ALBERT

Description: The Task Committee on Methods for Identification of Large Structures in Space was founded in Jul. 1984. The charter of the committee was to prepare a state-of-the-art report on methods of system identification applicable to large space structures (LSS). Funding to support preparation of the report was received in Aug. 1985 from the Air Force Rocket Propulsion Laboratory (now the Air Force Astronautics Laboratory), in the form of a contract to the ASCE. The report was completed, and published by AFRPL in Sep. 1986. The Task Committee consisted of ten members, including ASCE and AFRPL representatives. The membership represented Government, Industry, and Universities, and consisted of electrical, mechanical, and civil engineers, with backgrounds in Structural Dynamics, Optimization, and Controls. An effort was made to use consistent terminology and notation throughout the report which would be compatible with the terminology used in both the structures and controls communities.

Description: This paper describes an autonomous control concept for pointing and articulation of science instruments on the Eos (Earth observing system) NASA/NOAA platforms intended to be operational by the late 1990s. Key features of this concept include advanced control adaptation and tuning strategies which provide performance robustness over a wide range of system uncertainties and mission time criticality. System identification-control modification paradigms are synthesized to form an adaptation continuum over this extended regime of autonomous operations.

Description: Large space structures are characterized by a large number of modes, grouped frequencies, and small inherent damping. Model reduction techniques in time domain may not be effective due to small damping. The model truncation method is generally used. This method can not solve the problem of grouped frequencies, and will lose all the information about the higher order modes. A new method developed in this paper, which tries to minimize the error of interested transfer functions, makes use of all the information of the original system, and achieves improvement not only from a smaller error of transfer functions but also from better frequency distribution.

Description: A space flight experiment being developed by NASA's Office of Aeronautics and Space Technology (OAST) that uses the Space Station as a testbed to study techniques for determining the dynamic characteristics of large space structures (LSS) is described. The experiment is separate from the Space Station Program itself with research objectives outside the domain of Space Station Program objectives. A brief description of the experiment, in terms of the general objective and approach, is given along with a statement of the potential benefits to NASA and others. The bulk of material to follow deals with the experiment definition activity that is underway. The scope of an 'initial' definition study and preliminary results from supporting Space Station dynamics analyses is presented. The term initial is used to indicate that the study currently being conducted has limited objectives and is not expected to complete the required experiment definition. A follow on study is planned and is mentioned in the summary.

Description: One of the basic requirements in engineering analysis is the development of a mathematical model describing the system. Frequently comparisons with test data are used as a measurement of the adequacy of the model. An attempt is typically made to update or improve the model to provide a test verified analysis tool. System identification provides a systematic procedure for accomplishing this task. The terms system identification, parameter estimation, and model correlation all refer to techniques that use test information to update or verify mathematical models. The goal of system identification is to improve the correlation of model predictions with measured test data, and produce accurate, predictive models. For nonmetallic structures the modeling task is often difficult due to uncertainties in the elastic constants. A finite element model of the shell was created, which included uncertain orthotropic elastic constants. A modal survey test was then performed on the shell. The resulting modal data, along with the finite element model of the shell, were used in a Bayes estimation algorithm. This permitted the use of covariance matrices to weight the confidence in the initial parameter values as well as confidence in the measured test data. The estimation procedure also employed the concept of successive linearization to obtain an approximate solution to the original nonlinear estimation problem.

Description: Reliable structural dynamic models will be required as a basis for deriving the reduced-order plant models used in control systems for large space structures. Ground vibration testing and model verification will play an important role in the development of these models; however, fundamental differences between the space environment and earth environment, as well as variations in structural properties due to as-built conditions, will make on-orbit identification essential. The efficiency, and perhaps even the success, of on-orbit identification will depend on having a valid model of the structure. It is envisioned that the identification process will primarily involve parametric methods. Given a correct model, a variety of estimation algorithms may be used to estimate parameter values. This paper explores the effects of modeling errors and model deficiencies on parameter estimation by reviewing previous case histories. The effects depend at least to some extent on the estimation algorithm being used. Bayesian estimation was used in the case histories presented here. It is therefore conceivable that the behavior of an estimation algorithm might be useful in detecting and possibly even diagnosing deficiencies. In practice, the task is complicated by the presence of systematic errors in experimental procedures and data processing and in the use of the estimation procedures themselves.

Description: On-orbit system identification (ID) of large space systems is essential for various reasons. For example, the complex composite structure of such systems cannot be ground-tested; their structural dynamic characteristics must be known accurately in order to accomplish active control. Furthermore, such capability can be used to characterize/identify various disturbances. The identification process is consisted of four principal elements: (1) modeling, (2) the estimation algorithm, (3) input system, and (4) measurement system. These elements are highly correlated and all togerher determine the success of the identification problem. Accurate modeling of large space systems is the most important element of the identification process. Large flexible structures are non-linear and infinite dimensional systems with highly coupled parameters and low frequency packed modes. In addition, these systems are subject to stochastic and time-varying disturbances, they have structural parameters which can vary due to on-orbit assembly deployment, and operations. These systems are generally; however, represented by constant coefficient, finite order differential equations. The non-linearities, coupling and noise effects are also often neglected. Moreover, identification experiment designs which lead to highly complex optimization problems usually require the simultaneous choice of ID algorithm, sensor, and actuator type and placement. On-orbit bandwidth and power restrictions on excitation, limited data window, and restrictions on sensor/actuator type, placement and number, has led to practical questions of implementations.

Description: This paper examines the use of on-orbit identification based on Maximum Likelihood Estimation (MLE) to provide these high-order, high-accuracy control design models for large space structures (LSS's). First, it outlines a general MLE identification algorithm, together with a covariance-analysis procedure to assess algorithm performance in terms of systematic and stochastic errors. Next, it examines various simplifications appropriate for the LSS identification application. Simplified analytical performance results are presented, as are numerical results to support these analyses. Finally, a graphical interpretation of these results is given.

Description: This talk focuses on the determination of state-space models for large space systems using only the output data. The output data could be generated by the unknown or deliberate initial conditions of the space structure in question. We shall review some relevant fundamental work on the state-space modeling of sequential output data that is potentially applicable to large space structures. If formulated in terms of some generalized Markov parameters, this approach is in some sense similar to, but much simpler than, the Juang-Pappa Eigensystem Realization Algorithm (ERA) and the Ho-Kalman construction procedure.

Description: For the future space systems, on-orbit identification (ID) capability will be required to complement on-orbit control, due to the fact that the dynamics of large space structures, spacecrafts, and antennas will not be known sufficiently from ground modeling and testing. The computational requirements for ID of flexible structures such as the space station (SS) or the large deployable reflectors (LDR) are however, extensive due to the large number of modes, sensors, and actuators. For these systems the ID algorithm operations need not be computed in real-time, only in near real-time, or an appropriate mission time. Consequently the space systems will need advanced processors and efficient parallel processing algorithm design and architectures to implement the identification algorithms in near real-time. The MAX computer currently being developed may handle such computational requirements. The purpose is to specify the on-board computational requirements for dynamic and static identification for large space structures. The computational requirements for six ID algorithms are presented in the context of three examples: the JPL/AFAL ground antenna facility, the space station (SS), and the large deployable reflector (LDR).

Description: This proposal discusses a new nonlinear, nonparametric method for off-line modeling and on-line estimation of the deformation of a flexible structure undergoing rapid retargeting maneuvers. In these circumstances, the structural stiffness and damping coefficients depend on the angular acceleration omega(dot), the angular rate omega, and the square of the angular rate omega. In the single axis case, the excitation of the structure is represented by the vector u(exp T) = (omega(dot), omega(exp 2), 2(omega)), to which the structural dynamics responds as a 'bilinear' (i.e., parametrically excited) system. A similar technique for multiaxial rotations yields a bilinear model with respect to matrix valued excitations. Three methods of estimation and modeling are described in this proposal to achieve deformation state determination: (1) a method based on a feedback linearized procedure which gives an estimate of the state by means of observers installed in the deformable body; (2) off-line modeling of the deformation state of the structure by means of topological interpolators; and (3) an on-line structural state estimation method based on a combination of the two previous techniques.

