Demonstration of Autonomous Rendezvous Technology (DART) Project Summary

NASA Technical Reports Server (NTRS)

Rumford, TImothy E.

2003-01-01

Since the 1960's, NASA has performed numerous rendezvous and docking missions. The common element of all US rendezvous and docking is that the spacecraft has always been piloted by astronauts. Only the Russian Space Program has developed and demonstrated an autonomous capability. The Demonstration of Autonomous Rendezvous Technology (DART) project currently funded under NASA's Space Launch Initiative (SLI) Cycle I, provides a key step in establishing an autonomous rendezvous capability for the United States. DART's objective is to demonstrate, in space, the hardware and software necessary for autonomous rendezvous. Orbital Sciences Corporation intends to integrate an Advanced Video Guidance Sensor and Autonomous Rendezvous and Proximity Operations algorithms into a Pegasus upper stage in order to demonstrate the capability to autonomously rendezvous with a target currently in orbit. The DART mission will occur in April 2004. The launch site will be Vandenburg AFB and the launch vehicle will be a Pegasus XL equipped with a Hydrazine Auxiliary Propulsion System 4th stage. All mission objectives will be completed within a 24 hour period. The paper provides a summary of mission objectives, mission overview and a discussion on the design features of the chase and target vehicles.

NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

The NASA Advisory Council Task Force on the Shuttle-Mir rendezvous and docking convened on May 24 and 25, 1994. Based on the meetings, the Task Force made the following recommendations: at a minimum, the mission commander and payload commander for all subsequent Shuttle-Mir missions should be named at least 18 months in advance of the scheduled launch date; in order to derive early operational experience in advance of the first Mir docking mission, the primary objective of STS-63 should be Mir rendezvous and proximity operations; and if at all possible, the launch date for STS-63 should be moved forward.

Electro-optical rendezvous and docking sensors

NASA Technical Reports Server (NTRS)

Tubbs, David J.; Kesler, Lynn O.; Sirko, Robert J.

1991-01-01

Electro-optical sensors provide unique and critical functionality for space missions requiring rendezvous, docking, and berthing. McDonnell Douglas is developing a complete rendezvous and docking system for both manned and unmanned missions. This paper examines our sensor development and the systems and missions which benefit from rendezvous and docking sensors. Simulation results quantifying system performance improvements in key areas are given, with associated sensor performance requirements. A brief review of NASA-funded development activities and the current performance of electro-optical sensors for space applications is given. We will also describe current activities at McDonnell Douglas for a fully functional demonstration to address specific NASA mission needs.

Gemini Rendezvous Docking Simulator

NASA Image and Video Library

1964-05-11

Gemini Rendezvous Docking Simulator suspended from the roof of the Langley Research Center s aircraft hangar. Francis B. Smith wrote: The rendezvous and docking operation of the Gemini spacecraft with the Agena and of the Apollo Command Module with the Lunar Excursion Module have been the subject of simulator studies for several years. This figure illustrates the Gemini-Agena rendezvous docking simulator at Langley. The Gemini spacecraft was supported in a gimbal system by an overhead crane and gantry arrangement which provided 6 degrees of freedom - roll, pitch, yaw, and translation in any direction - all controllable by the astronaut in the spacecraft. Here again the controls fed into a computer which in turn provided an input to the servos driving the spacecraft so that it responded to control motions in a manner which accurately simulated the Gemini spacecraft. -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203 Francis B. Smith, Simulators for Manned Space Research, Paper presented at the 1966 IEEE International convention, March 21-25, 1966.

Two-phase framework for near-optimal multi-target Lambert rendezvous

NASA Astrophysics Data System (ADS)

Bang, Jun; Ahn, Jaemyung

2018-03-01

This paper proposes a two-phase framework to obtain a near-optimal solution of multi-target Lambert rendezvous problem. The objective of the problem is to determine the minimum-cost rendezvous sequence and trajectories to visit a given set of targets within a maximum mission duration. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary solutions, which provides candidate rendezvous trajectories. The second phase formulates a variant of traveling salesman problem (TSP) using the elementary solutions prepared in the first phase and determines the final rendezvous sequence and trajectories of the multi-target rendezvous problem. The validity of the proposed optimization framework is demonstrated through an asteroid exploration case study.

Rendezvous and Proximity Operations of the Space Shuttle

NASA Technical Reports Server (NTRS)

Goodman, John L.

2005-01-01

Space Shuttle rendezvous missions present unique challenges that were not fully recognized when the Shuttle was designed. Rendezvous targets could be passive (i.e., no lights or transponders), and not designed to facilitate Shuttle rendezvous, proximity operations, and retrieval. Shuttle reaction control system jet plume impingement on target spacecraft presented induced dynamics, structural loading, and contamination concerns. These issues, along with limited reaction control system propellant in the Shuttle nose, drove a change from the legacy Gemini/Apollo coelliptic profile to a stable orbit profile, and the development of new proximity operations techniques. Multiple scientific and on-orbit servicing missions, and crew exchange, assembly and replenishment flights to Mir and to the International Space Station drove further profile and piloting technique changes. These changes included new proximity operations, relative navigation sensors, and new computer generated piloting cues. However, the Shuttle's baseline rendezvous navigation system has not required modification to place the Shuttle at the proximity operations initiation point for all rendezvous missions flown.

Current status and future perspectives in laparoendoscopic single-site and natural orifice transluminal endoscopic urological surgery.

PubMed

Autorino, Riccardo; Stein, Robert J; Lima, Estevão; Damiano, Rocco; Khanna, Rakesh; Haber, Georges-Pascal; White, Michael A; Kaouk, Jihad H

2010-05-01

Objective of this study is to provide an evidence-based analysis of the current status and future perspectives of scarless urological surgery. A PubMed search has been performed for all relevant urological literature regarding natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single-site surgery (LESS). In addition, experience with LESS and NOTES at our own institution has been considered. All clinical and investigative reports for LESS and NOTES procedures in the urological literature have been considered. A wide variety of clinical procedures in urology have been successfully completed by using LESS techniques. Thus far, experience with NOTES has largely been investigational, although early clinical reports are emerging. Further development of instrumentation and platforms is necessary for both techniques to become more widely adopted throughout the urological community.

Automatic procedures generator for orbital rendezvous maneuver

NASA Technical Reports Server (NTRS)

Kohn, W.; Van Valkenburg, J. A.; Dunn, C. K.

1985-01-01

This paper describes the development of an expert system for defining and dynamically updating procedures for an orbital rendezvous maneuver. The product of the expert system is a procedure represented by a Moore automaton. The construction is recursive and driven by a simulation of the rendezvousing bodies.

Study of a comet rendezvous mission. Volume 2: Appendices

NASA Technical Reports Server (NTRS)

1972-01-01

Appendices to the comet Encke rendezvous mission consider relative positions of comet, earth and sun; viewing condition for Encke; detection of Taurid meteor streams; ephemeris of comet Encke; microwave and optical techniques in rendezvous mission; approach instruments; electrostatic equilibrium of ion engine spacecraft; comet flyby data for rendezvous spacecraft assembly; observations of P/Encke extracted from a compilation; and summary of technical innovations.

Robotic-assisted laparoendoscopic single-site surgery (R-LESS) in urology: an evidence-based analysis.

PubMed

Barret, E; Sanchez-Salas, R; Ercolani, M; Forgues, A; Rozet, F; Galiano, M; Cathelineau, X

2011-06-01

The objective of this manuscript is to provide an evidence-based analysis of the current status and future perspectives of robotic laparoendoscopic single-site surgery (R-LESS). A PubMed search has been performed for all relevant urological literature regarding natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single-site surgery (LESS). All clinical and investigative reports for robotic LESS and NOTES procedures in the urological literature have been considered. A significant number of clinical urological procedures have been successfully completed utilizing R-LESS procedures. The available experience is limited to referral centers, where the case volume is sufficient to help overcome the challenges and learning curve of LESS surgery. The robotic interface remains the best fit for LESS procedures but its mode of use continues to evolve in attempts to improve surgical technique. We stand today at the dawn of R-LESS surgery, but this approach may well become the standard of care in the near future. Further technological development is needed to allow widespread adoption of the technique.

Performance Modeling of the ADA Rendezvous

DTIC Science & Technology

1991-10-01

queueing network of figure 2, SERVERTASK can complete only one rendezvous at a time. Thus, the rate that the rendezvous requests are processed at the... Network 1, SERVERTASK competes with the traffic tasks of Server Processor. Each time SERVERTASK gains access to the processor, SERVERTASK completes...Client Processor Server Processor Software Server Nek Netork2 Figure 10. A conceptualization of the algorithm. The SERVERTASK software server of Network 2

Rendezvous missions to temporarily captured near Earth asteroids

NASA Astrophysics Data System (ADS)

Brelsford, S.; Chyba, M.; Haberkorn, T.; Patterson, G.

2016-04-01

Missions to rendezvous with or capture an asteroid present significant interest both from a geophysical and safety point of view. They are key to the understanding of our solar system and are stepping stones for interplanetary human flight. In this paper, we focus on a rendezvous mission with 2006 RH120, an asteroid classified as a Temporarily Captured Orbiter (TCO). TCOs form a new population of near Earth objects presenting many advantages toward that goal. Prior to the mission, we consider the spacecraft hibernating on a Halo orbit around the Earth-Moon's L2 libration point. The objective is to design a transfer for the spacecraft from the parking orbit to rendezvous with 2006 RH120 while minimizing the fuel consumption. Our transfers use indirect methods, based on the Pontryagin Maximum Principle, combined with continuation techniques and a direct method to address the sensitivity of the initialization. We demonstrate that a rendezvous mission with 2006 RH120 can be accomplished with low delta-v. This exploratory work can be seen as a first step to identify good candidates for a rendezvous on a given TCO trajectory.

The Successful Development of an Automated Rendezvous and Capture (AR&C) System for the National Aeronautics and Space Administration

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.

2003-01-01

During the 1990's, the Marshall Space Flight Center (MSFC) conducted pioneering research in the development of an automated rendezvous and capture/docking (AR&C) system for U.S. space vehicles. Development and demonstration of a rendezvous sensor was identified early in the AR&C Program as the critical enabling technology that allows automated proximity operations and docking. A first generation rendezvous sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on STS-87 and STS-95, proving the concept of a video- based sensor. A ground demonstration of the entire system and software was successfully tested. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development, by the MSFC, of a new generation of video based rendezvous sensor. The Advanced Video Guidance Sensor (AGS) has greatly increased performance and additional capability for longer-range operation with a new target designed as a direct replacement for existing ISS hemispherical reflectors.

Use of automated rendezvous trajectory planning to improve spacecraft operations efficiency

NASA Technical Reports Server (NTRS)

Mulder, Tom A.

1991-01-01

The current planning process for space shuttle rendezvous with a second Earth-orbiting vehicle is time consuming and costly. It is a labor-intensive, manual process performed pre-mission with the aid of specialized maneuver processing tools. Real-time execution of a rendezvous plan must closely follow a predicted trajectory, and targeted solutions leading up to the terminal phase are computed on the ground. Despite over 25 years of Gemini, Apollo, Skylab, and shuttle vehicle-to-vehicle rendezvous missions flown to date, rendezvous in Earth orbit still requires careful monitoring and cannot be taken for granted. For example, a significant trajectory offset was experienced during terminal phase rendezvous of the STS-32 Long Duration Exposure Facility retrieval mission. Several improvements can be introduced to the present rendezvous planning process to reduce costs, produce more fuel-efficient profiles, and increase the probability of mission success.

GEMINI RENDEZVOUS EVALUATION POD (REP) - ARTIST CONCEPT

NASA Image and Video Library

1965-08-01

S65-28653 (August 1965) --- Rendezvous Evaluation Pod (REP) in orbit is approached by Gemini spacecraft as seen in this artist's concept using an actual photograph taken on the Gemini-4 mission. The REP is superimposed over a Gemini-4 Earth-sky picture of cloud formations over an ocean. The REP will be used by the crew of the Gemini-5 spacecraft to practice rendezvous techniques.

The Modular Clock Algorithm for Blind Rendezvous

DTIC Science & Technology

2009-03-26

and Computer Engineering Graduate School of Engineering and Management Air Force Institute of Technology Air University Air Education and Training...capabilities in spectrum management and particularly in harvesting unused portions of pre-allocated band- width under DSA. The term “cognitive radio” was...of rendezvous and our role as the waiter . However, if the “child” refuses to move from non-common spectrum, rendezvous cannot occur. Bluetooth

Atmospheric rendezvous feasibility study

NASA Technical Reports Server (NTRS)

Schaezler, A. D.

1972-01-01

A study was carried out to determine the feasibility of using atmospheric rendezvous to increase the efficiency of space transportation and to determine the most effective implementation. It is concluded that atmospheric rendezvous is feasible and can be utilized in a space transportation system to reduce size of the orbiter vehicle, provide a powered landing with go-around capability for every mission, and achieve lateral range performance that exceeds requirements. A significantly lighter booster and reduced launch fuel requirements are additional benefits that can be realized with a system that includes a large subsonic airplane for recovery of the orbiter. Additional reduction in booster size is possible if the airplane is designed for recovery of the booster by towing. An airplane about the size of the C-5A is required.

Expert system isssues in automated, autonomous space vehicle rendezvous

NASA Technical Reports Server (NTRS)

Goodwin, Mary Ann; Bochsler, Daniel C.

1987-01-01

The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

Analysis for orbital rendezvous of Chang'E-5 using SBI technique

NASA Astrophysics Data System (ADS)

Huang, Y.; Shan, Q.; Li, P.

2016-12-01

Chang'E-5 will be launched in later 2017/early 2018 using a new generation rocket from Wenchang satellite launch center, Hainan, China. It is a lunar sampling return mission, and it is the first time for China to carry out orbital rendezvous and docking in the Moon. How to achieve orbital rendezvous successfully in the Moon is very important in Chang'E-5 mission. Orbital rendezvous will be implemented between an orbiter and an ascender 200 km above the Moon. The ground tracking techniques include range, Doppler and VLBI, and they will be used to track the orbiter and the ascender when the ascender is about 70 km farther away from the orbiter. Later the ascender will approach the orbiter automatically. As a successful example, in Chang'E-3, the differential phase delay (delta delay) data between the rover and the lander are obtained with a random error of about 1 ps, and the relative position of the rover is determined with an accuracy of several meters by using same beam VLBI (SBI) technique. Here the application of the SBI technique for Chang'E-5 orbital rendezvous is discussed. SBI technique can be used to track the orbiter and the ascender simultaneously when they are in the same beam. Delta delay of the two probes can be derived, and the measurement accuracy is much higher than that of the traditional VLBI data because of the cancelation of common errors. Theoretically it can result in a more accurate relative orbit between the two probes. In the simulation, different strategies are discussed to analyze the contribution of SBI data to the orbit accuracy improvement especially relative orbit between the orbiter and ascender. The simulation results show that the relative position accuracy of the orbiter and ascender can reach about 1 m with delta delay data of 10 ps.

[Optimization of education for laparoendoscopic technologies in Ukraine].

PubMed

Lesovoĭ, V N; Savenkov, V I; Tomin, M S

2014-09-01

International experience of training of surgeons, including urologists, in laparoendoscopic technologies, was analyzed. Practical course "The Fundamentals of aparoscopic Surgery" (FLS) and the European program of education for basic laparoscopic urologic skills (E-BLUS), which are used in specialized centers, constitute a standard programs of development of basic endosurgical skills. Such centers in Ukraine are absent. The project of complex system of a simulating education, testing and certification of surgeons, who are trained in endovideosurgical technologies, is proposed. While performing surveying of Ukrainian surgeons there were revealed the problems in a process of their education and introduction of highly technological methods: insufficient equipment with modern apparatuses, absence of a standardized pro- gram of education. The staged program of education was elaborated, taking into account progressive international experience and adopted to our environment and con ditions.

Shuttle on-orbit rendezvous targeting: Circular orbits

NASA Technical Reports Server (NTRS)

Bentley, E. L.

1972-01-01

The strategy and logic used in a space shuttle on-orbit rendezvous targeting program are described. The program generates ascent targeting conditions for boost to insertion into an intermediate parking orbit, and generates on-orbit targeting and timeline bases for each maneuver to effect rendezvous with a space station. Time of launch is determined so as to eliminate any plane change, and all work was performed for a near-circular space station orbit.

Upper Tract Urological Laparoendoscopic Single-Site Surgery (LESS)

PubMed Central

Tugcu, Volkan; Sahin, Selcuk; Seker, Gokhan; Kargi, Taner; Tasci, Ali Ihsan

2015-01-01

Background and Objectives: Our objective is to report intermediate-term outcomes for patients who have undergone upper tract urologic laparoendoscopic single-site surgery (LESS) at a single institution. Methods: From January 1, 2008, through November 30, 2012, 107 cases treated with LESS were identified, including pyeloplasty (n = 30), ureterolithotomy (n = 32), nephrectomy (n = 35; simple = 31, partial = 4), and cyst decortication (n = 10). Perioperative data were reviewed, and conversion and complication rates were noted. Results: The median follow-up was 21.5 months for pyeloplasty, 20.5 for ureterolithotomy, 28.0 for simple nephrectomy, 14.0 for partial nephrectomy, and 19.0 for cyst decortication. Major complications were encountered in 8 patients, including 3 intraoperative complications (2 bowel injury with serosal tearing and 1 intraoperative bleeding), which were recognized and repaired with LESS or conversion to conventional laparoscopy (CL). During the intermediate postoperative period (30–90 days) major complications occurred in 5 patients: 4 ureteral strictures (Clavien-Dindo grade [CG] IIIb) and 1 urinoma formation (CG IIIa). During the early postoperative period (<30 days), the most common minor complications were flank pain (CG I) in 16 patients and urinary tract infection (CG II) in 11, followed by urinary leakage (CG I) in 8. Conclusions: Intermediate-term functional outcomes of this single-center study confirm that upper tract LESS is a challenging procedure that can be safe and effective when performed by an experienced team. Prospective studies with longer follow-up periods are needed to investigate the safety of LESS in the treatment of various upper urinary tract conditions. PMID:26648679

Cosmetic outcomes of laparoendoscopic single-site hysterectomy compared with multi-port surgery: randomized controlled trial.

PubMed

Song, Taejong; Cho, Juhee; Kim, Tae-Joong; Kim, Im-Ryung; Hahm, Tae Soo; Kim, Byoung-Gie; Bae, Duk-Soo

2013-01-01

To compare cosmetic satisfaction with laparoendoscopic single-site surgery (LESS) compared with multi-port surgery. Randomized controlled trial (Canadian Task Force classification I). University hospital. Twenty women who underwent laparoscopically-assisted vaginal hysterectomy (LAVH) via LESS or multi-port surgery. Laparoendoscopic single-site surgery or multi-port surgery. Cosmetic satisfaction was assessed using the Body Image Questionnaire at baseline and at 1, 4, and 24 weeks after surgery. Of the 20 LESS procedures, 1 was converted to multi-port surgery because of severe adhesions, and 1 woman assigned to undergo multi-port surgery was lost to follow-up. The 2 surgery groups did not differ in clinical demographic data and surgical results or postoperative pain scores at 12, 24, and 36 hours. Compared with the multi-port group, the LESS group reported significantly higher cosmetic satisfaction at 1, 4, and 24 weeks after surgery (p < .01). Compared with multi-port surgery, LESS is not only a feasible approach with comparable operative outcomes but also has an advantage insofar as cosmetic outcome. Copyright © 2013 AAGL. Published by Elsevier Inc. All rights reserved.

Spacecraft rendezvous operational considerations affecting vehicle systems design and configuration

NASA Astrophysics Data System (ADS)

Prust, Ellen E.

One lesson learned from Orbiting Maneuvering Vehicle (OMV) program experience is that Design Reference Missions must include an appropriate balance of operations and performance inputs to effectively drive vehicle systems design and configuration. Rendezvous trajectory design is based on vehicle characteristics (e.g., mass, propellant tank size, and mission duration capability) and operational requirements, which have evolved through the Gemini, Apollo, and STS programs. Operational constraints affecting the rendezvous final approach are summarized. The two major objectives of operational rendezvous design are vehicle/crew safety and mission success. Operational requirements on the final approach which support these objectives include: tracking/targeting/communications; trajectory dispersion and navigation uncertainty handling; contingency protection; favorable sunlight conditions; acceptable relative state for proximity operations handover; and compliance with target vehicle constraints. A discussion of the ways each of these requirements may constrain the rendezvous trajectory follows. Although the constraints discussed apply to all rendezvous, the trajectory presented in 'Cargo Transfer Vehicle Preliminary Reference Definition' (MSFC, May 1991) was used as the basis for the comments below.

Automated Rendezvous and Capture in Space: A Technology Assessment

NASA Technical Reports Server (NTRS)

Polites, Michael E.

1998-01-01

This paper presents the results of a study to assess the technology of automated rendezvous and capture (AR&C) in space. The outline of the paper is as follows: First, the history of manual and automated rendezvous and capture and rendezvous and dock is presented. Next, the need for AR&C in space is reviewed. In light of these, AR&C systems are proposed that meet NASA's future needs, but can be developed in a reasonable amount of time with a reasonable amount of money. Technology plans for developing these systems are presented; cost and schedule are included.

Automated Rendezvous and Capture System Development and Simulation for NASA

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.; Murphy, Leslie

2004-01-01

The United States does not have an Automated Rendezvous and Capture Docking (AR&C) capability and is reliant on manned control for rendezvous and docking of orbiting spacecraft. T h i s reliance on the labor intensive manned interface for control of rendezvous and docking vehicles has a significant impact on the cost of the operation of the International Space Station (ISS) and precludes the use of any U.S. expendable launch capabilities for Space Station resupply. The Marshall Space Flight Center (MSFC) has conducted pioneering research in the development of an automated rendezvous and capture (or docking) (AR&C) system for U.S. space vehicles. This A M C system was tested extensively using hardware-in-the-loop simulations in the Flight Robotics Laboratory, and a rendezvous sensor, the Video Guidance Sensor was developed and successfully flown on the Space Shuttle on flights STS-87 and STS-95, proving the concept of a video- based sensor. Further developments in sensor technology and vehicle and target configuration have lead to continued improvements and changes in AR&C system development and simulation. A new Advanced Video Guidance Sensor (AVGS) with target will be utilized as the primary navigation sensor on the Demonstration of Autonomous Rendezvous Technologies (DART) flight experiment in 2004. Realtime closed-loop simulations will be performed to validate the improved AR&C systems prior to flight.

Rendezvous radar for the orbital maneuvering vehicle

NASA Technical Reports Server (NTRS)

Locke, John W.; Olds, Keith A.; Quaid, Thomas

1991-01-01

The Rendezvous Radar Set (RRS) was designed at Motorola's Strategic Electronics Division in Chandler, Arizona, to be a key subsystem aboard NASA's Orbital Maneuvering Vehicle (OMV). The unmanned OMV, which was under development at TRW's Federal Systems Division in Redondo Beach, California, was designed to supplement the Shuttle's satellite delivery, retrieval, and maneuvering activities. The RRS was to be used to locate and then provide the OMV with vectoring information to the target satellite (or Shuttle or Space Station) to aid the OMV in making a minimum fuel consumption approach and rendezvous. The OMV development program was halted by NASA in 1990 just as parts were being ordered for the RRS engineering model. The paper presented describes the RRS design and then discusses new technologies, either under development or planned for development at Motorola, that can be applied to radar or alternative sensor solutions for the Automated Rendezvous and Capture problem.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision-making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

Defining the learning curve of laparoendoscopic single-site Heller myotomy.

PubMed

Ross, Sharona B; Luberice, Kenneth; Kurian, Tony J; Paul, Harold; Rosemurgy, Alexander S

2013-08-01

Initial outcomes suggest laparoendoscopic single-site (LESS) Heller myotomy with anterior fundoplication provides safe, efficacious, and cosmetically superior outcomes relative to conventional laparoscopy. This study was undertaken to define the learning curve of LESS Heller myotomy with anterior fundoplication. One hundred patients underwent LESS Heller myotomy with anterior fundoplication. Symptom frequency and severity were scored using a Likert scale (0 = never/not bothersome to 10 = always/very bothersome). Symptom resolution, additional trocars, and complications were compared among patient quartiles. Median data are presented. Preoperative frequency/severity scores were: dysphagia = 10/8 and regurgitation = 8/7. Additional trocars were placed in 12 patients (10%), of whom all were in the first two quartiles. Esophagotomy/gastrotomy occurred in three patients. Postoperative complications occurred in 9 per cent. No conversions to "open" operations occurred. Length of stay was 1 day. Postoperative frequency/severity scores were: dysphagia = 2/0 and regurgitation = 0/0; scores were less than before myotomy (P < 0.001). There were no apparent scars, except where additional trocars were placed. LESS Heller myotomy with anterior fundoplication well palliates symptoms of achalasia with no apparent scar. Placement of additional trocars only occurred early in the experience. For surgeons proficient with the conventional laparoscopic approach, the learning curve of LESS Heller myotomy with anterior fundoplication is short and safe, because proficiency is quickly attained.

Interactive optimization approach for optimal impulsive rendezvous using primer vector and evolutionary algorithms

NASA Astrophysics Data System (ADS)

Luo, Ya-Zhong; Zhang, Jin; Li, Hai-yang; Tang, Guo-Jin

2010-08-01

In this paper, a new optimization approach combining primer vector theory and evolutionary algorithms for fuel-optimal non-linear impulsive rendezvous is proposed. The optimization approach is designed to seek the optimal number of impulses as well as the optimal impulse vectors. In this optimization approach, adding a midcourse impulse is determined by an interactive method, i.e. observing the primer-magnitude time history. An improved version of simulated annealing is employed to optimize the rendezvous trajectory with the fixed-number of impulses. This interactive approach is evaluated by three test cases: coplanar circle-to-circle rendezvous, same-circle rendezvous and non-coplanar rendezvous. The results show that the interactive approach is effective and efficient in fuel-optimal non-linear rendezvous design. It can guarantee solutions, which satisfy the Lawden's necessary optimality conditions.

Optimal cooperative time-fixed impulsive rendezvous

NASA Technical Reports Server (NTRS)

Mirfakhraie, Koorosh; Conway, Bruce A.

1990-01-01

New capabilities have been added to a method that had been developed for determining optimal, i.e., minimum fuel, trajectories for the fixed-time cooperative rendezvous of two spacecraft. The method utilizes the primer vector theory. The new capabilities enable the method to accomodate cases in which there are fuel constraints on the spacecraft and/or enable the addition of a mid-course impulse to one of the vehicle's trajectories. Results are presented for a large number of cases, and the effect of varying parameters, such as vehicle fuel constraints, vehicle initial masses, and time allowed for the rendezvous, is demonstrated.

Angles-only navigation for autonomous orbital rendezvous

NASA Astrophysics Data System (ADS)

Woffinden, David C.

The proposed thesis of this dissertation has both a practical element and theoretical component which aim to answer key questions related to the use of angles-only navigation for autonomous orbital rendezvous. The first and fundamental principle to this work argues that an angles-only navigation filter can determine the relative position and orientation (pose) between two spacecraft to perform the necessary maneuvers and close proximity operations for autonomous orbital rendezvous. Second, the implementation of angles-only navigation for on-orbit applications is looked upon with skeptical eyes because of its perceived limitation of determining the relative range between two vehicles. This assumed, yet little understood subtlety can be formally characterized with a closed-form analytical observability criteria which specifies the necessary and sufficient conditions for determining the relative position and velocity with only angular measurements. With a mathematical expression of the observability criteria, it can be used to (1) identify the orbital rendezvous trajectories and maneuvers that ensure the relative position and velocity are observable for angles-only navigation, (2) quantify the degree or level of observability and (3) compute optimal maneuvers that maximize observability. In summary, the objective of this dissertation is to provide both a practical and theoretical foundation for the advancement of autonomous orbital rendezvous through the use of angles-only navigation.

Mission options for rendezvous with the most accessible Near-Earth Asteroid - 1989 ML

NASA Technical Reports Server (NTRS)

Mcadams, Jim V.

1992-01-01

The recent discovery of the Amor-class 1989 ML, the most accessible known asteroid for minimum-energy rendezvous missions, has expedited the search for frequent, low-cost Near-Earth Asteroid rendezvous and round-trip missions. This paper identifies trajectory characteristics and assesses mass performance for low Delta V ballistic rendezvous opportunities to 1989 ML during the period 1996-2010. This asteroid also offers occasional unique extended mission opportunities, such as the lowest known Delta V requirement for any asteroid sample return mission as well as pre-rendezvous asteroid flyby and post-rendezvous comet flyby opportunities requiring less than 5.25 km/sec total Delta V. This paper also briefly comments concerning mission opportunities for asteroid 1991 JW, which recently replaced other known asteroids as the most accessible Near-Earth Asteroid for fast rendezvous and round-trip missions.

Design and Implementation of the Automated Rendezvous Targeting Algorithms for Orion

NASA Technical Reports Server (NTRS)

DSouza, Christopher; Weeks, Michael

2010-01-01

The Orion vehicle will be designed to perform several rendezvous missions: rendezvous with the ISS in Low Earth Orbit (LEO), rendezvous with the EDS/Altair in LEO, a contingency rendezvous with the ascent stage of the Altair in Low Lunar Orbit (LLO) and a contingency rendezvous in LLO with the ascent and descent stage in the case of an aborted lunar landing. Therefore, it is not difficult to realize that each of these scenarios imposes different operational, timing, and performance constraints on the GNC system. To this end, a suite of on-board guidance and targeting algorithms have been designed to meet the requirement to perform the rendezvous independent of communications with the ground. This capability is particularly relevant for the lunar missions, some of which may occur on the far side of the moon. This paper will describe these algorithms which are designed to be structured and arranged in such a way so as to be flexible and able to safely perform a wide variety of rendezvous trajectories. The goal of the algorithms is not to merely fly one specific type of canned rendezvous profile. Conversely, it was designed from the start to be general enough such that any type of trajectory profile can be flown.(i.e. a coelliptic profile, a stable orbit rendezvous profile, and a expedited LLO rendezvous profile, etc) all using the same rendezvous suite of algorithms. Each of these profiles makes use of maneuver types which have been designed with dual goals of robustness and performance. They are designed to converge quickly under dispersed conditions and they are designed to perform many of the functions performed on the ground today. The targeting algorithms consist of a phasing maneuver (NC), an altitude adjust maneuver (NH), and plane change maneuver (NPC), a coelliptic maneuver (NSR), a Lambert targeted maneuver, and several multiple-burn targeted maneuvers which combine one of more of these algorithms. The derivation and implementation of each of these

Automated Rendezvous and Capture System Development and Simulation for NASA

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.; Murphy, Leslie

2004-01-01

The United States does not have an Automated Rendezvous and Capture/Docking (AR and C) capability and is reliant on manned control for rendezvous and docking of orbiting spacecraft. This reliance on the labor intensive manned interface for control of rendezvous and docking vehicles has a significant impact on the cost of the operation of the International Space Station (ISS) and precludes the use of any U.S. expendable launch capabilities for Space Station resupply. The Soviets have the capability to autonomously dock in space, but their system produces a hard docking with excessive force and contact velocity. Automated Rendezvous and Capture/Docking has been identified as a key enabling technology for the Space Launch Initiative (SLI) Program, DARPA Orbital Express and other DOD Programs. The development and implementation of an AR&C capability can significantly enhance system flexibility, improve safety, and lower the cost of maintaining, supplying, and operating the International Space Station. The Marshall Space Flight Center (MSFC) has conducted pioneering research in the development of an automated rendezvous and capture (or docking) (AR and C) system for U.S. space vehicles. This AR&C system was tested extensively using hardware-in-the-loop simulations in the Flight Robotics Laboratory, and a rendezvous sensor, the Video Guidance Sensor was developed and successfully flown on the Space Shuttle on flights STS-87 and STS-95, proving the concept of a video- based sensor. Further developments in sensor technology and vehicle and target configuration have lead to continued improvements and changes in AR&C system development and simulation. A new Advanced Video Guidance Sensor (AVGS) with target will be utilized on the Demonstration of Autonomous Rendezvous Technologies (DART) flight experiment in 2004.

Gossip-based solutions for discrete rendezvous in populations of communicating agents.

PubMed

Hollander, Christopher D; Wu, Annie S

2014-01-01

The objective of the rendezvous problem is to construct a method that enables a population of agents to agree on a spatial (and possibly temporal) meeting location. We introduce the buffered gossip algorithm as a general solution to the rendezvous problem in a discrete domain with direct communication between decentralized agents. We compare the performance of the buffered gossip algorithm against the well known uniform gossip algorithm. We believe that a buffered solution is preferable to an unbuffered solution, such as the uniform gossip algorithm, because the use of a buffer allows an agent to use multiple information sources when determining its desired rendezvous point, and that access to multiple information sources may improve agent decision making by reinforcing or contradicting an initial choice. To show that the buffered gossip algorithm is an actual solution for the rendezvous problem, we construct a theoretical proof of convergence and derive the conditions under which the buffered gossip algorithm is guaranteed to produce a consensus on rendezvous location. We use these results to verify that the uniform gossip algorithm also solves the rendezvous problem. We then use a multi-agent simulation to conduct a series of simulation experiments to compare the performance between the buffered and uniform gossip algorithms. Our results suggest that the buffered gossip algorithm can solve the rendezvous problem faster than the uniform gossip algorithm; however, the relative performance between these two solutions depends on the specific constraints of the problem and the parameters of the buffered gossip algorithm.

Gossip-Based Solutions for Discrete Rendezvous in Populations of Communicating Agents

PubMed Central

Hollander, Christopher D.; Wu, Annie S.

2014-01-01

The objective of the rendezvous problem is to construct a method that enables a population of agents to agree on a spatial (and possibly temporal) meeting location. We introduce the buffered gossip algorithm as a general solution to the rendezvous problem in a discrete domain with direct communication between decentralized agents. We compare the performance of the buffered gossip algorithm against the well known uniform gossip algorithm. We believe that a buffered solution is preferable to an unbuffered solution, such as the uniform gossip algorithm, because the use of a buffer allows an agent to use multiple information sources when determining its desired rendezvous point, and that access to multiple information sources may improve agent decision making by reinforcing or contradicting an initial choice. To show that the buffered gossip algorithm is an actual solution for the rendezvous problem, we construct a theoretical proof of convergence and derive the conditions under which the buffered gossip algorithm is guaranteed to produce a consensus on rendezvous location. We use these results to verify that the uniform gossip algorithm also solves the rendezvous problem. We then use a multi-agent simulation to conduct a series of simulation experiments to compare the performance between the buffered and uniform gossip algorithms. Our results suggest that the buffered gossip algorithm can solve the rendezvous problem faster than the uniform gossip algorithm; however, the relative performance between these two solutions depends on the specific constraints of the problem and the parameters of the buffered gossip algorithm. PMID:25397882

Multiple NEO Rendezvous Using Solar Sail Propulsion

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Fabisinski, Leo; Heaton, Andy; Miernik, Janie; Stough, Rob; Wright, Roosevelt; Young, Roy

2012-01-01

The NASA Marshall Space Flight Center (MSFC) Advanced Concepts Office performed an assessment of the feasibility of using a near-term solar sail propulsion system to enable a single spacecraft to perform serial rendezvous operations at multiple Near Earth Objects (NEOs) within six years of launch on a small-to-moderate launch vehicle. The study baselined the use of the sail technology demonstrated in the mid-2000 s by the NASA In-Space Propulsion Technology Project and is scheduled to be demonstrated in space by 2014 as part of the NASA Technology Demonstration Mission Program. The study ground rules required that the solar sail be the only new technology on the flight; all other spacecraft systems and instruments must have had previous space test and qualification. The resulting mission concept uses an 80-m X 80-m 3-axis stabilized solar sail launched by an Athena-II rocket in 2017 to rendezvous with 1999 AO10, Apophis and 2001 QJ142. In each rendezvous, the spacecraft will perform proximity operations for approximately 30 days. The spacecraft science payload is simple and lightweight; it will consist of only the multispectral imager flown on the Near Earth Asteroid Rendezvous (NEAR) mission to 433 Eros and 253 Mathilde. Most non-sail spacecraft systems are based on the Messenger mission spacecraft. This paper will describe the objectives of the proposed mission, the solar sail technology to be employed, the spacecraft system and subsystems, as well as the overall mission profile.

Model predictive control for spacecraft rendezvous in elliptical orbit

NASA Astrophysics Data System (ADS)

Li, Peng; Zhu, Zheng H.

2018-05-01

This paper studies the control of spacecraft rendezvous with attitude stable or spinning targets in an elliptical orbit. The linearized Tschauner-Hempel equation is used to describe the motion of spacecraft and the problem is formulated by model predictive control. The control objective is to maximize control accuracy and smoothness simultaneously to avoid unexpected change or overshoot of trajectory for safe rendezvous. It is achieved by minimizing the weighted summations of control errors and increments. The effects of two sets of horizons (control and predictive horizons) in the model predictive control are examined in terms of fuel consumption, rendezvous time and computational effort. The numerical results show the proposed control strategy is effective.

Optimum Multi-Impulse Rendezvous Program

NASA Technical Reports Server (NTRS)

Glandorf, D. R.; Onley, A. G.; Rozendaal, H. L.

1970-01-01

OMIRPROGRAM determines optimal n-impulse rendezvous trajectories under the restrictions of two-body motion in free space. Lawden's primer vector theory is applied to determine optimum number of midcourse impulse applications. Global optimality is not guaranteed.

Low Earth Orbit Rendezvous Strategy for Lunar Missions

NASA Technical Reports Server (NTRS)

Cates, Grant R.; Cirillo, William M.; Stromgren, Chel

2006-01-01

On January 14, 2004 President George W. Bush announced a new Vision for Space Exploration calling for NASA to return humans to the moon. In 2005 NASA decided to use a Low Earth Orbit (LEO) rendezvous strategy for the lunar missions. A Discrete Event Simulation (DES) based model of this strategy was constructed. Results of the model were then used for subsequent analysis to explore the ramifications of the LEO rendezvous strategy.

Mars Sample Return - Launch and Detection Strategies for Orbital Rendezvous

NASA Technical Reports Server (NTRS)

Woolley, Ryan C.; Mattingly, Richard L.; Riedel, Joseph E.; Sturm, Erick J.

2011-01-01

This study sets forth conceptual mission design strategies for the ascent and rendezvous phase of the proposed NASA/ESA joint Mars Sample Return Campaign. The current notional mission architecture calls for the launch of an acquisition/cache rover in 2018, an orbiter with an Earth return vehicle in 2022, and a fetch rover and ascent vehicle in 2024. Strategies are presented to launch the sample into a coplanar orbit with the Orbiter which facilitate robust optical detection, orbit determination, and rendezvous. Repeating ground track orbits exist at 457 and 572 km which provide multiple launch opportunities with similar geometries for detection and rendezvous.

Mars Sample Return: Launch and Detection Strategies for Orbital Rendezvous

NASA Technical Reports Server (NTRS)

Woolley, Ryan C.; Mattingly, Richard L.; Riedel, Joseph E.; Sturm, Erick J.

2011-01-01

This study sets forth conceptual mission design strategies for the ascent and rendezvous phase of the proposed NASA/ESA joint Mars Sample Return Campaign. The current notional mission architecture calls for the launch of an acquisition/ caching rover in 2018, an Earth return orbiter in 2022, and a fetch rover with ascent vehicle in 2024. Strategies are presented to launch the sample into a nearly coplanar orbit with the Orbiter which would facilitate robust optical detection, orbit determination, and rendezvous. Repeating ground track orbits existat 457 and 572 km which would provide multiple launch opportunities with similar geometries for detection and rendezvous.

Tracking techniques for space shuttle rendezvous

NASA Technical Reports Server (NTRS)

1975-01-01

The space shuttle rendezvous radar has a requirement to track cooperative and non-cooperative targets. For this reason the Lunar Module (LM) Rendezvous Radar was modified to incorporate the capability of tracking a non-cooperative target. The modifications are discussed. All modifications except those relating to frequency diversity were completed, and system tests were performed to confirm proper performance in the non-cooperative mode. Frequency diversity was added to the radar and to the special test equipment, and then system tests were performed. This last set of tests included re-running the tests of the non-cooperative mode without frequency diversity, followed by tests with frequency diversity and tests of operation in the original cooperative mode.

Short rendezvous missions for advanced Russian human spacecraft

NASA Astrophysics Data System (ADS)

Murtazin, Rafail F.; Budylov, Sergey G.

2010-10-01

The two-day stay of crew in a limited inhabited volume of the Soyuz-TMA spacecraft till docking to ISS is one of the most stressful parts of space flight. In this paper a number of possible ways to reduce the duration of the free flight phase are considered. The duration is defined by phasing strategy that is necessary for reduction of the phase angle between the chaser and target spacecraft. Some short phasing strategies could be developed. The use of such strategies creates more comfortable flight conditions for crew thanks to short duration and additionally it allows saving spacecraft's life support resources. The transition from the methods of direct spacecraft rendezvous using one orbit phasing (first flights of " Vostok" and " Soyuz" vehicles) to the currently used methods of two-day rendezvous mission can be observed in the history of Soviet manned space program. For an advanced Russian human rated spacecraft the short phasing strategy is recommended, which can be considered as a combination between the direct and two-day rendezvous missions. The following state of the art technologies are assumed available: onboard accurate navigation; onboard computations of phasing maneuvers; launch vehicle with high accuracy injection orbit, etc. Some operational requirements and constraints for the strategies are briefly discussed. In order to provide acceptable phase angles for possible launch dates the experience of the ISS altitude profile control can be used. As examples of the short phasing strategies, the following rendezvous missions are considered: direct ascent, short mission with the phasing during 3-7 orbits depending on the launch date (nominal or backup). For each option statistical modeling of the rendezvous mission is fulfilled, as well as an admissible phase angle range, accuracy of target state vector and addition fuel consumption coming out of emergency is defined. In this paper an estimation of pros and cons of all options is conducted.

Laser space rendezvous and docking tradeoff

NASA Technical Reports Server (NTRS)

Adelman, S.; Levinson, S.; Raber, P.; Weindling, F.

1974-01-01

A spaceborne laser radar (LADAR) was configured to meet the requirements for rendezvous and docking with a cooperative object in synchronous orbit. The LADAR, configurated using existing pulsed CO2 laser technology and a 1980 system technology baseline, is well suited for the envisioned space tug missions. The performance of a family of candidate LADARS was analyzed. Tradeoff studies as a function of size, weight, and power consumption were carried out for maximum ranges of 50, 100, 200, and 300 nautical miles. The investigation supports the original contention that a rendezvous and docking LADAR can be constructed to offer a cost effective and reliable solution to the envisioned space missions. In fact, the CO2 ladar system offers distinct advantages over other candidate systems.

Laparoendoscopic single-site Heller myotomy with anterior fundoplication for achalasia.

PubMed

Barry, Linda; Ross, Sharona; Dahal, Sujat; Morton, Connor; Okpaleke, Chinyere; Rosas, Melissa; Rosemurgy, Alexander S

2011-06-01

Laparoendoscopic single-site (LESS) surgery is beginning to include advanced laparoscopic operations such as Heller myotomy with anterior fundoplication. However, the efficacy of LESS Heller myotomy has not been established. This study aimed to evaluate the authors' initial experience with LESS Heller myotomy for achalasia. Transumbilical LESS Heller myotomy with concomitant anterior fundoplication for achalasia was undertaken for 66 patients after October 2007. Outcomes including operative time, complications, and length of hospital stay were recorded and compared with those for an earlier contiguous group of 66 consecutive patients undergoing conventional multi-incision laparoscopic Heller myotomy with anterior fundoplication. Symptoms before and after myotomy were scored by the patients using a Likert scale ranging from 0 (never/not severe) to 10 (always/very severe). Data were analyzed using the Mann-Whitney U test, the Wilcoxon matched-pairs test, and Fisher's exact test where appropriate. Patients undergoing LESS Heller myotomy were similar to those undergoing conventional laparoscopic Heller myotomy in gender, age, body mass index (BMI), blood loss, and length of hospital stay. However, the patients undergoing LESS Heller myotomies had operations of significantly longer duration (median, 117 vs. 93 min with the conventional laparoscopic approach) (p<0.003). For 11 patients (16%) undergoing LESS Heller myotomy, additional ports/incisions were required. No patients were converted to "open" operations, and no patients had procedure-specific complications. Symptom reduction was dramatic and satisfying after both LESS and conventional laparoscopic myotomy with fundoplication. The symptom reduction was similar with the two procedures. The LESS approach left no apparent umbilical scar. Heller myotomy with anterior fundoplication effectively treats achalasia. The findings showed LESS Heller myotomy with anterior fundoplication to be feasible, safe, and efficacious

Gemini Capsule and Rendezvous Docking Simulator

NASA Image and Video Library

1962-12-19

Practicing with a full-scale model of the Gemini Capsule in Langley's Rendezvous Docking Simulator. -- Caption and photograph published in Winds of Change, 75th Anniversary NASA publication, (page 89), by James Schultz.

Starshade Rendezvous Mission Probe Concept

NASA Astrophysics Data System (ADS)

Seager, Sara; Kasdin, Jeremy; Starshade Rendezvous Probe Team

2018-01-01

The Starshade Rendezvous Mission Concept Prove is a Starshade that works with the WFIRST Mission, but is built and launched separately, with a rendezvous on orbit. A 2015 Exo-S report first detailed the mission concept. In the current study we develop a new scientific vision for WFIRST exoplanet discovery and characterization, using the complementary coronagraph and starshade to execute the most sensitive and thorough direct imaging campaign ever attempted. The overarching goal of our proposal is to carry out the first “deep dive” direct imaging exploration of planetary systems orbiting the nearest sun-like stars in a search for Earth-like planets using only a fraction of the WFIRST telescope time. The study aims to improve on the Exo-S 2015 report with updated study of the key spacecraft and starshade technology development issues, as related to WFIRST design changes since 2015 that make the timely implementation of such a mission possible.

Methodology for Prototyping Increased Levels of Automation for Spacecraft Rendezvous Functions

NASA Technical Reports Server (NTRS)

Hart, Jeremy J.; Valasek, John

2007-01-01

The Crew Exploration Vehicle necessitates higher levels of automation than previous NASA vehicles, due to program requirements for automation, including Automated Rendezvous and Docking. Studies of spacecraft development often point to the locus of decision-making authority between humans and computers (i.e. automation) as a prime driver for cost, safety, and mission success. Therefore, a critical component in the Crew Exploration Vehicle development is the determination of the correct level of automation. To identify the appropriate levels of automation and autonomy to design into a human space flight vehicle, NASA has created the Function-specific Level of Autonomy and Automation Tool. This paper develops a methodology for prototyping increased levels of automation for spacecraft rendezvous functions. This methodology is used to evaluate the accuracy of the Function-specific Level of Autonomy and Automation Tool specified levels of automation, via prototyping. Spacecraft rendezvous planning tasks are selected and then prototyped in Matlab using Fuzzy Logic techniques and existing Space Shuttle rendezvous trajectory algorithms.

Automatic rendezvous and docking systems functional and performance requirements

NASA Technical Reports Server (NTRS)

1985-01-01

A generalized mission design scheme which utilizes a standard mission profile for all OMV rendezvous operations, recognizes typical operational constraints, and minimizes propellant penalties due to nodal regression effects was developed. This scheme has been used to demonstrate a unified guidance and navigation maneuver processor (the UMP), which supports all mission phases through station-keeping. The initial demonstration version of the Orbital Rendezvous Mission Planner (ORMP) was provided for evaluation purposes, and program operation was discussed.

Multiple Exposure of Rendezvous Docking Simulator - Gemini Program

NASA Image and Video Library

1964-02-07

Multiple exposure of Rendezvous Docking Simulator. Francis B. Smith, described the simulator as follows: The rendezvous and docking operation of the Gemini spacecraft with the Agena and of the Apollo Command Module with the Lunar Excursion Module have been the subject of simulator studies for several years. This figure illustrates the Gemini-Agena rendezvous docking simulator at Langley. The Gemini spacecraft was supported in a gimbal system by an overhead crane and gantry arrangement which provided 6 degrees of freedom - roll, pitch, yaw, and translation in any direction - all controllable by the astronaut in the spacecraft. Here again the controls fed into a computer which in turn provided an input to the servos driving the spacecraft so that it responded to control motions in a manner which accurately simulated the Gemini spacecraft. -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203 Francis B. Smith, Simulators for Manned Space Research, Paper presented at the 1966 IEEE International convention, March 21-25, 1966.

Impact of the Intracoronary Rendezvous technique on coronary angioplasty for chronic total occlusion.

PubMed

Nihei, Taro; Yamamoto, Yoshito; Kudo, Shun; Hanawa, Kenichiro; Hasebe, Yuhi; Takagi, Yusuke; Minatoya, Yutaka; Sugi, Masafumi; Shimokawa, Hiroaki

2017-10-01

The Rendezvous technique, which requires bidirectional wiring, is one of the useful methods for improving the success rate of recanalization for chronic total occlusion (CTO) in the field of peripheral intervention. Recently, advanced new devices for percutaneous coronary intervention have enabled us to perform the Rendezvous technique for peripheral as well as for coronary CTO lesions. We used the Intracoronary Rendezvous technique to perform angioplasty for coronary CTO. "Intracoronary Rendezvous" means that Rendezvous was achieved within the CTO lesion. From March 2009 to November 2015, 189 patients underwent CTO angioplasty at our institute, and we treated 10 patients with the Intracoronary Rendezvous technique. This technique involves crossing the Gaia series guidewire to the contralateral Corsair microcatheter located inside the plaque of CTO lesions. The majority of the CTO sites examined were in the proximal RCA (60 %). Lesion length of the occlusion was relatively long (64.4 ± 12.2 mm). Using the biplane imaging system, we were able to control the Gaia guidewires in a specific direction. Furthermore, if the antegrade and retrograde wires can be advanced into contiguous space inside the CTO lesion, we intentionally entered either wire into the contralateral Corsair microcatheter, followed by successful CTO crossing. CTO recanalization was completed for all patients without controlled antegrade retrograde subintimal tracking (CART) or reverse CART. No major complications occurred during hospitalization. These results indicate that the Rendezvous technique, assisted by new devices and a biplane imaging system, represents one of the primary options to achieve successful coronary CTO recanalization.

Gemini rendezvous docking simulator

NASA Image and Video Library

1963-11-04

Multiple exposure of Gemini rendezvous docking simulator. Francis B. Smith wrote in his paper "Simulators for Manned Space Research," "The rendezvous and docking operation of the Gemini spacecraft with the Agena and of the Apollo Command Module with the Lunar Excursion Module have been the subject of simulator studies for several years. [This figure] illustrates the Gemini-Agena rendezvous docking simulator at Langley. The Gemini spacecraft was supported in a gimbal system by an overhead crane and gantry arrangement which provided 6 degrees of freedom - roll, pitch, yaw, and translation in any direction - all controllable by the astronaut in the spacecraft. Here again the controls fed into a computer which in turn provided an input to the servos driving the spacecraft so that it responded to control motions in a manner which accurately simulated the Gemini spacecraft." A.W. Vogeley further described the simulator in his paper "Discussion of Existing and Planned Simulators For Space Research," "Docking operations are considered to start when the pilot first can discern vehicle target size and aspect and terminate, of course, when soft contact is made. ... This facility enables simulation of the docking operation from a distance of 200 feet to actual contact with the target. A full-scale mock-up of the target vehicle is suspended near one end of the track. ... On [the Agena target] we have mounted the actual Agena docking mechanism and also various types of visual aids. We have been able to devise visual aids which have made it possible to accomplish nighttime docking with as much success as daytime docking." -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203; Francis B. Smith, "Simulators for Manned Space Research," Paper presented at the 1966 IEEE International convention, March 21-25, 1966; A.W. Vogeley, "Discussion of Existing and Planned Simulators For Space Research," Paper presented at

Lunar Ascent and Rendezvous Trajectory Design

NASA Technical Reports Server (NTRS)

Sostaric, Ronald R.; Merriam, Robert S.

2008-01-01

The Lunar Lander Ascent Module (LLAM) will leave the lunar surface and actively rendezvous in lunar orbit with the Crew Exploration Vehicle (CEV). For initial LLAM vehicle sizing efforts, a nominal trajectory, along with required delta-V and a few key sensitivities, is very useful. A nominal lunar ascent and rendezvous trajectory is shown, along with rationale and discussion of the trajectory shaping. Also included are ascent delta-V sensitivities to changes in target orbit and design thrust-to-weight of the vehicle. A sample launch window for a particular launch site has been completed and is included. The launch window shows that budgeting enough delta-V for two missed launch opportunities may be reasonable. A comparison between yaw steering and on-orbit plane change maneuvers is included. The comparison shows that for large plane changes, which are potentially necessary for an anytime return from mid-latitude locations, an on-orbit maneuver is much more efficient than ascent yaw steering. For a planned return, small amounts of yaw steering may be necessary during ascent and must be accounted for in the ascent delta-V budget. The delta-V cost of ascent yaw steering is shown, along with sensitivity to launch site latitude. Some discussion of off-nominal scenarios is also included. In particular, in the case of a failed Powered Descent Initiation burn, the requirements for subsequent rendezvous with the Orion vehicle are outlined.

Manned versus unmanned rendezvous and capture

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1991-01-01

Rendezvous and capture (docking) operations may be performed either automatically or under manual control. In cases where humans are far from the mission site, or high-bandwidth communications lines are not in place, automation is the only option. Such might be the case with unmanned missions to the moon or Mars that involve orbital docking or cargo transfer. In crewed situations where sensors, computation capabilities, and other necessary instrumentation are unavailable, manual control is the only alternative. Power, mass, cost, or other restrictions may limit the availability of the machinery required for an automated rendezvous and capture. The only occasions for which there is a choice about whether to use automated or manual control are those where the vehicle(s) have both the crew and instrumentation necessary to perform the mission either way. The following discussion will focus on the final approach or capture (docking) maneuver. The maneuvers required for long-range rendezvous operations are calculated by computers. It is almost irrelevant whether it is an astronaut, watching a count-down timer who pushes the button firing the thruster or whether the computer keeps track of the time and fires with the astronaut monitoring. The actual manual workload associated with a mission that may take as long as hours or days to perform is small. The workload per unit time increases tremendously during the final approach (docking) phase and this is where the issue of manual versus automatic is more important.

Reliable spacecraft rendezvous without velocity measurement

NASA Astrophysics Data System (ADS)

He, Shaoming; Lin, Defu

2018-03-01

This paper investigates the problem of finite-time velocity-free autonomous rendezvous for spacecraft in the presence of external disturbances during the terminal phase. First of all, to address the problem of lack of relative velocity measurement, a robust observer is proposed to estimate the unknown relative velocity information in a finite time. It is shown that the effect of external disturbances on the estimation precision can be suppressed to a relatively low level. With the reconstructed velocity information, a finite-time output feedback control law is then formulated to stabilize the rendezvous system. Theoretical analysis and rigorous proof show that the relative position and its rate can converge to a small compacted region in finite time. Numerical simulations are performed to evaluate the performance of the proposed approach in the presence of external disturbances and actuator faults.

Relative navigation requirements for automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Kachmar, Peter M.; Polutchko, Robert J.; Chu, William; Montez, Moises

1991-01-01

This paper will discuss in detail the relative navigation system requirements and sensor trade-offs for Automatic Rendezvous and Capture. Rendezvous navigation filter development will be discussed in the context of navigation performance requirements for a 'Phase One' AR&C system capability. Navigation system architectures and the resulting relative navigation performance for both cooperative and uncooperative target vehicles will be assessed. Relative navigation performance using rendezvous radar, star tracker, radiometric, laser and GPS navigation sensors during appropriate phases of the trajectory will be presented. The effect of relative navigation performance on the Integrated AR&C system performance will be addressed. Linear covariance and deterministic simulation results will be used. Evaluation of relative navigation and IGN&C system performance for several representative relative approach profiles will be presented in order to demonstrate the full range of system capabilities. A summary of the sensor requirements and recommendations for AR&C system capabilities for several programs requiring AR&C will be presented.

