ALBERT

Description: A group of fifteen students in the Electrical Engineering Department at the University of Maryland, College Park, has been involved in a design project under the sponsorship of NASA Headquarters, NASA Goddard Space Flight Center and the Systems Research Center (SRC) at UMCP. The goal of the NASA/USRA project was to first obtain a refinement of the design work done in Spring 1986 on the proposed Mobile Remote Manipulator System (MRMS) for the Space Station. This was followed by design exercises involving the OMV and two armed service vehicle. Three students worked on projects suggested by NASA Goddard scientists for ten weeks this past summer. The knowledge gained from the summer design exercise has been used to improve our current design of the MRMS. To this end, the following program was undertaken for the Fall semester 1986: (1) refinement of the MRMS design; and (2) addition of vision capability to our design.

Description: The project selected by the U.S. Naval Academy and NASA Goddard Space Flight Center for the 1986-87 NASA/USRA University Advanced Design Program was a variable artificial gravity facility, an adjunct to the Space Station. Recently, Goddard Space Flight Center had proposed that a formal study be conducted by NASA to investigate the question of whether an artificial gravity capability should be added to the Space Station. Therefore, not only does this project fit the goals of the Design Program, but it was a timely and interesting project. The variable artificial gravity was generated by a spinning module, and became an adjunct to the Space Station. It was planned that as much of the Space Station technology as possible be incorporated into the design. The components of the system were inserted into orbit. The specific design parameters were essentially open. The primary design objectives were: (1) The highest gravity level sufficient to prevent bone calcium loss in astronauts. (2) The cost of the Space Station should not be increased by more than 20 percent. (3) The number of launches to orbit the Space Station should not be increased by more than 30 percent. A secondary design objective was to investigate whether this design was suitable for a long duration space flight, such as a mission to Mars, or if the design is easily and inexpensively modified for such a mission.

Description: The small, chemically primitive objects of the solar system, comets and asteroids, are one of the most important frontiers remaining for future planetary exploration. So stated the Solar System Exploration Committee of the NASA Advisory Council in its 1986 report 'Planetary Exploration Through the Year 2000.' The Halley's comet flyby missions completed last spring raised more questions than were answered about the nature of comets. The next mission to a comet must be able to explore some of these questions. In the late 1990's, a spacecraft might be built to explore the hazardous area surrounding a comet nucleus. Rigorous pointing requirements for remote sensing instruments will place a considerable burden on their attendant control systems. To meet these requirements we have pursued the initial design and analysis of a multi-bodied comet explorer spacecraft. Sized so as to be built on-orbit after the space station is operational, the spacecraft is comprised of Orbit Replaceable Unit (ORU) subsystems, packaged into two major components: a three-axis controlled instrument platform and a spinning, detached comet dust shield. Such a configuration decouples the dynamics of dust impaction from the stringent pointing out requirements of the imaging experiments. At the same time, it offers an abundance of simple analysis problems that may be carried out by undergraduates. These problems include the following: Selection of subsystem components, sizing trade studies, investigation of three-axis and simple spin dynamics, design of simple control systems, orbit determination, and intercept trajectory generation. Additionally, such topics as proposal writing project management, human interfacing, and costing have been covered. A new approach to design teaching has been taken, whereby students will 'learn by teaching.' They are asked to decompose trade options into a set of 'if-then' rules, which then 'instruct' the Mechanically Intelligent Designer (MIND) expert design system in how to carry out a design.

Description: The detailed design of a small beam-powered trans-atmospheric vehicle, 'The Apollo Lightcraft,' was selected as the project for the design course. The vehicle has a lift-off gross weight of about six (6) metric tons and the capability to transport 500 kg of payload (five people plus spacesuits) to low Earth orbit. Beam power was limited to 10 gigawatts. The principal goal of this project is to reduce the low-Earth-orbit payload delivery cost by at least three orders of magnitude below the space shuttle orbiter--in the post 2020 era. The completely reusable, single-stage-to-orbit, shuttle craft will take off and land vertically, and have a reentry heat shield integrated with its lower surface--much like the Apollo command module. At the appropriate points along the launch trajectory, the combined cycle propulsion system will transition through three or four air breathing modes, and finally a pure rocket mode for orbital insertion. As with any revolutionary flight vehicle, engine development must proceed first. Hence, the objective for the spring semester propulsion course was to design and perform a detailed theoretical analysis on an advanced combined-cycle engine suitable for the Apollo Light craft. The analysis indicated that three air breathing cycles will be adequate for the mission, and that the ram jet cycle is unnecessary.

Description: An analytical study was performed to predict and assess the effect of actuator and sensor errors on the performance of a shape control procedure for flexible space structures using applied temperatures. Approximate formulas were derived for the expected value and variance of the rms distortion ratio (ratio of rms distortions with and without corrections) based on the assumption of zero-mean normally distributed random errors in measured distortions and actuator output temperatures. Studies were carried out for a 55-meter radiometer antenna reflector distorted from its ideal parabolic shape by nonuniform orbital heating. The first study consisted of varying the sensor and actuator errors for the case of 12 actuators and computing the distortion ratio. In the second study, sensor and actuator errors were prescribed and the effect of increasing the number of actuators was evaluated.

Description: An impulsive plasma injection has been used to study charge neutralization of the Space Shuttle Orbiter while it was emitting an electron beam into space. This investigation was performed by Space Experiments with Particle Accelerators on Spacelab-1. A plasma consisting of 10 to the 19th argon ion-electron pairs was injected into space for 1 ms while an electron beam was also being emitted into space. The electron beam energy and current were as high as 5 keV and 300 mA. While the orbiter potential was positive before the plasma injection and began to decrease during the plasma injection, it was near zero for 6 to 20 ms after the plasma injection. The recovery time to the initial level of charging varied from 10 to 100 ms. In a laboratory test in a large space chamber using the same flight hardware, the neutralization time was 8-17 ms and the recovery time was 11-20 ms. The long duration of the neutralization effect in space can be explained by a model of diffusion of the cold plasma which is produced near the Orbiter by charge exchange between the neutral argon atoms and the energetic argon ions during plasma injection.

Description: The Space Station will be a multipurpose space facility to acquire and exploit unique knowledge with a planned lifetime of greater than 20 years. It will include laboratories for science and manufacturing, provide a platform for earth and interplanetary observations, conduct satellite servicing, and serve as a transportation node for potential manned geosynchronous, lunar, and Mars missions. Environmental safety considerations and limited manpower resources require the extensive use of intelligent systems and flexible robotics on the Space Station. Design accommodations must be planned in advance to allow incorporation of these advancing technologies on the evolutionary Space Station.

