ALBERT

Beschreibung: 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.

Beschreibung: 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.

Beschreibung: 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.

Beschreibung: 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.

Beschreibung: 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.

Beschreibung: All spacecraft orbiting in a low earth orbit (LEO) experience external torques due to environmental effects. Examples of these torques include those induced by aerodynamic, gravity-gradient, and solar forces. It is the gravity-gradient and aerodynamic torques that produce the greatest disturbances to the attitude of a spacecraft in LEO, and large asymmetric spacecraft, such as the space station, are affected to a greater degree because the magnitude of the torques will, in general, be larger in proportion to the moments of inertia. If left unchecked, these torques would cause the attitude of the space station to oscillate in a complex manner and the resulting motion would destroy the micro-gravity environment as well as prohibit the orbiter from docking. The application of control torques will maintain the proper attitude, but the controllers have limited momentum capacity. When any controller reaches its limit, propellant must then be used while the device is reset to a zero or negatively-biased momentum state. Consequently, the rate at which momentum is accumulated is a significant factor in the amount of propellant used and the frequency of resupply necessary to operate the station. A torque profile in which the area curve for a positive torque is not equal to the area under the curve for a negative torque is 'biased,' and the consequent momentum build-up about that axis is defined as secular momentum because it continues to grow with time. Conversely, when the areas are equal, the momentum is cyclic and bounded. A Torque Equilibrium Attitude (TEA) is thus defined as an attitude at which the external torques 'balance' each other as much as possible, and which will result in lower momentum growth in the controllers. Ideally, the positive and negative external moments experienced by a spacecraft at the TEA would exactly cancel each other out and small cyclic control torques would be required only for precise attitude control. Over time, the only momentum build-up in the controllers would be due to electro-mechanical losses within the device. However, the atmospheric torques are proportional to the density of the atmosphere and the density varies with the orbital position, time of day, time of year, and the solar cycle. In addition, there are unmodeled disturbances and uncertainties in the mass and inertias. Therefore, there is no constant attitude that will completely balance the environmental torques and the dynamic TEA cannot be solved in closed form. The objective of this research was to determine a method to calculate a dynamic TEA such that the rate of momentum build-up in the controllers would be minimized and to implement this method in the MATRIX(x) simulation software by Integrated Systems, Inc.

Beschreibung: Papers from the third annual Spaceflight Mechanics Meeting are presented. The topics covered include the following: attitude dynamics and control; large flexible structures; intercept and rendezvous; rendezvous and orbit transfer; and trajectory optimization.

Beschreibung: The paper addresses the subject of the interaction of positively and negatively charged bodies with the terrestrial ionosphere at low earth orbit altitudes. Data from two recent sounding rocket flights are used to establish that the current collected by exposed conductors biassed positively at up to 45kV relative to the ionospheric plasma generally follow predictions which account for strong control of electron flow by the geomagnetic field. If the biased structure is in the vicinity of disturbing influences such as an emitted charged particle beam, or locally enhanced gas pressure, then large deviations from the space-charge-limited return currents occur.

Beschreibung: Supply of oxygen (O2) and hydrogen (H2) by electolyzing water in space will play an important role in meeting the National Aeronautics and Space Administration's (NASA's) needs and goals for future space missios. Both O2 and H2 are envisioned to be used in a variety of processes including crew life support, spacecraft propulsion, extravehicular activity, electrical power generation/storage as well as in scientific experiment and manufacturing processes. The Electrolysis Performance Improvement Concept Study (EPICS) flight experiment described herein is sponsored by NASA Headquarters as a part of the In-Space Technology Experiment Program (IN-STEP). The objective of the EPICS is to further contribute to the improvement of the SEF technology, specifially by demonstrating and validating the SFE electromechanical process in microgravity as well as investigating perrformance improvements projected possible in a microgravity environment. This paper defines the experiment objective and presents the results of the preliminary design of the EPICS. The experiment will include testing three subscale self-contained SFE units: one containing baseline components, and two units having variations in key component materials. Tests will be conducted at varying current and thermal condition.

Beschreibung: The paper discusses some of the results of vehicle electrical potential from recent sounding rocket experiments involving charging of a space platform by both electron beam emission and by the application of differential bias between elements of the platform. Conclusions are presented that are applicable to the experimental parameters of the CHARGE-2 and SPEAR-1 payloads. The currents collected by HV biased collectors in the sphere show strong magnetic limiting and are close to the values predicted by Parker and Murphy (1967). No volume breakdown was observed above 100 km altitude by exposing voltages up to 45 kV to the ionosphere in the SPEAR-1 payload. The release of gas at flow rates typical of ACS systems can provide sufficient plasma to electronically neutralize space platforms biased at either positive or negative potentials.