The Laser Dynamic Range Imager ( LDRI ) is a LIDAR range imaging device developed by Sandia National Laboratories for the US Space Shuttle program . The sensor was developed as part of NASA 's "Return to Flight" effort following the Space Shuttle Columbia disaster to provide 2-D and 3-D images of the thermal protection system on the Space Shuttle Orbiter.
20-623: The LDRI generates 3-dimensional images from 2-dimensional video. Modulated laser illumination is demodulated by the receive optics, and the resulting video sequences can be processed to produce 3-d images. The modulation produces a flickering effect from frame-to-frame in the video imagery. As part of the Orbiter Boom Sensor System , the LDRI is mounted at the end of the boom on a pan - tilt unit (PTU) along with an intensified video camera (ITVC). During 2-dimensional imaging of
40-529: A central grapple pin topped with a sphere which the snares in the end of the arms latch on to. They use three "ramps" that help guide the robotic arm correctly onto the grapple fixture. The North American grapple fixture was developed at Spar Aerospace in the 1970s. Its invention is credited to Frank Mee, who also invented the Canadarm end effector for the Space Shuttle. The Grapple Fixture design
60-579: A plan for STS-134 to leave its OBSS behind on the ISS, where it would permanently remain. The plan resulted in a number of modifications to the OBSS, now known as the Enhanced ISS Boom Assembly, including the addition of a Power Data and Grapple Fixture which enables mating to the robotic arm on the end of the boom with a Canadarm2 -compatible grapple fixture to favor station use. The boom
80-856: A secure connection for a robotic arm . The fixtures allowed the Space Shuttle's Canadarm (also known as the Shuttle Remote Manipulator System, or SRMS) to safely grapple large objects (e.g. ISS components, or satellites e.g. HST ). They currently do the same for the International Space Station 's Space Station Remote Manipulator System (SSRMS) (also known as Canadarm2) and the Japanese Experiment Module Remote Manipulator System (JEMRMS). The grapple fixtures are flat in appearance, with
100-568: A similar grapple fixture, called Electro Mechanical Grapple Fixture (EMGF). The Power and Video Grapple Fixture (PVGF) allows for grappling and latching. It has electrical connectors for data, video, and power. The electrical connections are compatible with the Space Station Remote Manipulator System (also known as Canadarm2). The Power Data Grapple Fixture (PDGF) allows for grappling and latching. It has electrical connectors for data, video, and power; it
120-478: Is also the only North American grapple fixture that is replaceable on-orbit. The electrical connections are compatible with the Space Station Remote Manipulator System (also known as Canadarm2). It is used on the International Space Station (ISS). PDGFs can be "grappled" by the Canadarm2 robotic arm, in order to allow the arm to manipulate and power a grappled object, or be commanded by operators based inside
140-669: The Payload Orbital replacement unit Accommodation (POA) (greater than 3 weeks). It does not have any electrical connectors. The Electrical Flight Grapple Fixture (EFGF) allows for grappling. It has a single electrical connection for data, power, and video from cameras on the manipulators. The electrical connection is compatible with the Shuttle Remote Manipulator System (also known as Canadarm1). Kibo (ISS module) Remote Manipulator System (Japanese Experiment Module Remote Manipulator System) uses
160-686: The SpaceX Dragon, Orbital ATK Cygnus and Japanese H-II Transfer Vehicle include a standard FRGF which is used by the Canadarm2 to grapple the capsule on approach to the International Space Station for berthing. The fixture can have a maximum payload rating of 65,000 pounds or 30,000 kg. An orbital replacement unit may also have a grapple fixture. The Latchable Grapple Fixture (LGF) allows for grappling and latching, intended to be used for longer‐term stowage on
180-416: The reinforced carbon-carbon panels on the leading edge of the shuttle's wings, the LDRI is capable of seeing damage as small as a 0.020 in (0.51 mm) crack. During the mission STS-114 , the LDRI was used to obtain 3-D measurements of a loose gap filler on the underside of the orbiter. The LDRI also flew on the subsequent mission, STS-121 . On this mission, NASA TV broadcast live raw video from