Description: Parameter identification and modeling are key elements of a design and operational flight strategy for control of flexible space structures. The emphasis of the identification program is on on-orbit applications to spacecraft control. High performance robust controllers will result from advanced design synthesis techniques and on-orbit identification/system tuning. Near term goals for the program include development of an integrated on-line processing capability for flexible body parameter identification, and validation with physical structure experiments.

Description: Viewgraphs and discussion on on-orbit system parameter identification are included. Topics covered include: dynamic programming filter (DPF); cost function and estimator; frequency domain formulation structrual dynamic identification; and attributes of DPF.

Description: On-going research at The Aerospace Corporation studying the feasibility of applying adaptive control methodologies to the control of flexible space structures is described. A laboratory testbed was established to test system identification and control approaches. The laboratory set-up and controller design approach are discussed. The ARX least squares parameter estimation technique is analyzed in terms of frequency domain transfer function bias error. This analysis approach enables the determination of the effects of sampling rate, sensor type, and data prefiltering on the estimation performance. The ability to identify space structure dynamics over a range of frequencies is shown to be heavily dependent on these factors.

Description: Accurate mathematical models are clearly an important part of the design, modification, control, and damage assessment of large space structures. A critical part of model determination of any type of structure is the use of system identification (SI), a process for using measured excitation and response data to improve the form of a mathematical model or the values of the parameters in it. The reasons for using SI are manifold, but most of them involve uncertainties in either the form of or the parameters in the mathematical model. Some of the more common uncertainties are the following: the nature of the damping, the characteristics of sloppy or sticky joints, inelastic material properties, and parameters in a reduced Degree-of-Freedom (DOF) model. This paper contains a description of the SI algorithm followed by two illustrations: one in which all parameters in a shear building model are determined using pull back and quick release data, and another in which an equivalent reduced DOF model is obtained for a two story frame.

Description: This presentation will address an approach for using modal residues and roots, typically derived from vibration testing, to solve for the lumped parameters of a finite element model. The uniqueness of the approach is that the mass, stiffness, or damping matrices of a structure do not need to be known or estimated a-priori. Instead just the connectivity of the structure needs to be estimated. In addition, the presentation will demonstrate how models with orders larger than the number of modes obtained by the test program can be solved. The presentation will start by covering the basis of the approach, then illustrate a trivial application of how it works, and finally illustrate its use on a cantilevered beam using only a fraction of the mode to solve the mass, stiffness, and damping matrices.

Description: Virtually all space structure mission requirements include control of vibration, position, and possibly shape. In order to satisfy their requirements it is necessary to know the dynamic characteristics of the structure. Therefore, a means must be developed to continuously determine a dynamic model, or changes in the model, and to appropriately adapt the controls to these changes. The detection and location of physical damage would also be a very beneficial characteristic of such a procedure. A discussion outlining the methods to perform On-Orbit Model Determination is presented.

Description: For the past several years much effort has been given to the development of techniques for designing control systems for large space structures (LSS's). The main objective of these efforts has been to develop a LSS control methodology that produces designs that meet strenuous performance requirements and are robust to model inaccuracies. Unfortunately, performance and robustness are conflicting requirements. Because LSS's can not be fully tested on ground, it has become an accepted fact that the design of LSS control systems to meet performance requirements can not be completed until the LSS is placed on-orbit and tested and an accurate model is extracted from on-orbit test results. Modern MIMO sampled-data frequency response design techniques are viable candidates for designing LSS control systems. First, this paper presents techniques for performing MIMO system identification (ID) from test data. Then, techniques for improving the performance of the system ID process in the presence of noise are presented. Finally, practical utility of the system ID approaches are validated by the presentation of results obtained from application on the LSS Ground Test Facility at Marshall Space Flight Center.

Description: The Galileo scan platform is controlled in two degrees of freedom. A clock (Spin Bearing) actuator controls the relative position between the rotor and stator, and a cone actuator controls the position between the stator and the platform. Instruments on the platform are required to point to 140 micro-rad accuracy and 50 micro-rad per second stability. The system identification objectives were to identify dominant structural resonance frequencies, mode shapes, and damping ratio which exist in the transfer function between the clock actuator and the gyro sensor; and position the notch filter to limit undesirable actuator torque output to ensure stability and performance.

Description: Many modern spacecraft are complex multi-body dynamic systems where the bodies are connected by several active control systems for pointing and isolation. Mission requirements indicate that many structural modes and possibly some nonlinear effects will require characterization. Thus, even characterization at the subsystem level will become more difficult than usual. System level characterization difficulties will be compounded by the fact that only limited ground testing will be possible on the full up system, and flight testing will be restricted by an extremely limited measurements set. The object of the present discussion is the application of matrix majorant theory to the problem of assessing dynamic system performance when knowledge of the system is uncertain. We show how majorants provide an effective tool to relate required performance output to system identification test quality in terms of residual uncertainty in input-output relations, parameter values, nonlinearities, and interactions. The underlying machinery consists of the block-norm matrix which is a nonnegative matrix each of whose elements is the norm of a block of a suitably partitioned matrix. A matrix which bounds the block-norm matrix in the sense of nonnegative matrices, i.e., element by element is known as a majorant.

Description: An optimal on-orbit experiment is designed to extract the most information from an on-orbit test, subject to the constraints of the testing environment. However, simply jumping in and optimizing standard measures of information with respect to the experiment design can cause severe problems if attention is not paid to the specific needs and properties of the problem at hand. The actual criteria to be optimized depends on (among other things) the particular ID algorithm and parametrization being used. Two parametric techniques are the focus of this presentation: recursive prediction error method (RPEM) and maximum likelihood estimation (MLE).

Description: The research project which resulted in the AMI (Analytical Model Improvement) method was funded by the Langley Research Center from 1979 through 1985. The objective was to develop a method for obtaining improved dynamic models of structures by using both test data and numerical analysis. The research was successfully performed and the method was applied to a real structure having a realistic NASTRAN model with over 500 degrees of freedom. The method and its application are briefly discussed as well as other indirect benefits in related technical areas.

Description: The objective of this paper is to summarize and review several investigations on the assessment and control of structural damage in civil engineering. Specifically, the definition of structural damage is discussed. A candidate method for the evaluation of damage is then reviewed and demonstrated. Various ways of implementing passive and active control of civil engineering structures are next summarized. Finally, the possibility of applying expert systems is discussed.

Description: An eigenvector expansion method is utilized to predict eigenvalue and eigenvector derivatives due to geometric reconfiguration of a Gimbalflex fine-pointing/vibration isolation system called SAVI (Space Active Vibration Isolation). The eigenvector expansion method used is a modification of the classical method and allows for rigid body roots. Using the resulting modal derivatives, free-free nonlinear equations of motion are developed with Lagrange's Method. These equations represent a nonlinear plant model to be used in conjunction with a control system transient response simulation.

Description: Two different methods are proposed for identifying the structural properties of large orbiting space structures under ordinary service loads, and for assessing potential damage due to impact or other extreme loadings. It is shown that the behavior of a structure in a weightless environment is nonlinear due to unloaded or lightly loaded connections, an effect which not only complicates structural control, but makes the problem of system identification more difficult than for ground based systems. Both proposed methods assume that the structure is subjected to loads imposed by prescribed self stressing systems sufficient to produce repeatable internal force systems in the structure. The first method is based on statical response and requires a survey of structural displacements produced by the self stressing systems. The displacements do not have to be determined completely (i.e., in three directions at each connection), but more displacement information produces more accurate structural stiffness information. It is anticipated that displacement measurements will be taken using on-board laser measurement devices. The second technique employs dynamic stress wave measurement techniques using on-board loading devices and strain gages to track stress wave propagation through the space structure. This approach, which is in its early stages of development, relies on an analysis of transit times of impulsive stress waves and changes in transit times and wave forms due to changes in structural parameters.

