1. 5/17/2010 Document under Export Control. See page 2. 1 SSCN 12286 Structural Launch Enclosure to Effectively Protect Robonaut (SLEEPR) LM CMC Contact Keith V. Williams/(281) 853-3631 keith.v.williams@lmco.com NASA Contact Mike Miller/(281)244-7710 michael.d.miller@nasa.gov

2. 5/17/2010 Document under Export Control. See page 2.2 Export Control For any questions, please contact Mark Beyer, (281) 853-3814. “The technical information contained herein is authorized for export by the United States Government in accordance with the International Traffic in Arms Regulations (ITAR). The export, re-export or re-transmission of this document, or any of the data contained, requires prior United States Government authorization.”

3. 5/17/2010 Document under Export Control. See page 2. 3 Rationale for SLEEPR Keith V. Williams CMC-Project Manager (281) 853-3631

4. 4 5/17/2010 Document under Export Control. See page 2. Robonaut is slated to be flown on ULF5 in the PMM CR 12286 was submitted by OZ, and approved at the PCB on 4/28/10 and the SSPCB on 5/4/10 Robonaut has never flown before and was not designed to withstand the Shuttle launch environment No FSE currently exists to fly the ORU –New design required The SLEEPR Integrated Assembly will be flown in the ULF5 PMM –Within a foam clamshell –Constrained by the fences/straps on the front face of starboard Bay 3 RSP SLEEPR Background

5. 5 5/17/2010 Document under Export Control. See page 2. Robonaut will be restrained inside SLEEPR –Head and arms will be restrained with internal foam Internal foam for immobilization of Robonaut only –Not considered in structural or vibroacoustic analysis –External foam will provide vibration attenuation SLEEPR Background

6. What is Robonaut Robonaut 2, or R2, was developed jointly by NASA and General Motors under a cooperative agreement to develop a robotic assistant that can work alongside humans The Robonaut payload consists of a robotic torso with a rotating waist, arms, a head with two high image cameras for eyes, and a power pack (backpack) Robonaut is connected to a support stanchion at the waist via an adapter The stanchion will interface to the ISS structure via a base plate and use of the seat track system. 5/17/2010 6 Document under Export Control. See page 2.

7. What is Robonaut 3 DOF Neck Waist 7 DOF Upper Arm and Wrist 12 DOF Hands 5/17/2010 7 Document under Export Control. See page 2.

8. Robonaut Physical Characteristics Mass: ~350 lbm 5/17/2010 8 Document under Export Control. See page 2.

9. SLEEPR Milestones 5/17/2010 Document under Export Control. See page 2. 9 CE/PMFlight(s)Period of Performance M. Miller / K. WilliamsULF55/12-7/23 Key MilestonePartnered Date Vendor Consulting in place5/12/10* Design TIM5/17/10* Receive Vendor Quote5/27/10* Vendor ATP6/2/10* Start of Manufacturing6/3/10* Fit Check7/13/10* D&PB / AR / DD2507/16/10-7/23/10* Hardware Turnover for Bench Review7/26/10* ULF5 RSP Backside bag turnover6/17/10 ULF5 RSP Frontside bag turnover7/6/10 ULF5 Launch Date9/16/10 * Dates most likely slipping a week following vendor selection

10. 5/17/2010 Document under Export Control. See page 2. 10 SLEEPR Design Engineering

11. SLEEPR Assembly 5/17/2010 Document under Export Control. See page 2. 11 ISO View

12. SLEEPR Assembly 5/17/2010 Document under Export Control. See page 2. 12 31.0 27.4 45.0

13. SLEEPR Assembly 5/17/2010 Document under Export Control. See page 2. 13 Side View Top View

14. SLEEPR Assembly 5/17/2010 Document under Export Control. See page 2. 14 Dovetail Assembly

15. SLEEPR Assembly 5/17/2010 Document under Export Control. See page 2. 15 Strut Assemblies

16. SLEEPR Design Overview 5/17/2010 Document under Export Control. See page 2. 16 SDG33122103 Top Panel SDG33122102 Side Panel SDG33122106 Front Panel SDG33122104 Base Panel SDG33122102 Side Panel SDG33122105 Top Panel SEG33122109 Strut Assy SDG33122108 Bracket Assy SDG33122107 Dove Tail Assy Window to clear shoulder (cannot be wider and fit between fences)

17. SLEEPR Location 5/17/2010 Document under Export Control. See page 2. 17 RSP Stowage Location Example Foam Enclosure SLEEPR will be encased in a foam enclosure. –Coordinated with JCCT –Zotec 2” stackup Foam stowed with straps on frontside of the RSP

18. SLEEPR Location 5/17/2010 Document under Export Control. See page 2. 18 SLEEPR will exceed envelope for RSP rack –Weight and cg have not been flown before Straps will need to be longer to accommodate size of SLEEPR

19. SLEEPR Location 5/17/2010 Document under Export Control. See page 2. 19 RSP position starboard Bay 3

20. SLEEPR Handling 5/17/2010 Document under Export Control. See page 2. 20 Ground Handling -ORU Mass ≈ 350 lbm -FSE Mass ≈ 140 lbm -Foam Mass ≈ 50 lbm -IA Mass ≈ 540 lbm -Mechanical lift using lift points on Robonaut for insertion into FSE and lift points on FSE for insertion into PMM On-Orbit Handling 1.Release RSP Straps and rotate clamshell 90º 2.Remove back half of clamshell 3.Remove captive bolts attaching strut brackets to back panel 4.Remove captive screws attaching back panel to birdcage and remove panel 5.Remove rear internal clamshells 6.Release bolts securing dovetail bracket and release dovetail 7.Use struts and backpack to remove Robonaut from the FSE 8.Install Robonaut on stanchion 9.Remove bolts securing struts to Robonaut 10.Stow loose parts back in birdcage and reinstall back panel (minimal fasteners required for on-orbit) NOTE: Birdcage can be completely disassembled, but fasteners on all other panels are not captive Required Tools: Power Tool, ¼” Torq Bit, 5/16 allen, 3/8” allen 5/16” box end, Breaker Bar, Ratchet Wrench Tool Extension Lift points (three center, one by each shoulder, left shoulder lift point not visible)

21. BACK-UP CHARTS 5/17/2010 21Document under Export Control. See page 2.

22. 5/17/2010 Document under Export Control. See page 2. 22 SSPCB SLEEPR Schedule

23. SLEEPR Panels 5/17/2010 Document under Export Control. See page 2. 23 Front Panel Rear Panel

24. SLEEPR Panels 5/17/2010 Document under Export Control. See page 2. 24 Side Panel Bottom Panel

25. 5/17/2010 Document under Export Control. See page 2. 25 Other Analysis Inputs Analysis Temperatures: –Worst Case Temperatures from SSP 50835, Table E.2.10-1 –Minimum Temperature = 32°F –Maximum Temperature = 122°F Material Properties –A-Basis allowables from MMPDS-03 –For Al6061-T651 per AMS-QQ-A-250/11 Ultimate Strength = 42 ksi Yield Strength = 35 ksi Shear Strength = 27 ksi –For Al7075-T7351 per AMS-QQ-A-250/12 Ultimate Strength = 68 ksi Yield Strength = 57 ksi Shear Strength = 38 ksi

26. 5/17/2010 Document under Export Control. See page 2. 26 Other Analysis Inputs Factors of Safety –Factors of Safety for Untested Hardware –Ultimate Factor of Safety = 2.0 –Yield Factor of Safety = 1.25

27. 5/17/2010 Document under Export Control. See page 2. 27 Other Analysis Inputs 17.53