1. Payload Operations Integration Working Group (POIWG) Increment 31/32 Overview January 24-26, 2011 Charles (Casey) Joyce charles.a.joyce@nasa.gov Robotics Systems Technology Branch Robonaut Operations Lead

2. Page No. 2 ISS_CM_019 (Rev 08/2009) Inc 29/30 Activities Complete Checkout 1 and 1.5 –Verified force sensors responded to a crew induced jerk motion –Motion stop button verification in logic power and motor power states –Determination of proper control parameters for zero-g environment –Crew verified machine vision cameras are working Checkout 2 –Verification of motion stop with R2 in motion

3. Page No. 3 ISS_CM_019 (Rev 08/2009) On-Orbit Video

4. Page No. 4 ISS_CM_019 (Rev 08/2009) Inc 29/30 Upcoming Activities Checkout 2.5 –Ensure joint and finger health –Confirm force sensors operational –Calibration of velocity and acceleration –Verification of forearm force sensor response Heat Sink Installation –Heat sink will be installed in each forearm to provide thermal protection to the forearm voltage regulators Free Space Operations –Execute motions in free space to demonstrate coordinated motion, repeatability and characterize differences between ground and zero-g

5. Page No. 5 ISS_CM_019 (Rev 08/2009) Increment 31/32 Activities On-Orbit Tool Demo (TBC) –Demonstration using the VelociCalc equipment to take and read air flow measurements Vision Characterization –Capture images for use in vision software –Depth perception tasks –Human and object tracking –Pattern recognition Task Board Operations –Characterize differences between the ground and zero-g environments –Rocker switch manipulation –Push button operation

6. Page No. 6 ISS_CM_019 (Rev 08/2009) Taskboard Video

7. Page No. 7 ISS_CM_019 (Rev 08/2009) Increment 31/32 Activities Teleop System Checkout –Verify unit functionality Teleop powerup Verify sensors are tracking Check tracker bar integrity –Profile setup Each crew member will have their own profile containing the hand calibration Speech recognition setup and verification of commands

8. Page No. 8 ISS_CM_019 (Rev 08/2009) Teleop Locker (LAB1P4_B1) ER-8 (LAB1P4) Robonaut/ Teleop SSC ER-7 (LAB1P2) Robonaut Tracker Bar (attached to LAB1O2) Increment 31/32 Activities

9. Page No. 9 ISS_CM_019 (Rev 08/2009) Increment 31/32 Activities Teleop System Setup –Install Tracker Bar Inspect glass for damage Attach Tracker Bar at LAB1O2_G1 –Cable Connections Left and right video cables from Locker to Robonaut Tracker Bar to Locker Power cable to Express Rack USB to SSC –Don the vest, gloves and headset

10. Page No. 10 ISS_CM_019 (Rev 08/2009) Tracker Bar ER8 (LAB1P4) Locker 1 To Rack Power Left/Right Video Cables SSC Headset/ Helmet Display Increment 31/32 Activities

11. Page No. 11 ISS_CM_019 (Rev 08/2009) Teleop Video

12. Page No. 12 ISS_CM_019 (Rev 08/2009) Crew Training Increment 31/32 – Complete – J. Acaba –S. Williams –A. Hoshide Increment 33/34 – Starts 5/3 –K. Ford: May 3 rd R2 Overview R2 Scripting and Taskboard –C. Hadfield –T. Marshburn