Description: The stringent attitude determination accuracy and faster slew maneuver requirements demanded by present-day spacecraft control systems motivate the development of recursive nonlinear filters for attitude estimation. This paper presents the second-order filter development for the estimation of attitude quaternion using three-axis gyro and star tracker measurement data. Performance comparisons have been made by computer simulation of system models and filter mechanization. It is shown that the second-order filter consistently performs better than the extended Kalman filter when the performance index of the root sum square estimation error of the quaternion vector is compared. The second-order filter identifies the gyro drift rates faster than the extended Kalman filter. The uniqueness of this algorithm is the online generation of the time-varying process and measurement noise covariance matrices, derived as a function or the process and measurement nonlinearity, respectively.

Description: The linear-quadratic Gaussian/loop-transfer-recovery method is used to synthesize a fine-pointing control system for a large space antenna. A finite-element model for the 122-m hoop/column antenna is employed, and a compensator, utilizing attitudes sensors and torque actuators, is designed which achieves pointing performance while maintaining stability robustness to unmodeled dynamics. Inclusion of the rigid-body modes plus the first three elastic modes is found to be necessary to achieve a 0.1-rad/s bandwidth. Results are obtained by employing a modification of the standard robustness recovery procedure, which reduces the conservative nature of the design methodology. Performance degradation is encountered due to the presence of unavoidable invariant zeros within the design bandwidth.

Description: The proposed development of the Space Station is examined. The functions and advantages of the Space Station are described. The use of a solar array system for power generation on the Station is studied; the capabilities of various other generation systems are also evaluated. The Space Station's development schedule is discussed.

Description: A free-flying platform of about 4 x 17 m overall dimensions, carrying a variety of imaging and sounding payloads, calls for an intelligent structure with active dynamic control of structural resonances. The actuators for such a structure must be lightweight, require low power, and allow integration into the structure without degradation of its integrity; the dc-to-100 Hz dynamic range required may entail several types of actuators, as is presently emphasized. Broadband damping of higher-order modes requires modeling of the structure with a distributed array of sensors and actuators.

Description: Several factors, such as body size and shape, and the number of arms and their placement, will influence how well the Flight Telerobotic Servicer (FTS) is suited to its potential duties for the Space Station Program. In order to examine the implications of these configuration options, eight specific 2, 3, and 4 armed FTS configuration were simulated and used to perform a Space Station Orbital Replacement Unit (ORU) exchange. The strengths and weaknesses of each configuration were evaluated. Although most of the configurations examined were able to perform the exchange, several of the 3 and 4 arm configurations had operational advantages. The results obtained form these simulations are specific to the assumptions associated with the ORU exchange scenario examined. However, they do illustrate the general interrelationships and sensitivities which need to be understood.

Description: Teleoperator experiments were conducted which have demonstrated that a realistic, complex task, typical of those accomplished on-orbit by EVA astronauts, can be done in a smooth, timely manner with manipulators remotely controlled by humans. The real concerns were: (1) do manipulators have sufficient dexterity for these tasks, (2) can sufficient information from the remote site be provided to permit adequate teleoperator control, (3) can reasonable times relative to EVA times be achieved, (4) can the task be completed without frequent and/or damaging impacts among the task components and the manipulators? Positive answers were found to all of these concerns. Tasks times, operator fatigue, and smoothness of operation could be improved by designing the task components and the manipulators for greater compatibility. The data recorded supplements a data base of performance metrics for the same task done in the water immersion training facility as well as space flight and provides management with an objective basis for deciding how and where to apply manipulators in space.

Description: The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

Description: An analytic technique for accounting for the joint effects of Earth oblateness and atmospheric drag on close-Earth satellites is investigated. The technique is analytic in the sense that explicit solutions to the Lagrange planetary equations are given; consequently, no numerical integrations are required in the solution process. The atmospheric density in the technique described is represented by a rotating spherical exponential model with superposed effects of the oblate atmosphere and the diurnal variations. A computer program implementing the process is discussed and sample output is compared with output from program NSEP (Numerical Satellite Ephemeris Program). NSEP uses a numerical integration technique to account for atmospheric drag effects.

Description: Future activities in space will require the use of large structures and high power availability in order to fully exploit opportunities in Earth and stellar observations, space manufacturing and the development of optimum space transportation vehicles. Although these large systems will have increased capabilities, the associated development costs will be high, and will dictate long life with minimum maintenance. The Space Station provides a concrete example of such a system; it is approximately one hundred meters in major dimensions and has a life requirement of thirty years. Numerous mechanical components will be associated with these systems, a portion of which will be exposed to the space environment. If the long life and low maintenance goals are to be satisfied, lubricants and lubrication concepts will have to be carefully selected. Current lubrication practices are reviewed with the intent of determining acceptability for the long life requirements. The effects of exposure of lubricants and lubricant binders to the space environment are generally discussed. Potential interaction of MoS2 with atomic oxygen, a component of the low Earth orbit environment, appears to be significant.

Description: Conceptual efforts to develop a Space Station based system for docking and/or berthing the NSTS Orbiter are described. Past docking and berthing systems are reviewed, the general requirements and options for mating the Orbiter and Space Station are discussed, and the rationale for locating the system on the Station is established. One class of Station-based system is developed in several variations and evaluated with respect to weight distribution, loads, safety, reliability, viewing, and maintainability. An evolutionary presentation of the variations provides insight into the development process and the problems encountered. An overall evaluation of the Station-based variations compared to an optimized Orbiter-based system demonstrates the potential benefits of this approach as well as the issues that must be resolved to realize the benefits.

Description: A design is presented for a pneumatic ejection system capable of ejecting a spin stabilized satellite from the cargo bay of space vehicles. This system was orginally designed for use on the Spacelab 6 shuttle mission, but is now being considered for use with expendable rockets for launching satellites. The ejection system was designed to launch a 150 lb satellite at an initial ejection velocity of 32 ft/sec with a spin rate of 30 rev/min. The ejection system consists of a pneumatic cylinder, satellite retaining mechanism, and bearing assembly to allow the satellite to rotate during the spin up phase. As the cylinder is pressurized rapidly causing movement of the actuation piston, the mechanism automatically releases the spinning satellite by retracting a pneumatic locking pin and three spring loaded holddown pins. When the piston reaches the end of its stroke, it encounters a crushable aluminum honeycomb shock absorber which decelerates the piston and retaining mechanism. The assembly is designed for multiple uses except for the crushable shock absorber and pyrotechnic valves. The advantage of the design is discussed and patent no. and date given.

Description: Experimental Assembly of Structures in EVA (EASE) objectives, experimental protocol, neutral buoyancy simulation, task time distribution, assembly task performance, metabolic rate/biomedical readouts are summarized. This presentation is shown in charts, figures, and graphs.