Multiple NEO Rendezvous Using Solar Sails

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Fabisinski, Leo; Heaton, Andy; Miernik, Janie; Stough, Rob; Wright, Roosevelt; Young, Roy

2012-01-01

Mission concept is to assess the feasibility of using solar sail propulsion to enable a robotic precursor that would survey multiple Near Earth Objects (NEOs) for potential future human visits. Single spacecraft will rendezvous with and image 3 NEOs within 6 years of launch

A new approach to impulsive rendezvous near circular orbit

NASA Astrophysics Data System (ADS)

Carter, Thomas; Humi, Mayer

2012-04-01

A new approach is presented for the problem of planar optimal impulsive rendezvous of a spacecraft in an inertial frame near a circular orbit in a Newtonian gravitational field. The total characteristic velocity to be minimized is replaced by a related characteristic-value function and this related optimization problem can be solved in closed form. The solution of this problem is shown to approach the solution of the original problem in the limit as the boundary conditions approach those of a circular orbit. Using a form of primer-vector theory the problem is formulated in a way that leads to relatively easy calculation of the optimal velocity increments. A certain vector that can easily be calculated from the boundary conditions determines the number of impulses required for solution of the optimization problem and also is useful in the computation of these velocity increments. Necessary and sufficient conditions for boundary conditions to require exactly three nonsingular non-degenerate impulses for solution of the related optimal rendezvous problem, and a means of calculating these velocity increments are presented. A simple example of a three-impulse rendezvous problem is solved and the resulting trajectory is depicted. Optimal non-degenerate nonsingular two-impulse rendezvous for the related problem is found to consist of four categories of solutions depending on the four ways the primer vector locus intersects the unit circle. Necessary and sufficient conditions for each category of solutions are presented. The region of the boundary values that admit each category of solutions of the related problem are found, and in each case a closed-form solution of the optimal velocity increments is presented. Similar results are presented for the simpler optimal rendezvous that require only one-impulse. For brevity degenerate and singular solutions are not discussed in detail, but should be presented in a following study. Although this approach is thought to provide

A Two-Impulse Plan for Performing Rendezvous on a Once-A-Day Basis

NASA Technical Reports Server (NTRS)

Bird, John D.; Thomas, David F., Jr.

1960-01-01

An investigation of a two-impulse plan for performing rendezvous on a once-a-day basis with a near-earth satellite station indicates that launch into rendezvous from slightly less than maximum satellite latitude is an unusually favorable circumstance in that no appreciable expense in mass ratio is incurred. In addition, it was found for the two-impulse maneuver employed in this study that the optimum angular travel of the ferry vehicle to rendezvous was considerably less than the 1800 transfer which is optimum for the two-impulse in-plane launch.

Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

NASA Astrophysics Data System (ADS)

Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

2017-08-01

Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

14 CFR 1214.111 - Rendezvous services.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 5 2010-01-01 2010-01-01 false Rendezvous services. 1214.111 Section 1214.111 Aeronautics and Space NATIONAL AERONAUTICS AND SPACE ADMINISTRATION SPACE FLIGHT General Provisions Regarding Space Shuttle Flights of Payloads for Non-U.S. Government, Reimbursable Customers § 1214...

The risk of umbilical hernia and other complications with laparoendoscopic single-site surgery.

PubMed

Gunderson, Camille C; Knight, Jason; Ybanez-Morano, Jessica; Ritter, Carol; Escobar, Pedro F; Ibeanu, Okechukwu; Grumbine, Francis C; Bedaiwy, Mohamed A; Hurd, William W; Fader, Amanda Nickles

2012-01-01

To estimate the risk of umbilical hernia and other latent complications in women who underwent laparoendoscopic single-site surgery (LESS) for a gynecologic indication. Retrospective, nonrandomized clinical study (Canadian Task Force classification II-2). Four tertiary care academic medical centers. Women undergoing LESS for a benign or malignant gynecologic indication from 2009 to 2011. A total of 211 women underwent LESS via a single 1.5- to 2.0-cm umbilical incision. All surgeries were performed by advanced gynecologic laparoscopists. Incisions were repaired with a running, delayed absorbable suture. Subject demographics and clinical variables were collected and surgical outcomes analyzed. Median age and body mass index were 45 years and 30 kg/m(2), respectively. Approximately half of study subjects underwent a hysterectomy with or without salpingo-oophorectomy, and 15% had a diagnosis of cancer. Overall, 0.9% of women were diagnosed with a preoperative umbilical hernia, and 2.4% of women experienced a major perioperative complication. After a median postoperative follow-up time of 16 months, 2.4% had development of an umbilical hernia. However, 4/5 of these women had significant risk factors for fascial weakening independent of LESS, including requirement for a second abdominal surgery in 1 subject and a cancer diagnosis with postoperative chemotherapy administration in 2 subjects. When these subjects deemed "high risk" for incisional disruption were excluded from the analysis, the umbilical hernia rate was 0.5% (1/207). On univariable analysis, obesity was the only factor associated with complications (p = .04). When performed by advanced laparoscopic surgeons, laparoendoscopic single-site gynecologic surgery is associated with a low risk of major adverse events. Additionally, the overall umbilical hernia rate was 2.4% and was lower (0.5%) in subjects without significant comorbidities. Copyright © 2012 AAGL. Published by Elsevier Inc. All rights reserved.

Hubble Space Telescope Servicing Mission 3A Rendezvous Operations

NASA Technical Reports Server (NTRS)

Lee, S.; Anandakrishnan, S.; Connor, C.; Moy, E.; Smith, D.; Myslinski, M.; Markley, L.; Vernacchio, A.

2001-01-01

The Hubble Space Telescope (HST) hardware complement includes six gas bearing, pulse rebalanced rate integrating gyros, any three of which are sufficient to conduct the science mission. After the loss of three gyros between April 1997 and April 1999 due to a known corrosion mechanism, NASA decided to split the third HST servicing mission into SM3A, accelerated to October 1999, and SM3B, scheduled for November 2001. SM3A was developed as a quick turnaround 'Launch on Need' mission to replace all six gyros. Loss of a fourth gyro in November 1999 caused HST to enter Zero Gyro Sunpoint (ZGSP) safemode, which uses sun sensors and magnetometers for attitude determination and momentum bias to maintain attitude stability during orbit night. Several instances of large attitude excursions during orbit night were observed, but ZGSP performance was adequate to provide power-positive sun pointing and to support low gain antenna communications. Body rates in ZGSP were estimated to exceed the nominal 0.1 deg/sec rendezvous limit, so rendezvous operations were restructured to utilize coarse, limited life, Retrieval Mode Gyros (RMGs) under Hardware Sunpoint (HWSP) safemode. Contingency procedures were developed to conduct the rendezvous in ZGSP in the event of RMGA or HWSP computer failure. Space Shuttle Mission STS-103 launched on December 19, 1999 after a series of weather and Shuttle-related delays. After successful rendezvous and grapple under HWSP/RMGA, the crew changed out all six gyros. Following deploy and systems checkout, HST returned to full science operations.

Comet rendezvous mission design using Solar Electric Propulsion

NASA Technical Reports Server (NTRS)

Sackett, L. L.; Hastrup, R. C.; Yen, C.-W. L.; Wood, L. J.

1979-01-01

A dual comet (Halley Flyby/Tempel 2 Rendezvous) mission, which is planned to be the first to use the Solar Electric Propulsion System (SEPS), is to be launched in 1985. The purpose of this paper is to describe how the mission design attempts to maximize science return while working within spacecraft and other constraints. Science requirements and desires are outlined and specific instruments are considered. Emphasis is on the strategy for operations in the vicinity of Tempel 2, for which a representative profile is described. The mission is planned to extend about one year past initial rendezvous. Because of the large uncertainty in the comet environment the Tempel 2 operations strategy must be highly adaptive.

A technique for laparoendoscopic resection of posterior fundic gastric GISTs without need for a gastrotomy.

PubMed

Maker, Ajay V

2013-12-01

The majority of gastrointestinal stromal tumors (GISTs) are located in the stomach. With greater experience in minimally invasive oncologic surgery, gastric GISTs are being increasingly approached laparoscopically. Posterior proximally located endophytic gastric GISTs can be challenging to approach laparoscopically and excise with an adequate margin without an anterior or posterior gastrotomy, or intragastric ports. The gastrocolic and gastrosplenic ligaments are divided up to the gastroesophageal junction. The left lateral segment of the liver is mobilized to allow anterior reflection of the gastric fundus. Intraoperative ultrasound confirms the location and extent of the tumor base. Upper endoscopy is performed to trans-illuminate, confirm tumor location, and search for multifocality. Traction sutures are placed around the tumor to distract endophytic lesions. With organo-axial rotation of the stomach using the stay sutures, an endoGIA stapler approximates the posterior fundic wall under the base of the lesion ensuring an adequate margin and eliminating the risk of gastric spillage. Appropriate stapler placement and margins are assisted real-time endoscopically with picture-in-picture. The stapleline is tested for leaks and inspected for hemostasis laparoendoscopically. Complete resection of GISTs with adequate margins is performed with sound oncologic principles and demonstrated in tumors of varying sizes and locations in the proximal posterior stomach, including near the GE junction. This video demonstrates a simple laparoendoscopic technique to quickly localize even small tumors, visually confirm adequate margins, and excise gastric GISTs without spillage or gastrotomy that are located in a typically difficult area of the stomach to approach laparoscopically.

An Assessment of the Technology of Automated Rendezvous and Capture in Space

NASA Technical Reports Server (NTRS)

Polites, M. E.

1998-01-01

This paper presents the results of a study to assess the technology of automated rendezvous and capture (AR&C) in space. The outline of the paper is as follows. First, the history of manual and automated rendezvous and capture and rendezvous and dock is presented. Next, the need for AR&C in space is established. Then, today's technology and ongoing technology efforts related to AR&C in space are reviewed. In light of these, AR&C systems are proposed that meet NASA's future needs, but can be developed in a reasonable amount of time with a reasonable amount of money. Technology plans for developing these systems are presented; cost and schedule are included.

Current Status of Laparoendoscopic Single-Site Surgery in Urologic Surgery

PubMed Central

2012-01-01

Since the introduction of laparoscopic surgery, the promise of lower postoperative morbidity and improved cosmesis has been achieved. Laparoendoscopic single-site surgery (LESS) potentially takes this further. Following the first human urological LESS report in 2007, numerous case series have emerged, as well as comparative studies comparing LESS with standard laparoscopy. However, comparative series between conventional laparoscopy and LESS for different procedures suggest a non-inferiority of LESS over standard laparoscopy, but the only objective benefit remains an improved cosmetic outcome. Challenging ergonomics, instrument clashing, lack of true triangulation, and in-line vision are the main concerns with LESS surgery. Various new instruments have been designed, but only experienced laparoscopists and well-selected patients are pivotal for a successful LESS procedure. Robotic-assisted LESS procedures have been performed. The available robotic platform remains bulky, but development of instrumentation and application of robotic technology are expected to define the actual role of these techniques in minimally invasive urologic surgery. PMID:22866213

Methodology for Developing a Probabilistic Risk Assessment Model of Spacecraft Rendezvous and Dockings

NASA Technical Reports Server (NTRS)

Farnham, Steven J., II; Garza, Joel, Jr.; Castillo, Theresa M.; Lutomski, Michael

2011-01-01

In 2007 NASA was preparing to send two new visiting vehicles carrying logistics and propellant to the International Space Station (ISS). These new vehicles were the European Space Agency s (ESA) Automated Transfer Vehicle (ATV), the Jules Verne, and the Japanese Aerospace and Explorations Agency s (JAXA) H-II Transfer Vehicle (HTV). The ISS Program wanted to quantify the increased risk to the ISS from these visiting vehicles. At the time, only the Shuttle, the Soyuz, and the Progress vehicles rendezvoused and docked to the ISS. The increased risk to the ISS was from an increase in vehicle traffic, thereby, increasing the potential catastrophic collision during the rendezvous and the docking or berthing of the spacecraft to the ISS. A universal method of evaluating the risk of rendezvous and docking or berthing was created by the ISS s Risk Team to accommodate the increasing number of rendezvous and docking or berthing operations due to the increasing number of different spacecraft, as well as the future arrival of commercial spacecraft. Before the first docking attempt of ESA's ATV and JAXA's HTV to the ISS, a probabilistic risk model was developed to quantitatively calculate the risk of collision of each spacecraft with the ISS. The 5 rendezvous and docking risk models (Soyuz, Progress, Shuttle, ATV, and HTV) have been used to build and refine the modeling methodology for rendezvous and docking of spacecrafts. This risk modeling methodology will be NASA s basis for evaluating the addition of future ISS visiting spacecrafts hazards, including SpaceX s Dragon, Orbital Science s Cygnus, and NASA s own Orion spacecraft. This paper will describe the methodology used for developing a visiting vehicle risk model.

Optimal starting conditions for the rendezvous maneuver: Analytical and computational approach

NASA Astrophysics Data System (ADS)

Ciarcia, Marco

The three-dimensional rendezvous between two spacecraft is considered: a target spacecraft on a circular orbit around the Earth and a chaser spacecraft initially on some elliptical orbit yet to be determined. The chaser spacecraft has variable mass, limited thrust, and its trajectory is governed by three controls, one determining the thrust magnitude and two determining the thrust direction. We seek the time history of the controls in such a way that the propellant mass required to execute the rendezvous maneuver is minimized. Two cases are considered: (i) time-to-rendezvous free and (ii) time-to-rendezvous given, respectively equivalent to (i) free angular travel and (ii) fixed angular travel for the target spacecraft. The above problem has been studied by several authors under the assumption that the initial separation coordinates and the initial separation velocities are given, hence known initial conditions for the chaser spacecraft. In this paper, it is assumed that both the initial separation coordinates and initial separation velocities are free except for the requirement that the initial chaser-to-target distance is given so as to prevent the occurrence of trivial solutions. Two approaches are employed: optimal control formulation (Part A) and mathematical programming formulation (Part B). In Part A, analyses are performed with the multiple-subarc sequential gradient-restoration algorithm for optimal control problems. They show that the fuel-optimal trajectory is zero-bang, namely it is characterized by two subarcs: a long coasting zero-thrust subarc followed by a short powered max-thrust braking subarc. While the thrust direction of the powered subarc is continuously variable for the optimal trajectory, its replacement with a constant (yet optimized) thrust direction produces a very efficient guidance trajectory. Indeed, for all values of the initial distance, the fuel required by the guidance trajectory is within less than one percent of the fuel required

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

NASA Technical Reports Server (NTRS)

Zhou, Zhinqiang

2012-01-01

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

Laparoendoscopic Single-Site Sentinel Lymph Node Detection in Endometrial Cancer.

PubMed

Demirayak, Gökhan; Comba, Cihan; Özdemir, İsa Aykut

2017-11-13

To demonstrate the feasibility of sentinel lymph node (SLN) biopsy using a laparoendoscopic single-site (LESS) approach in endometrial cancer (EC). A step-by-step video demonstration of the surgical procedure (Canadian Task Force Classification III). The satisfaction of patients who undergo LESS hysterectomy is greater than that reported by patients who undergo multiport laparoscopic hysterectomy, owing to better cosmesis and reduced postoperative analgesic requirements [1]. SLN biopsy is associated with significantly lower estimated blood loss, shorter operation time, and less morbidity compared with systematic lymphadenectomy [2]. LESS surgery can be more feasible and safer with the use of SLN biopsy compared with complete lymphadenectomy in patients with early-stage EC. This 69-year-old woman with grade 2 endometrioid EC underwent SLN mapping followed by LESS SLN biopsy, total hysterectomy, and bilateral salpingo-oophorectomy. Before the umbilical incision was made, 1.25 mg/mL of indocyanine green was injected into the cervical stroma at the 3 o'clock and 9 o'clock positions to both deep and superficial levels. A 10-mm 30° standard-length optical camera for near-infrared fluorescence imaging was used. The total operative time was 75 minutes, and the estimated blood loss was 20 mL. SLNs were detected bilaterally between proximal parts of the external iliac arteries and veins. After SLN resection, total hysterectomy and bilateral salpingo-oophorectomy were performed. No postoperative complications occurred. The patient was discharged at 30 hours after surgery. In the final pathology, stage 1A G2 EC was detected. LESS SLN biopsy and TLH-BSO is a feasible procedure and sentinel lymph node concept may increase the use of LESS in EC. Copyright © 2017 American Association of Gynecologic Laparoscopists. Published by Elsevier Inc. All rights reserved.

Boom Rendezvous Alternative Docking Approach

NASA Technical Reports Server (NTRS)

Bonometti, Joseph A.

2006-01-01

Space rendezvous and docking has always been attempted with primarily one philosophic methodology. The slow matching of one vehicle's orbit by a second vehicle and then a final closing sequence that ends in matching the orbits with perfect precision and with near zero relative velocities. The task is time consuming, propellant intensive, risk inherent (plume impingement, collisions, fuel depletion, etc.) and requires substantial hardware mass. The historical background and rationale as to why this approach is used is discussed in terms of the path-not-taken and in light of an alternate methodology. Rendezvous and docking by boom extension is suggested to have inherent advantages that today s technology can readily exploit. Extension from the primary spacecraft, beyond its inherent large inertia, allows low inertia connections to be made rapidly and safely. Plume contamination issues are eliminated as well as the extra propellant mass and risk required for the final thruster (docking) operations. Space vehicle connection hardware can be significantly lightened. Also, docking sensors and controls require less fidelity; allowing them to be more robust and less sensitive. It is the potential safety advantage and mission risk reduction that makes this approach attractive, besides the prospect of nominal time and mass savings.

Re-rendezvous and approach of Progress 33P

NASA Image and Video Library

2009-07-12

ISS020-E-018056 (12 July 2009) --- An unpiloted ISS Progress 33 cargo craft approaches the International Space Station. On June 30, the Progress undocked from the station and was commanded into a parking orbit for its re-rendezvous with the ISS on July 12, approaching to within 10-15 meters of the Zvezda Service Module to test new automated rendezvous equipment mounted on Zvezda during a pair of spacewalks earlier this month by Gennady Padalka and Mike Barratt that will be used to guide the new Mini-Research Module-2 (MRM2) to an unpiloted docking to the zenith port of Zvezda later this year. MRM2 will serve as a new docking port for Russian spacecraft and an additional airlock for spacewalks conducted out of the Russian segment.

Rendezvous and Proximity Operations of the Space Shuttle

NASA Technical Reports Server (NTRS)

Goodman, John L.

2005-01-01

Space Shuttle rendezous missions presented unique challenges that were not fully recognized when the Shuttle was designed. Rendezvous targets could be passive (i.e., no lights or transponders), and not designed to facilitate Shuttle rendezvous, proximity operations and retrieval. Shuttle reaction control system jet plume impingement on target spacecraft presented induced dynamics, structural loading and contamination concerns. These issues, along with limited forward reaction control system propellant, drove a change from the Gemimi/Apollo coelliptic profile heritage to a stable orbit profile, and the development of new proximity operations techniques. Multiple scientific and on-orbit servicing missions and crew exchange, assembly and replinishment flights to Mir and to the International Space Station drove further profile and piloting technique changes, including new relative navigation sensors and new computer generated piloting cues.

Polynomial filter estimation of range and range rate for terminal rendezvous

NASA Technical Reports Server (NTRS)

Philips, R.

1970-01-01

A study was made of a polynomial filter for computing range rate information from CSM VHF range data. The filter's performance during the terminal phase of the rendezvous is discussed. Two modifications of the filter were also made and tested. A manual terminal rendezvous was simulated and desired accuracies were achieved for vehicles on an intercept trajectory, except for short periods following each braking maneuver when the estimated range rate was initially in error by the magnitude of the burn.

An automated rendezvous and capture system design concept for the cargo transfer vehicle and Space Station Freedom

NASA Technical Reports Server (NTRS)

Fuchs, Ron; Marsh, Steven

1991-01-01

A rendezvous sensor system concept was developed for the cargo transfer vehicle (CTV) to autonomously rendezvous with and be captured by Space Station Freedom (SSF). The development of requirements, the design of a unique Lockheed developed sensor concept to meet these requirements, and the system design to place this sensor on the CTV and rendezvous with the SSF are described .

Autonomous spacecraft rendezvous and docking

NASA Technical Reports Server (NTRS)

Tietz, J. C.; Almand, B. J.

1985-01-01

A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

Autonomous spacecraft rendezvous and docking

NASA Astrophysics Data System (ADS)

Tietz, J. C.; Almand, B. J.

A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

Laparoendoscopic single site cholecystectomy: the first 100 patients.

PubMed

Hernandez, Jonathan M; Morton, Connor A; Ross, Sharona; Albrink, Michael; Rosemurgy, Alexander S

2009-08-01

Laparoendoscopic single site (LESS) surgery promises improved cosmesis and possibly less pain. However, given the small series reported to date, true estimates of the advantages and possible disadvantages of LESS surgery remain unknown. This study was undertaken to evaluate the first 100 patients undergoing LESS cholecystectomy at our institution. Patients referred for cholecystectomy since November 2007 were considered for LESS cholecystectomy. Outcomes, including blood loss, operative time, complications, and length of stay, were recorded. Outcomes are compared with an uncontrolled concurrent group of patients undergoing multi-incision laparoscopic (i.e., conventional) cholecystectomy. One hundred patients with a median age of 44 years underwent LESS cholecystectomy; 30 patients with a median age of 46 years underwent conventional cholecystectomy over the same time period. Median operative time (70 vs 66 minutes, P = 0.67, Mann-Whitney) and hospital length of stay (1 vs 1 day, P = 0.81, Mann-Whitney) were not different for patients undergoing LESS or multi-incision cholecystectomies, respectively. Five patients undergoing LESS cholecystectomy had postoperative complications: cystic duct stump leak (one), pain control issues (three), and urinary retention (one). LESS cholecystectomy is a safe and effective alternative to conventional cholecystectomy. It can be undertaken without added operative time and provides patients with minimal, if any, scarring.

Supervised autonomous rendezvous and docking system technology evaluation

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.

1991-01-01

Technology for manned space flight is mature and has an extensive history of the use of man-in-the-loop rendezvous and docking, but there is no history of automated rendezvous and docking. Sensors exist that can operate in the space environment. The Shuttle radar can be used for ranges down to 30 meters, Japan and France are developing laser rangers, and considerable work is going on in the U.S. However, there is a need to validate a flight qualified sensor for the range of 30 meters to contact. The number of targets and illumination patterns should be minimized to reduce operation constraints with one or more sensors integrated into a robust system for autonomous operation. To achieve system redundancy, it is worthwhile to follow a parallel development of qualifying and extending the range of the 0-12 meter MSFC sensor and to simultaneously qualify the 0-30(+) meter JPL laser ranging system as an additional sensor with overlapping capabilities. Such an approach offers a redundant sensor suite for autonomous rendezvous and docking. The development should include the optimization of integrated sensory systems, packaging, mission envelopes, and computer image processing to mimic brain perception and real-time response. The benefits of the Global Positioning System in providing real-time positioning data of high accuracy must be incorporated into the design. The use of GPS-derived attitude data should be investigated further and validated.

Guidance and Navigation for Rendezvous and Proximity Operations with a Non-Cooperative Spacecraft at Geosynchronous Orbit

NASA Technical Reports Server (NTRS)

Barbee, Brent William; Carpenter, J. Russell; Heatwole, Scott; Markley, F. Landis; Moreau, Michael; Naasz, Bo J.; VanEepoel, John

2010-01-01

The feasibility and benefits of various spacecraft servicing concepts are currently being assessed, and all require that the servicer spacecraft perform rendezvous, proximity, and capture operations with the target spacecraft to be serviced. Many high-value spacecraft, which would be logical targets for servicing from an economic point of view, are located in geosynchronous orbit, a regime in which autonomous rendezvous and capture operations are not commonplace. Furthermore, existing GEO spacecraft were not designed to be serviced. Most do not have cooperative relative navigation sensors or docking features, and some servicing applications, such as de-orbiting of a non-functional spacecraft, entail rendezvous and capture with a spacecraft that may be non-functional or un-controlled. Several of these challenges have been explored via the design of a notional mission in which a nonfunctional satellite in geosynchronous orbit is captured by a servicer spacecraft and boosted into super-synchronous orbit for safe disposal. A strategy for autonomous rendezvous, proximity operations, and capture is developed, and the Orbit Determination Toolbox (ODTBX) is used to perform a relative navigation simulation to assess the feasibility of performing the rendezvous using a combination of angles-only and range measurements. Additionally, a method for designing efficient orbital rendezvous sequences for multiple target spacecraft is utilized to examine the capabilities of a servicer spacecraft to service multiple targets during the course of a single mission.

Flight data results of estimate fusion for spacecraft rendezvous navigation from shuttle mission STS-69

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Bishop, Robert H.

1996-01-01

A recently developed rendezvous navigation fusion filter that optimally exploits existing distributed filters for rendezvous and GPS navigation to achieve the relative and inertial state accuracies of both in a global solution is utilized here to process actual flight data. Space Shuttle Mission STS-69 was the first mission to date which gathered data from both the rendezvous and Global Positioning System filters allowing, for the first time, a test of the fusion algorithm with real flight data. Furthermore, a precise best estimate of trajectory is available for portions of STS-69, making possible a check on the performance of the fusion filter. In order to successfully carry out this experiment with flight data, two extensions to the existing scheme were necessary: a fusion edit test based on differences between the filter state vectors, and an underweighting scheme to accommodate the suboptimal perfect target assumption made by the Shuttle rendezvous filter. With these innovations, the flight data was successfully fused from playbacks of downlinked and/or recorded measurement data through ground analysis versions of the Shuttle rendezvous filter and a GPS filter developed for another experiment. The fusion results agree with the best estimate of trajectory at approximately the levels of uncertainty expected from the fusion filter's covariance matrix.

Comparison of different sets of instruments for laparoendoscopic single-site surgery in a surgical simulator with novices.

PubMed

Wang, Dong; Shi, Long-Qing; Wang, Jing-Min; Jiang, Xiao-Hua; Ji, Zhen-Ling

2016-04-01

Given the parallel entry of working instruments through a single incision in laparoendoscopic single-site surgery, loss of triangulation in the abdominal cavity and counteracting movements of the instruments are inevitable obstacles. Some specially designed devices have emerged to ameliorate these challenges. Twenty-four novice participants were randomized into four groups using assigned instruments, conventional straight instruments, single-curved instruments, double-curved instruments and articulating instruments, respectively, to perform two basic tasks (peg transferring and pattern cutting) 14 times in a modified simulator. A test of the tasks and a resection of the intestine segment of a rat were performed. The task scores and evaluation of intraoperative skills during the resection of the intestine segment were recorded. The instrument of modified National Aeronautics and Space Administration Task Load Index (NASA-TLX) was completed. The task scores of the groups using single-curved instruments and articulating instruments were better than the other two groups on the simulator tasks, consistent with the evaluation of intraoperative skills during the resection of intestine segment. As the proficiency with the instruments increased, the task scores improved, as demonstrated by the learning curve. The workload measured by the modified NASA-TLX tool demonstrated that the groups using articulating instruments and double-curved instruments had a heavier workload in most of the categories compared with the other two groups. Single-curved and articulating instruments are more effective than conventional straight and double-curved devices, and are favourable in laparoendoscopic single-site surgery for novice learners. © 2013 Royal Australasian College of Surgeons.

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Mitchell, J.; Johnston, A.; Howard, R.; Williamson, M.; Brewster, L.; Strack, D.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Rendezvous radar modification and evaluation. [for space shuttles

NASA Technical Reports Server (NTRS)

1976-01-01

The purpose of this effort was to continue the implementation and evaluation of the changes necessary to add the non-cooperative mode capability with frequency diversity and a doppler filter bank to the Apollo Rendezvous Radar while retaining the cooperative mode capability.

A feasibility study of unmanned rendezvous and docking in Mars orbit: Midterm review

NASA Technical Reports Server (NTRS)

1974-01-01

The ascent, rendezvous, docking and sample transfer operations in a potential MSSR mission that uses the Mars orbital rendezvous mode are considered. In order that the design choices made for these operations remain compatible with the rest of the mission, the impact on the Earth launch, Mars landing and orbiting and Earth return phase are also being assessed. The selection and description of a preliminary baseline concept are presented.

Usage of pre-flight data in short rendezvous mission of Soyuz-TMA spacecrafts

NASA Astrophysics Data System (ADS)

Murtazin, Rafail; Petrov, Nikolay

2014-01-01

The paper describes the reduction of the vehicle autonomous flight duration before docking to the ISS. The Russian Soyuz-TMA spacecraft dock to the ISS two days after launch. Due to the limited volume inside Soyuz-TMA the reduction of time until docking to the ISS is very important, since the long stay of the cosmonauts in the limited volume adds to the strain of the space flight. In the previous papers of the authors it was shown that the existing capabilities of Soyuz-TMA, the ISS and the ground control loop make it possible to transfer to the five-orbit rendezvous profile. However, the analysis of the cosmonauts' schedule on the launch day shows that its duration is at the allowable limit and that is why it is necessary to find a way to further reduce the flight duration of Soyuz-TMA before docking to less than five orbits. In a traditional rendezvous profile, the calculation of rendezvous burns begins only after determination of the actual vehicle insertion orbit. The paper describes an approach in which the first two rendezvous burns are performed as soon as the spacecraft reaches the reference orbit and the values of the burns are calculated prior to the launch based on the pre-flight data for the nominal insertion. This approach decreases the duration of the rendezvous by one orbit. The demonstration flight of a Progress vehicle using the proposed profile was implemented on August 1, 2012 and completely confirmed the correctness of the imbedded principles. The paper considers the possible improvements of the proposed approach and recovery from the contingencies.

Fortran 4 program for two-impulse rendezvous analysis

NASA Technical Reports Server (NTRS)

Barling, W. H., Jr.; Brothers, W. J.; Darling, W. H., Jr.

1967-01-01

Program determines if rendezvous in near space is possible, and performs an analysis to determine the approximate required values of the magnitude and direction of two thrust applications of the upper stage of a rocket firing. The analysis is performed by using ordinary Keplerian mechanics.

The comet rendezvous asteroid flyby mission to Comet Kopff - Getting there is half the fun

NASA Technical Reports Server (NTRS)

Sweetser, Theodore H.; Kiedron, Krystyna

1990-01-01

The goal of the Comet Rendezvous Asteroid Flyby mission (CRAF) is to fly 'outward to the beginning', to examine closely what are thought to be remnants of the origins of the solar system. In particular, the CRAF spacecraft will use a two-year delta-V-earth-gravity-assist (delta-V-EGA) trajectory to reach a rendezvous point near the aphelion of the Comet Kopff, flying by the asteroid 449 Hamburga on the way. This paper discusses the trajectory used to get to the comet. Topics covered include the launch period, possible additional asteroid flybys, the earth flyby, the Hamburga flyby, and the rendezvous with Comet Kopff.

NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Tobbe, Patrick A.; Naumann, Charles B.; Sutton, William; Bryan, Thomas C.

1991-01-01

Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations.

Usachev uses a laser range finder during rendezvous ops

NASA Image and Video Library

2001-03-10

STS102-E-5085 (10 March 2001) --- Cosmonaut Yury V. Usachev, STS-102 mission specialist, uses a laser ranging device on Discovery's aft flight deck during rendezvous operations. The photograph was recorded with a digital still camera.

Laparoendoscopic single site (LESS) cholecystectomy.

PubMed

Hodgett, Steven E; Hernandez, Jonathan M; Morton, Connor A; Ross, Sharona B; Albrink, Michael; Rosemurgy, Alexander S

2009-02-01

The journey from conventional "open" operations to truly "minimally invasive" operations naturally includes progression from operations involving multiple trocars and multiple incisions to operations involving access through the umbilicus alone. Laparoscopic operations through the umbilicus alone, laparoendoscopic single site surgery (LESS), offer improved cosmesis and hopes for less pain and improved recovery. This study was undertaken to evaluate our initial experience with LESS cholecystectomy and to compare our initial experience to concurrent outcomes with more conventional multiport, multi-incision laparoscopic cholecystectomy. All patients referred for cholecystectomy over a 6-month period were offered LESS. Outcomes, including blood loss, operative time, complications, and length of stay were recorded. Outcomes with our first LESS cholecystectomies were compared to an uncontrolled group of concurrent patients undergoing multiport, multi-incision laparoscopic cholecystectomy at the same hospital by the same surgeon. Twenty-nine patients of median age 50 years undergoing LESS cholecystectomy from November 2007 until May 2008 were compared to 29* patients, median age 48 years, undergoing standard multiport, multiple-incision laparoscopic cholecystectomy over the same time period. Median operative time for patients undergoing LESS cholecystectomy was 72 min and was not different from that of patients undergoing multiport, multi-incision laparoscopic cholecystectomy (p = 0.81). Median length of hospital stay was 1.0 day for patients undergoing LESS cholecystectomy and was not different from patients undergoing standard laparoscopic cholecystectomy (p = 0.46). Operative estimated blood loss was less than 100 cc for all patients. No patients undergoing attempted LESS cholecystectomy had conversions to "open" operations; two patients had an additional trocar(s) placed distant from the umbilicus to aid in exposure. Three patients undergoing LESS cholecystectomy had

Automated rendezvous and capture development infrastructure

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.; Roe, Fred; Coker, Cynthia

1992-01-01

The facilities at Marshall Space Flight Center and JSC to be utilized to develop and test an autonomous rendezvous and capture (ARC) system are described. This includes equipment and personnel facility capabilities to devise, develop, qualify, and integrate ARC elements and subsystems into flight programs. Attention is given to the use of a LEO test facility, the current concept and unique system elements of the ARC, and the options available to develop ARC technology.

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Williamson, Marlin L.; Johnston, Albert S.; Brewster, Linda L.; Mitchell, Jennifer D.; Cryan, Scott P.; Strack, David; Key, Kevin

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, (AR&D).) The crewed versions of the spacecraft may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

SEP ENCKE-87 and Halley rendezvous studies and improved S/C model implementation in HILTOP

NASA Technical Reports Server (NTRS)

Horsewood, J. L.; Mann, F. I.

1978-01-01

Studies were conducted to determine the performance requirements for projected state-of-the-art SEP spacecrafts boosted by the Shuttle/IUS to perform a rendezvous with the comet Halley and a rendezvous with the comet Encke during its 1977 apparition. The spacecraft model of the standard HILTOP computer program was assumed. Numerical and graphical results summarizing the studies are presented.

Rendezvous and Docking Strategy for Crewed Segment of the Asteroid Redirect Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather D.; Cryan, Scott P.; D'Souza, Christopher; Dannemiller, David P.; Brazzel, Jack P.; Condon, Gerald L.; Othon, William L.; Williams, Jacob

2014-01-01

This paper will describe the overall rendezvous, proximity operations and docking (RPOD) strategy in support of the Asteroid Redirect Crewed Mission (ARCM), as part of the Asteroid Redirect Mission (ARM). The focus of the paper is on the crewed mission phase of ARM, starting with the establishment of Orion in the Distant Retrograde Orbit (DRO) and ending with docking to the Asteroid Redirect Vechicle (ARV). The paper will detail the sequence of maneuvers required to execute the rendezvous and proximity operations mission phases along with the on-board navigation strategies, including the final approach phase. The trajectories to be considered will include target vehicles in a DRO. The paper will also discuss the sensor requirements for rendezvous and docking and the various trade studies associated with the final sensor selection. Building on the sensor requirements and trade studies, the paper will include a candidate sensor concept of operations, which will drive the selection of the sensor suite; concurrently, it will be driven by higher level requirements on the system, such as crew timeline constraints and vehicle consummables. This paper will address how many of the seemingly competing requirements will have to be addressed to create a complete system and system design. The objective is to determine a sensor suite and trajectories that enable Orion to successfully rendezvous and dock with a target vehicle in trans lunar space. Finally, the paper will report on the status of a NASA action to look for synergy within RPOD, across the crewed and robotic asteroid missions.

TRAC based sensing for autonomous rendezvous

NASA Technical Reports Server (NTRS)

Everett, Louis J.; Monford, Leo

1991-01-01

The Targeting Reflective Alignment Concept (TRAC) sensor is to be used in an effort to support an Autonomous Rendezvous and Docking (AR&D) flight experiment. The TRAC sensor uses a fixed-focus, fixed-iris CCD camera and a target that is a combination of active and passive components. The system experiment is anticipated to fly in 1994 using two Commercial Experiment Transporters (COMET's). The requirements for the sensor are: bearing error less than or equal to 0.075 deg; bearing error rate less than 0.3 deg/sec; attitude error less than 0.5 deg.; and attitude rate error less than 2.0 deg/sec. The range requirement depends on the range and the range rate of the vehicle. The active component of the target is several 'kilo-bright' LED's that can emit 2500 millicandela with 40 milliwatts of input power. Flashing the lights in a known pattern eliminates background illumination. The system should be able to rendezvous from 300 meters all the way to capture. A question that arose during the presentation: What is the life time of the LED's and their sensitivity to radiation? The LED's should be manufactured to Military Specifications, coated with silicon dioxide, and all other space qualified precautions should be taken. The LED's will not be on all the time so they should easily last the two-year mission.

Laparoendoscopic single-site nephroureterectomy for morbid obese patients.

PubMed

Juliano, Cesar Augusto Braz; Carlos, Alexandre Stievano; Costa, Renato Meirelles Mariano; Tobias-Machado, Marcos; Pompeo, Antonio Carlos Lima

2013-01-01

Since the first laparoendoscopic single-site (LESS) surgery report in urology in 2007 (1) (Rane A e Cadeddu JA), the few reports of LESS extraperitoneal access in the literature were mainly described for less complex cases. The aim of this video is to demonstrate the feasibility of LESS extraperitoneal access in a morbid obese patient presenting a malignant tumor in the renal pelvis. The patient is positioned in 90-degree lateral decubitus. An incision is made below the abdominal skin crease on the left side of the patient and the anterior rectus fascia is vertically incised with manual dissection of the extra/retroperitoneal space. We use an Alexis® retractor to retract the skin maximizing the incision orifice. Three trocars (12, 10 and 5 mm) are inserted through a sigle-port. The pedicle was controlled "en bloc" with a vascular stapler and the bladder cuff treated by the conventional open approach through the same incision. Operative time was 126 minutes with minimal blood loss. The pathology reported high grade papillary urothelial carcinoma in the pelvis (pT3N0M0) and in the ureter (pTa). LESS extraperitoneal nephroureterectomy is feasible and safe, even in more complex cases. It is a good alternative for morbid obese patients and for patients with synchronous distal ureteral tumors for whom an open approach to the bladder cuff is proposed to avoid incisions in two compartments of the abdominal wall.

Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target

PubMed Central

Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang

2013-01-01

The robust H ∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H ∞ performance and finite time performance are proposed, and a robust H ∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller. PMID:24027446

Autonomous Rendezvous and Docking Conference, volume 1

NASA Technical Reports Server (NTRS)

1990-01-01

This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. It contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of the ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of the programmatic management, technical, schedule, and cost risks.

Autonomous Rendezvous and Docking Conference, volume 3

NASA Technical Reports Server (NTRS)

1990-01-01

This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. The document contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

Views of the Mir Space Station during rendezvous

NASA Image and Video Library

1997-05-16

STS084-350-023 (15-24 May 1997) --- A Space Shuttle point-of-view frame showing the docking port and target during rendezvous with Russia's Mir Space Station. The picture should be held horizontally with the retracted Kristall solar array at top. Other elements partially visible are Kvant-2 (left), Spektr (right) and Core Module (bottom).

Thomas uses laser range finder during rendezvous ops

NASA Image and Video Library

2001-03-10

STS102-E-5064 (10 March 2001) --- Astronaut Andrew S.W. Thomas, STS-102 mission specialist, uses a laser ranging device on aft flight deck of the Space Shuttle Discovery. This instrument is a regularly called-on tool during rendezvous operations with the International Space Station (ISS). The photograph was recorded with a digital still camera.

Horowitz at the aft flight deck during rendezvous ops

NASA Image and Video Library

2001-08-12

STS105-E-5061 (12 August 2001) --- Astronaut Scott J. Horowitz, STS-105 mission commander, looks over a checklist on the aft flight deck of the Space Shuttle Discovery during rendezvous operations with the International Space Station (ISS). The image was recorded with a digital still camera.

Genetic algorithm based fuzzy control of spacecraft autonomous rendezvous

NASA Technical Reports Server (NTRS)

Karr, C. L.; Freeman, L. M.; Meredith, D. L.

1990-01-01

The U.S. Bureau of Mines is currently investigating ways to combine the control capabilities of fuzzy logic with the learning capabilities of genetic algorithms. Fuzzy logic allows for the uncertainty inherent in most control problems to be incorporated into conventional expert systems. Although fuzzy logic based expert systems have been used successfully for controlling a number of physical systems, the selection of acceptable fuzzy membership functions has generally been a subjective decision. High performance fuzzy membership functions for a fuzzy logic controller that manipulates a mathematical model simulating the autonomous rendezvous of spacecraft are learned using a genetic algorithm, a search technique based on the mechanics of natural genetics. The membership functions learned by the genetic algorithm provide for a more efficient fuzzy logic controller than membership functions selected by the authors for the rendezvous problem. Thus, genetic algorithms are potentially an effective and structured approach for learning fuzzy membership functions.

Apollo experience report: Lunar module landing radar and rendezvous radar

NASA Technical Reports Server (NTRS)

Rozas, P.; Cunningham, A. R.

1972-01-01

A developmental history of the Apollo lunar module landing and rendezvous radar subsystems is presented. The Apollo radar subsystems are discussed from initial concept planning to flight configuration testing. The major radar subsystem accomplishments and problems are discussed.

Optimal impulsive time-fixed orbital rendezvous and interception with path constraints

NASA Technical Reports Server (NTRS)

Taur, D.-R.; Prussing, J. E.; Coverstone-Carroll, V.

1990-01-01

Minimum-fuel, impulsive, time-fixed solutions are obtained for the problem of orbital rendezvous and interception with interior path constraints. Transfers between coplanar circular orbits in an inverse-square gravitational field are considered, subject to a circular path constraint representing a minimum or maximum permissible orbital radius. Primer vector theory is extended to incorporate path constraints. The optimal number of impulses, their times and positions, and the presence of initial or final coasting arcs are determined. The existence of constraint boundary arcs and boundary points is investigated as well as the optimality of a class of singular arc solutions. To illustrate the complexities introduced by path constraints, an analysis is made of optimal rendezvous in field-free space subject to a minimum radius constraint.

Trajectory design for a rendezvous mission to Earth's Trojan asteroid 2010 TK7

NASA Astrophysics Data System (ADS)

Lei, Hanlun; Xu, Bo; Zhang, Lei

2017-12-01

In this paper a rendezvous mission to the Earth's Trojan asteroid 2010 TK7 is proposed, and preliminary transfer trajectories are designed. Due to the high inclination (∼ 20.9°) of the target asteroid relative to the ecliptic plane, direct transfers usually require large amounts of fuel consumption, which is beyond the capacity of current technology. As gravity assist technique could effectively change the inclination of spacecraft's trajectory, it is adopted to reduce the launch energy and rendezvous velocity maneuver. In practical computation, impulsive and low-thrust, gravity-assisted trajectories are considered. Among all the trajectories computed, the low-thrust gravity-assisted trajectory with Venus-Earth-Venus (V-E-V) swingby sequence performs the best in terms of propellant mass. For a spacecraft with initial mass of 800 kg , propellant mass of the best trajectory is 36.74 kg . Numerical results indicate that both the impulsive and low-thrust, gravity-assisted trajectories corresponding to V-E-V sequence could satisfy mission constraints, and can be applied to practical rendezvous mission.

LIRIS flight database and its use toward noncooperative rendezvous

NASA Astrophysics Data System (ADS)

Mongrard, O.; Ankersen, F.; Casiez, P.; Cavrois, B.; Donnard, A.; Vergnol, A.; Southivong, U.

2018-06-01

ESA's fifth and last Automated Transfer Vehicle, ATV Georges Lemaître, tested new rendezvous technology before docking with the International Space Station (ISS) in August 2014. The technology demonstration called Laser Infrared Imaging Sensors (LIRIS) provides an unseen view of the ISS. During Georges Lemaître's rendezvous, LIRIS sensors, composed of two infrared cameras, one visible camera, and a scanning LIDAR (Light Detection and Ranging), were turned on two and a half hours and 3500 m from the Space Station. All sensors worked as expected and a large amount of data was recorded and stored within ATV-5's cargo hold before being returned to Earth with the Soyuz flight 38S in September 2014. As a part of the LIRIS postflight activities, the information gathered by all sensors is collected inside a flight database together with the reference ATV trajectory and attitude estimated by ATV main navigation sensors. Although decoupled from the ATV main computer, the LIRIS data were carefully synchronized with ATV guidance, navigation, and control (GNC) data. Hence, the LIRIS database can be used to assess the performance of various image processing algorithms to provide range and line-of-sight (LoS) navigation at long/medium range but also 6 degree-of-freedom (DoF) navigation at short range. The database also contains information related to the overall ATV position with respect to Earth and the Sun direction within ATV frame such that the effect of the environment on the sensors can also be investigated. This paper introduces the structure of the LIRIS database and provides some example of applications to increase the technology readiness level of noncooperative rendezvous.

Time-fixed rendezvous by impulse factoring with an intermediate timing constraint. [for transfer orbits

NASA Technical Reports Server (NTRS)

Green, R. N.; Kibler, J. F.; Young, G. R.

1974-01-01

A method is presented for factoring a two-impulse orbital transfer into a three- or four-impulse transfer which solves the rendezvous problem and satisfies an intermediate timing constraint. Both the time of rendezvous and the intermediate time of a alinement are formulated as any element of a finite sequence of times. These times are integer multiples of a constant plus an additive constant. The rendezvous condition is an equality constraint, whereas the intermediate alinement is an inequality constraint. The two timing constraints are satisfied by factoring the impulses into collinear parts that vectorially sum to the original impulse and by varying the resultant period differences and the number of revolutions in each orbit. Five different types of solutions arise by considering factoring either or both of the two impulses into two or three parts with a limit for four total impulses. The impulse-factoring technique may be applied to any two-impulse transfer which has distinct orbital periods.

Rapid design and optimization of low-thrust rendezvous/interception trajectory for asteroid deflection missions

NASA Astrophysics Data System (ADS)

Li, Shuang; Zhu, Yongsheng; Wang, Yukai

2014-02-01

Asteroid deflection techniques are essential in order to protect the Earth from catastrophic impacts by hazardous asteroids. Rapid design and optimization of low-thrust rendezvous/interception trajectories is considered as one of the key technologies to successfully deflect potentially hazardous asteroids. In this paper, we address a general framework for the rapid design and optimization of low-thrust rendezvous/interception trajectories for future asteroid deflection missions. The design and optimization process includes three closely associated steps. Firstly, shape-based approaches and genetic algorithm (GA) are adopted to perform preliminary design, which provides a reasonable initial guess for subsequent accurate optimization. Secondly, Radau pseudospectral method is utilized to transcribe the low-thrust trajectory optimization problem into a discrete nonlinear programming (NLP) problem. Finally, sequential quadratic programming (SQP) is used to efficiently solve the nonlinear programming problem and obtain the optimal low-thrust rendezvous/interception trajectories. The rapid design and optimization algorithms developed in this paper are validated by three simulation cases with different performance indexes and boundary constraints.

GEMINI-TITAN (GT)-12 - EARTH SKY - AGENA RENDEZVOUS - OUTER SPACE

NASA Image and Video Library

1966-11-11

S66-62755 (11 Nov. 1966) --- Excellent stereo and side view of the Agena Target Docking Vehicle as seen from the Gemini-12 spacecraft during rendezvous and docking mission in space. The two spacecraft are 50 feet apart. Photo credit: NASA

Evolution and simplified terminology of natural orifice transluminal endoscopic surgery (NOTES), laparoendoscopic single-site surgery (LESS), and mini-laparoscopy (ML).

PubMed

Georgiou, A N; Rassweiler, J; Herrmann, T R; Stolzenburg, J U; Liatsikos, E N; Do, Eta Mu; Kallidonis, P; de la Teille, A; van Velthoven, R; Burchardt, M

2012-10-01

Natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single-site surgery (LESS) are the next steps in the evolution of laparoscopic surgery, promising reduced morbidity and improved cosmetic result. The inconsistent terminology initially used led to confusion. Understanding the technical evolution, the current status and a unified and simplified terminology are key issues for further acceptance of both approaches. To present LESS and NOTES in its historical context and to clarify the associated terminology. Extensive literature search took place using the PubMed. Several hundred publications in general surgery and urology regarding LESS are present including the expert opinion of members the European Society of Uro-technology (ESUT). The increasing interest on NOTES and LESS is reflected by a raising number of publications during the last 4 years. The initial confusion with the terminology of single-incision surgery represented a significant issue for further evolution of the technique. Thus, consortiums of experts searched a universally acceptable name for single-incision surgery. They determined that 'laparoendoscopic single-site surgery' (LESS) was both scientifically accurate and colloquially appropriate, the term being also ratified by the NOTES working group (Endourological Society) and the ESUT. For additional use of instruments, the terms hybrid NOTES and hybrid LESS should be used. Any single use of miniaturized instruments for laparoscopy should be called mini-laparoscopy. The evolution of LESS and most likely NOTES to a new standard of minimally invasive surgery could represent an evolutionary step even greater than the one performed by the establishment of laparoscopy over open surgery.

A Comparison of Trajectory Optimization Methods for the Impulsive Minimum Fuel Rendezvous Problem

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Mailhe, Laurie M.; Guzman, Jose J.

2002-01-01

In this paper we present a comparison of optimization approaches to the minimum fuel rendezvous problem. Both indirect and direct methods are compared for a variety of test cases. The indirect approach is based on primer vector theory. The direct approaches are implemented numerically and include Sequential Quadratic Programming (SQP), Quasi-Newton, Simplex, Genetic Algorithms, and Simulated Annealing. Each method is applied to a variety of test cases including, circular to circular coplanar orbits, LEO to GEO, and orbit phasing in highly elliptic orbits. We also compare different constrained optimization routines on complex orbit rendezvous problems with complicated, highly nonlinear constraints.

Solar electric propulsion for terminal flight to rendezvous with comets and asteroids. [using guidance algorithm

NASA Technical Reports Server (NTRS)

Bennett, A.

1973-01-01

A guidance algorithm that provides precise rendezvous in the deterministic case while requiring only relative state information is developed. A navigation scheme employing only onboard relative measurements is built around a Kalman filter set in measurement coordinates. The overall guidance and navigation procedure is evaluated in the face of measurement errors by a detailed numerical simulation. Results indicate that onboard guidance and navigation for the terminal phase of rendezvous is possible with reasonable limits on measurement errors.

Development of a cooperative operational rendezvous plan for Eureca and other maneuvering Shuttle payloads

NASA Technical Reports Server (NTRS)

Gavin, R. T.

1987-01-01

This paper discusses the development of a new class of US Space Shuttle rendezvous missions which involve a maneuvering target vehicle. The objective of the analysis was to develop an operational plan to take advantage of the target spacecraft's maneuvering ability by making it responsible for a portion of the maneuvers necessary to achieve rendezvous. This work resulted in the development of a region in space relative to the Shuttle, called the control box, into which the target vehicle maneuvers. Furthermore, a mission operations plan was developed to implement the control box technique.

Orion Handling Qualities During ISS Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Hart, Jeremy J.; Stephens, J. P.; Spehar, P.; Bilimoria, K.; Foster, C.; Gonzalex, R.; Sullivan, K.; Jackson, B.; Brazzel, J.; Hart, J.

2011-01-01

The Orion spacecraft was designed to rendezvous with multiple vehicles in low earth orbit (LEO) and beyond. To perform the required rendezvous and docking task, Orion must provide enough control authority to perform coarse translational maneuvers while maintaining precision to perform the delicate docking corrections. While Orion has autonomous docking capabilities, it is expected that final approach and docking operations with the International Space Station (ISS) will initially be performed in a manual mode. A series of evaluations was conducted by NASA and Lockheed Martin at the Johnson Space Center to determine the handling qualities (HQ) of the Orion spacecraft during different docking and rendezvous conditions using the Cooper-Harper scale. This paper will address the specifics of the handling qualities methodology, vehicle configuration, scenarios flown, data collection tools, and subject ratings and comments. The initial Orion HQ assessment examined Orion docking to the ISS. This scenario demonstrates the Translational Hand Controller (THC) handling qualities of Orion. During this initial assessment, two different scenarios were evaluated. The first was a nominal docking approach to a stable ISS, with Orion initializing with relative position dispersions and a closing rate of approximately 0.1 ft/sec. The second docking scenario was identical to the first, except the attitude motion of the ISS was modeled to simulate a stress case ( 1 degree deadband per axis and 0.01 deg/sec rate deadband per axis). For both scenarios, subjects started each run on final approach at a docking port-to-port range of 20 ft. Subjects used the THC in pulse mode with cues from the docking camera image, window views, and range and range rate data displayed on the Orion display units. As in the actual design, the attitude of the Orion vehicle was held by the automated flight control system at 0.5 degree deadband per axis. Several error sources were modeled including Reaction

Autonomous Mars ascent and orbit rendezvous for earth return missions

NASA Technical Reports Server (NTRS)

Edwards, H. C.; Balmanno, W. F.; Cruz, Manuel I.; Ilgen, Marc R.

1991-01-01

The details of tha assessment of autonomous Mars ascent and orbit rendezvous for earth return missions are presented. Analyses addressing navigation system assessments, trajectory planning, targeting approaches, flight control guidance strategies, and performance sensitivities are included. Tradeoffs in the analysis and design process are discussed.

Rick Husband gives thumbs-up from flight deck during rendezvous

NASA Image and Video Library

2017-04-20

S96-E-5037 (29 May 1999) --- Astronaut Rick D. Husband, pilot, signals with thumbs up during Discovery's rendezvous operations with the International Space Station (ISS). The photo was taken with an electronic still camera (ESC) at 03:34:23 GMT, May 29, 1999.

A Ground Testbed to Advance US Capability in Autonomous Rendezvous and Docking Project

NASA Technical Reports Server (NTRS)

D'Souza, Chris

2014-01-01

This project will advance the Autonomous Rendezvous and Docking (AR&D) GNC system by testing it on hardware, particularly in a flight processor, with a goal of testing it in IPAS with the Waypoint L2 AR&D scenario. The entire Agency supports development of a Commodity for Autonomous Rendezvous and Docking (CARD) as outlined in the Agency-wide Community of Practice whitepaper entitled: "A Strategy for the U.S. to Develop and Maintain a Mainstream Capability for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond". The whitepaper establishes that 1) the US is in a continual state of AR&D point-designs and therefore there is no US "off-the-shelf" AR&D capability in existence today, 2) the US has fallen behind our foreign counterparts particularly in the autonomy of AR&D systems, 3) development of an AR&D commodity is a national need that would benefit NASA, our commercial partners, and DoD, and 4) an initial estimate indicates that the development of a standardized AR&D capability could save the US approximately $60M for each AR&D project and cut each project's AR&D flight system implementation time in half.

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

NASA Astrophysics Data System (ADS)

Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

2018-02-01

An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

Rendezvous and docking tracker

NASA Technical Reports Server (NTRS)

Ray, Art J.; Ross, Susan E.; Deming, Douglas R.

1986-01-01

A conceptual solid-state rendezvous and docking tracker (RDT) has been devised for generating range and attitude data for a docking vehicle relative to a target vehicle. Emphasis is placed on the approach of the Orbiter to a link with the Space Station. Three laser illuminators ring the optical axis of the lens a directed toward retroreflectors on the target vehicle. Each retroreflector is equipped with a bandpass filter for a designated illumination frequency. Data are collected sequentially over a 20 deg field of view as the range closes to 100-1000 m. A fourth ranging retroreflector 0.3 m from center is employed during close-in maneuvers. The system provides tracking data on motions with 6 deg of freedom, and furnishes 500 msec updates (to be enhanced to 100 msec) to the operator at a computer console.

