic simulations of these XEUS hand- XEUS-2. over and assembly operations at ISS.
    [Show full text]
  • STS-135: the Final Mission Dedicated to the Courageous Men and Women Who Have Devoted Their Lives to the Space Shuttle Program and the Pursuit of Space Exploration
    National Aeronautics and Space Administration STS-135: The Final Mission Dedicated to the courageous men and women who have devoted their lives to the Space Shuttle Program and the pursuit of space exploration PRESS KIT/JULY 2011 www.nasa.gov 2 011 2009 2008 2007 2003 2002 2001 1999 1998 1996 1994 1992 1991 1990 1989 STS-1: The First Mission 1985 1981 CONTENTS Section Page SPACE SHUTTLE HISTORY ...................................................................................................... 1 INTRODUCTION ................................................................................................................................... 1 SPACE SHUTTLE CONCEPT AND DEVELOPMENT ................................................................................... 2 THE SPACE SHUTTLE ERA BEGINS ....................................................................................................... 7 NASA REBOUNDS INTO SPACE ............................................................................................................ 14 FROM MIR TO THE INTERNATIONAL SPACE STATION .......................................................................... 20 STATION ASSEMBLY COMPLETED AFTER COLUMBIA ........................................................................... 25 MISSION CONTROL ROSES EXPRESS THANKS, SUPPORT .................................................................... 30 SPACE SHUTTLE PROGRAM’S KEY STATISTICS (THRU STS-134) ........................................................ 32 THE ORBITER FLEET ............................................................................................................................
    [Show full text]
  • External Payloads Proposer's Guide to the International Space Station
    SSP 51071 Baseline External Payloads Proposer’s Guide to the International Space Station International Space Station Program Baseline August 2017 National Aeronautics and Space Administration International Space Station Program Johnson Space Center Houston, Texas This Document Is Uncontrolled When Printed. Verify Current version before use. SSP 51071 Baseline REVISION AND HISTORY REV. DESCRIPTION PUB. DATE - Initial Release (Reference per SSCD 15774, EFF. 09-29-2017) 10-02-17 Public access authorization obtained via the Document Availability Authorization Control Number: “40352” This Document Is Uncontrolled When Printed. Verify Current Version Before Use. SSP 51071 Baseline TABLE OF CONTENTS PARAGRAPH PAGE 1.0 INTRODUCTION ................................................................................................................... 1-1 2.0 GENERAL INFORMATION FOR OPERATING ON ISS ........................................................ 2-1 2.1 HOW TO GET STARTED ...................................................................................................... 2-1 2.2 ISS FEASIBILITY RESOURCE ACCOMMODATION ASSESSMENT PROCESS ................ 2-2 2.3 WHAT YOU SHOULD KNOW ............................................................................................... 2-5 2.4 ORGANIZATIONAL ROLES/RESPONSIBILITIES ................................................................ 2-7 2.5 ROLES/RESPONSIBILITIES OF PAYLOAD PROVIDERS ................................................... 2-8 3.0 COMMON ACCOMMODATIONS, RESOURCES, AND ENVIRONMENTS
    [Show full text]
  • Flight 6A: Deployment of the Space Station Remote Manipulator System (SSRMS)
    Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS 2001, Canadian Space Agency, St-Hubert, Quebec, Canada, June 18-22, 2001. Flight 6A: Deployment and Checkout of the Space Station Remote Manipulator System (SSRMS) Rod McGregor1 and Layi Oshinowo2 Canadian Space Agency 6767 Route de l’Aeroport, St-Hubert, Quebec, Canada, J3Y 8Y9 [email protected] [email protected] Keywords Activation, Canadarm2, Checkout, Deployment, Flight 6A, International Space 1.0 Introduction Station, ISS, Mobile Servicing System, MSS, Space Station Remote Manipulator System, The SSRMS was built for the Canadian Space SSRMS, STS-100. Agency (CSA) by MacDonald Dettwiler Space and Advanced Robotics (formerly Spar Abstract Aerospace) located in Brampton, Ontario. The SSRMS, or Canadarm2, is the principal Flight 6A of the International Space Station component of the MSS, Canada’s primary (ISS) assembly sequence, is currently completing hardware contribution to the International Space stage (shuttle departed) operations after its Station program. The Mobile Base System successful docked phase in April of this year. (MBS) and Special Purpose Dexterous This mission marks the delivery and checkout of Manipulator (SPDM) follow later on Flights UF- the first element of the Canadian Mobile 2 and UF-4 respectively. Delivery of the MSS Servicing System (MSS) – the Space Station components has been planned to progressively Remote Manipulator System (SSRMS). The expand the required robotic reach envelope for presence of this seven-jointed, re-locatable, and component installation and servicing, currently functionally-redundant robotic manipulator on- at the limit of the SRMS. orbit, with it’s larger reach and mass-handling The Canadarm2 was delivered to the ISS by the capacity, will allow for the expansion of the Space Shuttle Endeavor during the recently Station towards its assembly-complete form; completed Flight 6A mission.
    [Show full text]
  • HTV2 (KOUNOTORI 2) Mission Press Kit
    HTV2 (KOUNOTORI 2) Mission Press Kit January 20, 2011 (Revision A) Japan Aerospace Exploration Agency Revisions History No. Date Page revised Reason for the revision NC 2011.01.14 － A 2011.01.20 1-1 Launch was postponed to January 22, 1-7 2011. 2-1 1-9 HTV2 mission timeline was rescheduled due to launch delay. HTV2 Press Kit Rev.A Table of Contents 1. HTV2 Mission .....................................................................................................................1-1 1.1 HTV2 Mission Overview................................................................................................1-1 1.2 Comparison between HTV2 and HTV1 .........................................................................1-2 1.3 Major Design/Operational Changes................................................................................1-3 1.4 HTV2 Mission Overview................................................................................................1-7 1.5 HTV2 Mission Summary Timeline.................................................................................1-9 1.6 HTV2 Mission Timeline ............................................................................................... 1-11 1.7 Payload .........................................................................................................................1-26 1.7.1 Payload Carried on the PLC................................................................................ 1-27 1.7.2 Payload Carried on the HTV ULC.....................................................................
    [Show full text]