Description: Space shuttle glow intensity measurements show large differences when the data from different missions are compared. In particular, on the 41-G mission the space shuttle ram glow was observed to display an unusually low intensity. Subsequent investigation of this measurement and earlier measurements suggest that there was a significant difference in temperature of the glow producing ram surfaces. The highly insulating properties coupled with the high emissivity of the shuttle tile results in surfaces that cool quickly when exposed to deep space on the night side of the orbit. The increased glow intensity is consistent with the hypothesis that the glow is emitted from excited NO2. The excited NO2 is likely formed through three body recombination (OI + NO + M = NO2*) where ramming of OI interacts with weakly surface bound NO. The NO is formed from atmospheric OI and NI which is scavenged by the spacecraft moving through the atmosphere. It is postulated that the colder surfaces retain a thicker layer of NO thereby increasing the probability of the reaction. It has been found from the glow intensity/temperature data that the bond energy of the surface bound precursor, leading to the chemical recombination producing the glow, is approximately 0.14 eV. A thermal analysis of material samples of STS-8 was made and the postulated temperature change of individual material samples prior to the time of glow measurements above respective samples are consistent with the thermal effect on glow found for the orbiter surface.

Description: A study of the interface problems between the Space Station Structure (vibrations) and the Payload Pointing Control System was undertaken. A major goal of the study was to identify any bounding factors that might limit the achievement of required pointing accuracies. A major result is that the space station will have a disturbance-rich environment and the background levels will be large enough to impact the pointing of some of the payloads. The need for an interface vibration specification between the structure and the payloads was identified.

Description: The Control of Flexible Structures II (CPFS) program is a complex and ambitious undertaking which addresses several critical technology areas. Among them are modeling, structural dynamics, control, and ground testing issues, which are also applicable to other large space structure programs being contemplated. This effort requires early integration of controls and structural dynamic considerations. Several technological advances must be achieved in the areas of system modeling, control synthesis and methodology, sensor/actuator development, and ground testing techniques for system evaluation and on-orbit performance prediction and verification. This program offers an opportunity for the integration of several disciplines to produce technology advances which will benefit many future programs.

Description: An optimal control solution process was developed for a general class of nonlinear dynamical systems. The method combines control theory, perturbation methods, and Van Loan's recent matrix exponential results. A variety of applications support the practical utility of this method. Nonlinear rigid body optimal maneuvers are routinely solved. Flexible body dynamical systems of an order greater than 40 were solved. The method fails occasionally due to poor convergence of the perturbation expansion or numerical difficulties associated with computing the matrix exponential. The method is attractive because it appears to be a good candidate for semi-automation; no initial guess is required, and it usually converges at 2nd or 3rd order in minutes of machine time.

Description: The problem and long term objectives for the precision pointing and control of flexible spacecraft are given. The four basic objectives are stated in terms of two principle tasks. Under Task 1, robust low order controllers, improved structural modeling methods for control applications and identification methods for structural dynamics are being developed. Under Task 2, a lab test experiment for verification of control laws and system identification algorithms is being developed. For Task 1, work has focused on robust low order controller design and some initial considerations for structural modeling in control applications. For Task 2, work has focused on experiment design and fabrication, along with sensor selection and initial digital controller implementation. Conclusions are given.

Description: A 203rd order simulation model was developed to evaluate the space station customer accommodation payload pointing and micro-g requirements. The simulation shows the pointing errors on the telescope are significantly smaller than at the base of the telescope. The pointing results could change when the parametric studies are performed. The results show the micro-g requirement is met with an active isolation system.

Description: On-line pulse control for vibration suppression in a flexible spacecraft was evaluated. A continuous beam vs. a truss was modeled. A linear finite element model was used to determine the truss characteristics. Control issues outlined are ED pulse actuator development, pseudo pulse algorithm development, and large nonlinear simulation problems.

Description: An NASA program is discussed which was initiated to make direct comparisons of control laws for, first, a mathematical problem, than an experimental test article is being assembled under the cognizance of the Spacecraft Control Branch. The physical apparatus will consist of a softly supported dynamic model of an antenna attached to the Shuttle by a flexible beam. The control objective will include the task of directing the line of sight of the Shuttle/antenna configuration toward a fixed target, under conditions of noisy data, limited control authority and random disturbances. A workshop will be planned to discuss and compare results of the design challange.

Description: Studies were performed to determine location for proof mass actuators, if a significant reduction in the number of sensors would work, and to design a control law to meet requirements for line of sight error and actuators. Conclusions are drawn and briefly discussed.

Description: Vector differential equations for distributed structures; discretization (in space) of distributed structures; and parameter identification for the Spacecraft Control Laboratory Experiment (SCOLE) are examined.

Description: Mathematical expressions for slew maneuver dynamics are presented. The total kinetic energy expression of the system is given as T = T(0) + T(1) + T(2), where T(0), T(1), and T(2) refer to the kinetic energies of the shuttle, the flexible beam, and the tip mass (the reflector), respectively. The specific equations for each of these are defined and integrated into the total energy expression. Using the chain rule in the Lagrange equations and an expression allowing the transformation of the orbiter angular velocity from the inertial frame to the body-fixed frame, the rotational equations are obtained. Finally, the vibration equations for the beam are derived, again using the Lagrange equations.

Description: The parametric study of the in-plane Spacecraft Control Laboratory Experiment (SCOLE) system, the Floquet Stability Analysis, and three dimensional formulations of the SCOLE system dynamics are examined. Control issues are discussed, such as: control of large structures with delayed input in continuous time; control with delayed input in discrete time; control law design for SCOLE using Linear Quadratic Gaussian (LQC)/TRR technique; and optimal torque control for SCOLE slewing maneuvers.

Description: The development of a docking system for aerospace vehicles has identified the need for reusable and variably controlled attenuators/actuators for energy absorption and compliance. One approach to providing both the attenuator and the actuator functions is by way of an electromechanical attenuator/actuator (EMAA) as opposed to a hydraulic system. The use of the electromechanical devices is considered to be more suitable for a space environment because of the absence of contamination from hydraulic fluid leaks and because of the cost effectiveness of maintenance. A smart EMAA that uses range/rate/attitude sensor information to preadjust a docking interface to eliminate misalignments and to minimize contact and stroking forces is described. A prototype EMAA was fabricated and is being tested and evaluated. Results of preliminary testing and analysis already performed have established confidence that this concept is feasible and will provide the desired reliability and low maintenance for repetitive long term operation typical of Space Station requirements.