Low-energy multiple rendezvous of main belt asteroids

NASA Technical Reports Server (NTRS)

Penzo, Paul A.; Bender, David F.

1992-01-01

An approach to multiple asteroid rendezvous missions to the main belt region is proposed. In this approach key information which consists of a launch date and delta V can be generated for all possible pairs of asteroids satisfying specific constraints. This information is made available on a computer file for 1000 numbered asteroids with reasonable assumptions, limitations, and approximations to limit the computer requirements and the size of the data file.

Navigation for Rendezvous and Orbit Missions to Small Solar-System Bodies

NASA Technical Reports Server (NTRS)

Helfrich, C. E.; Scheeres, D. J.; Williams, B. G.; Bollman, W. E.; Davis, R. P.; Synnott, S. P.; Yeomans, D. K.

1994-01-01

All previous spacecraft encounters with small solar-system bodies, such as asteroids and comets, have been flybys (e.g. Galileo's flybys of the asteroids Gaspra and Ida). Several future projects plan to build on the flyby experience and progress to the next level with rendezvous and orbit missions to small bodies. This presents several new issues and challenges for navigation which have never been considered before. This paper addresses these challenges by characterizing the different phases of a small body rendezvous and by describing the navigation requirements and goals of each phase. Prior to the encounter with the small body, improvements to its ephemeris and initial estimates of its physical parameters, e.g. size, shape, mass, rotation rate, rotation pole, and possibly outgassing, are made as accurately as ground-based measurements allow. This characterization can take place over years...

Laparoendoscopic single-site surgery varicocelectomy versus conventional laparoscopic varicocele ligation: A meta-analysis

PubMed Central

Li, Mingchao; Wang, Zhengyun

2016-01-01

Objective To perform a meta-analysis of data from available published studies comparing laparoendoscopic single-site surgery varicocelectomy (LESSV) with conventional transperitoneal laparoscopic varicocele ligation. Methods A comprehensive data search was performed in PubMed and Embase to identify randomized controlled trials and comparative studies that compared the two surgical approaches for the treatment of varicoceles. Results Six studies were included in the meta-analysis. LESSV required a significantly longer operative time than conventional laparoscopic varicocelectomy but was associated with significantly less postoperative pain at 6 h and 24 h, a shorter recovery time and greater patient satisfaction with the cosmetic outcome. There was no difference between the two surgical approaches in terms of postoperative semen quality or the incidence of complications. Conclusion These data suggest that LESSV offers a well tolerated and efficient alternative to conventional laparoscopic varicocelectomy, with less pain, a shorter recovery time and better cosmetic satisfaction. Further well-designed studies are required to confirm these findings and update the results of this meta-analysis. PMID:27688686

Analytical Evaluation of a Method of Midcourse Guidance for Rendezvous with Earth Satellites

NASA Technical Reports Server (NTRS)

Eggleston, John M.; Dunning, Robert S.

1961-01-01

A digital-computer simulation was made of the midcourse or ascent phase of a rendezvous between a ferry vehicle and a space station. The simulation involved a closed-loop guidance system in which both the relative position and relative velocity between ferry and station are measured (by simulated radar) and the relative-velocity corrections required to null the miss distance are computed and applied. The results are used to study the effectiveness of a particular set of guidance equations and to study the effects of errors in the launch conditions and errors in the navigation data. A number of trajectories were investigated over a variety of initial conditions for cases in which the space station was in a circular orbit and also in an elliptic orbit. Trajectories are described in terms of a rotating coordinate system fixed in the station. As a result of this study the following conclusions are drawn. Successful rendezvous can be achieved even with launch conditions which are substantially less accurate than those obtained with present-day techniques. The average total-velocity correction required during the midcourse phase is directly proportional to the radar accuracy but the miss distance is not. Errors in the time of booster burnout or in the position of the ferry at booster burnout are less important than errors in the ferry velocity at booster burnout. The use of dead bands to account for errors in the navigational (radar) equipment appears to depend upon a compromise between the magnitude of the velocity corrections to be made and the allowable miss distance at the termination of the midcourse phase of the rendezvous. When approximate guidance equations are used, there are limits on their accuracy which are dependent on the angular distance about the earth to the expected point of rendezvous.

Trojan Tour and Rendezvous (TTR): A New Frontiers Mission to Explore the Origin and Evolution of the Early Solar System

NASA Astrophysics Data System (ADS)

Bell, J. F., III; Olkin, C.; Castillo, J. C.

2015-12-01

The orbital properties, compositions, and physical properties of the diverse populations of small outer solar system bodies provide a forensic map of how our solar system formed and evolved. Perhaps the most potentially diagnostic, but least explored, of those populations are the Jupiter Trojan asteroids, which orbit at ~5 AU in the L4 and L5 Lagrange points of Jupiter. More than 6200 Jupiter Trojans are presently known, but these are predicted to be only a small fraction of the 500,000 to 1 million Trojans >1 km in size. The Trojans are hypothesized to be either former Kuiper Belt Objects (KBOs) that were scattered into the inner solar system by early giant planet migration and then trapped in the 1:1 Jupiter mean motion resonance, or bodies formed near 5 AU in a much more quiescent early solar system, and then trapped at L4 and L5. The 2011 Planetary Science Decadal Survey identified important questions about the origin and evolution of the solar system that can be addressed by studying of the Trojan asteroids, including: (a) How did the giant planets and their satellite systems accrete, and is there evidence that they migrated to new orbital positions? (b) What is the relationship between large and small KBOs? Is the small population derived by impact disruption of the large one? (c) What kinds of surface evolution, radiation chemistry, and surface-atmosphere interactions occur on distant icy primitive bodies? And (d) What are the sources of asteroid groups (Trojans and Centaurs) that remain to be explored by spacecraft? The Trojan Tour and Rendezvous (TTR) is a New Frontiers-class mission designed to answer these questions, and to test hypotheses for early giant planet migration and solar system evolution. Via close flybys of a large number of these objects,, and orbital characterization of at least one large Trojan, TTR will enable the first-time exploration of this population. Our primary mission goals are to characterize the overall surface geology

Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

PubMed

Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

2017-12-01

To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

Six degree of freedom simulation system for evaluating automated rendezvous and docking spacecraft

NASA Technical Reports Server (NTRS)

Rourke, Kenneth H.; Tsugawa, Roy K.

1991-01-01

Future logistics supply and servicing vehicles such as cargo transfer vehicles (CTV) must have full 6 degree of freedom (6DOF) capability in order to perform requisite rendezvous, proximity operations, and capture operations. The design and performance issues encountered when developing a 6DOF maneuvering spacecraft are very complex with subtle interactions which are not immediately obvious or easily anticipated. In order to deal with these complexities and develop robust maneuvering spacecraft designs, a simulation system and associated family of tools are used at TRW for generating and validating spacecraft performance requirements and guidance algorithms. An overview of the simulator and tools is provided. These are used by TRW for autonomous rendezvous and docking research projects including CTV studies.

A modified proportional navigation scheme for rendezvous and docking with tumbling targets: The Planar case

NASA Technical Reports Server (NTRS)

Fitz-Coy, Norman; Liu, Ming-Cheng

1995-01-01

A two-phase proportional navigation scheme is developed for the case of two rigid bodies engaged in a rendezvous/docking maneuver. The target vehicle is nonmaneuvering, but does have constant nonzero angular and linear velocities. Under these conditions, it is shown that previously obtained solutions are not applicable. Analytical solutions are obtained leading to relationships between the transverse and LOS navigation constants. It is shown that the transverse navigation constant for the second phase of the maneuver must be 2. Also, initial conditions necessary for rendezvous are presented.

Multi-rendezvous low-thrust trajectory optimization using costate transforming and homotopic approach

NASA Astrophysics Data System (ADS)

Chen, Shiyu; Li, Haiyang; Baoyin, Hexi

2018-06-01

This paper investigates a method for optimizing multi-rendezvous low-thrust trajectories using indirect methods. An efficient technique, labeled costate transforming, is proposed to optimize multiple trajectory legs simultaneously rather than optimizing each trajectory leg individually. Complex inner-point constraints and a large number of free variables are one main challenge in optimizing multi-leg transfers via shooting algorithms. Such a difficulty is reduced by first optimizing each trajectory leg individually. The results may be, next, utilized as an initial guess in the simultaneous optimization of multiple trajectory legs. In this paper, the limitations of similar techniques in previous research is surpassed and a homotopic approach is employed to improve the convergence efficiency of the shooting process in multi-rendezvous low-thrust trajectory optimization. Numerical examples demonstrate that newly introduced techniques are valid and efficient.

Autonomous Rendezvous and Docking Conference, volume 2

NASA Technical Reports Server (NTRS)

1990-01-01

Autonomous Rendezvous and Docking (ARD) will be a requirement for future space programs. Clear examples include satellite servicing, repair, recovery, and reboost in the near term, and the longer range lunar and planetary exploration programs. ARD will permit more aggressive unmanned space activities, while providing a valuable operational capability for manned missions. The purpose of the conference is to identify the technologies required for an on-orbit demonstration of ARD, assess the maturity of those technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

Rendezvous missions with minimoons from L1

NASA Astrophysics Data System (ADS)

Chyba, M.; Haberkorn, T.; Patterson, G.

2014-07-01

We propose to present asteroid capture missions with the so-called minimoons. Minimoons are small asteroids that are temporarily captured objects on orbits in the Earth-Moon system. It has been suggested that, despite their small capture probability, at any time there are one or two meter diameter minimoons, and progressively greater numbers at smaller diameters. The minimoons orbits differ significantly from elliptical orbits which renders a rendezvous mission more challenging, however they offer many advantages for such missions that overcome this fact. First, they are already on geocentric orbits which results in short duration missions with low Delta-v, this translates in cost efficiency and low-risk targets. Second, beside their close proximity to Earth, an advantage is their small size since it provides us with the luxury to retrieve the entire asteroid and not only a sample of material. Accessing the interior structure of a near-Earth satellite in its morphological context is crucial to an in-depth analysis of the structure of the asteroid. Historically, 2006 RH120 is the only minimoon that has been detected but work is ongoing to determine which modifications to current observation facilities is necessary to provide detection algorithm capabilities. In the event that detection is successful, an efficient algorithm to produce a space mission to rendezvous with the detected minimoon is highly desirable to take advantage of this opportunity. This is the main focus of our work. For the design of the mission we propose the following. The spacecraft is first placed in hibernation on a Lissajoux orbit around the liberation point L1 of the Earth-Moon system. We focus on eight-shaped Lissajoux orbits to take advantage of the stability properties of their invariant manifolds for our transfers since the cost to minimize is the spacecraft fuel consumption. Once a minimoon has been detected we must choose a point on its orbit to rendezvous (in position and velocities

Wyoming's Early Settlement and Ethnic Groups, Unit IV.

ERIC Educational Resources Information Center

Robinson, Terry

This unit on Wyoming's early settlement and ethnic groups provides concepts, activities, stories, charts, and graphs for elementary school students. Concepts include the attraction Wyoming held for trappers; the major social, economic, and religious event called "The Rendezvous"; the different ethnic and religious groups that presently…

The asteroid rendezvous spacecraft. An adaptation study of TIROS/DMSP technology

NASA Technical Reports Server (NTRS)

1982-01-01

The feasibility of using the TIROS/DMSP Earth orbiting meteorological satellite in application to a near Earth asteroid rendezvous mission. System and subsystems analysis was carried out to develop a configuration of the spacecraft suitable for this mission. Mission analysis studies were also done and maneuver/rendezvous scenarios developed for baseline missions to both Anteros and Eros. The fact that the Asteroid mission is the most complex of the Pioneer class missions currently under consideration notwithstanding, the basic conclusion very strongly supports the suitability of the basic TIROS bus for this mission in all systems and subsystems areas, including science accommodation. Further, the modifications which are required due to the unique mission are very low risk and can be accomplished readily. The key issue is that in virtually every key subsystem, the demands of the Asteroid mission are a subset of the basic meteorological satellite mission. This allows a relatively simple reconfiguration to be accomplished without a major system redesign.

Resolving external pancreatic fistulas in patients with disconnected pancreatic duct syndrome: using rendezvous techniques to avoid surgery (with video).

PubMed

Irani, Shayan; Gluck, Michael; Ross, Andrew; Gan, S Ian; Crane, Robert; Brandabur, John J; Hauptmann, Ellen; Fotoohi, Mehran; Kozarek, Richard A

2012-09-01

An external pancreatic fistula (EPF) generally results from an iatrogenic manipulation of a pancreatic fluid collection (PFC), such as walled-off pancreatic necrosis (WOPN). Severe necrotizing pancreatitis can lead to complete duct disruption, causing disconnected pancreatic duct syndrome (DPDS) with viable upstream pancreas draining out of a low-pressure fistula created surgically or by a percutaneous catheter. The EPF can persist for months to years, and distal pancreatectomy, often the only permanent solution, carries a high morbidity and defined mortality. To describe 3 endoscopic and percutaneous rendezvous techniques to completely resolve EPFs in the setting of DPDS. A retrospective review of a prospective database of 15 patients who underwent rendezvous internalization of EPFs. Tertiary-care pancreatic referral center. Fifteen patients between October 2002 and October 2011 with EPFs in the setting of DPDS and resolved WOPN. Three rendezvous techniques that combined endoscopic and percutaneous procedures to internalize EPFs by transgastric, transduodenal, or transpapillary methods. EPF resolution and morbidity. Fifteen patients (12 men) with a median age of 51 years (range 24-65 years) with EPFs and DPDS (cutoff/blowout of pancreatic duct, with inability to demonstrate upstream body/tail of pancreas on pancreatogram) resulting from severe necrotizing pancreatitis underwent 1 of 3 rendezvous procedures to eliminate the EPFs. All patients were either poor surgical candidates or refused surgery. At the time of the rendezvous procedure, WOPN had fully resolved, DPDS was confirmed on pancreatography, and the EPF had persisted for a median of 5 months (range 1-48 months), producing a median output of 200 mL/day (range 50-700 mL/day). The rendezvous technique in 10 patients used the existing percutaneous drainage fistula to puncture into the stomach/duodenum to deliver wires that were captured endoscopically. The transenteric fistula was dilated and two

Near Earth asteroid rendezvous

NASA Technical Reports Server (NTRS)

1992-01-01

The Spacecraft Design Course is the capstone design class for the M.S. in astronautics at the Naval Postgraduate School. The Fall 92 class designed a spacecraft for the Near Earth Asteroid Rendezvous Mission (NEAR). The NEAR mission uses a robotic spacecraft to conduct up-close reconnaissance of a near-earth asteroid. Such a mission will provide information on Solar System formation and possible space resources. The spacecraft is intended to complete a NEAR mission as a relatively low-budget program while striving to gather as much information about the target asteroid as possible. A complete mission analysis and detailed spacecraft design were completed. Mission analysis includes orbit comparison and selection, payload and telemetry requirements, spacecraft configuration, and launch vehicle selection. Spacecraft design includes all major subsystems: structure, electrical power, attitude control, propulsion, payload integration, and thermal control. The resulting spacecraft demonstrates the possibility to meet the NEAR mission requirements using existing technology, 'off-the-shelf' components, and a relatively low-cost launch vehicle.

Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

NASA Astrophysics Data System (ADS)

Cao, Lu; Qiao, Dong; Xu, Jingwen

2018-02-01

Sub-Optimal Artificial Potential Function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

Integrated vision-based GNC for autonomous rendezvous and capture around Mars

NASA Astrophysics Data System (ADS)

Strippoli, L.; Novelli, G.; Gil Fernandez, J.; Colmenarejo, P.; Le Peuvedic, C.; Lanza, P.; Ankersen, F.

2015-06-01

Integrated GNC (iGNC) is an activity aimed at designing, developing and validating the GNC for autonomously performing the rendezvous and capture phase of the Mars sample return mission as defined during the Mars sample return Orbiter (MSRO) ESA study. The validation cycle includes testing in an end-to-end simulator, in a real-time avionics-representative test bench and, finally, in a dynamic HW in the loop test bench for assessing the feasibility, performances and figure of merits of the baseline approach defined during the MSRO study, for both nominal and contingency scenarios. The on-board software (OBSW) is tailored to work with the sensors, actuators and orbits baseline proposed in MSRO. The whole rendezvous is based on optical navigation, aided by RF-Doppler during the search and first orbit determination of the orbiting sample. The simulated rendezvous phase includes also the non-linear orbit synchronization, based on a dedicated non-linear guidance algorithm robust to Mars ascent vehicle (MAV) injection accuracy or MAV failures resulting in elliptic target orbits. The search phase is very demanding for the image processing (IP) due to the very high visual magnitude of the target wrt. the stellar background, and the attitude GNC requires very high pointing stability accuracies to fulfil IP constraints. A trade-off of innovative, autonomous navigation filters indicates the unscented Kalman filter (UKF) as the approach that provides the best results in terms of robustness, response to non-linearities and performances compatibly with computational load. At short range, an optimized IP based on a convex hull algorithm has been developed in order to guarantee LoS and range measurements from hundreds of metres to capture.

Laparoendoscopic single-site surgery versus standard laparoscopic simple nephrectomy: a prospective randomized study.

PubMed

Tugcu, Volkan; Ilbey, Yusuf Ozlem; Mutlu, Bircan; Tasci, Ali Ihsan

2010-08-01

Laparoendoscopic single-site surgery (LESS), an attempt to further enhance the cosmetic benefits of minimally invasive surgery while minimizing the potential morbidity associated with multiple incisions, has been developed recently. Our aim was to compare LESS simple nephrectomy (LESS-SN) and conventional transperitoneal laparoscopic simple nephrectomy (CTL-SN). In this randomized study that was conducted between December 2008 and September 2009, 27 patients who needed simple nephrectomy were randomized to either LESS-SN or CTL-SN. All procedures in both groups were performed by the first author, who is experienced in laparoscopic surgery. Patient characteristics, perioperative details, and time to return to work were recorded. Postoperative evaluation of pain and use of analgesic medication were recorded. There was no difference in median operative time (117.5 vs 114 min, P = 0.52), blood loss (50.71 vs 47.15 mL, P = 0.60), transfusion rates (0% for both), and hospitalization time (2.07 vs 2.11 days, P = 0.74) between the LESS-SN and CTL-SN groups. Time to return to normal activities was shorter in the LESS-SN group compared with the CTL-SN group (10.7 vs 13.5 days, P = 0.001). Both the visual analogue scale and the postoperative use of analgesics were significantly lower during postoperative days 1, 2, and 3 in patients who underwent LESS-SN, compared with patients who underwent CTL-SN. There were no intraoperative or postoperative complications in both groups. Compared with CTL-SN, LESS-SN was more expensive, but all patients undergoing LESS-SN were very pleased with the cosmetic outcome (no visible scars). The early experience described in this study suggests that LESS-SN is a safe and effective alternative to CTL-SN that provides surgeons with a minimally invasive surgical option and the ability to hide the surgical incision within the umbilicus; however, a larger series is necessary to confirm these findings and to determine if there are any benefits in pain

ATV during Demonstration Day 1 Rendezvous Test

NASA Image and Video Library

2008-03-29

ISS016-E-033720 (29 March 2008) --- Cosmonaut Yuri Malenchenko, Expedition 16 flight engineer, aboard the International Space Station used a digital still camera to record several images of the Jules Verne Automated Transfer Vehicle (ATV) during a rendezvous test March 29, 2008. Malenchenko fitted the camera with an 800mm lens typically employed for Shuttle RPM photography while the ATV sat 2.1 statute miles from the ISS during the first of two demonstration days in the lead up to a docking on April 3. On March 31, Demonstration Day 2 will see ATV approach to within 11 meters of the ISS.

Preliminary experience and learning curve for laparoendoscopic single-site retroperitoneal pyeloplasty.

PubMed

Ou, Zhenyu; Qi, Lin; Yang, Jinrui; Chen, Xiang; Cao, Zhenzhen; Zu, Xiongbing; Liu, Longfei; Wang, Long

2013-09-01

To report our preliminary experience and to assess the learning curve for laparoendoscopic single-site retroperitoneal pyeloplasty (LESS-RP) for ureteropelvic junction obstruction (UPJO). From July 2010 to February 2012, LESS-RP was performed in 27 patients affected with UPJO by a single surgeon. A homemade single-access platform and both conventional and prebent instruments were applied. Patient characteristics and perioperative outcomes were analyzed. The cumulative sum (CUSUM) method was used to evaluate the learning curve. The LESS-RP was successfully accomplished in all 27 patients. The mean operative time (OT) was 175.9±22.5 minutes, and the mean estimated blood loss was 83.3±27.1 mL. We used the OT as a proxy to assess the learning curve. The CUSUM learning curve can be divided into two distinct phases: the initial 12 cases and the last 15 cases. There were significant differences in the mean OT (195.6 minutes versus 159.1 minutes, P<.001) and mean estimated blood loss (97.2 mL versus 72.2 mL, P=.014) between the two phases. The two phases did not differ in other parameters. LESS-RP is a safe and feasible procedure. The learning curve of a single surgeon suggests that the initial learning phase for LESS-RP can be completed after approximately 12 cases.

Evolution of segmental anesthesia for Laparo-Endoscopic Single Site (LESS) cholecystectomy.

PubMed

Ross, S B; Mangar, D; Karlnoski, R; Patel, R S; Camporesi, E M; Barry, L K; Luberice, K; Sprenker, C J; Rosemurgy, A S

2012-06-01

Transumbilical Laparo-Endoscopic Single Site (LESS) surgery promises improved cosmesis, quick recovery, reduced postoperative pain and shorter length of hospital stay. Since only a simple umbilical incision is used, LESS surgery can be completed with segmental epidural anesthesia. This study describes the evolution of our technique of LESS cholecystectomy from a combination of spinal and epidural anesthesia to thoracic epidural alone and presents our experience with its safety, the observed morbidity, and the reported patient satisfaction. In August 2009, a prospective evaluation of LESS cholecystectomy with regional anesthesia was undertaken. We recruited patients with chronic cholecystitis or symptomatic cholelithasis. Blood loss, operative time, complications, and length of hospital stay were measured. Preoperatively and 14 days postoperatively, outcome and symptom resolution were scored. Fifteen consecutive patients underwent LESS cholecystectomy; first with combined spinal-epidural (CSE), and then with thoracic epidural anesthesia alone. Immediate postoperative pain and discomfort were well tolerated. VAS scores upon admission to PACU were 0.4 (1.7±2.2). At postoperative day 14, the patients scored high values for "Satisfaction", 10 (10±1.0) and "Cosmesis", 10 (9.3±1.5). LESS cholecystectomy with epidural anesthesia can be undertaken safely. Patient satisfaction and cosmesis are particularly prominent amongst our patients. Our experience supports further utilization of epidural anesthesia for selected patients undergoing LESS cholecystectomy.

Laparoscopic ovariectomy in dogs: comparison between laparoendoscopic single-site and three-portal access

PubMed Central

Díaz-Güemes Martin-Portugués, Idoia; Fresno Bermejo, Laura; Sánchez-Margallo, Francisco Miguel

2015-01-01

This study was conducted to evaluate the feasibility and therapeutic safety of laparoendoscopic single-site ovariectomy (LESS-OVE) and 3-portal laparoscopic ovariectomy (Lap-OVE) in dogs. Ten female mixed breed dogs were included in the study. Dogs were divided into group 1 (LESS-OVE; n = 5) and group 2 (Lap-OVE; n = 5). All procedures were performed by laparoscopic-skilled surgeons, and the anesthetic protocol was the same for all patients. In both groups, the ovarian vascular pedicle and ligaments were transected using a bipolar vessel sealer/divider device. The mean total surgical time was slightly longer in LESS-OVE (36.6 ± 3.5 min) than Lap-OVE (32.0 ± 3.0 min); however, the differences were not significant. Perioperative complications were not reported in any group. Both laparoscopic techniques were shown to be equally feasible and safe for patients. However, surgeons found LESS-OVE to require more skill than Lap-OVE. Therefore, additional studies should be conducted to evaluate this novel approach in clinical veterinary practice, and a proper laparoscopic training program for veterinary surgeons should be developed. PMID:26119164

Combined surgical procedures using laparoendoscopic single-site surgery approach.

PubMed

Palanivelu, C; Ahluwalia, Jasmeet Singh; Palanivelu, Praveenraj; Palanisamy, Senthilnathan; Vij, Anirudh

2013-08-01

As our experience with laparoendoscopic single-site (LESS) surgeries increased, we considered how it might be employed if two or more surgeries were to be combined. LESS surgeries' cosmetic advantages, decreased parietal trauma and better patient satisfaction relative to standard multiport laparoscopy have been previously reported, but its special role in combined surgeries has never been stressed. In this series, we present the advantages of LESS procedure over multiport laparoscopy in combined surgical procedures. To the best of our knowledge, this has never been reported before. A retrospective analysis of 27 patients was performed. The patients underwent combined LESS procedures between February 2010 and January 2012 at GEM Hospital, Coimbatore, India. All patients were of ASA grade 1 or 2. Patients with previous surgery in the umbilical region were not offered single-incision surgery. We successfully performed 27 combined LESS procedures over a span of 2 years. Twenty patients were women and seven were men. Mean age was 35.94 years (range, 10-66 years). Mean BMI was 27.2. There were no major intraoperative complications. Mean blood loss was 45.7 mL (range, 0.0-120.0 mL). Mean postoperative hospital stay was 3.08 days (range, 1-5 days). When a suitable case of multiple pathologies is encountered and LESS surgery is feasible for all of them, performing LESS surgery not only has cosmetic advantages over standard laparoscopy, but it also avoids the need for additional ports to achieve adequate visualization and access. All quadrants of the abdomen remain under reach through umbilicus. © 2013 Japan Society for Endoscopic Surgery, Asia Endosurgery Task Force and Wiley Publishing Asia Pty Ltd.

Retroperitoneal laparoendoscopic single-site ureterolithotomy and ureteroureterostomy for retrocaval ureter with ureteral calculus: first case report.

PubMed

Chen, Zhi; Chen, Xiang; Luo, Yan-Cheng; He, Yao; Li, Nan-Nan; Xie, Chao-Qun; Lai, Chen; Fang, Xiao-Long

2012-12-01

A 53-year-old man presented with a 6-month history of intermittent right flank pain. Radiological imaging confirmed the diagnosis of retrocaval ureter (RCU) and ureteral calculus. Retroperitoneal laparoendoscopic single-site surgery (LESS) ureterolithotomy and ureteroureterostomy was successfully performed. The operative time was 185 min and the blood loss was approximately 20 ml. The patient's postoperative course was uneventful. Postoperative analgesia was not needed. The patient was discharged on the third postoperative day. The drain and double-J stent were respectively removed at 1 and 8 weeks postoperatively. At the 3-month follow-up, nuclear scan showed no evidence of obstruction of the right kidney and the patient also remained symptom free. It may be concluded that retroperitoneal LESS repair for RCU is a feasible and safe procedure, which can be considered as a option for the management of RCU even if it is complicated by the presence of a ureteral calculus.

SPARTAN: A High-Fidelity Simulation for Automated Rendezvous and Docking Applications

NASA Technical Reports Server (NTRS)

Turbe, Michael A.; McDuffie, James H.; DeKock, Brandon K.; Betts, Kevin M.; Carrington, Connie K.

2007-01-01

bd Systems (a subsidiary of SAIC) has developed the Simulation Package for Autonomous Rendezvous Test and ANalysis (SPARTAN), a high-fidelity on-orbit simulation featuring multiple six-degree-of-freedom (6DOF) vehicles. SPARTAN has been developed in a modular fashion in Matlab/Simulink to test next-generation automated rendezvous and docking guidance, navigation,and control algorithms for NASA's new Vision for Space Exploration. SPARTAN includes autonomous state-based mission manager algorithms responsible for sequencing the vehicle through various flight phases based on on-board sensor inputs and closed-loop guidance algorithms, including Lambert transfers, Clohessy-Wiltshire maneuvers, and glideslope approaches The guidance commands are implemented using an integrated translation and attitude control system to provide 6DOF control of each vehicle in the simulation. SPARTAN also includes high-fidelity representations of a variety of absolute and relative navigation sensors that maybe used for NASA missions, including radio frequency, lidar, and video-based rendezvous sensors. Proprietary navigation sensor fusion algorithms have been developed that allow the integration of these sensor measurements through an extended Kalman filter framework to create a single optimal estimate of the relative state of the vehicles. SPARTAN provides capability for Monte Carlo dispersion analysis, allowing for rigorous evaluation of the performance of the complete proposed AR&D system, including software, sensors, and mechanisms. SPARTAN also supports hardware-in-the-loop testing through conversion of the algorithms to C code using Real-Time Workshop in order to be hosted in a mission computer engineering development unit running an embedded real-time operating system. SPARTAN also contains both runtime TCP/IP socket interface and post-processing compatibility with bdStudio, a visualization tool developed by bd Systems, allowing for intuitive evaluation of simulation results. A

The Data Transfer Kit: A geometric rendezvous-based tool for multiphysics data transfer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Slattery, S. R.; Wilson, P. P. H.; Pawlowski, R. P.

2013-07-01

The Data Transfer Kit (DTK) is a software library designed to provide parallel data transfer services for arbitrary physics components based on the concept of geometric rendezvous. The rendezvous algorithm provides a means to geometrically correlate two geometric domains that may be arbitrarily decomposed in a parallel simulation. By repartitioning both domains such that they have the same geometric domain on each parallel process, efficient and load balanced search operations and data transfer can be performed at a desirable algorithmic time complexity with low communication overhead relative to other types of mapping algorithms. With the increased development efforts in multiphysicsmore » simulation and other multiple mesh and geometry problems, generating parallel topology maps for transferring fields and other data between geometric domains is a common operation. The algorithms used to generate parallel topology maps based on the concept of geometric rendezvous as implemented in DTK are described with an example using a conjugate heat transfer calculation and thermal coupling with a neutronics code. In addition, we provide the results of initial scaling studies performed on the Jaguar Cray XK6 system at Oak Ridge National Laboratory for a worse-case-scenario problem in terms of algorithmic complexity that shows good scaling on 0(1 x 104) cores for topology map generation and excellent scaling on 0(1 x 105) cores for the data transfer operation with meshes of O(1 x 109) elements. (authors)« less

Autonomous rendezvous and capture development infrastructure

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.; Roe, Fred; Coker, Cindy; Nelson, Pam; Johnson, B.

1991-01-01

In the development of the technology for autonomous rendezvous and docking, key infrastructure capabilities must be used for effective and economical development. This involves facility capabilities, both equipment and personnel, to devise, develop, qualify, and integrate ARD elements and subsystems into flight programs. One effective way of reducing technical risks in developing ARD technology is the use of the ultimate test facility, using a Shuttle-based reusable free-flying testbed to perform a Technology Demonstration Test Flight which can be structured to include a variety of additional sensors, control schemes, and operational approaches. This conceptual testbed and flight demonstration will be used to illustrate how technologies and facilities at MSFC can be used to develop and prove an ARD system.

Autonomous rendezvous and capture development infrastructure

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.

1991-01-01

In the development of the technology for autonomous rendezvous and docking, key infrastructure capabilities must be used for effective and economical development. This need involves facility capabilities, both equipment and personnel, to devise, develop, qualify, and integrate ARD elements and subsystems into flight programs. One effective way of reducing technical risks in developing ARD technology is the use of the Low Earth Orbit test facility. Using a reusable free-flying testbed carried in the Shuttle, as a technology demonstration test flight, can be structured to include a variety of sensors, control schemes, and operational approaches. This testbed and flight demonstration concept will be used to illustrate how technologies and facilities at MSFC can be used to develop and prove an ARD system.

Pathfinder autonomous rendezvous and docking project

NASA Technical Reports Server (NTRS)

Lamkin, Stephen (Editor); Mccandless, Wayne (Editor)

1990-01-01

Capabilities are being developed and demonstrated to support manned and unmanned vehicle operations in lunar and planetary orbits. In this initial phase, primary emphasis is placed on definition of the system requirements for candidate Pathfinder mission applications and correlation of these system-level requirements with specific requirements. The FY-89 activities detailed are best characterized as foundation building. The majority of the efforts were dedicated to assessing the current state of the art, identifying desired elaborations and expansions to this level of development and charting a course that will realize the desired objectives in the future. Efforts are detailed across all work packages in developing those requirements and tools needed to test, refine, and validate basic autonomous rendezvous and docking elements.

Rendezvous terminal phase automatic braking sequencing and targeting. [for space shuttle orbiter

NASA Technical Reports Server (NTRS)

Kachmar, P. M.

1973-01-01

The purpose of the rendezvous terminal phase braking program is to provide the means of automatically bringing the primary orbiter within desired station keeping boundaries relative to the target satellite. A detailed discussion is presented on the braking program and its navigation, targeting, and guidance functions.

Cost effective laparoendoscopic single-site surgery with a reusable platform.

PubMed

Schwentner, C; Todenhöfer, T; Seibold, J; Alloussi, S; Aufderklamm, S; Mischinger, J; Stenzl, A; Gakis, G

2013-01-01

Many disposable platforms have been applied in laparoendoscopic single-site surgery (LESS). Besides technical issues, cost is one of the limiting factors for its widespread acceptance. The current study describes the first completely reusable LESS-platform. We performed LESS-procedures in 52 patients including nephrectomy (18), adrenalectomy (2), partial nephrectomy (3), pyeloplasty (4), renal cyst ablation (4), pelvic lymphadenectomy (15), and lymphocele ablation (6). All procedures were conducted using a novel reusable single-port device (X-Cone, Karl-Storz) with a simplified set of instruments. We obtained perioperative and demographic data, including a visual analogue pain scale (VAS), and a complication reporting system based on Clavien grading. Mean age was 50.04 y. Conversion to standard laparoscopy was necessary in 3 cases and addition of a needlescopic instrument in 6 cases. There was no open conversion. Intra- and postoperative complications occurred in 3 (Clavien II in 2 and III in 1) cases. Mean operative time was 110, 90, and 89 min, and hospital stay was 4.9, 3.1, and 3.6 d for nephrectomy, pelvic lymphadenectomy, and pyeloplasty, respectively. Mean VAS was 2.13, 1.07, and 1.5 while blood loss was 81.3 mL, 25.67 mL, and 17.5 mL, respectively. Mean lymph node yield was 15 (range, 8 to 21). A completely reusable LESS-platform is applicable to various uses in urology, yielding favorable functional and cosmetic results. Reusable materials are useful to reduce the cost of LESS, further increasing its acceptance. LESS with a completely reusable platform is more cost effective than standard laparoscopy.

Primer-optimized results and trends for circular phasing and other circle-to-circle impulsive coplanar rendezvous

NASA Astrophysics Data System (ADS)

Sandrik, Suzannah

Optimal solutions to the impulsive circular phasing problem, a special class of orbital maneuver in which impulsive thrusts shift a vehicle's orbital position by a specified angle, are found using primer vector theory. The complexities of optimal circular phasing are identified and illustrated using specifically designed Matlab software tools. Information from these new visualizations is applied to explain discrepancies in locally optimal solutions found by previous researchers. Two non-phasing circle-to-circle impulsive rendezvous problems are also examined to show the applicability of the tools developed here to a broader class of problems and to show how optimizing these rendezvous problems differs from the circular phasing case.

Orbit Modification of Earth-Crossing Asteroids/Comets Using Rendezvous Spacecraft and Laser Ablation

NASA Technical Reports Server (NTRS)

Park, Sang-Young; Mazanek, Daniel D.

2005-01-01

This report describes the approach and results of an end-to-end simulation to deflect a long-period comet (LPC) by using a rapid rendezvous spacecraft and laser ablation system. The laser energy required for providing sufficient deflection DELTA V and an analysis of possible intercept/rendezvous spacecraft trajectories are studied in this analysis. These problems minimize a weighted sum of the flight time and required propellant by using an advanced propulsion system. The optimal thrust-vector history and propellant mass to use are found in order to transfer a spacecraft from the Earth to a targeted celestial object. One goal of this analysis is to formulate an optimization problem for intercept/rendezvous spacecraft trajectories. One approach to alter the trajectory of the object in a highly controlled manner is to use pulsed laser ablative propulsion. A sufficiently intense laser pulse ablates the surface of a near-Earth object (NEO) by causing plasma blowoff. The momentum change from a single laser pulse is very small. However, the cumulative effect is very effective because the laser can interact with the object over long periods of time. The laser ablation technique can overcome the mass penalties associated with other nondisruptive approaches because no propellant is required to generate the DELTA V (the material of the celestial object is the propellant source). Additionally, laser ablation is effective against a wide range of surface materials and does not require any landing or physical attachment to the object. For diverting distant asteroids and comets, the power and optical requirements of a laser ablation system on or near the Earth may be too extreme to contemplate in the next few decades. A hybrid solution would be for a spacecraft to carry a laser as a payload to a particular celestial body. The spacecraft would require an advanced propulsion system capable of rapid rendezvous with the object and an extremely powerful electrical generator, which is

Q-Learning and p-persistent CSMA based rendezvous protocol for cognitive radio networks operating with shared spectrum activity

NASA Astrophysics Data System (ADS)

Watson, Clifton L.; Biswas, Subir

2014-06-01

With an increasing demand for spectrum, dynamic spectrum access (DSA) has been proposed as viable means for providing the flexibility and greater access to spectrum necessary to meet this demand. Within the DSA concept, unlicensed secondary users temporarily "borrow" or access licensed spectrum, while respecting the licensed primary user's rights to that spectrum. As key enablers for DSA, cognitive radios (CRs) are based on software-defined radios which allow them to sense, learn, and adapt to the spectrum environment. These radios can operate independently and rapidly switch channels. Thus, the initial setup and maintenance of cognitive radio networks are dependent upon the ability of CR nodes to find each other, in a process known as rendezvous, and create a link on a common channel for the exchange of data and control information. In this paper, we propose a novel rendezvous protocol, known as QLP, which is based on Q-learning and the p-persistent CSMA protocol. With the QLP protocol, CR nodes learn which channels are best for rendezvous and thus adapt their behavior to visit those channels more frequently. We demonstrate through simulation that the QLP protocol provides a rendevous capability for DSA environments with different dynamics of PU activity, while attempting to achieve the following performance goals: (1) minimize the average time-to-rendezvous, (2) maximize system throughput, (3) minimize primary user interference, and (4) minimize collisions among CR nodes.

Laparoendoscopic single site surgery in pediatric urology: does it require specialized tools?

PubMed Central

Patel, Nishant; Santomauro, Michael; Marietti, Sarah; Chiang, George

2016-01-01

ABSTRACT Purpose: To describe our experience utilizing Laparoendoscopic single site (LESS) surgery in pediatric urology. Materials and Methods: Retrospective chart review was performed on LESS urologic procedures from November 2009 through March 2013. A total of 44 patients underwent 54 procedures including: nephrectomy (23), orchiopexy (14), varicocelectomy (9), orchiectomy (2), urachal cyst excision (3), and antegrade continence enema (3) (ACE). Results: Median patient age was 6.9 years old. Estimated blood loss (EBL), ranged from less than 5cc to 47cc for a bilateral nephrectomy. Operative time varied from 56 mins for varicocelectomy to a median of 360 minutes for a bilateral nephroureterectomy. Incision length ranged between 2 and 2.5cm. In our initial experience we used a commercial port. However, as we progressed, we were able to perform the majority of our procedures via adjacent fascial punctures for instrumentation at the single incision site. One patient did require conversion to an open procedure as a result of bleeding. Three complications were noted (6.8%), with two Clavien Grade 3b complications. Two patients required additional procedures at 1-year follow-up. Conclusions: The use of LESS applies to many pediatric urologic procedures, ideally for ablative procedures or simple reconstructive efforts. The use of adjacent fascial puncture sites for instrumentation can obviate the need for a commercial port or multiple trocars. PMID:27256182

The learning curve of laparoendoscopic single-Site (LESS) fundoplication: definable, short, and safe.

PubMed

Ross, Sharona B; Choung, Edward; Teta, Anthony F; Colibao, Lotiffa; Luberice, Kenneth; Paul, Harold; Rosemurgy, Alexander S

2013-01-01

This study of laparoendoscopic single-site (LESS) fundoplication for gastroesophageal reflux disease was undertaken to determine the "learning curve" for implementing LESS fundoplication. One hundred patients, 38% men, with a median age of 61 years and median body mass index of 26 kg/m(2) , underwent LESS fundoplications. The operative times, placement of additional trocars, conversions to "open" operations, and complications were compared among patient quartiles to establish a learning curve. Median data are reported. The median operative times and complications did not differ among 25-patient cohorts. Additional trocars were placed in 27% of patients, 67% of whom were in the first 25-patient cohort. Patients undergoing LESS fundoplication had a dramatic relief in the frequency and severity of all symptoms of reflux across all cohorts equally (P < .05), particularly for heartburn and regurgitation, without causing dysphagia. LESS fundoplication ameliorates symptoms of gastroesophageal reflux disease without apparent scarring. Notably, few operations required additional trocars after the first 25-patient cohort. Patient selection became more inclusive (eg, more "redo" fundoplications) with increasing experience, whereas operative times and complications remained relatively unchanged. The learning curve of LESS fundoplication is definable, short, and safe. We believe that patients will seek LESS fundoplication because of the efficacy and superior cosmetic outcomes; surgeons will need to meet this demand.

An autonomous rendezvous and docking system using cruise missile technologies

NASA Technical Reports Server (NTRS)

Jones, Ruel Edwin

1991-01-01

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

Virtual reality applications to automated rendezvous and capture

NASA Technical Reports Server (NTRS)

Hale, Joseph; Oneil, Daniel

1991-01-01

Virtual Reality (VR) is a rapidly developing Human/Computer Interface (HCI) technology. The evolution of high-speed graphics processors and development of specialized anthropomorphic user interface devices, that more fully involve the human senses, have enabled VR technology. Recently, the maturity of this technology has reached a level where it can be used as a tool in a variety of applications. This paper provides an overview of: VR technology, VR activities at Marshall Space Flight Center (MSFC), applications of VR to Automated Rendezvous and Capture (AR&C), and identifies areas of VR technology that requires further development.

Optimal rendezvous in the neighborhood of a circular orbit

NASA Technical Reports Server (NTRS)

Jones, J. B.

1976-01-01

The minimum velocity-change rendezvous solutions, when the motion may be linearized about a circular orbit, fall into two separate regions; the phase-for-free region and the general region. Phase-for-free solutions are derived from the optimum transfer solutions, require the same velocity-change expenditure, but may not be unique. Analytic solutions are presented in two of the three subregions. An algorithm is presented for determining the unique solutions in the general region. Various sources of initial conditions are discussed and three examples are presented.

Optimal rendezvous in the neighborhood of a circular orbit

NASA Technical Reports Server (NTRS)

Jones, J. B.

1975-01-01

The minimum velocity change rendezvous solutions, when the motion may be linearized about a circular orbit, fall into two separate regions; the phase-for-free region and the general region. Phase-for-free solutions are derived from the optimum transfer solutions, require the same velocity change expenditure, but may not be unique. Analytic solutions are presented in two of the three subregions. An algorithm is presented for determining the unique solutions in the general region. Various sources of initial conditions are discussed and three examples presented.

Inverse simulation system for evaluating handling qualities during rendezvous and docking

NASA Astrophysics Data System (ADS)

Zhou, Wanmeng; Wang, Hua; Thomson, Douglas; Tang, Guojin; Zhang, Fan

2017-08-01

The traditional method used for handling qualities assessment of manned space vehicles is too time-consuming to meet the requirements of an increasingly fast design process. In this study, a rendezvous and docking inverse simulation system to assess the handling qualities of spacecraft is proposed using a previously developed model-predictive-control architecture. By considering the fixed discrete force of the thrusters of the system, the inverse model is constructed using the least squares estimation method with a hyper-ellipsoidal restriction, the continuous control outputs of which are subsequently dispersed by pulse width modulation with sensitivity factors introduced. The inputs in every step are deemed constant parameters, and the method could be considered as a general method for solving nominal, redundant, and insufficient inverse problems. The rendezvous and docking inverse simulation is applied to a nine-degrees-of-freedom platform, and a novel handling qualities evaluation scheme is established according to the operation precision and astronauts' workload. Finally, different nominal trajectories are scored by the inverse simulation and an established evaluation scheme. The scores can offer theoretical guidance for astronaut training and more complex operation missions.

An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

NASA Technical Reports Server (NTRS)

Nelson, Kurt

1991-01-01

The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

Hardware-in-the-Loop Rendezvous Tests of a Novel Actuators Command Concept

NASA Astrophysics Data System (ADS)

Gomes dos Santos, Willer; Marconi Rocco, Evandro; Boge, Toralf; Benninghoff, Heike; Rems, Florian

2016-12-01

Integration, test and validation results, in a real-time environment, of a novel concept for spacecraft control are presented in this paper. The proposed method commands simultaneously a group of actuators optimizing a given set of objective functions based on a multiobjective optimization technique. Since close proximity maneuvers play an important role in orbital servicing missions, the entire GNC system has been integrated and tested at a hardware-in-the-loop (HIL) rendezvous and docking simulator known as European Proximity Operations Simulator (EPOS). During the test campaign at EPOS facility, a visual camera has been used to provide the necessary measurements for calculating the relative position with respect to the target satellite during closed-loop simulations. In addition, two different configurations of spacecraft control have been considered in this paper: a thruster reaction control system and a mixed actuators mode which includes thrusters, reaction wheels, and magnetic torqrods. At EPOS, results of HIL closed-loop tests have demonstrated that a safe and stable rendezvous approach can be achieved with the proposed GNC loop.

A Comparison of Trajectory Optimization Methods for the Impulsive Minimum Fuel Rendezvous Problem

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Mailhe, Laurie M.; Guzman, Jose J.

2003-01-01

In this paper we present, a comparison of trajectory optimization approaches for the minimum fuel rendezvous problem. Both indirect and direct methods are compared for a variety of test cases. The indirect approach is based on primer vector theory. The direct approaches are implemented numerically and include Sequential Quadratic Programming (SQP). Quasi- Newton and Nelder-Meade Simplex. Several cost function parameterizations are considered for the direct approach. We choose one direct approach that appears to be the most flexible. Both the direct and indirect methods are applied to a variety of test cases which are chosen to demonstrate the performance of each method in different flight regimes. The first test case is a simple circular-to-circular coplanar rendezvous. The second test case is an elliptic-to-elliptic line of apsides rotation. The final test case is an orbit phasing maneuver sequence in a highly elliptic orbit. For each test case we present a comparison of the performance of all methods we consider in this paper.

Low-Cost Innovation in Spaceflight: The Near Earth Asteroid Rendezvous (NEAR) Shoemaker Mission

NASA Technical Reports Server (NTRS)

McCurdy, Howard E.

2005-01-01

On a spring day in 1996, at their research center in the Maryland countryside, representatives from the Johns Hopkins University Applied Physics Laboratory (APL) presented Administrator Daniel S. Goldin of the National Aeronautics and Space Administration (NASA) with a check for $3.6 million. 1 Two and a half years earlier, APL officials had agreed to develop a spacecraft capable of conducting an asteroid rendezvous and to do so for slightly more than $122 million. This was a remarkably low sum for a spacecraft due to conduct a planetaryclass mission. By contrast, the Mars Observer spacecraft launched in 1992 for an orbital rendezvous with the red planet had cost $479 million to develop, while the upcoming Cassini mission to Saturn required a spacecraft whose total cost was approaching $1.4 billion. In an Agency accustomed to cost overruns on major missions, the promise to build a planetary-class spacecraft for about $100 million seemed excessively optimistic.

Development of Ku-band rendezvous radar tracking and acquisition simulation programs

NASA Technical Reports Server (NTRS)

1986-01-01

The fidelity of the Space Shuttle Radar tracking simulation model was improved. The data from the Shuttle Orbiter Radar Test and Evaluation (SORTE) program experiments performed at the White Sands Missile Range (WSMR) were reviewed and analyzed. The selected flight rendezvous radar data was evaluated. Problems with the Inertial Line-of-Sight (ILOS) angle rate tracker were evaluated using the improved fidelity angle rate tracker simulation model.

Laparoendoscopic single-site adrenalectomy versus conventional laparoscopic surgery: a systematic review and meta-analysis of observational studies.

PubMed

Wang, Linhui; Wu, Zhenjie; Li, Mingmin; Cai, Chen; Liu, Bing; Yang, Qing; Sun, Yinghao

2013-06-01

To assess the surgical efficacy and potential advantages of laparoendoscopic single-site adrenalectomy (LESS-AD) compared with conventional laparoscopic adrenalectomy (CL-AD) based on published literature. An online systematic search in electronic databasesM including Pubmed, Embase, and the Cochrane Library, as well as manual bibliography searches were performed. All studies that compared LESS-AD with CL-AD were included. The outcome measures were the patient demographics, tumor size, blood loss, operative time, time to resumption of oral intake, hospital stay, postoperative pain, cosmesis satisfaction score, rates of complication, conversion, and transfusion. A meta-analysis of the results was conducted. A total of 443 patients were included: 171 patients in the LESS-AD group and 272 patients in the CL-AD group (nine studies). There was no significant difference between the two groups in any of the demographic parameters expect for lesion size (age: P=0.24; sex: P=0.35; body mass index: P=0.79; laterality: P=0.76; size: P=0.002). There was no significant difference in estimated blood loss, time to oral intake resumption, and length of stay between the two groups. The LESS-AD patients had a significantly lower postoperative visual analog pain score compared with the CL-AD group, but a longer operative time was noted. Both groups had a comparable cosmetic satisfaction score. The two groups had a comparable rate of complication, conversion, and transfusion. In early experience, LESS-AD appears to be a safe and feasible alternative to its conventional laparoscopic counterpart with decreased postoperative pain noted, albeit with a longer operative time. As a promising and emerging minimally invasive technique, however, the current evidence has not verified other potential advantages (ie, cosmesis, recovery time, convalescence, port-related complications, etc.) of LESS-AD.

GEMINI-TITAN (GT)-10 - EARTH SKY - RENDEZVOUS - OUTER SPACE

NASA Image and Video Library

1966-07-18

S66-46122 (18 July 1966) --- Agena Target Docking Vehicle 5005 is photographed from the Gemini-Titan 10 (GT-10) spacecraft during rendezvous in space. The two spacecraft are about 38 feet apart. After docking with the Agena, astronauts John W. Young, command pilot, and Michael Collins, pilot, fired the 16,000 pound thrust engine of Agena X's primary propulsion system to boost the combined vehicles into an orbit with an apogee of 413 nautical miles to set a new altitude record for manned spaceflight. Photo credit: NASA

Real-time simulations for automated rendezvous and capture

NASA Technical Reports Server (NTRS)

Cuseo, John A.

1991-01-01

Although the individual technologies for automated rendezvous and capture (AR&C) exist, they have not yet been integrated to produce a working system in the United States. Thus, real-time integrated systems simulations are critical to the development and pre-flight demonstration of an AR&C capability. Real-time simulations require a level of development more typical of a flight system compared to purely analytical methods, thus providing confidence in derived design concepts. This presentation will describe Martin Marietta's Space Operations Simulation (SOS) Laboratory, a state-of-the-art real-time simulation facility for AR&C, along with an implementation for the Satellite Servicer System (SSS) Program.

Trajectory design for an ion drive asteroids rendezvous mission launched into an Ariane geostationary transfer orbit

NASA Astrophysics Data System (ADS)

Pietrass, A. E.

1984-08-01

AMSAT has conceived an asteroid rendezvous mission which would consist of an Ariane-launched, 3-axis-stabilized, 350-kg spacecraft utilizing both mercury and solar electric ion propulsion. The spacecraft is to be equipped with a science instrument platform with a mass of approximately 30 to 50 kg. Practically uninterrupted earth departure opportunities are found for targets such as 4 Vesta, 8 Flora, and 19 Fortuna from 1986 through 1988. The 7 to 8 year mission would allow for a second rendezvous of 4 Vesta, and marginal additional fuel would make close flybys of targets feasible. Through the use of parameter optimization techniques, trajectories can be generated and the inclusion of constraints due to spacecraft techology, tour design, and navigation can be facilitated.

Natural orifice transendoluminal surgery and laparoendoscopic single-site surgery: the future of laparoscopic radical prostatectomy.

PubMed

Barret, Eric; Sanchez-Salas, Rafael; Ercolani, Matthew C; Rozet, Francois; Galiano, Marc; Cathelineau, Xavier

2011-03-01

Techniques for minimally invasive radical prostatectomy (RP) have been carefully reviewed by surgical teams worldwide in order to identify possible weaknesses and facilitate further improvement in their overall performance. The initial plan of action has been to carefully study the best-practice techniques for open RP in order to reproduce and standardize performance from the laparoscopic perspective. Similar to open surgery, the learning curve of minimally invasive RP has been well documented in terms of objective evaluation of outcomes for cancer control and functional results. Natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single-site surgery (LESS) have recently gained momentum as feasible techniques for minimal access urological surgery. NOTES-LESS drastically limit the surgeon's ability to choose the site of entry for operative instruments; therefore, the advantages of NOTES-LESS are gained with the understanding that the surgical procedure is more technically challenging. There are several key elements in RP techniques (in particular, dorsal vein control, apex exposure and cavernosal nerve sparing) that can have significant implications on oncologic and functional results. These steps are hard to perform in a limited working field. LESS radical prostatectomy can clearly be facilitated by using robotic technology.

Imaging Flash Lidar for Safe Landing on Solar System Bodies and Spacecraft Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Roback, Vincent E.; Bulyshev, Alexander E.; Brewster, Paul F.; Carrion, William A; Pierrottet, Diego F.; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Noe, Anna M.

2015-01-01

NASA has been pursuing flash lidar technology for autonomous, safe landing on solar system bodies and for automated rendezvous and docking. During the final stages of the landing from about 1 kilometer to 500 meters above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard flight computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16,000 pixels range images with 7 centimeters precision, at 20 Hertz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument and presents the results of recent flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus) built by NASA Johnson Space Center. The flights were conducted at a simulated lunar terrain site, consisting of realistic hazard features and designated landing areas, built at NASA Kennedy Space Center specifically for this demonstration test. This paper also provides an overview of the plan for continued advancement of the flash lidar technology aimed at enhancing its performance to meet both landing and automated rendezvous and docking applications.

The learning curve of laparoendoscopic single-site (LESS) cholecystectomy: definable, short, and safe.

PubMed

Hernandez, Jonathan; Ross, Sharona; Morton, Connor; McFarlin, Kellie; Dahal, Sujat; Golkar, Farhaad; Albrink, Michael; Rosemurgy, Alexander

2010-11-01

The applications of laparoendoscopic single-site (LESS) surgery, including cholecystectomy, are occurring quickly, although little is generally known about issues associated with the learning curve of this new technique including operative time, conversion rates, and safety. We prospectively followed all patients undergoing LESS cholecystectomy, and compared operations undertaken at our institutions in cohorts of 25 patients with respect to operative times, conversion rates, and complications. One-hundred fifty patients of mean age 46 years underwent LESS cholecystectomy. No significant differences in operative times were demonstrable between any of the 25-patient cohorts operated on at our institution. A significant reduction in operative times (p < 0.001) after completion of 75 LESS procedures was, however, identified with the experience of a single surgeon. No significant reduction in the number of procedures requiring an additional trocar(s) or conversion to open operations was observed after completion of 25 LESS cholecystectomies. Complication rates were low, and not significantly different between any 25-patient cohorts. For surgeons proficient with multi-incision laparoscopic cholecystectomy, the learning curve for LESS cholecystectomy begins near proficiency. Operative complications and conversions were infrequent and unchanged across successive 25-patient cohorts, and were similar to those reported for multi-incision laparoscopic cholecystectomy after the learning curve. Copyright © 2010 American College of Surgeons. Published by Elsevier Inc. All rights reserved.

