Inc. 26 Robonaut Operations Sponsoring Org/Office Code: OZ National Lab Name of Forum: POIWG Date: 7/28/2010

Robonaut History Robonaut is an advanced robot developed by the Automation Robotics and Simulation (ER) Division in partnership with General Motors Corporation (GM) Presented to ISS Program and approved to a launch as a National Lab payload in Feb 2010 Lab Robonaut upgraded for launch on ULF5 Robonaut is nearing completion of all pre-launch testing aside from post ship functional Robonaut is still in Phase III Review Fabrication of Support Hardware complete and turned over to KSC 2

Motivation and Strategy Flying Robonaut to ISS will help evolve robotic capability in space by achieving new milestones with a dexterous robot –Launch and operation in space vehicle(s) –Micro-gravity manipulation –Extended duration in the EMI/Radiation environment –Assisting with ISS Tasks –Interaction with crew Recreate basic capability demonstrated on Earth –Ground or local control by crew (via SSC) Gain operational confidence over time –Task board operations –Low risk IVA crew tasks Implement a phased approach to verify Robonaut’s capabilities on ISS –Phase 1 limited to stationary operation on a structural mounted stand Participate in educational demonstrations Public Relations 3

Increments 25 & 26 Flight Sequence (7/2/10) Inc 25/26 ( S. Kelly - USOS) Inc 25/26 ( O. Skripochka– RS) Inc 24/25 ( D. Wheelock– USOS) Inc 24/25 (F. Yurchikhin - RS Inc 25 Exp 24/25/26 crews Inc 26 Expedition 27/28/29 crews Inc 26/27 ( D. Kondratiev– RS) Inc 26/27 ( P. Nespoli– USOS Inc 26/27 ( C. Coleman– USOS) Inc 25 Inc 26 Inc 24/25 ( S. Walker – USOS) Inc 25/26 ( A. Kaleri– RS) S Sep 30 25S Dec 10 23S Rtn 24S Rtn Mar 16 Nov 26 ATV2 Nov 30 40P Oct 27 41P Dec 27 CRS Nov 12 SpaceX-2 Demo CRS SpaceX Demo 3 Feb 27 Wheelock, Walker, Yurchikhin Kelly, Skripochka, Kaleri Kondratiev, Coleman, Nespoli ULF 5 Robonaut & Support HW Launch 2011 Nov 1 HTV2 Jan 20 LON Nov 29 Robonaut Stow ULF 6 Feb 26 Robonaut C/O(s) 4 Robonaut Resupply

A Robonaut Upper Torso for use as a robotics testbed on ISS. Upper Torso includes: –Head –Arms –Waist Joint –Backpack Power Supply –Motion Stop Controller Mechanical Interface to ISS –Baseplate interface to Rack Seat Track –Stanchion interface between Torso and Baseplate Taskboard with task panels –Reconfigurable mounting board for Robonaut experimental tasks Switches, connectors, handrails, etc. Robonaut Baseplate and Stanchion Task Board with Task Panels Robonaut Hardware Launching on ULF5 (PMM) 5

Robonaut Hardware Launching on ULF5 Launch Configuration Robonaut will launch in a specialized container (SLEEPR) built and integrated in the PMM by CMC. Transfer of the launch container with Robonaut to its Stowage location LAB1P1 will be a systems activity and can only occur once LAB1P1 is vacated Robonaut team is developing products for the unpack/stowage configuration within LAB1P1 Once stowage configuration is complete, the launch container and foam will be trashed on HTV2 6

Robonaut Hardware Launching on ULF5 Launch Configuration Robonaut and the support hardware will be stowed in an MO1 and MO3 bag within the LAB1P1 location when not in use The MO1/MO3 bags will be tethered via bungee/velcro ties in the empty rack bay. These procedures are in development. This stowage configuration has been coordinated with OZ, ISS Stowage and Topology groups. Procedures will need OSO review. 7