Description: All basic EVA space construction tasks included in the experiment were accomplished on-orbit successfully, and the construction task time shows good correlation with neutral buoyancy data. However, the flight assembly times were slightly longer than the best times obtained in the water tank. This result was attributed by the EVA astronauts to the new, tighter tolerance truss hardware used on-orbit as opposed to the well-worn training hardware used in the neutral buoyancy and was, thus, not a space related phenomenon. The baseline experiment demonstrated that erectable structure can be assembled effectively by astronauts in EVA. The success of ACCESS confirmed the feasibility of EVA space assembly of erectable trusses and played a role in the decision to baseline the Space Station as a 5 meter erectable structure.

Description: The integration process of activities conducted at the NASA Lyndon B. Johnson Space Center (JSC) for the Experimental Assembly of Structures in Extravehicular activity (EASE)/Assembly Concept for Construction of Erectable Space Structures (ACCESS) payload is provided as a subset to the standard payload integration process used by the NASA Space Transportation System (STS) to fly payloads on the Space Shuttle. The EASE/ACCESS payload integration activities are chronologically reviewed beginning with the initiation of the flight manifesting and integration process. The development and documentation of the EASE/ACCESS integration requirements are also discussed along with the implementation of the mission integration activities and the engineering assessments supporting the flight integration process. In addition, the STS management support organizations, the payload safety process leading to the STS 61-B flight certification, and the overall EASE/ACCESS integration schedule are presented.

Description: Several items were found to be of immense value in the design and development of the Assembly Concept for Construction of Erectable Space Structures (ACCESS) hardware. The early availability of mock-up and engineering test hardware helped to develop the concept and prove the feasibility of the experiment. The extensive neutral buoyancy testing was invaluable in developing the procedures and timelines, proving that the hardware functioned as intended, and effectively trained the astronauts. The early involvement of the crew systems/astronaut personnel was extremely beneficial in shaping the design to meet the EVA compatibility requirements. Also, the early definition of coupled loads and on-orbit dynamic responses can not be overemphasized due to the relative uncertainty in the magnitude of these loads and their impact on the design.

Description: A large body of data was obtained by MIT during neutral boyancy testing at Marshall Space Flight Center from 1980 to the present. These efforts, and the most significant results are summarized. The Experimental Assembly of Structure in EVA (EASE) flight experiment was undertaken to validate these results and flown on the STS 61-B in November 1985. The EASE experiment hardware is discussed and how the experiment goals dictate its size, shape, and operational characteristics, are illustrated.

Description: Preliminary work at Langley Research Center (LaRC) related to the design, analysis and testing of a space station scale model is reviewed. Included are some rationale for focusing the scale model program on space station and the utilization of the model to achieve the program objectives. In addition, some considerations involved in designing a dynamics scale model, such as ground test facilities, sub-scale component fabrication and model replication vs. simulation are presented. Finally, some related research areas currently ongoing at LaRC in support of scale model development are discussed.

Description: Mathematical models of a reference space station configuration (Power Tower) and a Space Shuttle Orbiter are developed and used to study the dynamic behavior of the Space Station/Orbiter system just prior to and subsequent to an impulsive docking of the two spacecraft. The physical model of the space station is a collection of rigid and flexible bodies. The orbiter is modeled as a rigid body. An algorithm developed for use in digitally simulating the dynamics of the system is described and results of its application are presented.

Description: The performance of the Reaction Control System is impacted by the extreme flexibility of the space station structure. The method used to analyze the periodic thrust profile of a simple form of phase plane logic is presented. The results illustrate the effect on flexible body response of the type of phase plane logic utilized and the choice of control parameters: cycle period and attitude deadband.

Description: The design, construction, and operation of a low-Earth orbit space station poses challenges for development and implementation of technology. One specific challenge is the development of a dynamics test program for defining the space station design requirements, and identifying and characterizing phenomena affecting the space station's design and development. The test proposal, as outlined, is a comprehensive structural dynamics program to be launched in support of the space station (SS). Development of a parametric data base and verification of the mathematical models and analytical analysis tools necessary for engineering support of the station's design, construction, and operation provide the impetus for the dynamics test program. The four test phases planned are discussed: testing of SS applicable structural concepts; testing of SS prototypes; testing of actual SS structural hardware; and on-orbit testing of SS construction.

Description: The need for monitoring the dynamic characteristics of large structural systems for purposes of assessing the potential degradation of structural properties was established. A theory for assessing the occurrence, location, and extent of potential damage was developed utilizing on-orbit response measurements. Feasibility of the method is demonstrated using a simple structural system as an example.

Description: The characteristic wave approach is developed as an alternative to modal methods which may lead to significant errors in the presence of impulsive or concentrated loads. The method is applied to periodic structures. Some special phenomena like cumulation effects and transitions to ergodicity are analyzed.

Description: The challenge, ground rules and criteria, some of the Reaction Control System (RCS) concepts, classical and modern design analysis, and simulation results which are applicable to the space station are presented.

Description: A study was made to determine the influence of truss bay size on the performance of the space station control system. The objective was to determine if any control problems existed during reboost and to assess the level of potential control/structures interaction during operation of the control moment gyros used for vertical stabilization. The models analyzed were detailed finite-element representations of the 5 meter and 9 foot growth versions of the 300 kW dual keel station. Results are presented comparing the performance of the reboost control system for both versions of the space station. Standards for comparison include flexible effects at the attitude control sensor locations and flexible contributions to pointing error at the solar collectors. Bode analysis results are presented for the attitude control system and control, structural, and damping sensitivities are examined.

Description: A preliminary design of an experiment to demonstrate and evaluate long-term cryogenic fluid storage and transfer technologies has been performed. This Long-Term Cryogenic Fluid Storage (LTCFS) experiment is a Technology Development Mission (TDM) experiment proposed by the NASA Lewis Research Center to be deployed on the Initial Operational Capability (IOC) space station. Technologies required by future orbital cryogenic systems such as Orbital Transfer Vehicles (OTV's) were defined, and critical technologies requiring demonstration were chosen to be included in the experiment. A three-phase test program was defined to test the following types of technologies: (1) Passive Thermal Technologies; (2) Fluid Transfer Technologies; and (3) Active Refrigeration Technologies. The development status of advanced technologies required for the LTCFS experiment is summarized, including current, past and future programs.

Description: The model reference control of lumped linear systems and the model reference control of the distributed parameter system (DPS) are presented with their theory and Spacecraft Control Laboratory Experiment (SCOLE) applications.

Description: A laboratory facility for the study of control laws for large flexible spacecraft is described. The facility fulfills the requirements of the Spacecraft Control Laboratory Experiment (SCOLE) design challenge for a laboratory experiment, which will allow slew maneuvers and pointing operations. The structural apparatus is described in detail sufficient for modelling purposes. The sensor and actuator types and characteristics are described so that identification and control algorithms may be designed. The control implementation computer and real-time subroutines are also described.

