1 00:00:03,840 --> 00:00:06,070 the robot laboratory was established at 2 00:00:06,070 --> 00:00:06,080 the robot laboratory was established at 3 00:00:06,080 --> 00:00:07,829 the robot laboratory was established at goddard to prepare for the flight tele 4 00:00:07,829 --> 00:00:07,839 goddard to prepare for the flight tele 5 00:00:07,839 --> 00:00:10,549 goddard to prepare for the flight tele robotics servicer fts operations on the 6 00:00:10,549 --> 00:00:10,559 robotics servicer fts operations on the 7 00:00:10,559 --> 00:00:11,990 robotics servicer fts operations on the space station 8 00:00:11,990 --> 00:00:12,000 space station 9 00:00:12,000 --> 00:00:14,310 space station it contained several elements graphic 10 00:00:14,310 --> 00:00:14,320 it contained several elements graphic 11 00:00:14,320 --> 00:00:16,150 it contained several elements graphic simulations for defining engineering 12 00:00:16,150 --> 00:00:16,160 simulations for defining engineering 13 00:00:16,160 --> 00:00:18,630 simulations for defining engineering criteria definition of operational 14 00:00:18,630 --> 00:00:18,640 criteria definition of operational 15 00:00:18,640 --> 00:00:21,109 criteria definition of operational scenarios which show how the fts will 16 00:00:21,109 --> 00:00:21,119 scenarios which show how the fts will 17 00:00:21,119 --> 00:00:23,269 scenarios which show how the fts will operate on space station task 18 00:00:23,269 --> 00:00:23,279 operate on space station task 19 00:00:23,279 --> 00:00:25,589 operate on space station task decomposition which breaks the robot 20 00:00:25,589 --> 00:00:25,599 decomposition which breaks the robot 21 00:00:25,599 --> 00:00:28,070 decomposition which breaks the robot operations down to primitive tasks to 22 00:00:28,070 --> 00:00:28,080 operations down to primitive tasks to 23 00:00:28,080 --> 00:00:30,390 operations down to primitive tasks to see how they perform on space station 24 00:00:30,390 --> 00:00:30,400 see how they perform on space station 25 00:00:30,400 --> 00:00:32,470 see how they perform on space station operator interfaces and workstation 26 00:00:32,470 --> 00:00:32,480 operator interfaces and workstation 27 00:00:32,480 --> 00:00:35,270 operator interfaces and workstation designs software development and 28 00:00:35,270 --> 00:00:35,280 designs software development and 29 00:00:35,280 --> 00:00:44,950 designs software development and operational training 30 00:00:44,950 --> 00:00:44,960 31 00:00:44,960 --> 00:00:47,110 here you see a picture of the fts in the 32 00:00:47,110 --> 00:00:47,120 here you see a picture of the fts in the 33 00:00:47,120 --> 00:00:49,350 here you see a picture of the fts in the shuttle bay preparing to assemble an 34 00:00:49,350 --> 00:00:49,360 shuttle bay preparing to assemble an 35 00:00:49,360 --> 00:00:51,110 shuttle bay preparing to assemble an attached payload station interface 36 00:00:51,110 --> 00:00:51,120 attached payload station interface 37 00:00:51,120 --> 00:00:52,229 attached payload station interface adapter 38 00:00:52,229 --> 00:00:52,239 adapter 39 00:00:52,239 --> 00:00:54,549 adapter this equipment will interface attached 40 00:00:54,549 --> 00:00:54,559 this equipment will interface attached 41 00:00:54,559 --> 00:00:56,709 this equipment will interface attached payloads to the space station 42 00:00:56,709 --> 00:00:56,719 payloads to the space station 43 00:00:56,719 --> 00:00:59,270 payloads to the space station the remote manipulator system or rms in 44 00:00:59,270 --> 00:00:59,280 the remote manipulator system or rms in 45 00:00:59,280 --> 00:01:01,349 the remote manipulator system or rms in the space shuttle bay is preparing to 46 00:01:01,349 --> 00:01:01,359 the space shuttle bay is preparing to 47 00:01:01,359 --> 00:01:04,149 the space shuttle bay is preparing to lift the station interface adapter sia 48 00:01:04,149 --> 00:01:04,159 lift the station interface adapter sia 49 00:01:04,159 --> 00:01:06,390 lift the station interface adapter sia out of the cargo bay in close proximity 50 00:01:06,390 --> 00:01:06,400 out of the cargo bay in close proximity 51 00:01:06,400 --> 00:01:13,990 out of the cargo bay in close proximity to the truss 52 00:01:13,990 --> 00:01:14,000 53 00:01:14,000 --> 00:01:16,870 the fts is erected next to the sia and 54 00:01:16,870 --> 00:01:16,880 the fts is erected next to the sia and 55 00:01:16,880 --> 00:01:19,030 the fts is erected next to the sia and deploys one of the legs from its stowed 56 00:01:19,030 --> 00:01:19,040 deploys one of the legs from its stowed 57 00:01:19,040 --> 00:01:32,469 deploys one of the legs from its stowed positions 58 00:01:32,469 --> 00:01:32,479 59 00:01:32,479 --> 00:01:34,630 after the leg is deployed the others are 60 00:01:34,630 --> 00:01:34,640 after the leg is deployed the others are 61 00:01:34,640 --> 00:01:36,710 after the leg is deployed the others are subsequently deployed and the sia is 62 00:01:36,710 --> 00:01:36,720 subsequently deployed and the sia is 63 00:01:36,720 --> 00:01:39,190 subsequently deployed and the sia is brought up to the structural trust nodes 64 00:01:39,190 --> 00:01:39,200 brought up to the structural trust nodes 65 00:01:39,200 --> 00:01:40,870 brought up to the structural trust nodes by the fts 66 00:01:40,870 --> 00:01:40,880 by the fts 67 00:01:40,880 --> 00:01:42,789 by the fts this allows the interface adapter to be 68 00:01:42,789 --> 00:01:42,799 this allows the interface adapter to be 69 00:01:42,799 --> 00:01:45,670 this allows the interface adapter to be secured in a soft dock position 70 00:01:45,670 --> 00:01:45,680 secured in a soft dock position 71 00:01:45,680 --> 00:01:48,310 secured in a soft dock position following this the fts through a tool 72 00:01:48,310 --> 00:01:48,320 following this the fts through a tool 73 00:01:48,320 --> 00:01:50,710 following this the fts through a tool attached to its end defector brings the 74 00:01:50,710 --> 00:01:50,720 attached to its end defector brings the 75 00:01:50,720 --> 00:01:52,870 attached to its end defector brings the joint in close proximity and fastens it 76 00:01:52,870 --> 00:01:52,880 joint in close proximity and fastens it 77 00:01:52,880 --> 00:02:06,709 joint in close proximity and fastens it to the truss 78 00:02:06,709 --> 00:02:06,719 79 00:02:06,719 --> 00:02:09,190 