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The Helioseismic and Magnetic Imager (HMI) investigation will study the solar interior using helioseismic techniques as well as the magnetic field near the solar surface. The HMI instrument is part of the Solar Dynamics Observatory (SDO) that was launched on 11 February 2010. The instrument is designed to measure the Doppler shift, intensity, and vector magnetic field at the solar photosphere using the 6173 Fe I absorption line. The instrument consists of a front-window filter, a telescope, a set of wave plates for polarimetry, an image-stabilization system, a blocking filter, a five-stage Lyot filter with one tunable element, two wide-field tunable Michelson interferometers, a pair of 4096(exo 2) pixel cameras with independent shutters, and associated electronics. Each camera takes a full-disk image roughly every 3.75 seconds giving an overall cadence of 45 seconds for the Doppler, intensity, and line-of-sight magnetic-field measurements and a slower cadence for the full vector magnetic field. This article describes the design of the HMI instrument and provides an overview of the pre-launch calibration efforts. Overviews of the investigation, details of the calibrations, data handling, and the science analysis are provided in accompanying articles.

The University of Maryland Space Systems Laboratory, as a participant in NASA's INSTEP program, is developing a non-invasive, self-contained sensor system which can provide quantitative measurements of joint angles and muscle fatigue in the hand and forearm. The goal of this project is to develop a system with which hand/forearm motion and fatigue metrics can be determined in various terrestrial and zero-G work environments. A preliminary study of the prototype sensor systems and data reduction techniques for the fatigue measurement system are presented. The sensor systems evaluated include fiberoptics, used to measure joint angle, surface electrodes, which measure the electrical signals created in muscle as it contracts; microphones, which measure the noise made by contracting muscle; and accelerometers, which measure the lateral muscle acceleration during contraction. The prototype sensor systems were used to monitor joint motion of the metacarpophalangeal joint and muscle fatigue in flexor digitorum superficialis and flexor carpi ulnaris in subjects performing gripping tasks. Subjects were asked to sustain a 60-second constant-contraction (isometric) exercise and subsequently to perform a repetitive handgripping task to failure. Comparison of the electrical and mechanical signals of the muscles during the different tasks will be used to evaluate the applicability of muscle signal measurement techniques developed for isometric contraction tasks to fatigue prediction in quasi-dynamic exercises. Potential data reduction schemes are presented.

Ranger, a low-cost moderate-risk high-return telerobotics flight experiment, is discussed. Range incorporates two manipulators, a grappling arm, and a camera-positioning manipulator all mounted on a free-flying base with limited orbital maneuvering capability. Ranger will provide data on neutral buoyancy simulations, advanced telerobotics control and design, remote maneuvering, human factors involved in ground-based control of space telerobotics, and advanced small spacecraft technology.

Measurements of the level and pattern of moments applied in the manual assembly of a space structure were made in extravehicular activity (EVA) and neutral buoyancy simulation (NBS). The Experimental Assembly of Structures in EVA program included the repeated assembly of a 3.6 m tetrahedral truss structure in EVA on STS-61B after extensive neutral buoyancy crew training. The flight and training structures were of equivalent mass and geometry to allow a direct correlation between EVA and NBS performance. A stereo photographic motion camera system was used to reconstruct in three dimensions rotational movements of structural beams during assembly. Moments applied in these manual handling tasks were calculated on the basis of the reconstructed movements taking into account effects of inertia, drag and virtual mass. Applied moments of 2.0 Nm were typical for beam rotations in EVA. Corresponding applied moments in NBS were typically up to five times greater. Moments were applied as impulses separated by several seconds of coasting in both EVA and NBS. Decelerating impulses were only infrequently observed in NBS.

Experimentally derived applied moments are presented for Space Shuttle crew EVA mission rotations of objects more massive than the human body. These levels appear to be small fractions of physiological limits; horizontal and vertical shoulder strength limits greater than 50 Nm have been established for foot-restrained, pressure-suited subjects in simulated weightlessness. The reduced level in operational EVA may be due to unfamiliarity with manual control in true weightlessness.

This paper presents a parameter optimization technique for deciding the force distribution on a payload being transported along a predetermined trajectory using two planar manipulator arms. The methodology begins by transforming the singular dynamics of two-arm transport to an ordinary set of differential equations and then proceeds to obtain a relation between the torques exerted by each arm. This relation is then used in a quadratic torque cost which is subsequently minimized to yield an optimal torque distribution. Significant savings in energy were found to occur when the arms were allowed to interact by transmission of forces through the payload. Even more significant are the savings found over one-arm transport of payloads where the arm torques are fixed by the prescribed trajectory.

The feasibility of onboard crew activity planning was examined. The use of expert systems technology to aid crewmembers in locating stowed equipment was also investigated. The crew activity planning problem, along with a summary of past and current research efforts, was discussed in detail. The requirements and specifications used to develop the crew activity planning system was also defined. The guidelines used to create, develop, and operate the MFIVE Crew Scheduler and Logistics Clerk were discussed. Also discussed is the mathematical algorithm, used by the MFIVE Scheduler, which was developed to aid in optimal crew activity planning.

Recent NASA research efforts on space construction are reviewed. Preliminary results of the EASE/ACCESS Shuttle experiments are discussed. A 45-foot beam was constructed on orbit in 30 minutes using a manual assembly technique at a work station. A large tetrahedron was constructed several times using a free floating technique. The capability of repair, utilities installation, and handling the structures using a mobile foot restraint on the RMS was also demonstrated. Implications of the experiments for space station are presented. Models of 5-meter space station structure together with neutral buoyancy simulations suggest manual assembly techniques are feasible. Selected research on control of flexible structures is discussed.