Description: As NASA progresses into the development phase of the space station, it recognizes the importance and potential payback of high autonomous spacecraft subsystems. Priorities are presented for embedded expert system enhancements to the automatic control systems of the space station thermal, EVA, and life support systems. The primary emphasis is on top level application areas and development concerns for expert systems.

Description: The benefits of design knowledge availability are identifiable and pervasive. The implementation of design knowledge capture and storage using current technology increases the probability for success, while providing for a degree of access compatibility with future applications. The space station design definition should be expanded to include design knowledge. Design knowledge should be captured. A critical timing relationship exists between the space station development program, and the implementation of this project.

Description: A majority of the current expert systems focus on the symbolic-oriented logic and inference mechanisms of artificial intelligence (AI). Common rule-based systems employ empirical associations and are not well suited to deal with problems often arising in engineering. Described is a prototype expert system which combines both symbolic and numeric computing. The expert system's configuration is presented and its application to a spacecraft attitude control problem is discussed.

Description: Viewgraphs are presented showing drawings of Centaur configurations, the Thermodynamic Vent System (TVS), the mixer pump, and the hydrogen vent motor pump inverter. A cryogenic performance summary is given in chart form. The TVS liquid flow operation and vapor flow operation are diagrammed.

Description: An overview is given in viewgraph form of orbital transfer vehicle concept definition and systems analysis studies. Project development flow charts are shown for key milestones from 1985 until 1997. Diagrams of vehicles are given. Information is presented in outline form on technology requirements, cooling of propellant tanks, cryogenic fluid management, quick connect/disconnect fluid interfaces and propellant mass transfer.

Description: One of the needs of the experimenters on the space station is access to steady and controlled-variation microgravity environments. A method of providing these environments is to place the experiment on a tether attached to the space station. This provides a high degree of isolation from structural oscillations and vibrations. Crawlers can move these experiments along the tethers to preferred locations, much like an elevator. This report describes the motion control laws developed for these crawlers and the testing of laboratory models of these tether elevator crawlers.

Description: The current trend for spacecraft to be serviceable and repairable in orbit has led to a modular approach to satellite subsystem design. Spacecraft equipment, such as sensors, tape recorders, computers, transponders, batteries, etc., housed in discrete modular units, (Orbital Replacement Units(ORUs)) can be attached and detached to the spacecraft as needed. The interface between the ORU and the spacecraft is crucial. The projected use of robotics and the need for a common mechanism capable of performing several functions puts many constraints on the design of the interface. Such an interface mechanisms was designed and developed called the Standard Interface Connector (SIC) that mates the ORU to the spacecraft. The SIC also provides for the flow of fluids, data, and power between the module and spacecraft. The baseline design presented can be configured to provide various attachment schemes. Tests on SIC models have demonstrated the functionality of the design and its compatibility with current robotics.

Description: The energy expenditure of the Shuttle Flight 61-B crewmembers during the extravehicular performance of Experimental Assembly of Structures in EVA (EASE) and Assembly Concept of Construction of Space Structures (ACCESS) construction system tasks are reported. These data consist of metabolic rate time profiles correlated with specific EASE and ACCESS tasks and crew comments. Average extravehicular activity metabolic rates are computed and compared with those reported from previous Apollo, Shylab, and Shuttle flights. These data reflect total energy expenditure and not that of individual muscle groups such as hand and forearm. When correlated with specific EVA tasks and subtasks, the metabolic profile data is expected to be useful in planning future EVA protocols. For example, after experiencing high work rates and apparent overheating during some Gemini EVAs, it was found useful to carefully monitor work rates in subsequent flights to assess the adequacy of cooling garments and as an aid to preplanning EVA procedures. This presentation is represented by graphs and charts.

Description: The Space Shuttle requires carriers to support payloads in the cargo bay. As a result, the Mission Peculiar Equipment Support Structure (MPESS) was designed to carry partial payloads aboard the shuttle. The efforts to customize the MPESS for the Experimental Assembly of Structure in EVA (EASE) and Assembly Concept for Construction of Erectable Space Structure (ACCESS) experiments are summarized.

Description: The Marshall Space Flight Center (MSFC) Spacelab Payload Project Office was responsible for the mission management and development of several successful payloads. Two recent space construction experiments, the Experimental Assembly of Structures in Extravehicular Activity (EASE) and the Assembly Concept for Construction of Erectable Space Structures (ACCESS), were combined into a payload managed by the center. The Ease/ACCESS was flown aboard the Space Shuttle Mission 61-B. The EASE/ACCESS experiments were the first structures assembled in space, and the method used to manage this successful effort will be useful for future space construction missions. The MSFC mission management responsibilities for the EASE/ACCESS mission are addressed and how the lessons learned from the mission can be applied to future space construction projects are discussed.

Description: The Kennedy Space Center (KSC) Payload Management and Operations Directorate is responsible for the processing of Space Shuttle payloads. The KSC responsibilities begin prior to hardware arrival at the launch site and extend until the experiments are returned to the investigators after the flight. The KSC involvement with the integration and checkout of payloads begins with participation in experiment, Mission Peculiar Equipment (MPE), and integrated payload design reviews. This involvement also includes participation in assembly and testing of flight hardware at the appropriate design center, university, or private corporation. Once the hardware arrives at the launch site, KSC personnel install the experiments and MPE onto a carrier in the Operations and Checkout (O & C) building. Following integration, the payload is functionally tested and then installed into the orbiter. After the mission, the payload is removed from the orbiter, deintegrated in the O & C building, and the experiments are turned over to the mission manager. One of the many payloads process at KSC consisted of two space construction experiments: the Experimental Assembly of Structures in Extravehicular Activity (EASE) and the Assembly Concept for Construction of Erectable Space Structures (ACCESS). The details of EASE/ACCESS integration, testing, and deintegration are addressed and how this mission can serve as a guide for future space construction payloads is discussed.

Description: One of the results from the model definition study showed that the maximum scale factor for a replica model is .25. This is dictated by the fixed dimensions of the Large Spacecraft Lab. Replica scaling laws were applied to simplified theoretical models of joints and the joint/tube/joint system. The practical interpretation of the results for the specific Space Station configuration under study yielded a number of conclusions which are briefly discussed. Detailed suspension analyses were conducted to evaluate the ability of the suspended scale model to emulate the dynamic behavior of the free-free Space Station. The results indicated only a slight preference for smaller scales. A candidate erectable Space Station joint was fabricated at full scale, 1/4 scale and 1/3 scale in order to assess the comparability of the scaled joints to the full scale behavior. Another important question discussed is how well the inherent damping characteristics of the scaled joints compare to those of the full scale joint. The preliminary definition study yielded three separate scale factor recommendations for the scale model.