the rms now goes back to the cargo bay 80 00:02:09,190 --> 00:02:09,200 the rms now goes back to the cargo bay 81 00:02:09,200 --> 00:02:11,990 the rms now goes back to the cargo bay and lifts a deck carrier with an oru or 82 00:02:11,990 --> 00:02:12,000 and lifts a deck carrier with an oru or 83 00:02:12,000 --> 00:02:14,869 and lifts a deck carrier with an oru or orbital replacement unit out of the bay 84 00:02:14,869 --> 00:02:14,879 orbital replacement unit out of the bay 85 00:02:14,879 --> 00:02:17,350 orbital replacement unit out of the bay bringing it in close proximity to the 86 00:02:17,350 --> 00:02:17,360 bringing it in close proximity to the 87 00:02:17,360 --> 00:02:19,030 bringing it in close proximity to the sie 88 00:02:19,030 --> 00:02:19,040 sie 89 00:02:19,040 --> 00:02:22,150 sie the fts attaches itself to the sie and 90 00:02:22,150 --> 00:02:22,160 the fts attaches itself to the sie and 91 00:02:22,160 --> 00:02:23,830 the fts attaches itself to the sie and the deck carrier and brings the two 92 00:02:23,830 --> 00:02:23,840 the deck carrier and brings the two 93 00:02:23,840 --> 00:02:26,869 the deck carrier and brings the two together to hard dock or secure the two 94 00:02:26,869 --> 00:02:26,879 together to hard dock or secure the two 95 00:02:26,879 --> 00:02:28,630 together to hard dock or secure the two elements a crank is turned which 96 00:02:28,630 --> 00:02:28,640 elements a crank is turned which 97 00:02:28,640 --> 00:02:31,110 elements a crank is turned which actuates the lead screw mechanism 98 00:02:31,110 --> 00:02:31,120 actuates the lead screw mechanism 99 00:02:31,120 --> 00:02:37,509 actuates the lead screw mechanism bringing the two together 100 00:02:37,509 --> 00:02:37,519 101 00:02:37,519 --> 00:02:40,390 this is a description of a hierarchical 102 00:02:40,390 --> 00:02:40,400 this is a description of a hierarchical 103 00:02:40,400 --> 00:02:42,710 this is a description of a hierarchical ada language robot programming system 104 00:02:42,710 --> 00:02:42,720 ada language robot programming system 105 00:02:42,720 --> 00:02:43,509 ada language robot programming system are 106 00:02:43,509 --> 00:02:43,519 are 107 00:02:43,519 --> 00:02:44,550 are harps 108 00:02:44,550 --> 00:02:44,560 harps 109 00:02:44,560 --> 00:02:46,790 harps the harps is a programmed robot system 110 00:02:46,790 --> 00:02:46,800 the harps is a programmed robot system 111 00:02:46,800 --> 00:02:48,949 the harps is a programmed robot system using the nazrim architecture which 112 00:02:48,949 --> 00:02:48,959 using the nazrim architecture which 113 00:02:48,959 --> 00:02:52,390 using the nazrim architecture which stands for nasa reference model 114 00:02:52,390 --> 00:02:52,400 stands for nasa reference model 115 00:02:52,400 --> 00:02:54,390 stands for nasa reference model this is the architecture established by 116 00:02:54,390 --> 00:02:54,400 this is the architecture established by 117 00:02:54,400 --> 00:02:55,990 this is the architecture established by the national institute of science and 118 00:02:55,990 --> 00:02:56,000 the national institute of science and 119 00:02:56,000 --> 00:02:58,550 the national institute of science and technology and it is hierarchical in its 120 00:02:58,550 --> 00:02:58,560 technology and it is hierarchical in its 121 00:02:58,560 --> 00:03:00,229 technology and it is hierarchical in its form 122 00:03:00,229 --> 00:03:00,239 form 123 00:03:00,239 --> 00:03:02,869 form on the left is sensor processing 124 00:03:02,869 --> 00:03:02,879 on the left is sensor processing 125 00:03:02,879 --> 00:03:05,110 on the left is sensor processing in the middle world models of the fts 126 00:03:05,110 --> 00:03:05,120 in the middle world models of the fts 127 00:03:05,120 --> 00:03:06,710 in the middle world models of the fts and its environment 128 00:03:06,710 --> 00:03:06,720 and its environment 129 00:03:06,720 --> 00:03:07,990 and its environment and on the right 130 00:03:07,990 --> 00:03:08,000 and on the right 131 00:03:08,000 --> 00:03:10,630 and on the right task decomposition 132 00:03:10,630 --> 00:03:10,640 task decomposition 133 00:03:10,640 --> 00:03:12,550 task decomposition at the very lowest levels it has been 134 00:03:12,550 --> 00:03:12,560 at the very lowest levels it has been 135 00:03:12,560 --> 00:03:14,630 at the very lowest levels it has been implemented to operate with joysticks on 136 00:03:14,630 --> 00:03:14,640 implemented to operate with joysticks on 137 00:03:14,640 --> 00:03:17,350 implemented to operate with joysticks on a simulated robot to show how the robot 138 00:03:17,350 --> 00:03:17,360 a simulated robot to show how the robot 139 00:03:17,360 --> 00:03:22,470 a simulated robot to show how the robot will interact with the tasks it works on 140 00:03:22,470 --> 00:03:22,480 141 00:03:22,480 --> 00:03:24,149 here's a picture of the operator working 142 00:03:24,149 --> 00:03:24,159 here's a picture of the operator working 143 00:03:24,159 --> 00:03:26,309 here's a picture of the operator working with joysticks to bring the simulated 144 00:03:26,309 --> 00:03:26,319 with joysticks to bring the simulated 145 00:03:26,319 --> 00:03:28,470 with joysticks to bring the simulated end effector of the robot in proximity 146 00:03:28,470 --> 00:03:28,480 end effector of the robot in proximity 147 00:03:28,480 --> 00:03:30,869 end effector of the robot in proximity to a handle on the orbital replacement 148 00:03:30,869 --> 00:03:30,879 to a handle on the orbital replacement 149 00:03:30,879 --> 00:03:40,390 to a handle on the orbital replacement unit 150 00:03:40,390 --> 00:03:40,400 151 00:03:40,400 --> 00:03:42,149 you'll notice it turns yellow when 152 00:03:42,149 --> 00:03:42,159 you'll notice it turns yellow when 153 00:03:42,159 --> 00:03:44,710 you'll notice it turns yellow when approaching the handle and red when it 154 00:03:44,710 --> 00:03:44,720 approaching the handle and red when it 155 00:03:44,720 --> 00:03:46,949 approaching the handle and red when it actually contacts it 156 00:03:46,949 --> 00:03:46,959 actually contacts it 157 00:03:46,959 --> 00:03:48,789 actually contacts it this permits the operator to learn the 158 00:03:48,789 --> 00:03:48,799 this permits the operator to learn the 159 00:03:48,799 --> 00:03:57,350 this permits the operator to learn