200-519: The rendezvous pitch maneuver , then additional regions could be scanned. The OBSS was introduced to the shuttle fleet with STS-114 , the "Return to Flight" mission executed by Discovery , and was flown on every mission after that until the retirement of the Space Shuttle fleet in 2011. It was used to inspect the shuttle for damage to the heat shield, officially called the Thermal Protection System (TPS), that could jeopardize
220-465: The Canadarm was too short to reach to all the areas that needed to be surveyed. The boom was essentially the same design as the Canadarm itself, except that the articulatory joints are fixed. OBSS arms for the three remaining orbiters were manufactured relatively quickly, primarily because some spare parts for the Canadarm system were used. Two instrumentation packages are installed at the far end of
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#1732787177463240-596: The ISS. PDGFs located around much of the station provide connections for the arm. They have four rectangular connectors to transfer data, video and electrical power. During the penultimate Space Shuttle flight a PDGF was installed on the Zarya module to support Canadarm2 operations based from the Russian segment. Although the European Robotic Arm uses grapples to relocate in a similar fashion to Canadarm2,
260-401: The LDRI of the entire wing leading edge and nosecap surveys on flight day 2. An earlier version of the LDRI originally flew as a DTO on STS-97 . This technology-related article is a stub . You can help Misplaced Pages by expanding it . Orbiter Boom Sensor System The Orbiter Boom Sensor System ( OBSS ) was a 50-foot (15.24 m) boom carried on board NASA 's Space Shuttles . The boom
280-589: The OBSS. Sensor package 1 consists of the Laser Dynamic Range Imager (LDRI) and an Intensified Television Camera (ITVC). Sensor package 2 is the Laser Camera System (LCS) and a digital camera (IDC). The sensors can record at a resolution of a few millimeters, and can scan at a rate of about 2.5 inches (64 mm) per second. It is also fitted with handrails, so that the boom could be used to provide spacewalkers with access to
300-420: The end of the boom to make the repair. Because Canadarm2 was unable to power the OBSS, it was without power many hours more than it was designed to handle, but because it was heated up considerably before the start of the repair it stayed undamaged. Due to the benefits for spacewalkers from the extended range provided by connecting an OBSS to the International Space Station (ISS)'s robotic arm, NASA implemented
320-535: The shuttle during re-entry. The decision to perform focused inspections of the TPS was prompted by the Space Shuttle Columbia disaster , in which Columbia was destroyed due to damage inflicted to its TPS during launch. The OBSS was central to focused inspections of the TPS, not only because it carried all the instruments necessary for detailed measurements and observations, but also because without it,
340-459: The shuttle's underbelly in case in-flight repairs were required. During STS-120 the OBSS was used as an extension boom for the space station's Canadarm2 , something it was never designed to do. During this mission the P6 solar array had become damaged during the redeploy. Canadarm2 grabbed the arm on its center Flight-Releasable Grapple Fixture and then astronaut Scott E. Parazynski was mounted at
360-663: Was further refined by Barrie Teb. The Flight-Releasable Grapple Fixture (FRGF) is the simplest variation of the North American grapple fixture, it allows only for grappling and does not have any electrical connectors. Its use began early in the Space Shuttle program and was developed from the Flight Standard Grapple Fixture (FSGF) by allowing the Grapple Shaft to be installed during extravehicular activity (EVA). Unpiloted ships like
380-454: Was grappled by the Canadarm and served as an extension of the arm, doubling its length to a combined total of 100 feet (30 m). At the far end of the boom was an instrumentation package of cameras and lasers used to scan the leading edges of the wings, the nose cap, and the crew compartment after each lift-off and before each landing. If flight engineers suspected potential damage to other areas, as evidenced in imagery captured during lift-off or
400-649: Was stowed on the ISS S1 Integrated Truss Structure on the fourth spacewalk of STS-134 on May 27, 2011. The OBSS sensors were disconnected during the EVA, and are not designed to withstand thermal conditions outside the ISS without power to keep them warm. However, the modification of the grapple fixture could enable such equipment to be mounted onto the OBSS in the future. Grapple Fixture#Flight-Releasable Grapple Fixture Grapple fixtures are used on spacecraft or other objects to provide
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