ALBERT

Beschreibung: This document presents in viewgraph form techniques for the optimal design of aerospace vehicles which take into account vehicle shape, aerodynamic performance, and weight minimization. Methods include multilevel optimization with linear decomposition, multi-constraint optimization, global sensitivity matrix, and calculation of sensitivity derivatives using both first and second order derivatives. The effects of including flexibility in the optimization is discussed.

Beschreibung: Future utilization of space will require large space structures in low-Earth and geostationary orbits. Example missions include: Earth observation systems, personal communication systems, space science missions, space processing facilities, etc., requiring large antennas, platforms, and solar arrays. The dimensions of such structures will range from a few meters to possibly hundreds of meters. For reducing the cost of construction, launching, and operating (e.g., energy required for reboosting and control), it will be necessary to make the structure as light as possible. However, reducing structural mass tends to increase the flexibility which would make it more difficult to control with the specified precision in attitude and shape. Therefore, there is a need to develop a methodology for designing space structures which are optimal with respect to both structural design and control design. In the current spacecraft design practice, it is customary to first perform the structural design and then the controller design. However, the structural design and the control design problems are substantially coupled and must be considered concurrently in order to obtain a truly optimal spacecraft design. For example, let C denote the set of the 'control' design variables (e.g., controller gains), and L the set of the 'structural' design variables (e.g., member sizes). If a structural member thickness is changed, the dynamics would change which would then change the control law and the actuator mass. That would, in turn, change the structural model. Thus, the sets C and L depend on each other. Future space structures can be roughly divided into four mission classes. Class 1 missions include flexible spacecraft with no articulated appendages which require fine attitude pointing and vibration suppression (e.g., large space antennas). Class 2 missions consist of flexible spacecraft with articulated multiple payloads, where the requirement is to fine-point the spacecraft and each individual payload while suppressing the elastic motion. Class 3 missions include rapid slewing of spacecraft without appendages, while Class 4 missions include general nonlinear motion of a flexible spacecraft with articulated appendages and robot arms. Class 1 and 2 missions represent linear mathematical modeling and control system design problems (except for actuator and sensor nonlinearities), while Class 3 and 4 missions represent nonlinear problems. The development of an integrated controls/structures design approach for Class 1 missions is addressed. The performance for these missions is usually specified in terms of (1) root mean square (RMS) pointing errors at different locations on the structure, and (2) the rate of decay of the transient response. Both of these performance measures include the contributions of rigid as well as elastic motion.

Beschreibung: A fundamental problem facing controls-structures analysts is a means of determining the trade-offs between structural design parameters and control design parameters in meeting some particular performance criteria. Developing a general optimization-based design methodology integrating the disciplines of structural dynamics and controls is a logical approach. The objective of this study is to develop such a method. Classical design methodology involves three phases. The first is structural optimization, wherein structural member sizes are varied to minimize structural mass, subject to open-loop frequency constraints. The next phase integrates control and structure design with control gains as additional design variables. The final phase is analysis of the 'optimal' integrated design phase considering 'real' actuators and 'standard' member sizes. The control gains could be further optimized for fixed structure, and actuator saturation constraints could be imposed. However, such an approach does not take full advantage of opportunities to tailor the structure and control system design as one system.

Beschreibung: The JPL Control/Structure Interaction Program is developing new analytical methods for designing micro-precision spacecraft with controlled structures. One of these, the Conceptual Design Tool, will illustrate innovative new approaches to the integration of multi-disciplinary analysis and design methods. The tool will be used to demonstrate homogeneity of presentation, uniform data representation across analytical methods, and integrated systems modeling. The tool differs from current 'integrated systems' that support design teams most notably in its support for the new CSI multi-disciplinary engineer. The design tool will utilize a three dimensional solid model of the spacecraft under design as the central data organization metaphor. Various analytical methods, such as finite element structural analysis, control system analysis, and mechanical configuration layout, will store and retrieve data from a hierarchical, object oriented data structure that supports assemblies of components with associated data and algorithms. In addition to managing numerical model data, the tool will assist the designer in organizing, stating, and tracking system requirements.

Beschreibung: Ever since the United States space program started some forty years ago, there have been many ideas on how the U.S. should proceed to explore space. Throughout the years, many innovative designs have surfaced for transfer vehicles, space stations, and surface bases. Usually the difference in designs are due to differences in mission objectives and requirements. The problem for Mars is how to choose an architecture for human travel to Mars and what kind of base construction to design for Mars that will be reliable and cost effective. Eventually, if the Space Exploration Initiative is to become a reality, NASA will have to select and fund a single mission architecture involving manned and unmanned Mars fly-by precursors, a Mars landing vehicle, and, ultimately, the plan for constructing a Mars base. The decision to commit to a single architecture is a vital one and, therefore, the design issues, the decision making process, and the analysis tools must be available to explore all of the options that are available. A large part of any space mission architecture is the Earth-to-Mars transfer vehicle. The decision on the type of transfer vehicle to design is a crucial one. The many options must take into account the constraints encountered when assembling the vehicle in earth orbit such as effective joining methods, test and evaluation methods, preventative maintenance measures, etc. Therefore, the process of trading off various designs must include every facet of that design. The on-orbit assembly/construction constraints will drive designs and architectures. This viewgraph presentation highlights the above critical issues so that designs may be evaluated from these viewpoints. Evaluating designs from the issues contained in this paper will help decision makers detect inadequate designs. Stressing these issues in the evaluation procedure will have a great impact on the decisions of future space mission transfer vehicles and consequent architectures.

