ALBERT

Description: The Energetic Gamma Ray Experiment Telescope (EGRET) on the Compton Gamma Ray Observatory has observed energetic gamma ray bursts and flares. On May 3, 1991, EGRET detected a gamma ray burst both in the energy measuring NaI (Tl) scintillator and independently in the spark chamber imaging assembly. The NaI spectra were accumulated by a special BURST mode of EGRET. The spectra were measured over a range from 1 to 200 MeV, in three sequential spectra of 1,2, and 4 seconds. During the peak of the burst, six individual gamma rays were detected in the spark chamber, allowing a determination of the burst arrival direction. The intense flares of June were also detected. A solar flare on June 4 was observed to last for several minutes and for a brief time, less than a minute, had significant emission of gamma rays exceeding 150 MeV.

Description: Intense gamma radiation has been observed from the direction of the quasar 3C 279 throughout the energy range from 30 MeV to over 5 GeV by the Energetic Gamma Ray Experiment Telescope (EGRET) during the period June 15-28, 1991. Its spectrum is well represented by a photon differential power-law exponent of 2.0 +/- 0.1, with a photon intensity above 100 MeV of (2.8 +/- 0.4) x 10 exp -6/sq cm s. For E is greater than 100 MeV, the 2-sigma upper limits were 1.0 x 10 exp -6/sq cm s in 1973 from the SAS 2 observations and 0.3 x 10 exp -6/sq cm s for the combined 1976, 1978, and 1980 COS B observations. Hence, there has been a large increase in high-energy gamma-ray intensity relative to the earlier times, as there has been in the radio, infrared, optical, and X-ray ranges. This source is the most distant and by far the most luminous gamma-ray source yet detected.

Description: The described efforts support a NASA Space Assembly and Servicing Working Group activity to draft guideline interface standards. The general requirements are to provide a simple, reliable, and durable system. Interface requirements developed include lateral position offset, axial and lateral velocities, and angular misalignment. A survey of concepts and simulation studies of spacecraft docking, existing docking/end effector performance criteria, and space proven, qualified docking data was conducted and evaluated, in order to provide recommended mechanical interface guidelines and interface tolerances for manual and autonomous capture operations. The criterion for the selection of the guidelines was maximum capability to handle malfunctions. Originally the guidelines for a zero velocity docking were considered to be covered within the grasping/berthing definition. It is acknowledged that perhaps a separate category needs to be established for this operation. The draft standard was delivered to the AIAA for review, revision, and issuance as the first U.S. national standard guideline on interfaces. The intent is to develop the guidelines into an International Standards Organization standard.

Description: The subject project can be described as the development and testing of a digitally controlled docking mechanism. The mechanism consists of a 6 DOF parallel manipulator for docking interface pre-alignment, and a machine vision sensor for real-time target tracking. The parallel manipulator also can be used for capture/latching, energy attenuation, and structural rigidization of docking, but the scope of this paper is the proof-of-concept demonstration of autonomous pre-alignment of a docking mechanism using machine vision.

Description: Worcester Polytechnic Institute's first payload of spaceflight experiments flew aboard Columbia, STS-40, during June of 1991 and culminated eight years of work by students and faculty. The Get Away Special (GAS) payload was installed on the GAS bridge assembly at the aft end of the cargo bay behind the Spacelab Life Sciences (SLS-1) laboratory. The Experiments were turned on by astronaut signal after reaching orbit and then functioned for 72 hours. Environmental and experimental measurements were recorded on three cassette tapes which, together with zeolite crystals grown on orbit, formed the basis of subsequent analyses. The experiments were developed over a number of years by undergraduate students meeting their project requirements for graduation. The experiments included zeolite crystal growth, fluid behavior, and microgravity acceleration measurement in addition to environmental data acquisition. Preparation also included structural design, thermal design, payload integration, and experiment control. All of the experiments functioned on orbit and the payload system performed within design estimates.