the best scenario for assembly 160 00:03:57,350 --> 00:03:57,360 161 00:03:57,360 --> 00:03:59,429 the fts operational simulator has 162 00:03:59,429 --> 00:03:59,439 the fts operational simulator has 163 00:03:59,439 --> 00:04:01,750 the fts operational simulator has performed various tasks as you have seen 164 00:04:01,750 --> 00:04:01,760 performed various tasks as you have seen 165 00:04:01,760 --> 00:04:03,990 performed various tasks as you have seen in the software simulation the leg 166 00:04:03,990 --> 00:04:04,000 in the software simulation the leg 167 00:04:04,000 --> 00:04:05,350 in the software simulation the leg deployment 168 00:04:05,350 --> 00:04:05,360 deployment 169 00:04:05,360 --> 00:04:07,509 deployment the docking to the truss the duct 170 00:04:07,509 --> 00:04:07,519 the docking to the truss the duct 171 00:04:07,519 --> 00:04:09,990 the docking to the truss the duct carrier movement to the sie the hard 172 00:04:09,990 --> 00:04:10,000 carrier movement to the sie the hard 173 00:04:10,000 --> 00:04:11,589 carrier movement to the sie the hard docking and in addition the thermal 174 00:04:11,589 --> 00:04:11,599 docking and in addition the thermal 175 00:04:11,599 --> 00:04:15,110 docking and in addition the thermal coupler and enter oru exchange 176 00:04:15,110 --> 00:04:15,120 coupler and enter oru exchange 177 00:04:15,120 --> 00:04:17,189 coupler and enter oru exchange these tasks were built with full-scale 178 00:04:17,189 --> 00:04:17,199 these tasks were built with full-scale 179 00:04:17,199 --> 00:04:19,110 these tasks were built with full-scale models of space station hardware and 180 00:04:19,110 --> 00:04:19,120 models of space station hardware and 181 00:04:19,120 --> 00:04:21,830 models of space station hardware and utilized floor-mounted puma or research 182 00:04:21,830 --> 00:04:21,840 utilized floor-mounted puma or research 183 00:04:21,840 --> 00:04:32,150 utilized floor-mounted puma or research robots in lieu of the fts 184 00:04:32,150 --> 00:04:32,160 185 00:04:32,160 --> 00:04:34,390 here's the operator workstation with the 186 00:04:34,390 --> 00:04:34,400 here's the operator workstation with the 187 00:04:34,400 --> 00:04:36,790 here's the operator workstation with the operator using joysticks to control the 188 00:04:36,790 --> 00:04:36,800 operator using joysticks to control the 189 00:04:36,800 --> 00:04:38,230 operator using joysticks to control the robot arms 190 00:04:38,230 --> 00:04:38,240 robot arms 191 00:04:38,240 --> 00:04:40,870 robot arms here the gantry robot which emulates the 192 00:04:40,870 --> 00:04:40,880 here the gantry robot which emulates the 193 00:04:40,880 --> 00:04:43,270 here the gantry robot which emulates the rms brings the station interface adapter 194 00:04:43,270 --> 00:04:43,280 rms brings the station interface adapter 195 00:04:43,280 --> 00:04:45,749 rms brings the station interface adapter sia to the side of the truss 196 00:04:45,749 --> 00:04:45,759 sia to the side of the truss 197 00:04:45,759 --> 00:04:48,230 sia to the side of the truss the puma robot is positioning itself to 198 00:04:48,230 --> 00:04:48,240 the puma robot is positioning itself to 199 00:04:48,240 --> 00:04:50,150 the puma robot is positioning itself to the handle on the leg through a machine 200 00:04:50,150 --> 00:04:50,160 the handle on the leg through a machine 201 00:04:50,160 --> 00:04:51,670 the handle on the leg through a machine vision system 202 00:04:51,670 --> 00:04:51,680 vision system 203 00:04:51,680 --> 00:04:54,150 vision system this is a computer vision system which 204 00:04:54,150 --> 00:04:54,160 this is a computer vision system which 205 00:04:54,160 --> 00:04:56,230 this is a computer vision system which through a camera and computer will 206 00:04:56,230 --> 00:04:56,240 through a camera and computer will 207 00:04:56,240 --> 00:04:58,469 through a camera and computer will recognize four dots on the white 208 00:04:58,469 --> 00:04:58,479 recognize four dots on the white 209 00:04:58,479 --> 00:05:07,670 recognize four dots on the white background target 210 00:05:07,670 --> 00:05:07,680 211 00:05:07,680 --> 00:05:10,070 aligning the tool and end effector to 212 00:05:10,070 --> 00:05:10,080 aligning the tool and end effector to 213 00:05:10,080 --> 00:05:12,790 aligning the tool and end effector to the target the end effector is inserted 214 00:05:12,790 --> 00:05:12,800 the target the end effector is inserted 215 00:05:12,800 --> 00:05:14,950 the target the end effector is inserted into the hole or in the end effector 216 00:05:14,950 --> 00:05:14,960 into the hole or in the end effector 217 00:05:14,960 --> 00:05:16,870 into the hole or in the end effector jaws are closed to fasten it to the 218 00:05:16,870 --> 00:05:16,880 jaws are closed to fasten it to the 219 00:05:16,880 --> 00:05:28,230 jaws are closed to fasten it to the handle 220 00:05:28,230 --> 00:05:28,240 221 00:05:28,240 --> 00:05:30,469 once engaged the robots through the 222 00:05:30,469 --> 00:05:30,479 once engaged the robots through the 223 00:05:30,479 --> 00:05:32,150 once engaged the robots through the operator in the computer will bring the 224 00:05:32,150 --> 00:05:32,160 operator in the computer will bring the 225 00:05:32,160 --> 00:05:34,469 operator in the computer will bring the leg to the deployed position 226 00:05:34,469 --> 00:05:34,479 leg to the deployed position 227 00:05:34,479 --> 00:05:37,029 leg to the deployed position once deployed a latching system keeps 228 00:05:37,029 --> 00:05:37,039 once deployed a latching system keeps 229 00:05:37,039 --> 00:06:05,189 once deployed a latching system keeps the leg in a fixed configuration 230 00:06:05,189 --> 00:06:05,199 231 00:06:05,199 --> 00:06:07,830 at this point the robot disengages from 232 00:06:07,830 --> 00:06:07,840 at this point the robot disengages from 233 00:06:07,840 --> 00:06:09,670 at this point the robot disengages from the leg and is placed in a stowed 234 00:06:09,670 --> 00:06:09,680 the leg and is placed in a stowed 235 00:06:09,680 --> 00:06:10,870 the leg and is placed in a stowed condition 236 00:06:10,870 --> 00:06:10,880 condition 237 00:06:10,880 --> 00:06:13,029 condition the gantry now lowers the station 238 00:06:13,029 --> 00:06:13,039 the gantry now lowers the station 239 00:06:13,039 --> 00:06:15,670 