Beschreibung: A cooperative United States/Japan study was made for one year from 1987 to 1988 regarding the feasibility of the Tropical Rainfall Measuring Mission (TRMM). As part of this study a phase-A-level design of spacecraft for TRMM was developed by NASA/GSFC, and the result was documented in a feasibility study. The phase-A-level design is developed for the TRMM satellite utilizing a multimission spacecraft.

Beschreibung: A spacecraft-shielding technique is investigated in which the geometrical configuration and material used are emphasized. Ultrathin spaced shield elements are employed to repeatedly shock the impacting projectile to a high energy state that causes melting and vaporization. The ratio of the thickness of the elements to projectile diameter corresponds to a relatively small percentage of debris-plume mass that can be withstood by the backsheet. The strength of the backsheet is thereby reduced and employed in a specific configuration that prevents the debris plume from destroying successive sheets before the particulates reach the sheet. The primary benefit is weight reduction of 30 percent when compared to a 'Whipple shield' fabricated with the same material. The concept is shown to be effective against all impact types tested and produces minimal secondary debris.

Beschreibung: Averaging methods are applied to analyzing the transient response associated with adaptive control of large space structures. Using a dominant mode approximation to the plant, an analytical bound is found on the envelope of the adaptive response, characterizing many of the features of the response useful for control design (e.g., peak values, quadratic costs, settling times, etc.). An optimal adaptive design problem is formulated based on minimizing the product of the settling time and peak torque requirement. The resulting nonlinear constrained optimization problem is solved in closed form, and several properties of the optimal adaptive design are discussed.

Beschreibung: An approach to the integrated design of linear controlled structures, which is being investigated as part of NASA's controlled structures interaction (CSI) methodology development program, is presented. The approach is integrated in the sense that the structure and its controller are simultaneously designed. The design methodology uses constrained nonlinear optimization procedures based on analytically obtained gradients of the structural responses. Design of the controller is based on the so-called Q-parameterization theory, which parameterizes all closed-loop input/output maps achievable with stabiizing linear controllers. Very general objective and constraint functions are possible, and structural shape can be included in the design variables. This method has been partially implemented and demonstrated; early findings are reported.

Beschreibung: The problem of controller design for flexible spacecraft is addressed. Model-based compensators, which rely on the knowledge of the system parameters to tune the state estimator, are considered. The instability mechanisms resulting from high sensitivity to parameter uncertainties are investigated. Dissipative controllers, which use collocated actuators and sensors, are also considered, and the robustness properties of constant-gain dissipative controllers in the presence of unmodeled elastic-mode dynamics, sensor/actuator nonlinearities, and actuator dynamics are summarized. In order to improve the performance without sacrificing robustness, a class of dissipative dynamic compensators is proposed and is shown to retain robust stability in the presence of second-order actuator dynamics if acceleration feedback is employed. A class of dissipative dynamic controllers is proposed which consists of a low-authority, constant-gain controller and a high-authority dynamic compensator. A procedure for designing an optimal dissipative dynamic compensator is given which minimizes a quadratic performance criterion. Such compensators offer the promise of better performance while still retaining robust stability.

Beschreibung: A simple single-axis testbed is described, and initial experimental results are presented to illustrate collocated and noncollocated control for this structure. The testbed is made up of a pair of single-axis flexible beams attached to a DC servo motor. An optical encoder and strain gauges provide hub and beam position information, respectively. The system is driven by an IBM PC system; with a motor controller, a programmable digital filter processes position error information through user-selected gains and pole-zero configurations. A 25-kHz data acquisition system provides the necessary interface between processor and motor. The control approaches currently being investigated include collocated PD control and noncollocated phase compensation.

Beschreibung: Experience with the application of positivity designed multivariable controllers for the NASA ACES flexible beam experiment is discussed. Multivariable controllers were designed using sets of rotational sensors/actuators (rate gyros/torque actuators) and linear sensors/actuators (accelerometers/LMEDs). Experience with this set of controllers demonstrated the difficulty of designing controllers with significant modal uncertainty and significant phase uncertainty. With the aid of multivariable scaling techniques these designs were ultimately able to achieve a high level of closed-loop damping.

Beschreibung: Control system design and closed-loop test results for the Mini-Mast truss structure located at the NASA Langley Research Center are presented. The simplicity and effectiveness of a classical control approach to the active structural control design are demonstrated by ground experiments. The concepts of robust nonminimum phase compensation and periodic disturbance rejection are also experimentally validated. The practicality of a sensor output decoupling approach is demonstrated for the inherent, multivariable control problem of the Mini-Mast.

Beschreibung: A control algorithm for satellite stabilization using a space leech is presented. The space leech is assumed to have n reaction wheels with known moments of inertia about their axis of rotation. All mass properties of the satellite are assumed to be unknown. The algorithm brings the satellite to a specified attitude trajectory. Simulations were performed to demonstrate the controller. The model parameters and specific algorithm used and the results obtained are presented.

Beschreibung: A method is presented for calculating the three orthogonal components of the velocity perturbations of satellite fragments, with a view to ascertaining the nature and intensity of the satellite breakup. The method employs three simultaneous equations furnished by changes in fragment specific energy, specific angular momentum, and plane orientation. Velocity perturbations are thereby calculated for fragments from 20 major satellite breakup events; these results, in conjunction with a technique for determining fragment masses, yield a description of the breakup process.

