基于深度学习的空间站舱内服务机器人视觉跟踪

为提升舱内跟随服务机器人的任务辅助能力,解决机器人对航天员的视觉跟踪问题,提出了一种基于深度学习和概率模型的人体视觉跟踪算法。利用深度卷积神经网络实现了对穿着多样、姿态任意人体的稳定检测。结合人体检测结果,设计了运动预测概率模型,实现了对指定人员准确、连续的跟踪。算法对包含大多数航天员活动的多个数据集进行了验证。实验结果表明:提出的跟踪算法实现了对穿着多样、姿态任意人体的稳定跟踪,并有效避免了由于穿着相似、遮挡可能造成的误跟踪问题。该算法为空间站舱内跟随服务机器人对航天员的视觉跟踪提供了有效的解决方法。算法基于融合的RGB-D图像,工程上易于构建和实现,也可拓展到其他跟随服务机器人视觉跟踪任务中。     

Working and walking on small asteroids with circumferential ropes

The low gravity of a small asteroid would present a challenge for an astronaut attempting to work on its surface. Extravehicular activities (EVAs) of the sophistication of the Apollo Moon missions are not likely to be possible if astronauts attempt to walk freely on the asteroid, hover above its surface, or anchor locally into the regolith. Manipulating large rocks, drilling, and excavating at multiple locations is a high priority science objective, but would be difficult without a hold-down mechanism. If the asteroid has even a small rotation rate, maneuvering precisely over its surface could be cumbersome. A plausible means of conducting complex EVAs is to tie ropes entirely around the asteroid, under which the astronaut is pushed downward onto the asteroid surface by the tension in the rope. The downward force provides an artificial gravity that permits the astronaut to drill, excavate, hammer, and carefully document materials on the surface without the worry of being thrown from the asteroid. An astronaut could also use the ropes as handholds or guides to maneuver freely over the surface.     

Working and walking on small asteroids with circumferential ropes

The low gravity of a small asteroid would present a challenge for an astronaut attempting to work on its surface. Extravehicular activities (EVAs) of the sophistication of the Apollo Moon missions are not likely to be possible if astronauts attempt to walk freely on the asteroid, hover above its surface, or anchor locally into the regolith. Manipulating large rocks, drilling, and excavating at multiple locations is a high priority science objective, but would be difficult without a hold-down mechanism. If the asteroid has even a small rotation rate, maneuvering precisely over its surface could be cumbersome. A plausible means of conducting complex EVAs is to tie ropes entirely around the asteroid, under which the astronaut is pushed downward onto the asteroid surface by the tension in the rope. The downward force provides an artificial gravity that permits the astronaut to drill, excavate, hammer, and carefully document materials on the surface without the worry of being thrown from the asteroid. An astronaut could also use the ropes as handholds or guides to maneuver freely over the surface.     

航天器仪表与照明分系统设计和发展

航天器仪表与照明分系统承担着飞行器与航天员信息交互的任务,为航天员在轨工作、生活提供支持。分系统功能包括信息显示提示、越限报警提示、手动操作、工作生活照明、休闲娱乐等。文章给出了航天器仪表与照明分系统设计思路及分系统设计组成;分析了分系统技术应用情况;对应航天器设计和应用结果,提出了后续航天器的技术发展思路和设想。     

Women and couples in isolated extreme environments: applications for long-duration missions

Expedition teams provide a number of analogs relevant to crew selection for long-duration space missions. Three groups were studied that varied in team composition. Group 1 was a two woman international dyad that traversed the Antarctic continent in 97 days. Similarities in problem solving approach, respect for each other's opinions, and a collaborative process of decision making were evident. Group 2 was composed of four women, all from different countries, engaged in a six week trek across Greenland. The most important factors in overcoming interpersonal difficulties and contributing to the successful completion of the expedition were mutual respect and motivation to maintain positive and supportive relationships. Group 3 consisted of three married couples from different countries icelocked on a boat in the High Arctic for a 9 month period. The emotional support of and ability to confide in their partner were extremely important in alleviating interpersonal tensions, and contributed to the generally effective functioning of the group. Women add an element of emotional support and help to other team members that is not as evident in all-male groups. Selection of couples with strong bonds to each other is another paradigm for crew selection for extended missions.     