Stowage Configuration on ISS Photo reference for orientation of Robonaut and baseplate in MO-3 bag. Stanchion will be below Robonaut in lower 1/3 of MO-3 bag. Taskboard will be in MO-1 bag. For reference only. Final layout in LAB1P1 is still in work. 8

Increment 25/26 Crewmembers Planned for Robonaut Training Cady Coleman 25S NASA FE Paolo Nespoli 25S ESA FE Inc. 26 Robonaut Training Strategy Team completed on 7/20/2010 Two training sessions planned: - Robonaut Hardware Assembly/Disassembly (Coleman & Nespoli) - Robonaut Checkout Operations (Coleman only) Training will occur in October, unless time opens up in September. 9

Deployed Configuration on ISS Free Space Operations LAB1D2 LAB1P2 Inc 26 will likely only entail free space operations. 10

Deployed Configuration on ISS Taskboard Operations LAB1D2 LAB1P2 Inc 27 will likely progress into taskboard based operations. 11

Station Support Equipment –UOP Cable Assembly (SEG ; 14’ cable) –PEEK 120 VDC 12 AMP 10' Extension Cable (SEG ) –Ethernet Cable (1F x) –USB Speaker Cable (SEG ) –Unbalanced BNC Cable (SED ) –Advanced Video Interface Unit (SED ) –Internal Camera Port (ICP) Interface Cable (SEG ) –Multiuse Bracket Assembly (SEG ) –Velcro Straps (P/N X, different lengths) –Handrail Equipment Anchor Assembly (HEA) (G11F5121-1) –Seat Track Equipment Anchor Assembly (STEA) (P/N TBD) –SSC (Station Support Computer) T61P Laptop (SEG ) 12

Interfaces/Connections to ISS/US Lab Power 120 VDC from UOP (UOP 1 currently assigned) Data Joint Station LAN (JSL) (Connected to UIP at Lab1D1) Video Robonaut Vision Video will require the standard Lab Cabin Video Pathway (AVIU  US Lab ICP (Internal Camera Port)  CVIU (Common Video Interface Unit)  etc Node 2 Cabin Video – Positioned to face into US Lab to “see” Robonaut, must use the Node 2 camera because the lab cabin video interface is needed for Robonaut Vision. 13

Interfaces/Connections to ISS/US Lab Ethernet / Joint Station LAN (JSL) Robonaut Telemetry Data –Require “Near Real-time” downlink of Robonaut data Bandwidth: No lower than 100kbs Robonaut raw data will be captured off OCA LAN on a new workstation (Robonaut Ground Workstation) in MCC next to Admin PC Admin PC Usage –Require Admin PC access to Remote Desktop into on-board ISS SSC Client. –Remote Desktop session will be used to control the Robonaut GUI program on ISS SSC Client to remote control Robonaut. ISS OCA PC Usage –Require OCA PC to uplink new config files as necessary to ISS SSC Server. 14

Robonaut S/W –Robonaut requires multiple software applications and files to be executed and stored on various station platforms. –SSC Client Load Robonaut Operations GUI Robonaut Machine Vision S/W –SSC Server1 Load Robonaut Boot Files Robonaut Parameter Tables Robonaut Script Files Others (TBD) –Robonaut Ground Workstation (JSC MPSR) Robonaut Streaming Data Capture GUI Robonaut Machine Vision S/W 15

PAYCOM CAPCOM FD Robonaut Control* (Admin PC) ISS Crew POD Robonaut Lead Robonaut (US Lab) Command & Telemetry via JSL Voice I/F Robonaut Team PLUTO* JSC MSPR * Robonaut Control console requires PLUTO interface for Admin PC MCCHPOIC Console Operations Concept Export Controlled Information 16