Beschreibung: All spacecraft are susceptible to impacts by meteoroids and pieces of orbiting space debris. An effective mechanism is developed to protect external spacecraft subsystems against damage by ricochet particles formed during such impacts. Equations and design procedures for protective shield panels are developed based on observed ricochet phenomena and calculated ricochet particle sizes and speeds. It is found that the diameter of the most damaging ricochet debris particle can be as large as 40 percent of the original project tile diameter, and can travel at speeds between 24 and 36 percent of the original projectile impact velocity. Panel dimensions are shown to be strongly dependent on their inclination to the impact velocity vector and on their distribution around a spacecraft module. It is concluded that obliquity effects of high-speed impacts must be considered in the design of any structure exposed to the meteoroid and space debris environment.

Beschreibung: The combination of a sun sensor called a sun gate (SG) and a digital programmable signal processor on the Galileo spacecraft attitude and articulation control subsystem (AACS) will orient the rotation axis of the spacecraft toward the sun to satisfy a new requirement imposed by the new spacecraft trajectory. The combination will continuously monitor the pointing direction of the rotation axis, and any off-sun excursions of more than a preset threshold will be detected, triggering appropriate actions by the flight software to prevent off-sun cone angles of more than 14 deg. The design of the SG is described in detail, its principle of operation is given, and the flight software processing of the SG output is discussed.

Beschreibung: Ground-based video photography of firings of Space Shuttle Primary Reaction Control System (PRCS) engines show optical emissions extending nearly 4 km form the vehicle after steady state is reached. The total intensity and spatial distribution of these emissions depend on the angle between the spacecraft velocity vector and the engine exhaust axis. Candidate sources for this radiation are reviewed and the conclusion is reached that it is most likely due to vibrationally excited OH, formed by the reaction of fast ambient O atoms and H2O molecules in the exhaust.

Beschreibung: To reach even the nearest stars in a human lifetime requires a ship speed that is a substantial fraction of the speed of light. This means an enormous kinetic energy investment in the ship and suggests that maximizing the efficiency may be more important than minimizing the mass ratio. This paper develops the pertinent relativistic rocket equations and finds the conditions for high kinematic efficiency. Using the limiting efficiency of percent, the minimum energy needed for one-way and for round trip voyages, and to explore all 'good' suns out to a given distance, using prefueled rockets, is determined. Savings due to refueling the rocket (and reloading propellant) at the destination and in flight are both somewhat greater than 2:1.

Beschreibung: This paper presents the design constraints, flight environments, conceptual design iterations and analytical methods used in the design and flight certification of the Reinforced Carbon-Carbon (RCC) chin panel for the Space Shuttle Orbiter. A discussion of the thermal/structural response of the chin panel to the imposed environments is presented. As with all critical airframe components, it was desirable to conduct a structural test to verify design adequacy. However, with the chin panel, a meaningful test to simulate the critical thermal stresses was not considered feasible.

Beschreibung: A new approach for the placement of sensors and actuators in the active control of flexible space structures is developed. The approach converts the discrete nature of the sensor and actuator positioning problem to a nonlinear programming optimization through approximation of the control forces and output measurements by spatially continuous functions. The locations of the sensors and actuators are optimized in order to move the transmission zeros of the system farther to the left of the imaginary axis. The criterion for sensor/actuator placement can be quite useful for optimal regulation and tracking problems, as well as for low-authority controller designs. Two performance metrics are considered for the optimization and are applied to the sensor/actuator positioning of a large-order flexible space structure.

Beschreibung: Electret measurements obtained of the particulate contamination environment within the Space Shuttle Orbiter's cargo bay are presently compared with ground measurements of the particulates emitted by the Shuttle's SRBs, as well as with the expected natural particulate environment as measured by Skylab. Chemical analysis is shown to reveal the difference between natural and anthropogenic space debris; the most probable primary source of the Space Shuttle's particulate environment is the SRB exhaust.

Beschreibung: Viewgraphs on tethered systems control are presented. Topics covered include: rigid body simplifications; feedback control; quadratic optimal nonlinear control; quadratic optimal nonlinear controllers; Lyapunov-based nonlinear controllers; sensor/actuator options; tether control; and fuzzy logic control.

Beschreibung: Viewgraphs on rendezvous guidance are presented. Topics covered include: rendezvous guidance; Lambert Targeting; Linear Quadratic Targeting; unmanned vehicles; rendezvous trajectory; and fuzzy logic control.

Beschreibung: Viewgraphs on proximity operations in space station environment are presented. Topics covered include: automated flight; remote manual piloting; task requirements and constraints; problem formulation; and flight parameter flow/pilot interaction for proximity operations task.

Beschreibung: Viewgraphs on power system technology discipline for Space Station Freedom are presented. Topics covered include: power generation subsystem; energy storage subsystem; and power distribution.

Beschreibung: Viewgraphs on an advanced automation of a prototypic thermal control system for space station are presented. The Thermal Expert System (TEXSYS) was initiated in 1986 as a cooperative project between ARC and JCS as a way to leverage on-going work at both centers. JSC contributed Thermal Control System (TCS) hardware and control software, TCS operational expertise, and integration expertise. ARC contributed expert system and display expertise. The first years of the project were dedicated to parallel development of expert system tools, displays, interface software, and TCS technology and procedures by a total of four organizations.