A Comparison Between Orion Automated and Space Shuttle Rendezvous Techniques

NASA Technical Reports Server (NTRS)

Ruiz, Jose O,; Hart, Jeremy

2010-01-01

The Orion spacecraft will replace the space shuttle and will be the first human spacecraft since the Apollo program to leave low earth orbit. This vehicle will serve as the cornerstone of a complete space transportation system with a myriad of mission requirements necessitating rendezvous to multiple vehicles in earth orbit, around the moon and eventually beyond . These goals will require a complex and robust vehicle that is, significantly different from both the space shuttle and the command module of the Apollo program. Historically, orbit operations have been accomplished with heavy reliance on ground support and manual crew reconfiguration and monitoring. One major difference with Orion is that automation will be incorporated as a key element of the man-vehicle system. The automated system will consist of software devoted to transitioning between events based on a master timeline. This effectively adds a layer of high level sequencing that moves control of the vehicle from one phase to the next. This type of automated control is not entirely new to spacecraft since the shuttle uses a version of this during ascent and entry operations. During shuttle orbit operations however many of the software modes and hardware switches must be manually configured through the use of printed procedures and instructions voiced from the ground. The goal of the automation scheme on Orion is to extend high level automation to all flight phases. The move towards automation represents a large shift from current space shuttle operations, and so these new systems will be adopted gradually via various safeguards. These include features such as authority-to-proceed, manual down modes, and functional inhibits. This paper describes the contrast between the manual and ground approach of the space shuttle and the proposed automation of the Orion vehicle. I will introduce typical orbit operations that are common to all rendezvous missions and go on to describe the current Orion automation

COMPASS Final Report: Near Earth Asteroids Rendezvous and Sample Earth Returns (NEARER)

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; McGuire, Melissa L.

2009-01-01

In this study, the Collaborative Modeling for Parametric Assessment of Space Systems (COMPASS) team completed a design for a multi-asteroid (Nereus and 1996 FG3) sample return capable spacecraft for the NASA In-Space Propulsion Office. The objective of the study was to support technology development and assess the relative benefits of different electric propulsion systems on asteroid sample return design. The design uses a single, heritage Orion solar array (SA) (approx.6.5 kW at 1 AU) to power a single NASA Evolutionary Xenon Thruster ((NEXT) a spare NEXT is carried) to propel a lander to two near Earth asteroids. After landing and gathering science samples, the Solar Electric Propulsion (SEP) vehicle spirals back to Earth where it drops off the first sample s return capsule and performs an Earth flyby to assist the craft in rendezvousing with a second asteroid, which is then sampled. The second sample is returned in a similar fashion. The vehicle, dubbed Near Earth Asteroids Rendezvous and Sample Earth Returns (NEARER), easily fits in an Atlas 401 launcher and its cost estimates put the mission in the New Frontier s (NF's) class mission.

Optimal Control and Smoothing Techniques for Computing Minimum Fuel Orbital Transfers and Rendezvous

NASA Astrophysics Data System (ADS)

Epenoy, R.; Bertrand, R.

We investigate in this paper the computation of minimum fuel orbital transfers and rendezvous. Each problem is seen as an optimal control problem and is solved by means of shooting methods [1]. This approach corresponds to the use of Pontryagin's Maximum Principle (PMP) [2-4] and leads to the solution of a Two Point Boundary Value Problem (TPBVP). It is well known that this last one is very difficult to solve when the performance index is fuel consumption because in this case the optimal control law has a particular discontinuous structure called "bang-bang". We will show how to modify the performance index by a term depending on a small parameter in order to yield regular controls. Then, a continuation method on this parameter will lead us to the solution of the original problem. Convergence theorems will be given. Finally, numerical examples will illustrate the interest of our method. We will consider two particular problems: The GTO (Geostationary Transfer Orbit) to GEO (Geostationary Equatorial Orbit) transfer and the LEO (Low Earth Orbit) rendezvous.

Roadmap of Advanced GNC and Image Processing Algorithms for Fully Autonomous MSR-Like Rendezvous Missions

NASA Astrophysics Data System (ADS)

Strippoli, L. S.; Gonzalez-Arjona, D. G.

2018-04-01

GMV extensively worked in many activities aimed at developing, validating, and verifying up to TRL-6 advanced GNC and IP algorithms for Mars Sample Return rendezvous working under different ESA contracts on the development of advanced algorithms for VBN sensor.

KU-Band rendezvous radar performance computer simulation model

NASA Technical Reports Server (NTRS)

Griffin, J. W.

1980-01-01

The preparation of a real time computer simulation model of the KU band rendezvous radar to be integrated into the shuttle mission simulator (SMS), the shuttle engineering simulator (SES), and the shuttle avionics integration laboratory (SAIL) simulator is described. To meet crew training requirements a radar tracking performance model, and a target modeling method were developed. The parent simulation/radar simulation interface requirements, and the method selected to model target scattering properties, including an application of this method to the SPAS spacecraft are described. The radar search and acquisition mode performance model and the radar track mode signal processor model are examined and analyzed. The angle, angle rate, range, and range rate tracking loops are also discussed.

Enchanted rendezvous: John C. Houbolt and the genesis of the lunar-orbit rendezvous concept

NASA Technical Reports Server (NTRS)

Hansen, James R.

1995-01-01

This is the fourth publication of the 'Monographs in Aerospace History' series, prepared by the NASA History Office. These publications are intended to be tightly focused in terms of subject, relatively short in length, and reproduced to allow timely and broad dissemination to researchers in aerospace history. This publication details the arguments of John C. Houbolt, an engineer at the Langley Research Center in Hampton, Virginia, in his 1961-1962 campaign to support the lunar-orbit rendezvous (LOR). The LOR was eventually selected during Project Apollo as the method of flying to the Moon, landing on the surface, and returning to Earth. The LOR opted to send the entire lunar spacecraft up in one launch, enter into the lunar orbit, and dispatch a small lander to the lunar surface. It was the simplest of the various methods, both in terms of development and operational costs, but it was risky. There was no room for error or the crew could not get home; and the more difficult maneuvers had to be done when the spacecraft was committed to a circumlunar flight. Houbolt was one of the most vocal people supporting the LOR.

The influence of spatial ability and experience on performance during spaceship rendezvous and docking.

PubMed

Du, Xiaoping; Zhang, Yijing; Tian, Yu; Huang, Weifen; Wu, Bin; Zhang, Jingyu

2015-01-01

Manual rendezvous and docking (manual RVD) is a challenging space task for astronauts. Previous research showed a correlation between spatial ability and manual RVD skills among participants at early stages of training, but paid less attention to experts. Therefore, this study tried to explore the role of spatial ability in manual RVD skills in two groups of trainees, one relatively inexperienced and the other experienced operators. Additionally, mental rotation has been proven essential in RVD and was tested in this study among 27 male participants, 15 novices, and 12 experts. The participants performed manual RVD tasks in a high fidelity simulator. Results showed that experience moderated the relation between mental rotation ability and manual RVD performance. On one hand, novices with high mental rotation ability tended to perform that RVD task more successfully; on the other hand, experts with high mental rotation ability showed not only no performance advantage in the final stage of the RVD task, but had certain disadvantages in their earlier processes. Both theoretical and practical implications were discussed.

The influence of spatial ability and experience on performance during spaceship rendezvous and docking

PubMed Central

Du, Xiaoping; Zhang, Yijing; Tian, Yu; Huang, Weifen; Wu, Bin; Zhang, Jingyu

2015-01-01

Manual rendezvous and docking (manual RVD) is a challenging space task for astronauts. Previous research showed a correlation between spatial ability and manual RVD skills among participants at early stages of training, but paid less attention to experts. Therefore, this study tried to explore the role of spatial ability in manual RVD skills in two groups of trainees, one relatively inexperienced and the other experienced operators. Additionally, mental rotation has been proven essential in RVD and was tested in this study among 27 male participants, 15 novices, and 12 experts. The participants performed manual RVD tasks in a high fidelity simulator. Results showed that experience moderated the relation between mental rotation ability and manual RVD performance. On one hand, novices with high mental rotation ability tended to perform that RVD task more successfully; on the other hand, experts with high mental rotation ability showed not only no performance advantage in the final stage of the RVD task, but had certain disadvantages in their earlier processes. Both theoretical and practical implications were discussed. PMID:26236252

Advanced Multipurpose Rendezvous Tracking System Study

NASA Technical Reports Server (NTRS)

Laurie, R. J.; Sterzer, F.

1982-01-01

Rendezvous and docking (R&D) sensors needed to support Earth orbital operations of vehicles were investigated to determine the form they should take. An R&D sensor must enable an interceptor vehicle to determine both the relative position and the relative attitude of a target vehicle. Relative position determination is fairly straightforward and places few constraints on the sensor. Relative attitude determination, however, is more difficult. The attitude is calculated based on relative position measurements of several reflectors placed in a known arrangement on the target vehicle. The constraints imposed on the sensor by the attitude determination method are severe. Narrow beamwidth, wide field of view (fov), high range accuracy, and fast random scan capability are all required to determine attitude by this method. A consideration of these constraints as well as others imposed by expected operating conditions and the available technology led to the conclusion that the sensor should be a cw optical radar employing a semiconductor laser transmitter and an image dissector receiver.

STS-98 crewmembers prepare for rendezvous and docking with ISS

NASA Image and Video Library

2001-02-09

STS98-E-5030 (9 February 2001) --- Three members of the STS-98 crew prepare for rendezvous with the International Space Station (ISS). Astronaut Thomas D. Jones (right), mission specialist, temporarily mans the pilot's station on the flight deck of the Space Shuttle Atlantis. Astronaut Mark L. Polansky, left, sits at the commander's station for this maneuver. At lower left is Astronaut Robert L. Curbeam, mission specialist. Astronaut Kenneth D. Cockrell, mission commander, is just out of frame at right. The photograph was recorded with a digital still camera.

Current Limitations and Perspectives in Single Port Surgery: Pros and Cons Laparo-Endoscopic Single-Site Surgery (LESS) for Renal Surgery

PubMed Central

Weibl, Peter; Klingler, Hans-Christoph; Klatte, Tobias; Remzi, Mesut

2010-01-01

Laparo-Endoscopic Single-Site surgery (LESS) for kidney diseases is quickly evolving and has a tendency to expand the urological armory of surgical techniques. However, we should not be overwhelmed by the surgical skills only and weight it against the basic clinical and oncological principles when compared to standard laparoscopy. The initial goal is to define the ideal candidates and ideal centers for LESS in the future. Modification of basic instruments in laparoscopy presumably cannot result in better functional and oncological outcomes, especially when the optimal working space is limited with the same arm movements. Single port surgery is considered minimally invasive laparoscopy; on the other hand, when using additional ports, it is no more single port, but hybrid traditional laparoscopy. Whether LESS is a superior or equally technique compared to traditional laparoscopy has to be proven by future prospective randomized trials. PMID:20169054

Reference equations of motion for automatic rendezvous and capture

NASA Technical Reports Server (NTRS)

Henderson, David M.

1992-01-01

The analysis presented in this paper defines the reference coordinate frames, equations of motion, and control parameters necessary to model the relative motion and attitude of spacecraft in close proximity with another space system during the Automatic Rendezvous and Capture phase of an on-orbit operation. The relative docking port target position vector and the attitude control matrix are defined based upon an arbitrary spacecraft design. These translation and rotation control parameters could be used to drive the error signal input to the vehicle flight control system. Measurements for these control parameters would become the bases for an autopilot or feedback control system (FCS) design for a specific spacecraft.

A Summary of the Rendezvous, Proximity Operations, Docking, and Undocking (RPODU) Lessons Learned from the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) Demonstration System Mission

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Carpenter, James R.

2011-01-01

The Guidance, Navigation, and Control (GN&C) Technical Discipline Team (TDT) sponsored Dr. J. Russell Carpenter, a Navigation and Rendezvous Subject Matter Expert (SME) from NASA's Goddard Space Flight Center (GSFC), to provide support to the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) rendezvous and docking flight test that was conducted in 2007. When that DARPA OE mission was completed, Mr. Neil Dennehy, NASA Technical Fellow for GN&C, requested Dr. Carpenter document his findings (lessons learned) and recommendations for future rendezvous missions resulting from his OE support experience. This report captures lessons specifically from anomalies that occurred during one of OE's unmated operations.

NASA Automated Rendezvous and Capture Review. Executive summary

NASA Technical Reports Server (NTRS)

1991-01-01

In support of the Cargo Transfer Vehicle (CTV) Definition Studies in FY-92, the Advanced Program Development division of the Office of Space Flight at NASA Headquarters conducted an evaluation and review of the United States capabilities and state-of-the-art in Automated Rendezvous and Capture (AR&C). This review was held in Williamsburg, Virginia on 19-21 Nov. 1991 and included over 120 attendees from U.S. government organizations, industries, and universities. One hundred abstracts were submitted to the organizing committee for consideration. Forty-two were selected for presentation. The review was structured to include five technical sessions. Forty-two papers addressed topics in the five categories below: (1) hardware systems and components; (2) software systems; (3) integrated systems; (4) operations; and (5) supporting infrastructure.

Study of a comet rendezvous mission, volume 1

NASA Technical Reports Server (NTRS)

1972-01-01

The feasibility, scientific objectives, modes of exploration and implementation alternatives of a rendezvous mission to Encke's comet in 1984 are considered. Principal emphasis is placed on developing the scientific rationale for such a mission, based on available knowledge and best estimates of this comet's physical characteristics, including current theories of its origin, evolution and composition. Studied are mission profile alternatives, performance tradeoffs, preferred exploration strategy, and a spacecraft design concept capable of performing this mission. The study showed that the major scientific objectives can be met by a Titan IIID/Centaur-launched 17.5 kw solar electric propulsion spacecraft which carries 60 kg of scientific instruments and is capable of extensive maneuvering within the comet envelope to explore the coma, tail and nucleus.

Rendezvous Integration Complexities of NASA Human Flight Vehicles

NASA Technical Reports Server (NTRS)

Brazzel, Jack P.; Goodman, John L.

2009-01-01

Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements.

Third Report of the Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

In May 1994, the Task Force on the Shuttle-Mir Rendezvous and Docking Missions was established by the NASA Advisory Council. Its purpose is to review Phase 1 (Shuttle-Mir) planning, training, operations, rendezvous and docking, and management and to provide interim reports containing specific recommendations to the Advisory Council. Phase 1 represents the building block to create the experience and technical expertise for an International Space Station. The Phase 1 program brings together the United States and Russia in a major cooperative and contractual program that takes advantage of both countries' capabilities. The content of the Phase 1 program consists of the following elements as defined by the Phase 1 Program Management Plan, dated October 6, 1994: Shuttle-Mir rendezvous and docking missions; astronaut long duration presence on Mir Requirements for Mir support of Phase 1 when astronauts are not on board; outfitting Spektr and Priroda modules with NASA science, research, and risk mitigation equipment Related ground support requirements of NASA and the Russian Space Agency (RSA) to support Phase 1 Integrated NASA and RSA launch schedules and manifests The first meeting of the Task Force was held at the Johnson Space Center (JSC) on May 24 and 25, 1994 with a preliminary report submitted to the NASA Advisory Council on June 6, 1994. The second meeting of the Task Force was held at JSC on July 12 and 13, 1994 and a detailed report containing a series of specific recommendations was submitted on July 29, 1994. This report reflects the results of the third Task Force meeting which was held at JSC on 11 and 12 October, 1994. The briefings presented at that meeting reviewed NASA's response to the Task Force recommendations made to date and provided background data and current status on several critical areas which the Task Force had not addressed in its previous reports.

Rendezvous Protocols and Dynamic Frequency Hopping Interference Design for Anti-Jamming Satellite Communication

DTIC Science & Technology

2013-11-25

previously considered this proactive approach to combat unintentional, persistent (non- reactive) interference . In this project, we plan on extending our...channel” (or code ) by chance, through public knowledge of the underlying protocol semantics , or by compromising one of the network devices. An alternative...AFRL-RV-PS- AFRL-RV-PS- TR-2013-0142 TR-2013-0142 RENDEZVOUS PROTOCOLS AND DYNAMIC FREQUENCY HOPPING INTERFERENCE DESIGN FOR ANTI-JAMMING

Laparoendoscopic transgastric histoacryl injection of gastric varices: a new surgical approach.

PubMed

Kassem, Mohamed I; El-Haddad, Hani M; El-Bahrawi, Hassan A

2013-02-01

Gastric varices (GVs) are a common finding in Egyptian patients with portal hypertension due to cirrhosis or schistosomal hepatic fibrosis. These patients present with an acute attack or history of hematemesis. Endoscopic histoacryl injection is the standard treatment in Egypt; however, because of technical difficulties it is possible to inject only a little amount of this material, as it may endanger the channels of the flexible endoscope. We thought of a new surgical laparoendoscopic technique to obviate the need for repeated endoscopies and complete obliteration of GVs. This study was conducted on 20 patients with portal hypertension and GVs. After the patient was placed under general anesthesia, a small gastrostomy was done in the anterior gastric wall through which a 10-mm trocar was inserted for the laparoscopic camera. Injection of GVs was done via a spinal needle or a central venous line needle inserted directly. Injection of an adequate amount of histoacryl was done under direct vision. This study was conducted from July 2009 to August 2011 on 20 patients with GVs. The age range was from 22 to 56 years, with a mean age of 39.8±7.85 years. There were 14 men (70%) and 6 women (30%). Fourteen patients (70%) showed complete obliteration of GVs after one session of treatment, whereas 6 patients (30%) had unsatisfactory results and were subjected to another session. GVs were completely obliterated after the second session in 4 patients. Two cases of recurrence of GVs were operated on. This new technique enabled us to inject GVs with a suitable amount of glue material under direct vision without harming the endoscope. Use of this procedure is recommended in patients fit for surgery and those who had failed endoscopic injection sclerotherapy.

Vacuum to Antimatter-Rocket Interstellar Explorer System (VARIES): A Proposed Program for an Interstellar Rendezvous and Return Architecture

NASA Astrophysics Data System (ADS)

Obousy, R.

While interstellar missions have been explored in the literature, one mission architecture has not received much attention, namely the interstellar rendezvous and return mission that could be accomplished on timescales comparable with a working scientist's career. Such a mission would involve an initial boost phase followed by a coasting phase to the target system. Next would be the deceleration and rendezvous phase, which would be followed by a period of scientific data gathering. Finally, there would be a second boost phase, aimed at returning the spacecraft back to the solar system, and subsequent coasting and deceleration phases upon return to our solar system. Such a mission would represent a precursor to a future manned interstellar mission; which in principle could safely return any astronauts back to Earth. In this paper a novel architecture is proposed that would allow for an unmanned interstellar rendezvous and return mission. The approach utilized for the Vacuum to Antimatter-Rocket Interstellar Explorer System (VARIES) would lead to system components and mission approaches that could be utilized for autonomous operation of other deep-space probes. Engineering solutions for such a mission will have a significant impact on future exploration and sample return missions for the outer planets. This paper introduces the general concept, with a mostly qualitative analysis. However, a full research program is introduced, and as this program progresses, more quantitative papers will be released.

Space Shuttle Guidance, Navigation, and Rendezvous Knowledge Capture Reports. Revision 1

NASA Technical Reports Server (NTRS)

Goodman, John L.

2011-01-01

This document is a catalog and readers guide to lessons learned, experience, and technical history reports, as well as compilation volumes prepared by United Space Alliance personnel for the NASA/Johnson Space Center (JSC) Flight Dynamics Division.1 It is intended to make it easier for future generations of engineers to locate knowledge capture documentation from the Shuttle Program. The first chapter covers observations on documentation quality and research challenges encountered during the Space Shuttle and Orion programs. The second chapter covers the knowledge capture approach used to create many of the reports covered in this document. These chapters are intended to provide future flight programs with insight that could be used to formulate knowledge capture and management strategies. The following chapters contain descriptions of each knowledge capture report. The majority of the reports concern the Space Shuttle. Three are included that were written in support of the Orion Program. Most of the reports were written from the years 2001 to 2011. Lessons learned reports concern primarily the shuttle Global Positioning System (GPS) upgrade and the knowledge capture process. Experience reports on navigation and rendezvous provide examples of how challenges were overcome and how best practices were identified and applied. Some reports are of a more technical history nature covering navigation and rendezvous. They provide an overview of mission activities and the evolution of operations concepts and trajectory design. The lessons learned, experience, and history reports would be considered secondary sources by historians and archivists.

Guidance and navigation for rendezvous with an uncooperative target

NASA Astrophysics Data System (ADS)

Telaar, J.; Schlaile, C.; Sommer, J.

2018-06-01

This paper presents a guidance strategy for a rendezvous with an uncooperative target. In the applied design reference mission, a spiral approach is commanded ensuring a collision-free relative orbit due to e/i-vector separation. The dimensions of the relative orbit are successively reduced by Δv commands which at the same time improve the observability of the relative state. The navigation is based on line-of-sight measurements. The relative state is estimated by an extended Kalman filter (EKF). The performance of this guidance and navigation strategy is demonstrated by extensive Monte Carlo simulations taking into account all major uncertainties like measurement errors, Δv execution errors, and differential drag.

Multiple NEO Rendezvous, Reconnaissance and In Situ Exploration

NASA Astrophysics Data System (ADS)

Klaus, K.; Elsperman, M. S.; Cook, T.; Smith, D.

2010-12-01

We propose a two spacecraft mission (Mother Ship and Small Body Lander) rendezvous with multiple Near Earth Objects (NEO). This two spacecraft mission mimics the likely architecture approach that human explorers will use: a “mother ship”(MS) designed to get from Earth to the NEO and a “Small Body Lander”(SBL) that performs in situ investigation on or close to the NEO’s surface. The MS carries the SBL to the target NEO. Once at the target NEO, the MS conducts an initial reconnaissance in order to produce a high resolution map of the surface. This map is used to identify coordinates of interest which are sent to the SBL. The SBL un-docks from the MS to rendezvous with the NEO and collect data. Landings are possible, though the challenges of anchoring to the NEO surface are significant. The SBL design is flexible and adaptable, enabling science data collection on or near the surface. After surface investigations are completed on the first NEO, the SBL will return and autonomously rendezvous and dock with the MS. The MS then goes to the next NEO target. During transit to the next NEO, the SBL could be refueled by the MS, a TRL8 capability demonstrated on the DARPA/NASA Orbital Express mission in 2007, or alternately sized to operate without requiring refueling depending on the mission profile. The mission goals are to identify surface hazards; quantify engineering boundary conditions for future human visits, and identify resources for future exploitation. The mission goals will be accomplished through the execution of key mission objectives: (1) high-resolution surface topography; (2) surface composition and mineralogy; (3) radiation environment near NEO; and (4) mechanical properties of the surface. Essential SBL instruments include: a) LIDAR (Obj. 1); b) 3D, high- resolution hyperspectral imaging cameras (Obj. 2); c) radiation sensor package (Obj. 3); and d) strain gauges (Obj. 4). Additional or alternative instruments could include: e) x-ray fluorescence

Evaluation of GPS position and attitude determination for automated rendezvous and docking missions. M.S. Thesis

NASA Technical Reports Server (NTRS)

Diprinzio, Marc D.; Tolson, Robert H.

1994-01-01

The use of the Global Positioning System for position and attitude determination is evaluated for an automated rendezvous and docking mission. The typical mission scenario involves the chaser docking with the target for resupply or repair purposes, and is divided into three sections. During the homing phase, the chaser utilizes coarse acquisition pseudorange data to approach the target; guidance laws for this stage are investigated. In the second phase, differential carrier phase positioning is utilized. The chaser must maintain a quasiconstant distance from the target, in order to resolve the initial integer ambiguities. Once the ambiguities are determined, the terminal phase is entered, and the rendezvous is completed with continuous carrier phase tracking. Attitude knowledge is maintained in all phases through the use of the carrier phase observable. A Kalman filter is utilized to estimate all states from the noisy measurement data. The effects of selective availability and cycle slips are also investigated.

Progress in navigation filter estimate fusion and its application to spacecraft rendezvous

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

1994-01-01

A new derivation of an algorithm which fuses the outputs of two Kalman filters is presented within the context of previous research in this field. Unlike other works, this derivation clearly shows the combination of estimates to be optimal, minimizing the trace of the fused covariance matrix. The algorithm assumes that the filters use identical models, and are stable and operating optimally with respect to their own local measurements. Evidence is presented which indicates that the error ellipsoid derived from the covariance of the optimally fused estimate is contained within the intersections of the error ellipsoids of the two filters being fused. Modifications which reduce the algorithm's data transmission requirements are also presented, including a scalar gain approximation, a cross-covariance update formula which employs only the two contributing filters' autocovariances, and a form of the algorithm which can be used to reinitialize the two Kalman filters. A sufficient condition for using the optimally fused estimates to periodically reinitialize the Kalman filters in this fashion is presented and proved as a theorem. When these results are applied to an optimal spacecraft rendezvous problem, simulated performance results indicate that the use of optimally fused data leads to significantly improved robustness to initial target vehicle state errors. The following applications of estimate fusion methods to spacecraft rendezvous are also described: state vector differencing, and redundancy management.

Laparoendoscopic Single-site Surgery (LESS) for Prophylactic Salpingo-oophorectomy Improves Cosmetic Satisfaction Compared to Standard Laparoscopy.

PubMed

Miailhe, Gregoire; Dauchy, Sarah; Bentivegna, Enrica; Gouy, Sebastien; Charles, Cecile; Delaloge, Suzette; Morice, Philippe; Uzan, Catherine

2015-11-01

Less invasive prophylactic bilateral salpingo-oophorectomy (PBSO) may diminish the general consequences of surgery for BRCA mutation carriers. The objective of the present study was to compare the psychological impact and satisfaction following minimal-invasive laparoendoscopic single-site surgery (LESS) versus that observed with the standard procedure. This prospective longitudinal study was proposed to all consecutive patients who underwent ambulatory PBSO between January 2012 and January 2014 at our Center. The psychological impact and esthetic satisfaction were prospectively studied. Patients rated their satisfaction using the 4-grade Likert scale. Their emotional state and postoperative pain were explored respectively with validated questionnaires (IES-R, PANAS) and the Verbal Numerical Rating Scale (VNRS). Operative outcomes were also analyzed. Twenty patients underwent LESS PBSO and 10 patients had the standard laparoscopic (SL) PBSO. The mean satisfaction scores were significantly higher in the LESS group one month and six months after surgery. Both groups reported a reduction of intrusive thoughts and negative affects after surgery. Postoperative pain and operative outcomes were similar. A significant improvement of cosmetic satisfaction after LESS compared to SL could help patients accept PBSO. The emotional impact of PBSO is not modified by ambulatory LESS. Copyright© 2015 International Institute of Anticancer Research (Dr. John G. Delinassios), All rights reserved.

Laparoendoscopic single-site surgery (LESS) versus conventional laparoscopic surgery for adnexal preservation: a randomized controlled study

PubMed Central

Cho, Yeon Jean; Kim, Mi-La; Lee, Soo Yoon; Lee, Hee Suk; Kim, Joo Myoung; Joo, Kwan Young

2012-01-01

Objective To compare the operative outcomes, postoperative pain, and subsequent convalescence after laparoendoscopic single-site surgery (LESS) or conventional laparoscopic surgery for adnexal preservation. Study design From December 2009 to September 2010, 63 patients underwent LESS (n = 33) or a conventional laparoscopic surgery (n = 30) for cyst enucleation. The overall operative outcomes including postoperative pain measurement using the visual analog scale (VAS) were evaluated (time points 6, 24, and 24 hours). The convalescence data included data obtained from questionnaires on the need for analgesics and on patient-reported time to recovery end points. Results The preoperative characteristics did not significantly differ between the two groups. The postoperative hemoglobin drop was higher in the LESS group than in the conventional laparoscopic surgery group (P = 0.048). Postoperative pain at each VAS time point, oral analgesic requirement, intramuscular analgesic requirement, and the number of days until return to work were similar in both groups. Conclusion In adnexa-preserving surgery performed in reproductive-age women, the operative outcomes, including satisfaction of the patients and convalescence after surgery, are comparable for LESS and conventional laparoscopy. LESS may be a feasible and a promising alternative method for scarless abdominal surgery in the treatment of young women with adnexal cysts PMID:22448110

A study of system requirements for Phobos/Deimos missions. Volume 2: Phase 1 results, satellite rendezvous and landing missions

NASA Technical Reports Server (NTRS)

1972-01-01

The feasibility of a satellite rendezvous, landing, and roving mission to the Martian satellites Phobos and Deimos is considered. Mission-oriented analysis, systems analysis, and conceptual design studies are presented.

Comparison between magnetic anchoring and guidance system camera-assisted laparoendoscopic single-site surgery nephrectomy and conventional laparoendoscopic single-site surgery nephrectomy in a porcine model: focus on ergonomics and workload profiles.

PubMed

Han, Woong Kyu; Tan, Yung K; Olweny, Ephrem O; Yin, Gang; Liu, Zhuo-Wei; Faddegon, Stephen; Scott, Daniel J; Cadeddu, Jeffrey A

2013-04-01

To compare surgeon-assessed ergonomic and workload demands of magnetic anchoring and guidance system (MAGS) laparoendoscopic single-site surgery (LESS) nephrectomy with conventional LESS nephrectomy in a porcine model. Participants included two expert and five novice surgeons who each performed bilateral LESS nephrectomy in two nonsurvival animals using either the MAGS camera or conventional laparoscope. Task difficulty and workload demands of the surgeon and camera driver were assessed using the validated National Aeronautics and Space Administration Task Load Index (NASA-TLX) questionnaire. Surgeons were also asked to score 6 parameters on a Likert scale (range 1=low/easy to 5=high/hard): procedure-associated workload, ergonomics, technical challenge, visualization, accidental events, and instrument handling. Each step of the nephrectomy was also timed and instrument clashing was quantified. Scores for each parameter on the Likert scale were significantly lower for MAGS-LESS nephrectomy. Mean number of internal and external clashes were significantly lower for the MAGS camera (p<0.001). Mean task times for each procedure were shorter for experts than for novices, but this was not statistically significant. NASA-TLX workload ratings by the surgeon and camera driver showed that MAGS resulted in a significantly lower workload than the conventional laparoscope during LESS nephrectomy (p<0.05). The use of the MAGS camera during LESS nephrectomy lowers the task workload for both the surgeon and camera driver when compared to conventional laparoscope use. Subjectively, it appears to also improve surgeons' impressions of ergonomics and technical challenge. Pending approval for clinical use, further evaluation in the clinical setting is warranted.

Robust model predictive control for multi-step short range spacecraft rendezvous

NASA Astrophysics Data System (ADS)

Zhu, Shuyi; Sun, Ran; Wang, Jiaolong; Wang, Jihe; Shao, Xiaowei

2018-07-01

This work presents a robust model predictive control (MPC) approach for the multi-step short range spacecraft rendezvous problem. During the specific short range phase concerned, the chaser is supposed to be initially outside the line-of-sight (LOS) cone. Therefore, the rendezvous process naturally includes two steps: the first step is to transfer the chaser into the LOS cone and the second step is to transfer the chaser into the aimed region with its motion confined within the LOS cone. A novel MPC framework named after Mixed MPC (M-MPC) is proposed, which is the combination of the Variable-Horizon MPC (VH-MPC) framework and the Fixed-Instant MPC (FI-MPC) framework. The M-MPC framework enables the optimization for the two steps to be implemented jointly rather than to be separated factitiously, and its computation workload is acceptable for the usually low-power processors onboard spacecraft. Then considering that disturbances including modeling error, sensor noise and thrust uncertainty may induce undesired constraint violations, a robust technique is developed and it is attached to the above M-MPC framework to form a robust M-MPC approach. The robust technique is based on the chance-constrained idea, which ensures that constraints can be satisfied with a prescribed probability. It improves the robust technique proposed by Gavilan et al., because it eliminates the unnecessary conservativeness by explicitly incorporating known statistical properties of the navigation uncertainty. The efficacy of the robust M-MPC approach is shown in a simulation study.

Application of neural networks to autonomous rendezvous and docking of space vehicles

NASA Technical Reports Server (NTRS)

Dabney, Richard W.

1992-01-01

NASA-Marshall has investigated the feasibility of numerous autonomous rendezvous and docking (ARD) candidate techniques. Neural networks have been studied as a viable basis for such systems' implementation, due to their intrinsic representation of such nonlinear functions as those for which analytical solutions are either difficult or nonexistent. Neural networks are also able to recognize and adapt to changes in their dynamic environment, thereby enhancing redundancy and fault tolerance. Outstanding performance has been obtained from ARD azimuth, elevation, and roll networks of this type.

21st century early mission concepts for Mars delivery and earth return

NASA Technical Reports Server (NTRS)

Cruz, Manuel I.; Ilgen, Marc R.

1990-01-01

In the 21st century, the early missions to Mars will entail unmanned Rover and Sample Return reconnaissance missions to be followed by manned exploration missions. High performance leverage technologies will be required to reach Mars and return to earth. This paper describes the mission concepts currently identified for these early Mars missions. These concepts include requirements and capabilities for Mars and earth aerocapture, Mars surface operations and ascent, and Mars and earth rendezvous. Although the focus is on the unmanned missions, synergism with the manned missions is also discussed.

Visual Control for Multirobot Organized Rendezvous.

PubMed

Lopez-Nicolas, G; Aranda, M; Mezouar, Y; Sagues, C

2012-08-01

This paper addresses the problem of visual control of a set of mobile robots. In our framework, the perception system consists of an uncalibrated flying camera performing an unknown general motion. The robots are assumed to undergo planar motion considering nonholonomic constraints. The goal of the control task is to drive the multirobot system to a desired rendezvous configuration relying solely on visual information given by the flying camera. The desired multirobot configuration is defined with an image of the set of robots in that configuration without any additional information. We propose a homography-based framework relying on the homography induced by the multirobot system that gives a desired homography to be used to define the reference target, and a new image-based control law that drives the robots to the desired configuration by imposing a rigidity constraint. This paper extends our previous work, and the main contributions are that the motion constraints on the flying camera are removed, the control law is improved by reducing the number of required steps, the stability of the new control law is proved, and real experiments are provided to validate the proposal.

Laparoendoscopic single-site extraperitoneal inguinal hernia repair: initial experience in 10 patients.

PubMed

Do, Minh; Liatsikos, Evangelos; Beatty, John; Haefner, Tim; Dunn, Ian; Kallidonis, Panagiotis; Stolzenburg, Jens-Uwe

2011-06-01

Recent technical advances and a trend toward laparoscopic single incision surgery have led us to explore the feasibility of laparoendoscopic single-site (LESS) hernia repair. We present our technique and initial experience with LESS extraperitoneal inguinal hernia repair in 10 consecutive men with unilateral inguinal hernias. Age range was 43.7 (28-64) years. Mean body mass index was 28 (range 24-30). Six were left inguinal hernias. There were six indirect and four direct hernias. Three patients had undergone previous open appendectomy. Incarcerated or bilateral hernias were excluded from our initial series. All cases were performed by three surgeons who were experienced in conventional totally extraperitoneal laparoscopic hernia repair as well as experienced in LESS. A literature review of current single-port inguinal hernia repair data is also presented. The mean operative time was 53 minutes (range 45-65  min). The average length of skin incision was 2.8  cm (range 2.3-3.2  cm). No drain was necessary in any of the patients, while no recordable bleeding was observed. There were no intraoperative or immediate postoperative complications. Hospitalization period was 2 days for all patients. After a limited follow-up of 1 month, there have been no recurrences and no complaints of testicular pain. The results of the current series compare favorably with those found in a literature review. LESS extraperitoneal inguinal hernia repair is both feasible and safe, although more technically demanding than its conventional laparoscopic counterpart. Although the cosmetic result with the former approach may prove superior, there are standing questions regarding the complications and long-term outcome. Randomized and if possible blinded trials that compare conventional and single-incision laparoscopic hernia repair may help to distinguish the most advantageous technique.

Autonomous Mission Manager for Rendezvous, Inspection and Mating

NASA Technical Reports Server (NTRS)

Zimpfer, Douglas J.

2003-01-01

To meet cost and safety objectives, space missions that involve proximity operations between two vehicles require a high level of autonomy to successfully complete their missions. The need for autonomy is primarily driven by the need to conduct complex operations outside of communication windows, and the communication time delays inherent in space missions. Autonomy also supports the goals of both NASA and the DOD to make space operations more routine, and lower operational costs by reducing the requirement for ground personnel. NASA and the DoD have several programs underway that require a much higher level of autonomy for space vehicles. NASA's Space Launch Initiative (SLI) program has ambitious goals of reducing costs by a factor or 10 and improving safety by a factor of 100. DARPA has recently begun its Orbital Express to demonstrate key technologies to make satellite servicing routine. The Air Force's XSS-ll program is developing a protoflight demonstration of an autonomous satellite inspector. A common element in space operations for many NASA and DOD missions is the ability to rendezvous, inspect anclJor dock with another spacecraft. For DARPA, this is required to service or refuel military satellites. For the Air Force, this is required to inspect un-cooperative resident space objects. For NASA, this is needed to meet the primary SLI design reference mission of International Space Station re-supply. A common aspect for each of these programs is an Autonomous Mission Manager that provides highly autonomous planning, execution and monitoring of the rendezvous, inspection and docking operations. This paper provides an overview of the Autonomous Mission Manager (AMM) design being incorporated into many of these technology programs. This AMM provides a highly scalable level of autonomous operations, ranging from automatic execution of ground-derived plans to highly autonomous onboard planning to meet ground developed mission goals. The AMM provides the

Robot-Assisted Laparoendoscopic Single-Site Partial Nephrectomy With the Novel Da Vinci Single-Site Platform: Initial Experience

PubMed Central

Komninos, Christos; Tuliao, Patrick; Kim, Dae Keun; Choi, Young Deuk; Chung, Byung Ha

2014-01-01

Purpose To report our initial clinical cases of robotic laparoendoscopic single-site (R-LESS) partial nephrectomy (PN) performed with the use of the novel Da Vinci R-LESS platform. Materials and Methods Three patients underwent R-LESS PN from November 2013 through February 2014. Perioperative and postoperative outcomes were collected and intraoperative difficulties were noted. Results Operative time and estimated blood loss volume ranged between 100 and 110 minutes and between 50 and 500 mL, respectively. None of the patients was transfused. All cases were completed with the off-clamp technique, whereas one case required conversion to the conventional (multiport) approach because of difficulty in creating the appropriate scope for safe tumor resection. No major postoperative complications occurred, and all tumors were resected in safe margins. Length of hospital stay ranged between 3 and 7 days. The lack of EndoWrist movements, the external collisions, and the bed assistant's limited working space were noticed to be the main drawbacks of this surgical method. Conclusions Our initial experience with R-LESS PN with the novel Da Vinci platform shows that even though the procedure is feasible, it should be applied in only appropriately selected patients. However, further improvement is needed to overcome the existing limitations. PMID:24955221

A Randomized, Prospective, Parallel Group Study of Laparoscopic vs. Laparoendoscopic Single Site Donor Nephrectomy for Kidney Donation

PubMed Central

Aull, Meredith J.; Afaneh, Cheguevara; Charlton, Marian; Serur, David; Douglas, Melissa; Christos, Paul J.; Kapur, Sandip; Del Pizzo, Joseph J.

2014-01-01

Few prospective, randomized studies have assessed benefits of laparoendoscopic single site donor nephrectomy (LESS-DN) over laparoscopic donor nephrectomy (LDN). Our center initiated such a trial in January 2011, following subjects randomized to LESS-DN vs. LDN from surgery through 5 years post-donation. Subjects complete recovery/satisfaction questionnaires at 2, 6, and 12 months post-donation; transplant recipient outcomes are also recorded. 100 subjects (49 LESS-DN, 51 LDN) underwent surgery; donor demographics were similar between groups, and included a predominance of female, living unrelated donors, mean age of 47 years who underwent left donor nephrectomy. Operative parameters (overall time, time to extraction, warm ischemia time, blood loss) were similar between groups. Conversion to hand-assist laparoscopy was required in 3 LESS-DN (6.1%) vs. 2 LDN (3.9%; P=0.67). Questionnaires revealed 97.2% of LESS-DN vs. 79.5% of LDN (P=0.03) were 100% recovered by two months after donation. No significant difference was seen in satisfaction scores between the groups. Recipient outcomes were similar between groups. Our randomized trial comparing LESS donor nephrectomy to LDN confirms that LESS-DN offers a safe alternative to conventional LDN in terms of intra- and post-operative complications. LDN and LESS-DN offer similar recovery and satisfaction after donation. PMID:24934732

Quantifying the cognitive cost of laparo-endoscopic single-site surgeries: Gaze-based indices.

PubMed

Di Stasi, Leandro L; Díaz-Piedra, Carolina; Ruiz-Rabelo, Juan Francisco; Rieiro, Héctor; Sanchez Carrion, Jose M; Catena, Andrés

2017-11-01

Despite the growing interest concerning the laparo-endoscopic single-site surgery (LESS) procedure, LESS presents multiple difficulties and challenges that are likely to increase the surgeon's cognitive cost, in terms of both cognitive load and performance. Nevertheless, there is currently no objective index capable of assessing the surgeon cognitive cost while performing LESS. We assessed if gaze-based indices might offer unique and unbiased measures to quantify LESS complexity and its cognitive cost. We expect that the assessment of surgeon's cognitive cost to improve patient safety by measuring fitness-for-duty and reducing surgeons overload. Using a wearable eye tracker device, we measured gaze entropy and velocity of surgical trainees and attending surgeons during two surgical procedures (LESS vs. multiport laparoscopy surgery [MPS]). None of the participants had previous experience with LESS. They performed two exercises with different complexity levels (Low: Pattern Cut vs. High: Peg Transfer). We also collected performance and subjective data. LESS caused higher cognitive demand than MPS, as indicated by increased gaze entropy in both surgical trainees and attending surgeons (exploration pattern became more random). Furthermore, gaze velocity was higher (exploration pattern became more rapid) for the LESS procedure independently of the surgeon's expertise. Perceived task complexity and laparoscopic accuracy confirmed gaze-based results. Gaze-based indices have great potential as objective and non-intrusive measures to assess surgeons' cognitive cost and fitness-for-duty. Furthermore, gaze-based indices might play a relevant role in defining future guidelines on surgeons' examinations to mark their achievements during the entire training (e.g. analyzing surgical learning curves). Copyright © 2017 Elsevier Ltd. All rights reserved.

Laparoendoscopic Single-Site Cholecystectomy: First Experiences with a New Standardized Technique Replicating the Four-Port Technique.

PubMed

Morales-Conde, Salvador; Cañete-Gómez, Jesús; Gómez, Virginia; Socas Macías, María; Moreno, Antonio Barranco; Del Agua, Isaias Alarcón; Ruíz, Francisco Javier Padillo

2016-10-01

After reports on laparoendoscopic single-site (LESS) cholecystectomy, concerns have been raised over the level of difficulty and a potential increase in complications when moving away from conventional gold standard multiport laparoscopy due to incomplete exposure and larger umbilical incisions. With continued development of technique and technology, it has now become possible to fully replicate this gold standard procedure through an LESS approach. First experiences with the newly developed technique and instrument are reported. Fifteen patients presenting with cholelithiasis without signs of inflammation were operated using all surgical steps considered appropriate for the conventional four-port laparoscopic approach, but applied through a single access device. Operation-centered outcomes are presented. There were no peri- or postoperative complications. Mean operating time was 32.3 minutes. No conversion to regular laparoscopy was required. The critical view of safety was achieved in all cases. Mean skin incision length was 2.2 cm. The application of a standardized technique combined with the use of a four-port LESS device allows us to perform LESS cholecystectomy, giving us a correct exposure of the structures and without increasing the mean operating time combining previously reported advantages of LESS. A universal trait of any new technique should be safety and reproducibility. This will enhance its applicability by large number of surgeons and to large number of patients requiring cholecystectomy.

NASA Automated Rendezvous and Capture Review. A compilation of the abstracts

NASA Technical Reports Server (NTRS)

1991-01-01

This document presents a compilation of abstracts of papers solicited for presentation at the NASA Automated Rendezvous and Capture Review held in Williamsburg, VA on November 19-21, 1991. Due to limitations on time and other considerations, not all abstracts could be presented during the review. The organizing committee determined however, that all abstracts merited availability to all participants and represented data and information reflecting state-of-the-art of this technology which should be captured in one document for future use and reference. The organizing committee appreciates the interest shown in the review and the response by the authors in submitting these abstracts.

Autonomous rendezvous and docking operations of unmanned expendable cargo transfer vehicles (e.g. Centaur) with Space Station Freedom

NASA Technical Reports Server (NTRS)

Emmet, Brian R.

1991-01-01

This paper describes the results of the feasibility study using Centaur or other CTV's to deliver payloads to the Space Station Freedom (SSF). During this study was examined the requirements upon unmanned cargo transfer stages (including Centaur) for phasing, rendezvous, proximity operations and docking/berthing (capture).

Video-Guidance Design for the DART Rendezvous Mission

NASA Technical Reports Server (NTRS)

Ruth, Michael; Tracy, Chisholm

2004-01-01

NASA's Demonstration of Autonomous Rendezvous Technology (DART) mission will validate a number of different guidance technologies, including state-differenced GPS transfers and close-approach video guidance. The video guidance for DART will employ NASA/Marshall s Advanced Video Guidance Sensor (AVGS). This paper focuses on the terminal phase of the DART mission that includes close-approach maneuvers under AVGS guidance. The closed-loop video guidance design for DART is driven by a number of competing requirements, including a need for maximizing tracking bandwidths while coping with measurement noise and the need to minimize RCS firings. A range of different strategies for attitude control and docking guidance have been considered for the DART mission, and design decisions are driven by a goal of minimizing both the design complexity and the effects of video guidance lags. The DART design employs an indirect docking approach, in which the guidance position targets are defined using relative attitude information. Flight simulation results have proven the effectiveness of the video guidance design.

Terminal spacecraft rendezvous and capture with LASSO model predictive control

NASA Astrophysics Data System (ADS)

Hartley, Edward N.; Gallieri, Marco; Maciejowski, Jan M.

2013-11-01

The recently investigated ℓasso model predictive control (MPC) is applied to the terminal phase of a spacecraft rendezvous and capture mission. The interaction between the cost function and the treatment of minimum impulse bit is also investigated. The propellant consumption with ℓasso MPC for the considered scenario is noticeably less than with a conventional quadratic cost and control actions are sparser in time. Propellant consumption and sparsity are competitive with those achieved using a zone-based ℓ1 cost function, whilst requiring fewer decision variables in the optimisation problem than the latter. The ℓasso MPC is demonstrated to meet tighter specifications on control precision and also avoids the risk of undesirable behaviours often associated with pure ℓ1 stage costs.

Radar Performance Improvement. Angle Tracking Modification to Fire Control Radar System for Space Shuttle Rendezvous

NASA Technical Reports Server (NTRS)

Little, G. R.

1976-01-01

The AN/APQ-153 fire control radar modified to provide angle tracking was evaluated for improved performance. The frequency agile modifications are discussed along with the range-rate improvement modifications, and the radar to computer interface. A parametric design and comparison of noncoherent and coherent radar systems are presented. It is shown that the shuttle rendezvous range and range-rate requirements can be made by a Ku-Band noncoherent pulse radar.

Laparoendoscopic single-site urologic surgery in children less than 5 years of age.

PubMed

Ganpule, Arvind; Sheladiya, Chetan; Mishra, Shashikant; Sabnis, Ravindra; Desai, Mahesh

2013-08-01

We report our experience with laparoendoscopic single-site (LESS) urological procedures in children less than 5 years of age. Ten patients (11 procedures) underwent LESS through the umbilicus. Seven patients underwent nephrectomy and three patients underwent pyeloplasty (one simultaneous bilateral). R-port port (Advanced Surgical Concepts, Ireland) was used in nine cases, in one case, the Gelpoint access port (Applied Medical, Rancho Santa Margarita, CA, USA) was used. The Olympus Endoeye camera with coaxial light cable was used. The hilum was secured in all cases with Hem-o-Lok clips (Teleflex Medical, Research Triangle Park, NC, USA) except in one case in which an Endo GIA stapler (Covidien Surgical, Norwalk, CT, USA) was used. All procedures were technically successful. Accessory port (3 mm) was used in 3 patients. Mean age in nephrectomized patients was 3.14±1.7 years, the mean operative room time (ORT) was 97.5±12.54 minutes. In the pyeloplasty group, mean ORT was 192±47.16 minutes and mean age was 2.43±2.3 years. Bilateral pyeloplasty was done in a 4-month-old infant. The ORT in this case was 180 minutes. A follow-up renogram done in the pyeloplasty patients (n=2) showed good drainage. Mean length of stay was 3.6 days (range, 3 to 6 days).The analgesic requirement was 23.86 mg (range, 12.5 to 50 mg) of diclofenac sodium. LESS is technically feasible in patients as young as 4 months of age. It has the potential to offer better cosmesis. This needs to be proved in further comparative studies. Development of miniature instruments will further the growth of LESS in this age group.

Near Earth Asteroid Rendezvous (NEAR) Revised Eros Orbit Phase Trajectory Design

NASA Technical Reports Server (NTRS)

Helfrich, J; Miller, J. K.; Antreasian, P. G.; Carranza, E.; Williams, B. G.; Dunham, D. W.; Farquhar, R. W.; McAdams, J. V.

1999-01-01

Trajectory design of the orbit phase of the NEAR mission involves a new process that departs significantly from those procedures used in previous missions. In most cases, a precise spacecraft ephemeris is designed well in advance of arrival at the target body. For NEAR, the uncertainty in the dynamic environment around Eros does not allow the luxury of a precise spacecraft trajectory to be defined in advance. The principal cause of this uncertainty is the limited knowledge oi' the gravity field a,-id rotational state of Eros. As a result, the concept for the NEAR trajectory design is to define a number of rules for satisfying spacecraft, mission, and science constraints, and then apply these rules to various assumptions for the model of Eros. Nominal, high, and low Eros mass models are used for testing the trajectory design strategy and to bracket the ranges of parameter variations that are expected upon arrival at the asteroid. The final design is completed after arrival at Eros and determination of the actual gravity field and rotational state. As a result of the unplanned termination of the deep space rendezvous maneuver on December 20, 1998, the NEAR spacecraft passed within 3830 km of Eros on December 23, 1998. This flyby provided a brief glimpse of Eros, and allowed for a more accurate model of the rotational parameters and gravity field uncertainty. Furthermore, after the termination of the deep space rendezvous burn, contact with the spacecraft was lost and the NEAR spacecraft lost attitude control. During the subsequent gyrations of the spacecraft, hydrazine thruster firings were used to regain attitude control. This unplanned thruster activity used Much of the fuel margin allocated for the orbit phase. Consequently, minimizing fuel consumption is now even more important.

Design and fabrication of an autonomous rendezvous and docking sensor using off-the-shelf hardware

NASA Technical Reports Server (NTRS)

Grimm, Gary E.; Bryan, Thomas C.; Howard, Richard T.; Book, Michael L.

1991-01-01

NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Rendezvous, proximity operations and capture quality function deployment report

NASA Technical Reports Server (NTRS)

Lamkin, Stephen L. (Editor)

1991-01-01

Rendezvous, Proximity Operations, and Capture (RPOC) is a missions operations area which is extremely important to present and future space initiatives and must be well planned and coordinated. To support this, a study team was formed to identify a specific plan of action using the Quality Function Deployment (QFD) process. This team was composed of members from a wide spectrum of engineering and operations organizations which are involved in the RPOC technology area. The key to this study's success is an understanding of the needs of potential programmatic customers and the technology base available for system implementation. To this end, the study team conducted interviews with a variety of near term and future programmatic customers and technology development sponsors. The QFD activity led to a thorough understanding of the needs of these customers in the RPOC area, as well as the relative importance of these needs.

Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

2008-01-01

bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

NASA Technical Reports Server (NTRS)

Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kimball, Peter (Inventor); Scully, Mark (Inventor); Kapit, Jason (Inventor); Stone, William C. (Inventor)

2018-01-01

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Voyager 2: Rendezvous with Saturn - America celebrates its space flight at the JPL

NASA Astrophysics Data System (ADS)

Thiele, S.

1981-11-01

Impressions of a German scientist invited to the Jet Propulsion Laboratory during the time of the rendezvous of Voyager 2 with Saturn are presented. During the period from the 21st to the 28th of August 1981, Voyager 2 transmitted data concerning Saturn and its satellites to earth. The received information, including photographs and measurement results, were made available at the JPL to approximately 100 scientists and a few hundred reporters. The future of planetary research is briefly discussed, and attention is given to a space mission for the study of the comet Halley in 1986.

Orion Rendezvous, Proximity Operations, and Docking Design and Analysis

NASA Technical Reports Server (NTRS)

D'Souza, Christopher; Hanak, F. Chad; Spehar, Pete; Clark, Fred D.; Jackson, Mark

2007-01-01

The Orion vehicle will be required to perform rendezvous, proximity operations, and docking with the International Space Station (ISS) and the Earth Departure Stage (EDS)/Lunar Landing Vehicle (LLV) stack in Low Earth Orbit (LEO) as well as with the Lunar Landing Vehicle in Low Lunar Orbit (LLO). The RPOD system, which consists of sensors, actuators, and software is being designed to be flexible and robust enough to perform RPOD with different vehicles in different environments. This paper will describe the design and the analysis which has been performed to date to allow the vehicle to perform its mission. Since the RPOD design touches on many areas such as sensors selection and placement, trajectory design, navigation performance, and effector performance, it is inherently a systems design problem. This paper will address each of these issues in order to demonstrate how the Orion RPOD has been designed to accommodate and meet all the requirements levied on the system.

Transparent Ada rendezvous in a fault tolerant distributed system

NASA Technical Reports Server (NTRS)

Racine, Roger

1986-01-01

There are many problems associated with distributing an Ada program over a loosely coupled communication network. Some of these problems involve the various aspects of the distributed rendezvous. The problems addressed involve supporting the delay statement in a selective call and supporting the else clause in a selective call. Most of these difficulties are compounded by the need for an efficient communication system. The difficulties are compounded even more by considering the possibility of hardware faults occurring while the program is running. With a hardware fault tolerant computer system, it is possible to design a distribution scheme and communication software which is efficient and allows Ada semantics to be preserved. An Ada design for the communications software of one such system will be presented, including a description of the services provided in the seven layers of an International Standards Organization (ISO) Open System Interconnect (OSI) model communications system. The system capabilities (hardware and software) that allow this communication system will also be described.

Mechanical evaluation of articulating instruments and cross-handed manipulation in laparoendoscopic single-site surgery.

PubMed

Xu, An An; Zhu, Jiang Fan; Xie, Xiaofeng; Su, Yuantao

2014-08-01

Laparoendoscopic single-site surgery (LESS) is limited by loss of triangulation and internal instruments conflict. To overcome these difficulties, some concepts have been introduced, namely, articulating instruments and cross-handed manipulation, which causes the right hand to control the left instrument tip and vice versa. The aim of this study was to compare task performance with different approaches based on a mechanical evaluation platform. A LESS mechanical evaluation platform was set up to investigate the performance of 2 tasks (suture pass-through rings and clip-cut) with 3 different settings: uncrossed manipulation with straight instruments (group A, the control group), uncrossed manipulation with articulating instruments (group B), and cross-handed manipulation with articulating instruments (group C). The operation time and average load required for accomplishment of the standard tasks were measured. Group A presented significantly better time scores than group B, and group C consumed the longest time to accomplish the 2 tasks (P < .05). Comparing of average load required to perform the suture pass-through rings task, it differed significantly between dominant and nondominant hand in all groups (P < .01) and was less in group A and group B than group C in dominant hand (P < .01), while it was almost the same in all groups in the nondominant hand. In terms of average load requirement to accomplish clip-cut task, it was almost equal not only between group A and B but also between dominant and nondominant hand while the increase reached statistical significance when comparing group C with other groups (P < .05). Compared with conventional devices and maneuvering techniques, articulating instruments and cross-handed manipulation are associated with longer operation time and higher workload. Instruments with better maneuverability should be developed in the future for LESS. © The Author(s) 2013.