ROBONAUT OPS in Definition for INC 26 OperationObjectiveCrew/GroundNotes/Constraints Stowage ConfigurationRemove Robonaut from launch container & stow in LAB1P1 CrewEmpty LAB1P1 location, OSO Transfer from PMM complete Robonaut On-Orbit Soak Power on Robonaut, establish comm, monitor telemetry, verify functionality. Determine response to 0-G. Mainly ground commanding. Crew will need to physically flip switches, provide feedback on hardware. SSC Load with Robonaut SW must be completed; No Robonaut Movement, cabin video required Robonaut Safety Checkout Verify Safety Controls are place Mainly ground commanding, crew needed to physically maneuver limbs, provide feedback on hardware. Limited movement; cabin video required; ground controlled Robonaut System Checkout (may be repeated several times for various tests) Verify vision capabilities, test joint range of motion Mainly ground commanding, crew needed to physically maneuver limbs, provide feedback on hardware. Head, limb and single joint movement, ground controlled. cabin video required EPO or PAO Opportunities TBDGround and CrewTBD 17

Crew Procedures-Inc.25/26 Crew Procedures Currently In WorkAssociated Timeline Sequence 1. Stowage Configuration (LAB1P1)Stowage Configuration 2. Assembly All 3. Power-Up (Initialization) All 4. Disassembly and StowAll 5. Safety ChecksSafety C/O 6. Single Joint Check-out(s)System C/O Crew Procedure Forward WorkAssociated Timeline Sequence 1. Taskboard OperationsTBD 2. Off Nominal/ Alternate NominalTBD 18

Potential Scheduling Conflicts 19 CEVIS exercise MSG operations PPFS deployed for VO2max Docking/EVA/Robotics activities (bandwidth limits) Future ER7 subrack payloads Keep out zone if defined by PSRP/Topology SSC/JSL activities Video availability KU/S availability