Beschreibung: Viewgraphs on Space Station Freedom central thermal control system (CTCS) evolution are presented. Topics covered include: (1) growth requirements and basic features of research and development and transportation nodes; (2) identifying the principal CTCS hooks and scars at assembly complete to accommodate growth; and (3) describing the general provisions for growth and identifying pertinent design issues.

Beschreibung: Viewgraphs and discussion on superfluid helium needs and resupply on space station are presented. Topics covered include: uses of superfluid helium in space; space station He 2 technology issues; resupply - fluid management issues; liquid acquisition devices for on orbit transfer; and liquid acquisition devices for SHOOT.

Beschreibung: Subcritical cryogenic fluid management has long been recognized as an enabling technology for key propulsion applications, such as space transfer vehicles (STV) and the on-orbit cryogenic fuel depots which will provide STV servicing capability. The LeRC Cryogenic Fluids Technology Office (CFTO), under the sponsorship of OAST, has the responsibility of developing the required technology via a balanced program involving analytical modeling, ground based testing, and in-space experimentation. Topics covered in viewgraph form include: cryogenic management technologies; nitrogen storage and supply; cryogenic nitrogen cooling capability; and LN2 system demonstration technical objectives.

Beschreibung: Viewgraphs and discussion on automated assembly of large space structures are presented. The program research objective is to develop technology and demonstrate the potential for automated inspace assembly of large erectable structures. This is accomplished by merging experience in structural assembly and robotics at LaRC into an interdisciplinary program with focused effort on automated assembly of a generic structural configuration with a standard cell and by building into the system the capability to do expanded research with complex configurations.

Beschreibung: PROBE (Precision Reflector Orbital Build Experiment) is a Shuttle flight demonstration experiment designed to study extravehicular activity (EVA) assembly of precision segmented reflectors. PROBE will support missions being considered for NASA's Global Change Technology Initiative as well as other missions in astrophysics and spacecraft optical communications requiring large precision reflectors. Such reflectors are envisioned to consist of a low-mass backup truss to which the optical surface is attached. Because of their large size, these reflectors will be constructed on-orbit from smaller pieces which can be packaged in the launch vehicle. The technology to be developed with PROBE also has application for construction of solar dynamic collectors which are planned for the enhanced configuration of Space Station Freedom. Viewgraphs of PROBE are presented.

Beschreibung: Viewgraphs on structures for Space Station Freedom are presented. The structures subsystem, mechanical subsystem, and evolution issues are addressed.

Beschreibung: Viewgraphs on welding/brazing for space station repair are presented. Topics covered include: fabrication and repair candidates; debris penetration of module panel; welded repair patch; mechanical assembly of utility fluid line; space station utility systems; Soviet aerospace fabrication - an overview; and processes under consideration.

Beschreibung: A proposed evolutionary growth scenario for Space Station Freedom was defined recently by a NASA task force created to study requirements for a Human Exploration Initiative. The study was an initial response to President Bush's July 20, 1989 proposal to begin a long range program of human exploration of space including a permanently manned lunar base and a manned mission to Mars. This growth scenario evolves Freedom into a critical transportation node to support lunar and Mars missions. The growth scenario begins with the Assembly Complete configuration and adds structure, power, and facilities to support a Lunar Transfer Vehicle (LTV) verification flight. Evolutionary growth continues to support expendable, then reusable LTV operations, and finally, LTV and Mars Transfer Vehicle (MTV) operations. The significant structural growth and additional operations creating new loading conditions will present new technological and structural design challenges in addition to the considerable technology requirements of the baseline Space Station Freedom program. Several structural design and technology issues of the baseline program are reviewed and related technology development required by the growth scenario is identified.

Beschreibung: Viewgraphs on the resupply interface mechanism are presented. The major servicing activities for any major asset are normal maintenance, consumable replenishment, repair of failed components, and preplanned product improvement. Spacecraft propulsion system resupply can be divided into three major issues: design for servicing, servicing technology, and mechanization.

Beschreibung: Viewgraphs on space station fluid resupply are presented. Space Station Freedom is resupplied with supercritical O2 and N2 for the ECLSS and USL on a 180 day resupply cycle. Resupply fluids are stored in the subcarriers on station between resupply cycles and transferred to the users as required. ECLSS contingency fluids (O2 and N2) are supplied and stored on station in a gaseous state. Efficiency and flexibility are major design considerations. Subcarrier approach allows multiple manifest combinations. Growth is achieved by adding modular subcarriers.

Beschreibung: Viewgraphs on thermal control systems technology discipline for Space Station Freedom are presented. Topics covered include: heat rejection; heat acquisition and transport; monitoring and control; passive thermal control; and analysis and test verification.

Beschreibung: Viewgraphs and discussion on an evolutionary construction facility for Space Station Freedom are presented. Space Station Freedom (SSF) will support permanent human presence in space and has the potential to enable scientific and exploratory endeavors unequalled in history. With larger and more ambitious spacecraft being developed, it will serve as a site for construction, checkout, and deployment. A facility attached to SSF is required to develop and demonstrate the techniques that will enable on-orbit construction of future large spacecraft. Examples of attached scientific experiments that currently envision in-space construction and that are discussed are: Solar X-ray Pinhole Occulter Facility, Astromag, and X-ray Large Array. Examples of large assemblable spacecraft which are discussed are: Large Deployable Reflector (LDR), Geostationary Platforms, and interplanetary vehicles.