Description: Uncertainties of a large space system (LSS) can be deterministic or stochastic in nature. The former may result in, for example, an energy spillover problem by which the interaction between unmodeled modes and controls may cause system instability. The stochastic uncertainties are responsible for mode localization and estimation errors, etc. We will address the effects of uncertainties on structural model formulation, use of available test data to verify and modify analytical models before orbiting, and how the system model can be further improved in the on-orbit environment.

Description: The objective of this project is to identify modal properties such as the eigenvalues and eigenfunctions of structures. The formal means for accomplishing this task, Structural Identification, is viewed as a two step procedure: (1) identify the eigensolution; and (2) using the identified eigensolution, identify the mass and stiffness. The eigensolution is identified as a correction on a postulated model based on erroneous parameters.

Description: The topics are presented in viewgraph form and include the following: directed energy systems - vibration issue; Neutral Particle Beam Integrated Space Experiment (NPB-ISE) opportunity/study objective; vibration sources/study plan; NPB-ISE spacecraft configuration; baseline slew analysis and results; modal contributions; fundamental pitch mode; vibration reduction approaches; peak residual vibration; NPB-ISE spacecraft slew experiment; goodbye ISE - hello Zenith Star Program.

Description: For a low Earth orbit (LEO) to geosynchronous orbit (GEO) mission scenario, it can be shown that both a chemically-propelled, aerobraked orbital transfer vehicle (OTV), and a high-thrust, nuclear OTV use approximately 50 percent less propellant than a comparable, chemical OTV. At the University of Virginia two teams worked on designs for these types of OTVs. One group formed WWSR Inc. and worked on the aerobraked OTV, which was named Project Orion. The other group, named MOVERS, collaborated on the design for the nuclear engine OTV. This report will briefly review the nature and specifics of their work. This will summarize each of these propellant systems and their corresponding cost savings. It will also highlight the strengths and weaknesses of each OTV concept.

Description: Students in Aerospace Engineering (ASE) and Mechanical Engineering (ME) at the University of Texas at Austin completed eight separate design projects under the sponsorship of the NASA/USRA Advanced Space Design Program. During the Fall semester of 1987, ASE and ME students worked on various aspects of a 'bootstrap' lunar base. ASE students concentrated on the overall definition of the base while the ME team designed a convertible lunar lander lower stage. Six design projects were executed during the spring semester of 1988. Aerospace engineering students designed a fast Mars mission crew transfer vehicle, an Earth-orbiting transportation node to support the lunar base, a lunar base construction shack/initial habitat vehicle, and carried out a systems assessment aimed at arresting ozone depletion in the Earth's atmosphere. The ME students designed a lunar surface personnel navigation system and investigated radiation shielding structures for a lunar base. The design objectives, a summary of the results, and selected comments are given concerning each of the projects. Due to the number of projects completed, the reader should refer to the text of the final project reports for additional and detailed information.

Description: The concept of utilizing a winged vehicle for the remote exploration of Mars was studied in the 1970's. This study, directed by NASA's Jet Propulsion Laboratory, considered an unmanned, instrumented platform to perform the necessary mission requirements to study the Mars environment. Two versions were considered. In one, the Marsplane was deployed during the entry maneuver and flew until its fuel was exhausted. Its mission ended with the subsequent landing. In the second version, the Marsplane could land and take off a limited number of times. In the past decade, technological advances in materials, aerodynamics, and propulsion systems have increased the feasibility of a Marsplane. It was the objective of this year's design project to examine the impact of these technological advances and to investigate (1) the feasibility of a manned Marsplane, and (2) the spacecraft system necessary to deliver the Marsplane to the surface of Mars.

Description: The overall goal for this NASA/USRA-sponsored 'Apollo Lightcraft Project' is to develop a revolutionary launch vehicle technology that can reduce payload transport costs by a factor of 1000 below the Space Shuttle Orbiter. The RPI design team proposes to utilize advanced, highly energetic, beamed-energy sources (laser, microwave) and innovative combined-cycle (airbreathing/rocket) engines to accomplish this goal. This second year focused on systems integration and analysis of the 'Apollo Lightcraft'. This beam-powered, single-stage-to-orbit vehicle is envisioned as the globe-trotting family shuttlecraft of the 21st century. Detailed investigations of the Apollo Lightcraft Project during the second year of study helped evolve the propulsion system design, while focusing on the following areas: (1) man/machine interface; (2) flight control systems; (3) power beaming system architecture; (4) reentry aerodynamics; (5) shroud structural dynamics; and (6) optimal trajectory analysis.

Description: The desire to understand and explore space has driven man to overcome the confines of the Earth's atmosphere and accept the challenge of spaceflight. With our increasing ability to travel, work, and explore in space comes a need for a better understanding of the hazards in this relatively new endeavor. One of the most important and immediate needs is to be able to predict the ignition, spread, and growth of fire on board spacecraft. Fire safety aboard spacecraft has always been a concern; however, with the increasing number and duration of proposed missions, it is imperative that the spacecraft be designed with a solid understanding of fire hazards, insuring that all risks have been minimized and extinguishment systems are available.

Description: Project Longshot presents a preliminary design for an unmanned probe to Alpha Centauri with a planned launch early in the 21st century. A 100-year estimated travel time was baselined for the mission on Space Report, Pioneering the Space Frontier. One of the elements of the Commission's solar and space physics plan is 'a long-life, high-velocity spacecraft to be sent out of the Solar System on a trajectory to the nearest star'. Adequate lead time is included in the scenario to allow the development of several enabling technologies and to ensure that the required space operations infrastructure will be in place.

Description: In this summary, we present the main conclusions and results of a design study conducted by a group of 25 students at the University of Maryland. The students, all participants in the spring 1988 courses ENEE488Q and ENEE418 in the Electrical Engineering Department, considered the problem of designing a free-flying space robot for applications in satellite servicing. In addition to the paper study, a subgroup of eight students undertook the ambitious task of designing and building a laboratory testbed for the concept of a free flyer. This subgroup has already completed the main fabrication of the mechanical hardware and most of the onboard electronics. When completed by the end of the summer, the testbed will consist of a seven-degree-of-freedom dual-armed planar robot that will float on an air table and carry out various commanded tasks. All the fabrication and testing is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. The project team split up into subgroups as follows: (1) articulation concepts 1 and 2, to study competing ideas for the overall systems architecture and manipulator design; (2) real time control systems group; (3) a computer graphics group to provide animations of a planar design; (4) a mechanical hardware design group for the laboratory testbed; and (5) a control systems hardware design group for the same.

Description: The University of Central Florida's design of an Integrated Refuse Management System for the proposed International Space Station is addressed. Four integratable subsystems capable of handling an estimated Orbiter shortfall of nearly 40,000 lbs of refuse produced annually are discussed. The subsystems investigated were: (1) collection and transfer; (2) recycle and reuse; (3) advanced disposal; and (4) propulsion assist in disposal. Emphasis is placed on the recycling or reuse of those materials ultimately providing a source of Space Station refuse. Special consideration is given to various disposal methods capable of completely removing refuse from close proximity of the Space Station. There is evidence that pyrolysis is the optimal solution for disposal of refuse through employment of a Rocket Jettison Vehicle. Additionally, design considerations and specifications of the Refuse Management System are discussed. Optimal and alternate design solutions for each of the four subsystems are summarized. Finally, the system configuration is described and reviewed.

