In
March 2012, we started our first significant operations in space by
checking out the tools and their cameras as well as releasing launch
locks and cutting wire. The long wait since launch was to
load in
the new software and scripts into the Space Station computer to be able
to manipulate our hardware.
The overall layout of the Dextre robot facing our hardware.
Our RRM module
is located on the ELC-4 exterior platform.
Photo of Dextre's end-effector (OTCM) approaching one of the tools,
ready to grasp and power it up.
The
tool cameras have been a special worry of mine since I designed their
interface circuitry in 2010. The Dextre robot video input is
required for the sync to be clamped to zero volts, while normal cameras
have a capacitive coupled output. This makes the two
incompatible. In addition, I was unable to allocate much
space to
any circuitry to fix this problem since it had to fit into the tool.
The circuit I came up with is very compact, and worked well
for
all the tests on the ground and at the
ISIL
facility at the Johnson Space Center.
However, this was at only two separate occasions, all of our
tests on the ground were by commercial monitors, which is not similar
to the Dextre circuits.
In addition, we are the first users
of the Dextre OTCM video inputs since it was launched, and no
post-launch test was performed on this hardware.
So
when the day, hour and minute came for the cameras to be powered on, I
was quite nervous about what we might see. When the image
below
popped up, there was a big cheer at our control center. We
were
all relieved as without cameras, our mission would not be possible.
This is the first image from the tool cameras that we saw.
There was a big
celebration of this success.
The
other unusual aspect of the two tool cameras is how we select which one
to send to the ground. Dextre OTCM input can only accept one
input, and I decided to not use the more complex 1553 computer
interface to select the camera. Instead, I designed a
magnetic
latching circuit that toggles between the cameras on each power cycle
to the tool.
Once the tool was retrieved, Dextre is ready to go to work.
This is the Multi-Function Tool that will be used to
release the launch locks from the various parts.
The
first task to be done was to release the launch locks. These
mechanisms lock down the movable parts of the system so that they do
not get loose during the violent shaking of the Shuttle launch.
We use the bolt driver in the Multi Function Tool for that.
Shot of us in the 'front row' of the GSSCC control center.
Mike Oetken (mechanical lead) showing the proper use of the Project
Manager
console: getting us lunch and dinner 8-).
While
we follow the space robot in our control room, we also have staff in
our robotics lab following along with a ground duplicate of RRM.
They can then try solutions with the ground robot to give the
operators at the Johnson Space Center ideas and things to try.
In
the image below, the top left screen is the graphical simulator that
shows an overall view of the robot and Space Station. The
next
four on the far wall show the four video feeds from station.
There are two ops stations in the middle of the room, the one
facing away is for the robot operator (Joe Easley in the blue shirt).
He is facing many of the same screens we see in our control
room.
Sitting to his back is the lead tools expert on console.
On
the far right, you can see the robot, and not seen is the RRM simulator
we brought to the Kennedy Space Center for the press events.
It
is an accurate duplicate of the one in space.
While we work in the control center, other staff work in our robotics
lab
in case of problems encountered in space.
Finally
after years of waiting, and days of tool checkout and launch lock
release, we finally got down to the first 'real' task. This
is to
cut wire. This wire is commonly used to tie down and lock
down
rotating caps and bolts so that they do not vibrate loose.
To
perform these operations, the tool is on the end of Dextre, whose arms
are about 11 feet in length. This in turn is on the SSRMS,
which
is about 60 foot long, and then mounted on the long Space Station
truss. It was not known if this long path would lead to too
much
inaccuracy and floppiness to perform intricate tasks such as cutting
wire. Prior to our mission, some thought it could not be done.
It turned out that it was not a problem, and we were able to cut two
instances of wire very successfully.
Sequence of images from the cutting of the wire on the Ambient Cap.
left: approaching the wire. middle: about to cut the wire,
right: wire is cut.
To celebrate the successful on-orbit ops, we had a cookout one day, and
the chef was Ray Bietry (electrical systems).