the gantry now lowers the station interface adapter onto the truss face 240 00:06:15,670 --> 00:06:15,680 interface adapter onto the truss face 241 00:06:15,680 --> 00:06:18,550 interface adapter onto the truss face where it is soft docked which means that 242 00:06:18,550 --> 00:06:18,560 where it is soft docked which means that 243 00:06:18,560 --> 00:06:20,390 where it is soft docked which means that a latching system will keep it in 244 00:06:20,390 --> 00:06:20,400 a latching system will keep it in 245 00:06:20,400 --> 00:06:22,230 a latching system will keep it in position so that when the gantry is 246 00:06:22,230 --> 00:06:22,240 position so that when the gantry is 247 00:06:22,240 --> 00:06:24,870 position so that when the gantry is removed there will be no motion of the 248 00:06:24,870 --> 00:06:24,880 removed there will be no motion of the 249 00:06:24,880 --> 00:06:27,189 removed there will be no motion of the station interface adapter 250 00:06:27,189 --> 00:06:27,199 station interface adapter 251 00:06:27,199 --> 00:06:29,749 station interface adapter in the space world when the rms leaves 252 00:06:29,749 --> 00:06:29,759 in the space world when the rms leaves 253 00:06:29,759 --> 00:06:33,189 in the space world when the rms leaves the sia doesn't disengage from the truss 254 00:06:33,189 --> 00:06:33,199 the sia doesn't disengage from the truss 255 00:06:33,199 --> 00:06:35,590 the sia doesn't disengage from the truss and now the robot comes down 256 00:06:35,590 --> 00:06:35,600 and now the robot comes down 257 00:06:35,600 --> 00:06:38,390 and now the robot comes down and fastens a nut connecting a screw 258 00:06:38,390 --> 00:06:38,400 and fastens a nut connecting a screw 259 00:06:38,400 --> 00:06:41,189 and fastens a nut connecting a screw into the node of the space station truss 260 00:06:41,189 --> 00:06:41,199 into the node of the space station truss 261 00:06:41,199 --> 00:06:41,990 into the node of the space station truss by 262 00:06:41,990 --> 00:06:42,000 by 263 00:06:42,000 --> 00:06:51,270 by ratcheting the end effector 264 00:06:51,270 --> 00:06:51,280 265 00:06:51,280 --> 00:06:53,670 now the gantry picks up the deck carrier 266 00:06:53,670 --> 00:06:53,680 now the gantry picks up the deck carrier 267 00:06:53,680 --> 00:06:55,749 now the gantry picks up the deck carrier and the attached payload and moves it to 268 00:06:55,749 --> 00:06:55,759 and the attached payload and moves it to 269 00:06:55,759 --> 00:06:58,309 and the attached payload and moves it to the truss sia interface 270 00:06:58,309 --> 00:06:58,319 the truss sia interface 271 00:06:58,319 --> 00:07:00,309 the truss sia interface this is all pre-programmed into the 272 00:07:00,309 --> 00:07:00,319 this is all pre-programmed into the 273 00:07:00,319 --> 00:07:03,749 this is all pre-programmed into the gantry controller in real life the rms 274 00:07:03,749 --> 00:07:03,759 gantry controller in real life the rms 275 00:07:03,759 --> 00:07:05,510 gantry controller in real life the rms will be operated from the aft flight 276 00:07:05,510 --> 00:07:05,520 will be operated from the aft flight 277 00:07:05,520 --> 00:07:06,950 will be operated from the aft flight deck of the shuttle 278 00:07:06,950 --> 00:07:06,960 deck of the shuttle 279 00:07:06,960 --> 00:07:08,870 deck of the shuttle in future months in the laboratory a 280 00:07:08,870 --> 00:07:08,880 in future months in the laboratory a 281 00:07:08,880 --> 00:07:11,510 in future months in the laboratory a mock-up of the aft flight deck will 282 00:07:11,510 --> 00:07:11,520 mock-up of the aft flight deck will 283 00:07:11,520 --> 00:07:13,430 mock-up of the aft flight deck will permit a crewman to operate the gantry 284 00:07:13,430 --> 00:07:13,440 permit a crewman to operate the gantry 285 00:07:13,440 --> 00:07:33,830 permit a crewman to operate the gantry from the space shuttle 286 00:07:33,830 --> 00:07:33,840 287 00:07:33,840 --> 00:07:35,830 now the deck carrier is brought down 288 00:07:35,830 --> 00:07:35,840 now the deck carrier is brought down 289 00:07:35,840 --> 00:07:38,309 now the deck carrier is brought down onto the sia through a series of pins 290 00:07:38,309 --> 00:07:38,319 onto the sia through a series of pins 291 00:07:38,319 --> 00:07:39,990 onto the sia through a series of pins and cones underneath 292 00:07:39,990 --> 00:07:40,000 and cones underneath 293 00:07:40,000 --> 00:07:42,390 and cones underneath it aligns itself and drops on the soft 294 00:07:42,390 --> 00:07:42,400 it aligns itself and drops on the soft 295 00:07:42,400 --> 00:07:43,189 it aligns itself and drops on the soft dock 296 00:07:43,189 --> 00:07:43,199 dock 297 00:07:43,199 --> 00:07:45,510 dock lead screw held in the center 298 00:07:45,510 --> 00:07:45,520 lead screw held in the center 299 00:07:45,520 --> 00:07:47,909 lead screw held in the center this has a motorized nut which if the 300 00:07:47,909 --> 00:07:47,919 this has a motorized nut which if the 301 00:07:47,919 --> 00:07:50,070 this has a motorized nut which if the proper power were available would draw 302 00:07:50,070 --> 00:07:50,080 proper power were available would draw 303 00:07:50,080 --> 00:07:52,469 proper power were available would draw the deck carrier to the sia 304 00:07:52,469 --> 00:07:52,479 the deck carrier to the sia 305 00:07:52,479 --> 00:07:54,629 the deck carrier to the sia the robot in the event of power outage 306 00:07:54,629 --> 00:07:54,639 the robot in the event of power outage 307 00:07:54,639 --> 00:07:57,110 the robot in the event of power outage or no power availability can manually 308 00:07:57,110 --> 00:07:57,120 or no power availability can manually 309 00:07:57,120 --> 00:07:58,550 or no power availability can manually crank the screw 310 00:07:58,550 --> 00:07:58,560 crank the screw 311 00:07:58,560 --> 00:08:00,710 crank the screw as shown here to bring the deck carrier 312 00:08:00,710 --> 00:08:00,720 as shown here to bring the deck carrier 313 00:08:00,720 --> 00:08:02,629 as shown here to bring the deck carrier and the sie in the assembled 314 00:08:02,629 --> 00:08:02,639 and the sie in the assembled 315 00:08:02,639 --> 00:08:16,309 and the sie in the assembled configuration 316 00:08:16,309 --> 00:08:16,319 317 00:08:16,319 --> 00:08:18,469 the robot now moves over to a thermal 