Recent NASA research efforts on space construction are reviewed. Preliminary results of the EASE/ACCESS Shuttle experiments are discussed. A 45-foot beam was constructed on orbit in 30 minutes using a manual assembly technique at a work station. A large tetrahedron was constructed several times using a free floating technique. The capability of repair, utilities installation, and handling the structures using a mobile foot restraint on the RMS was also demonstrated. Implications of the experiments for Space Station are presented. Models of 5-meter Space Station structure together with neutral buoyancy simulations suggest manual assembly techniques are feasible. Selected research on control of flexible structures is discussed. To support planned flight experiments, studies of the design and optimal placement of distributed active dampers are underway.

In order to perform a complete systems analysis for almost any large space program, it is vital to have a thorough understanding of human capabilities in extravehicular activity (EVA). The present investigation is concerned with the most significant results from the MIT Space Systems Lab's neutral buoyancy tests. An evaluation of neutral buoyancy is considered along with the tested structures, aspects of learning, productivity, time and motion analysis, and assembly loads. Attention is given to EVA assembly with a manned maneuvering unit, teleoperated structural assembly, an integrated control station, a beam assembly teleoperator, and space station proximity operations.

To examine the issues of optimum human-machine mixtures for orbital assembly operations, a full six degree-of-freedom teleoperator system for assembly of large space structures has been developed by the Space Systems Laboratory. This consists of a free-flying neutrally buoyant Beam Assembly Teleoperator (BAT) with two manipulators, and a modular Integrated Control Station (ICS). The design and configuration of both the BAT and the ICS are described in some detail in this paper. In addition, qualitative results from early tests of the system are presented. These tests concentrated mostly on free-flying operations and grasping. Future tests will involve complete teleoperated assembly.

The field of telepresence is defined, and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA's plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included. Several space projects are examined in detail to determine what capabilities are required of a telepresence system in order to accomplish various tasks, such as servicing and assembly. The key operational and technological areas are identified, conclusions and recommendations are made for further research, and an example developmental program is presented, leading to an operational telepresence servicer.

The field of telepresence is defined, and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA's plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies are included. Several space projects are examined in detail to determine what capabilities are required of a telepresence system in order to accomplish various tasks, such as servicing and assembly. The key operational and technological areas are identified, conclusions and recommendations are made for further research, and an example developmental program leading to an operational telepresence servicer is presented.

The field of telepresence is defined and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA' plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included.

The problems of interfacing a human with a teleoperation system, for work in space are discussed. Much of the information presented here is the result of experience gained by the M.I.T. Space Systems Laboratory during the past two years of work on the ARAMIS (Automation, Robotics, and Machine Intelligence Systems) project. Many factors impact the design of the man-machine interface for a teleoperator. The effects of each are described in turn. An annotated bibliography gives the key references that were used. No conclusions are presented as a best design, since much depends on the particular application desired, and the relevant technology is swiftly changing.

This presentation will describe some results which have been obtained and the experiments which have been conducted in the Marshall Space Flight Center's Neutral Buoyancy Facility (MSFC NBF). The MSFC NBF is a tank of water 40 feet deep and 70 feet in diameter. Presently there is a mockup of the Orbiter payload bay at the bottom. There also is a Remote Manipulator System at the edge of the tank.

The Structural Assembly Demonstration Experiment concept is to erect a hybrid deployed/assembled structure as an early space experiment in large space structures technology. The basic objectives can be broken down into three generic areas: (1) by performing assembly tasks both in space and in neutral buoyancy simulation, a mathematical basis will be found for the validity conditions of neutral buoyancy, thus enhancing the utility of water as a medium for simulation of weightlessness; (2) a data base will be established describing the capabilities and limitations of EVA crewmembers, including effects of such things as hardware size and crew restraints; and (3) experience of the M.I.T. Space Systems Lab in neutral buoyancy simulation of large space structures assembly indicates that the assembly procedure may create the largest loads that a structure will experience during its lifetime. Data obtained from the experiment will help establish an accurate loading model to aid designers of future space structures.

Four separate analyses are detailed: transportation to low earth orbit, orbit-to-orbit optimization, parametric analysis of SPS logistics based on earth and lunar source locations, and an overall program option optimization implemented with linear programming. It is found that smaller vehicles are favored for earth launch, with the current Space Shuttle being right at optimum payload size. Fully reusable launch vehicles represent a savings of 50% over the Space Shuttle; increased reliability with less maintenance could further double the savings. An optimization of orbit-to-orbit propulsion systems using lunar oxygen for propellants shows that ion propulsion is preferable by a 3:1 cost margin over a mass driver reaction engine at optimum values; however, ion engines cannot yet operate in the lower exhaust velocity range where the optimum lies, and total program costs between the two systems are ambiguous. Heavier payloads favor the use of a MDRE. A parametric model of a space manufacturing facility is proposed, and used to analyze recurring costs, total costs, and net present value discounted cash flows. Parameters studied include productivity, effects of discounting, materials source tradeoffs, economic viability of closed-cycle habitats, and effects of varying degrees of nonterrestrial SPS materials needed from earth. Finally, candidate optimal scenarios are chosen, and implemented in a linear program with external constraints in order to arrive at an optimum blend of SPS production strategies in order to maximize returns.