PMM1P3 1S4 1S3 1F3 1F2 1A1 AVCO RSP SE#176 PMM1A2 1P1 1P2 ISP RSR ISP PMM1S1 1S2 RSR SE#157 AVCO RSR SE#158 SE#156 SE#176 PMM1F1 AVCO ISP RSP AVCO A R E D PMM1F4 SE#158 RSR PMM1A4 RSR PMM1P4 RSR PMM1A3 RSP SE#159 SE#176 SE#160 portstarboardforwardaft JPM1D1 1F1 1F4 1D4 103 JPM1A1 1A4 1O2 1A5 1O5 1O4 1O1 deck forward aft overhead Radial Port JPM1A2 1A3 1A6 RMS SE#355 DMS-2 SE#352 DMS-1 SE#351 HDP JRSR-1 ICS/ PROX SE#360 RYUTAI SE#364 SAIBO SE#365 JRSR-2 ZSR SE#31 MELFI-3 JPM1D5 1D2 1D3 1D6 ECLSS/ TCS-2 SE#357 MELFI-1HDPEPS-1 SE#358 EPS-2 SE#359 ECLSS/ TCS-1 JPM1F5 1F3 1F6 ZSR SE#117 W/SAVCO EXPR-4 SE#17 EXPR-5 SE#35 SE#25SE#356 SE#362SE#23 SE#353SE#354 J P M JPM1F2 ITCS deck overhead forward aft NOD3D4 NOD3F5 N o d e 3 NOD3A5NOD3A4 OGS S E#313 SE#8 NOD3F4 WHC SE#317 NOD3D5 WRS-2 SE#316 WRS-1 SE#315 NOD3O5NOD3O4 Avionics- 2 SE#312SE#311 T2 SE#45 Avionics- 1 Cupola SE#306 ARS P M A - 3 JLP1A2 1P2 1S2 1F2 1F1 1A1 1P1 1S1 ZSR SE#123 HDP ZSR SE#121 JLP forwardaftportstarboard ZSR HDP SE#120 SE#122 COL1O3 1O4 C o l u m b u s 1O1 ZSR SE#112 ZSR SE#113 FSL SE#412 COL1O2 ZSR SE#126 COL1A3 1A4 1A1 HRF-2 SE#417 EPM SE#413 EXPR-3 (ARIS) SE#16 COL1A2 Bio Lab SE#414 COL1D3 1D4 1D1 ETC SE#415 System SE#400 System SE#400 COL1D2 System SE#400 COL1F3 1F4 1F1 HRF-1 MARES SE#419 EDR SE#411 COL1F2 ZSR SE#125 SE#13 NOD2O5 CQ-2 SE#61 NOD2O4 DDCU JEM-1 SE#301 NOD2S5 2D5 N o d e 2 2P5 CQ-1 SE#60 CQ-3 SE#62 CQ-4 SE#63 NOD2S4 2D4 2P4 DDCU ESA-2 SE#304 DDCU ESA-1 SE#303 DDCU JEM-2 SE#302 P M A - 2 deck overhead AIR1O1 Stowage SE#191 AIR1A1 1D1 SE#192 AIR1F1 Avionics A i r l o c k forward aft CA Equip Stowage SE#193 SE#194 P M A - 2 LAB1O1 EXPR-2 (ARIS) SE#15 LAB1O3 MSRR-1 (ARIS) SE#22 LAB1O2 EXPR-1 SE#14 LAB1S6 1S1 1S3 1P5 1D5 L A B 1O6 1D6 ARS SE#314 LAB1D4 Avionics-1 SE#4 LAB1D3 1D2 1D1 WORF SE#19 Avionics-2 SE#5 Avionics-3 SE#6 RSR (CHeCS) SE#155 DDCU-2 SE#9 LAB1S5 1S4 1S2 MSG SE#18 TCS SE#3 MSS/AV SE#12 LAB1P6 TCS SE#2 LAB1P3 1P1 MSS/AV SE#11 DDCU-1 SE#7 LAB1P4 1P2 EXPR-7 SE#33 LAB1O5 1O4 SE#21 CIR (PaRIS) MELFI-2 GALLEY (EXPR-6) FIR (ARIS) SE#370 EXPR-8 (ARIS) Robonaut ZSR SE#118 SE#318 SE#32 SE#34 P M A - 2 NOD1D4 1P4 N o d e 1 1O4 ZSR SE#110 RSR SE#381 NOD1S4 ZSR SE#116 ZSR SE#111 overhead starboard deck port PMA-3 Node3 Z1 Truss Air- lock P M A - 1 LAB1P1to LAB1O5 LAB1P4to COL1F2 LAB1S2to LAB1S1 COL1F2to LAB1S2 Location to LocationName Topology based on ULF-5 (STS-133) Racks Down CMRS reserved zone NASA Stowage Subsystem NASA Payload IP Payload RWSCEVIS None NameLocation LAB1P4 1P1 PMM1F4 1F3 1F2 1S4 1S2 1S1 1A4 1A3 1A2 1P4 1P3 1P2 1P1 NameLocation Racks Up EXPR-8(ARIS) Robonaut RSR RSP RSR RSP ISP RSR ISP ZSR MELFI-2 MSG Rack Moves (to occur before next Flight arrives) ARIS/PaRIS Capable forward IREDARED IP Stowage Internal Volume Configuration Booz|Allen|Hamilton Sep2010-Jan2011/Inc25/26 Rack Pivot Point FGB PMM COL JEM PM Configuration Date: Version#: Generated On: USL Reconfig 25-Mar-10 NASA Payload Allocated Preliminary;Only for illustrating options under consideration

Forward Work Inc. 26 URC Development, baseline Crew Procedure development, baseline Determine plan for EPO or PAO partnership Further define Console Concept, R&Rs with POIC & MOD JMST Simulation planned for October 13 Payload Regulation/ Flight Rule Definition POIWG Splinter at JSC Aug 3, 2010 (Contact Meganne Valerioti for Agenda and tie-in info) 21

Robonaut Team Points of Contact Beth Griggs- MSFC Ops Lead Meganne Valerioti – Bioastronautics Contract Operations Tonya Sivils – Bioastronautics Contract Increment Lead 22