318 00:08:18,469 --> 00:08:18,479 the robot now moves over to a thermal 319 00:08:18,479 --> 00:08:20,950 the robot now moves over to a thermal coupler this is an extension device 320 00:08:20,950 --> 00:08:20,960 coupler this is an extension device 321 00:08:20,960 --> 00:08:22,950 coupler this is an extension device which would permit fluids which are 322 00:08:22,950 --> 00:08:22,960 which would permit fluids which are 323 00:08:22,960 --> 00:08:24,710 which would permit fluids which are needed by the attached payload to be 324 00:08:24,710 --> 00:08:24,720 needed by the attached payload to be 325 00:08:24,720 --> 00:08:27,110 needed by the attached payload to be joined to the main utility lines on the 326 00:08:27,110 --> 00:08:27,120 joined to the main utility lines on the 327 00:08:27,120 --> 00:08:28,390 joined to the main utility lines on the space station 328 00:08:28,390 --> 00:08:28,400 space station 329 00:08:28,400 --> 00:08:30,390 space station the handle which you will notice is a 330 00:08:30,390 --> 00:08:30,400 the handle which you will notice is a 331 00:08:30,400 --> 00:08:32,149 the handle which you will notice is a common handle we use to interface the 332 00:08:32,149 --> 00:08:32,159 common handle we use to interface the 333 00:08:32,159 --> 00:08:34,310 common handle we use to interface the robotic end effector to the task it will 334 00:08:34,310 --> 00:08:34,320 robotic end effector to the task it will 335 00:08:34,320 --> 00:08:35,589 robotic end effector to the task it will be doing 336 00:08:35,589 --> 00:08:35,599 be doing 337 00:08:35,599 --> 00:08:37,670 be doing it lifts one half of the coupler which 338 00:08:37,670 --> 00:08:37,680 it lifts one half of the coupler which 339 00:08:37,680 --> 00:08:39,110 it lifts one half of the coupler which would have a hose connection to the 340 00:08:39,110 --> 00:08:39,120 would have a hose connection to the 341 00:08:39,120 --> 00:08:41,990 would have a hose connection to the payload down to the leg of the sia which 342 00:08:41,990 --> 00:08:42,000 payload down to the leg of the sia which 343 00:08:42,000 --> 00:08:44,149 payload down to the leg of the sia which simulates the position of the thermal 344 00:08:44,149 --> 00:08:44,159 simulates the position of the thermal 345 00:08:44,159 --> 00:08:58,870 simulates the position of the thermal utility on the space station 346 00:08:58,870 --> 00:08:58,880 347 00:08:58,880 --> 00:09:01,110 a soft dock connection is then made 348 00:09:01,110 --> 00:09:01,120 a soft dock connection is then made 349 00:09:01,120 --> 00:09:02,630 a soft dock connection is then made which would permit the coupler to be 350 00:09:02,630 --> 00:09:02,640 which would permit the coupler to be 351 00:09:02,640 --> 00:09:05,110 which would permit the coupler to be held together while the end effector is 352 00:09:05,110 --> 00:09:05,120 held together while the end effector is 353 00:09:05,120 --> 00:09:06,829 held together while the end effector is released to do other 354 00:09:06,829 --> 00:09:06,839 released to do other 355 00:09:06,839 --> 00:09:09,269 released to do other operations this is the first step 356 00:09:09,269 --> 00:09:09,279 operations this is the first step 357 00:09:09,279 --> 00:09:11,750 operations this is the first step required to make the connection you'll 358 00:09:11,750 --> 00:09:11,760 required to make the connection you'll 359 00:09:11,760 --> 00:09:13,990 required to make the connection you'll see that the robot arm is twisting the 360 00:09:13,990 --> 00:09:14,000 see that the robot arm is twisting the 361 00:09:14,000 --> 00:09:24,310 see that the robot arm is twisting the coupler in position 362 00:09:24,310 --> 00:09:24,320 363 00:09:24,320 --> 00:09:25,910 indications on the screen for the 364 00:09:25,910 --> 00:09:25,920 indications on the screen for the 365 00:09:25,920 --> 00:09:28,310 indications on the screen for the operator on his left shown as yellow 366 00:09:28,310 --> 00:09:28,320 operator on his left shown as yellow 367 00:09:28,320 --> 00:09:30,550 operator on his left shown as yellow bars indicate the positions of the 368 00:09:30,550 --> 00:09:30,560 bars indicate the positions of the 369 00:09:30,560 --> 00:09:32,230 bars indicate the positions of the joints of the robot 370 00:09:32,230 --> 00:09:32,240 joints of the robot 371 00:09:32,240 --> 00:09:33,829 joints of the robot in the center of the bar shot the 372 00:09:33,829 --> 00:09:33,839 in the center of the bar shot the 373 00:09:33,839 --> 00:09:36,070 in the center of the bar shot the vertical bars indicate the forces on the 374 00:09:36,070 --> 00:09:36,080 vertical bars indicate the forces on the 375 00:09:36,080 --> 00:09:38,870 vertical bars indicate the forces on the coupler when they are reduced to zero it 376 00:09:38,870 --> 00:09:38,880 coupler when they are reduced to zero it 377 00:09:38,880 --> 00:09:40,550 coupler when they are reduced to zero it means that there is no stress on the 378 00:09:40,550 --> 00:09:40,560 means that there is no stress on the 379 00:09:40,560 --> 00:09:42,470 means that there is no stress on the coupler and it will stay in position 380 00:09:42,470 --> 00:09:42,480 coupler and it will stay in position 381 00:09:42,480 --> 00:09:44,630 coupler and it will stay in position when released you'll notice the same 382 00:09:44,630 --> 00:09:44,640 when released you'll notice the same 383 00:09:44,640 --> 00:09:53,750 when released you'll notice the same target appears for the cameras 384 00:09:53,750 --> 00:09:53,760 385 00:09:53,760 --> 00:09:56,310 the jaws close in the reset position and 386 00:09:56,310 --> 00:09:56,320 the jaws close in the reset position and 387 00:09:56,320 --> 00:09:59,190 the jaws close in the reset position and now the robot moves over to a collar 388 00:09:59,190 --> 00:09:59,200 now the robot moves over to a collar 389 00:09:59,200 --> 00:10:01,829 now the robot moves over to a collar containing a screw which when actuated 390 00:10:01,829 --> 00:10:01,839 containing a screw which when actuated 391 00:10:01,839 --> 00:10:03,829 containing a screw which when actuated as shown brings the two couplers 392 00:10:03,829 --> 00:10:03,839 as shown brings the two couplers 393 00:10:03,839 --> 00:10:06,150 as shown brings the two couplers together to finally fasten the two 394 00:10:06,150 --> 