Description: The project SLICK (Space Laser Interorbital Cargo Kite) involves conceptual designs of reusable space-based laser-powered orbital transfer vehicle (LOTV) for ferrying 16,000 kg cargo primarily between low Earth orbit (LEO) and geosynchronous earth orbit (GEO). The power of LOTV is beamed by a single 32-MW solar-pumped iodide laser orbiting the Earth at an altitude of one Earth radius. The laser engine selected for the LOTV is based on a continuous-wave, steady-state propulsion scheme and uses an array of seven discrete plasmas in a flow of hydrogen propellant. Both all-propulsive and aerobraked LOTV configurations were analyzed and developed. The all-propulsive vehicle uses a rigid 11.5-m aperture primary mirror and its engine produces a thrust of 2000 N at a specific impulse of 1500 sec. For the LEO-to-GEO trip, the payload ratio, m(sub payload/m(sub propellant)+m(sub dry vehicle) = 1.19 and the trip time is about 6 days. The aerobraked version uses a lightweight, retractable wrapped-rib primary mirror which is folded for aerobraking and a 20-m-diameter inflatable-ballute aeroshield which is jettisoned after aeromaneuver. Lifecycle cost analysis shows that the aerobraked configuration may have an economic advantage over the all-propulsive configuration as long as the cost of launching the propellant to LEO is higher than about $500/kg in current dollars.

Description: This is a brief description of the USRA-sponsored design project at the University of Arizona. Approximately eighty-percent of this effort was spent pursuing a novel engineering concept for the in-situ processing of orbital debris utilizing resources available in low Earth orbit (LEO); the other twenty-percent was devoted to discovering innovative additives for the anchoring of supersonic combustion zones that find direct use in the Aerospace Plane that is expected to use scramjets. The seriousness of the orbital debris problem is briefly described. Available 'solutions' are outlined from the literature. The engineering design is briefly mentioned, with an emphasis on the positive aspects of the space environment that should be used in an economical approach. The aspects of operating in microgravity, vacuum, and in utilizing solar energy are mentioned. A quantitative computer animation was developed to provide design data. Three specific dead spacecraft were identified for an initial cleanup mission. The design concept, which includes a solar processor, remote arm manipulators, and the gradual processing of the debris, is also described. This is followed by a description of hardware construction. Operation and actual processing of simulated debris parts (aluminum, for now) are demonstrated in the NASP task, construction of the new design for measuring the radiation from the key free radicals (as enhanced by the additives) is described. Immediate (1988) and long-range (through 1992) future plans are shown to clearly indicate the full engineering design strategy in the light of the national space program thrusts.

Description: The unmanned Multiple Exploratory Probe System (MEPS) is designed for Mars observations in preparation for manned missions to the planet early in the 21st century. MEPS will test vehicle systems, provide important data about the Martian surface and atmosphere, and assist the planning of manned missions. This mission will be a precursor to the manned missions. MEPS will consist of six primary systems. A Command Information Center (CIC) will be employed as an onboard mission control, communications link, and observation post. The Space Transportation Main Engine (STME) will be used to provide the thrust for Earth-Mars transit following vehicle construction near the Space Station. A polar lander/Orbital Transfer Vehicle (OTV) will be deployed during transit to achieve a polar orbit about Mars. A secondary propulsion will be used to place MEPS into orbit about Mars; this system and the aerobrake will circularize the orbit. Following orbit circulation, a satellite will be deployed to observe the Martian surface and atmosphere and to study the space environment. Polar and equatorial lander systems will land on Mars with rovers to collect surface and atmospheric samples while on-board laboratories will provide initial sample study. Two solid rocket booster/payload vehicles will launch samples into a low Mars orbit. The OTV will rendezvous with each payload capsule and then transfer the samples to Earth for hands-on observation.

Description: A control law is presented for three-axis rotational maneuvers of a spacecraft (orbiter)-beam-tip body (antenna or a reflector) configuration based on nonlinear inversion and modal velocity feedback. Using invertibility and functional reproducibility results, a decoupling attitude control law is presented such that, in the closed-loop system, the attitude angles of the spacecraft are independently controlled using the control moments acting on the space vehicle. This controller asymptotically decouples the flexible dynamics from the rigid one and also allows the decomposition of the elastic dynamics into two subsystems representing the transverse deflections of the beam in two orthogonal planes. These low-order subsystems are used for derivation of a modal velocity feedback stabilizer using the force and moment actuators at the end body. Simulation results are presented to show that, in the closed-loop system, attitude control and elastic mode stabilization are accomplished in spite of the parameter uncertainty and disturbance torque input in the system.

Description: Spacecraft glow poses a contamination threat to low orbital altitude optical sensor systems. The complexity of the phenomena entails a multifaceted approach to system design for vehicle glow minimization. In the case of Space Shuttle cloud glow, which involves line and band emission, filtering and careful optical sensor wavelength selection may also prove useful; Space Shuttle thruster glow mitigation entails the limitation of thruster firings during sensor operations. Careful selection of instrument baffle materials and coatings, as well as control of surface temperatures, are recommended as ways of limiting glow impact for instruments directed in the direction of vehicle movement.

Description: The dimensional stability of ceramic coated thermal protection materials developed for use on advanced entry vehicles is evaluated. Dimensional stability of these ceramic materials were studied as a function of temperature and pressure during exposure to simulated atmospheric entry in an arc-jet facility.

Description: The optimal experiment design for on-orbit identification of modal frequency and damping parameters in large flexible space structures is discussed. The main result is a separation principle for D-optimal design which states that under certain conditions the sensor placement problem is decoupled from the input design problem. This decoupling effect significantly simplifies the overall optimal experiment design determination for large MIMO structural systems with many unknown modal parameters. The error from using the uncoupled design is estimated in terms of the inherent damping of the structure. A numerical example is given, demonstrating the usefulness of the simplified criteria in determining optimal designs for on-orbit Space Station identification experiments.

Description: This paper proposes a stop-gap nonoptimum vehicle for transferring astronauts from a tumbling stranded spacecraft to a nearby rescue spacecraft. The design is limited to the use of available or 'soon-to-be' available flight-qualified hardware and consists of three major components: the manned maneuvering unit, the personnel rescue enclosure, and the apogee kick motor capture device. The apogee kick motor capture device is modified to serve as the connection between the manned maneuvering unit and the personnel rescue enclosure. The performance of this interim rescue vehicle is analyzed with NASA flight simulation software to test the feasibility of the design. Results show that the control system of the manned maneuvering unit adequately limits uncommanded rotations during all simulated maneuvers in the primary control mode but not during transverse translations in the backup control mode. Impingement of thruster plumes on the personnel rescue enclosure is shown to be of some importance in certain maneuvers. The satellite stabilization mode of the control system is found to have significant rotational-to-translational coupling that has associated adverse effects on flying qualities, making the mode undesirable for the rescue mission.

Description: The passing of large orbital vehicles through the space environment often generates such emissions as glows on or near the vehicle surface and halos surrounding the vehicle. These induced emissions may affect observations made with the optical instrumentation carried by the vehicles. The glows' causative mechanisms appear to be a complex function of altitude, time in orbit, materials, insolation, and vehicular size and orientation. Attention is presently given to contamination environment data obtained for the instrument suite carried by the Spacelab 1 Space Shuttle mission.

Description: Accuracies of solutions (structural temperatures and thermal stresses) obtained from different thermal and structural FEMs set up for the Space Shuttle Orbiter (SSO) are compared and discussed. For studying the effect of element size on the solution accuracies of heat-transfer and thermal-stress analyses of the SSO, five SPAR thermal models and five NASTRAN structural models were set up for wing midspan bay 3. The structural temperature distribution over the wing skin (lower and upper) surface of one bay was dome shaped and induced more severe thermal stresses in the chordwise direction than in the spanwise direction. The induced thermal stresses were extremely sensitive to slight variation in structural temperature distributions. Both internal convention and internal radiation were found to have equal effects on the SSO.