Back-Up Slides 23

Approved Op Noms P/NEngr NameBaselined Op Nom SEG Baseplate AssemblyBaseplate SEG Stanchion AssemblyStanchion SEG Task Board AssemblyTask Board SEG Task Board Panel A AssemblyTask Panel A SEG Task Board Panel B AssemblyTask Panel B SEG Task Board Panel C AssemblyTask Panel C SEG Task Board Panel D AssemblyTask Panel D SEG Task Board Panel E AssemblyTask Panel E SEG Stanchion Cover AssemblyStanchion Cover SEG Robonaut AssemblyRobonaut 24

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Robonaut Operations with the Task board Note: Free Space Operations (not involving task board) will have Robonaut on LAB1D2 facing the aisle

Aluminum –~30 lbs –19” x 41.25” x 6.36” Task Board Frame is black anodized for maximizing fiducial contrast 6 fiducials Holds 4 removable sub-panels ¼ turn fastener interface 1” x 2” Velcro squares with seat track section Attaches to rack seat track via threaded knobs Task Board

Support Hardware - Task Board Panels Aluminum –Clear anodized –~ 5 lbs –8.65” x 12.65” x 4.31” 5 Sub Panels in work –IVA Task Panel – Un-powered –IVA Task Panel – Powered –Hardware stowage panel –EVA task panel –Softgoods panel Attached to task board frame with 4 quarter turn fasteners

Support Hardware: IVA Task Panel (Un-powered) 29 Planned Tasks –Circular connector with dust-cap –Serial connector –Various valves Ball valve Metering valve Needle valve Toggle valve –Quick disconnect connector

Support Hardware – Powered Panel 30 LEDs will verify when a task has been completed Powered via USB cable and laptop (SSC) Planned Tasks –Locking 2 way switch –Non-locking 2 way switch –Locking 3 way switch –Push button switch –Rocker switch

Support Hardware - Hardware Stowage Panel 31 Includes straps with buckles or bungees to secure generic ISS hardware Provides versatility so Robonaut can interface with IVA hardware already on-orbit for future experimentation

Support Hardware - EVA Task Panel 32 Planned Tasks EVA Handrail Microconical Fitting 7/16” EVA Bolt EVA Change-Out Mechanism (ECOM) Socket General purpose tether ring Provides interface capability with other EVA hardware already on- orbit Body Restraint Tether (BRT) EVA Scoop Pistol Grip Tool (PGT) Etc…

Support Hardware - Softgoods Panel 33

Support Hardware - Softgoods Panel 34 Aluminum standoffs and outer frame with Nomex softgoods walls ~9 lbs 13.05” x 18.55” x 7.38” Planned Tasks Qty 4 quarter turn fasteners Ortho fabric covering Softgoods pockets and Velcro inside internal volume (not shown) Zipper on softgoods cover (not shown) Provides Robonaut the capability of performing two-handed tasks with softgoods Softgoods pockets and Velcro inside covering will allow for items to be stowed and removed from the enclosed area

6061 Aluminum –~57 lbs –22” x 41.25” x 4.26” Dovetail Design Concept –Allows for horizontal adjustment –Low profile Attaches to rack seat track with threaded knobs Qty 2 fiducials 35 Support Hardware - Baseplate

Support Hardware - Stanchion Aluminum –~22 lbs –9” x 9” x 26.06” Dovetail Design Concept –Allows for horizontal adjustment Spring plunger interface provides discrete locations along the baseplate –2 threaded knobs provide clamping force for dovetail joint Installs in either orientation –Symmetric Includes stanchion cover –Softgoods cover

Support Hardware - Stanchion 37

IVA Growth Phase 2 (Notional): Add Waist Pitch and Yaw Joints –Allow greater access in workspace without requiring repositioning by crew –Bend down and back –Lean to left and right far more than human could Phase 3 (Notional): Stabilizing Leg –Multiple degree of freedom leg –Increases workspace of the robot by an order of magnitude while anchored –Can be combined with articulated foot

Robonaut Height ” 66.04” 69.0” 2.94”