Human interactions during Shuttle/Mir space missions

To improve the interpersonal climate of crewmembers involved with long-duration space missions, it is important to understand the factors affecting their interactions with each other and with members of mission control. This paper will present findings from a recently completed NASA-funded study during the Shuttle/Mir program which evaluated in-group/out-group displacement of negative emotions; changes in tension, cohesion, and leader support over time; and cultural differences. In-flight data were collected from 5 astronauts, 8 cosmonauts, and 42 American and 16 Russian mission control personnel who signed informed consent. Subjects completed a weekly questionnaire that assessed their mood and perception of their work group's interpersonal climate using questions from well-known, standardized measures (Profile of Mood States, Group and Work Environment Scales) and a critical incident log. There was strong evidence for the displacement of tension and dysphoric emotions from crewmembers to mission control personnel and from mission control personnel to management. There was a perceived decrease in commander support during the 2nd half of the missions, and for American crewmembers a novelty effect was found on several subscales during the first few months on-orbit. There were a number of differences between American and Russian responses which suggested that the former were less happy with their interpersonal environment than the latter. Mission control personnel reported more tension and dysphoria than crewmembers, although both groups scored better than other work groups on Earth. Nearly all reported critical incidents came from ground subjects, with Americans and Russians showing important differences in response frequencies.     

Behavioral and biological effects of autonomous versus scheduled mission management in simulated space-dwelling groups

Logistical constraints during long-duration space expeditions will limit the ability of Earth-based mission control personnel to manage their astronaut crews and will thus increase the prevalence of autonomous operations. Despite this inevitability, little research exists regarding crew performance and psychosocial adaptation under such autonomous conditions. To this end, a newly-initiated study on crew management systems was conducted to assess crew performance effectiveness under rigid schedule-based management of crew activities by Mission Control versus more flexible, autonomous management of activities by the crews themselves. Nine volunteers formed three long-term crews and were extensively trained in a simulated planetary geological exploration task over the course of several months. Each crew then embarked on two separate 3–4 h missions in a counterbalanced sequence: Scheduled, in which the crews were directed by Mission Control according to a strict topographic and temporal region-searching sequence, and Autonomous, in which the well-trained crews received equivalent baseline support from Mission Control but were free to explore the planetary surface as they saw fit. Under the autonomous missions, performance in all three crews improved (more high-valued geologic samples were retrieved), subjective self-reports of negative emotional states decreased, unstructured debriefing logs contained fewer references to negative emotions and greater use of socially-referent language, and salivary cortisol output across the missions was attenuated. The present study provides evidence that crew autonomy may improve performance and help sustain if not enhance psychosocial adaptation and biobehavioral health. These controlled experimental data contribute to an emerging empirical database on crew autonomy which the international astronautics community may build upon for future research and ultimately draw upon when designing and managing missions.     

利用载人航天器进行热控涂层舱外搭载试验研究

为了解空间环境对热控涂层性能的影响,文章设计了舱外热控涂层搭载试验方案,包括试验件配置、在轨试验和回收方法。试验件在轨试验期间安放在载人航天器密封舱前舱门外,暴露于空间环境中;在实现对接、建立组合体后,航天员不需太空行走即可实施对搭载试验件的回收及再次安装等操作。该方案若成功应用并回收试验件至地面,我国将首次获得热控涂层空间飞行试验数据。     

Radiation engineering analysis of shielding materials to assess their ability to protect astronauts in deep space from energetic particle radiation