Description: One of the goals for the Space Station is to achieve greater autonomy, and have less reliance on ground commanding than previous space missions. This means that the crew will have to take an active role in scheduling and rescheduling their activities onboard, perhaps working from preliminary schedules generated on the ground. Scheduling is a time intensive task, whether performed manually or automatically, so the best approach to solving onboard scheduling problems may involve crew members working with an interactive software scheduling package. A project is described which investigates a system that uses knowledge based techniques for the rescheduling of experiments within the Materials Technology Laboratory of the Space Station. Particular attention is paid to: (1) methods for rapid response rescheduling to accommodate unplanned changes in resource availability, (2) the nature of the interface to the crew, (3) the representation of the many types of data within the knowledge base, and (4) the possibility of applying rule-based and constraint-based reasoning methods to onboard activity scheduling.

Description: Contamination control requirements for the Space Station have been evolving over the last few years. Workshops, comments by experimenters and continuing analysis have resulted in recommending changes to the November 19, 1986 version of Space Station External Contamination Control Requirements, JSC 30426. These are summarized and presented, so that the requirements can be revised as soon as possible, to minimize costly design impacts on the Space Station.

Description: Quartz crystal microbalance sensors are recommended to verify and monitor surface deposition on the early transverse boom as well as the later dual-keel Space Station configurations. Performance and placement of these sensors are discussed and compared to imposed maximum mass deposition rate requirements at the science instrument and critical power locations. Additional measurements are suggested to gain further knowledge on properties of the deposited material.

Description: We recommend that a stereo camera system be utilized as a diagnostic for the particulate environment surrounding the Space Station. This system should have sufficient sensitivity to identify contaminated periods, to isolate the effects of sources and activities and to determine optical clearing times. A reasonable compromise between sensitivity and other operational constraints is recommended. Sensitivity comparable to the film camera systems should suffice, but long periods of unattended operation and remotely controlled exposure sequences are essential requirements.

Description: At 340 km, for typical conditions, the neutral atmospheric density is several times 10E8/cc and is thus more abundant than the ionized component by several factors of 10. At that altitude, the principal series is atomic oxygen with 10 percent N2, and 1 percent He, and trace amounts of O2, H, N, NO, and Ar. The constituent densities are highly variable with local time, latitude, and geophysical indices. The physical interaction with surfaces at orbital velocity leads to large buildup of density on forward faces and great depletions in the wakes of objects. Chemical reactions lead to major modifications in constituent densities as in the case of the conversion of most colliding oxygen atoms to oxygen bearing molecules. The neutral environment about an orbiting body is thus a complex product of many variables even without a source of neutral contaminants. The addition of fluxes of gases emanating from the orbiting vehicle, as will be the case for the Space Station, with the associated physical and chemical interactions adds another level of complexity to the character of the environment and mandates a sophisticated measurement capability if the neutral environment is to be quantitatively characterized.

Description: The measurement and monitoring of infrared emission in the environment of the Space Station has a twofold importance - for the study of the phenomena itself and as an aid in planning and interpreting Station based infrared experiments. Spectral measurements of the infrared component of the spacecraft glow will, along with measurements in other spectral regions, provide data necessary to fully understand and model the physical and chemical processes producing these emissions. The monitoring of the intensity of these emissions will provide background limits for Space Station based infrared experiments and permit the determination of optimum instrument placement and pointing direction. Continuous monitoring of temporal changes in the background radiation (glow) will also permit better interpretation of Station-based infrared earth sensing and astronomical observations. The primary processes producing infrared emissions in the Space Station environment are: (1) Gas phase excitations of Station generated molecules ( e.g., CO2, H2O, organics...) by collisions with the ambient flux of mainly O and N2. Molecular excitations and generation of new species by collisions of ambient molecules with Station surfaces. They provide a list of resulting species, transition energies, excitation cross sections and relevant time constants. The modeled spectrum of the excited species occurs primarily at wavelengths shorter than 8 micrometer. Emissions at longer wavelengths may become important during rocket firing or in the presence of dust.

Description: This paper describes the Work Package 3 activities in the area of neutral contamination monitoring for the Space Station. Goddard Space Flight Center's responsibilities include the development of the Attached Payload Accommodations Equipment (APAE), the Polar Orbiting Platform (POP), and the Flight Telerobotic Servicer (FTS). GSFC will also develop the Customer Servicing Facility (CSF) in Phase 2 of the Space Station.

Description: The objective of this work is to develop a practical sensor analytic redundancy management scheme for flexible spacecraft and to demonstrate it using the SCOLE experimental apparatus. The particular scheme to be used is taken from previous work on the Grid apparatus by Williams and Montgomery.

Description: The combined problem of slew maneuver control and vibration suppression of NASA Spacecraft Control Laboratory Experiment (SCOLE) is considered. The coupling between the rigid body modes and flexible modes together with the effect of the control forces on the flexible antenna is discussed. The nonlinearities in the equations are studied in terms of slew maneuver angular velocities.

Description: Control design approaches for SCOLE experimentation at Langley Research Center are considered; the following future topics are discussed: (1) Effects of Actuator Dynamics; (2) Refinement of STAC; (3) System Identification; and (4) Experimentation.

Description: A discussion of Slewing and Vibration Control makes the following conclusions: (1) A 2-stage approach is feasible and promising for rapid slewing and precision pointing of SCOLE; (2) Not all bang-bang type of time-minimized slew maneuvers will excite large structural vibrations in SCOLE; and (3) Modal dashpots can be a concentrated high-power vibration control, as well as the usual diffuse (broadband, low-power (low-authority) control. The following recommendations are made: (1) Limit the magnitude of applied forces on reflector to either the 25-lb limit of vernier thrusters on the real Space Shuttle or the 150-lb level equivalent to the cold-gas jets of laboratory SCOLE; (2) to complete stage 2, add an integrated design of LQF/LTR (Linear-Quadratic-Gaussian/Loop-Transfer Recovery) and Modal Dashpots; and, (3) Validate the 2-stage approach using the SCOLE laboratory facility with a comprehensive sequence of integrated designs and experiments coupling nonlinear rigid-body motions with flexible-body dynamics.

Description: A class of nonlinear damping models is introduced with application to flexible flight structures characterized by low damping. Approximate solutions of engineering interest are obtained for the model using the classical averaging technique of Krylov and Bogoliubov. The results should be considered preliminary pending further investigation.

Description: Requirements for space structures of increasing size, complexity, and precision have engendered a search for thermal design verification methods that do not impose unreasonable costs, that fit within the capabilities of existing facilities, and that still adequately reduce technical risk. This requires a combination of analytical and testing methods. This requires two approaches. The first is to limit thermal testing to sub-elements of the total system only in a compact configuration (i.e., not fully deployed). The second approach is to use a simplified environment to correlate analytical models with test results. These models can then be used to predict flight performance. In practice, a combination of these approaches is needed to verify the thermal/structural design of future very large space systems.

Description: A prototype docking mechanism for the Space Station was designed and fabricated for NASA. This docking mechanism is actively controlled and uses a set of electromechanical actuators for alignment and load attenuation. Dynamic tests are planned using the Marshall Space Flight Center's 6-DOF Motion Simulator. The proposed tests call for basic functionality verification as well as complete hardware-in-the-loop docking dynamics simulations.

Description: The idea of using spray-on foam insulation as a passive thermal and micrometeorite protection system is explored. The benefits of applying an exterior coating of foam insulation can be: (1) the foam can provide a thermally stable shield that can assist in reducing the strain on traditional space radiator systems and can also act as a passive thermal guard, allowing a greater fault tolerance if the standard system should fail; (2) the foam can act as an ablative shell diminishing the effects of natural and manmade debris striking the structure; (3) the foam is lightweight - about 1/2 ounce per sq ft; (4) the foam is low cost and easy to maintain; and (5) the foam is a stable material that does not react when exposed to earth or lunar environments.