Beschreibung: Viewgraphs and discussion on approaches to dealing with meteoroid and orbital debris protection on the space station are presented. The National Space Policy of February, 1988, included the following: 'All sectors will seek to minimize the creation of space debris. Design and operations of space tests, experiments, and systems will strive to minimize or reduce accumulation of space debris consistent with mission requirements and cost effectiveness.' The policy also tasked the National Security Council, which established an Interagency Group, which in turn produced an Interagency Report. NASA and DoD tasks to establish a joint plan to determine techniques to measure the environment, and techniques to reduce the environment are addressed. Topics covered include: orbital debris environment, meteoroids, orbital debris population, cataloged earth satellite population, USSPACECOM cataloged objects, and orbital debris radar program.

Beschreibung: Viewgraphs and discussion on space station fluid management logistics are presented. Topics covered include: fluid management logistics - issues for Space Station Freedom evolution; current fluid logistics approach; evolution of Space Station Freedom fluid resupply; launch vehicle evolution; ELV logistics system approach; logistics carrier configuration; expendable fluid/propellant carrier description; fluid carrier design concept; logistics carrier orbital operations; carrier operations at space station; summary/status of orbital fluid transfer techniques; Soviet progress tanker system; and Soviet propellant resupply system observations.

Beschreibung: Aerospace engineering students at the Virginia Polytechnic Institute and State University undertook three design projects under the sponsorship of the NASA/USRA Advanced Space Design Program. All three projects addressed cargo and/or crew transportation between low Earth orbit and geosynchronous Earth orbit. Project SPARC presents a preliminary design of a fully reusable, chemically powered aeroassisted vehicle for a transfer of a crew of five and a 6000 to 20000 pound payload. The ASTV project outlines a chemically powered aeroassisted configuration that uses disposable tanks and a relatively small aerobrake to realize propellant savings. The third project, LOCOST, involves a reusable, hybrid laser/chemical vehicle designed for large cargo (up to 88,200 pounds) transportation.

Beschreibung: There is a need for an inexpensive, extensive, long-lasting global electric field measurement system (ELF). The primary performance driver of this mission is the need to measure the attitude of each spacecraft in the Earth's electric field very accurately. In addition, it is necessary to know the electric charge generated by the satellite as it crosses the magnetic field lines (E equals V times B). In order to achieve the desired global coverage, a constellation of about 50 satellites in at least 18 different orbits will be used. To reduce the cost of each satellite, off-the-shelf, proven technology will be used whenever possible. Researchers have set a limit of $500,000 per satellite. Researchers expect the program cost, including the deployment of the entire constellation, to be less than $100 million. The minimum projected mission life is five years.

Beschreibung: With recent announcements of the development of permanently staffed facilities on the Moon and Mars, the national space plan is in need of an infrastructure system for transportation and maintenance. A project team at the University of Houston College of Architecture and the Sasakawa International Center for Space Architecture, recently examined components for a low Earth orbit (LEO) transportation node that supports a lunar build-up scenario. Areas of investigation included identifying transportation node functions, identifying existing space systems and subsystems, analyzing variable orbits, determining logistics strategies for maintenance, and investigating assured crew return systems. The information resulted in a requirements definition document, from which the team then addressed conceptual designs for a LEO transportation node. The primary design drivers included: orbital stability, maximizing human performance and safety, vehicle maintainability, and modularity within existing space infrastructure. For orbital stability, the power tower configuration provides a gravity gradient stabilized facility and serves as the backbone for the various facility components. To maximize human performance, human comfort is stressed through zoning of living and working activities, maintaining a consistent local vertical orientation, providing crew interaction and viewing areas and providing crew return vehicles. Vehicle maintainability is accomplished through dual hangars, dual work cupolas, work modules, telerobotics and a fuel depot. Modularity is incorporated using Space Station Freedom module diameter, Space Station Freedom standard racks, and interchangeable interior partitions. It is intended that the final design be flexible and adaptable to provide a facility prototype that can service multiple mission profiles using modular space systems.

Beschreibung: This work continues to develop advanced designs toward the ultimate goal of a Get Away Special to demonstrate economical removal of orbital debris using local resources in orbit. The fundamental technical feasibility was demonstrated in 1988 through theoretical calculations, quantitative computer animation, a solar focal point cutter, a robotic arm design, and a subscale model. Last year improvements were made to the solar cutter and the robotic arm. Also performed last year was a mission analysis that showed the feasibility of retrieving at least four large (greater than 1500-kg) pieces of debris. Advances made during this reporting period are the incorporation of digital control with the existing placement arm, the development of a new robotic manipulator arm, and the study of debris spin attenuation. These advances are discussed here.

Beschreibung: Described herein is a series of design studies concerning the Assured Crew Return Vehicle (ACRV). Study topics include a braking and landing system for the ACRV, ACRV growth options, and the design impacts of ACRV's role as a medical emergency vehicle. Four alternate designs are presented for the ACRV braking and landing system. Options presented include ballistic and lifting body reentries; the use of high-lift, high-payload aerodynamic decelerators, as well as conventional parachutes; landing systems designed for water landings, land landings or both; and an aerial recovery system. Uses of the ACRV or a similarly designed vehicle in several roles for possible future space missions are discussed, along with the required changes to the ACRV to allow it to perform these missions optimally. The impacts on the design of the ACRV due to its role as an emergency vehicle were studied and are presented here. This study included the design of a stretcher-like system to transport an ill or injured crewmember safely within the ACRV; a compilation of necessary medical equipment and decisions on how or where to store it; and recommendations about internal and external vehicle characteristics that will ease the transport of the ill or injured crewmember and allow for swift and easy ingress/egress of the vehicle.