Antenna and propagation studies for spacecraft systems: Addendum to preflight SL-1/SL-3 Skylab VHF ranging coverage (early and late TPI)

NASA Technical Reports Server (NTRS)

Eisenhauer, D. R.; James, D. A.

1973-01-01

A preflight assessment is presented of the expected Skylab VHF ranging coverage for the rendezvous portion of the SL-1/SL-3 mission, assuming a 28 July 1973 launch date, for the alternative trajectory cases characterized by either an early TPI or a late TPI. In this assessment early TPI and late TPI are used to indicate a TPI maneuver occurring 10 minutes prior to or after the nominally scheduled TPI maneuver, respectively. The Saturn workshop (SWS) maintains a solar inertial (SI) attitude throughout rendezvous for both trajectory cases. The results summarized concern VHF ranging function performance during that period most likely to be affected by off-nominal TPI conditions, i.e., NSR (5:56 g.e.t.) to station keeping. Curves are presented which show the variation in received power levels on both spacecraft-to-spacecraft links from about 100 n.mi. range to CSM and SWS station keeping. Appropriate threshold levels are shown on these received power curves to indicate zero circuit margins for the ranging function.

A transition to laparoendoscopic single-site surgery (LESS) radical prostatectomy: human cadaver experimental and initial clinical experience.

PubMed

Barret, Eric; Sanchez-Salas, Rafael; Kasraeian, Ali; Benoist, Nicolas; Ganatra, Anjali; Cathelineau, Xavier; Rozet, Francois; Galiano, Marc; Vallancien, Guy

2009-01-01

Laparoendoscopic single-site surgery (LESS) represents a novel approach to abdominal surgery. Several applications have already been described. Drawbacks include limited range of motion and need for articulated instruments. Robotic technology could overcome such technical difficulties. We report our experience with LESS radical prostatectomy (LESS-RP) in a cadaver and LESS robot-assisted radical prostatectomy (LESS-RARP) in a human patient. Standard laparoscopic instruments (SLI) and articulated laparoscopic instruments were used in the cadaveric LESS-RP. The da Vinci system was used in the LESS-RARP. Both procedures reproduced standard extraperitoneal laparoscopic prostatectomy as performed at Institut Montsouris. Control of the dorsal venous complex (DVC) and urethrovesical anastomosis (UVA) were key elements evaluated for feasibility. Cadaveric model: Total operative time (TOT) was 160 minutes, with 5 minutes for the DVC (one stitch) and 35 minutes for the UVA (six stitches). Although articulated instruments were helpful in the operation, SLI remained essential for the procedure. Clinical experience: LESS-RARP was performed for T(1c) prostate cancer. TOT was 150 minutes, including 5 minutes for the DVC (one figure-of-eight stitch) and 30 minutes for the UVA (six interrupted stitches). Blood loss was 500 mL. Bilateral neurovascular preservation was performed, and results of final pathologic examination showed negative surgical margins. The human cadaver is an adequate model for LESS-RP, and LESS-RARP is feasible to be performed in the clinical arena. The synergy of robotic technology and LESS represents a new generation of surgery.

Upper urinary tract laparoendoscopic single-site surgery based on a novel cost-effective reusable platform.

PubMed

Schwentner, Christian; Todenhöfer, Tilman; Seibold, Joerg; Alloussi, Saladin H; Aufderklamm, Stefan; Mischinger, Johannes; Germann, Miriam; Stenzl, Arnulf; Gakis, Georgios

2013-02-01

Several disposable platforms have been introduced for laparoendoscopic single-site (LESS) surgery. Besides technical issues, cost is one of the main limiting factors for their widespread use. We present our experience with LESS surgery for kidney pathologies using the first completely reusable LESS platform. We performed LESS kidney procedures in 29 patients including nephrectomy (18), partial nephrectomy (3), pyeloplasty (4), and renal cyst ablation (4). All procedures were performed using a completely reusable single-port device (X-Cone) with a simplified combination of standard and prebent instruments. We obtained perioperative and demographic data including a visual analog pain scale (VAS); complications were recorded using Clavien grading. Mean patient age was 49.31 years. Conversion to standard laparoscopy was necessary in one and addition of a needlescopic instrument in four cases. No open conversion was necessary. Intra- and postoperative complications occurred in two (Clavien II) cases. Mean operative time was 110, 90, and 89 minutes, and hospital stay was 4.9, 3.1, and 3.6 days for nephrectomy, partial nephrectomy, and pyeloplasty, respectively. Mean VAS was 2.13, 1.67, and 1.5 while blood loss was 81.3 mL, 140 mL, and 17.5 mL, respectively. There were no positive resection margins. LESS with a completely reusable platform is feasible for different upper urinary tract procedures yielding favorable functional and cosmetic results. A simplified combination of standard straight instruments and a single prebent grasper facilitates handling and shortens the learning curve. Reusable materials significantly reduce cost and may help to further adopt LESS surgery in surgical practice.

Solar array study for solar electric propulsion spacecraft for the Encke rendezvous mission

NASA Technical Reports Server (NTRS)

Sequeira, E. A.; Patterson, R. E.

1974-01-01

The work is described which was performed on the design, analysis and performance of a 20 kW rollup solar array capable of meeting the design requirements of a solar electric spacecraft for the 1980 Encke rendezvous mission. To meet the high power requirements of the proposed electric propulsion mission, solar arrays on the order of 186.6 sq m were defined. Because of the large weights involved with arrays of this size, consideration of array configurations is limited to lightweight, large area concepts with maximum power-to-weight ratios. Items covered include solar array requirements and constraints, array concept selection and rationale, structural and electrical design considerations, and reliability considerations.

Ultralow-mass solar-array designs for Halley's comet rendezvous mission

NASA Technical Reports Server (NTRS)

Costogue, E. N.; Rayl, G.

1978-01-01

This paper describes the conceptual design study results of photovoltaic arrays capable of powering a Halley's comet rendezvous mission. This mission would be Shuttle-launched, employ a unique form of propulsion (ion drive) which requires high power levels for operation, and operate at distances between 0.6 and 4.5 AU. These requirements make it necessary to develop arrays with extremely high power-to-mass ratio (200 W/kg). In addition, the dual requirements of providing ion thruster power as well as housekeeping power leads to the development of unique methods for mode switching. Both planar and variable-concentrator-enhanced array concepts using ultrathin (50 micron) high-efficiency (up to 12.5%) silicon solar cells coupled with thin (75 micron) plastic encapsulants are considered. In order to satisfy the Shuttle launch environment it was necessary to provide novel methods of both storing and deploying these arrays.

Determination of Eros Physical Parameters for Near Earth Asteroid Rendezvous Orbit Phase Navigation

NASA Technical Reports Server (NTRS)

Miller, J. K.; Antreasian, P. J.; Georgini, J.; Owen, W. M.; Williams, B. G.; Yeomans, D. K.

1995-01-01

Navigation of the orbit phase of the Near Earth steroid Rendezvous (NEAR) mission will re,quire determination of certain physical parameters describing the size, shape, gravity field, attitude and inertial properties of Eros. Prior to launch, little was known about Eros except for its orbit which could be determined with high precision from ground based telescope observations. Radar bounce and light curve data provided a rough estimate of Eros shape and a fairly good estimate of the pole, prime meridian and spin rate. However, the determination of the NEAR spacecraft orbit requires a high precision model of Eros's physical parameters and the ground based data provides only marginal a priori information. Eros is the principal source of perturbations of the spacecraft's trajectory and the principal source of data for determining the orbit. The initial orbit determination strategy is therefore concerned with developing a precise model of Eros. The original plan for Eros orbital operations was to execute a series of rendezvous burns beginning on December 20,1998 and insert into a close Eros orbit in January 1999. As a result of an unplanned termination of the rendezvous burn on December 20, 1998, the NEAR spacecraft continued on its high velocity approach trajectory and passed within 3900 km of Eros on December 23, 1998. The planned rendezvous burn was delayed until January 3, 1999 which resulted in the spacecraft being placed on a trajectory that slowly returns to Eros with a subsequent delay of close Eros orbital operations until February 2001. The flyby of Eros provided a brief glimpse and allowed for a crude estimate of the pole, prime meridian and mass of Eros. More importantly for navigation, orbit determination software was executed in the landmark tracking mode to determine the spacecraft orbit and a preliminary shape and landmark data base has been obtained. The flyby also provided an opportunity to test orbit determination operational procedures that will be

Ku-Band rendezvous radar performance computer simulation model

NASA Astrophysics Data System (ADS)

Magnusson, H. G.; Goff, M. F.

1984-06-01

All work performed on the Ku-band rendezvous radar performance computer simulation model program since the release of the preliminary final report is summarized. Developments on the program fall into three distinct categories: (1) modifications to the existing Ku-band radar tracking performance computer model; (2) the addition of a highly accurate, nonrealtime search and acquisition performance computer model to the total software package developed on this program; and (3) development of radar cross section (RCS) computation models for three additional satellites. All changes in the tracking model involved improvements in the automatic gain control (AGC) and the radar signal strength (RSS) computer models. Although the search and acquisition computer models were developed under the auspices of the Hughes Aircraft Company Ku-Band Integrated Radar and Communications Subsystem program office, they have been supplied to NASA as part of the Ku-band radar performance comuter model package. Their purpose is to predict Ku-band acquisition performance for specific satellite targets on specific missions. The RCS models were developed for three satellites: the Long Duration Exposure Facility (LDEF) spacecraft, the Solar Maximum Mission (SMM) spacecraft, and the Space Telescopes.

Ku-Band rendezvous radar performance computer simulation model

NASA Technical Reports Server (NTRS)

Magnusson, H. G.; Goff, M. F.

1984-01-01

All work performed on the Ku-band rendezvous radar performance computer simulation model program since the release of the preliminary final report is summarized. Developments on the program fall into three distinct categories: (1) modifications to the existing Ku-band radar tracking performance computer model; (2) the addition of a highly accurate, nonrealtime search and acquisition performance computer model to the total software package developed on this program; and (3) development of radar cross section (RCS) computation models for three additional satellites. All changes in the tracking model involved improvements in the automatic gain control (AGC) and the radar signal strength (RSS) computer models. Although the search and acquisition computer models were developed under the auspices of the Hughes Aircraft Company Ku-Band Integrated Radar and Communications Subsystem program office, they have been supplied to NASA as part of the Ku-band radar performance comuter model package. Their purpose is to predict Ku-band acquisition performance for specific satellite targets on specific missions. The RCS models were developed for three satellites: the Long Duration Exposure Facility (LDEF) spacecraft, the Solar Maximum Mission (SMM) spacecraft, and the Space Telescopes.

Review and meta-analysis of prospective randomized controlled trials (RCTs) comparing laparo-endoscopic single site and multiport laparoscopy in gynecologic operative procedures.

PubMed

Pontis, Alessandro; Sedda, Federica; Mereu, Liliana; Podda, Mauro; Melis, Gian Benedetto; Pisanu, Adolfo; Angioni, Stefano

2016-09-01

To critically appraise published randomized controlled trials (RCTs) comparing laparo-endoscopic single site (LESS) and multi-port laparoscopic (MPL) in gynecologic operative surgery; the aim was to assess feasibility, safety, and potential benefits of LESS in comparison to MPL. A systematic review and meta-analysis of eleven RCTs. Women undergoing operative LESS and MPL gynecologic procedure (hysterectomy, cystectomy, salpingectomy, salpingo-oophorectomy, myomectomy). Outcomes evaluated were as follows: postoperative overall morbidity, postoperative pain evaluation at 6, 12, 24 and 48 h, cosmetic patient satisfaction, conversion rate, body mass index (BMI), operative time, blood loss, hemoglobin drop, postoperative hospital stay. Eleven RCTs comprising 956 women with gynecologic surgical disease randomized to either LESS (477) or MPL procedures (479) were analyzed systematically. The LESS approach is a surgical procedure with longer operative and better cosmetic results time than MPL but without statistical significance. Operative outcomes, postoperative recovery, postoperative morbidity and patient satisfaction are similar in LESS and MPL. LESS may be considered an alternative to MPL with comparable feasibility and safety in gynecologic operative procedures. However, it does not offer the expected advantages in terms of postoperative pain and cosmetic satisfaction.

Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single-site surgery (LESS).

PubMed

Feng, Haibo; Dong, Dinghui; Ma, Tengfei; Zhuang, Jinlei; Fu, Yili; Lv, Yi; Li, Liyi

2017-12-01

Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems. In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments. The in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS. The experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application. Copyright © 2017 John Wiley & Sons, Ltd.

Laparoendoscopic single-site repair of bladder rupture using a home-made single-port device: initial experience of treatment for a traumatic intraperitoneal bladder rupture.

PubMed

Lee, Joo Yong; Kang, Dong Hyuk; Lee, Seung Wook

2012-06-01

We report our initial experience with a laparoendoscopic single-site (LESS) repair of a bladder rupture using a home-made single-port device. A 37-year-old man presented to the emergency department with complaints of voiding difficulty and gross hematuria after blunt trauma. Cystography and computed tomography revealed an intraperitoneal bladder rupture. The patient underwent LESS repair of a bladder rupture using the Alexis wound retractor, which was inserted through the umbilical incision. A home-made single-port device was made by fixing 6½ surgical gloves to the outer rim of the retractor and securing the glove finger to the end of 3 trocars with a tie. Using the flexible laparoscopic instruments and rigid instruments, LESS surgery was performed using a procedure similar to conventional laparoscopic surgery. The patient did not have any voiding problem after removal of the urethral Foley catheter on the 10th postoperative day. To our knowledge, this is the first published report of LESS repair of a traumatic bladder rupture using a home-made single-port device in the literature.

Feasibility and Learning Curve of Robotic Laparoendoscopic Single-Site Surgery in Gynecology.

PubMed

Buckley de Meritens, Alexandre; Kim, Julia; Dinkelspiel, Helen; Chapman-Davis, Eloise; Caputo, Thomas; Holcomb, Kevin M

2017-02-01

Single-site laparoscopy has proven to be a desirable option for patients undergoing gynecologic surgery, with some studies indicating improved cosmesis and less perioperative pain compared with standard approaches. This study describes the safety and feasibility of a novel robotic laparoendoscopic single-site surgery (R-LESS) platform as it is incorporated into a surgeon's practice with extensive multiport robotic surgical experience but limited LESS experience. We reviewed 83 women undergoing R-LESS by a single surgeon from September 2013 through August 2015. Operative times (total operative time, console time, docking time) were collected prospectively for the first 53 cases, and total operative time was collected retrospectively for the next 30 cases. Clinical parameters, including age, estimated blood loss, body mass index (BMI), prior abdominal surgeries, conversion to laparotomy, procedure type, uterine weight, length of hospital stay, and complications, were retrospectively collected from medical charts. Eighty-two of 83 surgeries were completed successfully with a single incision. One surgery was converted to multiport robotics for para-aortic lymph node dissection. Twelve surgeries were performed for cancer (ovary 1, uterus 8, and cervix 3). Eight patients underwent pelvic lymph node biopsy. The median total operative time for hysterectomies was 128 minutes (range, 60-275). After the first 13 hysterectomies the total operative time and the console time decreased significantly from 165.3 to 131.1 minutes (p = .032) and from 84.9 to 57.1 minutes (p = .028), respectively. Mean docking time halved from 7.8 minutes to 3.4 minutes comparing the first 10 cases to the last 10 cases. Surgical times were longer with larger BMIs, but the console time decreased with experience regardless of BMI. The mean uterine weight was 164 g (range, 30-460). Complications included 2 umbilical hernias (2.4%) and 1 conversion to multiport. In conclusion, R-LESS is a

Pollinators' mating rendezvous and the evolution of floral advertisement.

PubMed

Fishman, Michael A; Hadany, Lilach

2013-01-07

Successful cross-fertilization in plant species that rely on animal pollinators depends not just on the number of pollinator visits, but also on these visits' duration. Furthermore, in non-deceptive pollination, a visit's duration depends on the magnitude of the reward provided to the pollinator. Accordingly, plants that rely on biotic pollination have to partition their investment in cross-fertilization assurance between attracting pollinator visits - advertisement, and rewarding visitors to assure that the visit is of productive duration. Here we analyze these processes by a combination of optimality methods and game theoretical modeling. Our results indicate that the optimality in such allocation of resources depends on the types of reward offered to the pollinators. More precisely, we show that plants that offer both food reward and mating rendezvous to pollinators will evolve to allocate a higher proportion of their cross-fertilization assurance budget to advertisement than plants that offer only food reward. That is, our results indicate that pollinators' mating habits may play a role in floral evolution. Copyright © 2012 Elsevier Ltd. All rights reserved.

Space shuttle Ku-band integrated rendezvous radar/communications system study

NASA Technical Reports Server (NTRS)

1976-01-01

The results are presented of work performed on the Space Shuttle Ku-Band Integrated Rendezvous Radar/Communications System Study. The recommendations and conclusions are included as well as the details explaining the results. The requirements upon which the study was based are presented along with the predicted performance of the recommended system configuration. In addition, shuttle orbiter vehicle constraints (e.g., size, weight, power, stowage space) are discussed. The tradeoffs considered and the operation of the recommended configuration are described for an optimized, integrated Ku-band radar/communications system. Basic system tradeoffs, communication design, radar design, antenna tradeoffs, antenna gimbal and drive design, antenna servo design, and deployed assembly packaging design are discussed. The communications and radar performance analyses necessary to support the system design effort are presented. Detailed derivations of the communications thermal noise error, the radar range, range rate, and angle tracking errors, and the communications transmitter distortion parameter effect on crosstalk between the unbalanced quadriphase signals are included.

Avionic Architecture for Model Predictive Control Application in Mars Sample & Return Rendezvous Scenario

NASA Astrophysics Data System (ADS)

Saponara, M.; Tramutola, A.; Creten, P.; Hardy, J.; Philippe, C.

2013-08-01

Optimization-based control techniques such as Model Predictive Control (MPC) are considered extremely attractive for space rendezvous, proximity operations and capture applications that require high level of autonomy, optimal path planning and dynamic safety margins. Such control techniques require high-performance computational needs for solving large optimization problems. The development and implementation in a flight representative avionic architecture of a MPC based Guidance, Navigation and Control system has been investigated in the ESA R&T study “On-line Reconfiguration Control System and Avionics Architecture” (ORCSAT) of the Aurora programme. The paper presents the baseline HW and SW avionic architectures, and verification test results obtained with a customised RASTA spacecraft avionics development platform from Aeroflex Gaisler.

Report of the Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

In October 1992, Russia and the U.S. agreed to conduct a fundamentally new program of human cooperation in space. This original 'Shuttle-Mir' project encompassed combined astronaut-cosmonaut activities on the Shuttle, Soyuz, and Mir spacecraft. At that time, the project was limited to: the STS-60 Shuttle mission, which was completed in February 1994 and carried the first Russian cosmonaut; the planned March 1995 Soyuz 18 launch which will carry a U.S. astronaut to the Mir space station for a three month mission; and the STS-71 Shuttle mission which is scheduled to rendezvous and dock with the Mir space station in June 1995. The Task Force's specific recommendations are given.

Robust control for spacecraft rendezvous system with actuator unsymmetrical saturation: a gain scheduling approach

NASA Astrophysics Data System (ADS)

Wang, Qian; Xue, Anke

2018-06-01

This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Brewster, L.; Johnston, A.; Howard, R.; Mitchell, J.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

NASA Technical Reports Server (NTRS)

Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL

CORSAIR (COmet Rendezvous, Sample Acquisition, Investigation, and Return): A New Frontiers Mission Concept to Collect Samples from a Comet and Return Them to Earth for Study

NASA Astrophysics Data System (ADS)

Sandford, S. A.; Chabot, N. L.; Dello Russo, N.; Leary, J. C.; Reynolds, E. L.; Weaver, H. A.; Wooden, D. H.

2017-07-01

CORSAIR (COmet Rendezvous, Sample Acquisition, Investigation, and Return) is a mission concept submitted in response to NASA's New Frontiers 4 call. CORSAIR's proposed mission is to return comet nucleus samples to Earth for detailed analysis.

Hubble Servicing Challenges Drive Innovation of Shuttle Rendezvous Techniques

NASA Technical Reports Server (NTRS)

Goodman, John L.; Walker, Stephen R.

2009-01-01

Hubble Space Telescope (HST) servicing, performed by Space Shuttle crews, has contributed to what is arguably one of the most successful astronomy missions ever flown. Both nominal and contingency proximity operations techniques were developed to enable successful servicing, while lowering the risk of damage to HST systems, and improve crew safety. Influencing the development of these techniques were the challenges presented by plume impingement and HST performance anomalies. The design of both the HST and the Space Shuttle was completed before the potential of HST contamination and structural damage by shuttle RCS jet plume impingement was fully understood. Relative navigation during proximity operations has been challenging, as HST was not equipped with relative navigation aids. Since HST reached orbit in 1990, proximity operations design for servicing missions has evolved as insight into plume contamination and dynamic pressure has improved and new relative navigation tools have become available. Servicing missions have provided NASA with opportunities to gain insight into servicing mission design and development of nominal and contingency procedures. The HST servicing experiences and lessons learned are applicable to other programs that perform on-orbit servicing and rendezvous, both human and robotic.

Rendezvous with connectivity preservation for multi-robot systems with an unknown leader

NASA Astrophysics Data System (ADS)

Dong, Yi

2018-02-01

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By combining internal model design, potential function technique and adaptive control, two distributed control strategies are proposed to maintain the connectivity of the communication network, to achieve the asymptotic tracking of all the followers to the output of the unknown leader system, as well as to reject unknown external disturbances. It is also worth to mention that the uncertain parameters in the multi-robot systems and exosystem are further allowed to belong to unknown and unbounded sets when applying the second fully distributed control law containing a dynamic gain inspired by high-gain adaptive control or self-tuning regulator.

Development of an autonomous video rendezvous and docking system, phase 2

NASA Technical Reports Server (NTRS)

Tietz, J. C.; Richardson, T. E.

1983-01-01

The critical elements of an autonomous video rendezvous and docking system were built and used successfully in a physical laboratory simulation. The laboratory system demonstrated that a small, inexpensive electronic package and a flight computer of modest size can analyze television images to derive guidance information for spacecraft. In the ultimate application, the system would use a docking aid consisting of three flashing lights mounted on a passive target spacecraft. Television imagery of the docking aid would be processed aboard an active chase vehicle to derive relative positions and attitudes of the two spacecraft. The demonstration system used scale models of the target spacecraft with working docking aids. A television camera mounted on a 6 degree of freedom (DOF) simulator provided imagery of the target to simulate observations from the chase vehicle. A hardware video processor extracted statistics from the imagery, from which a computer quickly computed position and attitude. Computer software known as a Kalman filter derived velocity information from position measurements.

Fifth Report of the NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1995-01-01

The NASA Advisory Council Task Force on the Shuttle-Mir rendezvous and docking missions examine a number of specific issues related to the Shuttle-Mir program. Three teams composed of Task Force members and technical advisors were formed to address the follow issues: preliminary results from STS-71 and the status of preparations for STS-74; NASA's presence in Russia; and NASA's automated data processing and telecommunications (ADP/T) infrastructure in Russia. The three review team reports have been included in the fifth report of the Task Force.

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

NASA Technical Reports Server (NTRS)

Tchoryk, Peter, Jr.; Whitten, Raymond P.

1991-01-01

SpARC, in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components wherever possible. The primary subsystems to be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be ELV based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. After the second COMET spacecraft has been launched in late 1994, the ARD demonstration will take place. The service module from the second COMET will serve as the chase vehicle.

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

NASA Technical Reports Server (NTRS)

Tchoryk, Peter, Jr.; Dobbs, Michael E.; Conrad, David J.; Apley, Dale J.; Whitten, Raymond P.

1991-01-01

The Space Automation and Robotics Center (SpARC), a NASA-sponsored Center for the Commercial Development of Space (CCDS), in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components whenever possible. The primary subsystems that will be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be expendable launch vehicle (ELV) based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. The ARD demonstration will take place in late 1994, after the second COMET spacecraft has been launched. The service module from the second COMET will serve as the chase vehicle.

Satellite Servicing's Autonomous Rendezvous and Docking Testbed on the International Space Station

NASA Technical Reports Server (NTRS)

Naasz, Bo J.; Strube, Matthew; Van Eepoel, John; Barbee, Brent W.; Getzandanner, Kenneth M.

2011-01-01

The Space Servicing Capabilities Project (SSCP) at NASA's Goddard Space Flight Center (GSFC) has been tasked with developing systems for servicing space assets. Starting in 2009, the SSCP completed a study documenting potential customers and the business case for servicing, as well as defining several notional missions and required technologies. In 2010, SSCP moved to the implementation stage by completing several ground demonstrations and commencing development of two International Space Station (ISS) payloads-the Robotic Refueling Mission (RRM) and the Dextre Pointing Package (DPP)--to mitigate new technology risks for a robotic mission to service existing assets in geosynchronous orbit. This paper introduces the DPP, scheduled to fly in July of 2012 on the third operational SpaceX Dragon mission, and its Autonomous Rendezvous and Docking (AR&D) instruments. The combination of sensors and advanced avionics provide valuable on-orbit demonstrations of essential technologies for servicing existing vehicles, both cooperative and non-cooperative.

Navigation Strategies for Primitive Solar System Body Rendezvous and Proximity Operations

NASA Technical Reports Server (NTRS)

Getzandanner, Kenneth M.

2011-01-01

A wealth of scientific knowledge regarding the composition and evolution of the solar system can be gained through reconnaissance missions to primitive solar system bodies. This paper presents analysis of a baseline navigation strategy designed to address the unique challenges of primitive body navigation. Linear covariance and Monte Carlo error analysis was performed on a baseline navigation strategy using simulated data from a· design reference mission (DRM). The objective of the DRM is to approach, rendezvous, and maintain a stable orbit about the near-Earth asteroid 4660 Nereus. The outlined navigation strategy and resulting analyses, however, are not necessarily limited to this specific target asteroid as they may he applicable to a diverse range of mission scenarios. The baseline navigation strategy included simulated data from Deep Space Network (DSN) radiometric tracking and optical image processing (OpNav). Results from the linear covariance and Monte Carlo analyses suggest the DRM navigation strategy is sufficient to approach and perform proximity operations in the vicinity of the target asteroid with meter-level accuracy.

Handling Neighbor Discovery and Rendezvous Consistency with Weighted Quorum-Based Approach

PubMed Central

Own, Chung-Ming; Meng, Zhaopeng; Liu, Kehan

2015-01-01

Neighbor discovery and the power of sensors play an important role in the formation of Wireless Sensor Networks (WSNs) and mobile networks. Many asynchronous protocols based on wake-up time scheduling have been proposed to enable neighbor discovery among neighboring nodes for the energy saving, especially in the difficulty of clock synchronization. However, existing researches are divided two parts with the neighbor-discovery methods, one is the quorum-based protocols and the other is co-primality based protocols. Their distinction is on the arrangements of time slots, the former uses the quorums in the matrix, the latter adopts the numerical analysis. In our study, we propose the weighted heuristic quorum system (WQS), which is based on the quorum algorithm to eliminate redundant paths of active slots. We demonstrate the specification of our system: fewer active slots are required, the referring rate is balanced, and remaining power is considered particularly when a device maintains rendezvous with discovered neighbors. The evaluation results showed that our proposed method can effectively reschedule the active slots and save the computing time of the network system. PMID:26404297

Leak or Fistula After Sleeve Gastrectomy: Treatment with Pigtail Drain by the Rendezvous Technique.

PubMed

Soufron, Jacques

2015-10-01

After a sleeve gastrectomy, a leak or fistula is a serious complication. Laparoscopic drainage, drainage under US or CT scan control, or endoscopic insertion of a stent can be used, but a major re-operation is sometimes unavoidable. Endoscopic drainage with a pigtail catheter could give more success and fewer complications, but the insertion of the drain is not always possible nor does it always provide a perfect drainage. If a laparoscopic second look appears necessary, it is possible to insert a pigtail drain laparoscopically, but under endoscopic control, ensuring a correct positioning of the drain both in the peritoneal cavity and in the gastric tube. This simultaneous "rendezvous" technique could combine in this situation the advantages of purely surgical techniques and of purely endoscopic or image-guided techniques.

Comparative Study of 2D and 3D Optical Imaging Systems: Laparoendoscopic Single-Site Surgery in an Ex Vivo Model.

PubMed

Vilaça, Jaime; Pinto, José Pedro; Fernandes, Sandra; Costa, Patrício; Pinto, Jorge Correia; Leão, Pedro

2017-12-01

Usually laparoscopy is performed by means of a 2-dimensional (2D) image system and multiport approach. To overcome the lack of depth perception, new 3-dimensional (3D) systems are arising with the added advantage of providing stereoscopic vision. To further reduce surgery-related trauma, there are new minimally invasive surgical techniques being developed, such as LESS (laparoendoscopic single-site) surgery. The aim of this study was to compare 2D and 3D laparoscopic systems in LESS surgical procedures. All participants were selected from different levels of experience in laparoscopic surgery-10 novices, 7 intermediates, and 10 experts were included. None of the participants had had previous experience in LESS surgery. Participants were chosen randomly to begin their experience with either the 2D or 3D laparoscopic system. The exercise consisted of performing an ex vivo pork cholecystectomy through a SILS port with the assistance of a fixed distance laparoscope. Errors, time, and participants' preference were recorded. Statistical analysis of time and errors between groups was conducted with a Student's t test (using independent samples) and the Mann-Whitney test. In all 3 groups, the average time with the 2D system was significantly reduced after having used the 3D system ( P < .05). In the postexercise questionnaire, two thirds of participants showed a preference for using the 3D system. This study suggests that the 3D system may improve the learning curve and that learning from the 3D system is transferable to the 2D environment. Additionally, the majority of participants prefer 3D equipment.

Low-thrust mission risk analysis, with application to a 1980 rendezvous with the comet Encke

NASA Technical Reports Server (NTRS)

Yen, C. L.; Smith, D. B.

1973-01-01

A computerized failure process simulation procedure is used to evaluate the risk in a solar electric space mission. The procedure uses currently available thrust-subsystem reliability data and performs approximate simulations of the thrust sybsystem burn operation, the system failure processes, and the retargeting operations. The method is applied to assess the risks in carrying out a 1980 rendezvous mission to the comet Encke. Analysis of the results and evaluation of the effects of various risk factors on the mission show that system component failure rates are the limiting factors in attaining a high mission relability. It is also shown that a well-designed trajectory and system operation mode can be used effectively to partially compensate for unreliable thruster performance.

Using Information from Rendezvous Missions For Best-Case Appraisals of Impact Damage to Planet Earth Caused By Natural Objects

NASA Technical Reports Server (NTRS)

Arnold, J. O.; Chodas, P. W.; Ulamec, S.; Mathias, D. L.; Burkhard, C. D.

2017-01-01

The Asteroid Threat Assessment Project (ATAP), a part of NASAs Planetary Defense Coordination Office (PDCO) has the responsibility to appraise the range of surface damage by potential asteroid impacts on land or water. If a threat is realized, the project will provide appraisals to officials empowered to make decisions on potential mitigation actions. This paper describes a scenario for assessment of surface damage when characterization of an asteroid had been accomplished by a rendezvous mission that would be conducted by the international planetary defense community. It is shown that the combination of data from ground and in-situ measurements on an asteroid provides knowledge that can be used to pin-point its impact location and predict the level of devastation it would cause. The hypothetical asteroid 2017 PDC with a size of 160 to 290 m in diameter to be discussed at the PDC 2017 meeting is used as an example. In order of importance for appraising potential damage, information required is: (1) where will the surface impact occur? (2) What is the mass, shape and size of the asteroid and what is its entry state (speed and entry angle) at the 100 km atmospheric pierce point? And (3) is the asteroid a monolith or a rubble pile? If it is a rubble pile, what is its sub and interior structure? Item (1) is of first order importance to determine levels of devastation (loss of life and infrastructure damage) because it varies strongly on the impact location. Items (2) and (3) are used as input for ATAPs simulations to define the level of surface hazards: winds, overpressure, thermal exposure; all created by the deposition of energy during the objects atmospheric flight, andor cratering. Topics presented in this paper include: (i) The devastation predicted by 2017 PDCs impact based on initial observations using ATAPs risk assessment capability, (ii) How information corresponding to items (1) to (3) could be obtained from a rendezvous mission, and (iii) How information

Using Information from Rendezvous Missions For Best-Case Appraisals of Impact Damage to Planet Earth Caused By Natural Objects

NASA Technical Reports Server (NTRS)

Arnold, James O.; Chodas, Paul W.; Ulamec, Stephan; Mathias, Donovan L.; Burkhard, Craig D.

2017-01-01

The Asteroid Threat Assessment Project (ATAP), a part of NASAs Planetary Defense Coordination Office (PDCO) has the responsibility to appraise the range of surface damage by potential asteroid impacts on land or water. If a threat is realized, the project will provide appraisals to officials empowered to make decisions on potential mitigation actions. This paper describes a scenario for assessment of surface damage when characterization of an asteroid had been accomplished by a rendezvous mission that would be conducted by the international planetary defense community. It is shown that the combination of data from ground and in-situ measurements on an asteroid provides knowledge that can be used to pin-point its impact location and predict the level of devastation it would cause. The hypothetical asteroid 2017 PDC with a size of 160 to 290 m in diameter to be discussed at the PDC 2017 meeting is used as an example. In order of importance for appraising potential damage, information required is: (1) where will the surface impact occur? (2) What is the mass, shape and size of the asteroid and what is its entry state (speed and entry angle) at the 100 km atmospheric pierce point? And (3) is the asteroid a monolith or a rubble pile? If it is a rubble pile, what is its sub and interior structure? Item (1) is of first order importance to determine levels of devastation (loss of life and infrastructure damage) because it varies strongly on the impact location. Items (2) and (3) are used as input for ATAPs simulations to define the level of surface hazards: winds, overpressure, thermal exposure; all created by the deposition of energy during the objects atmospheric flight, and/or cratering. Topics presented in this paper include: (i) The devastation predicted by 2017 PDCs impact based on initial observations using ATAPs risk assessment capability, (ii) How information corresponding to items (1) to (3) could be obtained from a rendezvous mission, and (iii) How information

Using Information from Rendezvous Missions for Best-Case Appraisals of Impact Damage to Planet Earth Caused by Natural Objects

NASA Technical Reports Server (NTRS)

Arnold, James O.; Chodas, Paul W.; Ulamec, Stephan; Mathias, Donovan L.; Burkhard, Craig D.

2017-01-01

The Asteroid Threat Assessment Project (ATAP), a part of NASAs Planetary Defense Coordination Office (PDCO) has the responsibility to appraise the range of surface damage by potential asteroid impacts on land or water. If a threat is realized, the project will provide appraisals to officials empowered to make decisions about potential mitigation actions. This paper describes a scenario for assessment of surface damage when characterization of an asteroid had been accomplished by a rendezvous mission that would be conducted by the international planetary defense community. It is shown that the combination of data from ground and in-situ measurements on an asteroid provides knowledge that can be used to pin-point its impact location and predict the level of devastation it would cause. The hypothetical asteroid 2017 PDC with a size range of 160 to 290 m in diameter to be discussed at the PDC 2017 is used as an example. In order of importance for appraising potential damage, information required is: (1) where will the surface impact occur? (2) what is the mass, shape and size of the asteroid and what is its entry state (speed and entry angle) at the 100 km atmospheric pierce point? And (3) is the asteroid a monolith or a rubble pile? If it is a rubble pile, what is its structure and heterogeneity from the surface and throughout its interior? Item (1) is of first order importance to determine levels of devastation (loss of life and infrastructure damage) because it varies strongly on the impact location. Items (2) and (3) are used as inputs for ATAPs simulations to define the level of surface hazards: winds, overpressure, thermal exposure; all created by the deposition of energy during the objects atmospheric flight, andor cratering. Topics presented in this paper include: (i) the devastation predicted by 2017 PDCs impact on land based on initial observations using ATAPs risk assessment capability, (ii) how information corresponding to items (1) to (3) could be obtained

The impact of trauma on the psyche of the individual using the film Belleville Rendez-vous as an illustrative vehicle.

PubMed

Waldron, Sharn

2008-09-01

Using the film Belleville Rendez-vous as a vehicle for discussion, this paper argues that whilst a traumatic complex may bring about dissociation of the psyche, this is not the only possibility, nor is dissociation necessarily to be seen solely as a difficulty to be overcome. If trauma is experienced within the context of support and validation, the experience of trauma may generate integration not only of the trauma but also of the growth potential that the trauma has previously inhibited.

Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the Gauss pseudospectral method

NASA Astrophysics Data System (ADS)

Chu, Xiaoyu; Zhang, Jingrui; Lu, Shan; Zhang, Yao; Sun, Yue

2016-11-01

This paper presents a trajectory planning algorithm to optimise the collision avoidance of a chasing spacecraft operating in an ultra-close proximity to a failed satellite. The complex configuration and the tumbling motion of the failed satellite are considered. The two-spacecraft rendezvous dynamics are formulated based on the target body frame, and the collision avoidance constraints are detailed, particularly concerning the uncertainties. An optimisation solution of the approaching problem is generated using the Gauss pseudospectral method. A closed-loop control is used to track the optimised trajectory. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms.

Rendezvous strategy impacts on CTV avionics design, system reliability requirements, and available collision avoidance maneuvers

NASA Technical Reports Server (NTRS)

Donovan, William J.; Davis, John E.

1991-01-01

Rockwell International is conducting an ongoing program to develop avionics architectures that provide high intrinsic value while meeting all mission objectives. Studies are being conducted to determine alternative configurations that have low life-cycle cost and minimum development risk, and that minimize launch delays while providing the reliability level to assure a successful mission. This effort is based on four decades of providing ballistic missile avionics to the United States Air Force and has focused on the requirements of the NASA Cargo Transfer Vehicle (CTV) program in 1991. During the development of architectural concepts it became apparent that rendezvous strategy issues have an impact on the architecture of the avionics system. This is in addition to the expected impact on propulsion and electrical power duration, flight profiles, and trajectory during approach.

The Decline of Laparoendoscopic Single-Site Surgery: A Survey of the Endourological Society to Identify Shortcomings and Guidance for Future Directions.

PubMed

Sorokin, Igor; Canvasser, Noah E; Irwin, Brian; Autorino, Riccardo; Liatsikos, Evangelos N; Cadeddu, Jeffrey A; Rane, Abhay

2017-10-01

To analyze the most recent temporal trends in the adoption of urologic laparoendoscopic single-site (LESS), to identify the perceived limitations associated with its decline, and to determine factors that might revive the role of LESS in the field of minimally invasive urologic surgery. A 15 question survey was created and sent to members of the Endourological Society in September 2016. Only members who performed LESS procedures in practice were asked to respond. In total, 106 urologists responded to the survey. Most of the respondents were from the United States (35%) and worked in an academic hospital (84.9%). Standard LESS was the most popular approach (78.1%), while 14.3% used robotics, and 7.6% used both. 2009 marked the most popular year to perform the initial (27.6%) and the majority (20%) of LESS procedures. The most common LESS procedure was a radical/simple nephrectomy (51%) followed by pyeloplasty (17.3%). In the past 12 months, 60% of respondents had performed no LESS procedures. Compared to conventional laparoscopy, respondents only believed cosmesis to be better, however, this enthusiasm waned over time. Worsening shifts in enthusiasm for LESS also occurred with patient desire, marketability, cost, safety, and robotic adaptability. The highest rated factor to help LESS regain popularity was a new robotic platform. The decline of LESS is apparent, with few urologists continuing to perform procedures attributed to multiple factors. The availability of a purpose-built robotic platform and better instrumentation might translate into a renewed future interest of LESS.

Robot-assisted laparoendoscopic single site adrenalectomy: A comparison of 3 different port platforms with 3 case reports.

PubMed

Kan, Hung-Cheng; Pang, See-Tong; Wu, Chun-Te; Chang, Ying-Hsu; Liu, Chung-Yi; Chuang, Cheng-Keng; Lin, Po-Hung

2017-12-01

Laparoscopic adrenalectomy is currently the standard of care for adrenal lesion. Minimal invasive laparoscopic surgery such as laparoendoscopic single site surgery (LESS) and natural orifice transluminal endoscopic surgery (NOTES) have been developed to improve cosmetic outcomes and reduce postoperative pain. However, there are still some problems related to instruments and port limitation during LESS surgery. Robot-assisted laparoscopic surgery may help to overcome these problems, and port platforms selection is an important issue. Three cases received robot-assisted LESS adrenalectomy due to adrenal tumor were enrolled. Blood loss, hospital stay, and analgesia injection were compared. Preoperative evaluations were done in a usual manner. Benign tumors were suspect for two patients, while metastatic tumor could not be excluded for the other patient with prior malignancy history. The pathology reports were all benign adrenal cortical adenoma after operation. Three different port platforms, Da Vinci Single-Site Surgical Platform, GelPOINT, and homemade glove port were used. Trans-peritoneal approach was used for two patients, while the other one received trans-retroperitoneal approach. The advantage and disadvantage of different port platforms were discussed. All patients underwent the operation smoothly without major complications or conversion to open surgery. Blood loss amount was small, hospital stay was short, and only one patient received one single dose of opioid analgesia injection after the surgery. The main problems of LESS are the loss of a working triangle and the limitations of the instruments. Robot-assisted LESS may help surgeons overcome part of these problems. Many different port platforms are available, and based on our initial experience, we believe that the GelPoint may be a more suitable platform, for it maintains the endo-wrist function of the Da Vinci instruments, and allows the surgeon to design the position of ports freely to minimize

Robotic Laparoendoscopic Single-site Retroperitioneal Renal Surgery: Initial Investigation of a Purpose-built Single-port Surgical System.

PubMed

Maurice, Matthew J; Ramirez, Daniel; Kaouk, Jihad H

2017-04-01

Robotic single-site retroperitoneal renal surgery has the potential to minimize the morbidity of standard transperitoneal and multiport approaches. Traditionally, technological limitations of non-purpose-built robotic platforms have hindered the application of this approach. To assess the feasibility of retroperitoneal renal surgery using a new purpose-built robotic single-port surgical system. This was a preclinical study using three male cadavers to assess the feasibility of the da Vinci SP1098 surgical system for robotic laparoendoscopic single-site (R-LESS) retroperitoneal renal surgery. We used the SP1098 to perform retroperitoneal R-LESS radical nephrectomy (n=1) and bilateral partial nephrectomy (n=4) on the anterior and posterior surfaces of the kidney. Improvements unique to this system include enhanced optics and intelligent instrument arm control. Access was obtained 2cm anterior and inferior to the tip of the 12th rib using a novel 2.5-cm robotic single-port system that accommodates three double-jointed articulating robotic instruments, an articulating camera, and an assistant port. The primary outcome was the technical feasibility of the procedures, as measured by the need for conversion to standard techniques, intraoperative complications, and operative times. All cases were completed without the need for conversion. There were no intraoperative complications. The operative time was 100min for radical nephrectomy, and the mean operative time was 91.8±18.5min for partial nephrectomy. Limitations include the preclinical model, the small sample size, and the lack of a control group. Single-site retroperitoneal renal surgery is feasible using the latest-generation SP1098 robotic platform. While the potential of the SP1098 appears promising, further study is needed for clinical evaluation of this investigational technology. In an experimental model, we used a new robotic system to successfully perform major surgery on the kidney through a single small

A randomized, prospective study of laparoendoscopic single-site plus one-port versus mini laparoscopic technique for live donor nephrectomy.

PubMed

Lee, Kyu Won; Choi, Sae Woong; Park, Yong Hyun; Bae, Woong Jin; Choi, Yong Sun; Ha, U-Syn; Hong, Sung-Hoo; Lee, Ji Youl; Kim, Sae Woong; Cho, Hyuk Jin

2018-04-01

To compare the clinical outcomes of laparoendoscopic single-site plus one-port donor nephrectomy (LESSOP-DN) and mini laparoscopic donor nephrectomy (MLDN). A prospective randomized controlled trial was conducted from December 2014 to February 2016 in donors scheduled for left donor nephrectomy. Donor and recipient demographics and clinical outcomes including pain scores and questionnaires (BIQ: body image questionnaire, SF-36, patient-reported overall convalescence) were also compared. A total of 121 eligible donors were recruited, of which 99 donors who were scheduled to undergo an operation on their left side were randomized into LESSOP-DN (n = 50) and MLDN (n = 49) groups. There were no significant demographic differences between the two groups. The renal extraction time in the LESS-DN group was shorter than that in the MLDN group (75.89 ± 13.01 vs. 87.31 ± 11.38 min, p < 0.001). Other perioperative parameters and complication rates were comparable between the two groups. The LESSOP-DN group had a smaller incision length than the MLDN group (4.89 ± 0.68 vs. 6.21 ± 1.11 cm, p < 0.001), but cosmetic scores and body image scores were similar in the two groups (p = 0.905, 0.217). Donor quality of life (SF-36) and recovery and satisfaction data were comparable between the two groups. Delayed graft function (DGF) occurred in one recipient undergoing MLDN procedure (2.1%) and progressed to graft failure. There were no differences in cosmetic satisfaction between groups despite the smaller incision size of LESSOP-DN. Safety parameters and subjective measures of postoperative morbidity were similar between the two groups.

Analysis of a Linear System for Variable-Thrust Control in the Terminal Phase of Rendezvous

NASA Technical Reports Server (NTRS)

Hord, Richard A.; Durling, Barbara J.

1961-01-01

A linear system for applying thrust to a ferry vehicle in the 3 terminal phase of rendezvous with a satellite is analyzed. This system requires that the ferry thrust vector per unit mass be variable and equal to a suitable linear combination of the measured position and velocity vectors of the ferry relative to the satellite. The variations of the ferry position, speed, acceleration, and mass ratio are examined for several combinations of the initial conditions and two basic control parameters analogous to the undamped natural frequency and the fraction of critical damping. Upon making a desirable selection of one control parameter and requiring minimum fuel expenditure for given terminal-phase initial conditions, a simplified analysis in one dimension practically fixes the choice of the remaining control parameter. The system can be implemented by an automatic controller or by a pilot.

Fuzzy logic techniques for rendezvous and docking of two geostationary satellites

NASA Technical Reports Server (NTRS)

Ortega, Guillermo

1995-01-01

Large assemblings in space require the ability to manage rendezvous and docking operations. In future these techniques will be required for the gradual build up of big telecommunication platforms in the geostationary orbit. The paper discusses the use of fuzzy logic to model and implement a control system for the docking/berthing of two satellites in geostationary orbit. The system mounted in a chaser vehicle determines the actual state of both satellites and generates torques to execute maneuvers to establish the structural latching. The paper describes the proximity operations to collocate the two satellites in the same orbital window, the fuzzy guidance and navigation of the chaser approaching the target and the final Fuzzy berthing. The fuzzy logic system represents a knowledge based controller that realizes the close loop operations autonomously replacing the conventional control algorithms. The goal is to produce smooth control actions in the proximity of the target and during the docking to avoid disturbance torques in the final assembly orbit. The knowledge of the fuzzy controller consists of a data base of rules and the definitions of the fuzzy sets. The knowledge of an experienced spacecraft controller is captured into a set of rules forming the Rules Data Base.

Coherent Doppler lidar for automated space vehicle rendezvous, stationkeeping and capture

NASA Technical Reports Server (NTRS)

Bilbro, James A.

1991-01-01

The inherent spatial resolution of laser radar makes ladar or lidar an attractive candidate for Automated Rendezvous and Capture application. Previous applications were based on incoherent lidar techniques, requiring retro-reflectors on the target vehicle. Technology improvements (reduced size, no cryogenic cooling requirement) have greatly enhanced the construction of coherent lidar systems. Coherent lidar permits the acquisition of non-cooperative targets at ranges that are limited by the detection capability rather than by the signal-to-noise ratio (SNR) requirements. The sensor can provide translational state information (range, velocity, and angle) by direct measurement and, when used with any array detector, also can provide attitude information by Doppler imaging techniques. Identification of the target is accomplished by scanning with a high pulse repetition frequency (dependent on the SNR). The system performance is independent of range and should not be constrained by sun angle. An initial effort to characterize a multi-element detection system has resulted in a system that is expected to work to a minimum range of 1 meter. The system size, weight and power requirements are dependent on the operating range; 10 km range requires a diameter of 3 centimeters with overall size at 3 x 3 x 15 to 30 cm, while 100 km range requires a 30 cm diameter.

Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation.

PubMed

Xia, Kewei; Huo, Wei

2016-05-01

This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Trojan Tour and Rendezvous (TTR): A New Frontiers Mission to Conduct the First Detailed Reconnaissance of the Jupiter Trojan Asteroids

NASA Astrophysics Data System (ADS)

Bell, James F.; Olkin, Cathy; Castillo-Rogez, Julie

2015-11-01

Among the most potentially diagnostic but least explored populations of small bodies are the Jupiter Trojan asteroids, which orbit at ~5 AU in the L4 and L5 Lagrange points of Jupiter. The Trojans provide a unique perspective on solar system history, because their locations and physical, compositional, and mineralogic properties preserve evidence for important gravitational interactions among the giant planets. The locations and orbital properties of more than 6200 Jupiter Trojans are now known, but that is likely only a small fraction of a population of up to ~1e6 Trojans >1 km in size. The Trojans are hypothesized to be either former KBOs scattered into the inner solar system by early giant planet migration and then trapped in L4 and L5, or bodies formed near 5 AU in a more quiescent early solar system.Important Planetary Decadal Survey questions that can be addressed by studying the Trojans include: (a) How did the giant planets and their satellite systems accrete, and is there evidence that they migrated to new orbital positions? (b) What is the relationship between large and small KBOs? Is the small population derived by impact disruption of the large one? (c) What kinds of surface evolution, radiation chemistry, and surface-atmosphere interactions occur on distant icy primitive bodies? And (d) What are the sources of asteroid groups (Trojans and Centaurs) that remain to be explored by spacecraft?Here we describe the Trojan Tour and Rendezvous (TTR) New Frontiers mission concept, which is designed to answer these Decadal questions and to test hypotheses for early giant planet migration and solar system evolution. Via close flybys of many of these objects, and orbital characterization of at least one large Trojan, TTR will enable the initial up-close exploration of this population. Our primary mission goals are to characterize the overall surface geology, geochemistry and mineralogy of these worlds; to characterize their internal structure and dynamical

Open and Laparo-Endoscopic Repair of Incarcerated Abdominal Wall Hernias by the Use of Biological and Biosynthetic Meshes.

PubMed

Fortelny, René H; Hofmann, Anna; May, Christopher; Köckerling, Ferdinand

2016-01-01

Although recently published guidelines recommend against the use of synthetic non-absorbable materials in cases of potentially contaminated or contaminated surgical fields due to the increased risk of infection (1, 2), the use of bio-prosthetic meshes for abdominal wall or ventral hernia repair is still controversially discussed in such cases. Bio-prosthetic meshes have been recommended due to less susceptibility for infection and the decreased risk of subsequent mesh explantation. The purpose of this review is to elucidate if there are any indications for the use of biological and biosynthetic meshes in incarcerated abdominal wall hernias based on the recently published literature. A literature search of the Medline database using the PubMed search engine, using the keywords returned 486 articles up to June 2015. The full text of 486 articles was assessed and 13 relevant papers were identified including 5 retrospective case cohort studies, 2 case-controlled studies, and 6 case series. The results of Franklin et al. (3-5) included the highest number of biological mesh repairs (Surgisis(®)) by laparoscopic IPOM in infected fields, which demonstrated a very low incidence of infection and recurrence (0.7 and 5.2%). Han et al. (6) reported in his retrospective study, the highest number of treated patients due to incarcerated hernias by open approach using acellular dermal matrix (ADM(®)) with very low rate of infection as well as recurrences (1.6 and 15.9%). Both studies achieved acceptable outcome in a follow-up of at least 3.5 years compared to the use of synthetic mesh in this high-risk population (7). Currently, there is a very limited evidence for the use of biological and biosynthetic meshes in strangulated hernias in either open or laparo-endoscopic repair. Finally, there is an urgent need to start with randomized controlled comparative trials as well as to support registries with data to achieve more knowledge for tailored indication for the use of

Laparoendoscopic single-site cholecystectomy vs three-port laparoscopic cholecystectomy: A large-scale retrospective study

PubMed Central

Cheng, Yuan; Jiang, Ze-Sheng; Xu, Xiao-Ping; Zhang, Zhi; Xu, Ting-Cheng; Zhou, Chen-Jie; Qin, Jia-Sheng; He, Guo-Lin; Gao, Yi; Pan, Ming-Xin

2013-01-01

AIM: To perform a large-scale retrospective comparison of laparoendoscopic single-site cholecystectomy (LESSC) and three-port laparoscopic cholecystectomy (TPLC) in a single institution. METHODS: Data were collected from 366 patients undergoing LESSC between January 2005 and July 2008 and were compared with the data from 355 patients undergoing TPLC between August 2008 and November 2011 in our department. Patients with body mass index greater than 35 kg/m2, a history of major upper abdominal surgery, signs of acute cholecystitis, such as fever, right upper quadrant tenderness with or without Murphy’s sign, elevated white blood cell count, imaging findings suggestive of pericholecystic fluid, gallbladder wall thickening > 4 mm, and gallstones > 3 cm, were excluded to avoid bias. RESULTS: Altogether, 298 LESSC and 315 TPLC patients met the inclusion criteria. The groups were well matched with regard to demographic data. There were no significant differences in terms of postoperative complications (contusion: 19 vs 25 and hematoma at incision: 11 vs 19), hospital stay (mean ± SD, 1.4 ± 0.2 d vs 1.4 ± 0.7 d) and visual analogue pain score (mean ± SD, 8 h after surgery: 2.3 ± 1.4 vs 2.3 ± 1.3 and at day 1: 1.2 ± 0.4 vs 1.3 ± 1.2) between the LESSC and TPLC patients. Four patients required the addition of extra ports and 2 patients were converted to open surgery in the LESSC group, which was not significantly different when compared with TPLC patients converted to laparotomy (2 vs 2). LESSC resulted in a longer operating time (mean ± SD, 54.8 ± 11.0 min vs 33.5 ± 9.0 min), a higher incidence of intraoperative gallbladder perforation (56 vs 6) and higher operating cost (mean ± SD, 1933.7 ± 64.4 USD vs 1874.7 ± 46.2 USD) than TPLC. No significant differences in operating time (mean ± SD, 34.3 ± 6.0 min vs 32.7 ± 8.7 min) and total cost (mean ± SD, 1881.3 ± 32.8 USD vs 1876.2 ± 33.4 USD) were found when the last 100 cases in the two groups were

State dependent model predictive control for orbital rendezvous using pulse-width pulse-frequency modulated thrusters

NASA Astrophysics Data System (ADS)

Li, Peng; Zhu, Zheng H.; Meguid, S. A.

2016-07-01

This paper studies the pulse-width pulse-frequency modulation based trajectory planning for orbital rendezvous and proximity maneuvering near a non-cooperative spacecraft in an elliptical orbit. The problem is formulated by converting the continuous control input, output from the state dependent model predictive control, into a sequence of pulses of constant magnitude by controlling firing frequency and duration of constant-magnitude thrusters. The state dependent model predictive control is derived by minimizing the control error of states and control roughness of control input for a safe, smooth and fuel efficient approaching trajectory. The resulting nonlinear programming problem is converted into a series of quadratic programming problem and solved by numerical iteration using the receding horizon strategy. The numerical results show that the proposed state dependent model predictive control with the pulse-width pulse-frequency modulation is able to effectively generate optimized trajectories using equivalent control pulses for the proximity maneuvering with less energy consumption.