00:10:06,160 together to finally fasten the two 395 00:10:06,160 --> 00:10:16,389 together to finally fasten the two halves in a sealed condition 396 00:10:16,389 --> 00:10:16,399 397 00:10:16,399 --> 00:10:19,190 in this configuration shown the robot is 398 00:10:19,190 --> 00:10:19,200 in this configuration shown the robot is 399 00:10:19,200 --> 00:10:21,670 in this configuration shown the robot is opening a door to a simulated attached 400 00:10:21,670 --> 00:10:21,680 opening a door to a simulated attached 401 00:10:21,680 --> 00:10:25,190 opening a door to a simulated attached payload the door is opened by the robot 402 00:10:25,190 --> 00:10:25,200 payload the door is opened by the robot 403 00:10:25,200 --> 00:10:27,190 payload the door is opened by the robot this is to simulate the exchange of an 404 00:10:27,190 --> 00:10:27,200 this is to simulate the exchange of an 405 00:10:27,200 --> 00:10:29,670 this is to simulate the exchange of an inter-orbital replacement unit of a 406 00:10:29,670 --> 00:10:29,680 inter-orbital replacement unit of a 407 00:10:29,680 --> 00:10:31,990 inter-orbital replacement unit of a failed component or film package 408 00:10:31,990 --> 00:10:32,000 failed component or film package 409 00:10:32,000 --> 00:10:34,949 failed component or film package exchange for an instrument for instance 410 00:10:34,949 --> 00:10:34,959 exchange for an instrument for instance 411 00:10:34,959 --> 00:10:37,030 exchange for an instrument for instance the robot goes through its motions 412 00:10:37,030 --> 00:10:37,040 the robot goes through its motions 413 00:10:37,040 --> 00:10:39,910 the robot goes through its motions autonomously that is the computer has 414 00:10:39,910 --> 00:10:39,920 autonomously that is the computer has 415 00:10:39,920 --> 00:10:50,550 autonomously that is the computer has set the trajectory 416 00:10:50,550 --> 00:10:50,560 417 00:10:50,560 --> 00:10:53,110 now the robot reaches into the inner box 418 00:10:53,110 --> 00:10:53,120 now the robot reaches into the inner box 419 00:10:53,120 --> 00:10:55,590 now the robot reaches into the inner box attaches itself to the oru 420 00:10:55,590 --> 00:10:55,600 attaches itself to the oru 421 00:10:55,600 --> 00:11:06,470 attaches itself to the oru and lifts it out 422 00:11:06,470 --> 00:11:06,480 423 00:11:06,480 --> 00:11:09,670 it then places the oru on a stand which 424 00:11:09,670 --> 00:11:09,680 it then places the oru on a stand which 425 00:11:09,680 --> 00:11:12,230 it then places the oru on a stand which has been designed to accept a receptacle 426 00:11:12,230 --> 00:11:12,240 has been designed to accept a receptacle 427 00:11:12,240 --> 00:11:15,430 has been designed to accept a receptacle on the bottom for power conditioning and 428 00:11:15,430 --> 00:11:15,440 on the bottom for power conditioning and 429 00:11:15,440 --> 00:11:48,150 on the bottom for power conditioning and thermal control 430 00:11:48,150 --> 00:11:48,160 431 00:11:48,160 --> 00:11:50,389 the next series of tests were performed 432 00:11:50,389 --> 00:11:50,399 the next series of tests were performed 433 00:11:50,399 --> 00:11:53,430 the next series of tests were performed on the engineering test bed 434 00:11:53,430 --> 00:11:53,440 on the engineering test bed 435 00:11:53,440 --> 00:11:55,590 on the engineering test bed this test bed contains a pair of seven 436 00:11:55,590 --> 00:11:55,600 this test bed contains a pair of seven 437 00:11:55,600 --> 00:11:58,629 this test bed contains a pair of seven degree of freedom robot arms and hand 438 00:11:58,629 --> 00:11:58,639 degree of freedom robot arms and hand 439 00:11:58,639 --> 00:11:59,910 degree of freedom robot arms and hand controllers 440 00:11:59,910 --> 00:11:59,920 controllers 441 00:11:59,920 --> 00:12:02,629 controllers it is used to develop control algorithms 442 00:12:02,629 --> 00:12:02,639 it is used to develop control algorithms 443 00:12:02,639 --> 00:12:04,710 it is used to develop control algorithms or mathematical laws to determine the 444 00:12:04,710 --> 00:12:04,720 or mathematical laws to determine the 445 00:12:04,720 --> 00:12:07,590 or mathematical laws to determine the robot operation a safety system to 446 00:12:07,590 --> 00:12:07,600 robot operation a safety system to 447 00:12:07,600 --> 00:12:09,990 robot operation a safety system to protect the robot from collisions in 448 00:12:09,990 --> 00:12:10,000 protect the robot from collisions in 449 00:12:10,000 --> 00:12:12,230 protect the robot from collisions in defectors for gripping objects in the 450 00:12:12,230 --> 00:12:12,240 defectors for gripping objects in the 451 00:12:12,240 --> 00:12:14,710 defectors for gripping objects in the space environment and dynamic models in 452 00:12:14,710 --> 00:12:14,720 space environment and dynamic models in 453 00:12:14,720 --> 00:12:17,110 space environment and dynamic models in order to replicate zero gravity motions 454 00:12:17,110 --> 00:12:17,120 order to replicate zero gravity motions 455 00:12:17,120 --> 00:12:20,069 order to replicate zero gravity motions and determine instabilities 456 00:12:20,069 --> 00:12:20,079 and determine instabilities 457 00:12:20,079 --> 00:12:21,110 and determine instabilities here 458 00:12:21,110 --> 00:12:21,120 here 459 00:12:21,120 --> 00:12:23,350 here the operator is controlling the large 460 00:12:23,350 --> 00:12:23,360 the operator is controlling the large 461 00:12:23,360 --> 00:12:25,509 the operator is controlling the large seven degree of freedom robot 462 00:12:25,509 --> 00:12:25,519 seven degree of freedom robot 463 00:12:25,519 --> 00:12:28,230 seven degree of freedom robot by seven degrees of freedom it contains 464 00:12:28,230 --> 00:12:28,240 by seven degrees of freedom it contains 465 00:12:28,240 --> 00:12:30,069 by seven degrees of freedom it contains unlike the puma robots you've seen 466 00:12:30,069 --> 00:12:30,079 unlike the puma robots you've seen 467 00:12:30,079 --> 00:12:33,030 unlike the puma robots you've seen before an additional joint which permits 468 00:12:33,030 --> 00:12:33,040 before an additional joint which permits 469 00:12:33,040 --> 00:12:35,269 before an additional joint which permits it to reach around objects much as the 470 00:12:35,269 --> 00:12:35,279 it to reach around objects much as the 471 00:12:35,279 --> 