Description: The damage location approach employs the control system capabilities for the structure to test the structure and measure the dynamic response. The measurements are then used in a system identification algorithm to produce a model of the damaged structure. The model is compared to one for the undamaged structure to find regions of reduced stiffness which indicate the location of damage. Kabe's 3,4 stiffness matrix adjustment method was the central identification algorithm. The strength of his method is that, with minimal data, it preserves the representation of the physical connectivity of the structure in the resulting model of the damaged truss. However, extensive storage and computational effort were required as a result. Extension of the damage location method to overcome these problems is the first part of the current work. The central system identification algorithm is replaced with the MSMT method of stiffness matrix adjustment which was previously derived by generalizing an optimal-update secant method form quasi-Newton approaches for nonlinear optimization. Validation of the extended damage location method is the second goal.

Description: Current designs, a first generation intended for robotic assembly, have given priority to the ease and certainty of the assembly process under less than ideal conditions with a minimum of sensory feedback. As a consequence they are either heavy or expensive and all exhibit a relatively low packaging density. Low packaging density is caused by extensive scars applied to the node, increasing its envelope diameter by as much as 150 percent. Strut envelopes are violated to a lessor extent with diameters increased by 25 percent or more. This smaller percentage is still a significant problem owing to a much higher fraction of the packaged volume represented by struts. As structures in space become larger, packaging density becomes an important consideration. The objective is to develop end-effector-joint conjugates that do not violate the envelopes of a 2.5 inch diameter node or a 1.0 inch diameter strut.

Description: Arcing and other types of electrical discharges are likely to occur in high-voltage subsystems of the Space Station. Results from ground and space experiments on the arcing of solar cell arrays are briefly reviewed, showing that the arcing occurs when the conducting interconnects in the arrays are at negative potential above a threshold, which decreases with the increasing plasma density. Furthermore, above the threshold voltages the arcing rate increases with the plasma density. At the expected operating voltages (approximately 200 V) in the solar array for the space station, arcing is expected to occur even in the ambient ionospheric plasma. If the ionization of the contaminants increases the plasma density near the high-voltage systems, the adverse effects of arcing on the solar arrays and the space station are likely to be enhanced, In addition to arcing other discharge processes are likely to occur in high-voltage subsystems. For example, Paschen discharge is likely to occur when the neutral density N sub n greater that 10 to the 12th cu cm, the corresponding neutral pressure P greater than 3 x 10 to the -5 Torr.

Description: The plasma environment around the space station is expected to be different from that environment which occurs naturally at these altitudes because of the unprecedented size of the space station, its orbital motion, and its high power distribution system. Although there are models which predict the environment around the station, they do not take into account changes in configuration, changes in the natural and induced environments, nor interactions between the different environments. There will be unique perturbations associated with the space station, which will vary as the space station is being developed. Even after the developed space station has been completed environmental conditions will change as the payloads are changed and as the station systems and materials undergo degradation and modification. Because the space station will be a point of many varied activities the environment will continually undergo perturbations from effluents resulting from operations of the reboost module, EVA, airlock operations, and vacuum venting. The use of the Mobile Service Center will cause disturbances which cannot, at this time, be predicted. Also, the natural environment will be affected by solar flares. In addition, the operations of attached payloads, (e.g., ASTROMAG) themselves will undoubtedly cause perturbations to the ambient environment. Finally, the natural environment will change as a result of natural perturbations such as solar flares and geomagnetic storms.

Description: Work package No. 2 (WP2) has a section in the proposal dealing with measurements of the environment. The quantities to be measured as well as the instruments to be used are summerized. The information provided is only a cursory overview of what has been considered at the time of the proposal. Nevertheless the general ideas are given that much work needs to be done to develop specifics. It is important to note that measurements in the field of particles and waves are not part of the proposal. On the other hand, some of the environmental measurements planned and included in the proposal do not fall within the category of contamination. Some concepts of environment monitoring configurations are also given.

Description: The Space Station Structural Characterization Experiment (SSSCE) 1,2 is an early space flight experiment that uses the space station as a generic structure to study the dynamic characteristics of Large Space Structures (LSS). On-orbit modal testing will be conducted to determine natural frequencies, mode shapes and damping of dominant structural modes of the space structure assembly. This experiment will utimately support the development of system identification and analytical modeling techniques for Large Space Structures. In order to ensure the success of SSSCE (in-space validation of modeling techniques for LSS), adequate measurement and instrumentation requirements have to be established during the experiment-definition study. Among the issues affecting these requirements, spatial and modal coverages of the modal test data are of particular interest. Topics such as total number of sensors, type of measurements (translation and rotation), optimal sensor locations (measurement degrees-of-freedom), selection of target modes, effects of modal superposition and truncation, separation of global and local modes, etc., are all a fundamental importance and must be investigated.

Description: A microcomputer-based expert system is being developed at the Aerospace Corporation Space Sciences Laboratory to assist in the diagnosis of satellite anomalies caused by the space environment. The expert system is designed to address anomalies caused by surface charging, bulk charging, single event effects and total radiation dose. These effects depend on the orbit of the satellite, the local environment (which is highly variable), the satellite exposure time and the hardness of the circuits and components of the satellite. The expert system is a rule-based system that uses the Texas Instruments Personal Consultant Plus expert system shell. The completed expert system knowledge base will include 150 to 200 rules, as well as a spacecraft attributes database, an historical spacecraft anomalies database, and a space environment database which is updated in near real-time. Currently, the expert system is undergoing development and testing within the Aerospace Corporation Space Sciences Laboratory.

Description: Input/Output Cost Analysis involves decompositions of the quadratic cost function into contributions from each stochastic input and each weighted output. In the past, these suboptimal cost decomposition methods of sensor and actuator selection (SAS) have been used to locate perfect (infinite bandwidth) sensor and actuators on large scale systems. This paper extends these ideas to the more practical case of imperfect actuators and sensors with dynamics of their own. NASA's SCOLE examples demonstrate that sensor and actuator dynamics affect the optimal selection and placement of sensors and actuators.

Description: Modal state estimation tests are performed on the SCOLE mast for the fixed Shuttle platform case. Kalman filter state estimation results from a five mode computer model of the SCOLE mast, developed from a finite element analysis, are compared with those state estimates obtained from laboratory tests. Two comparison runs are presented, one an excitation of the first two bending modes, another, an excitation of the first torsional mode of the mast. Results from both runs show poor agreement in modal estimation between the computer model simulations and the laboratory test data. At present, the reason(s) for this poor performance is unknown. Both the laboratory hardware and software and the computer model are being checked for possible sources of errors. Further computer simulations as well as laboratory testing will be performed.

Description: The Instrument Test Dewar (ITD) is a cryogenic facility designed and built to test Cosmic Background Explorer (COBE) satellite instruments at 1.5 K. The facility provides a high vacuum and thermal environment with payload thermal, electrical and optical interfaces. There are two concentric vacuum spaces which are not hermitically sealed. The instrument vacuum space is 81.28 cm by 243.84 cm and is cooled by an LHe shroud. The guard vacuum space surrounds an LN2 shroud. There are two separate cryosorption pumping systems and a mechanical LHe pumping system. The data acquisition systems provide payload and housekeeping data. There have been various problems with the facility, and changes and improvements have been made to assure optimum test conditions. COBE instrument testing has been completed on structural, thermal model hardware and the protoflight units.

Description: A two-axis motion simulation system for thermal vacuum testing of large satellites in a space simulation chamber was developed. Satellites as large as 3000 kilograms with a 4-meter diameter and a 5-meter length can be tested. This motion simulator (MS) incorporates several unique features which result in a less complicated design with improved performance when compared to previous satellite motion simulators. The design of the simulator is discussed in detail.

Description: External contamination monitoring instrumentation for the Space Station work package one (WP01) elements, were imposed on the contractor as deliverable hardware. The monitoring instrumentation proposed by the WP01 contractor in response to the contract requirement includes both real time measurements and passive samples. Real time measurement instrumentation consists of quartz crystal microbalances for molecular deposition, ion gaseous species identification. Internal environmental contamination monitoring for particulates is included in both Lab and HAB modules. Passive samples consists of four sample mounting plates mounted external to the Space Station modules, two on the U.S. LAB, and two on the HAB module.