A new terminal guidance sensor system for asteroid intercept or rendezvous missions

NASA Astrophysics Data System (ADS)

Lyzhoft, Joshua; Basart, John; Wie, Bong

2016-02-01

This paper presents the initial conceptual study results of a new terminal guidance sensor system for asteroid intercept or rendezvous missions, which explores the use of visual, infrared, and radar devices. As was demonstrated by NASA's Deep Impact mission, visual cameras can be effectively utilized for hypervelocity intercept terminal guidance for a 5 kilometer target. Other systems such as Raytheon's EKV (Exoatmospheric Kill Vehicle) employ a different scheme that utilizes infrared target information to intercept ballistic missiles. Another example that uses infrared information is the NEOWISE telescope, which is used for asteroid detection and tracking. This paper describes the signal-to-noise ratio estimation problem for infrared sensors, minimum and maximum range of detection, and computational validation using GPU accelerated simulations. Small targets (50-100 m in diameter) are considered, and scaled polyhedron models of known objects, such as the Rosetta mission's Comet 67P/Churyumov-Gerasimenko, 101,955 Bennu, target of the OSIRIS-REx mission, and asteroid 433 Eros, are utilized. A parallelized ray tracing algorithm to simulate realistic surface-to-surface shadowing of a given celestial body is developed. By using the simulated models and parameters given from the formulation of the different sensors, impact mission scenarios are used to verify the feasibility for intercepting a small target.

"Rendezvous in coronary" technique with the retrograde approach for chronic total occlusion.

PubMed

Muramatsu, Toshiya; Tsukahara, Reiko; Ito, Yoshiaki

2010-09-01

Percutaneous coronary intervention (PCI) was performed for a chronic total occlusion (CTO) of the right coronary artery (RCA) in a 77-year-old male patient. A guidewire could not be passed through the vessel using the antegrade approach, so we tried the retrograde approach via a collateral septal channel. A Fielder FC guidewire (Asahi Intecc Co. Ltd., Aichi, Japan) was passed through the septal channel, and a Corsair catheter (Asahi Intecc) was advanced to the distal side of the CTO in the RCA. However, the guidewire could not be advanced from the false lumen to the true lumen using the kissing-wire technique (KWT) or the reverse controlled antegrade retrograde tracking (CART) technique. Therefore, we retracted the Corsair channel dilator for a #4PD and tried to advance the antegrade Conquest Pro guidewire (Asahi Intecc) from a straight subintimal site into the retrograde channel dilator catheter. After several attempts, the antegrade Conquest guidewire successfully entered the retrograde channel dilator catheter. Subsequently, a Cypher stent (Cordis Corp., Miami Lakes, Florida) was successfully placed. The "rendezvous in coronary" technique was useful for this CTO patient, in whom it was difficult to advance a guidewire into the true lumen by the KWT and CART techniques during the retrograde approach.

Inverse simulation system for manual-controlled rendezvous and docking based on artificial neural network

NASA Astrophysics Data System (ADS)

Zhou, Wanmeng; Wang, Hua; Tang, Guojin; Guo, Shuai

2016-09-01

The time-consuming experimental method for handling qualities assessment cannot meet the increasing fast design requirements for the manned space flight. As a tool for the aircraft handling qualities research, the model-predictive-control structured inverse simulation (MPC-IS) has potential applications in the aerospace field to guide the astronauts' operations and evaluate the handling qualities more effectively. Therefore, this paper establishes MPC-IS for the manual-controlled rendezvous and docking (RVD) and proposes a novel artificial neural network inverse simulation system (ANN-IS) to further decrease the computational cost. The novel system was obtained by replacing the inverse model of MPC-IS with the artificial neural network. The optimal neural network was trained by the genetic Levenberg-Marquardt algorithm, and finally determined by the Levenberg-Marquardt algorithm. In order to validate MPC-IS and ANN-IS, the manual-controlled RVD experiments on the simulator were carried out. The comparisons between simulation results and experimental data demonstrated the validity of two systems and the high computational efficiency of ANN-IS.

Basic targeting strategies for rendezvous and flyby missions to the near-Earth asteroids

NASA Astrophysics Data System (ADS)

Perozzi, Ettore; Rossi, Alessandro; Valsecchi, Giovanni B.

2001-01-01

Missions to asteroids and comets are becoming increasingly feasible both from a technical and a financial point of view. In particular, those directed towards the Near-Earth Asteroids have proven suitable for a low-cost approach, thus attracting the major space agencies as well as private companies. The choice of a suitable target involves both scientific relevance and mission design considerations, being often a difficult task to accomplish due to the limited energy budget at disposal. The aim of this paper is to provide an approach to basic trajectory design which allows to account for both aspects of the problem, taking into account scientific and technical information. A global characterization of the Near-Earth Asteroids population carried out on the basis of their dynamics, physical properties and flight dynamics considerations, allows to identify a group of candidates which satisfy both, the scientific and engineering requirements. The feasibility of rendezvous and flyby missions towards them is then discussed and the possibility of repeated encounters with the same object is investigated, as an intermediate scenario. Within this framework, the capability of present and near future launch and propulsion systems for interplanetary missions is also addressed.

Early Program Development

NASA Image and Video Library

1986-01-01

In this 1986 artist's concept, the Orbital Maneuvering Vehicle (OMV), is shown without its main propulsion module. Essentially two propulsion vehicles in one, the OMV could be powered by a main propulsion module , or, in its short range vehicle configuration shown here, use its own hydrazine and cold gas thrusters. As envisioned by Marshall Space Flight Center plarners, the OMV would be a remotely-controlled free-flying space tug which would place, rendezvous, dock, and retrieve orbital payloads.

Optical design of space cameras for automated rendezvous and docking systems

NASA Astrophysics Data System (ADS)

Zhu, X.

2018-05-01

Visible cameras are essential components of a space automated rendezvous and docking (AR and D) system, which is utilized in many space missions including crewed or robotic spaceship docking, on-orbit satellite servicing, autonomous landing and hazard avoidance. Cameras are ubiquitous devices in modern time with countless lens designs that focus on high resolution and color rendition. In comparison, space AR and D cameras, while are not required to have extreme high resolution and color rendition, impose some unique requirements on lenses. Fixed lenses with no moving parts and separated lenses for narrow and wide field-of-view (FOV) are normally used in order to meet high reliability requirement. Cemented lens elements are usually avoided due to wide temperature swing and outgassing requirement in space environment. The lenses should be designed with exceptional straylight performance and minimum lens flare given intense sun light and lacking of atmosphere scattering in space. Furthermore radiation resistant glasses should be considered to prevent glass darkening from space radiation. Neptec has designed and built a narrow FOV (NFOV) lens and a wide FOV (WFOV) lens for an AR and D visible camera system. The lenses are designed by using ZEMAX program; the straylight performance and the lens baffles are simulated by using TracePro program. This paper discusses general requirements for space AR and D camera lenses and the specific measures for lenses to meet the space environmental requirements.

Rosetta rendezvous and CONSERT operations in 2014: A chimeric surface model of 67P/Churyumov Gerasimenko

NASA Astrophysics Data System (ADS)

Herique, Alain; Lasue, Jéremie; Rogez, Yves; Zine, Sonia; Kofman, Wlodek

2012-07-01

In 2014 the European Space Agency's Rosetta probe will rendezvous with the comet 67P/Churyumov Gerasimenko (67P) and the Philae Lander will land on the surface of the nucleus. Following the landing, the COmet Nucleus Sounding Experiment by Radiowave Transmission (CONSERT) radar will perform the tomography of the nucleus by measuring radiowave propagation through the comet between the Lander and the orbiter. Preparation for these operations, in particular the development and validation of simulation software, requires a shape model of the surface of 67P. The complexity of this model should reflect the environmental conditions that will be found in 2014. In this paper, we show that existing models of 67P are not of a sufficiently high resolution to constitute interesting test cases. Following a review of current shape models for other comets, we propose a composite which is a hybrid of the 67P and 81P/Wild 2 models.

Laparoendoscopic single site (LESS) in vivo suturing using a magnetic anchoring and guidance system (MAGS) camera in a porcine model: impact on ergonomics and workload.

PubMed

Yin, Gang; Han, Woong Kyu; Faddegon, Stephen; Tan, Yung Khan; Liu, Zhuo-Wei; Olweny, Ephrem O; Scott, Daniel J; Cadeddu, Jeffrey A

2013-01-01

To compare the ergonomics and workload of the surgeon during single-site suturing while using the magnetic anchoring and guidance system (MAGS) camera vs a conventional laparoscope. Seven urologic surgeons were enrolled and divided into an expert group (n=2) and a novice group (n=5) according to their laparoendoscopic single-site (LESS) experience. Each surgeon performed 2 conventional LESS and 2 MAGS camera-assisted LESS vesicostomy closures in a porcine model. A Likert scale (scoring 1-5) questionnaire assessing workload, ergonomics, technical difficulty, visualization, and needle handling, as well as a validated National Aeronautics and Space Administration Task Load Index (NASA-TLX) questionnaire were used to evaluate the tasks and workloads. MAGS LESS suturing was universally favored by expert and novice surgeons compared with conventional LESS in workload (3.4 vs 4.2), ergonomics (3.4 vs 4.4), technical challenge (3.3 vs 4.3), visualization (2.4 vs 3.3), and needle handling (3.1 vs 3.9 respectively; P<.05 for all categories). Surgeon NASA-TLX assessments found MAGS LESS suturing significantly decreased the workload in physical demand (P=.004), temporal demand (P=.017), and effort (P=.006). External instrument clashing was significantly reduced in MAGS LESS suturing (P<.001). The total operative time of MAGS LESS suturing was comparable to that of conventional LESS (P=.89). MAGS camera technology significantly decreased surgeon workload and improved ergonomics. Nevertheless, LESS suturing and knot tying remains a challenging task that requires training, regardless of which camera is used. Copyright © 2013 Elsevier Inc. All rights reserved.

Dynamical analysis of rendezvous and docking with very large space infrastructures in non-Keplerian orbits

NASA Astrophysics Data System (ADS)

Colagrossi, Andrea; Lavagna, Michèle

2018-03-01

A space station in the vicinity of the Moon can be exploited as a gateway for future human and robotic exploration of the solar system. The natural location for a space system of this kind is about one of the Earth-Moon libration points. The study addresses the dynamics during rendezvous and docking operations with a very large space infrastructure in an EML2 Halo orbit. The model takes into account the coupling effects between the orbital and the attitude motion in a circular restricted three-body problem environment. The flexibility of the system is included, and the interaction between the modes of the structure and those related with the orbital motion is investigated. A lumped parameter technique is used to represents the flexible dynamics. The parameters of the space station are maintained as generic as possible, in a way to delineate a global scenario of the mission. However, the developed model can be tuned and updated according to the information that will be available in the future, when the whole system will be defined with a higher level of precision.

Fourth Report of the Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1995-01-01

On December 6, 1994, the NASA Administrator, Mr. Daniel Goldin, requested that Lt. Gen. Thomas P. Stafford, in his role as the Chairman of the NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions, lead a team composed of several Task Force members and technical advisors' to Russia with the goal of reviewing preparations and readiness for the upcoming international Space Station Phase 1 missions. In his directions to Gen. Stafford, Mr. Goldin requested that the review team focus its initial efforts on safety of flight issues for the following Phase 1A missions: the Soyuz TM-21 mission which will carry U.S. astronaut Dr. Norman Thagard and cosmonauts Lt. Col. Vladimir Dezhurov and Mr. Gennady Strekalov aboard a Soyuz spacecraft to the Mir Station; the Mir 18 Main Expedition during which Thagard and his fellow cosmonauts, Dezhurov and Strokalov, will spend approximately three months aboard the Mir Station; the STS-71 Space Shuttle mission which will perform the first Shuttle-Mir docking, carry cosmonauts Col. Anatoly SoloViev and Mr. Nikolai Budarin to the Mir Station, and return Thagard, Dezhurov, and Strekalov to Earth.

The Space Operations Simulation Center (SOSC) and Closed-Loop Hardware Testing for Orion Rendezvous System Design

NASA Technical Reports Server (NTRS)

Milenkovic, Zoran; DSouza, Christopher; Huish, David; Bendle, John; Kibler, Angela

2012-01-01

The exploration goals of Orion / MPCV Project will require a mature Rendezvous, Proximity Operations and Docking (RPOD) capability. Ground testing autonomous docking with a next-generation sensor such as the Vision Navigation Sensor (VNS) is a critical step along the path of ensuring successful execution of autonomous RPOD for Orion. This paper will discuss the testing rationale, the test configuration, the test limitations and the results obtained from tests that have been performed at the Lockheed Martin Space Operations Simulation Center (SOSC) to evaluate and mature the Orion RPOD system. We will show that these tests have greatly increased the confidence in the maturity of the Orion RPOD design, reduced some of the latent risks and in doing so validated the design philosophy of the Orion RPOD system. This paper is organized as follows: first, the objectives of the test are given. Descriptions of the SOSC facility, and the Orion RPOD system and associated components follow. The details of the test configuration of the components in question are presented prior to discussing preliminary results of the tests. The paper concludes with closing comments.

The Ion Propulsion System on NASA's Space Technology 4/Champollion Comet Rendezvous Mission

NASA Technical Reports Server (NTRS)

Brophy, John R.; Garner, Charles E.; Weiss, Jeffery M.

1999-01-01

The ST4/Champollion mission is designed to rendezvous with and land on the comet Tempel 1 and return data from the first-ever sampling of a comet surface. Ion propulsion is an enabling technology for this mission. The ion propulsion system on ST4 consists of three ion engines each essentially identical to the single engine that flew on the DS1 spacecraft. The ST4 propulsion system will operate at a maximum input power of 7.5 kW (3.4 times greater than that demonstrated on DS1), will produce a maximum thrust of 276 mN, and will provide a total (Delta)V of 11.4 km/s. To accomplish this the propulsion system will carry 385 kg of xenon. All three engines will be operated simultaneously for the first 168 days of the mission. The nominal mission requires that each engine be capable of processing 118 kg. If one engine fails after 168 days, the remaining two engines can perform the mission, but must be capable of processing 160 kg of xenon, or twice the original thruster design requirement. Detailed analyses of the thruster wear-out failure modes coupled with experience from long-duration engine tests indicate that the thrusters have a high probability of meeting the 160-kg throughput requirement.

An overview of autonomous rendezvous and docking system technology development at General Dynamics

NASA Technical Reports Server (NTRS)

Kuenzel, Fred

1991-01-01

The Centaur avionics suite is undergoing a dramatic modernization for the commercial, DoD Atlas and Titan programs. The system has been upgraded to the current state-of-the-art in ring laser gyro inertial sensors and Mil-Std-1750A processor technology. The Cruise Missile avionic system has similarly been evolving for many years. Integration of GPS into both systems has been underway for over five years with a follow-on cruise missile system currently in flight test. Rendezvous and Docking related studies have been conducted for over five years in support of OMV, CTV, and Advanced Upper Stages, as well as several other internal IR&D's. The avionics system and AR&D simulator demonstrated to the SATWG in November 1990 has been upgraded considerably under two IR&D programs in 1991. The Centaur modern avionics system is being flown in block upgrades which started in July of 1990. The Inertial Navigation Unit will fly in November of 1991. The Cruise Missile avionics systems have been fully tested and operationally validated in combat. The integrated AR&D system for space vehicle applications has been under development and testing since 1990. A Joint NASA / GD ARD&L System Test Program is currently being planned to validate several aspects of system performance in three different NASA test facilities in 1992.

Laser-supported diaphanoscopy: an innovative technique for locating gastric stromal tumors in gastroscopic-laparoscopic rendezvous: a case series.

PubMed

Patrzyk, M; Schreiber, A; Heidecke, C D; Glitsch, A

2009-12-01

Development of an innovative method of endoscopic laser-supported diaphanoscopy, for precise demonstration of the location of gastrointestinal stromal tumors (GISTs) at laparoscopy is described. The equipment consists of a light transmission cable with an anchoring system for the gastric mucosa, a connecting system for the light source, and the laser light source itself. During surgery, transillumination by laser is used to show the shape of the tumor. The resection margins are then marked by electric coagulation. Ten patients have been successfully treated using this technique in laparoscopic-endoscopic rendezvous procedures. Average time of surgery was 123 minutes. The time for marking the shape of the tumor averaged 16 minutes. Depending on tumor location and size, 4-7 marks were used, and resection margins were 4-15 mm. This new and effective technique facilitates precise locating of gastric GISTs leading to exact and tissue-sparing transmural laparoscopic resections. Georg Thieme Verlag KG Stuttgart New York.

Comparison of surgical effect and postoperative patient experience between laparoendoscopic single-site and conventional laparoscopic varicocelectomy: a systematic review and meta-analysis

PubMed Central

Zhang, Zheng; Zheng, Shu-Juan; Yu, Wen; Han, You-Feng; Chen, Hai; Chen, Yun; Dai, Yu-Tian

2017-01-01

The present meta-analysis was conducted to compare the clinical effect and patient experience of laparoendoscopic single-site varicocelectomy (LESSV) and conventional laparoscopic varicocelectomy. The candidate studies were included after literature search of database Cochrane Library, PubMed, EMBASE, and MEDLINE. Related information on essential data and outcome measures was extracted from the eligible studies by two independent authors, and a meta-analysis was conducted using STATA 12.0 software. Subgroup analyses were conducted by study design (RCT and non-RCT). The odds ratio (OR) or standardized mean difference (SMD) and their 95% confidence intervals (95% CIs) were used to estimate the outcome measures. Seven articles were included in our meta-analysis. The results indicated that patient who had undergone LESSV had a shorter duration of back to work (overall: SMD = −1.454, 95% CI: −2.502–−0.405, P = 0.007; non-RCT: SMD = −2.906, 95% CI: −3.796–−2.017, P = 0.000; and RCT: SMD = −0.841, 95% CI: −1.393–−0.289, P = 0.003) and less pain experience at 3 h or 6 h (SMD = −0.447, 95% CI: −0.754–−0.139, P = 0.004), day 1 (SMD = −0.477, 95% CI: −0.905–−0.05, P = 0.029), and day 2 (SMD = −0.612, 95% CI: −1.099–−0.125, P = 0.014) postoperatively based on RCT studies. However, the meta-analyses based on operation time, clinical effect (improvement of semen quality and scrotal pain relief), and complications (hydrocele and recurrence) yielded nonsignificant results. In conclusion, LESSV had a rapid recovery and less pain experience over conventional laparoscopic varicocelectomy. However, there was no statistically significant difference between the two varicocelectomy techniques in terms of the clinical effect and the incidence of hydrocele and varicocele recurrence. More high-quality studies are warranted for a comprehensive conclusion. PMID:27212128

Coherent Doppler lidar for automated space vehicle, rendezvous, station-keeping and capture

NASA Technical Reports Server (NTRS)

Dunkin, James A.

1991-01-01

Recent advances in eye-safe, short wavelength solid-state lasers offer real potential for the development of compact, reliable, light-weight, efficient coherent lidar. Laser diode pumping of these devices has been demonstrated, thereby eliminating the need for flash lamp pumping, which has been a major drawback to the use of these lasers in space based applications. Also these lasers now have the frequency stability required to make them useful in coherent lidar, which offers all of the advantages of non-coherent lidar, but with the additional advantage that direct determination of target velocity is possible by measurement of the Doppler shift. By combining the Doppler velocity measurement capability with the inherent high angular resolution and range accuracy of lidar it is possible to construct Doppler images of targets for target motion assessment. A coherent lidar based on a Tm,Ho:YAG 2-micrometer wavelength laser was constructed and successfully field tested on atmospheric targets in 1990. This lidar incorporated an all solid state (laser diode pumped) master oscillator, in conjunction with a flash lamp pumped slave oscillator. Solid-state laser technology is rapidly advancing, and with the advent of high efficiency, high power, semiconductor laser diodes as pump sources, all-solid-state, coherent lidars are a real possibility in the near future. MSFC currently has a feasibility demonstration effort under way which will involve component testing, and preliminary design of an all-solid-state, coherent lidar for automatic rendezvous, and capture. This two year effort, funded by the Director's Discretionary Fund is due for completion in 1992.

Cometary exploration in the shuttle era

NASA Technical Reports Server (NTRS)

Farquhar, R. W.; Wooden, W. H., II

1978-01-01

A comprehensive program plan for cometary exploration in the 1980-2000 time frame is proposed. Plans for ground-based observations, a Spacelab cometary observatory, and the Space Telescope are included in the observational program. The cometary mission sequence begins with a dual-spacecraft flyby of Halley's comet. The nominal mission strategy calls for a simultaneous launch of two spacecraft towards an intercept with Halley in March 1986. After the Halley encounter, the spacecraft are retargeted: one to intercept comet Borrelly in January 1988 and the other to intercept comet Tempel-2 in September 1988. The additional cometary intercepts are accomplished by utilizing a novel Earth-swingby technique. The next mission in the cometary program plan, a rendezvous with Encke's comet, is scheduled for launch in early 1990. It is planned to rendezvous with Encke in September 1992 at a heliocentric distance of 4 AU. Following this near-aphelion rendezvous, the spacecraft will remain with with Encke through the next two perihelion passages in February 1994 and May 1997. The rendezvous mission will be terminated about seven months after the second perihelion passage.

Prospective randomized controlled trial of conventional laparoscopic versus laparoendoscopic single-site radical nephrectomy for localized renal cell carcinoma: a preliminary report regarding quality of life.

PubMed

Park, Yong Hyun; Kim, Kwang Taek; Ko, Kyungtae; Kim, Hyeon Hoe

2015-03-01

The safety and efficacy of laparoendoscopic single-site surgery (LESS) for renal cell carcinoma (RCC) have not been clearly demonstrated. We aimed to present preliminary data from a prospective randomized controlled trial of LESS versus conventional laparoscopic radical nephrectomy for localized RCC. Patients with cT1-2 RCC were randomized to LESS (n = 17) or conventional laparoscopy (n = 18) group. The short-term outcome measures assessed were perioperative morbidity, postoperative pain, and quality of recovery as determined using QoR-40. No significant differences were observed between the LESS and conventional laparoscopy groups with respect to operative time (143.5 vs. 126.1 min, p = 0.218), blood loss (143.6 vs. 118.2 ml, p = 0.121), hospital stay (3.8 vs. 3.1 day s, p = 0.170), analgesic requirements (63.2 vs. 60.0 mg, p = 0.956), and complication rates (26.7 vs. 22.2 %, p = 0.767). However, postoperative quality of recovery was better in the LESS group (176.4 vs. 152.6, p = 0.005). Furthermore, quality of recovery, as measured using the QoR-40 dimensions of emotional state (39.9 vs. 34.0, p = 0.003), physical comfort (51.9 vs. 46.7, p = 0.034), psychological support (32.2 vs. 25.8, p = 0.003), and physical independence (20.7 vs. 17.5, p = 0.047), but not pain (31.8 vs. 29.6, p = 0.259), was significantly better in the LESS group. The preliminary results from this prospective trial suggest that LESS could be a safe and effective treatment option for localized RCC with equivalent surgical outcomes and improved postoperative quality of recovery compared with conventional laparoscopic surgery.

The Space Operations Simulation Center (SOSC) and Closed-loop Hardware Testing for Orion Rendezvous System Design

NASA Technical Reports Server (NTRS)

D'Souza, Christopher; Milenkovich, Zoran; Wilson, Zachary; Huich, David; Bendle, John; Kibler, Angela

2011-01-01

The Space Operations Simulation Center (SOSC) at the Lockheed Martin (LM) Waterton Campus in Littleton, Colorado is a dynamic test environment focused on Autonomous Rendezvous and Docking (AR&D) development testing and risk reduction activities. The SOSC supports multiple program pursuits and accommodates testing Guidance, Navigation, and Control (GN&C) algorithms for relative navigation, hardware testing and characterization, as well as software and test process development. The SOSC consists of a high bay (60 meters long by 15.2 meters wide by 15.2 meters tall) with dual six degree-of-freedom (6DOF) motion simulators and a single fixed base 6DOF robot. The large testing area (maximum sensor-to-target effective range of 60 meters) allows for large-scale, flight-like simulations of proximity maneuvers and docking events. The facility also has two apertures for access to external extended-range outdoor target test operations. In addition, the facility contains four Mission Operations Centers (MOCs) with connectivity to dual high bay control rooms and a data/video interface room. The high bay is rated at Class 300,000 (. 0.5 m maximum particles/m3) cleanliness and includes orbital lighting simulation capabilities.

Microgravity experiments of nano-satellite docking mechanism for final rendezvous approach and docking phase

NASA Astrophysics Data System (ADS)

Ui, Kyoichi; Matunaga, Saburo; Satori, Shin; Ishikawa, Tomohiro

2005-09-01

Laboratory for Space Systems (LSS), Tokyo Institute of Technology (Tokyo Tech) conducted three-dimensional microgravity environment experiments about a docking mechanism for mothership-daughtership (MS-DS) nano-satellite using the facility of Japan Micro Gravity Center (JAMIC) with Hokkaido Institute of Technology (HIT). LSS has studied and developed a docking mechanism for MS-DS nano-satellite system in final rendezvous approach and docking phase since 2000. Consideration of the docking mechanism is to mate a nano-satellite stably while remaining control error of relative velocity and attitude because it is difficult for nano-satellite to have complicated attitude control and mating systems. Objective of the experiments is to verify fundamental grasping function based on our proposed docking methodology. The proposed docking sequence is divided between approach/grasping phase and guiding phase. In the approach/grasping phase, the docking mechanism grasps the nano-satellite even though the nano-satellite has relative position and attitude control errors as well as relative velocity in a docking space. In the guiding function, the docking mechanism guides the nano-satellite to a docking port while adjusting its attitude in order to transfer electrical power and fuel to the nano-satellite. In the paper, we describe the experimental system including the docking mechanism, control system, the daughtership system and the release mechanism, and describe results of microgravity experiments in JAMIC.

A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks.

PubMed

Vajdi, Ahmadreza; Zhang, Gongxuan; Zhou, Junlong; Wei, Tongquan; Wang, Yongli; Wang, Tianshu

2018-05-04

We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs) for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs) in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP). Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach.

A New Path-Constrained Rendezvous Planning Approach for Large-Scale Event-Driven Wireless Sensor Networks

PubMed Central

Zhang, Gongxuan; Wang, Yongli; Wang, Tianshu

2018-01-01

We study the problem of employing a mobile-sink into a large-scale Event-Driven Wireless Sensor Networks (EWSNs) for the purpose of data harvesting from sensor-nodes. Generally, this employment improves the main weakness of WSNs that is about energy-consumption in battery-driven sensor-nodes. The main motivation of our work is to address challenges which are related to a network’s topology by adopting a mobile-sink that moves in a predefined trajectory in the environment. Since, in this fashion, it is not possible to gather data from sensor-nodes individually, we adopt the approach of defining some of the sensor-nodes as Rendezvous Points (RPs) in the network. We argue that RP-planning in this case is a tradeoff between minimizing the number of RPs while decreasing the number of hops for a sensor-node that needs data transformation to the related RP which leads to minimizing average energy consumption in the network. We address the problem by formulating the challenges and expectations as a Mixed Integer Linear Programming (MILP). Henceforth, by proving the NP-hardness of the problem, we propose three effective and distributed heuristics for RP-planning, identifying sojourn locations, and constructing routing trees. Finally, experimental results prove the effectiveness of our approach. PMID:29734718

Early Program Development

NASA Image and Video Library

1961-05-01

This artist's concept illustrates the Module Nova concept - Solid C-3 Basis. From 1960 to 1962, the Marshall Space Flight Center considered the Nova launch vehicle as a means to achieve a marned lunar landing with a direct flight to the Moon. Various configurations of the vehicle were examined. The latest configuration was a five-stage vehicle using eight F-1 engines in the first stage. Although the program was canceled after NASA planners selected the lunar/orbital rendezvous mode, the proposed F-1 engine would eventually be used in the Apollo Program to propel the first stage of the Saturn V launch vehicle.

Early Program Development

NASA Image and Video Library

1961-11-01

This artist's concept illustrates the Module Nova concept - Solid C-3 Basis. From 1960 to 1962, the Marshall Space Flight Center considered the Nova launch vehicle as a means to achieve a marned lunar landing with a direct flight to the Moon. Various configurations of the vehicle were examined. The latest configuration was a five-stage vehicle using eight F-1 engines in the first stage. Although the program was canceled after NASA planners selected the lunar/orbital rendezvous mode, the proposed F-1 engine would eventually be used in the Apollo Program to propel the first stage of the Saturn V launch vehicle.

Coordinated Radio, Electron, and Waves Experiment (CREWE) for the NASA Comet Rendezvous and Asteroid Flyby (CRAF) instrument

NASA Technical Reports Server (NTRS)

Scudder, Jack D.

1992-01-01

The Coordinated Radio, Electron, and Waves Experiment (CREWE) was designed to determine density, bulk velocity and temperature of the electrons for the NASA Comet Rendezvous and Asteroid Flyby Spacecraft, to define the MHD-SW IMF flow configuration; to clarify the role of impact ionization processes, to comment on the importance of anomalous ionization phenomena (via wave particle processes), to quantify the importance of wave turbulence in the cometary interaction, to establish the importance of photoionization via the presence of characteristic lines in a structured energy spectrum, to infer the presence and grain size of significant ambient dust column density, to search for the theoretically suggested 'impenetrable' contact surface, and to quantify the flow of heat (in the likelihood that no surface exists) that will penetrate very deep into the atmosphere supplying a good deal of heat via impact and charge exchange ionization. This final report provides an instrument description, instrument test plans, list of deliverables/schedule, flight and support equipment and software schedule, CREWE accommodation issues, resource requirements, status of major contracts, an explanation of the non-NASA funded efforts, status of EIP and IM plan, descope options, and Brinton questions.

Endoscopic Ultrasound-guided Rendezvous Technique after Failed Endoscopic Retrograde Cholangiopancreatography: Which Approach Route Is the Best?

PubMed Central

Okuno, Nozomi; Hara, Kazuo; Mizuno, Nobumasa; Hijioka, Susumu; Tajika, Masahiro; Tanaka, Tsutomu; Ishihara, Makoto; Hirayama, Yutaka; Onishi, Sachiyo; Niwa, Yasumasa; Yamao, Kenji

2017-01-01

Objective The endoscopic ultrasound-guided rendezvous technique (EUS-RV) is a salvage method for failed selective biliary cannulation. Three puncture routes have been reported, with many comparisons between the intra-hepatic and extra-hepatic biliary ducts. We used the trans-esophagus (TE) and trans-jejunum (TJ) routes. In the present study, the utility of EUS-RV for biliary access was evaluated, focusing on the approach routes. Methods and Patients In 39 patients, 42 puncture routes were evaluated in detail. EUS-RV was performed between January 2010 and December 2014. The patients were prospectively enrolled, and their clinical data were retrospectively collected. Results The patients' median age was 71 (range 29-84) years. The indications for endoscopic retrograde cholangiopancreatography (ERCP) were malignant biliary obstruction in 24 patients and benign biliary disease in 15. The technical success rate was 78.6% (33/42) and was similar among approach routes (p=0.377). The overall complication rate was 16.7% (7/42) and was similar among approach routes (p=0.489). However, mediastinal emphysema occurred in 2 TE route EUS-RV patients. No EUS-RV-related deaths occurred. Conclusion EUS-RV proved reliable after failed ERCP. The selection of the appropriate route based on the patient's condition is crucial. PMID:28943555

Early Program Development

NASA Image and Video Library

1962-04-01

In this 1962 artist's concept , a proposed Nova rocket, shown at right, is compared to a Saturn C-1, left, and a Saturn C-5, center. The Marshall Space Flight Center directed studies of Nova configuration from 1960 to 1962 as a means of achieving a marned lunar landing with a direct flight to the Moon. Various configurations of the vehicle were examined, the largest being a five-stage vehicle using eight F-1 engines in the first stage. Although the program was effectively cancelled in 1962 when NASA planners selected the lunar-orbital rendezvous mode, the proposed F-1 engine was eventually used to propel the first stage of the Saturn V launch vehicle in the Apollo Program.

The First Joint Report of the General Thomas P. Stafford Task Force and the Academician Vladimir F. Utkin Advisory Expert Council on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1996-01-01

In October 1992, the National Aeronautics and Space Administration (NASA) and the Russian Space Agency (RSA) formally agreed to conduct a fundamentally new program of human cooperation in space. The 'Shuttle-Mir Program' encompassed combined astronaut-cosmonaut activities on the Shuttle, Soyuz Test Module(TM), and Mir station spacecraft. At that time, NASA and RSA limited the project to: the STS-60 mission carrying the first Russian cosmonaut to fly on the U.S. Space Shuttle; the launch of the first U.S. astronaut on the Soyuz vehicle for a multi-month mission as a member of a Mir crew; and the change-out of the U.S.-Russian Mir crews with a Russian crew during a Shuttle rendezvous and docking mission with the Mir Station. The objectives of the Phase 1 Program are to provide the basis for the resolution of engineering and technical problems related to the implementation of the ISS and future U.S.-Russian cooperation in space. This, combined with test data generated during the course of the Shuttle flights to the Mir station and extended joint activities between U.S. astronauts and Russian cosmonauts aboard Mir, is expected to reduce the technical risks associated with the construction and operation of the ISS. Phase 1 will further enhance the ISS by combining space operations and joint space technology demonstrations. Phase 1 also provides early opportunities for extended U.S. scientific and research activities, prior to utilization of the ISS.

Rendezvous with Toutatis from the Moon: The Chang'e-2 mission

NASA Astrophysics Data System (ADS)

Huang, J.; Tang, X.; Meng, L.

2014-07-01

Chang'e-2 probe was the second lunar probe of China, with the main objectives to demonstrate some key features of the new lunar soft landing technology, and its applications to future exploration missions. After completing the planned mission successfully, Chang'e-2 flew away from the Moon and entered into the interplanetary space. Later, at a distance of 7 million km from the Earth, Chang'e-2 encountered asteroid (4179) Toutatis with a very close fly-by distance and obtained colorful images with a 3-m resolution. Given some surplus velocity increment as well as the promotion of autonomous flight ability and improvement of control, propulsion, and thermal systems in the initial design, Chang'e-2 had the capabilities necessary for escaping from the Moon. By taking advantage of the unique features of the Lagrangian point, the first close fly-by of asteroid Toutatis was realized despite the tight constraints of propellant allocation, spacecraft-Earth communication, and coordination of execution sequences. Chang'e-2 realized the Toutatis flyby with a km-level distance at closest approach. In the absence of direct measurement method, based on the principle of relative navigation and through the use of the sequence of target images, we calculated the rendezvous parameters such as relative distance and image resolution. With the help of these parameters, some fine and new scientific discoveries about the asteroid were obtained by techniques of optical measurements and image processing. Starting with an innovative design, followed by high-fidelity testing and demonstration, elaborative implementation, and optimal usage of residual propellant, Chang'e-2 has for the first time successfully explored the Moon, L2 point and an asteroid, while achieving the purpose of 'faster, better, cheaper'. What Chang'e-2 has accomplished was far beyond our expectations. *J. Huang is the chief designer (PI) of Chang'e-2 probe, planned Chang'e-2's multi-objective and multitasking exploration

Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

NASA Astrophysics Data System (ADS)

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Ren, Yongjie; Guo, Siyang; Zhu, Jigui

2018-04-01

In this paper we present a novel omnidirectional angle constraint based method for dynamic 6-DOF (six-degree-of-freedom) measurement. A photoelectric scanning measurement network is employed whose photoelectric receivers are fixed on the measured target. They are in a loop distribution and receive signals from rotating transmitters. Each receiver indicates an angle constraint direction. Therefore, omnidirectional angle constraints can be constructed in each rotation cycle. By solving the constrained optimization problem, 6-DOF information can be obtained, which is independent of traditional rigid coordinate system transformation. For the dynamic error caused by the measurement principle, we present an interpolation method for error reduction. Accuracy testing is performed in an 8  ×  8 m measurement area with four transmitters. The experimental results show that the dynamic orientation RMSEs (root-mean-square errors) are reduced from 0.077° to 0.044°, 0.040° to 0.030° and 0.032° to 0.015° in the X, Y, and Z axes, respectively. The dynamic position RMSE is reduced from 0.65 mm to 0.24 mm. This method is applied during the final approach phase in the rendezvous and docking simulation. Experiments under different conditions are performed in a 40  ×  30 m area, and the method is verified to be effective.

Comparison of transhepatic and extrahepatic routes for EUS-guided rendezvous procedure for distal CBD obstruction.

PubMed

Dhir, Vinay; Bhandari, Suryaprakash; Bapat, Mukta; Joshi, Nitin; Vivekanandarajah, Suhirdan; Maydeo, Amit

2013-04-01

EUS-guided rendezvous procedure (EUS-RV) can be done by the transhepatic (TH) or the extrahepatic (EH) route. There is no data on the preferred access route when both routes are available. To compare the success, complications, and duration of hospitalization for patients undergoing EUS-RV by the TH or the EH route. Patients with distal common bile duct (CBD) obstruction, who failed selective cannulation, underwent EUS-RV by the TH route through the stomach or the EH route through the duodenum. A total of 35 patients were analysed (17 TH, 18 EH). The mean procedure time was significantly longer for the TH group (34.4 vs. 25.7 min; p = 0.0004). There was no difference in the technical success (94.1 vs. 100%). However, the TH group had a higher incidence of post-procedure pain (44.1 vs. 5.5%; p = 0.017), bile leak (11.7 vs. 0; p = 0.228), and air under diaphragm (11.7 vs. 0; p = 0.228). All bile leaks were small and managed conservatively. Duration of hospitalization was significantly higher for the TH group (2.52 vs. 0.17 days; p = 0.015). EUS-RV has similar success rate by the TH or the EH route. However, the TH route has higher post-procedure pain, longer procedure time, and longer duration of hospitalization. The EH route should be preferred for EUS-RV in patients with distal CBD obstruction when both access routes are technically feasible.

Proximity Operations for Space Situational Awareness Spacecraft Rendezvous and Maneuvering using Numerical Simulations and Fuzzy Logic

NASA Astrophysics Data System (ADS)

Carrico, T.; Langster, T.; Carrico, J.; Alfano, S.; Loucks, M.; Vallado, D.

The authors present several spacecraft rendezvous and close proximity maneuvering techniques modeled with a high-precision numerical integrator using full force models and closed loop control with a Fuzzy Logic intelligent controller to command the engines. The authors document and compare the maneuvers, fuel use, and other parameters. This paper presents an innovative application of an existing capability to design, simulate and analyze proximity maneuvers; already in use for operational satellites performing other maneuvers. The system has been extended to demonstrate the capability to develop closed loop control laws to maneuver spacecraft in close proximity to another, including stand-off, docking, lunar landing and other operations applicable to space situational awareness, space based surveillance, and operational satellite modeling. The fully integrated end-to-end trajectory ephemerides are available from the authors in electronic ASCII text by request. The benefits of this system include: A realistic physics-based simulation for the development and validation of control laws A collaborative engineering environment for the design, development and tuning of spacecraft law parameters, sizing actuators (i.e., rocket engines), and sensor suite selection. An accurate simulation and visualization to communicate the complexity, criticality, and risk of spacecraft operations. A precise mathematical environment for research and development of future spacecraft maneuvering engineering tasks, operational planning and forensic analysis. A closed loop, knowledge-based control example for proximity operations. This proximity operations modeling and simulation environment will provide a valuable adjunct to programs in military space control, space situational awareness and civil space exploration engineering and decision making processes.

Preflight SL-1/SL-3 Skylab VHF ranging coverage (nominal TPI). Antenna and propagation studies for spacecraft systems, task E-531

NASA Technical Reports Server (NTRS)

Eisenhauer, D. R.; James, D. A.

1973-01-01

A preflight assessment of the Skylab VHF ranging coverage for the rendezvous portion of the nominal SL-1/SL-3 mission is reported, assuming a 27 July 1973 SL-3 launch. Data are based on a nominal attitude trajectory, which has the Saturn workshop in a solar inertial attitude throughout the rendezvous; the CSM terminal phase initiation maneuver is nominal. An addendum to this report is being prepared, which considers the effects of early and late TPI maneuvers. Curves are presented which show the variation in received power levels on both spacecraft-to-spacecraft links from about 600 n.mi. range to CSM and SWS station keeping. Appropriate threshold levels are shown on these received power curves to indicate zero circuit margins for the ranging function.

Relationship between automation trust and operator performance for the novice and expert in spacecraft rendezvous and docking (RVD).

PubMed

Niu, Jianwei; Geng, He; Zhang, Yijing; Du, Xiaoping

2018-09-01

Operator trust in automation is a crucial factor influencing its use and operational performance. However, the relationship between automation trust and performance remains poorly understood and requires further investigation. The objective of this paper is to explore the difference in trust and performance on automation-aided spacecraft rendezvous and docking (RVD) between the novice and the expert and to investigate the relationship between automation trust and performance as well. We employed a two-factor mixed design, with training skill (novice and expert) and automation mode (manual RVD and automation aided RVD) serving as the two factors. Twenty participants, 10 novices and 10 experts, were recruited to conduct six RVD tasks for two automation levels. After the tasks, operator performance was recorded by the desktop hand-held docking training equipment. Operator trust was also measured by a 12-items questionnaire at the beginning and end of each trial. As a result, automation narrowed the performance gap significantly between the novice and the expert, and the automation trust showed a marginally significant difference between the novice and the expert. Furthermore, the result demonstrated that the attitude angle control error of the expert was related to the total trust score, whereas other automation performance indicators were not related to the total score of trust. However, automation performance was related to the dimensions of trust, such as entrust, harmful, and dependable. Copyright © 2018 Elsevier Ltd. All rights reserved.

NASA's Automated Rendezvous and Docking/Capture Sensor Development and Its Applicability to the GER

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Cryan, Scott; DSouza, Christopher; Strube, Matthew

2014-01-01

This paper will address how a common Automated Rendezvous and Docking/Capture (AR&D/C) sensor suite can support Global Exploration Roadmap (GER) missions, and discuss how the model of common capability development to support multiple missions can enable system capability level partnerships and further GER objectives. NASA has initiated efforts to develop AR&D/C sensors, that are directly applicable to GER. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. NASA's AR&D/C sensor development path could benefit the International Exploration Coordination Group (ISECG) and support the GER mission scenario by providing a common sensor suite upon which GER objectives could be achieved while

Society of Laparoendoscopic Surgeons

MedlinePlus

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Shuttle OFT Level C navigation requirements

NASA Technical Reports Server (NTRS)

1980-01-01

Detailed requirements for the orbital operations computer loads, OPS 2, and OPS 8 are given. These requirements represent the total on-orbit/rendezvous navigation baseline requirements for the following principal functions: on-orbital/rendezvous navigation sequencer; on-orbit/rendezvous UPP sequencer; on-orbit rendezvous navigation; on-orbit prediction; on-orbit user parameter processing; and landing Site update.

A Proposed Strategy for the U.S. to Develop and Maintain a Mainstream Capability Suite ("Warehouse") for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje S.; Stillwater, Ryan A.; Babula, Maria; Moreau, Michael C.; Riedel, J. Ed; Mrozinski, Richard B.; Bradley, Arthur; Bryan, Thomas C.

2012-01-01

The ability of space assets to rendezvous and dock/capture/berth is a fundamental enabler for numerous classes of NASA fs missions, and is therefore an essential capability for the future of NASA. Mission classes include: ISS crew rotation, crewed exploration beyond low-Earth-orbit (LEO), on-orbit assembly, ISS cargo supply, crewed satellite servicing, robotic satellite servicing / debris mitigation, robotic sample return, and robotic small body (e.g. near-Earth object, NEO) proximity operations. For a variety of reasons to be described, NASA programs requiring Automated/Autonomous Rendezvous and Docking/Capture/Berthing (AR&D) capabilities are currently spending an order-of-magnitude more than necessary and taking twice as long as necessary to achieve their AR&D capability, "reinventing the wheel" for each program, and have fallen behind all of our foreign counterparts in AR&D technology (especially autonomy) in the process. To ensure future missions' reliability and crew safety (when applicable), to achieve the noted cost and schedule savings by eliminate costs of continually "reinventing the wheel ", the NASA AR&D Community of Practice (CoP) recommends NASA develop an AR&D Warehouse, detailed herein, which does not exist today. The term "warehouse" is used herein to refer to a toolbox or capability suite that has pre-integrated selectable supply-chain hardware and reusable software components that are considered ready-to-fly, low-risk, reliable, versatile, scalable, cost-effective, architecture and destination independent, that can be confidently utilized operationally on human spaceflight and robotic vehicles over a variety of mission classes and design reference missions, especially beyond LEO. The CoP also believes that it is imperative that NASA coordinate and integrate all current and proposed technology development activities into a cohesive cross-Agency strategy to produce and utilize this AR&D warehouse. An initial estimate indicates that if NASA

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Cryan, Scott; Zipay, John; Strube, Matthew

2015-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a threedimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

2015-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR and D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR and D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR and D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a threedimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR and D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

2016-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion spacecraft. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build-time instead of at design-time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal non-recurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current

Main-belt asteroid exploration - Mission options for the 1990s

NASA Technical Reports Server (NTRS)

Yen, Chen-Wan L.

1989-01-01

An extensive investigation of the ways to rendezvous with diverse groups of asteroids residing between 2.0 and 5.0 AU is made, and the extent of achievable missions using the STS upper-stage launch vehicles (IUS 2-Stage/Star-48 or NASA Centaur) is examined. With judicious use of earth, Mars, and Jupiter gravity assists, rendezvous with some asteroids in all regions of space is possible. It is also shown that the STS upper stages are capable of carrying out missions beyond a single rendezvous, namely with several flybys and/or multiple rendezvous.

Imaging lidar technology: development of a 3D-lidar elegant breadboard for rendezvous and docking, test results, and prospect to future sensor application

NASA Astrophysics Data System (ADS)

Moebius, B.; Pfennigbauer, M.; Pereira do Carmo, J.

2017-11-01

During the previous 15 years, Rendezvous and Docking Sensors (RVS) were developed, manufactured and qualified. In the mean time they were successfully applied in some space missions: For automatic docking of the European ATV "Jules Verne" on the International Space Station in 2008; for automatic berthing of the first Japanese HTV in 2009, and even the precursor model ARP-RVS for measurements during Shuttle Atlantis flights STS-84 and STS-86 to the MIR station. Up to now, about twenty RVS Flight Models for application on ATV, HTV and the American Cygnus Spacecraft were manufactured and delivered to the respective customers. RVS is designed for tracking of customer specific, cooperative targets (i.e. retro reflectors that are arranged in specific geometries). Once RVS has acquired the target, the sensor measures the distance to the target by timeof- flight determination of a pulsed laser beam. Any echo return provokes an interrupt signal and thus the readout of the according encoder positions of the two scan mirrors that represent Azimuth and Elevation measurement direction to the target. [2], [3]. The capability of the RVS for 3D mapping of the scene makes the fully space qualified RVS to be real 3D Lidar sensors; thus they are a sound technical base for the compact 3D Lidar breadboard that was developed in the course of the Imaging Lidar Technology (ILT) project.

Laparoendoscopic Management of Midureteral Strictures

PubMed Central

Komninos, Christos; Koo, Kyo Chul

2014-01-01

The incidence of ureteral strictures has increased worldwide owing to the widespread use of laparoscopic and endourologic procedures. Midureteral strictures can be managed by either an endoscopic approach or surgical reconstruction, including open or minimally invasive (laparoscopic/robotic) techniques. Minimally invasive surgical ureteral reconstruction is gaining in popularity in the management of midureteral strictures. However, only a few studies have been published so far regarding the safety and efficacy of laparoscopic and robotic ureteral reconstruction procedures. Nevertheless, most of the studies have reported at least equivalent outcomes with the open approach. In general, strictures more than 2 cm, injury strictures, and strictures associated either with radiation or with reduced renal function of less than 25% may be managed more appropriately by minimally invasive surgical reconstruction, although the evidence to establish these recommendations is not yet adequate. Defects of 2 to 3 cm in length may be treated with laparoscopic or robot-assisted uretero-ureterostomy, whereas defects of 12 to 15 cm may be managed either via ureteral reimplantation with a Boari flap or via transuretero-ureterostomy in case of low bladder capacity. Cases with more extended defects can be reconstructed with the incorporation of the ileum in ureteral repair. PMID:24466390

Applications of artificial intelligence V; Proceedings of the Meeting, Orlando, FL, May 18-20, 1987

NASA Technical Reports Server (NTRS)

Gilmore, John F. (Editor)

1987-01-01

The papers contained in this volume focus on current trends in applications of artificial intelligence. Topics discussed include expert systems, image understanding, artificial intelligence tools, knowledge-based systems, heuristic systems, manufacturing applications, and image analysis. Papers are presented on expert system issues in automated, autonomous space vehicle rendezvous; traditional versus rule-based programming techniques; applications to the control of optional flight information; methodology for evaluating knowledge-based systems; and real-time advisory system for airborne early warning.

An Investigation of Multipath Effects on the GPS System During Auto-Rendezvous and Capture

NASA Technical Reports Server (NTRS)

Richie, James E.; Forest, Francis W.

1995-01-01

The proposed use of a Cargo Transport Vehicle (CTV) to carry hardware to the Space Station Freedom (SSF) during the construction phase of the SSF project requires remote maneuvering of the CTV. The CTV is not a manned vehicle. Obtaining the relative positions of the CTV and SSF for remote auto-rendezvous and capture (AR&C) scenarios will rely heavily on the Global Positioning System (GPS). The GPS system is expected to guide the CTV up to a distance of 100 to 300 meters from the SSF. At some point within this range, an optical docking system will take over the remote guidance for capture. During any remote guidance by GPS it is possible that significant multipath signals may be caused by large objects in the vicinity of the module being remotely guided. This could alter the position obtained by the GPS system from the actual position. Due to the nature of the GPS signals, it has been estimated that if the difference in distance between the Line of Sight (LOS) path and the multipath is greater than 300 meters, the GPS system is capable of discriminating between the direct signal and the reflected (or multipath) signal. However, if the path difference is less than 300 meters, one must be concerned. This report details the work accomplished by the Electromagnetic Simulations Laboratory at Marquette University over the period December 1993 to May 1995. This work is an investigation of the strength and phase of a multipath signal arriving at the CTV relative to the direct or line of sight (LOS) signal. The signal originates at a GPS satellite in half geo-stationary orbit and takes two paths to the CTV: (1) the direct or LOS path from the GPS satellite to the CTV; and (2) a scattered path from the GPS satellite to the SSF module and then to the CTV. The scattering from a cylinder has been computed using the physical optics approximation for the current. No other approximations or assumptions have been made including no assumptions regarding the far field or Fresnel field

Lunar Flight Study Series: Volume 8. Earth-Moon Transit Studies Based on Ephemeris Data and Using Best Available Computer Program. Part 3: Analysis of Some Lunar Landing Site Problems Utilizing Two Fundamental Principles

NASA Technical Reports Server (NTRS)

Tucker, W. B.; Hooper, H. L.

1963-01-01

This report presents two fundamental properties of lunar trajectories and makes use of these properties to solve various lunar landing site problems. Not only are various problems treated and solved but the properties and methods are established for use in the solution of other problems. This report presents an analysis of lunar landing site problems utilizing the direct mission mode as well as the orbital mission mode. A particular landing site is then specified and different flight profiles are analyzed for getting an exploration vehicle to that landing site. Rendezvous compatible lunar orbits for various stay-times at the landing site are treated. Launch opportunities are discussed for establishing rendezvous compatible lunar orbits without powered plane changes. Then, the minimum required plane changes for rendezvous in the lunar orbit are discussed for launching from earth on any day. On days that afford rendezvous compatible opportunities, there are no powered plane change requirements in the operations from launch at AMR through the rendezvous in lunar orbit, after the stay at the lunar site.

Spaceflight mechanics, 1993; AAS/AIAA Spaceflight Mechanics Meeting, 3rd, Pasadena, CA, Feb. 22-24, 1993, Parts 1 & 2

NASA Technical Reports Server (NTRS)

Melton, Robert G. (Editor); Wood, Lincoln J. (Editor); Thompson, Roger C. (Editor); Kerridge, Stuart J. (Editor)

1993-01-01

Papers from the third annual Spaceflight Mechanics Meeting are presented. The topics covered include the following: attitude dynamics and control; large flexible structures; intercept and rendezvous; rendezvous and orbit transfer; and trajectory optimization.

Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) Rendezvous Proximity Operations Design and Trade Studies

NASA Astrophysics Data System (ADS)

Griesbach, J.; Westphal, J. J.; Roscoe, C.; Hawes, D. R.; Carrico, J. P.

2013-09-01

The Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) program is to demonstrate rendezvous proximity operations (RPO), formation flying, and docking with a pair of 3U CubeSats. The program is sponsored by NASA Ames via the Office of the Chief Technologist (OCT) in support of its Small Spacecraft Technology Program (SSTP). The goal of the mission is to demonstrate complex RPO and docking operations with a pair of low-cost 3U CubeSat satellites using passive navigation sensors. The program encompasses the entire system evolution including system design, acquisition, satellite construction, launch, mission operations, and final disposal. The satellite is scheduled for launch in Fall 2015 with a 1-year mission lifetime. This paper provides a brief mission overview but will then focus on the current design and driving trade study results for the RPO mission specific processor and relevant ground software. The current design involves multiple on-board processors, each specifically tasked with providing mission critical capabilities. These capabilities range from attitude determination and control to image processing. The RPO system processor is responsible for absolute and relative navigation, maneuver planning, attitude commanding, and abort monitoring for mission safety. A low power processor running a Linux operating system has been selected for implementation. Navigation is one of the RPO processor's key tasks. This entails processing data obtained from the on-board GPS unit as well as the on-board imaging sensors. To do this, Kalman filters will be hosted on the processor to ingest and process measurements for maintenance of position and velocity estimates with associated uncertainties. While each satellite carries a GPS unit, it will be used sparsely to conserve power. As such, absolute navigation will mainly consist of propagating past known states, and relative navigation will be considered to be of greater importance. For relative observations

Study on Performance of Integration Control by Man and Machine in Stage of Final Approaching for Spaceship Rendezvous and Docking

NASA Astrophysics Data System (ADS)

Zhou, Qianxiang; Liu, Zhongqi

With the development of manned space technology, space rendezvous and docking (RVD) technology will play a more and more important role. The astronauts’ participation in a final close period of man-machine combination control is an important way of RVD technology. Spacecraft RVD control involves control problem of a total of 12 degrees of freedom (location) and attitude which it relative to the inertial space the orbit. Therefore, in order to reduce the astronauts’ operation load and reduce the security requirements to the ground station and achieve an optimal performance of the whole man-machine system, it is need to study how to design the number of control parameters of astronaut or aircraft automatic control system. In this study, with the laboratory conditions on the ground, a method was put forward to develop an experimental system in which the performance evaluation of spaceship RVD integration control by man and machine could be completed. After the RVD precision requirements were determined, 26 male volunteers aged 20-40 took part in the performance evaluation experiments. The RVD integration control success rates and total thruster ignition time were chosen as evaluation indices. Results show that if less than three RVD parameters control tasks were finished by subject and the rest of parameters control task completed by automation, the RVD success rate would be larger than eighty-eight percent and the fuel consumption would be optimized. In addition, there were two subjects who finished the whole six RVD parameters control tasks by enough train. In conclusion, if the astronauts' role should be integrated into the RVD control, it was suitable for them to finish the heading, pitch and roll control in order to assure the man-machine system high performance. If astronauts were needed to finish all parameter control, two points should be taken into consideration, one was enough fuel and another was enough long operation time.