Beschreibung: There is a need for feedback control of the large flexible space structures which are going to be increasingly important in the future of the space program. These structures are very lightly damped, and vibrations may persist for a long time when the system is disturbed unless an active feedback control strategy is used to damp out the vibrations. The system is best described by a partial differential equation description, but the more common approach is to use a large set of second order differential equations, where a large number of modes must be retained if the mathematics is to provide an adequate description of the dynamical process. Sensors, such as accelerometers and rate gyros, may provide data to the feedback controller so that it may respond appropriately to control the system. The data from the sensors is not perfect, but is subject to noise, called measurement noise, and the dynamical process itself is subject to disturbances referred to as process noise. Filtering the sensor signals to remove the measurement noise, and using the resulting state estimates to control the system are investigated.

Beschreibung: The United States is in trouble in space. The costs of the proposed Space Station Freedom have grown beyond reach, and the present design is obsolete. The trouble has come from imagining that there are only two alternatives: manned vs. unmanned. Both choices have led us into designs that do not appear to be practical. On one side, the United States simply does not possess the robotic technology needed to operate or assemble a sophisticated unmanned space station. On the other side, the manned designs that are now under way seem far too costly and dangerous, with all of its thousands of extravehicular activity (EVA) hours. More would be accomplished at far less cost by proceeding in a different way. The design of a space station made of modular, Erector Set-like parts is proposed which is to be assembled using earth-based remotely-controlled binary-tree telerobots. Earth-based workers could be trained to build the station in space using simulators. A small preassembled spacecraft would be launched with a few telerobots, and then, telerobots could be ferried into orbit along with stocks of additional parts. Trained terrestrial workers would remotely assemble a larger station, and materials for additional power and life support systems could be launched. Finally, human scientists and explorers could be sent to the space station. Other aspects of such a space station program are discussed.

Beschreibung: The thermal resistance was experimentally determined of the bolted joints of the first Brazilian satellite (SCD 01). These joints, used to connect the satellite structural panels, are reproduced in an experimental apparatus, keeping, as much as possible, the actual dimensions and materials. A controlled amount of heat is forced to pass through the joint and the difference of temperature between the panels is measured. The tests are conducted in a vacuum chamber with liquid nitrogen cooled walls, that simulates the space environment. Experimental procedures are used to avoid much heat losses, which are carefully calculated. Important observations about the behavior of the joint thermal resistance with the variation of the mean temperature are made.

Beschreibung: The optimized preliminary engineering design concepts for postlanding operations of a water-landing Assured Crew Return Vehicle (ACRV) during a medical rescue mission are presented. Two ACRVs will be permanently docked to Space Station Freedom, fulfilling NASA's commitment to Assured Crew Return Capability in the event of an accident or illness. The optimized configuration of the ACRV is based on an Apollo command module (ACM) derivative. The scenario assumes landing a sick or injured crewmember on water with the possibility of a delayed rescue. Design emphasis is placed on four major areas. First is the design of a mechanism that provides a safe and time-critical means of removing the sick or injured crewmember from the ACRV. Support to the assisting rescue personnel is also provided. Second is the design of a system that orients and stabilizes the craft after landing so as to cause no further injury or discomfort to the already ill or injured crewmember. Third is the design of a system that provides full medical support to a sick or injured crewmember aboard the ACRV from the time of separation from the space station to rescue by recovery forces. Last is the design of a system that provides for the comfort and safety of the entire crew after splashdown up to the point of rescue. The four systems are conceptually integrated into the ACRV.

Beschreibung: Recent launch system development programs have led to a new generation of large scale dynamic tests. The variety of test scenarios share one common requirement: restrain and capture massive high velocity flight hardware with no structural damage. The Space Systems Lab of McDonnell Douglas developed a remarkably simple and cost effective approach to such testing using ripstitch energy absorbers adapted from the sport of technical rockclimbing. The proven system reliability of the capture system concept has led to a wide variety of applications in test system design and in aerospace hardware design.

Beschreibung: The SCD 01 (Satelite de Coleta de Dados 01) is a spin stabilized low Earth orbit satellite dedicated to the collection and distribution of environmental data. It was completely developed at the Brazilian Institute for Space Research (INPE) and is scheduled to be launched in 1992. The SCD 01 passive thermal control design configuration is presented and the thermal analysis results are compared with the temperatures obtained from a Thermal Balance Test. The correlation between the analytical and experimental results is considered very good. Numerical flight simulations show that the thermal control design can keep all the subsystem temperatures within their specified temperature range.

Beschreibung: The Cosmic Background Explorer Observatory (COBE) underwent a thermal vacuum thermal balance test in the Space Environment Simulator (SES). This was the largest and most complex test ever conducted at this facility. The 4 x 4 m (13 x 13 ft) spacecraft weighed approx. 2223 kg (4900 lbs) for the test. The test set up included simulator panels for the inboard solar array panels, simulator panels for the flight cowlings, Sun and Earth Sensor stimuli, Thermal Radio Frequency Shield heater stimuli and a cryopanel for thermal control in the Attitude Control System Shunt Dissipator area. The fixturing also included a unique 4.3 m (14 ft) diameter Gaseous Helium Cryopanel which provided a 20 K environment for the calibration of one of the spacecraft's instruments, the Differential Microwave Radiometer. This cryogenic panel caused extra contamination concerns and a special method was developed and written into the test procedure to prevent the high buildup of condensibles on the panel which could have led to backstreaming of the thermal vacuum chamber. The test was completed with a high quality simulated space environment provided to the spacecraft. The test requirements, test set up, and special fixturing are described.

