1. MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT Pre-Decisional, Internal Use Only Speaker Name 04.02.14 This presentation is intended solely for the audience to which it is directed. MAGIK Overview PIOWC - MSFC Kyle Richard 01.27.16

2. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 2 AGENDA What is MAGIK? Tasking | Scope Processes Modeling ISS Cameras Payload FOVs Robotics Analysis Summary MAGIK OVERVIEW

3. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 3 What is MAGIK? Manipulator Analysis Graphics & Interactive Kinematics Kinematic feasibility assessments, Camera and viewing, Proof of concept Team created in 1994 Located at NASA/JSC in Bldg. 4S/Rm. 3309 https://iss-www.jsc.nasa.gov/nwo/seio/vcer/magik/web/ MAGIK OVERVIEW

4. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 4 Tasking | Scope Payloads or Events (i.e. ISS Reconfiguration) involving EVR are typically run through MAGIK for feasibility Our goal is to ensure items that are designated as robotically compatible can be maintained with the appropriate robotic system Kinematic feasibility assessments (No Dynamics) for Configuration, Maintenance and Utilization EVA/EVR Assessments Viewing - ISS & MSS Cameras, Window Viewing, FoV Assessments “What-If” Analyses (“Pie in the Sky” ideas) Work booked as an Action Item or Quicklook –Quicklook typically 1-3 days –Action Item typically 1-3 weeks MAGIK OVERVIEW

5. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 5 Processes MAVReq – Database for bookkeeping actions, provides on-line access for customer requests and management of metrics Analysis & Modeling - Team Effort –Modeling performed in AGEA –Analysis performed in MAGIK (Linux based) Functional Tasks –AI Scheduling –Model Management –IT Administration MAGIK OVERVIEW

6. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 6 MAVReq ACTION CREATION AND TRACKING Action Item Service Request form located at https://iss- www.jsc.nasa.gov/nwo/seio/vcer/home/web/AI_request.shtml#MA GIKhttps://iss- www.jsc.nasa.gov/nwo/seio/vcer/home/web/AI_request.shtml#MA GIK –Primary method of requesting MAGIK analysis to be done –Anyone with access to JSC Intranet has access to the Request form As the AI status is updated, the requestor and anyone on the CC list will receive notifications

7. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 7 Modeling MAGIK uses AGEA, a program created by IGOAL (http://tommy.jsc.nasa.gov/igoal/)http://tommy.jsc.nasa.gov/igoal/ The goal is to create low-fidelity (lo-fi) CAD models that are an accurate representation of ISS hardware, and can be easily manipulated during MAGIK analysis. The MAGIK created models are lower fidelity, compared to the ISS CAD Team source model For applicable areas, the MAGIK model has a tolerance of +0.5/ - 0.1 inch with respect to the source model; meaning the nearest source surface should be no greater than 0.5 inch from the surface on the encompassing shape MAGIK OVERVIEW

8. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 8 Modeling BACKGROUND Where do the 3D CAD models come from? –The International Space Station (ISS) 3D CAD Modeling Team, the ISS program’s 3D CAD models source –Hardware Designers –Third Party sources What kind of 3D CAD models are used? –The MAGIK Team creates its own low fidelity models of ISS hardware based off the high fidelity models received from the ISS 3D CAD Modeling Team Why does MAGIK create its own 3D CAD models? –The goal of The MAGIK Team’s CAD modeling effort is to create low-fidelity (lo- fi) CAD models that are an accurate representation of the International Space Station (ISS) hardware, and can be easily manipulated using the MAGIK Team’s analytical resources –Bonus: Since we’re doing the same type of modelling as the CX Analysts, it provides a cross-check

9. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 9 Modeling Size & location of any appendages (antennas, etc.) EVA handrails, Worksite Interface (WIF) Multi-Layer Insulation (MLI) configuration Cable connectors, but not cables Grapple Fixtures Grasp Fixtures ORU Locations Trunnion/ keel locations SSP-30219 coordinate frame used as model origin MAGIK MODELS

10. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 10 Modeling PROCESS The Enhanced Cygnus Vehicle Model Comparison ISS CAD Team (left) vs. MAGIK (right) 1.02 GB 686 KB

11. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 11 ISS Cameras Station Cameras with Pan/Tilt 3 Truss 1 US Lab 4 JAXA MSS Cameras with Pan/Tilt 1 MT 2 SSRMS 2 SPDM OVERVIEW

12. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 12 ISS Cameras MAGIK Analysis Dynamic Sweep Envelopes account for motion of Radiators (Yellow) and Solar Arrays (Red) JEM PM Aft Camera View MAGIK AI-3378 SPDM CLPA2 Camera View

13. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 13 Payload FOV Analysis Eyepoint for Sensors Located on Nadir Face of Generic EFU JEM EFU 10 Payload Nadir Face Fisheye FOV MAGIK AI-3395

14. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 14 Payload FOV Analysis FOV Creation – Hugin Panorama Tool Snapshots stitched together forming 180 deg. panoramic image Fisheye with 10 deg. Pan and Tilt grid overlay applied in Inkscape Tool

15. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 15 Robotics Analysis Use MAGIK, a program created by McDonnell Douglas – Houston; now maintained by Barry Rogers/ER MAGIK uses the control algorithms/math models for the SSRMS and SPDM through the TRICK software for manipulation of the AGEA models Configurations are designed to be within manipulator joint limits while avoiding singularities –Note: MAGIK software does not notify the user of Wrist-Over-Shoulder Singularities, though it also will not drive through them The JEM RMS control algorithms are not included in the MAGIK simulation, but the JEM manipulator exists in MAGIK as a generic robot (MAGIK is NOT an authority on JEM Operations) The ERA is not functionally modeled in the MAGIK simulation (i.e. – does not move) MAGIK has a scripting ability that allows for manipulation of the scene MAGIK OVERVIEW

16. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 16 SSRMS Operations 24 inches of separation is the current MAGIK guideline in determining kinematic feasibility for SSRMS operations. Clearances less than or equal to 24 inches are identified in our analysis (SSRMS Flight Rules, section B12-157) 60 inches of separation is nominally used for approach and release of Grapple Fixtures, as well as installation and removal of berthed elements with the SSRMS The SSRMS Elbow Joint will be maintained between 30 and 150 (or -30 and -150) degrees whenever possible. For reach consideration, a 15 (or -15) degree elbow is considered the limit for kinematic feasibility –Current MAGIK standards say to note if the “elbow is driven through 0 degrees,” as during a JOCAS. Is this necessary, or should it be removed? FOR modes are done with a locked Shoulder Roll or Yaw Joint If the above rules cannot be upheld in an Action Item, it will be noted in the write-up MAGIK OVERVIEW

17. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 17 SPDM Operations 12 inches of separation is the current MAGIK guideline in determining kinematic feasibility for SPDM operations; this includes approach and release of Grasp Fixtures, as well as installation and removal of payloads and ORUs with the SPDM Clearances less than or equal to 6 inches are identified for SPDM motion. Clearances identified apply to SPDM peripherals including any payloads or ORUs on the SPDM OTCMs or on the EOTP (SPDM Flight Rules, section B12-157) Clearances less than or equal to 12 inches are identified for Dragon Trunk operations Either SPDM Elbow Joint will be maintained to at least 30 degrees whenever possible. For reach consideration, a 15 degree elbow is considered the limit for kinematic feasibility Attempts made to lock a Shoulder joint in FOR modes (see Limitations of MAGIK Software slide for more information) If the above rules cannot be upheld in an Action Item, it will be noted in the write-up MAGIK OVERVIEW

18. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 18 MAGIK Limitations What MAGIK AIs can be used for –MAGIK AIs are good for getting a jump start on Mission Design trajectories –MAGIK AIs include design limitations of payloads and some operational constraints (e.g. needing to remove the DCSU before installing or removing payloads to/from ELC2 Site 3) –MAGIK Scripts are available upon request. These provide the details of each action, such as joint angle values, camera views used, etc. What MAGIK AIs cannot be used for –MAGIK AIs do not account for requirements beyond kinematics (e.g. thermal clocks, lighting conditions, loads analysis, etc) MAGIK OVERVIEW

19. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 19 VBR Deliveries – for SpX Flights PROCESS FLOW CHART MAGIK VBR DRIT/ SIT VRIF (SpX) Manifest Options Kinematics CX (ROBO) Review L-19 months Both Node 2 & Node 1 Ports covered MAGIK collaboration with CX (ROBO) during process Layout options reviewed at DRIT/SIT, MAGIK performs go-backs as required VRIF presents Preferred Layout to SpX

20. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 20 MIR Deliveries – for SpX Flights PROCESS FLOW CHART MAGIK MIR Viewing End to End Kinematics CX (ROBO) Ops Flow L-13 months DRIT/ SIT VRIF (SpX) Reflects an End to End assessment CX ops flow provided to MAGIK Reviewed at DRIT/SIT, MAGIK performs go-backs as required VRIF presents final MIR report

21. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 21 SpX-10: SAGE | NVP | STP-H5 MAGIK Analysis Clearances for FRAM and payload provided for Trunk manifest and disposal EVR envelopes and Trunk volume evaluated Kinematic feasibility for extraction, translation, install and removal as required MAGIK AI-3366

22. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 22 SpX-10: EVR Choreography Payload Installation and Disposal SpX-10 Payloads Overview

23. Pre-Decisional, Internal Use Only | MISSION AND PROGRAM INTEGRATION (MAPI) CONTRACT | 23 SUMMARY MAGIK OVERVIEW Anyone supporting the ISS can request an assessment from MAGIK We are available and funded to provide analysis through the MAPI (OP org code) contract Payloads requesting analysis should provide models to the ISS CAD Team along with the submittal form: https://iss- www.jsc.nasa.gov/nwo/seio/vcer/cadweb/bbt_docs/processes/Mo del_Submittal_Form.pdf https://iss- www.jsc.nasa.gov/nwo/seio/vcer/cadweb/bbt_docs/processes/Mo del_Submittal_Form.pdf Any hardware which is deployable/articulating or has any keep-out-zones or FOV requirements should provide sufficient descriptions/models to best define their functionality