Description: The Ultra Heavy Cosmic Ray Experiment (UHCRE) is based on a modular array of 192 side-viewing solid state nuclear track detector stacks. These stacks were mounted in sets of four in 48 pressure vessels employing sixteen peripheral Long Duration Exposure Facility (LDEF) trays. The extended duration of the LDEF mission has resulted in a greatly enhanced scientific yield from the UHCRE. The geometry factor for high energy cosmic ray nuclei, allowing for Earth shadowing, was 30 sq m-sr, giving a total exposure factor of 170 sq m-sr-y at an orbital inclination of 28.4 degrees. Scanning results indicate that about 3000 cosmic ray nuclei in the charge region with Z greater than 65 were collected. This sample is more than ten times the current world data in the field (taken to be the data set from the HEAO-3 mission plus that from the Ariel-6 mission) and is sufficient to provide the world's first statistically significant sample of actinide (Z greater than 88) cosmic rays. Results to date are presented including details of ultra-heavy cosmic ray nuclei, analysis of pre-flight and post-flight calibration events and details of track response in the context of detector temperature history. The integrated effect of all temperature and age related latent track variations cause a maximum charge shift of +/- 0.8 e for uranium and +/- 0.6 e for the platinum-lead group. The precision of charge assignment as a function of energy is derived and evidence for remarkably good charge resolution achieved in the UHCRE is considered. Astrophysical implications of the UHCRE charge spectrum are discussed.

Description: Proposed future space exploration, such as lunar and Martian expeditions, will require autonomous docking of space vehicles. One proposed candidate method of autonomous docking utilizes a actively controlled parallel manipulator. Operation of the proposed docking manipulator can be segmented into four successive events: prealignment, capture/latching, attenuation, and structural rigidization. This paper discusses the development and testing of a digitally controlled, six-degree-of-freedom (6-DOF), parallel manipulator for the prealignment segment of a docking spacecraft.

Description: The LDEF Ultra Heavy Cosmic Ray Experiment (UHCRE) used 16 side viewing LDEF trays giving a total geometry factor for high energy cosmic rays of 30 sq m sr. The total exposure factor was 170 sq m sr y. The experiment is based on a modular array of 192 solid state nuclear track detector stacks, mounted in sets of four in 48 pressure vessels. The extended duration of the LDEF mission has resulted in a greatly enhanced potential scientific yield from the UHCRE. Initial scanning results indicate that at least 1800 cosmic ray nuclei with Z greater than 65 were collected, including the world's first statistically significant sample of actinides. Post flight work to date and the current status of the experiment are reviewed.

Description: The two known gamma ray pulsars, the Crab and Vela, were used as guides for the development of models of high-energy radiation from spinning neutron stars. Two general classes of models were developed: those with the gamma radiation originating in the pulsar magnetosphere far from the neutron star surface (outer gap models) and those with the gamma radiation coming from above the polar cap (polar cap models). The goal is to indicate how EGRET can contribute to understanding gamma-ray pulsars, and especially how it can help distinguish between models for emission.

Description: As space vehicles and structures become larger and more complex, the development of systems to assist humans in assembling, operating, maintaining, and performing space rescue or retrieval of these vehicles and structures becomes increasingly important. With the diversity of international spacecraft, both manned and unmanned, planned to be in orbit in the future, a set of guidelines for berthing and docking subsystems is mandatory if servicing, resupply, and retrieval is to become practical on an international level. Successful interaction between these space systems and ground and/or space-based humans requires standardized and effective operational interface designs, particularly with respect to space grasping/berthing/docking interface mechanisms. This paper defines the spacecraft mechanical interfaces necessary to create a standard dynamic envelope for joining two free-flying spacecraft in a 'hard' berth or dock with each other in space. A review was made of past space flights and dynamics simulations dating back to 1962 to obtain necessary parameters and their values for successful manually controlled and autonomous spacecraft docking/berthing. The various spacecraft docking/berthing mechanisms and concepts are illustrated along with their dynamic capture and impact tolerances including maximum contact velocity along the approach axis and in the y-z plane; capture linear misalignment tolerances; and maximum capture roll, pitch, and yaw angles. From this data sets of recommended guidelines parameters were developed for autonomous and manual impact docking tolerances, non-impact grasping/berthing tolerances (end effectors), berthing contact conditions, and alignment tolerances after rigidizing. Also, detailed requirements were developed for mechanical design interface features, as well as latching, unlatching, and separation tolerances. This data was drafted in the form of a proposed ANSI Standard guideline, reviewed, and added to by members of the committee representing several spacecraft manufacturers, NASA, and the USAF, and a consensus was reached.