Beschreibung: The Magellen solar/thermal/vacuum test involved a number of unique requirements and approaches. Because of the need to operate in orbit around Venus, the solar intensity requirement ranged up to 2.3 suns or Earth equivalent solar constants. Extensive modification to the solar simulator portion of the test facility were required to achieve this solar intensity. Venus albedo and infrared emission were simulated using temperature controlled movable louver panels to allow the spacecraft to view either a selectable temperature black heat source with closed louvers, or the chamber coldwall behind open louvers. The test conditions included widely varying solar intensities, multiple sun angles, alternate hardware configurations, steady state and transient cases, and cruise and orbital power profiles. Margin testing was also performed, wherein supplemental heaters were mounted to internal thermal blankets to verify spacecraft performance at higher than expected temperatures. The test was successful, uncovering some spacecraft anomalies and verifying the thermal design. The test support equipment experienced some anomalous behavior and a significant failure during the test.

Beschreibung: When Project WISH (Wandering Interplanetary Space Harbor) was initiated as a multi-year project, several design requirements were specified. The space station must have a lifetime of at least 50 years, be autonomous and independent of Earth resources, be capable of traveling throughout the solar system within a maximum flight time of three years, and have a population of 500 to 1000 people. The purpose of the station is to provide a permanent home for space colonists and to serve as a service station for space missions. The orbital mechanics, propulsion system, vehicle dynamics and control, life support system, communication system, power system, and thermal system are discussed.

Beschreibung: The current space exploration initiative is focused around the development of the Space Station Freedom (SSF). Regular resupply missions must support a full crew on the station. The present mission capability of the shuttle is insufficient, making it necessary to find an alternative. One alternative is a reusable Cargo Return Vehicle (CRV). The suggested design is a biconic shaped, dry land recovery CRV with an advance recovery system (ARC). A liquid rocket booster will insert the CRV into a low Earth orbit. Three onboard liquid hydrogen/liquid oxygen engines are used to reach the orbit of the station. The CRV will dock to the station and cargo exchange will take place. Within the command and control zone (CCZ), the CRV will be controlled by a gaseous nitrogen reaction control system (RCS). The CRV will have the capability to exchange the payload with the Orbital Maneuvering Vehicle (OMV). The bent biconic shape will give the CRV sufficient crossrange to reach Edwards Air Force Base and several alternative sites. Near the landing site, a parafoil-shaped ARS is deployed. The CRV is designed to carry a payload of 40 klb, and has an unloaded weight of 35 klb.

Beschreibung: NASA is committed to placing a permanent space station in Earth orbit in the 1990's. Space Station Freedom (SSF) will be located in a 220 n.m. orbit at 28.5 degrees inclination. The Winged Cargo Return Vehicle's (CRV) primary mission is to support SSF crew by flying regular resupply missions. The winged CRV is designed to be reusable, dry land recoverable, and unmanned. The CRV will be launched inline on three liquid hydrogen/oxygen rocket boosters with a payload capacity of 113,000 lbs. The three boosters will take the CRV to an orbit of 50 by 110 n.m. From this altitude the orbital manuevering engine will place the vehicle in synchronous orbit with the space station. The winged CRV will deliver cargo modules to the space station by direct docking or by remaining outside the SSF command zone and using the Orbital Maneuvering Vehicle (OMV) to transfer cargo. After unloading/loading, the CRV will deorbit and fly back to Kennedy Space Center. The CRV has a wing span of 57.8 feet, a length of 76.0 feet, and a dry weight of 61.5 klb. The cargo capacity of the vehicle is 44.4 klb. The vehicle has a lift-drag ratio of 1.28 (hypersonic) and 6.0 (subsonic), resulting in a 1351 n.m. cross range. The overall mission length ranges between 18.8 and 80.5 hr. The operational period will be the years 2000 to 2020.

Beschreibung: Keeping preliminary studies by NASA in mind, an Assured Crew Return Vehicle (ACRV) was developed. The system allows the escape of one or more crew members from Space Station Freedom in case of emergency. The design of the vehicle addresses propulsion, orbital operations, reentry, landing and recovery, power and communication, and life support. In light of recent modifications in Space Station design, Project EGRESS (Earthbound Guaranteed ReEntry from Space Station) pays particular attention to its impact on Space Station operations, interfaces and docking facilities, and maintenance needs. A water landing, medium lift vehicle was found to best satisfy project goals of simplicity and cost efficiency without sacrificing the safety and reliability requirements. With a single vehicle, one injured crew member could be returned to Earth with minimal pilot involvement. Since the craft is capable of returning up to five crew members, two such permanently docked vehicles would allow full evacuation of the Space Station. The craft could be constructed entirely with available 1990 technology and launched aboard a shuttle orbiter.

Beschreibung: For particularly innovative space exploration missions, unusual requirements are levied on the structural components of the spacecraft. In many cases, the preferred solution is the utilization of unusual materials. This trend is forecast to continue. Several hypothetic examples are discussed.