An analysis is performed on four typical materials (aluminum, liquid hydrogen, polyethylene, and water) to assess their impact on the length of time an astronaut can stay in deep space and not exceed a design basis radiation exposure of 150 mSv. A large number of heavy lift launches of pure shielding mass are needed to enable long duration, deep space missions to keep astronauts at or below the exposure value with shielding provided by the vehicle. Therefore, vehicle mass using the assumptions in the paper cannot be the sole shielding mechanism for long duration, deep space missions. As an example, to enable the Mars Design Reference Mission 5.0 with a 400 day transit to and from Mars, not including the 500 day stay on the surface, a minimum of 24 heavy lift launches of polyethylene at 89,375 lbm (40.54 tonnes) each are needed for the 1977 galactic cosmic ray environment. With the assumptions used in this paper, a single heavy lift launch of water or polyethylene can protect astronauts for a 130 day mission before exceeding the exposure value. Liquid hydrogen can only protect the astronauts for 160 days. Even a single launch of pure shielding material cannot protect an astronaut in deep space for more than 180 days using the assumptions adopted in the analysis. It is shown that liquid hydrogen is not the best shielding material for the same mass as polyethylene for missions that last longer than 225 days.     

航天器器一地对应仪表显示系统软件的设计与实现

仪表显示系统作为航天器性能参数、导航参数显示及航天员人机交互的窗口,在航天飞行任务中发挥着重要作用.针对依据工程遥测源码值监视航天器状态的传统方法直观性差、不便于地面人员监控的特点,文章设计并开发了一套基于VC++和OpenGL的航天器器一地对应仪表显示系统软件,并对其实现进行了分析和说明.该软件仿真了多功能仪表显示器...     

NEOs as stepping stones to Mars and main-belt asteroids

Human interplanetary missions are constrained by the problem of astronaut exposure to galactic cosmic radiation. This paper surveys the existing on-line near-Earth object (NEO) data base in an effort to identify NEOs that cross both Earth's ad Mars’ orbits and could be used as cosmic ray shields by interplanetary voyagers. The search concentrated on low-inclination Mars-crossing NEOs that approach Earth, Mars, and main-belt asteroids in the 2020–2100 time frame. Both outbound and return transfers were searched for. Several candidates for Earth–Mars, Mars–Earth, and Earth–Vesta transfers have been found from the very incomplete August 2008 data base. Other aspects of this interplanetary transfer option are considered.     

超导核磁共振技术在航天员生命保障中的应用前景探究

长期空间飞行会对航天员的身心健康造成一定的不利影响,开展航天员生命保障的研究是非常必要的。核磁共振技术是疾病检查诊断的重要手段,同样在航天员生命保障医疗中将发挥重要的作用。文章结合国内外相关研究进展以及航天员选拔、训练和航天员医监医保的相关知识,探究了超导核磁共振技术在航天员生命保障中的应用前景。     

One year old and growing: a status report of the International Space Station and its partners.

The International Space Station (ISS), as the largest international science and engineering program in history, features unprecedented technical, cost, scheduling, managerial, and international complexity. A number of major milestones have been accomplished to date, including the construction of major elements of flight hardware, the development of operations and sustaining engineering centers, astronaut training, and eight Space Shuttle/Mir docking missions. International partner contributions and levels of participation have been baselined, and negotiations and discussions are nearing completion regarding bartering arrangements for services and new hardware. As ISS is successfully executed, it can pave the way for more inspiring cooperative achievements in the future.     

Physiology, medicine, long-duration space flight and the NSBRI

The hazards of long-duration space flight are real and unacceptable. In order for humans to participate effectively in long-duration orbital missions or continue the exploration of space, we must first secure the health of the astronaut and the success of such missions by assessing in detail the biomedical risks of space flight and developing countermeasures to these hazards. Acquiring the understanding necessary for building a sound foundation for countermeasure development requires an integrated approach to research in physiology and medicine and a level of cooperative action uncommon in the biomedical sciences. The research program of the National Space Biomedical Research Institute (NSBRI) was designed to accomplish just such an integrated research goal, ameliorating or eliminating the biomedical risks of long-duration space flight and enabling safe and productive exploration of space. The fruits of these labors are not limited to the space program. We can also use the gained understanding of the effects and mechanisms of the physiological changes engendered in space and the applied preventive and rehabilitative methods developed to combat these changes to the benefit of those on Earth who are facing similar physiological and psychological difficulties. This paper will discuss the innovative approach the NSBRI has taken to integrated research management and will present some of the successes of this approach.     