Description: Expert systems are successfully applied to solve recurring NASA Space Shuttle orbiter payload integration problems. Recurrence of these problems is the result of each Space Shuttle mission being unique. The NASA Space Shuttle orbiter was designed to be extremely flexible in its ability to handle many types and combinations of satellites and experiments. This flexibility results in different and unique engineering resource requirements for each of the payload satellites and experiments. The first successful expert system to be applied to these problems was the Orbiter Payload Bay Cabling Expert System (EXCABL), developed at Rockwell International Space Transportation Systems Division. The operational version of EXCABL was delivered in 1986 and successfully solved the payload electrical support services cabling layout problem. As a result of this success, a second expert system, Expert Drawing Matching System (EXMATCH), was developed to generate a list of the reusable installation drawings available for each EXCABL solution. EXMATCH went operational in 1987. As a result of these initial successes, the need for a third expert system was defined and is awaiting development. This new Expert System, called Technical Order Listing Expert System (EXTOL), will generate a list of all the applicable reusable installation drawings available to support the total payload bay mission provisioning and installation effort. This paper describes these expert systems, the individual problems that they were designed to solve, their individual solutions, and the degree of success achieved. These expert systems' instantiate the applicability of this technology to the solution of real-world Space Shuttle payload integration problems.

Description: An Expert System is described which Rockwell Satellite and Space Electronics Division (S&SED) is developing to dynamically schedule the allocation of on-board satellite resources and activities. This expert system is the Satellite Controller. The resources to be scheduled include power, propellant and recording tape. The activities controlled include scheduling satellite functions such as sensor checkout and operation. The scheduling of these resources and activities is presently a labor intensive and time consuming ground operations task. Developing a schedule requires extensive knowledge of the system and subsystems operations, operational constraints, and satellite design and configuration. This scheduling process requires highly trained experts anywhere from several hours to several weeks to accomplish. The process is done through brute force, that is examining cryptic mnemonic data off line to interpret the health and status of the satellite. Then schedules are formulated either as the result of practical operator experience or heuristics - that is rules of thumb. Orbital operations must become more productive in the future to reduce life cycle costs and decrease dependence on ground control. This reduction is required to increase autonomy and survivability of future systems. The design of future satellites require that the scheduling function be transferred from ground to on board systems.

Description: The problen of controlling large, flexible space systems has been evaluated using computer simulation. In several cases, ground experiments have also been used to validate system performance under more realistic conditions. There remains a need, however, to test additional control laws for flexible spacecraft and to directly compare competing design techniques. A program is discussed which has been initiated to make direct comparisons of control laws for, first, a mathematical problem, then and experimental test article being assembled under the cognizance of the Spacecraft Control Branch at the NASA Langley Research Center with the advice and counsel of the IEEE Subcommittee on Large Space Structures. 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, control authority and random disturbances.

Description: The design of a robust compensator is considered for the SCOLE configuration using a frequency-response shaping technique based on the LQG/LTR algorithm. Results indicate that a tenth-order compensator can be used to meet stability-performance-robustness conditions for a 26th-order SCOLE model without destabilizing spillover effects. Since the SCOLE configuration is representative of many proposed spaceflight experiments, the results and design techniques employed potentially should be applicable to a wide range of large space structure control problems.

Description: The effect of actuator dynamics on the control of beam flexure during nonlinear slewing of the SCOLE model is discussed. Two aspects of physical limitations on the regulation of beam flexure are similated, i.e., (1) a one foot travel limitation of displacement of proof-mass actuators; and (2) a time delay of 0.1 secs. in application of controls. The goal was to assess the magnitude of induced errors and, comparing the results to the ideal, and to determine how much flexure there is during slew and settling.

Description: In considering nonlinearities in spacecraft structural dynamics, the following are examined: (1) SCOLE Configuration-Equations of Motion; (2) Modeling Error Sources; (3) Approximate Solutions; (4) Comparison of Model Accuracy; (5) Linear and Nonlinear Damping; (6) Experimental Results; and, (7) Future Work.

Description: The identification of a unique set of system parameters in large space structures poses a significant new problem in control technology. Presented is an infinite-dimensional identification scheme to determine system parameters in large flexible structures in space. The method retains the distributed nature of the structure throughout the development of the algorithm and a finite-element approximation is used only to implement the algorithm. This approach eliminates many problems associated with model truncation used in other methods of identification. The identification is formulated in Hilbert space and an optimal control technique is used to minimize weighted least squares of error between the actual and the model data. A variational approach is used to solve the problem. A costate equation, gradients of parameter variations and conditions for optimal estimates are obtained. Computer simulation studies are conducted using a shuttle-attached antenna configuration, more popularly known as the Space Control Laboratory Experiment (SCOLE) as an example. Numerical results show a close match between the estimated and true values of the parameters.

Description: Parameter identification using experimental modal data is examined. The following approaches are discussed: (1) Direct - using actual sensor measurements to obtain parameters (e.g., ERA, ITD); and (2) Indirect - identifies parameters using measured modal data. In this work, only the natural frequencies are used to identify physical parameters.

Description: The development of thermal control surfaces, which maintain stable solar absorptivity and infrared emissivity over long periods, is challenging due to severe conditions in low-Earth orbit (LEO). Some candidate coatings are second-surface silver-coated Teflon; second-surface, silvered optical solar reflectors made of glass or quartz; and anodized aluminum. Sulfuric acid anodized and oxalic acid anodized aluminum was evaluated under simulated LEO conditions. Oxalic acid anodizing shows promise of greater stability in LEO over long missions, such as the 30 years planned for the Space Station. However, sulfuric acid anodizing shows lower solar absorptivity.

Description: The ITALSAT structural/thermal model (STM) was submitted to a solar simulation test in order to verify the spacecraft thermal design and the thermal mathematical model which will be used to predict the on orbit temperatures. The STM was representative of the flight model in terms of configuration, structures, appendages and thermal hardware; dissipating dummy units were used to simulate the electronic units. The test consisted of the main phases: on station (beginning of life), on station (end of life), and transfer orbit. Preliminary results indicate that the test performances were satisfactory. The spacecraft measured temperatures were up to 15 degrees higher than the predicted ones. This imposes a careful correlation analysis in order to have reliable flight temperature predictions.

Description: Candidate atomic oxygen protective coatings for long-term low Earth orbit (LEO) spacecraft were evaluated using the Los Alamos National Laboratory O-atom exposure facility. The coatings studied include Teflon, Al2O3, SiO2, and SWS-V-10, a silicon material. Preliminary results indicate that sputtered PTFE Teflon (0.1 micrometers) has a fluence lifetime of 10 to the 19th power O-atoms/cm (2), and sputtered silicon dioxide (0.1 micrometers), aluminum oxide (0.1 micrometers), and SWS-V-10, a silicone, (4 micrometers) have fluence lifetimes of 10 to the 20th power to 10 to the 21st power O-atoms/cm (2). There are large variations in fluence lifetime data for these coatings.

Description: Extension of antennas and thrust modules from the primary structure of the space station will require deployable beams of high stiffness and strength, as well as low mass and package volume. A square boom cross section is desirable for interface reasons. These requirements and others are satisfied by the X-beam. The X-beam folds by simple geometry, using single-degree-of-freedom hinges at simple angles, with no strain during deployment. Strut members are of large diameter with unidirectional graphite fibers for maximum beam performance. Fittings are aluminum with phosphor bronze bushings so that compliance is low and joint lifetime is high. The several beam types required for different applications on the space station will use the same basic design, with changes in strut cross section where necessary. Deployment is by a BI-STEM which pushes the beam out; retraction is by cables which cause initial folding and pull the beam in.