00:12:37,829 it to reach around objects much as the elbow of a human arm 472 00:12:37,829 --> 00:12:37,839 elbow of a human arm 473 00:12:37,839 --> 00:12:40,470 elbow of a human arm it is shown in the upright position 474 00:12:40,470 --> 00:12:40,480 it is shown in the upright position 475 00:12:40,480 --> 00:12:42,310 it is shown in the upright position the operator has a mini master hand 476 00:12:42,310 --> 00:12:42,320 the operator has a mini master hand 477 00:12:42,320 --> 00:12:44,870 the operator has a mini master hand controller which is a replication of his 478 00:12:44,870 --> 00:12:44,880 controller which is a replication of his 479 00:12:44,880 --> 00:12:45,910 controller which is a replication of his arm 480 00:12:45,910 --> 00:12:45,920 arm 481 00:12:45,920 --> 00:12:48,389 arm every motion he makes is followed by the 482 00:12:48,389 --> 00:12:48,399 every motion he makes is followed by the 483 00:12:48,399 --> 00:12:52,150 every motion he makes is followed by the robot in a master slave operation 484 00:12:52,150 --> 00:12:52,160 robot in a master slave operation 485 00:12:52,160 --> 00:12:54,389 robot in a master slave operation now the operator is bringing the end 486 00:12:54,389 --> 00:12:54,399 now the operator is bringing the end 487 00:12:54,399 --> 00:12:57,030 now the operator is bringing the end effector which has roller grippers for 488 00:12:57,030 --> 00:12:57,040 effector which has roller grippers for 489 00:12:57,040 --> 00:12:59,509 effector which has roller grippers for secure mating to the side of a handle on 490 00:12:59,509 --> 00:12:59,519 secure mating to the side of a handle on 491 00:12:59,519 --> 00:13:01,190 secure mating to the side of a handle on the white column 492 00:13:01,190 --> 00:13:01,200 the white column 493 00:13:01,200 --> 00:13:03,590 the white column you will notice he uses his fingers to 494 00:13:03,590 --> 00:13:03,600 you will notice he uses his fingers to 495 00:13:03,600 --> 00:13:05,990 you will notice he uses his fingers to index the arm 496 00:13:05,990 --> 00:13:06,000 index the arm 497 00:13:06,000 --> 00:13:08,470 index the arm indexing means small motions in the arm 498 00:13:08,470 --> 00:13:08,480 indexing means small motions in the arm 499 00:13:08,480 --> 00:13:11,190 indexing means small motions in the arm left and right will permit large motions 500 00:13:11,190 --> 00:13:11,200 left and right will permit large motions 501 00:13:11,200 --> 00:13:13,509 left and right will permit large motions in the robot arm such that the operator 502 00:13:13,509 --> 00:13:13,519 in the robot arm such that the operator 503 00:13:13,519 --> 00:13:15,990 in the robot arm such that the operator does not have to make inordinate motions 504 00:13:15,990 --> 00:13:16,000 does not have to make inordinate motions 505 00:13:16,000 --> 00:13:18,829 does not have to make inordinate motions to move the slave robot through large 506 00:13:18,829 --> 00:13:18,839 to move the slave robot through large 507 00:13:18,839 --> 00:13:20,550 to move the slave robot through large trajectories 508 00:13:20,550 --> 00:13:20,560 trajectories 509 00:13:20,560 --> 00:13:22,710 trajectories now the operator is lining the end 510 00:13:22,710 --> 00:13:22,720 now the operator is lining the end 511 00:13:22,720 --> 00:13:24,870 now the operator is lining the end effector up to the handle 512 00:13:24,870 --> 00:13:24,880 effector up to the handle 513 00:13:24,880 --> 00:13:26,870 effector up to the handle in future days we will have what is 514 00:13:26,870 --> 00:13:26,880 in future days we will have what is 515 00:13:26,880 --> 00:13:29,190 in future days we will have what is called force reflection in the handle 516 00:13:29,190 --> 00:13:29,200 called force reflection in the handle 517 00:13:29,200 --> 00:13:30,870 called force reflection in the handle such that when the operator makes 518 00:13:30,870 --> 00:13:30,880 such that when the operator makes 519 00:13:30,880 --> 00:13:32,949 such that when the operator makes contact with the handle and closes the 520 00:13:32,949 --> 00:13:32,959 contact with the handle and closes the 521 00:13:32,959 --> 00:13:34,389 contact with the handle and closes the jaws of the gripper 522 00:13:34,389 --> 00:13:34,399 jaws of the gripper 523 00:13:34,399 --> 00:13:36,470 jaws of the gripper forces of connections will be felt by 524 00:13:36,470 --> 00:13:36,480 forces of connections will be felt by 525 00:13:36,480 --> 00:13:39,189 forces of connections will be felt by the operator so that he gets a feel for 526 00:13:39,189 --> 00:13:39,199 the operator so that he gets a feel for 527 00:13:39,199 --> 00:13:41,829 the operator so that he gets a feel for the operation and permits more dextrous 528 00:13:41,829 --> 00:13:41,839 the operation and permits more dextrous 529 00:13:41,839 --> 00:14:00,310 the operation and permits more dextrous and accurate operation 530 00:14:00,310 --> 00:14:00,320 531 00:14:00,320 --> 00:14:02,230 the next sequence shows the dexterity of 532 00:14:02,230 --> 00:14:02,240 the next sequence shows the dexterity of 533 00:14:02,240 --> 00:14:04,389 the next sequence shows the dexterity of the robot with its large number of 534 00:14:04,389 --> 00:14:04,399 the robot with its large number of 535 00:14:04,399 --> 00:14:06,389 the robot with its large number of degrees of freedom it can move through a 536 00:14:06,389 --> 00:14:06,399 degrees of freedom it can move through a 537 00:14:06,399 --> 00:14:09,509 degrees of freedom it can move through a very wide sphere of motion here it is 538 00:14:09,509 --> 00:14:09,519 very wide sphere of motion here it is 539 00:14:09,519 --> 00:14:11,509 very wide sphere of motion here it is shown reaching up in back of a camera 540 00:14:11,509 --> 00:14:11,519 shown reaching up in back of a camera 541 00:14:11,519 --> 00:14:13,269 shown reaching up in back of a camera which is mounted on the top 542 00:14:13,269 --> 00:14:13,279 which is mounted on the top 543 00:14:13,279 --> 00:14:16,069 which is mounted on the top if indeed the camera were out of focus 544 00:14:16,069 --> 00:14:16,079 if indeed the camera were out of focus 545 00:14:16,079 --> 00:14:18,389 if indeed the camera were out of focus or needed repositioning the robot could 546 00:14:18,389 --> 00:14:18,399 or needed repositioning the robot could 547 