Human interactions in space: results from Shuttle/Mir.

Background: Anecdotal reports from space and results from simulation studies on Earth have suggested that space crewmembers may experience decrements in their interpersonal environment over time and may displace tension and dysphoria to mission control personnel. Methods: To evaluate these issues, we studied 5 American astronauts, 8 Russian cosmonauts, and 42 American and 16 Russian mission control personnel who participated in the Shuttle/Mir space program. Subjects completed questions from subscales of the Profile of Mood States, the Group Environment Scale, and the Work Environment Scale on a weekly basis before, during, and after the missions. Results: Among the crewmembers, there was little evidence for significant time effects based on triphasic (U-shaped) or linear models for the 21 subscales tested, although the presence of an initial novelty effect that declined over time was found in three subscales for the astronauts. Compared with work groups on Earth, the crewmembers reported less dysphoria and perceived their crew environment as more constraining, cohesive, and guided by leadership. There was no change in ratings of mood and interpersonal environment before, during, and after the missions. Conclusions: There was little support for the presence of a moderate to strong time effect that influenced the space crews. Crewmembers perceived their work environment differently from people on Earth, and they demonstrated equanimity in mood and group perceptions, both in space and on the ground. Grant numbers: NAS9-19411.     

Social and cultural issues during Shuttle/Mir space missions.

A number of interpersonal issues relevant to manned space missions have been identified from the literature. These include crew tension, cohesion, leadership, language and cultural factors, and displacement. Ground-based studies by others and us have clarified some of the parameters of these issues and have indicated ways in which they could be studied during actual space missions. In this paper, we summarize some of our findings related to social and cultural issues from a NASA-funded study conducted during several Shuttle/Mir space missions. We used standardized mood and group climate measures that were completed on a weekly basis by American and Russian crew and mission control subjects who participated in these missions. Our results indicated that American subjects reported more dissatisfaction with their interpersonal environment than their Russian counterparts, especially American astronauts. Mission control personnel were more dysphoric than crewmembers, but both groups were significantly less dysphoric than other work groups on Earth. Countermeasures based on our findings are discussed which can be applied to future multicultural space missions.     

The ankle ergometer: a new tool for quantifying changes in mechanical properties of human muscle as a result of spaceflight

A mechanical device for studying changes in mechanical properties of human muscle as a result of spaceflight is presented. Its main capacities are to allow during a given experiment investigation of both contractile and visco-elastic properties of a musculo-articular complex using respectively isometric contractions, isokinetic movements, quick-release tests and sinusoidal perturbations. This device is a motor driven ergometer associated to an experimental protocol designed for pre- and post-flight experiments. As microgravity preferentially affects postural muscles, the apparatus was designed to test muscle groups crossing the ankle joint. Three subjects were tested during the Euromir '94 mission. Preliminary results obtained on the european astronaut are briefly reported. During the next two years the experiments will be performed during six missions.     

Space radiation concerns for manned exploration.

Spaceflight exposes astronaut crews to natural ionizing radiation. To date, exposures in manned spaceflight have been well below the career limits recommended to NASA by the National Council of Radiation Protection and Measurements (NCRP). This will not be the case for long-duration exploratory class missions. Additionally. International Space Station (ISS) crews will receive higher doses than earlier flight crews. Uncertainties in our understanding of long-term bioeffects, as well as updated analyses of the Hiroshima. Nagasaki and Chernobyl tumorigenesis data, have prompted the NCRP to recommend further reductions by 30-50% for career dose limit guidelines. Intelligent spacecraft design and material selection can provide a shielding strategy capable of maintaining crew exposures within recommended guidelines. Current studies on newer radioprotectant compounds may find combinations of agents which further diminish the risk of radiation-induced bioeffects to the crew.