Description: The assessment of spectral brightness resulting from the ambient-contaminant interaction requires a knowledge of the details of cross sections and excitation mechanisms. The approach adopted was to utilize the spectral brightness measurements made on Spacelab 1 and on the S3-4 spacecraft to identify source mechanisms, key cross sections and hence, the abundance of contaminant species. These inferred abundances were then used to update the composition comprising the total column concentrations predicted by the Science and Engineering Associates' configuration contamination model for the Space Station and to scale the irradiances to four altitudes: 300, 350, 400, and 463 km. The concentration irradiances are compared with zodiacal natural background levels. The results demonstrate that emissive contamination is significantly more severe than anticipated. It is shown that spectral emissions can become competitive with the zodiacal background up to altitudes as high as 400 km for the vacuum ultraviolet and visible emissions.

Description: Molecular contamination levels arising from the external induced neutral environment of the Space Station (Phase 1 configuration) were calculated using the MOLFLUX model. Predicted molecular column densities and deposition rates generally meet the Space Station contamination requirements. In the doubtful cases of deposition due to materials outgassing, proper material selection, generally excluding organic products exposed to the external environment, must be considered to meet contamination requirements. It is important that the Space Station configuration, once defined, is not significantly modified to avoid introducing new unacceptable contamination sources.

Description: It has been found that the interaction between orbital vehicles and the ambient environment produces a contaminant cloud which can cause deletrious effects to spacecraft materials and equipment, create increased radiative backgrounds that would interfere with observational instrumentation, and enhance surface charging. A brief overview of the phenomena that produce the contaminant cloud is presented along with a review of physical data required to characterize it. Laboratory techniques which can be utilized to provide the required data are described. In particular, several oxygen beam apparati are discussed.

Description: A large orbiting platform such as Space Station will be subjected to numerous impacts by meteoroids and space debris fragments. These hypervelocity impacts will produce clouds of ejected structural material in the vicinity of the Station. The development of a preliminary model for impact-generated ejecta production which combines the fluxes of meteoroids and space debris fragments with a description of the number of ejecta particles produced by hypervelocity impacts is reported. Modeling results give mean ejecta densities from 30 to 100 percent of the present particulate background limitation of 1 particle 5 microns and larger per orbit per 1 x 10(-5) sr field-of-view as seen by a 1-m-diameter aperture telescope in the 1990's time frame. Projected increases in the space debris flux raise this density to 300 percent of this limitation after 2010. The model is also applied to estimate the vulnerability of metallic claddings on composite structural members to penetration by hypervelocity projectiles, thereby exposing the substrate to atomic oxygen. The estimated annual number of penetrations is from 4 to 8 per square meter of cross-sectional area in the mid 1990's, increasing to more than 40 penetrations per square meter after 2010.

Description: The origin of particulate contamination on the Space Station will mostly be from pre-launch operations. The adherence and subsequent release of these particles during space flight are discussed. Particle size, release velocity, and release direction are important in determining particle behavior in the vicinity of the vehicle. The particulate environment at the principal science instrument locations is compared to the space shuttle bay environment. Recommendations for possibly decreasing the particulate contamination are presented.

Description: The objectives of the Particle Analysis Cameras for Shuttle (PACS) experiment (flown on STS-61C) are described and the experiment results are discussed in reference to the expected Space Station environment. Estimates of the sources of particulates surrounding the Space Station were made based on the existing orbital observations data base. Particulates surrounding the shuttle are mostly event related or from the residual release of mass (dust) brought to orbit from the ground. The particulates surrounding the Space Station are likely to arise from additional sources such as operations, docking, erosion, and abrasion. Thus, scaling of the existing data base to long-duration missions in low-Earth orbit requires analysis, modeling, and simulation testing.

Description: On-orbit proximity operations (PROX-OPS) consist of all extravehicular activity (EVA) within 1 km of the space station. Because of the potentially large variety of PROX-OPS, very careful planning for space station windows is called for and must consider a great many human factors. The following topics are discussed: (1) basic window design philosophy and assumptions; (2) the concept of the local horizontal - local vertical on-orbit; (3) window linear dimensions; (4) selected anthropomorphic considerations; (5) displays and controls relative to windows; and (6) full window assembly replacement.

Description: Many aspects of space system operations involve continuous control of real time processes. These processes include electrical power system monitoring, prelaunch and ongoing propulsion system health and maintenance, environmental and life support systems, space suit checkout, onboard manufacturing, and vehicle servicing including satellites, shuttles, orbital maneuvering vehicles, orbital transfer vehicles and remote teleoperators. Traditionally, monitoring of these critical real time processes has been done by trained human experts monitoring telemetry data. However, the long duration of future space missions and the high cost of crew time in space creates a powerful economic incentive for the development of highly autonomous knowledge based expert control procedures for these space systems.

Description: The proposed common module thermal control system for the Space Station is designed to integrate thermal distribution and thermal control functions in order to transport heat and provide environmental temperature control through the common module. When the thermal system is operating in an off-normal state, due to component faults, an intelligent controller is called upon to diagnose the fault type, identify the fault location and determine the appropriate control action required to isolate the faulty component. A methodology is introduced for fault diagnosis based upon a combination of signal redundancy techniques and fuzzy logic. An expert system utilizes parity space representation and analytic redundancy to derive fault symptoms, the aggregate of which is assessed by a multivalued rule based system. A subscale laboratory model of the thermal control system designed is used as the testbed for the study.

Description: The current pace of technological development is reflected in the increased mission lifetime of each new generation of satellite. Coupled with this has come a reduced availability of experts to provide technical assistance in satellite operation on a day to day basis. Given such an environment, an expert system is discussed based on architecture for spacecraft anomaly resolution. By capturing deep knowledge about a spacecraft, the system is able to detect and diagnose fault better than previous conventional approaches. A prototype expert system named SCARES (applied only to spacecraft attitude control system) is discussed. Extension of the prototype to handle anomalies in other systems of the satellite is also discussed.

Description: Under the Advanced Development Program for Space Station, Marshall Space Flight Center has been developing advanced automation applications for the Power Management and Distribution (PMAD) system inside the Space Station modules for the past three years. The Space Station Module Power Management and Distribution System (SSM/PMAD) test bed features three artificial intelligence (AI) systems coupled with conventional automation software functioning in an autonomous or closed-loop fashion. The AI systems in the test bed include a baseline scheduler/dynamic rescheduler (LES), a load shedding management system (LPLMS), and a fault recovery and management expert system (FRAMES). This test bed will be part of the NASA Systems Autonomy Demonstration for 1990 featuring cooperating expert systems in various Space Station subsystem test beds. It is concluded that advanced automation technology involving AI approaches is sufficiently mature to begin applying the technology to current and planned spacecraft applications including the Space Station.

Description: The Mission Analysis Division of the Systems Analysis and Integration Laboratory at the Marshall Space Flight Center is developing a system of programs to handle all aspects of scheduling payload operations for Space Station. The Expert Scheduling Program (ESP2) is the heart of this system. The task of payload operations scheduling can be simply stated as positioning the payload activities in a mission so that they collect their desired data without interfering with other activities or violating mission constraints. ESP2 is an advanced version of the Experiment Scheduling Program (ESP) which was developed by the Mission Integration Branch beginning in 1979 to schedule Spacelab payload activities. The automatic scheduler in ESP2 is an expert system that embodies the rules that expert planners would use to schedule payload operations by hand. This scheduler uses depth-first searching, backtracking, and forward chaining techniques to place an activity so that constraints (such as crew, resources, and orbit opportunities) are not violated. It has an explanation facility to show why an activity was or was not scheduled at a certain time. The ESP2 user can also place the activities in the schedule manually. The program offers graphical assistance to the user and will advise when constraints are being violated. ESP2 also has an option to identify conflict introduced into an existing schedule by changes to payload requirements, mission constraints, and orbit opportunities.