Description: The primary characteristics of the 5-meter erectable truss is presented, which was baselined for the Space Station. The relatively large 5-meter truss dimension was chosen to provide a deep beam for high bending stiffness yet provide convenient mounting locations for space shuttle cargo bay size payloads which are approx. 14.5 ft (4.4 m) in diameter. Truss nodes and quick attachment erectable joints are described which provide for evolutionary three dimensional growth and for simple maintenance and repair. A mobile remote manipulator system is described which is provided to assist in station construction and maintenance. A discussion is also presented of the construction of the Space Station and the associated extravehicular active (EVA) time.

Description: The One Controller at a Time (1-CAT) methodology for designing digital controllers for Large Space Structures (LSS's) is introduced and illustrated. The flexible mode problem is first discussed. Next, desirable features of a LSS control system design methodology are delineated. The 1-CAT approach is presented, along with an analytical technique for carrying out the 1-CAT process. Next, 1-CAT is used to design digital controllers for the proposed Space Based Laser (SBL). Finally, the SBL design is evaluated for dynamical performance, noise rejection, and robustness.

Description: The objective of this research was to test vibration suppression (settling time and jitter) of a large space structure (LSS) characterized by low frequency high global vibration modes. Five percent passive damping in a large truss was analyzed, tested and correlated. A representative system article re-target analysis shows that modest levels of passive damping dramatically reduce the control energy required. LSS must incorporate passive damping from the outset. The LSS system performance will not be met by either active or passive damping alone.

Description: The Long Term Cryogenic Storage Facility Systems Study (LTCSFSS) is a Phase A study of a large capacity propellant depot for the space based, cryogenic orbital transfer vehicle. The study is being performed for Marshall Space Flight Center by General Dynamics Space Systems Division and has five principal objectives: (1) Definition of preliminary concept designs for four storage facility concepts; (2) Selection of preferred concepts through the application of trade studies to candidate propellant management system components; (3) Preparation of a conceptual design for an orbital storage facility; (4) Development of supporting research and technology requirements; and (5) Development of a test program to demonstrate facility performance. The initial study has been completed, and continuation activities are just getting under way to provide greater detail in key areas and accommodate changes in study guidelines and assumptions.

Description: The potential large center-of-pressure to center-of-gravity offset of the space station makes the short term, within an orbit, variations in density of primary importance. The large range of uncertainty in the prediction of solar activity will penalize the design, developments, and operation of the space station.

Description: Gravity gradient stabilization is planned for the space station. Torques arise from air-drag since the center of pressure is not the same as the center of mass of the satellite. The magnitude of these torques varies depending upon the orientation of the solar panels. Adjustments are made through the use of CMG's (Control Moment Gyros). In time, if the CMG's saturate, torque must be bled off using thrusters; however, that is undesirable because it expends propellant and contaminates the local environment. The task of the engineer is to design the CMG's to handle the aerodynamic torques and design the configuration of the spacecraft to prevent, if possible, CMG saturation. For this application the long-term atmospheric density trends are of less importance than the rate of change of density within an orbit. In principle, CMG's could be designed for the worst case of maximum solar activity, but the penalty for overdesign is excess mass and cost. In summary, present models are inadequate for this application with the greatest need being a reliable prediction of maximum rates-of-change of density within an orbit.

Description: Satellite lifetime predictions are critically dependent on the ability to forecast future solar and geomagnetic activity. These quantities are inputs to the atmospheric model with which values of atmospheric density are computed along a projected orbital path. Density values are combined with the predicted ballistic coefficient timeline to compute drag and predict decay histories. The major uncertainty in making predictions that pertain to the time periods that are years in the future is in the solar and geomagnetic activity projections, although the ballistic coefficient is also frequently in doubt. The study concludes that while present density models are adequate for planning, the inputs to them, particularly solar/geomagnetic activity indices, are unreliable.

Description: As part of the NASA Get Away Special program for flying small, self-contained payloads onboard the Space Shuttle, the Alabama Space and Rocket Center (ASRC) in Huntsville has sponsored three such payloads for its Project Explorer. One of these is GAS-007, which was carried originally on STS mission 41-G in early October 1984. Due to an operational error it was not turned on and was, therefore, subsequently rescheduled and flown on mission 61-C. This paper will review Explorer's history, outline its experiments, present some preliminary experimental results, and describe future ASRC plans for Get Away Special activities, including follow-on Explorers GAS-105 and GAS-608.

Description: This paper presents, in general terms, the results of the experiments with NUSAT I. These include what has been learned about the strengths of the original design, as well as improvements being incorporated into NUSAT II, which should be of interest to designers of future Get Away Special ejected satellites. This paper also presents an account of the formation of the Center for AeroSpace Technology (CAST) at Weber State College, which grew out of the NUSAT project, and some potential applications and markets for inexpensive, low orbit satellites which CAST has explored.

Description: A relatively low order model is used to control SCOLE. Drastic truncation of the discretized model is proposed by means of a modal expansion. An open loop eigenvalue problem is illustrated as is truncated modal equations, modal state equations, actual output vector and modal Kalman filter. Also illustrated is independent modal-space control.

Description: The Spacecraft Control Laboratory Experiment (SCOLE) is defined by element properties: material constants; mast, reflector, rigid links as beam elements; cable as bar element; and space shuttle as very stiff beam. Two boundary conditions are modeled: suspended (6 degrees of freedom for all joints except the top of the cable) and cantilevered cables (shuttle platform fixed in all degrees of freedon). Calculations include stiffness and mass matrices, initial stresses, static displacements and reactions, and eigensolutions.

Description: An analysis was performed in order to find the best placement for proof-mass actuators and to determine the importance of placement, i.e., what is the sensitivity of beam flexure to actuator placement. The analysis was performed by using the NASTRAN finite element model for a flexible beam with 21 grid points on beam, by using the nonlinear DISCOS simulation of 20 deg slew and the use of a closed-loop linear quadratic regulator (lqr). Some conclusions reached are: (1) proof-mass actuators can reduce flexure amplitude and damp oscillations; (2) amplitude of deformations during slew is relatively insensitive to placement of actuators; (3) damping factor of oscillations is sensitive to actuator placement; and (4) the degree of controllability method indicates most effective placement for actuators.