Evaluation of a novel, hybrid model (Mumbai EUS II) for stepwise teaching and training in EUS-guided biliary drainage and rendezvous procedures

PubMed Central

Dhir, Vinay; Itoi, Takao; Pausawasdi, Nonthalee; Khashab, Mouen A.; Perez-Miranda, Manuel; Sun, Siyu; Park, Do Hyun; Iwashita, Takuji; Teoh, Anthony Y. B.; Maydeo, Amit P.; Ho, Khek Yu

2017-01-01

Background and aims  EUS-guided biliary drainage (EUS-BD) and rendezvous (EUS-RV) are acceptable rescue options for patients with failed endoscopic retrograde cholangiopancreatography (ERCP). However, there are limited training opportunities at most centers owing to low case volumes. The existing models do not replicate the difficulties encountered during EUS-BD. We aimed to develop and validate a model for stepwise learning of EUS-BD and EUS-RV, which replicates the actual EUS-BD procedures. Methods  A hybrid model was created utilizing pig esophagus and stomach, with a synthetic duodenum and biliary system. The model was objectively assessed on a grade of 1 – 4 by two experts. Twenty-eight trainees were given initial training with didactic lectures and live procedures. This was followed by hands-on training in EUS-BD and EUS-RV on the hybrid model. Trainees were assessed for objective criteria of technical difficulties. Results  Both the experts graded the model as very good or above for all parameters. All trainees could complete the requisite steps of EUS-BD and EUS-RV in a mean time of 11 minutes (8 – 18 minutes). Thirty-six technical difficulties were noted during the training (wrong scope position, 13; incorrect duct puncture, 12; guidewire related problems, 11). Technical difficulties peaked for EUS-RV, followed by hepaticogastrostomy (HGS) and choledochoduodenostomy (CDS) (20, 9, and 7, P  = 0.001). At 10 days follow-up, nine of 28 trainees had successfully performed three EUS-RV and seven EUS-BD procedures independently. Conclusions  The Mumbai EUS II hybrid model replicates situations encountered during EUS-RV and EUS-BD. Stepwise mentoring improves the chances of success in EUS-RV and EUS-BD procedures. PMID:29250585

Evaluation of a novel, hybrid model (Mumbai EUS II) for stepwise teaching and training in EUS-guided biliary drainage and rendezvous procedures.

PubMed

Dhir, Vinay; Itoi, Takao; Pausawasdi, Nonthalee; Khashab, Mouen A; Perez-Miranda, Manuel; Sun, Siyu; Park, Do Hyun; Iwashita, Takuji; Teoh, Anthony Y B; Maydeo, Amit P; Ho, Khek Yu

2017-11-01

 EUS-guided biliary drainage (EUS-BD) and rendezvous (EUS-RV) are acceptable rescue options for patients with failed endoscopic retrograde cholangiopancreatography (ERCP). However, there are limited training opportunities at most centers owing to low case volumes. The existing models do not replicate the difficulties encountered during EUS-BD. We aimed to develop and validate a model for stepwise learning of EUS-BD and EUS-RV, which replicates the actual EUS-BD procedures.  A hybrid model was created utilizing pig esophagus and stomach, with a synthetic duodenum and biliary system. The model was objectively assessed on a grade of 1 - 4 by two experts. Twenty-eight trainees were given initial training with didactic lectures and live procedures. This was followed by hands-on training in EUS-BD and EUS-RV on the hybrid model. Trainees were assessed for objective criteria of technical difficulties.  Both the experts graded the model as very good or above for all parameters. All trainees could complete the requisite steps of EUS-BD and EUS-RV in a mean time of 11 minutes (8 - 18 minutes). Thirty-six technical difficulties were noted during the training (wrong scope position, 13; incorrect duct puncture, 12; guidewire related problems, 11). Technical difficulties peaked for EUS-RV, followed by hepaticogastrostomy (HGS) and choledochoduodenostomy (CDS) (20, 9, and 7, P  = 0.001). At 10 days follow-up, nine of 28 trainees had successfully performed three EUS-RV and seven EUS-BD procedures independently.  The Mumbai EUS II hybrid model replicates situations encountered during EUS-RV and EUS-BD. Stepwise mentoring improves the chances of success in EUS-RV and EUS-BD procedures.

Path scheduling for multiple mobile actors in wireless sensor network

NASA Astrophysics Data System (ADS)

Trapasiya, Samir D.; Soni, Himanshu B.

2017-05-01

In wireless sensor network (WSN), energy is the main constraint. In this work we have addressed this issue for single as well as multiple mobile sensor actor network. In this work, we have proposed Rendezvous Point Selection Scheme (RPSS) in which Rendezvous Nodes are selected by set covering problem approach and from that, Rendezvous Points are selected in a way to reduce the tour length. The mobile actors tour is scheduled to pass through those Rendezvous Points as per Travelling Salesman Problem (TSP). We have also proposed novel rendezvous node rotation scheme for fair utilisation of all the nodes. We have compared RPSS with Stationery Actor scheme as well as RD-VT, RD-VT-SMT and WRP-SMT for performance metrics like energy consumption, network lifetime, route length and found the better outcome in all the cases for single actor. We have also applied RPSS for multiple mobile actor case like Multi-Actor Single Depot (MASD) termination and Multi-Actor Multiple Depot (MAMD) termination and observed by extensive simulation that MAMD saves the network energy in optimised way and enhance network lifetime compared to all other schemes.

SEPS mission and system integration/interface requirements for the space transportation system. [Solar Electric Propulsion System

NASA Technical Reports Server (NTRS)

Cork, M. J.; Barnett, P. M.; Shaffer, J., Jr.; Doran, B. J.

1979-01-01

Earth escape mission requirements on Solar Electric Propulsion System (SEPS), and the interface definition and planned integration between SEPS, user spacecraft, and other elements of the STS. Emphasis is placed on the Comet rendezvous mission, scheduled to be the first SEPS user. Interactive SEPS interface characteristics with spacecraft and mission, as well as the multiple organizations and inter-related development schedules required to integrate the SEPS with spacecraft and STS, require early attention to definition of interfaces in order to assure a successful path to the first SEPS launch in July 1985

The Advanced Video Guidance Sensor: Orbital Express and the Next Generation

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Heaton, Andrew F.; Pinson, Robin M.; Carrington, Connie L.; Lee, James E.; Bryan, Thomas C.; Robertson, Bryan A.; Spencer, Susan H.; Johnson, Jimmie E.

2008-01-01

The Orbital Express (OE) mission performed the first autonomous rendezvous and docking in the history of the United States on May 5-6, 2007 with the Advanced Video Guidance Sensor (AVGS) acting as one of the primary docking sensors. Since that event, the OE spacecraft performed four more rendezvous and docking maneuvers, each time using the AVGS as one of the docking sensors. The Marshall Space Flight Center's (MSFC's) AVGS is a nearfield proximity operations sensor that was integrated into the Autonomous Rendezvous and Capture Sensor System (ARCSS) on OE. The ARCSS provided the relative state knowledge to allow the OE spacecraft to rendezvous and dock. The AVGS is a mature sensor technology designed to support Automated Rendezvous and Docking (AR&D) operations. It is a video-based laser-illuminated sensor that can determine the relative position and attitude between itself and its target. Due to parts obsolescence, the AVGS that was flown on OE can no longer be manufactured. MSFC has been working on the next generation of AVGS for application to future Constellation missions. This paper provides an overview of the performance of the AVGS on Orbital Express and discusses the work on the Next Generation AVGS (NGAVGS).

The Adam language: Ada extended with support for multiway activities

NASA Technical Reports Server (NTRS)

Charlesworth, Arthur

1993-01-01

The Adam language is an extension of Ada that supports multiway activities, which are cooperative activities involving two or more processes. This support is provided by three new constructs: diva procedures, meet statements, and multiway accept statements. Diva procedures are recursive generic procedures having a particular restrictive syntax that facilitates translation for parallel computers. Meet statements and multiway accept statements provide two ways to express a multiway rendezvous, which is an n-way rendezvous generalizing Ada's 2-way rendezvous. While meet statements tend to have simpler rules than multiway accept statements, the latter approach is a more straightforward extension of Ada. The only nonnull statements permitted within meet statements and multiway accept statements are calls on instantiated diva procedures. A call on an instantiated diva procedure is also permitted outside a multiway rendezvous; thus sequential Adam programs using diva procedures can be written. Adam programs are translated into Ada programs appropriate for use on parallel computers.

The Next Generation Advanced Video Guidance Sensor: Flight Heritage and Current Development

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.

2009-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) is the latest in a line of sensors that have flown four times in the last 10 years. The NGAVGS has been under development for the last two years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in "spot mode" out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. This paper presents the flight heritage and results of the sensor technology, some hardware trades for the current sensor, and discusses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the various NGAVGS development units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Multiple main-belt asteroid mission options for a Mariner Mark II spacecraft

NASA Astrophysics Data System (ADS)

Sauer, Carl G., Jr.; Yen, Chen-Wan L.

This paper presents the trajectory options available for a MMII spacecraft mission to asteroids and introduces systematic methods of uncovering attractive mission opportunities. The analysis presented considers multiple synchronous gravity assists of Mars and introduces a terminal resonant or phasing orbit; a concept useful for both increasing the number of asteroid rendezvous targets attainable during a launch opportunity, and also in increasing the number of potential asteroid flybys. Systematic examinations of the requirements for superior asteroidal alignments are made and a comprehensive set of asteroid rendezvous opportunities for the 1998 to 2010 period are presented. Examples of candidate missions involving one or more rendezvous and several flybys are also presented.

Multiple main-belt asteroid mission options for a Mariner Mark II spacecraft

NASA Technical Reports Server (NTRS)

Sauer, Carl G., Jr.; Yen, Chen-Wan L.

1990-01-01

This paper presents the trajectory options available for a MMII spacecraft mission to asteroids and introduces systematic methods of uncovering attractive mission opportunities. The analysis presented considers multiple synchronous gravity assists of Mars and introduces a terminal resonant or phasing orbit; a concept useful for both increasing the number of asteroid rendezvous targets attainable during a launch opportunity, and also in increasing the number of potential asteroid flybys. Systematic examinations of the requirements for superior asteroidal alignments are made and a comprehensive set of asteroid rendezvous opportunities for the 1998 to 2010 period are presented. Examples of candidate missions involving one or more rendezvous and several flybys are also presented.

On-orbit demonstration of automated closure and capture using ESA-developed proximity operations technologies and an existing, serviceable NASA Explorer Platform spacecraft

NASA Technical Reports Server (NTRS)

Hohwiesner, Bill; Claudinon, Bernard

1991-01-01

The European Space Agency (ESA) has been working to develop an autonomous rendezvous and docking capability since 1984 to enable Hermes to automatically dock with Columbus. As a result, ESA with Matra, MBB, and other space companies have developed technologies that are also directly supportive of the current NASA initiative for Automated Rendezvous and Capture. Fairchild and Matra would like to discuss the results of the applicable ESA/Matra rendezvous and capture developments, and suggest how these capabilities could be used, together with an existing NASA Explorer Platform satellite, to minimize new development and accomplish a cost effective automatic closure and capture demonstration program. Several RV sensors have been developed at breadboard level for the Hermes/Columbus program by Matra, MBB, and SAAB. Detailed algorithms for automatic rendezvous, closure, and capture have been developed by ESA and CNES for application with Hermes to Columbus rendezvous and docking, and they currently are being verified with closed-loop software simulation. The algorithms have multiple closed-loop control modes and phases starting at long range using GPS navigation. Differential navigation is used for coast/continuous thrust homing, holdpoint acquisition, V-bar hopping, and station point acquisition. The proximity operation sensor is used for final closure and capture. A subset of these algorithms, comprising the proximity operations algorithms, could easily be extracted and tailored to a limited objective closure and capture flight demonstration.

Planetary mission summaries. Volume 1: Introduction and overview

NASA Technical Reports Server (NTRS)

1974-01-01

Tabular synopses of twelve missions are presented along with the Mariner Jupiter/Saturn 1977 mission for comparison. Mission definitions considered include: Mars Polar Orbiter; Mars Surface Sample Return; Mars Rover; Marine Jupiter/Uranus 1979 with Uranus Entry Probe; Mariner Jupiter Orbiter; Mariner Mercury Orbiter 1978; Early Mariner Comet Flyby Solar Electric Encke Slow Flyby; Mariner Encke Ballistic Flyby; Solar Electric Encke Rendezvous 1981; Venus Orbital Imaging Radar; Solar Electric Out-of-the-Eliptic Probe 1979. Technical conclusions of mission studies are given in order that these results may interact with the broader questions of scope, pace, and priorities in the planetary exploration program.

Visiting Vehicle Ground Trajectory Tool

NASA Technical Reports Server (NTRS)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Guidance, navigation, and control study for a solar electric propulsion spacecraft

NASA Technical Reports Server (NTRS)

Kluever, Craig A.

1995-01-01

A preliminary investigation of a lunar-comet rendezvous mission using a solar electric propulsion (SEP) spacecraft was performed in two phases.The first phase involved exploration of the moon and the second involved rendezvous with a comet. The initial phase began with a chemical propulsion translunar injection and chemical insertion into a lunar orbit, followed by a low thrust SEP transfer to a circular, polar, low-lunar orbit. After collecting scientific data at the moon, the SEP spacecraft performed a spiral lunar escape maneuver to begin the interplanetary leg of the mission. After escape from the Earth-moon system, the SEP spacecraft maneuvered in interplanetary space and performed a rendezvous with a comet.The immediate goal of this study was to demonstrate the feasibility of using a low-thrust SEP spacecraft for orbit transfer to both the moon and a comet. Another primary goal was to develop a computer optimization code which would be robust enough to obtain minimum-fuel rendezvous trajectories for a wide range of comets.

Mission requirements CSM-111/DM-2 Apollo/Soyuz test project

NASA Technical Reports Server (NTRS)

Blackmer, S. M.

1974-01-01

Test systems are developed for rendezvous and docking of manned spacecraft and stations that are suitable for use as a standard international system. This includes the rendezvous and docking of Apollo and Soyuz spacecraft, and crew transfer. The conduct of the mission will include: (1) testing of compatible rendezvous systems in orbit; (2) testing of universal docking assemblies; (3) verifying the techniques for transfer of cosmonauts and astronauts; (4) performing certain activities by U.S.A. and U.S.S.R. crews in joint flight; and (5) gaining of experience in conducting joint flights by U.S.A. and U.S.S.R. spacecraft, including, in case of necessity, rendering aid in emergency situations.

Pose Measurement Performance of the Argon Relative Navigation Sensor Suite in Simulated Flight Conditions

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Eepoel, John Van; Strube, Matt; Gill, Nat; Gonzalez, Marcelo; Hyslop, Andrew; Patrick, Bryan

2012-01-01

Argon is a flight-ready sensor suite with two visual cameras, a flash LIDAR, an on- board flight computer, and associated electronics. Argon was designed to provide sensing capabilities for relative navigation during proximity, rendezvous, and docking operations between spacecraft. A rigorous ground test campaign assessed the performance capability of the Argon navigation suite to measure the relative pose of high-fidelity satellite mock-ups during a variety of simulated rendezvous and proximity maneuvers facilitated by robot manipulators in a variety of lighting conditions representative of the orbital environment. A brief description of the Argon suite and test setup are given as well as an analysis of the performance of the system in simulated proximity and rendezvous operations.

LESS living donor nephrectomy: Surgical technique and results

PubMed Central

Alessimi, Abdullah; Adam, Emilie; Haber, Georges-Pascal; Badet, Lionel; Codas, Ricardo; Fehri, Hakim Fassi; Martin, Xavier; Crouzet, Sébastien

2015-01-01

Purpose: We present the findings of 50 patients undergoing pure trans-umbilical laparo-endoscopic single-site surgery (LESS) living donor nephrectomy (LDN), between February 2010 and May 2014. Materials and Methods: Laparo-endoscopic single-site surgery LDN was performed through an umbilical incision. Different trocars were used, namely Gelpoint (Applied Mιdical, Rancho Santa Margarita, CA) SILS port (Covidien, Hamilton, Bermuda), R-port (Olympus Surgical, Orangeburg, NY) and standard trocars, inserted through the same skin incision but using separate fascial punctures. The standard laparoscopic technique was employed. The kidney was pre-entrapped in a retrieval bag and extracted trans-umbilically. Data were collected prospectively including questionnaires containing patient reported oral pain medication duration and time to recovery. Results: LESS LDN was successful in all patients. Mean warm ischemia time was 6.2 min (3–15), mean procedure time was 233.2 min (172–300), and hospitalization stay was 3.94 days (3–7) with a visual analogue pain score at discharge of 1.32 (0–3). No intraoperative complications occurred. The mean time of oral pain medication was 8.72 days (1–20) and final scar length was 4.06 cm (3–5). Each allograft was functional. Conclusion: Although challenging, trans-umbilical LESS LDN seems to be feasible and safe. Hence, LESS has the potential to improve cosmetic results and decrease morbidity. PMID:26229326

Nominal Profile Refinements Report: Target in 120 Nautical Mile Circular Orbit

NASA Technical Reports Server (NTRS)

1974-01-01

The compability of the nominal rendezvous sequence with low target orbits is addressed. It was found that for targets in low earth orbits certain modifications of the nominal sequence are required to achieve a feasible anytime liftoff capability, notably the use of elliptical phasing orbits and the allowance of up to two days for rendezvous under certain phasing conditions.

CoMA: A high resolution Time-Of-Flight Secondary Ion Mass Spectrometer (TOF-SIMS) for in situ analysis of cometary matter

NASA Technical Reports Server (NTRS)

Zscheeg, Harry; Kissel, J.; Natour, G.

1992-01-01

A lot of clues concerning the origin of the solar system can be found by sending an exploring spacecraft to a rendezvous with a comet. The space experiment CoMA, which will measure the elemental, isotopic, and molecular composition of cometary dust grains is described. It will be flown on NASA's Comet Rendezvous Asteroid Flyby (CRAF) mission.

Mission Architecture Comparison for Human Lunar Exploration

NASA Technical Reports Server (NTRS)

Geffre, Jim; Robertson, Ed; Lenius, Jon

2006-01-01

The Vision for Space Exploration outlines a bold new national space exploration policy that holds as one of its primary objectives the extension of human presence outward into the Solar System, starting with a return to the Moon in preparation for the future exploration of Mars and beyond. The National Aeronautics and Space Administration is currently engaged in several preliminary analysis efforts in order to develop the requirements necessary for implementing this objective in a manner that is both sustainable and affordable. Such analyses investigate various operational concepts, or mission architectures , by which humans can best travel to the lunar surface, live and work there for increasing lengths of time, and then return to Earth. This paper reports on a trade study conducted in support of NASA s Exploration Systems Mission Directorate investigating the relative merits of three alternative lunar mission architecture strategies. The three architectures use for reference a lunar exploration campaign consisting of multiple 90-day expeditions to the Moon s polar regions, a strategy which was selected for its high perceived scientific and operational value. The first architecture discussed incorporates the lunar orbit rendezvous approach employed by the Apollo lunar exploration program. This concept has been adapted from Apollo to meet the particular demands of a long-stay polar exploration campaign while assuring the safe return of crew to Earth. Lunar orbit rendezvous is also used as the baseline against which the other alternate concepts are measured. The first such alternative, libration point rendezvous, utilizes the unique characteristics of the cislunar libration point instead of a low altitude lunar parking orbit as a rendezvous and staging node. Finally, a mission strategy which does not incorporate rendezvous after the crew ascends from the Moon is also studied. In this mission strategy, the crew returns directly to Earth from the lunar surface, and is

Small Solar Electric Propulsion Spacecraft Concept for Near Earth Object and Inner Solar System Missions

NASA Technical Reports Server (NTRS)

Lang, Jared J.; Randolph, Thomas M.; McElrath, Timothy P.; Baker, John D.; Strange, Nathan J.; Landau, Damon; Wallace, Mark S.; Snyder, J. Steve; Piacentine, Jamie S.; Malone, Shane;

Mars Researchers Rendezvous on Remote Arctic Island

NASA Technical Reports Server (NTRS)

2002-01-01

ice.

The data were captured on June 28, 2001, during the early part of the arctic summer, when sea ice becomes thinner and begins to move depending upon localized currents and winds. In winter the entire region is locked with several meters of nearly motionless sea ice, which acts as a thermodynamic barrier to the loss of heat from the comparatively warm ocean to the colder atmosphere. Summer melting of sea ice can be observed at the two large, dark regions of open water; one is present in the Jones Sound (near the top to the left of center), and another appears in the Wellington Channel (left-hand edge). A large crack caused by tidal heaving has broken the ice cover over the Parry Channel (lower right-hand corner). A substantial ice cap permanently occupies the easternmost third of the island (upper right). Surface features such as dendritic meltwater channels incised into the island's surface are apparent. The Haughton-Mars project site is located slightly to the left and above image center, in an area which appears with relatively little surface ice, near the island's inner 'elbow.'

The images were acquired during Terra orbit 8132 and cover an area of about 334 kilometers x 229 kilometers. They utilize data from blocks 27 to 31 within World Reference System-2 path 42.

MISR was built and is managed by NASA's Jet Propulsion Laboratory, Pasadena, CA, for NASA's Office of Earth Science, Washington, DC. The Terra satellite is managed by NASA's Goddard Space Flight Center, Greenbelt, MD. JPL is a division of the California Institute of Technology.

An Initial Comparison of Selected Earth Departure Options for Solar Electric Propulsion Missions

NASA Technical Reports Server (NTRS)

Merrill, Raymond Gabriel; Komar, D. R.; Qu, Min; Chrone, Jon; Strange, Nathan; Landau, Damon

2012-01-01

Earth departure options such as the location for deployment, aggregation, and crew rendezvous as well as the type of propulsion leveraged for each mission phase effect overall mission performance metrics such as number of critical maneuvers, mass of propellant to achieve departure, and initial mass required in low Earth orbit. This paper identifies and compares a subset of tactical options for deployment, crew rendezvous, and Earth departure that leverage electric propulsion and hybrid chemical electric propulsion with a goal of improving system efficiency. Departure maneuver specific limitations and penalties are then identified for missions to specific targets for human interplanetary missions providing a better understanding of the impact of decisions related to aggregation and rendezvous locations as well as Earth departure maneuvers on overall system performance.

Mission to the Trojan asteroids: Lessons learned during a JPL Planetary Science Summer School mission design exercise

NASA Astrophysics Data System (ADS)

Diniega, Serina; Sayanagi, Kunio M.; Balcerski, Jeffrey; Carande, Bryce; Diaz-Silva, Ricardo A.; Fraeman, Abigail A.; Guzewich, Scott D.; Hudson, Jennifer; Nahm, Amanda L.; Potter-McIntyre, Sally; Route, Matthew; Urban, Kevin D.; Vasisht, Soumya; Benneke, Bjoern; Gil, Stephanie; Livi, Roberto; Williams, Brian; Budney, Charles J.; Lowes, Leslie L.

2013-02-01

The 2013 Planetary Science Decadal Survey identified a detailed investigation of the Trojan asteroids occupying Jupiter's L4 and L5 Lagrange points as a priority for future NASA missions. Observing these asteroids and measuring their physical characteristics and composition would aid in identification of their source and provide answers about their likely impact history and evolution, thus yielding information about the makeup and dynamics of the early Solar System. We present a conceptual design for a mission to the Jovian Trojan asteroids: the Trojan ASteroid Tour, Exploration, and Rendezvous (TASTER) mission, that is consistent with the NASA New Frontiers candidate mission recommended by the Decadal Survey and the final result of the 2011 NASA-JPL Planetary Science Summer School. Our proposed mission includes visits to two Trojans in the L4 population: a 500 km altitude fly-by of 1999 XS143, followed by a rendezvous with and detailed observations of 911 Agamemnon at orbital altitudes of 1000-100 km over a 12 month nominal science data capture period. Our proposed instrument payload - wide- and narrow-angle cameras, a visual and infrared mapping spectrometer, and a neutron/gamma ray spectrometer - would provide unprecedented high-resolution, regional-to-global datasets for the target bodies, yielding fundamental information about the early history and evolution of the Solar System. Although our mission design was completed as part of an academic exercise, this study serves as a useful starting point for future Trojan mission design studies. In particular, we identify and discuss key issues that can make large differences in the complex trade-offs required when designing a mission to the Trojan asteroids.

MOI to TEI : a Mars Sample Return strategy

NASA Technical Reports Server (NTRS)

Smith, Chad W.; Maddock, Robert W.

2006-01-01

This paper describes the issues and challenges related to the design of the rendezvous between the Earth Return Vehicle (ERV) and the Orbiting Sample (OS) for the Mars Sample Return (MSR) mission. In particular, attention will be focused on the strategy for 'optimizing' the intermediate segment of the rendezvous process, during which there are a great number of variables that must be considered and well understood.

Human Mars Mission Performance Crew Taxi Profile

NASA Technical Reports Server (NTRS)

Duaro, Vince A.

1999-01-01

Using the results from Integrated Mission Program (IMP), a simulation language and code used to model present and future Earth Moon, or Mars missions, this report presents six different case studies of a manned Mars mission. The mission profiles, timelines, propellant requirements, feasibility and perturbation analysis is presented for two aborted, two delayed rendezvous, and two normal rendezvous cases for a future Mars mission.

FIST and the Analytical Hierarchy Process: Comparative Modeling

DTIC Science & Technology

2013-03-01

one mission to the moon, three space telescopes, two comet and asteroid rendezvous, four Earth-orbiting satellites, and one ion propulsion test...vehicle” (Ward, 2010:50). One successful mission example from FBC is the Near Earth Asteroid Rendezvous (NEAR) project that launched in 1996. The...transportation, power, energy, community development, water, mining , and environment. Respondents from PB have managed such programs as the $2.5 billion

STS (Space Transportation System) Task Simulator.

DTIC Science & Technology

1985-08-15

3 Clohessy - Wiltshire Coordinate System • • -1 1- .M 1°... "p ’. -. .’- 0 . _ -~:Q ~. ... . .o. ., 1. INTRODUCTION The Space Transportation System...motion is obtained by applying the Clohessy - Wiltshire equations for terminal rendezvous/docking with the earth modeled as a uni- form sphere...rotational accelerations to the present quaternions. The Clohessy - Wiltshire equations for terminal rendezvous/dockinq are used to model orbital drift

Proximity Operations and Docking Sensor Development

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.; Brewster, Linda L.; Lee, James E.

2009-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) has been under development for the last three years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in spot mode out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. 12 Parts obsolescence issues prevent the construction of more AVGS units, and the next generation sensor was updated to allow it to support the CEV and COTS programs. The flight proven AR&D sensor has been redesigned to update parts and add additional capabilities for CEV and COTS with the development of the Next Generation AVGS at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities include greater sensor range, auto ranging capability, and real-time video output. This paper presents some sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements

GN/C translation and rotation control parameters for AR/C (category 2)

NASA Technical Reports Server (NTRS)

Henderson, David M.

1991-01-01

Detailed analysis of the Automatic Rendezvous and Capture problem indicate a need for three different regions of mathematical description for the GN&C algorithms: (1) multi-vehicle orbital mechanics to the rendezvous interface point, i.e., within 100 n.; (2) relative motion solutions (such as Clohessy-Wiltshire type) from the far-field to the near-field interface, i.e., within 1 nm; and (3) close proximity motion, the nearfield motion where the relative differences in the gravitational and orbit inertial accelerations can be neglected from the equations of motion. This paper defines the reference coordinate frames and control parameters necessary to model the relative motion and attitude of spacecraft in the close proximity of another space system (Region 2 and 3) during the Automatic Rendezvous and Capture phase of an orbit operation.

Orbital trim by velocity factoring with applications to the Viking mission.

NASA Technical Reports Server (NTRS)

Kibler, J. F.; Green, R. N.; Young, G. R.

1972-01-01

An orbital trim technique has been developed to satisfy terminal rendezvous and intermediate timing constraints for planetary missions involving orbital operations. The technique utilizes a time-open two-impulse transfer from a specified initial orbit to a final orbit which satisfies all geometrical constraints. Each of the two impulses may then be factored, or split, into two or more vectorially equivalent impulses. The periods of the resulting intermediate orbits may be varied along with the number of revolutions in each orbit to satisfy the intermediate and final timing constraints. Factors in the range 0 to 1 result in rendezvous at the same cost as that of the two-impulse transfer. The technique is applied to the Viking mission to Mars although a similar procedure could be utilized for rendezvous operations about any planet.

KSC-08pd2387

NASA Image and Video Library

2008-08-12

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians monitor the lifting of the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, from its shipping container. The SCRS will enable the future rendezvous, capture and safe disposal of Hubble by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The SCRS comprises the Soft Capture Mechanism system and the Relative Navigation System and is part of the payload on the fifth and final Hubble servicing mission, STS-125, targeted for launch Oct. 8. Photo credit: NASA/Jack Pfaller

Automated low-thrust guidance for the orbital maneuvering vehicle

NASA Technical Reports Server (NTRS)

Rose, Richard E.; Schmeichel, Harry; Shortwell, Charles P.; Werner, Ronald A.

1988-01-01

This paper describes the highly autonomous OMV Guidance Navigation and Control system. Emphasis is placed on a key feature of the design, the low thrust guidance algorithm. The two guidance modes, orbit change guidance and rendezvous guidance, are discussed in detail. It is shown how OMV will automatically transfer from its initial orbit to an arbitrary target orbit and reach a specified rendezvous position relative to the target vehicle.

Early College, Early Success: Early College High School Initiative Impact Study

ERIC Educational Resources Information Center

Berger, Andrea; Turk-Bicakci, Lori; Garet, Michael; Song, Mengli; Knudson, Joel; Haxton, Clarisse; Zeiser, Kristina; Hoshen, Gur; Ford, Jennifer; Stephan, Jennifer; Keating, Kaeli; Cassidy, Lauren

2013-01-01

In 2002, the Bill & Melinda Gates Foundation launched the Early College High School Initiative (ECHSI) with the primary goal of increasing the opportunity for underserved students to earn a postsecondary credential. To achieve this goal, Early Colleges provide underserved students with exposure to, and support in, college while they are in…

Early Diagnosis and Early Intervention in Cerebral Palsy

PubMed Central

Hadders-Algra, Mijna

2014-01-01

This paper reviews the opportunities and challenges for early diagnosis and early intervention in cerebral palsy (CP). CP describes a group of disorders of the development of movement and posture, causing activity limitation that is attributed to disturbances that occurred in the fetal or infant brain. Therefore, the paper starts with a summary of relevant information from developmental neuroscience. Most lesions underlying CP occur in the second half of gestation, when developmental activity in the brain reaches its summit. Variations in timing of the damage not only result in different lesions but also in different neuroplastic reactions and different associated neuropathologies. This turns CP into a heterogeneous entity. This may mean that the best early diagnostics and the best intervention methods may differ for various subgroups of children with CP. Next, the paper addresses possibilities for early diagnosis. It discusses the predictive value of neuromotor and neurological exams, neuroimaging techniques, and neurophysiological assessments. Prediction is best when complementary techniques are used in longitudinal series. Possibilities for early prediction of CP differ for infants admitted to neonatal intensive care and other infants. In the former group, best prediction is achieved with the combination of neuroimaging and the assessment of general movements, in the latter group, best prediction is based on carefully documented milestones and neurological assessment. The last part reviews early intervention in infants developing CP. Most knowledge on early intervention is based on studies in high-risk infants without CP. In these infants, early intervention programs promote cognitive development until preschool age; motor development profits less. The few studies on early intervention in infants developing CP suggest that programs that stimulate all aspects of infant development by means of family coaching are most promising. More research is urgently needed

DARe: Dark Asteroid Rendezvous

NASA Technical Reports Server (NTRS)

Noll, K. S.; McFadden, L. A.; Rhoden, A. R.; Lim, L. F.; Boynton, W. V.; Carter, L. M.; Collins, G.; Englander, J. A.; Goossens, S. A.; Grundy, W. M.;

Noncooperative rendezvous radar system

NASA Technical Reports Server (NTRS)

1974-01-01

A fire control radar system was developed, assembled, and modified. The baseline system and modified angle tracking system are described along with the performance characteristics of the baseline and modified systems. Proposed changes to provide additional techniques for radar evaluation are presented along with flight test data.

Miniature surgical robot for laparoendoscopic single-incision colectomy.

PubMed

Wortman, Tyler D; Meyer, Avishai; Dolghi, Oleg; Lehman, Amy C; McCormick, Ryan L; Farritor, Shane M; Oleynikov, Dmitry

2012-03-01

This study aimed to demonstrate the effectiveness of using a multifunctional miniature in vivo robotic platform to perform a single-incision colectomy. Standard laparoscopic techniques require multiple ports. A miniature robotic platform to be inserted completely into the peritoneal cavity through a single incision has been designed and built. The robot can be quickly repositioned, thus enabling multiquadrant access to the abdominal cavity. The miniature in vivo robotic platform used in this study consists of a multifunctional robot and a remote surgeon interface. The robot is composed of two arms with shoulder and elbow joints. Each forearm is equipped with specialized interchangeable end effectors (i.e., graspers and monopolar electrocautery). Five robotic colectomies were performed in a porcine model. For each procedure, the robot was completely inserted into the peritoneal cavity, and the surgeon manipulated the user interface to control the robot to perform the colectomy. The robot mobilized the colon from its lateral retroperitoneal attachments and assisted in the placement of a standard stapler to transect the sigmoid colon. This objective was completed for all five colectomies without any complications. The adoption of both laparoscopic and single-incision colectomies currently is constrained by the inadequacies of existing instruments. The described multifunctional robot provides a platform that overcomes existing limitations by operating completely within one incision in the peritoneal cavity and by improving visualization and dexterity. By repositioning the small robot to the area of the colon to be mobilized, the ability of the surgeon to perform complex surgical tasks is improved. Furthermore, the success of the robot in performing a completely in vivo colectomy suggests the feasibility of using this robotic platform to perform other complex surgeries through a single incision.

Early Childhood Systems: Transforming Early Learning

ERIC Educational Resources Information Center

Kagan, Sharon Lynn, Ed.; Kauertz, Kristie, Ed.

2012-01-01

In this seminal volume, leading authorities strategize about how to create early childhood systems that transcend politics and economics to serve the needs of all young children. The authors offer different interpretations of the nature of early childhood systems, discuss the elements necessary to support their development, and examine how…

Application of a Laser Rangefinder for Space Object Imaging and Shape Reconstruction

DTIC Science & Technology

2014-02-10

the LRF can effectively create sufficiently dense point clouds for various asteroid and satellite shaped SOs, with low propellant consumption, by...bodies. An example is NASA’s Near Earth Asteroid Rendezvous (NEAR) mission, which employed an LRF to aid its rendezvous6 with asteroid 433 Eros in...laser beams. The ray-triangle intersection algorithm* deter- mines the point of intersection between the ray and a model of the scanned object. In order

MMU (Manned Maneuvering Unit) Task Simulator.

DTIC Science & Technology

1986-01-15

motion is obtained by applying the Clohessy - Wiltshire equations for terminal rendezvous/docking with the earth modeled as a uniform sphere " (Aj<endix...quaternions. The Clohessy - Wiltshire equations for terminal rendezvous/docking are used to model orbital drift. These are linearized equations of...system is the Clohessy - Wiltshire system, centered at the target and described in detail in Appendix A. The earth’s vector list is scaled at one distance

PRESS CONFERENCE - PUBLIC AFFAIRS OFFICE (PAO) - GEMINI-TITAN (GT) IX-A

NASA Image and Video Library

1966-06-17

S66-39446 (17 June 1966) --- Movie film of the Gemini-9A and Augmented Target Docking Adapter rendezvous was shown at the Gemini-9A press conference in the MSC auditorium. Astronauts Thomas P. Stafford (left) and Eugene A. Cernan discussed the Gemini-9A/ATDA rendezvous mission during the film. Pictured on the screen, shows a close-up of the ATDA, described by the astronauts as an "angry alligator." Photo credit: NASA

Early Intervention.

ERIC Educational Resources Information Center

Nathanson, Jeanne H., Ed.

1992-01-01

This theme issue focuses on early intervention. The four articles presented on this theme are: (1) "Deaf Infants, Hearing Mothers: A Research Report" (Kathryn P. Meadow-Orlans, and others), reporting findings on effects of auditory loss on early development; (2) "Maintaining Involvement of Inner City Families in Early Intervention Programs through…

Teleoperation support for early human planetary missions.

PubMed

Genta, Giancarlo; Perino, Maria Antonietta

2005-12-01

A renewed interest in human exploration is flourishing among all the major spacefaring nations. In fact, in the complex scene of planned future space activities, the development of a Moon base and the human exploration of Mars might have the potential to renew the enthusiasm in expanding the human presence beyond the boundaries of Earth. Various initiatives have been undertaken to define scenarios and identify the required infrastructures and related technology innovations. The typical proposed approach follows a multistep strategy, starting with a series of precursor robotic missions to acquire further knowledge of the planet and to select the best potential landing sites, and evolving toward more demanding missions for the development of a surface infrastructure necessary to sustain human presence. The technologies involved in such a demanding enterprise range from typical space technologies, like transportation and propulsion, automation and robotics, rendezvous and docking, entry/reentry, aero-braking, navigation, and deep space communications, to human-specific issues like physiology, psychology, behavioral aspects, and nutritional science for long-duration exposure, that go beyond the traditional boundaries of space activities. Among the required elements to support planetary exploration, both for the precursor robotic missions and to sustain human exploration, rovers and trucks play a key role. A robust level of autonomy will need to be secured to perform preplanned operations, particularly for the surface infrastructure development, and a teleoperated support, either from Earth or from a local base, will enhance the in situ field exploration capability.

Infusing Early Childhood Mental Health into Early Intervention Services

ERIC Educational Resources Information Center

Grabert, John C.

2009-01-01

This article describes the process of enhancing early childhood mental health awareness and skills in non-mental health staff. The author describes a pilot training model, conducted the U.S. Army's Early Intervention Services, that involved: (a) increasing early childhood mental health knowledge through reflective readings, (b) enhancing…

Space Tug Docking Study. Volume 1: Executive Summary

NASA Technical Reports Server (NTRS)

1976-01-01

Results of a detailed systems analysis of the entire rendezvous and docking operation to be performed by the all-up space tug are presented. Specific areas investigated include: generating of operational requirements and a data base of candidate operational techniques and subsystem mechanizations; selection and ranking of integrated system designs capable of meeting the requirements generated; and definition of this simulation/demonstration program required to select and prove the most effective manual, autonomous, and hybrid rendezvous and docking systems.

Early Literacy and Early Numeracy: The Value of Including Early Literacy Skills in the Prediction of Numeracy Development

ERIC Educational Resources Information Center

Purpura, David J.; Hume, Laura E.; Sims, Darcey M.; Lonigan, Cristopher J.

2011-01-01

The purpose of this study was to examine whether early literacy skills uniquely predict early numeracy skills development. During the first year of the study, 69 3- to 5-year-old preschoolers were assessed on the Preschool Early Numeracy Skills (PENS) test and the Test of Preschool Early Literacy Skills (TOPEL). Participants were assessed again a…

Next Generation Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Lee, Jimmy; Spencer, Susan; Bryan, Tom; Johnson, Jimmie; Robertson, Bryan

2008-01-01

The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. The United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport. Systems (COTS) Automated Rendezvous and Docking (AR&D). AVGS has a proven pedigree, based on extensive ground testing and flight demonstrations. The AVGS on the Demonstration of Autonomous Rendezvous Technology (DART)mission operated successfully in "spot mode" out to 2 km. The first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. Parts obsolescence issues prevent the construction of more AVGS. units, and the next generation sensor must be updated to support the CEV and COTS programs. The flight proven AR&D sensor is being redesigned to update parts and add additional. capabilities for CEV and COTS with the development of the Next, Generation AVGS (NGAVGS) at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities might include greater sensor range, auto ranging, and real-time video output. This paper presents an approach to sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It will also discuss approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, parts selection and test plans for the NGAVGS will be addressed to provide a highly reliable flight qualified sensor. Expanded capabilities through innovative use of existing capabilities will also be

In-Flight Operation of the Dawn Ion Propulsion System: Status at One Year from the Vesta Rendezvous

NASA Technical Reports Server (NTRS)

Garner, Charles E.; Rayman, Marc D.

2010-01-01

, 2007 and was successfully concluded as planned on October 31, 2008. During this time period the Dawn IPS was operated mostly at full power for approximately 6500 hours, consumed 71.7 kg of xenon and delivered approximately 1.8 km/s of delta V to the spacecraft. The thrusting to Mars was followed by a coasting period of approximately 3.5 months that included a Mars flyby in February of 2009. The Mars flyby provided a gravity assist (MGA) for a plane change and approximately 1 km/s of heliocentric energy increase and is the only part of the mission following launch in which a needed velocity change is not accomplished by the IPS. During the coast period IPS was operated for a trajectory correction maneuver and for engineering tests but was not operated for primary propulsion. Closest approach to Mars occurred as planned on February 17, 2009 and was followed by another coasting period of just under 4 months in duration. During this last coasting phase IPS was operated only for routine maintenance activities and for system engineering tests. Deterministic thrusting for heliocentric transfer to Vesta resumed on June 8, 2009. Since resumption of cruise to Vesta IPS has been operated at throttled power levels, most of the time at full power, and with a duty cycle of approximately 93%, leading to an arrival at Vesta in July of 2011 and arrival at Ceres in February 2015. This paper provides an overview of Dawn's mission objectives and the results of Dawn IPS mission operations through one year from the spacecraft's rendezvous with Vesta.

Planetary mission requirements, technology and design considerations for a solar electric propulsion stage

NASA Technical Reports Server (NTRS)

Cork, M. J.; Hastrup, R. C.; Menard, W. A.; Olson, R. N.

1979-01-01

High energy planetary missions such as comet rendezvous, Saturn orbiter and asteroid rendezvous require development of a Solar Electric Propulsion Stage (SEPS) for augmentation of the Shuttle-IUS. Performance and functional requirements placed on the SEPS are presented. These requirements will be used in evolution of the SEPS design, which must be highly interactive with both the spacecraft and the mission design. Previous design studies have identified critical SEPS technology areas and some specific design solutions which are also presented in the paper.

Brachytherapy in early prostate cancer--early experience.

PubMed

Jose, B O; Bailen, J L; Albrink, F H; Steinbock, G S; Cornett, M S; Benson, D C; Schmied, W K; Medley, R N; Spanos, W J; Paris, K J; Koerner, P D; Gatenby, R A; Wilson, D L; Meyer, R

1999-01-01

Use of brachytherapy with radioactive seeds in the management of early prostate cancer is commonly used in the United States. The early experience has been reported from the prostate treatment centers in Seattle for the last 10 years. In this manuscript we are reporting our early experience of 150 radioactive seed implantations in early stage prostate cancer using either Iodine 125 or Palladium 103 seeds. The average age of the patient is 66 years and the median Gleason score is 5.4 with a median PSA of 6. A brief description of the evolution of the treatment of prostate cancer as well as the preparation for the seed implantation using the volume study with ultrasound of the prostate, pubic arch study using CT scan of the pelvis and the complete planning using the treatment planning computers are discussed. We also have described the current technique which is used in our experience based on the Seattle guidelines. We plan a follow-up report with the results of the studies with longer follow-up.

Early literacy and early numeracy: the value of including early literacy skills in the prediction of numeracy development.

PubMed

Purpura, David J; Hume, Laura E; Sims, Darcey M; Lonigan, Christopher J

2011-12-01

The purpose of this study was to examine whether early literacy skills uniquely predict early numeracy skills development. During the first year of the study, 69 3- to 5-year-old preschoolers were assessed on the Preschool Early Numeracy Skills (PENS) test and the Test of Preschool Early Literacy Skills (TOPEL). Participants were assessed again a year later on the PENS test and on the Applied Problems and Calculation subtests of the Woodcock-Johnson III Tests of Achievement. Three mixed effect regressions were conducted using Time 2 PENS, Applied Problems, and Calculation as the dependent variables. Print Knowledge and Vocabulary accounted for unique variance in the prediction of Time 2 numeracy scores. Phonological Awareness did not uniquely predict any of the mathematics domains. The findings of this study identify an important link between early literacy and early numeracy development. Copyright © 2011 Elsevier Inc. All rights reserved.

Apollo Docking with the LEM Target

NASA Image and Video Library

2012-09-07

Originally the Rendezvous was used by the astronauts preparing for Gemini missions. The Rendezvous Docking Simulator was then modified and used to develop docking techniques for the Apollo program. This picture shows a later configuration of the Apollo docking with the LEM target. A.W. Vogeley described the simulator as follows: The Rendezvous Docking Simulator and also the Lunar Landing Research Facility are both rather large moving-base simulators. It should be noted, however, that neither was built primarily because of its motion characteristics. The main reason they were built was to provide a realistic visual scene. A secondary reason was that they would provide correct angular motion cues (important in control of vehicle short-period motions) even though the linear acceleration cues would be incorrect. -- Published in A.W. Vogeley, Piloted Space-Flight Simulation at Langley Research Center, Paper presented at the American Society of Mechanical Engineers, 1966 Winter Meeting, New York, NY, November 27 - December 1, 1966.

Early Childhood Special Education and Early Intervention Personnel Preparation Standards of the Division for Early Childhood: Field Validation

ERIC Educational Resources Information Center

Cochran, Deborah C.; Gallagher, Peggy A.; Stayton, Vicki D.; Dinnebeil, Laurie A.; Lifter, Karin; Chandler, Lynette K.; Christensen, Kimberly A.

2012-01-01

Results of the field validation survey of the revised initial and new advanced Council for Exceptional Children (CEC) Division for Early Childhood (DEC) early childhood special education (ECSE)/early intervention (EI) personnel standards are presented. Personnel standards are used as part of educational accountability systems and in teacher…

Early Attachment Relationships and the Early Childhood Curriculum

ERIC Educational Resources Information Center

Cortazar, Alejandra; Herreros, Francisca

2010-01-01

This article explores the relationship between attachment theory and the early childhood curriculum. During the first years of life children develop early attachment relationships with their primary caregivers. These attachment relationships, either secure or insecure, will shape children's socio-emotional development. In the USA, the predominant…

Kaleri works with the TORU teleoperated control system in the SM during Expedition 8

NASA Image and Video Library

2004-01-30

ISS008-E-14073 (30 January 2004) --- Cosmonaut Alexander Y. Kaleri, Expedition 8 flight engineer, practices docking procedures with the manual TORU rendezvous system in the Zvezda Service Module on the International Space Station (ISS) in preparation for the docking of the Progress 13 on January 31. With the manual TORU mode, Kaleri can perform necessary guidance functions from Zvezda via two hand controllers in the event of a failure of the “Kurs” automated rendezvous and docking (AR&D) of the Progress. Kaleri represents Rosaviakosmos.

Kaleri works with the TORU teleoperated control system in the SM during Expedition 8

NASA Image and Video Library

2004-01-30

ISS008-E-14076 (30 January 2004) --- Cosmonaut Alexander Y. Kaleri, Expedition 8 flight engineer, practices docking procedures with the manual TORU rendezvous system in the Zvezda Service Module on the International Space Station (ISS) in preparation for the docking of the Progress 13 on January 31. With the manual TORU mode, Kaleri can perform necessary guidance functions from Zvezda via two hand controllers in the event of a failure of the “Kurs” automated rendezvous and docking (AR&D) of the Progress. Kaleri represents Rosaviakosmos.

Kaleri works with the TORU teleoperated control system in the SM during Expedition 8

NASA Image and Video Library

2004-01-30

ISS008-E-14067 (30 January 2004) --- Cosmonaut Alexander Y. Kaleri, Expedition 8 flight engineer, practices docking procedures with the manual TORU rendezvous system in the Zvezda Service Module on the International Space Station (ISS) in preparation for the docking of the Progress 13 on January 31. With the manual TORU mode, Kaleri can perform necessary guidance functions from Zvezda via two hand controllers in the event of a failure of the “Kurs” automated rendezvous and docking (AR&D) of the Progress. Kaleri represents Rosaviakosmos.

Holographic Weapons Sight as Crew Optical Alignment Sight

NASA Technical Reports Server (NTRS)

Merancy, Nujoud; Dehmlow, Brian; Brazzel, Jack P.

2011-01-01

Crew Optical Alignment Sights (COAS) are used by spacecraft pilots to provide a visual reference to a target spacecraft for lateral relative position during rendezvous and docking operations. NASA s Orion vehicle, which is currently under development, has not included a COAS in favor of automated sensors, but the crew office has requested such a device be added for situational awareness and contingency support. The current Space Shuttle COAS was adopted from Apollo heritage, weighs several pounds, and is no longer available for procurement which would make re-use difficult. In response, a study was conducted to examine the possibility of converting a commercially available weapons sight to a COAS for the Orion spacecraft. The device used in this study was the XPS series Holographic Weapon Sight (HWS) procured from L-3 EOTech. This device was selected because the targeting reticule can subtend several degrees, and display a graphic pattern tailored to rendezvous and docking operations. Evaluations of the COAS were performed in both the Orion low-fidelity mockup and rendezvous simulations in the Reconfigurable Operational Cockpit (ROC) by crewmembers, rendezvous engineering experts, and flight controllers at Johnson Space Center. These evaluations determined that this unit s size and mounting options can support proper operation and that the reticule visual qualities are as good as or better than the current Space Shuttle COAS. The results positively indicate that the device could be used as a functional COAS and supports a low-cost technology conversion solution.

Early Years Practitioners' Views on Early Personal, Social and Emotional Development

ERIC Educational Resources Information Center

Aubrey, Carol; Ward, Karen

2013-01-01

Current policy guidance stresses the need for early identification of obstacles to learning and appropriate intervention. New standards for learning (Early Years Foundation Stage) place personal, social and emotional development (PSED) as central to learning and development. This paper reports a survey and follow-up interviews with early years…

The Evolution of Mission Architectures for Human Lunar Exploration

NASA Technical Reports Server (NTRS)

Everett, S. F.

1995-01-01

Defining transportation architectures for the human exploration of the Moon is a complex task due to the multitude of mission scenarios available. The mission transportation architecture recently proposed for the First Lunar Outpost (FLO) was not designed from carefully predetermined mission requirements and goals, but evolved from an initial set of requirements, which were continually modified as studies revealed that some early assumptions were not optimal. This paper focuses on the mission architectures proposed for FLO and investigates how these transportation architectures evolved. A comparison of the strengths and weaknesses of the three distinct mission architectures are discussed, namely (1) Lunar Orbit Rendezvous, (2) staging from the Cislunar Libration Point, and (3) direct to the lunar surface. In addition, several new and revolutionary architectures are discussed.

Mission commander James Wetherbee on the forward flight deck

NASA Image and Video Library

1995-02-03

STS063-06-027 (3-11 Feb 1995) --- Seated at the commander's station on the Space Shuttle Discovery's flight deck, astronaut James D. Wetherbee, commander, was photographed by a crew mate during early phases of the STS-63 mission. A great deal of time was spent during the first few days of the mission to check a leaky thruster, which could have had a negative influence on rendezvous operations with Russia's Mir Space Station. As it turned out, all the related problems were solved and the two spacecraft succeded in achieving close proximity operations. Others onboard the Discovery were astronauts Eileen M. Collins, pilot; Bernard A. Harris Jr., payload commander; and mission specialists C. Michael Foale, Janice E. Voss, and Russian cosmonaut Vladimir G. Titov.

Dual RF Astrodynamic GPS Orbital Navigator Satellite

NASA Technical Reports Server (NTRS)

Kanipe, David B.; Provence, Robert Steve; Straube, Timothy M.; Reed, Helen; Bishop, Robert; Lightsey, Glenn

2009-01-01

Dual RF Astrodynamic GPS Orbital Navigator Satellite (DRAGONSat) will demonstrate autonomous rendezvous and docking (ARD) in low Earth orbit (LEO) and gather flight data with a global positioning system (GPS) receiver strictly designed for space applications. ARD is the capability of two independent spacecraft to rendezvous in orbit and dock without crew intervention. DRAGONSat consists of two picosatellites (one built by the University of Texas and one built by Texas A and M University) and the Space Shuttle Payload Launcher (SSPL); this project will ultimately demonstrate ARD in LEO.

Early menarche, nulliparity and the risk for premature and early natural menopause.

PubMed

Mishra, Gita D; Pandeya, Nirmala; Dobson, Annette J; Chung, Hsin-Fang; Anderson, Debra; Kuh, Diana; Sandin, Sven; Giles, Graham G; Bruinsma, Fiona; Hayashi, Kunihiko; Lee, Jung Su; Mizunuma, Hideki; Cade, Janet E; Burley, Victoria; Greenwood, Darren C; Goodman, Alissa; Simonsen, Mette Kildevæld; Adami, Hans-Olov; Demakakos, Panayotes; Weiderpass, Elisabete

2017-03-01

Are parity and the timing of menarche associated with premature and early natural menopause? Early menarche (≤11 years) is a risk factor for both premature menopause (final menstrual period, FMP <40 years) and early menopause (FMP 40-44 years), a risk that is amplified for nulliparous women. Women with either premature or early menopause face an increased risk of chronic conditions in later life and of early death. Findings from some studies suggest that early menarche and nulliparity are associated with early menopause, however overall the evidence is mixed. Much of the evidence for a direct relationship is hampered by a lack of comparability across studies, failure to adjust for confounding factors and inadequate statistical power. This pooled study comprises 51 450 postmenopausal women from nine observational studies in the UK, Scandinavia, Australia and Japan that contribute to the International collaboration for a Life course Approach to reproductive health and Chronic disease Events (InterLACE). Age at menarche (categorized as ≤11, 12, 13, 14 and 15 or more years) and parity (categorized as no children, one child and two or more children) were exposures of interest. Age at FMP was confirmed by at least 12 months of cessation of menses where this was not the result of an intervention (such as surgical menopause due to bilateral oophorectomy or hysterectomy) and categorized as premature menopause (FMP before age 40), early menopause (FMP 40-44 years), 45-49 years, 50-51 years, 52-53 years and 54 or more years. We used multivariate multinomial logistic regression models to estimate relative risk ratio (RRR) and 95% CI for associations between menarche, parity and age at FMP adjusting for within-study correlation. The median age at FMP was 50 years (interquartile range 48-53 years), with 2% of the women experiencing premature menopause and 7.6% early menopause. Women with early menarche (≤11 years, compared with 12-13 years) were at higher risk of premature

Recent Coverage of Early Childhood Education Approaches in Open Access Early Childhood Journals

ERIC Educational Resources Information Center

Keskin, Burhanettin

2016-01-01

A content analysis of the coverage of the major approaches to early childhood education in the early childhood research journals, published between 2010 and 2014, that are early childhood research oriented and have free online access were investigated. Among 21 journals in early childhood education, two journals were selected for the content…

Early Educational Intervention, Early Cumulative Risk, and the Early Home Environment as Predictors of Young Adult Outcomes within a High-Risk Sample

ERIC Educational Resources Information Center

Pungello, Elizabeth P.; Kainz, Kirsten; Burchinal, Margaret; Wasik, Barbara H.; Sparling, Joseph J.; Ramey, Craig T.; Campbell, Frances A.

2010-01-01

The extent to which early educational intervention, early cumulative risk, and the early home environment were associated with young adult outcomes was investigated in a sample of 139 young adults (age 21) from high-risk families enrolled in randomized trials of early intervention. Positive effects of treatment were found for education attainment,…

Apollo-Lunar Orbital Rendezvous Technique

NASA Technical Reports Server (NTRS)

1963-01-01

The film shows artists rendition of the spacecrafts, boosters, and flight of the Apollo lunar missions. The Apollo spacecraft will consist of three modules: the manned Command Module; the Service Module, which contains propulsion systems; and the Lunar Excursion Module (LEM) to carry astronauts to the moon and back to the Command and Service Modules. The spacecraft will be launched via a three-stage Saturn booster. The first stage will provide 7.5 million pounds of thrust from five F-1 engines for liftoff and initial powered flight. The second stage will develop 1 million pounds of thrust from five J-2 engines to boost the spacecraft almost into Earth orbit. Immediately after ignition of the second stage, the Launch Escape System will be jettisoned. A single J-2 engine in the S4B stage will provide 200,000 pounds of thrust to place the spacecraft in an earth parking orbit. It also will be used to propel the spacecraft into a translunar trajectory, then it will separate from the Apollo Modules. Onboard propulsion systems will be used to insert the spacecraft into lunar orbit. Two astronauts will enter the LEM, which will separate from the command and service modules. The LEM will go into elliptical orbit and prepare for landing. The LEM will lift off of the Moon's surface to return to the Command and Service Modules, and most likely be left in lunar orbit. After leaving the Moon's orbit, and shortly before entering Earth's orbit, the Service Module will be ejected. The Command Module will be oriented for reentry into the Earth's atmosphere. A drogue parachute will deploy at approximately 50,000 feet, followed by the main parachute system for touchdown.

