MFD (Manipulator Flight Demonstration) Crew Training System

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3DSHU ,' DMFD, the payload of the space shuttle, rehearse with the crew who operates MFD, the grand control teamof MFD, and the grand control team of the shuttle altogether, as training.At this time, MFD Simulator actually simulated the MFD loading system and the crew operated.Then, MFD Simulator generated the graphic of payload bay and imitated telemetry from MFD loadingsystem and sent them to MFD grand control system via the grand control system of the shuttle.With this work, we could train the grand control team based on the telemetry and videos, which aresimulated on real-time with the result of the crew’s operation.4ELEMETRY $ATA6IDEO $ATA-&$ 3IMULATOR4ELEMETRY $ATA6IDEO $ATA6OICE $ATA/FFLINE $ATA343-&$.!3!'ROUND3YSTEM0/## %'3%4ELEMETRY $ATA#OMMAND $ATA'ROUND #OMMANDINGFigure 3-1 JIS (Joint Integrated Simulation Diagram)At actual operationWhen a malfunction occurs onboard in actual operation of MFD, MFD Simulator reproduces it onground and is used to analyze the malfunction.MFD Simulator also has the function which complements videos in actual operation of MFD other thanthe original training function.The reason for this function is that the crew can choose the onboard camera whose vision is down-link tothe ground in its actual operation from only one camera out of 2 fixed cameras of MFD itself, 2 balk-headcameras of the shuttle, or MFD’s arm camera,So, the ground control team cannot get the videos which are displayed in two CCTV monitors.Consequently, MFD Simulator could get the telemetry of the shuttle in its actual operation from theground control system, generate the graphics of the arm’s position/posture onboard, then give the graphicsback to the ground control system.Moreover, we can see the important viewpoint from any angle besides those 5 cameras for MFDoperation.By using this function, we could support the ground control team by, for example, checking whether thearm has collided with the other elements where the cameras cannot see well.-&$ 3IMULATOR4,-4ELEMETRY $ATA343-&$6IDEO6OICE.!3!'ROUND3YSTEM4ELEMETRY $ATA6IDEO $ATA6OICE $ATA/FFLINE $ATA#OMMAND $ATA0/## %'3%4ELEMETRY $ATA'ROUND #OMMANDINGFigure 3-2 Actual Operation Diagram
3DSHU ,' D4. The evaluation of MFD crew training systemWe evaluated the crew training system after actual operation of MFD.Crew had the chance to operate and evaluate MFD Simulator right after STS-85 returned to the earth andMFD Trainer in November.The crew’s comments for the MFD Simulator and MFD Trainer are below:• MFD Simulator was effective to train crew to learn the procedure of MFD operation.• MFD Simulator was effective in training operation as pair.• MFD Simulator did not simulate the compliance control function.• The access to the tool-fixture was too easy in simulator.• MFD Trainer was effective to train crew to learn the procedures that the arm capture the toolfixtureand attach ORU to mount-plate.Because we did not simulate the dynamics, we had to rely on MFD Trainers to understand thecompliance and because we did not simulate the compliance, the access to the tool-fixture became so easy.Therefore, the calculations of dynamics should be introduced for CG simulation.However, MFD Simulator would be enough for learning only the procedure of MFD.In contrast, MFD Trainer is highly evaluated because it simulates the compliance as the first purpose.As a result, we should have brought MFD Trainer to NASA, or have increased the opportunity oftraining in Japan by using the MFD Trainer.5. ConclusionMFD mission was a success throughout the whole operation. Also, MFD crew training systemcompleted the initial purpose and contributed to MFD mission.And, We are thinking to improve the training system of JEM and future robot arm, such as:• The logic-flow, logically the training system can output as much the same as the flight system.• The latency; the training system had better simulate the response time needed forswitch.operated by crew.• The room, the training system should remain a little room which the flight system has.• The view, the training system should have the outside view of the window such as AFDwindows of a space shuttle or JEM.• The CG, the training system should reduce the difference of the CG picture from the flightsystem as much as possible.6. Reference(1) Documents of MFD Symposium NASDA in March, 1998
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MFD (Manipulator Flight Demonstration) Crew Training System

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