Description: The damping for structural dynamic models of flexible spacecraft is usually ignored and then added after modal frequencies and mode shapes are calculated. It is common practice to assume the same damping ratio for all modes, although it is known that damping due to bending and that due to torsion are sometimes ignored. Two methods of including damping in the modeling process from its onset are examined. First, the partial derivative equations of motion are analyzed for a pinned-pinned beam with damping. The end conditions are altered to handle bodies with mass and inertia for the Spacecraft Control Laboratory Experiment (SCOLE) configuration. Second, a massless beam approximation is used for the modes with low frequencies, and a clamped-clamped system is used to approximate the modes for arbitrarily high frequency. The model is then modified to include gravity effects and is compared with experimental results.

Description: The Spacecraft Control Laboratory Experiment (SCOLE) linear model; Taylor's coordinate system; Robertson's system; and the flexible linear model are presented.

Description: The Spacecraft Control Laboratory Experiment (SCOLE) was slewed from one attitude to the required attitude and an integral performance index which involves the control torques was minimized. Kinematic and dynamical equations, optimal control, two-point boundary-value problems, and estimation of unknown boundary conditions are presented.

Description: A large number of experimental and analytical efforts have been directed toward understanding the plasma sheath growth and discharge phenomena which lead to high-voltage solar array/space plasma interactions. An important question which has not been addressed is how the voltage gradient in the plasma sheath near the surface of such an array may affect these interactions. The purpose of the experimental study described in this paper is to examine the merging of the sheaths around biased slits in a dielectric and how this affects the collection of electrons through these slits. The data, which are obtained by emissive probes and direct measurement of the current collected through the slits, indicate that when the sheaths merge the current collection by the slits is significantly altered with the most positive slit collecting more electrons than it otherwise would. Therefore, the effect of a voltage gradient in the sheath around a solar array should be considered when evaluating solar array performance.

Description: Compatibility of Space Station hardware with the space environment is one of the major materials development issues. The projected long life of the Space Station elements (about 30 years for structural components and 20 years for power systems), the large number of day/night thermal cycles that have to be withstood during the life of the Station, and the effects of atomic oxygen and UV irradiation on exposed surfaces demand new considerations in selection of materials. Reaction efficiencies of materials for Space Station applications derived from LEO experiments are presented together with surface recession predictions for various Space Station components. Developments in the areas of protective coatings and of laboratory facilities for evaluating the effects of atomic oxygen are discussed.

Description: Explorer Platform development and capabilities are outlined. The Explorer Platform extends the user provisions of the Multimission Modular Spacecraft to include power generation and distribution and on-orbit exchange of payload modules. The platform can be integrated with its payload and launched on an expendable launch vehicle or it can be carried separately from its payload on the Space Shuttle and assembled with its payload on-orbit. Later Shuttle flights can revisit the Platform to perform servicing or payload exchange. This capability to support several payloads in succession allows costs to be shared by several users over the 10 yr life of the platform.

Description: The organization of orbital servicing of satellites is discussed. Provision of servicing equipment; design interfaces between the satellite and the servicing equipment; and the economic viability of the concept are discussed. The proposed solution for satisfying customer concerns is for the servicing organizations to baseline an adequate inventory of servicing equipment with standard interfaces and established servicing costs. With this knowledge, the customer can conduct tradeoff studies and make programmatic decisions regarding servicing options. A dialog procedure between customers and servicing specialists is outlined.

Description: A standard spacecraft bus compatible with NASA launch vehicles, including STS, for four reference missions (Sun, Earth, stellar pointing from low Earth orbit, Earth pointing from geostationary orbit) was designed. The modular serviceable design stems from its use of passive acme screws for module attachment and scoop proof electrical connectors for electrical interfaces. A flight support system includes command and telemetry links.

Description: The practicality of employing a combination of automated and extravehicular activity forms of servicing in-orbit was demonstrated with the STS 41-C Solar Maximum Repair Mission. This shows that modular Orbital Replacement Units (ORUs) designed for servicing can be readily accommodated. Successful replacement of an experiment ORU, not designed for replacement, was performed following extensive preparations. In a laboratory, spacecraft ORUs were replaced using a completely preplanned automated approach. This was later done using a completely unstructured teleoperations mode including the complicated exchange of the instrument ORU. As a result of this effort and work on powered tools, an approach for combining these techniques is underway to produce a flight support system servicing aid to increase the STS astronauts' effective in-orbit servicing capability by several fold.

Description: The technical and programmatic benefits of on-orbit assembly are outlined. Operational and automation considerations relating to on-orbit assembly are reviewed. Space Station capabilities for orbital assembly are discussed.

Description: The velocity perturbations of the fragments of a satellite can shed valuable information regarding the nature and intensity of the fragmentation. A feasibility study on calculating the velocity perturbations from existing equations was carried out by analyzing 23 major documented fragmentation events. It was found that whereas the calculated values of the radial components of the velocity change were often unusually high, those in the two other orthogonal directions were mostly reasonable. Since the uncertainties in the radial component necessarily translate into uncertainties in the total velocity change, it is suggested that alternative expressions for the radial component of velocity be sought for the purpose of determining the cause of the fragmentation from the total velocity change. The calculated variances in the velocity perturbations in the two directions orthogonal to the radial vector indicate that they have the smallest values for collision induced breakups and the largest values for low-intensity explosion induced breakups. The corresponding variances for high-intensity explosion induced breakups generally have values intermediate between those of the two extreme categories. A three-dimensional plot of the variances in the two orthogonal velocity perturbations and the plane change angle shows a clear separation between the three major types of breakups. This information is used to reclassify a number of satellite fragmentation events of unknown category.

Description: The major requirements and guidelines that affect the manned space station configuration and the power systems are explained. The evolution of the space station power system from the NASA program development feasibility phase through the current preliminary design phase is described. Several early station concepts are described and linked to the present concept. The recently completed phase B tradeoff study selections of photovoltaic system technologies are described. The present solar dynamic and power management and distribution systems are also summarized for completeness.

Description: The space station's electrical power system will evolve and grow in a manner much similar to the present terrestrial electrical power system utilities. The initial baseline reference configuration will contain more than 50 nodes or busses, inverters, transformers, overcurrent protection devices, distribution lines, solar arrays, and/or solar dynamic power generating sources. The system is designed to manage and distribute 75 KW of power single phase or three phase at 20 KHz, and grow to a level of 300 KW steady state, and must be capable of operating at a peak of 450 KW for 5 to 10 min. In order to plan far into the future and keep pace with load growth, a load flow power system analysis approach must be developed and utilized. This method is a well known energy assessment and management tool that is widely used throughout the Electrical Power Utility Industry. The results of a comprehensive evaluation and assessment of an Electrical Distribution System Analysis Program (EDSA) is discussed. Its potential use as an analysis and design tool for the 20 KHz space station electrical power system is addressed.