Pilot in Rendezvous Docking Simulator

NASA Image and Video Library

1962-12-19

Unidentified Pilot eyeballs his way to a docking by peering through the portal in his capsule. Photo published in Spaceflight Revolution, NASA Langley Research Center From Sputnik to Apollo. By James R. Hansen. NASA SP-4308, 1995, p. 372.

SFU rendezvous and SAP jettison

NASA Image and Video Library

1996-01-13

STS072-720-076 (13 Jan. 1996) --- The crewmembers captured this 35mm view of the Japanese Space Flyer Unit (SFU) following the jettisoning of the solar panels. Later they used the Remote Manipulator System (RMS) to latch onto the satellite and berth it in the Space Shuttle Endeavour's aft cargo bay.

Minilaparoscopy-assisted transumbilical laparoscopic cholecystectomy.

PubMed

Lima, Geraldo José DE Souza; Leite, Rodrigo Fabiano Guedes; Abras, Gustavo Munayer; Pires, Livio José Suretti; Castro, Eduardo Godoy

2016-01-01

The role of laparoscopy in the modern surgery era is well established. With the prospect of being able to improve the already privileged current situation, new alternatives have been proposed, such as natural orifice endoscopic surgery (NOTES), the method for single transumbilical access (LESS - Laparo-endoscopic single-site surgery) and minilaparoscopy (MINI). The technique proposed by the authors uses a laparoscope with an operative channel like the flexible endoscope used in NOTES. All operative times are carried out through the umbilical trocar as in LESS, and assisted by a minilaparoscopy grasper. This new technic combines, and results from, the rationalization of technical particularities and synergy of these three approaches, seeking to join their advantages and minimize their disadvantages. RESUMO O papel da videolaparoscopia na era moderna da cirurgia encontra-se bem estabelecido. Com a perspectiva de ser possível melhorar a já privilegiada situação atual, novas alternativas têm sido propostas, como a cirurgia por orifícios naturais (NOTES), o método por acesso único transumbilical (LESS - Laparo-endoscopic single-site surgery) e a minilaparoscopia (MINI). A técnica proposta pelos autores utiliza-se de óptica com canal de trabalho como o endoscópio flexível do NOTES, executa-se todos os tempos operatórios pelo trocarte umbilical, como no LESS, e é assistido por pinça de minilaparoscopia. Esta nova técnica combina e resulta da racionalização de particularidades técnicas e do sinergismo destas três abordagens, buscando agregar suas vantagens e minimizar as suas desvantagens.

[In-patient (early) rehabilitation].

PubMed

Wallesch, Claus-W; Lautenschläger, Sindy

2017-04-01

It is difficult to develop the financing and hospital provision of interventions for early rehabilitation within the diagnosis-related group (DRG) system. In addition to a range of partially rehabilitative complex interventions, the system recognizes three main forms of early rehabilitative interventions: geriatric, neurological/neurosurgical, and interdisciplinary and others. In this article, the appropriate definitions and cost-effectiveness of these procedures are analyzed and compared. The early rehabilitative interventions are characterized by constant cooperation in the therapeutic team, especially neurological early rehabilitation through the incorporation of nursing as a therapeutic profession. Whereas geriatric and neurological early rehabilitation are reflected in the DRG system, the former provided in many general hospitals and the latter mainly in specialized institutions, interdisciplinary early rehabilitation has only occasionally been represented in the DRG system so far. If all acute in-patients who require early rehabilitation should receive such an intervention, an additional fee must be implemented for this this interdisciplinary service.

KSC-08pd2447

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians check the sensors on the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, after mating of the SCM to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2433

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, is being prepared for transfer to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2443

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians check the connections on the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, being mated to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2446

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians check the sensors on the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, after mating of the SCM to the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2439

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, an overhead crane lowers the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, toward the Flight Support System, or FSS, carrier. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2437

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS, moves above the floor toward the stand holding the Flight Support System, or FSS, carrier where the SCM will be mated to the FSS. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

KSC-08pd2434

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, technicians prepare the Flight Support System, or FSS, carrier to receive the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

Autonomous Onboard Science Data Analysis for Comet Missions

NASA Technical Reports Server (NTRS)

Thompson, David R.; Tran, Daniel Q.; McLaren, David; Chien, Steve A.; Bergman, Larry; Castano, Rebecca; Doyle, Richard; Estlin, Tara; Lenda, Matthew

2012-01-01

Coming years will bring several comet rendezvous missions. The Rosetta spacecraft arrives at Comet 67P/Churyumov-Gerasimenko in 2014. Subsequent rendezvous might include a mission such as the proposed Comet Hopper with multiple surface landings, as well as Comet Nucleus Sample Return (CNSR) and Coma Rendezvous and Sample Return (CRSR). These encounters will begin to shed light on a population that, despite several previous flybys, remains mysterious and poorly understood. Scientists still have little direct knowledge of interactions between the nucleus and coma, their variation across different comets or their evolution over time. Activity may change on short timescales so it is challenging to characterize with scripted data acquisition. Here we investigate automatic onboard image analysis that could act faster than round-trip light time to capture unexpected outbursts and plume activity. We describe one edge-based method for detect comet nuclei and plumes, and test the approach on an existing catalog of comet images. Finally, we quantify benefits to specific measurement objectives by simulating a basic plume monitoring campaign.

A study of radar cross section measurement techniques

NASA Technical Reports Server (NTRS)

Mcdonald, Malcolm W.

1986-01-01

Past, present, and proposed future technologies for the measurement of radar cross section were studied. The purpose was to determine which method(s) could most advantageously be implemented in the large microwave anechoic chamber facility which is operated at the antenna test range site. The progression toward performing radar cross section measurements of space vehicles with which the Orbital Maneuvering Vehicle will be called upon to rendezvous and dock is a natural outgrowth of previous work conducted in recent years of developing a high accuracy range and velocity sensing radar system. The radar system was designed to support the rendezvous and docking of the Orbital Maneuvering Vehicle with various other space vehicles. The measurement of radar cross sections of space vehicles will be necessary in order to plan properly for Orbital Maneuvering Vehicle rendezvous and docking assignments. The methods which were studied include: standard far-field measurements; reflector-type compact range measurements; lens-type compact range measurement; near field/far field transformations; and computer predictive modeling. The feasibility of each approach is examined.

Cometary Matter Analyser (COMA/CRAF)

NASA Technical Reports Server (NTRS)

Buechler, K.; Igenbergs, E.; Klein, J. W.; Krueger, F. R.; Kuczera, H.; Morfill, G.; Palme, H.; Roessler, K.; Weishaupt, U.; Zerrull, R.;

International guidelines for groin hernia management.

PubMed

2018-02-01

waiting is suggested in pregnant women as groin swelling most often consists of self-limited round ligament varicosities. Timely mesh repair by a laparo-endoscopic approach is suggested for femoral hernias provided expertise is available. All complications of groin hernia management are discussed in an extensive chapter on the topic. Overall, the incidence of clinically significant chronic pain is in the 10-12% range, decreasing over time. Debilitating chronic pain affecting normal daily activities or work ranges from 0.5 to 6%. Chronic postoperative inguinal pain (CPIP) is defined as bothersome moderate pain impacting daily activities lasting at least 3 months postoperatively and decreasing over time. CPIP risk factors include: young age, female gender, high preoperative pain, early high postoperative pain, recurrent hernia and open repair. For CPIP the focus should be on nerve recognition in open surgery and, in selected cases, prophylactic pragmatic nerve resection (planned resection is not suggested). It is suggested that CPIP management be performed by multi-disciplinary teams. It is also suggested that CPIP be managed by a combination of pharmacological and interventional measures and, if this is unsuccessful, followed by, in selected cases (triple) neurectomy and (in selected cases) mesh removal. For recurrent hernia after anterior repair, posterior repair is recommended. If recurrence occurs after a posterior repair, an anterior repair is recommended. After a failed anterior and posterior approach, management by a specialist hernia surgeon is recommended. Risk factors for hernia incarceration/strangulation include: female gender, femoral hernia and a history of hospitalization related to groin hernia. It is suggested that treatment of emergencies be tailored according to patient- and hernia-related factors, local expertise and resources. Learning curves vary between different techniques. Probably about 100 supervised laparo-endoscopic repairs are needed to

African ancestry, early life exposures, and respiratory morbidity in early childhood.

PubMed

Kumar, R; Tsai, H-J; Hong, X; Gignoux, C; Pearson, C; Ortiz, K; Fu, M; Pongracic, J A; Burchard, E G; Bauchner, H; Wang, X

2012-02-01

Racial disparities persist in early childhood wheezing and cannot be completely explained by known risk factors. To evaluate the associations of genetic ancestry and self-identified race with early childhood recurrent wheezing, accounting for socio-economic status (SES) and early life exposures. We studied 1034 children in an urban, multi-racial, prospective birth cohort. Multivariate logistic regression was used to evaluate the association of genetic ancestry as opposed to self-identified race with recurrent wheezing (>3 episodes). Sequential models accounted for demographic, socio-economic factors and early life risk factors. Genetic ancestry, estimated using 150 ancestry informative markers, was expressed in deciles. Approximately 6.1% of subjects (mean age 3.1 years) experienced recurrent wheezing. After accounting for SES and demographic factors, African ancestry (OR: 1.16, 95% CI: 1.02-1.31) was significantly associated with recurrent wheezing. By self-reported race, hispanic subjects had a borderline decrease in risk of wheeze compared with African Americans (OR: 0.44, 95% CI: 0.19-1.00), whereas white subjects (OR: 0.46, 95% CI: 0.14-1.57) did not have. After further adjustment for known confounders and early life exposures, both African (OR: 1.19, 95% CI: 1.05-1.34) and European ancestry (OR: 0.84, 95% CI: 0.74-0.94) retained a significant association with recurrent wheezing, as compared with self-identified race (OR(whites) : 0.31, 95% CI: 0.09-1.14; OR(hispanic) : 0.47, 95% CI: 0.20-1.08). There were no significant interactions between ancestry and early life factors on recurrent wheezing. In contrast to self-identified race, African ancestry remained a significant, independent predictor of early childhood wheezing after accounting for early life and other known risk factors associated with lung function changes and asthma. Genetic ancestry may be a powerful way to evaluate wheezing disparities and a proxy for differentially distributed genetic and

African ancestry, early life exposures, and respiratory morbidity in early childhood

PubMed Central

Kumar, R.; Tsai, H.-J.; Hong, X.; Gignoux, C.; Pearson, C.; Ortiz, K.; Fu, M.; Pongracic, J. A.; Burchard, E. G.; Bauchner, H.; Wang, X.

2012-01-01

Summary Background Racial disparities persist in early childhood wheezing and cannot be completely explained by known risk factors. Objective To evaluate the associations of genetic ancestry and self-identified race with early childhood recurrent wheezing, accounting for socio-economic status (SES) and early life exposures. Methods We studied 1034 children in an urban, multi-racial, prospective birth cohort. Multivariate logistic regression was used to evaluate the association of genetic ancestry as opposed to self-identified race with recurrent wheezing (>3 episodes). Sequential models accounted for demographic, socio-economic factors and early life risk factors. Genetic ancestry, estimated using 150 ancestry informative markers, was expressed in deciles. Results Approximately 6.1% of subjects (mean age 3.1 years) experienced recurrent wheezing. After accounting for SES and demographic factors, African ancestry (OR: 1.16, 95% CI: 1.02–1.31) was significantly associated with recurrent wheezing. By self-reported race, hispanic subjects had a borderline decrease in risk of wheeze compared with African Americans (OR: 0.44, 95% CI: 0.19–1.00), whereas white subjects (OR: 0.46, 95% CI: 0.14–1.57) did not have. After further adjustment for known confounders and early life exposures, both African (OR: 1.19, 95% CI: 1.05–1.34) and European ancestry (OR: 0.84, 95% CI: 0.74–0.94) retained a significant association with recurrent wheezing, as compared with self-identified race (ORwhites: 0.31, 95% CI: 0.09–1.14; ORhispanic: 0.47, 95% CI: 0.20–1.08). There were no significant interactions between ancestry and early life factors on recurrent wheezing. Conclusions and Clinical Relevance In contrast to self-identified race, African ancestry remained a significant, independent predictor of early childhood wheezing after accounting for early life and other known risk factors associated with lung function changes and asthma. Genetic ancestry may be a powerful way to

A Study of the Relationship between Early Childhood Program Attributes and Early Childhood Reading Achievement

ERIC Educational Resources Information Center

Washington, Novella M.

2012-01-01

This quantitative correlational study focuses on the relationship between early childhood program attributes and early childhood reading success. Data will be gathered from early childhood sites with grades prekindergarten through second grade in which early childhood program attributes exist and early childhood reading is measured by the…

Early Childhood Diplomacy: Policy Planning for Early Childhood Development

ERIC Educational Resources Information Center

Vargas-Barón, Emily; Diehl, Kristel

2018-01-01

Children who are well nurtured, appropriately cared for, and provided with positive learning opportunities in their early years have a better chance of becoming healthy and productive citizens of nations and of the world. This article reviews the art and science of policy planning for early childhood development (ECD) from a diplomacy perspective.…

Innovations and techniques for balloon-enteroscope-assisted endoscopic retrograde cholangiopancreatography in patients with altered gastrointestinal anatomy

PubMed Central

Yamauchi, Hiroshi; Kida, Mitsuhiro; Imaizumi, Hiroshi; Okuwaki, Kosuke; Miyazawa, Shiro; Iwai, Tomohisa; Koizumi, Wasaburo

2015-01-01

Endoscopic retrograde cholangiopancreatography (ERCP) remains challenging in patients who have undergone surgical reconstruction of the intestine. Recently, many studies have reported that balloon-enteroscope-assisted ERCP (BEA-ERCP) is a safe and effective procedure. However, further improvements in outcomes and the development of simplified procedures are required. Percutaneous treatment, Laparoscopy-assisted ERCP, endoscopic ultrasound-guided anterograde intervention, and open surgery are effective treatments. However, treatment should be noninvasive, effective, and safe. We believe that these procedures should be performed only in difficult-to-treat patients because of many potential complications. BEA-ERCP still requires high expertise-level techniques and is far from a routinely performed procedure. Various techniques have been proposed to facilitate scope insertion (insertion with percutaneous transhepatic biliary drainage (PTBD) rendezvous technique, Short type single-balloon enteroscopes with passive bending section, Intraluminal injection of indigo carmine, CO2 inflation guidance), cannulation (PTBD or percutaneous transgallbladder drainage rendezvous technique, Dilation using screw drill, Rendezvous technique combining DBE with a cholangioscope, endoscopic ultrasound-guided rendezvous technique), and treatment (overtube-assisted technique, Short type balloon enteroscopes) during BEA-ERCP. The use of these techniques may allow treatment to be performed by BEA-ERCP in many patients. A standard procedure for ERCP yet to be established for patients with a reconstructed intestine. At present, BEA-ERCP is considered the safest and most effective procedure and is therefore likely to be recommended as first-line treatment. In this article, we discuss the current status of BEA-ERCP in patients with surgically altered gastrointestinal anatomy. PMID:26074685

Overview of Play: Its Uses and Importance in Early Intervention/Early Childhood Special Education

ERIC Educational Resources Information Center

Lifter, Karin; Foster-Sanda, Suzanne; Arzamarski, Caley; Briesch, Jacquelyn; McClure, Ellen

2011-01-01

Play is a natural activity of early childhood, which has great relevance to the fields of early intervention, early childhood special education, and early childhood education. Within these fields, ongoing tensions persist in how play is described and used. These tensions compromise activities of assessment, intervention, and curriculum development…

Early Number Skills Gains and Mathematics Achievement: Intervening to Establish Successful Early Mathematics Trajectories

ERIC Educational Resources Information Center

Shanley, Lina; Clarke, Ben; Doabler, Christian T.; Kurtz-Nelson, Evangeline; Fien, Hank

2017-01-01

Early number skills, comprised of both informal and formal skills, are associated with later mathematics achievement. Thus, the development of foundational early number skills is an important aspect of early mathematics instruction. This study explored relations between early number skills gains and mathematics achievement for students at risk for…

Individual differences in early adolescents' latent trait cortisol (LTC): Relation to early adversity.

PubMed

Stroud, Catherine B; Chen, Frances R; Doane, Leah D; Granger, Douglas A

2016-09-01

Substantial evidence suggests that youth who experience early adversity exhibit alterations in hypothalamic pituitary adrenal (HPA) axis functioning, thereby increasing risk for negative health outcomes. However, few studies have explored whether early adversity alters enduring trait indicators of HPA axis activity. Using objective contextual stress interviews with adolescents and their mothers to assess early adversity, we examined the cumulative impact of nine types of early adversity on early adolescents girls' latent trait cortisol (LTC). Adolescents (n = 122; M age = 12.39 years) provided salivary cortisol samples three times a day (waking, 30 min post-waking, and bedtime) over 3 days. Latent state-trait modeling indicated that the waking and 30 min post-waking samples contributed to a LTC factor. Moreover, greater early adversity was associated with a lower LTC level. Implications of LTC for future research examining the impact of early adversity on HPA axis functioning are discussed. © 2016 Wiley Periodicals, Inc. Dev Psychobiol 58:700-713, 2016. © 2016 Wiley Periodicals, Inc.

Astrodynamics. Volume 1 - Orbit determination, space navigation, celestial mechanics.

NASA Technical Reports Server (NTRS)

Herrick, S.

1971-01-01

Essential navigational, physical, and mathematical problems of space exploration are covered. The introductory chapters dealing with conic sections, orientation, and the integration of the two-body problem are followed by an introduction to orbit determination and design. Systems of units and constants, as well as ephemerides, representations, reference systems, and data are then dealt with. A detailed attention is given to rendezvous problems and to differential processes in observational orbit correction, and in rendezvous or guidance correction. Finally, the Laplacian methods for determining preliminary orbits, and the orbit methods of Lagrange, Gauss, and Gibbs are reviewed.

Apollo Soyuz test project. USA-USSR, fact sheet

NASA Technical Reports Server (NTRS)

1974-01-01

The Apollo Soyuz Test Project (ASTP) is discussed. The United States and the Soviet Union have agreed to develop compatible rendezvous and docking systems which will provide a basis for docking and rescue on future spacecraft of both nations. The ASTP mission will include testing the rendezvous system in orbit, verifying techniques for transfer of astronauts and cosmonauts, and conducting experiments while docked and undocked. Diagrams of the spacecraft and systems involved in the tests are presented. The prime contractors for the equipment are identified. Biographical data on the astronauts participating in the program are provided.

Earth Science

NASA Image and Video Library

1996-01-31

The Near Earth Asteroid Rendezvous (NEAR) spacecraft embarks on a journey that will culminate in a close encounter with an asteroid. The launch of NEAR inaugurates NASA's irnovative Discovery program of small-scale planetary missions with rapid, lower-cost development cycles and focused science objectives. NEAR will rendezvous in 1999 with the asteroid 433 Eros to begin the first long-term, close-up look at an asteroid's surface composition and physical properties. NEAR's science payload includes an x-ray/gamma ray spectrometer, an near-infrared spectrograph, a laser rangefinder, a magnetometer, a radio science experiment and a multi-spectral imager.

Reframing Early Childhood Leadership

ERIC Educational Resources Information Center

Stamopoulos, Elizabeth

2012-01-01

Rapid changes in Australian education have intensified the role of early childhood leaders and led to unprecedented challenges. The Australian Curriculum (ACARA, 2011), mandated Australian "National Quality Framework" (NQF) for Early Childhood Education & Care (DEEWR, 2010b) and the "National Early Years Learning Framework"…

Multi-Maneuver Clohessy-Wiltshire Targeting

NASA Technical Reports Server (NTRS)

Dannemiller, David P.

2011-01-01

Orbital rendezvous involves execution of a sequence of maneuvers by a chaser vehicle to bring the chaser to a desired state relative to a target vehicle while meeting intermediate and final relative constraints. Intermediate and final relative constraints are necessary to meet a multitude of requirements such as to control approach direction, ensure relative position is adequate for operation of space-to-space communication systems and relative sensors, provide fail-safe trajectory features, and provide contingency hold points. The effect of maneuvers on constraints is often coupled, so the maneuvers must be solved for as a set. For example, maneuvers that affect orbital energy change both the chaser's height and downrange position relative to the target vehicle. Rendezvous designers use experience and rules-of-thumb to design a sequence of maneuvers and constraints. A non-iterative method is presented for targeting a rendezvous scenario that includes a sequence of maneuvers and relative constraints. This method is referred to as Multi-Maneuver Clohessy-Wiltshire Targeting (MM_CW_TGT). When a single maneuver is targeted to a single relative position, the classic CW targeting solution is obtained. The MM_CW_TGT method involves manipulation of the CW state transition matrix to form a linear system. As a starting point for forming the algorithm, the effects of a series of impulsive maneuvers on the state are derived. Simple and moderately complex examples are used to demonstrate the pattern of the resulting linear system. The general form of the pattern results in an algorithm for formation of the linear system. The resulting linear system relates the effect of maneuver components and initial conditions on relative constraints specified by the rendezvous designer. Solution of the linear system includes the straight-forward inverse of a square matrix. Inversion of the square matrix is assured if the designer poses a controllable scenario - a scenario where the the

Earth's early biosphere

NASA Technical Reports Server (NTRS)

Des Marais, D. J.

1998-01-01

Understanding our own early biosphere is essential to our search for life elsewhere, because life arose on Earth very early and rocky planets shared similar early histories. The biosphere arose before 3.8 Ga ago, was exclusively unicellular and was dominated by hyperthermophiles that utilized chemical sources of energy and employed a range of metabolic pathways for CO2 assimilation. Photosynthesis also arose very early. Oxygenic photosynthesis arose later but still prior to 2.7 Ga. The transition toward the modern global environment was paced by a decline in volcanic and hydrothermal activity. These developments allowed atmospheric O2 levels to increase. The O2 increase created new niches for aerobic life, most notably the more advanced Eukarya that eventually spawned the megascopic fauna and flora of our modern biosphere.

Value-Added Early Learning

ERIC Educational Resources Information Center

Dichter, Harriet

2011-01-01

Elected state leaders often prioritize economic prosperity and competitiveness, which provides an important opportunity too rarely taken for investing in early education. In 2003, Pennsylvania recognized the connection between early education and the economy, and smartly embraced early learning as part of its economic prosperity and…

Abnormal early cleavage events predict early embryo demise: sperm oxidative stress and early abnormal cleavage.

PubMed

Burruel, Victoria; Klooster, Katie; Barker, Christopher M; Pera, Renee Reijo; Meyers, Stuart

2014-10-13

Human embryos resulting from abnormal early cleavage can result in aneuploidy and failure to develop normally to the blastocyst stage. The nature of paternal influence on early embryo development has not been directly demonstrated although many studies have suggested effects from spermatozoal chromatin packaging, DNA damage, centriolar and mitotic spindle integrity, and plasma membrane integrity. The goal of this study was to determine whether early developmental events were affected by oxidative damage to the fertilizing sperm. Survival analysis was used to compare patterns of blastocyst formation based on P2 duration. Kaplan-Meier survival curves demonstrate that relatively few embryos with short (<1 hr) P2 times reached blastocysts, and the two curves diverged beginning on day 4, with nearly all of the embryos with longer P2 times reaching blastocysts by day 6 (p < .01). We determined that duration of the 2nd to 3rd mitoses were sensitive periods in the presence of spermatozoal oxidative stress. Embryos that displayed either too long or too short cytokineses demonstrated an increased failure to reach blastocyst stage and therefore survive for further development. Although paternal-derived gene expression occurs later in development, this study suggests a specific role in early mitosis that is highly influenced by paternal factors.

Commentary on "Laparoendoscopic single-site (LESS) partial nephrectomy short-term outcomes." Rais-Bahrami S, George AK, Montag S, Okhunov Z, Richstone L, The Arthur Smith Institute for Urology, Hofstra North Shore-LIJ School of Medicine, New Hyde Park, NY: BJU Int 2012 (Epub ahead of print).

PubMed

Meng, Maxwell V

2013-01-01

Study type-therapy (case series). Level of evidence 4. What's known on the subject and what does the study add? Laparoendoscopic single-site (LESS) surgery has been used by urologists for a broad-range of operations including LESS partial nephrectomy (LESS-PN). To date, experiences of LESS-PN have been presented as small series or as a subset of larger heterogeneous operative experiences, which have shown the overall feasibility and safety of this novel technique. We report our experience with LESS-PN with complete pathologic resection and excellent short-term oncologic and renal functional outcomes in the select patient-population who underwent this minimally invasive approach. To present our experience of transumbilical LESS-PN with pathologic and short-term oncologic and renal functional outcomes. In all, 15 LESS-PNs were performed for cT1a tumors between July 2008 and August 2011 by 1 surgeon. All patients underwent transumbilical LESS using a 5mm flexible-tip laparoscope and a combination of flexible and conventional laparoscopic instruments. The technique for transperitoneal LESS-PN otherwise replicated conventional laparoscopic PN. Demographic, perioperative, and postoperative variables were recorded and analyzed. Of the 14 patients (8 men), undergoing 15 distinct LESS-PN, the mean (sd) age was 57.9 (8.7) years and the mean (sd, range) tumor size resected was 2.4 (0.8; 1.2-4.0). There were 12 renal cell carcinomas, 2 angiomyolipomas, and 2 metanephric adenomas on final pathology, all with negative margins. The mean (sd) operative duration was 169 (47) minutes with a mean (sd, range) warm ischemia time of 14.7 (13.4; 0-37) minutes; bull-dog clamps were used for hilar-control in 9 cases with the remaining 6 cases done without hilar vascular clamping. The mean (sd) estimated blood loss in this series was 293 (325)ml (median 200ml) and no cases required intraoperative or postoperative blood transfusions. The mean (sd) hospital stay was 2.7 (0.8) days and mean

Early College Entrance in Australia

ERIC Educational Resources Information Center

Jung, Jae Yup; Young, Marie; Gross, Miraca U. M.

2015-01-01

Early college entry is an educational intervention that is being increasingly used in Australia. Following a review of the current Australian literature on early college entry, an overview is provided of the characteristics of, and the procedures associated with, one formal Australian early college entry program (the Early Admission for…

The link between early onset drinking and early onset alcohol-impaired driving in young males.

PubMed

Zhang, Lening; Wieczorek, William F; Welte, John W

2014-05-01

Young drivers represent a disproportionate number of the individuals involved in alcohol-impaired driving. Although there is a known association between drinking and alcohol-impaired driving in young drivers, the link between early onset drinking and early onset alcohol-impaired driving has not been explored. The present study aimed to assess this link along with potentially confounding factors. The assessment used a proportional hazards model with data collected from the Buffalo Longitudinal Study of Young Men, a population-based sample of 625 males at aged 16-19. Controlling for the effects of potentially relevant confounds, the early onset of drinking was the most influential factor in predicting the early onset of alcohol-impaired driving. Race and the early onset of other forms of delinquency also played a significant role in the early onset of alcohol-impaired driving. Preventing an early start of drinking among adolescents may be the most critical factor to address in preventing an early start of alcohol-impaired driving.

Cognitive Development in Early Readers.

ERIC Educational Resources Information Center

Briggs, Chari; Elkind, David

Some studies of early readers are discussed. It is pointed out that study of early readers has relevance for practical and theoretical issues in psychology and education. Of interest in this document are the following questions: (1) Are there any special talents or traits distinguishing early from non-early readers? (2) Do children who read early…

THE LINK BETWEEN EARLY ONSET DRINKING AND EARLY ONSET ALCOHOL-IMPAIRED DRIVING IN YOUNG MALES

PubMed Central

Zhang, Lening; Wieczorek, William F.; Welte, John W.

2014-01-01

Background Young drivers represent a disproportionate number of the individuals involved in alcohol-impaired driving. Although there is a known association between drinking and alcohol-impaired driving in young drivers, the link between early onset drinking and early onset alcohol-impaired driving has not been explored. Objectives The present study aimed to assess this link along with potentially confounding factors. Methods The assessment used a proportional hazards model with data collected from the Buffalo Longitudinal Study of Young Men, a population based sample of 625 males at ages of 16–19 years old. Results Controlling for the effects of potentially relevant confounds, the early onset of drinking was the most influential factor in predicting the early onset of alcohol-impaired driving. Race and the early onset of other forms of delinquency also played a significant role in the early onset of alcohol-impaired driving. Conclusion Preventing an early start of drinking among adolescents may be the most critical factor to address in preventing an early start of alcohol-impaired driving. PMID:24766089

KSC-08pd2436

NASA Image and Video Library

2008-08-15

CAPE CANAVERAL, Fla. – In the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, a technician signals to begin lifting the Soft Capture Mechanism (SCM), part of the Soft Capture and Rendezvous System, or SCRS. The SCM will be transferred to the stand holding the Flight Support System, or FSS, carrier where the SCM will be mated to the FSS. The SCRS will enable the future rendezvous, capture and safe disposal of NASA's Hubble Space Telescope by either a crewed or robotic mission. The ring-like device attaches to Hubble’s aft bulkhead. The SCRS greatly increases the current shuttle capture interfaces on Hubble, therefore significantly reducing the rendezvous and capture design complexities associated with the disposal mission. The FSS will join the Multi-Use Lightweight Equipment, or MULE, carrier, the Super Lightweight Interchangeable Carrier and the Orbital Replacement Unit Carrier as payload on space shuttle Atlantis's STS-125 mission. The payload is scheduled to go to Launch Pad 39A in mid-September to be installed into Atlantis' payload bay. Atlantis is targeted to launch Oct. 8 at 1:34 a.m. EDT. Photo credit: NASA/Troy Cryder

Flight Test Results from Real-Time Relative Global Positioning System Flight Experiment on STS-69

NASA Technical Reports Server (NTRS)

Park, Young W.; Brazzel, Jack P., Jr.; Carpenter, J. Russell; Hinkel, Heather D.; Newman, James H.

1996-01-01

A real-time global positioning system (GPS) Kalman filter has been developed to support automated rendezvous with the International Space Station (ISS). The filter is integrated with existing Shuttle rendezvous software running on a 486 laptop computer under Windows. In this work, we present real-time and postflight results achieved with the filter on STS-69. The experiment used GPS data from an Osborne/Jet propulsion Laboratory TurboRouge receiver carried on the Wake Shield Facility (WSF) free flyer and a Rockwell Collins 3M receiver carried on the Orbiter. Real time filter results, processed onboard the Shuttle and replayed in near-time on the ground, are based on single vehicle mode operation and on 5 to 20 minute snapshots of telemetry provided by WSF for dual-vehicle mode operation. The Orbiter and WSF state vectors calculated using our filter compare favorably with precise reference orbits determined by the University of Texas Center for Space Research. The lessons learned from this experiment will be used in conjunction with future experiments to mitigate the technology risk posed by automated rendezvous and docking to the ISS.

KSC-04pd1597

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians check the bottom of the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator as it is raised of its platform. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1595

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, an Orbital Sciences technician works with wiring on the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator, a spacecraft developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1596

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians check the bottom of the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator as it is raised off its platform. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1592

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences workers remove the canister from the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator, a spacecraft developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1599

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians watch closely as the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator is lowered onto a stand. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1598

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians observe closely the movement of the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator as it is lowered onto a stand. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1594

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator is revealed after its protective cover has been removed. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1593

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator is revealed after its protective cover has been removed. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04PD-1593

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. At Vandenberg Air Force Base in California, the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator is revealed after its protective cover has been removed. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbitals Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

Famines in Africa: is early warning early enough?

PubMed Central

Kim, Jeeyon Janet; Guha-Sapir, Debarati

2012-01-01

Following the second Sahelian famine in 1984–1985, major investments were made to establish Early Warning Systems. These systems help to ensure that timely warnings and vulnerability information are available to decision makers to anticipate and avert food crises. In the recent crisis in the Horn of Africa, alarming levels of acute malnutrition were documented from March 2010, and by August 2010, an impending food crisis was forecast. Despite these measures, the situation remained unrecognised, and further deteriorated causing malnutrition levels to grow in severity and scope. By the time the United Nations officially declared famine on 20 July 2011, and the humanitarian community sluggishly went into response mode, levels of malnutrition and mortality exceeded catastrophic levels. At this time, an estimated 11 million people were in desperate and immediate need for food. With warnings of food crises in the Sahel, South Sudan, and forecast of the drought returning to the Horn, there is an immediate need to institutionalize change in the health response during humanitarian emergencies. Early warning systems are only effective if they trigger an early response. PMID:22745628

Famines in Africa: is early warning early enough?

PubMed

Kim, Jeeyon Janet; Guha-Sapir, Debarati

2012-01-01

Following the second Sahelian famine in 1984-1985, major investments were made to establish Early Warning Systems. These systems help to ensure that timely warnings and vulnerability information are available to decision makers to anticipate and avert food crises. In the recent crisis in the Horn of Africa, alarming levels of acute malnutrition were documented from March 2010, and by August 2010, an impending food crisis was forecast. Despite these measures, the situation remained unrecognised, and further deteriorated causing malnutrition levels to grow in severity and scope. By the time the United Nations officially declared famine on 20 July 2011, and the humanitarian community sluggishly went into response mode, levels of malnutrition and mortality exceeded catastrophic levels. At this time, an estimated 11 million people were in desperate and immediate need for food. With warnings of food crises in the Sahel, South Sudan, and forecast of the drought returning to the Horn, there is an immediate need to institutionalize change in the health response during humanitarian emergencies. Early warning systems are only effective if they trigger an early response.

Employment and educational outcomes in early intervention programmes for early psychosis: a systematic review.

PubMed

Bond, G R; Drake, R E; Luciano, A

2015-10-01

Young adults with early psychosis want to pursue normal roles - education and employment. This paper summarises the empirical literature on the effectiveness of early intervention programmes for employment and education outcomes. We conducted a systematic review of employment/education outcomes for early intervention programmes, distinguishing three programme types: (1) those providing supported employment, (2) those providing unspecified vocational services and (3) those without vocational services. We summarised findings for 28 studies. Eleven studies evaluated early intervention programmes providing supported employment. In eight studies that reported employment outcomes separately from education outcomes, the employment rate during follow-up for supported employment patients was 49%, compared with 29% for patients receiving usual services. The two groups did not differ on enrolment in education. In four controlled studies, meta-analysis showed that the employment rate for supported employment participants was significantly higher than for control participants, odds ratio = 3.66 [1.93-6.93], p < 0.0001. Five studies (four descriptive and one quasi-experimental) of early intervention programmes evaluating unspecified vocational services were inconclusive. Twelve studies of early intervention programmes without vocational services were methodologically heterogeneous, using diverse methods for evaluating vocational/educational outcomes and precluding a satisfactory meta-analytic synthesis. Among studies with comparison groups, 7 of 11 (64%) reported significant vocational/education outcomes favouring early intervention over usual services. In early intervention programmes, supported employment moderately increases employment rates but not rates of enrolment in education. These improvements are in addition to the modest effects early programmes alone have on vocational/educational outcomes compared with usual services.

The Association between Early Conduct Problems and Early Marijuana Use in College Students

ERIC Educational Resources Information Center

Falls, Benjamin J.; Wish, Eric D.; Garnier, Laura M.; Caldeira, Kimberly M.; O'Grady, Kevin E.; Vincent, Kathryn B.; Arria, Amelia M.

2011-01-01

Early conduct problems have been linked to early marijuana use in adolescence. The present study examines this association in a sample of 1,076 college students that was divided into three groups: (1) early marijuana users (began marijuana use prior to age 15; N = 126), (2) late marijuana users (began marijuana use at or after age 15; N = 607),…

Robotic single port cholecystectomy (R-LESS-C): experience in 36 patients.

PubMed

Uras, Cihan; Böler, Deniz Eren; Ergüner, Ilknur; Hamzaoğlu, Ismail

2014-07-01

Laparoendoscopic single-site surgery (LESS) has emerged as a result of a search for "pain-less" and "scar-less" surgery. Laparoendoscopic single-site cholecystectomy (LESS-C) is probably the most common application in general surgery, although it harbors certain limitations. It was proposed that the da Vinci Single-Site (Si) robotic system may overcome some of the difficulties experienced during LESS, providing three dimensional views and the ability to work in a right-handed fashion. Thirty-six robotic single port cholecystectomies (R-LESS-C) performed with the da Vinci Si robotic system are evaluated in this paper R-LESS-C performed in 36 patients were reviewed. The data related to the perioperative period (i.e., anesthesia time, operation time, docking time, and console time) was recorded prospectively, whereas the hospitalization period, postoperative visual analogue scale (VAS) pain scores were collected retrospectively. A total number of 36 patients, with a mean age of 40.1 years (21-64 years), underwent R-LESS-C. There were five men and 31 women. The mean anesthesia and operation times were 79.3 minutes (45-130 minutes) and 61.8 minutes (34-110 minutes), respectively. The mean docking time was 9.8 minutes (4-30 minutes) and the mean console time was 24.9 minutes (7-60 minutes). The mean hospital stay was 1.05 days (1-2 days) and the mean pain score (VAS) was 3.6 (2-8) in the first 24 hours. Incisional hernia was recorded in one patient. R-LESS-C can be performed reliably with acceptable operative times and safety. The da Vinci Si robotic system may ease LESS-C. Two issues should be considered for routine use: expensive resources are needed and the incidence of incisional hernia may increase. Copyright © 2013. Published by Elsevier B.V.

STS-101: CAR / Flight Day 03 Highlights

NASA Technical Reports Server (NTRS)

2000-01-01

The primary mission objective for STS-101 was to deliver supplies to the International Space Station, perform a space walk, and reboost the station from 230 statute miles to 250 statute miles. The commander of this mission was, James D. Haslsell. The crew was Scott J. Horowitz, the pilot, and mission specialists Mary Ellen Weber, Jeffrey N. Williams, James S. Voss, Susan J. Helms, and Yuri Vladimirovich Usachev. This videotape shows the activities of the third day of the flight. On this day the shuttle rendezvoused and docked with the station. The videotape shows the rendezvous and the docking maneuver, and some of the crew activities in the shuttle.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030552 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030578 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030563 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030460 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030445 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030584 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030444 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030528 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Comet composition and density analyzer

NASA Technical Reports Server (NTRS)

Clark, B. C.

1982-01-01

Distinctions between cometary material and other extraterrestrial materials (meteorite suites and stratospherically-captured cosmic dust) are addressed. The technique of X-ray fluorescence (XRF) for analysis of elemental composition is involved. Concomitant with these investigations, the problem of collecting representative samples of comet dust (for rendezvous missions) was solved, and several related techniques such as mineralogic analysis (X-ray diffraction), direct analysis of the nucleus without docking (electron macroprobe), dust flux rate measurement, and test sample preparation were evaluated. An explicit experiment concept based upon X-ray fluorescence analysis of biased and unbiased sample collections was scoped and proposed for a future rendezvous mission with a short-period comet.

On-Orbit Autonomous Assembly from Nanosatellites

NASA Technical Reports Server (NTRS)

Murchison, Luke S.; Martinez, Andres; Petro, Andrew

2015-01-01

The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

Development of a miniature scanning electron microscope for in-flight analysis of comet dust

NASA Technical Reports Server (NTRS)

Conley, J. M.; Bradley, J. G.; Giffin, C. E.; Albee, A. L.; Tomassian, A. D.

1983-01-01

A description is presented of an instrument which was developed with the original goal of being flown on the International Comet Mission, scheduled for a 1985 launch. The Scanning Electron Microscope and Particle Analyzer (SEMPA) electron miniprobe is a miniaturized electrostatically focused electron microscope and energy dispersive X-ray analyzer for in-flight analysis of comet dust particles. It was designed to be flown on board a comet rendezvous spacecraft. Other potential applications are related to asteroid rendezvous and planetary lander missions. According to the development objectives, SEMPA miniprobe is to have the capability for imaging and elemental analysis of particles in the size range of 0.25 microns and larger.

Selected tether applications in space: An analysis of five selected concepts

NASA Technical Reports Server (NTRS)

1984-01-01

Ground rules and assumptions; operations; orbit considerations/dynamics; tether system design and dynamics; functional requirements; hardware concepts; and safety factors are examined for five scenarios: tethered effected separation of an Earth bound shuttle from the space station; tether effected orbit boost of a spacecraft (AXAF) into its operational orbit from the shuttle; an operational science/technology platform tether deployed from space station; a tether mediated rendezvous involving an OMV tether deployed from space station to rendezvous with an aerobraked OTV returning to geosynchronous orbit from a payload delivery mission; and an electrodynamic tether used in a dual motor/generator mode to serve as the primary energy storage facility for space station.

Early Childhood Education.

ERIC Educational Resources Information Center

Elkind, David

In five sections, this paper explores dimensions of early childhood education: schooling generally construed as nonparental instruction in knowledge, values, and skills. Section 1 looks at some of the factors which have contributed to the rapid growth of early childhood education in modern times. Section 2 briefly highlights the contributions of…

Early Pregnancy Loss

MedlinePlus

... known pregnancies. What causes early pregnancy loss? About one half of cases of early pregnancy loss are caused by a ... do not show any signs of an infection, one option is to wait and let the ... may take longer in some cases. Another option is to take medication that helps ...

Early Retirement Payoff

ERIC Educational Resources Information Center

Fitzpatrick, Maria D.; Lovenheim, Michael F.

2014-01-01

As public budgets have grown tighter over the past decade, states and school districts have sought ways to control the growth of spending. One increasingly common strategy employed to rein in costs is to offer experienced teachers with high salaries financial incentives to retire early. Although early retirement incentive (ERI) programs have been…

Rethinking Early Education

ERIC Educational Resources Information Center

Celeste, Eric

2017-01-01

The National Association for the Education of Young Children (NAEYC) says in its current policy paper that, for high-quality early education to exist outside of tiny islands across the country, the following must be addressed: (1) teacher preparation; (2) ongoing professional learning; and (3) disparity in early education teacher pay. To achieve…

Biological aspects of early osteoarthritis.

PubMed

Madry, Henning; Luyten, Frank P; Facchini, Andrea

2012-03-01

Early OA primarily affects articular cartilage and involves the entire joint, including the subchondral bone, synovial membrane, menisci and periarticular structures. The aim of this review is to highlight the molecular basis and histopathological features of early OA. Selective review of literature. Risk factors for developing early OA include, but are not limited to, a genetic predisposition, mechanical factors such as axial malalignment, and aging. In early OA, the articular cartilage surface is progressively becoming discontinuous, showing fibrillation and vertical fissures that extend not deeper than into the mid-zone of the articular cartilage, reflective of OARSI grades 1.0-3.0. Early changes in the subchondral bone comprise a progressive increase in subchondral plate and subarticular spongiosa thickness. Early OA affects not only the articular cartilage and the subchondral bone but also other structures of the joint, such as the menisci, the synovial membrane, the joint capsule, ligaments, muscles and the infrapatellar fat pad. Genetic markers or marker combinations may become useful in the future to identify early OA and patients at risk. The high socioeconomic impact of OA suggests that a better insight into the mechanisms of early OA may be a key to develop more targeted reconstructive therapies at this first stage of the disease. Systematic review, Level II.

Eco-Early Childhood Education: A New Paradigm of Early Childhood Education in South Korea

ERIC Educational Resources Information Center

Kim, Eunju; Lim, Jaetack

2007-01-01

In the early 1990s, university faculty members, early childhood educators, and preschool teachers in South Korea created a new paradigm for education. Eco-early childhood education uses an ecological point of view to reform existing child-centered education. This perspective proposes moving from child- to life-centered, individual- to…

Course of Disinhibited Social Engagement Disorder From Early Childhood to Early Adolescence.

PubMed

Guyon-Harris, Katherine L; Humphreys, Kathryn L; Fox, Nathan A; Nelson, Charles A; Zeanah, Charles H

2018-05-01

Disinhibited social engagement disorder (DSED) is poorly understood beyond early childhood. The course of DSED signs in a sample of children who experienced severe, early deprivation from early childhood to early adolescence was examined using variable-centered (linear mixed modeling) and person-centered (growth mixture modeling) approaches. The study included 124 children with a history of institutional care from a randomized controlled trial of foster care as an alternative to institutional care and 69 community comparison children matched by age and sex. DSED signs were assessed at baseline (mean age 22 months), 30, 42, and 54 months of age, and 8 and 12 years of age using a validated caregiver report of disturbed attachment behavior. Variable-centered analyses based on intent-to-treat groups indicated that signs of DSED decreased sharply for children randomized to foster care and decreased slightly but remained high for children randomized to care as usual. Person-centered analyses showed 4 profiles (i.e., elevated, persistent modest, early decreasing, and minimal). Elevated and persistent modest courses were associated with greater placement disruptions (F 3,99  = 4.29, p = .007, partial eta-squared [η 2 ] = 0.12), older age at placement into foster care (F 3,56  = 3.41, p < .05, partial η 2  = 0.16), and more time in institutional care (F 3,115  = 11.91, p < .001, partial η 2  = 0.24) compared with decreasing and minimal courses. Early and sustained placement into families after deprivation is associated with minimal or decreasing signs of DSED across development. Shortening the amount of time children spend in institutions and preserving placements could help decrease signs of DSED into early adolescence in previously institutionalized children. Copyright © 2018 American Academy of Child and Adolescent Psychiatry. Published by Elsevier Inc. All rights reserved.

Leadership Competencies in U.S. Early Intervention/Early Childhood Special Education Service Systems: A National Survey

ERIC Educational Resources Information Center

Bruns, Deborah A.; LaRocco, Diana J.; Sharp, Olga L.; Sopko, Kim Moherek

2017-01-01

In 2015, the Division for Early Childhood of the Council for Exceptional Children released a position statement on leadership in early intervention and early childhood special education (EI/ECSE). Division for Early Childhood emphasized the importance of developing and supporting high-quality leadership within and across all levels of EI/ECSE…

Early Numeracy Assessment: The Development of the Preschool Early Numeracy Scales

ERIC Educational Resources Information Center

Purpura, David J.; Lonigan, Christopher J.

2015-01-01

Research Findings: The focus of this study was to construct and validate 12 brief early numeracy assessment tasks that measure the skills and concepts identified as key to early mathematics development by the National Council of Teachers of Mathematics (2006) and the National Mathematics Advisory Panel (2008)-as well as critical developmental…

Timing of Orphanhood, Early Sexual Debut, and Early Marriage in Four Sub-Saharan African Countries

PubMed Central

Chae, Sophia

2014-01-01

According to a growing body of literature, some orphans are at heightened risk of early sexual debut and early marriage. This study examines a rarely explored aspect of orphanhood: the timing and type of parental death and their relationship to these outcomes. The study also explores whether education mediates orphans’ risk of early sexual initiation and early marriage. The data are drawn from the 2004 National Survey of Adolescents, which includes interviews with 12–19-year-old adolescents in Burkina Faso, Ghana, Malawi, and Uganda. Results from discrete-time event history analysis indicate that female double orphans, regardless of timing of orphanhood, have greater odds of early sexual debut than do nonorphans. Education explains little of their increased risk. In contrast, male orphans of any type reveal no increased vulnerability to early sexual debut. Uganda is the only country where female orphans, specifically double orphans and those who are paternal orphans before age 10, have greater odds of early marriage, with education accounting for a small portion of the risk. PMID:23719999

[Choledocholithiasis and pregnancy. Hybrid laparo-endoscopic treatment in one step].

PubMed

Valadez-Caballero, David; González-Santamaría, Roberto; Soto-Mendoza, Héctor; Alberto Blanco-Figueroa, Jorge; Flores-Pantoja, Juan Manuel

2014-01-01

Complications associated with choledocholithiasis are uncommon during pregnancy. However, when it occurs, the morbidity and mortality related for the product and the mother increases, so a proper treatment is imperative in these patients. A 25-year-old pregnant woman on her second trimester. The current condition was started four days prior to the hospital admission with abdominal pain in the right upper quadrant with nausea and vomit.Twenty-four hours later jaundice and dark urine is observed. Physical examination shows scleral jaundice, right upper quadrant abdominal pain without peritoneal irritation. Uterus at umbilicus level without uterine activity. Uterus at umbilicus level without uterine activity. Laboratory tests showed elevated bilirubin and transaminases without leukocytosis; ultrasound reported live intrauterine unique product, with a heart rate of 128 beats per minute, gallbladder with multiple images inside that cast acoustic shadowing, and a 10 mm common bile duct dilated bile duct with dilatation of intrahepatic bile ducts. It was perform laparoscopic cholecystectomy with intraoperative cholangiography and placement of a transcystic jaguar guide for selective cannulation of the common bile duct. Intraoperative endoscopic retrograde cholangiopancreatography was performed with endoscopic stone extraction. The outcome was satisfactory with a hospital discharge at 48 hours. Current evidence has shown that the combined use of laparoscopy and therapeutic endoscopic cholangiography in one step is effective for the treatment of choledocholithiasis, decreasing the risk of complications associated with cannulation of the bile duct.

Early Childhood Predictors of Low-Income Boys’ Pathways to Antisocial Behavior in Childhood, Adolescence, and Early Adulthood

PubMed Central

Shaw, Daniel S.; Gilliam, Mary

2016-01-01

Guided by a bridging model of pathways leading to low-income boys’ early-starting and persistent trajectories of antisocial behavior, the current paper reviews evidence supporting the model from early childhood through early adulthood. Using primarily a cohort of 310 low-income boys of families recruited from WIC centers in a large metropolitan area followed from infancy to early adulthood, and smaller cohorts of boys and girls followed through early childhood, we provide evidence supporting the critical role of parenting, maternal depression, and other proximal family risk factors in early childhood that are prospectively linked to trajectories of parent-reported conduct problems in early and middle childhood, youth-reported antisocial behavior during adolescence and early adulthood, as well as court-reported violent offending in adolescence. The findings are discussed in terms of the need to identify at-risk boys in early childhood and methods and platforms for engaging families in health care settings not previously used to implement preventive mental health services. PMID:28026042

Early cosmology constrained

NASA Astrophysics Data System (ADS)

Verde, Licia; Bellini, Emilio; Pigozzo, Cassio; Heavens, Alan F.; Jimenez, Raul

2017-04-01

We investigate our knowledge of early universe cosmology by exploring how much additional energy density can be placed in different components beyond those in the ΛCDM model. To do this we use a method to separate early- and late-universe information enclosed in observational data, thus markedly reducing the model-dependency of the conclusions. We find that the 95% credibility regions for extra energy components of the early universe at recombination are: non-accelerating additional fluid density parameter ΩMR < 0.006 and extra radiation parameterised as extra effective neutrino species 2.3 < Neff < 3.2 when imposing flatness. Our constraints thus show that even when analyzing the data in this largely model-independent way, the possibility of hiding extra energy components beyond ΛCDM in the early universe is seriously constrained by current observations. We also find that the standard ruler, the sound horizon at radiation drag, can be well determined in a way that does not depend on late-time Universe assumptions, but depends strongly on early-time physics and in particular on additional components that behave like radiation. We find that the standard ruler length determined in this way is rs = 147.4 ± 0.7 Mpc if the radiation and neutrino components are standard, but the uncertainty increases by an order of magnitude when non-standard dark radiation components are allowed, to rs = 150 ± 5 Mpc.

Early cosmology constrained

DOE Office of Scientific and Technical Information (OSTI.GOV)

Verde, Licia; Jimenez, Raul; Bellini, Emilio

We investigate our knowledge of early universe cosmology by exploring how much additional energy density can be placed in different components beyond those in the ΛCDM model. To do this we use a method to separate early- and late-universe information enclosed in observational data, thus markedly reducing the model-dependency of the conclusions. We find that the 95% credibility regions for extra energy components of the early universe at recombination are: non-accelerating additional fluid density parameter Ω{sub MR} < 0.006 and extra radiation parameterised as extra effective neutrino species 2.3 < N {sub eff} < 3.2 when imposing flatness. Our constraintsmore » thus show that even when analyzing the data in this largely model-independent way, the possibility of hiding extra energy components beyond ΛCDM in the early universe is seriously constrained by current observations. We also find that the standard ruler, the sound horizon at radiation drag, can be well determined in a way that does not depend on late-time Universe assumptions, but depends strongly on early-time physics and in particular on additional components that behave like radiation. We find that the standard ruler length determined in this way is r {sub s} = 147.4 ± 0.7 Mpc if the radiation and neutrino components are standard, but the uncertainty increases by an order of magnitude when non-standard dark radiation components are allowed, to r {sub s} = 150 ± 5 Mpc.« less

Early Practicum Experiences: Preservice Early Childhood Students' Perceptions and Sense of Efficacy

ERIC Educational Resources Information Center

Van Schagen Johnson, Amy; La Paro, Karen M.; Crosby, Danielle A.

2017-01-01

The current study explored early practicum experiences (those occurring before student teaching) in an early childhood birth to kindergarten teacher education program. Undergraduates enrolled in practicum courses completed questionnaires about their overall practicum experience including: socio-emotional components (their perceived fit with their…

Redefining early gastric cancer.

PubMed

Barreto, Savio G; Windsor, John A

2016-01-01

The problem is that current definitions of early gastric cancer allow the inclusion of regional lymph node metastases. The increasing use of endoscopic submucosal dissection to treat early gastric cancer is a concern because regional lymph nodes are not addressed. The aim of the study was thus to critically evaluate current evidence with regard to tumour-specific factors associated with lymph node metastases in "early gastric cancer" to develop a more precise definition and improve clinical management. A systematic and comprehensive search of major reference databases (MEDLINE, EMBASE, PubMed and the Cochrane Library) was undertaken using a combination of text words "early gastric cancer", "lymph node metastasis", "factors", "endoscopy", "surgery", "lymphadenectomy" "mucosa", "submucosa", "lymphovascular invasion", "differentiated", "undifferentiated" and "ulcer". All available publications that described tumour-related factors associated with lymph node metastases in early gastric cancer were included. The initial search yielded 1494 studies, of which 42 studies were included in the final analysis. Over time, the definition of early gastric cancer has broadened and the indications for endoscopic treatment have widened. The mean frequency of lymph node metastases increased on the basis of depth of infiltration (mucosa 6% vs. submucosa 28%), presence of lymphovascular invasion (absence 9% vs. presence 53%), tumour differentiation (differentiated 13% vs. undifferentiated 34%) and macroscopic type (elevated 13% vs. flat 26%) and tumour diameter (≤2 cm 8% vs. >2 cm 25%). There is a need to re-examine the diagnosis and staging of early gastric cancer to ensure that patients with one or more identifiable risk factor for lymph node metastases are not denied appropriate chemotherapy and surgical resection.

Early psychosis workforce development: Core competencies for mental health professionals working in the early psychosis field.

PubMed

Osman, Helen; Jorm, Anthony F; Killackey, Eoin; Francey, Shona; Mulcahy, Dianne

2017-08-09

The aim of this study was to identify the core competencies required of mental health professionals working in the early psychosis field, which could function as an evidence-based tool to support the early psychosis workforce and in turn assist early psychosis service implementation and strengthen early psychosis model fidelity. The Delphi method was used to establish expert consensus on the core competencies. In the first stage, a systematic literature search was conducted to generate competency items. In the second stage, a panel consisting of expert early psychosis clinicians from around the world was formed. Panel members then rated each of the competency items on how essential they are to the clinical practice of all early psychosis clinicians. In total, 1023 pieces of literature including textbooks, journal articles and grey literature were reviewed. A final 542 competency items were identified for inclusion in the questionnaire. A total of 63 early psychosis experts participated in 3 rating rounds. Of the 542 competency items, 242 were endorsed as the required core competencies. There were 29 competency items that were endorsed by 62 or more experts, and these may be considered the foundational competencies for early psychosis practice. The study generated a set of core competencies that provide a common language for early psychosis clinicians across professional disciplines and country of practice, and potentially are a useful professional resource to support early psychosis workforce development and service reform. © 2017 John Wiley & Sons Australia, Ltd.