00:14:18,399 --> 00:14:19,670 or needed repositioning the robot could essentially 548 00:14:19,670 --> 00:14:19,680 essentially 549 00:14:19,680 --> 00:14:22,470 essentially change the camera position if needed 550 00:14:22,470 --> 00:14:22,480 change the camera position if needed 551 00:14:22,480 --> 00:14:24,949 change the camera position if needed essentially it can do maintenance on 552 00:14:24,949 --> 00:14:24,959 essentially it can do maintenance on 553 00:14:24,959 --> 00:14:26,150 essentially it can do maintenance on itself 554 00:14:26,150 --> 00:14:26,160 itself 555 00:14:26,160 --> 00:14:27,990 itself you will notice the very dexterous 556 00:14:27,990 --> 00:14:28,000 you will notice the very dexterous 557 00:14:28,000 --> 00:14:47,750 you will notice the very dexterous operation of that arm 558 00:14:47,750 --> 00:14:47,760 559 00:14:47,760 --> 00:14:49,829 the lab expansion program has been 560 00:14:49,829 --> 00:14:49,839 the lab expansion program has been 561 00:14:49,839 --> 00:14:52,069 the lab expansion program has been designed as a new construction of 562 00:14:52,069 --> 00:14:52,079 designed as a new construction of 563 00:14:52,079 --> 00:14:54,150 designed as a new construction of facilities initiative in order to 564 00:14:54,150 --> 00:14:54,160 facilities initiative in order to 565 00:14:54,160 --> 00:14:56,790 facilities initiative in order to provide more space for users research 566 00:14:56,790 --> 00:14:56,800 provide more space for users research 567 00:14:56,800 --> 00:14:58,870 provide more space for users research activities and flight hardware 568 00:14:58,870 --> 00:14:58,880 activities and flight hardware 569 00:14:58,880 --> 00:15:00,150 activities and flight hardware integration 570 00:15:00,150 --> 00:15:00,160 integration 571 00:15:00,160 --> 00:15:03,030 integration it contains fifteen thousand square feet 572 00:15:03,030 --> 00:15:03,040 it contains fifteen thousand square feet 573 00:15:03,040 --> 00:15:05,189 it contains fifteen thousand square feet and would cost approximately three and a 574 00:15:05,189 --> 00:15:05,199 and would cost approximately three and a 575 00:15:05,199 --> 00:15:07,430 and would cost approximately three and a half million dollars to build 576 00:15:07,430 --> 00:15:07,440 half million dollars to build 577 00:15:07,440 --> 00:15:09,829 half million dollars to build we're hoping to get it ready in mid 1990 578 00:15:09,829 --> 00:15:09,839 we're hoping to get it ready in mid 1990 579 00:15:09,839 --> 00:15:11,910 we're hoping to get it ready in mid 1990 however the current plan is to have it 580 00:15:11,910 --> 00:15:11,920 however the current plan is to have it 581 00:15:11,920 --> 00:15:13,829 however the current plan is to have it in a state of readiness by the end of 582 00:15:13,829 --> 00:15:13,839 in a state of readiness by the end of 583 00:15:13,839 --> 00:15:22,550 in a state of readiness by the end of 1992 584 00:15:22,550 --> 00:15:22,560 585 00:15:22,560 --> 00:15:25,030 here is an artist concept of the lab on 586 00:15:25,030 --> 00:15:25,040 here is an artist concept of the lab on 587 00:15:25,040 --> 00:15:27,590 here is an artist concept of the lab on the right the laboratories that exist 588 00:15:27,590 --> 00:15:27,600 the right the laboratories that exist 589 00:15:27,600 --> 00:15:30,470 the right the laboratories that exist today with the gantry robot the control 590 00:15:30,470 --> 00:15:30,480 today with the gantry robot the control 591 00:15:30,480 --> 00:15:32,710 today with the gantry robot the control workstation and the mezzanine for 592 00:15:32,710 --> 00:15:32,720 workstation and the mezzanine for 593 00:15:32,720 --> 00:15:35,350 workstation and the mezzanine for software development on the left we have 594 00:15:35,350 --> 00:15:35,360 software development on the left we have 595 00:15:35,360 --> 00:15:37,269 software development on the left we have the expanded building which will house 596 00:15:37,269 --> 00:15:37,279 the expanded building which will house 597 00:15:37,279 --> 00:15:39,509 the expanded building which will house two laboratory modules 598 00:15:39,509 --> 00:15:39,519 two laboratory modules 599 00:15:39,519 --> 00:15:41,910 two laboratory modules the modules emulate the lab modules on 600 00:15:41,910 --> 00:15:41,920 the modules emulate the lab modules on 601 00:15:41,920 --> 00:15:44,069 the modules emulate the lab modules on the space station from which astronauts 602 00:15:44,069 --> 00:15:44,079 the space station from which astronauts 603 00:15:44,079 --> 00:15:46,389 the space station from which astronauts can operate in a simulated environment 604 00:15:46,389 --> 00:15:46,399 can operate in a simulated environment 605 00:15:46,399 --> 00:15:48,150 can operate in a simulated environment housed at the other end of the building 606 00:15:48,150 --> 00:15:48,160 housed at the other end of the building 607 00:15:48,160 --> 00:15:50,150 housed at the other end of the building the new extension will have many robots 608 00:15:50,150 --> 00:15:50,160 the new extension will have many robots 609 00:15:50,160 --> 00:15:52,150 the new extension will have many robots for doing research work advanced 610 00:15:52,150 --> 00:15:52,160 for doing research work advanced 611 00:15:52,160 --> 00:15:54,790 for doing research work advanced technology and clean room integration of 612 00:15:54,790 --> 00:15:54,800 technology and clean room integration of 613 00:15:54,800 --> 00:15:56,710 technology and clean room integration of flight articles before they migrate to 614 00:15:56,710 --> 00:15:56,720 flight articles before they migrate to 615 00:15:56,720 --> 00:15:59,030 flight articles before they migrate to the main laboratory for testing 616 00:15:59,030 --> 00:15:59,040 the main laboratory for testing 617 00:15:59,040 --> 00:16:01,030 the main laboratory for testing this facility will permit upgrading 618 00:16:01,030 --> 00:16:01,040 this facility will permit upgrading 619 00:16:01,040 --> 00:16:04,150 this facility will permit upgrading software and hardware of the flight tele 620 00:16:04,150 --> 00:16:04,160 software and hardware of the flight tele 621 00:16:04,160 --> 00:16:21,269 software and hardware of the flight tele robotics servicer on space station 622 00:16:21,269 --> 00:16:21,279 623 00:16:21,279 --> 00:16:23,360 you