Description: Electrodynamic tethers hold promise for a variety of space applications. Electrodynamic tethers depend upon the interactions between a moving insulated conductor and the Earth's magnetic field. An electric field is generated along the tether as in a conductor moving in the magnetic field of a generator. If the circuit is closed to the ambient space plasma via a plasma gun or other equivalent device, a current is enabled to flow in the tether, and electric power is generated at the expense of orbital mechanical energy. The net effect is a decrease in the altitude of the orbiting tethered system. The situation can be reversed by driving current against the electric field via an external power supply such as a photovoltaic array.

Description: An organic black thermal blanket material was coated with indium tin oxide (ITO) to prevent blanket degradation in the low Earth orbit (LEO) atomic oxygen environment. The blankets were designed for the Galileo spacecraft. Galileo was initially intended for space shuttle launch and would, therefore, have been exposed to atomic oxygen in LEO for between 10 and 25 hours. Two processes for depositing ITO are described. Thermooptical, electrical, and chemical properties of the ITO film are presented as a function of the deposition process. Results of exposure of the ITO film to atomic oxygen (from a shuttle flight) and radiation exposure (simulated Jovian environment) are also presented. It is shown that the ITO-protected thermal blankets would resist the anticipated LEO oxygen and Jovian radiation yet provide adequate thermooptical and electrical resistance. Reference is made to the ESA Ulysses spacecraft, which also used ITO protection on thermal control surfaces.

Description: Technology areas are identified in which better analytical and/or experimental methods are needed to adequately and accurately control the dynamic responses of multibody space platforms such as the Space Station and the Radiometer Spacecraft. A generic space station model is used to experimentally evaluate current control technologies and a radiometer spacecraft model is used to numerically test a new theoretical development for nonlinear three-axis maneuvers. Active suppression of flexible body vibrations induced by large angle maneuvers is studied with multiple torque inputs and multiple measurement outputs. These active suppression tests identify the hardware requirements and adequacy of various controller designs.

Description: Large Space Structures (LSS) exhibit characteristics which make the LSS control problem different form other control problems. LSS will most likely exhibit low frequency, densely spaced and lightly damped modes. In theory, the number of these modes is infinite. Because these structures are flexible, Vibration Suppression (VS) is an important aspect of LSS operation. In terms of VS, the control actuators should be as low mass as possible, have infinite bandwidth, and be electrically powered. It is proposed that actuators be built into the structure as dual purpose structural elements. A piezoelectric active member is proposed for the control of LSS. Such a device would consist of a piezoelectric actuator and sensor for measuring strain, and screwjack actuator in series for use in quasi-static shape control. An experiment simulates an active member using piezoelectric ceramic thin sheet material on a thin, uniform cantilever beam. The feasibility of using the piezoelectric materials for VS on LSS was demonstrated. Positive positive feedback as a VS control strategy was implemented. Multi-mode VS was achieved with dramatic reduction in dynamic response.

Description: The time domain parameter identification method described previously is applied to TRW's Large Space Structure Truss Experiment. Only control sensors and actuators are employed in the test procedure. The fit of the linear structural model to the test data is improved by more than an order of magnitude using a physically reasonable parameter set. The electro-magnetic control actuators are found to contribute significant damping due to a combination of eddy current and back electro-motive force (EMF) effects. Uncertainties in both estimated physical parameters and modal behavior variables are given.

Description: The distortion of antennas was measured with a metric camera system at discrete target locations on the surface. Given are surface distortion for hoop column reflector antennas, for tetrahedral truss reflector antennas, and distortion contours for the tetrahedral truss reflector. Radiation patterns at 2.27-GHz, 4.26-GHz, 7.73-GHz and 11.6-GHz are given for the hoop column antenna. Also given are radiation patterns at 4.26-GHz and 7.73-GHz for the tetrahedral truss antenna.

Description: A technology development program is described involving Controls Structures Electromagnetics Interaction (CSEI) for large space structures. The CSEI program was developed as part of the continuing effort following the successful kinematic deployment and RF tests of the 15 meter Hoop/Column antenna. One lesson learned was the importance of making reflector surface adjustment after fabrication and deployment. Given are program objectives, ground based test configuration, Intelsat adaptive feed, reflector shape prediction model, control experiment concepts, master schedule, and Control Of Flexible Structures-II (COFS-II) baseline configuration.

Description: The Spacecraft Control Laboratory Experiment (SCOLE) was conceived to provide a physical test bed for the investigation of control techniques for large flexible spacecraft. The control problems studied are slewing maneuvers and pointing operations. The slew is defined as a minimum time maneuver to bring the antenna line-of-sight (LOS) pointing to within an error limit of the pointing target. The second objective is to rotate about the LOS within the 0.02 degree error limit. The SCOLE problem is defined as two design challenges: control laws for a mathematical model of a large antenna attached to the Space Shuttle by a long flexible mast; and a control scheme on a laboratory representation of the structure modelled on the control laws. Control sensors and actuators are typical of those which the control designer would have to deal with on an actual spacecraft. Computational facilities consist of microcomputer based central processing units with appropriate analog interfaces for implementation of the primary control system, and the attitude estimation algorithm. Preliminary results of some slewing control experiments are given.

Description: Many future mission models require large space (LSS) which have accurate surfaces and/or the capability of being accurately aligned. If ground test approaches which will provide adequate confidence of the structrual performance to the program managers are not developed, many viable structural concepts may never be utilized. The size and flexibility of many of the structural concepts will preclude the use of the current ground test methods because of the adverse effects of the terrestrial environment. The challenge is to develop new test approaches which will provide confidence in the capability of LSS to meet performance requirements prior to flight. The activities on ground testing of LSS are described. Since some of the proposed structural systems cannot be tested in entirety, a coordinated ground test analytical model program is required to predict structural performance in space. Several concepts of ground testing under development are addressed.

Description: A brief control technology overview is given in Control Structures Interaction (CSI) by illustrating that many future NASA mission present significant challenges as represented by missions having a significantly increased number of important system states which may require control and by identifying key CSI technology needs. The JPL CSI related technology developments are discussed to illustrate that some of the identified control needs are being pursued. Since experimental confirmation of the assumptions inherent in the CSI technology is critically important to establishing its readiness for space program applications, the areas of ground and flight validation require high priority.

Description: Recent technology development activities for box truss structures and box truss antennas are summarized. Three primary activities are discussed: the development of an integrated analysis system for box truss mesh antennae; dynamic testing to characterize the effect of joint free play on the dynamic behavior of box truss structures; and fabrication of a 4.5 meter diameter offset fed mesh reflector integrated to an all graphite epoxy box truss cube.