&lt;title&gt;Mobile robot system for ground servicing operations on the space shuttle&lt;/title&gt;

Dowling, Kevin; Bennett, Richard O.; Blackwell, Michael K.; Graham, Todd; Gatrall, Simon; O’Toole, Robert V.; Schempf, Hagen

doi:10.1117/12.131707

Cited by 6 publications

(6 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this paper, a hazard analysis technique based on STAMP is described using a Space Shuttle Thermal Tile Processing System (TTPS) as an example. The idea for this example comes from an experimental design for a similar system built at CMU (Dowling, 1992). The TTPS is designed to service the thermal protection tiles on the belly of the space shuttle.…”

Section: Thermal Tile Processing Systemmentioning

confidence: 99%

See 1 more Smart Citation

3.2.3 An Approach to Design for Safety in Complex Systems

Dulac

Leveson

2004

INCOSE International Symp

View full text Add to dashboard Cite

Most traditional hazard analysis techniques rely on discrete failure events that do not adequately handle software intensive systems or system accidents resulting from dysfunctional interactions between system components. This paper demonstrates a methodology where a hazard analysis based on the STAMP accident model is performed together with the system development process to design for safety in a complex system. Unlike traditional hazard analyses, this approach considers system accidents, organizational factors, and the dynamics of complex systems. The analysis is refined as the system design progresses and produces safety-related information to help systems engineers in making design decisions for complex safety-critical systems. The preliminary design of a Space Shuttle Thermal Tile Processing System is used to demonstrate the approach.

show abstract

Section: Thermal Tile Processing Systemmentioning

confidence: 99%

“…The idea for this example comes from an experimental design for a similar system built at CMU (Dowling, 1992). The TTPS is designed to service the thermal protection tiles on the belly of the space shuttle.…”

Section: Thermal Tile Processing Systemmentioning

confidence: 99%

3.2.3 An Approach to Design for Safety in Complex Systems

Dulac

Leveson

2004

INCOSE International Symp

View full text Add to dashboard Cite

show abstract

“…An example of automated task-based kinematic synthesis from the literature is the design of a manipulator for waterproofing the tiles on the underside of the Space Shuttle [Kim93], based on the requirements of the Tesselator project [Dowling92]. The underside of the Space Shuttle is tessellated into a number of rectangular regions that will be serviced sequentially by a manipulator mounted on a mobile base.…”

Section: Task 2: a Fixed-base Manipulatormentioning

confidence: 99%

Automated Synthesis and Optimization of Robot Configurations

Leger

Bares

1998

Volume 1A: 25th Biennial Mechanisms Conference

View full text Add to dashboard Cite

We present an extensible system for synthesizing and optimizing robot configurations. The system uses a flexible representation for robot configurations based on parameterized modules; this allows us to synthesize mobile and fixed-base robots, including robots with multiple or branching manipulators and free-flying robots. Synthesis of modular robots is also possible with our representation. We use an optimization algorithm based on genetic programming. A distributed architecture is used to spread heavy computational loads across multiple workstations. We take a task-oriented approach to synthesis in which robots are evaluated on a designer-specified task in simulation; flexible planning and control algorithms are thus required so that a wide variety of robots can be evaluated. Our system’s extensibility stems from an object-oriented software architecture that allows new modules, metrics, controllers, and tasks to be easily added. We present two example synthesis tasks: synthesis of a robotic material handler, and synthesis of an antenna pointing system for a mobile robot. We analyze several key issues raised by the experiments and show several important ways in which the system can be extended and improved.

show abstract

“…Dowling et al [8] report on the creation of a robot, called Tessellator, to carry out these thermal protection tasks previously done by ground personnel. The main objective of their effort is to decrease the time needed to perform the waterproofing operations while increasing the safety of the overall ground operations tasks (DMES is a toxic chemical, and workers have to wear protective gear on the job).…”

Section: The Tessellator Robotmentioning

confidence: 99%

An intent-specifications model for a robotic software control system

Navarro

Lundqvist

Leveson

20th DASC. 20th Digital Avionics Systems Conference (Cat. No.01CH37219)

View full text Add to dashboard Cite

Intent specifications are a new way to structure specifications to support human problem solving, system and software development and evolution, traceability, and specification of design rationale. An intent specification provides a hierarchical abstraction based on intent ("why") in addition to the usual "what" and "how." For a given system being specified, an intent specification defines seven levels, each one of them supporting a different type of reasoning about the system. Each level is mapped to the appropriate parts of the intent levels above and below it, providing a means to trace design rationale and decisions from high-level system requirements and constraints down to code and vice versa (from code to specifications, requirements, and safety analyses). The third level of an intent specification contains a black-box model that uses an executable formal specification language, SpecTRM-RL, which provides special support for requirements review and analysis --particularly for completeness and safety. SpecTRM-RL models can be mathematically analyzed and checked for various properties, including human-computer interaction properties such as mode confusion. They can also be executed as part of system simulations.The approach is demonstrated using an industrial robot designed to service the heat resistant tiles on the Space Shuttle.

show abstract

<title>Mobile robot system for ground servicing operations on the space shuttle</title>

Cited by 6 publications

References 4 publications

3.2.3 An Approach to Design for Safety in Complex Systems

3.2.3 An Approach to Design for Safety in Complex Systems

Automated Synthesis and Optimization of Robot Configurations

An intent-specifications model for a robotic software control system

Contact Info

Product

Resources

About