Boundary Management Panels

These panels are strictly for monitoring telemetry from the boundary management process on board Ranger TSX. Command authority is not required since there are no command objects contained in these panels.


Arm Cartesian Position Panel

Arm End Effector/Task Panel

BM Point Information Panel

Arm Cartesian Position Panel

The boundary management system calculates the location of several points on Ranger TSX, including the tool tip and the elbow of each of the manipulators (for the positioning leg the knee and Ranger's manipulator module is determined).

Cartesian Component Labels

This panel displays the Cartesian components of the tool tip and elbow of a given arm. These Cartesian components include position (X=forward, Y= right, Z = up) and rotational (Roll, Pitch, Yaw, and SEW = Shoulder Elbow Wrist angle).

Frame of Reference Labels

The Cartesian components are presented in three frame of references: from shuttle coordinates, with respect to the vehicle at the manipulator module, and from the base of the manipulator.

Main/Monitor CPU Labels

Since boundary management calculation are performed both on the main and monitor CPUs, the results from each are given. However, the two values should remain similar to each other.


Arm End Effector/Task Panel

To successfully complete a task the end effectors must interact with the task elements (turning bolts, grabbing and releasing ORUs, etc.). The boundary management system overseas these actions to ensure that the task element is not overtorqued or release inadvertently. This panel summarizes different states of the boundary management system as it limits the use of the end effectors interaction with the different task elements.

Boundary Management Mode Indicators

The boundary management system has two overall modes: All Arms which allows for any manipulator to be moved and Positioning Leg Only which prevent movement to all manipulator except the Positioning Leg. This latter case occurs when a position boundary has been violated. The operator must use only the positioning leg to back out of the boundary. When this occurs the system returns to All Arms mode.

End Effector Boundary Limits

This group of objects is used to monitor the different end effector functions (tool drive turning, open/closing grippers, etc). The boundary management system only allows certain activates when the end effector is located within a certain zone. The end effector on the left and the right manipulator are displayed here. The objects are group in rows. The top row is the status reported by the main CPU, the bottom reports the monitor CPU's status.

Torque Limit Text Boxes

This text box displays the allowable torque limit for each end effector function.

Allow Indicators

These indicators light up when that end effector function is allowed.

Info Text Box

These text boxes provide additional information on the boundary management state for the appropriate end effector function.

Gripper Rules Text Boxes

Several rules are used to determine the status of the end effector. These rules are listed, the text boxes to the right of the label contains the running total number of times that rule was tested. The leftmost text box is calculated on the main CPU, the right box is the monitor CPU's current total. These two boxes should have numbers relatively close to each other. These text boxes are used to make sure the different gripper rules are activated correctly.

Task Boundary Zones Indicators

For each task there are specific spherical zones which allow certain end effector functions. For instance the RPCM only allows a gripper to be opened in an appropriate zone (labeled as ORU) which is located where the RPCM is housed in its receptacle. If the end effector is not inside that location the gripper can not be opened. When the end effector is inside that zone the indicator slights up. Two indicators are stacked on top of each other, the top one represents the main CPU and the bottom is for the monitor CPU. Nominally both indicator should show the same state.

BM Point Information Panel (1 of 2)

The boundary management system calculates the location of several points on Ranger TSX body and arms and checks them ensure against inadvertent contact or potential run always. Two panels are used to specifically look at this information. The panel shown below is the first panel, the second panel looks exactly the same except for the point labels are from Pt 10 through Pt 19, instead of Pt 0 through Pt 9.

Point Labels

Each of the 20 points are labeled, two rows are given for each point. The first row labeled 'Pt x' are values calculated on the main CPU. The row beneath labeled 'Mon' are values for the same point calculated by the monitor CPU. The two rows of values should be nearly identical during nominal operations.

Position Text Boxes

Each of the point's position is presented in these boxes in shuttle frame coordinates (X = forward of the orbiter, Y = right of the orbiter, Z= out the orbiter's cargo by doors).

Velocity Text Boxes

The velocity of each point is tracked and shown in this box.

Boundary Limit Indicators

When the boundary management system detects a violation of a boundary the appropriate indicator is lit. This indicator turns red when the boundary limit have been violated; this would result in the system going safe. The indicator turns black when the contingency boundary has been violated.

Vel- A velocity limit for that point has been exceeded.
Boundary 1-6 - There are six physical boundaries which can be violated by the tracked points. This indicator illustrates which boundaries have been violated.