Beschreibung: Four Texas A&M University projects are discussed. The first project is a design to eliminate a majority of orbital debris. The Orbital Debris and Salvage System will push the smaller particles into lower orbits where their orbits will decay at a higher rate. This will be done by momentum transfer via laser. The salvageable satellites will be delivered to the Space Station by an Orbital Transfer Vehicle. The rest of the debris will be collected by Salvage I. The second project is the design of a space based satellite system to prevent the depletion of atmospheric ozone. The focus is on ozone depletion in the Antarctic. The plan is to use an orbiting solar array system designed to transmit microwaves at a frequency of 22 GHz over the region in order to dissipate polar stratospheric clouds that form during the months beginning in August and ending in October. The third project, Project Poseidon, involves a conceptual design of a space based hurricane control system consisting of a network of 21 low-orbiting laser platforms arranged in three rings designed to heat the upper atmosphere of a developing tropical depression. Fusion power plants are proposed to provide power for the lasers. The fourth project, Project Donatello, involves a proposed Mars exploration initiative for the year 2050. The project is a conceptual design for a futuristic superfreighter that will transport large numbers of people and supplies to Mars for the construction of a full scale scientific and manufacturing complex.

Beschreibung: It is the goal of mankind to eventually visit Mars. It would be valuable to gain scientific information about the planet. The Multiple Integrated Microspacecraft Exploration System (MIMES) is designed for that very purpose. The MIMES mission will send to Mars a spacecraft carrying five probes, each of which will decend to the Martian surface to engage in scientific experiments. There will be two types of probes, a penetrator that will embed itself in the Martian surface, and a soft lander. The probes will transmit scientific data to the carrier spacecraft, which will relay the information to Earth. Information is given on mission instrumentation and operations.

Beschreibung: A systems level mechanisms test was conducted on the Orbital Sciences Corp.'s Transfer Orbit Stage (TOS). The TOS is a unique partially reusable transfer vehicle which will boost a satellite into its operational orbit from the Space Shuttle's cargo bay. The mechanical cradle and tilt assemblies will return to earth with the Space Shuttle while the Solid Rocket Motor (SRM) and avionics package are expended. A mechanisms test was performed on the forward cradle and aft tilting assemblies of the TOS under thermal vacuum conditions. Actuating these assemblies under a 1 g environment and thermal vacuum conditions proved to be a complex task. Pneumatic test fixturing was used to lift the forward cradle, and tilt the SRM, and avionics package. Clinometers, linear voltage displacement transducers, and load cells were used in the thermal vacuum chamber to measure the performance and characteristics of the TOS mechanism assembly. Incorporation of the instrumentation and pneumatic system into the test setup was not routine since pneumatic actuation of flight hardware had not been previously performed in the facility. The methods used are presented along with the problems experienced during the design, setup and test phases.

Beschreibung: Future NASA space missions include the possibility of manned landings and exploration of Mars. Environmental and operational constraints unique to Mars must be considered when selecting and designing the power system to be used on the Mars surface. A technique is described which was developed to simulate the deposition of dust on surfaces. Three kinds of dust materials were studied: aluminum oxide, basalt, and iron oxide. The apparatus was designed using the Stokes and Stokes-Cunningham law for particle fallout, with additional consideration given to particle size and shape. Characterization of the resulting dust films on silicon dioxide, polytetrafluoroethylene, indium tin oxide, diamondlike carbon, and other surfaces are discussed based on optical transmittance measurements. The results of these experiments will guide future studies which will consider processes to remove the dust from surfaces under Martian environmental conditions.

Beschreibung: It was recently suggested that photochemically deposited contamination, originating from volatiles outgassed by a spacecraft, may be responsible for the anomalous degradation in power seen on the GPS Block 1 vehicles. In an attempt to confirm, or deny, the photochemical deposition rates predicted, a study was undertaken to design a flight experiment to be incorporated on the GPS vehicles currently in production. The objective was to develop an inexpensive, light weight instrument package that would give information on the contamination levels within a few months of launch. Three types of apparatus were studied, Quartz Crystal Microbalances, (QCM's), modified solar cells, and calorimeters. A calorimeter was selected due primarily to its impact on the production schedule of the GPS vehicles. An analysis of the sensitivity of the final design is compared to the predicted contamination accumulation rates in order to determine how long after launch it will take the experiment to show the effects of photochemical contamination.

Beschreibung: Magnetic cleanliness testing was performed on the Tethered Satellite as the last step of an articulated verification campaign aimed at demonstrating the capability of the satellite to support its TEMAG (TEthered MAgnetometer) experiment. Tests at unit level and analytical predictions/correlations using a dedicated mathematical model (GANEW program) are also part of the verification activities. Details of the tests are presented, and the results of the verification are described together with recommendations for later programs.

Beschreibung: Each of the three state of the art instruments flown aboard NASA's Cosmic Background Explorer (COBE) were designed, fabricated, and integrated using unique contamination control procedures to ensure accurate characterization of the diffuse radiation in the universe. The most stringent surface level cleanliness specifications ever attempted by NASA were required by the Diffuse Infrared Background Experiment (DRIBE) which is located inside a liquid helium cooled dewar along with the Far Infrared Absolute Spectrophotometer (FIRAS). The DRIBE instrument required complex stray radiation suppression that defined a cold primary optical baffle system surface cleanliness level of 100A. The cleanliness levels of the cryogenic FIRAS instrument and the Differential Microwave Radiometer (DMR) which were positioned symmetrically around the dewar were less stringent ranging from 300 to 500A. To achieve these instrument cleanliness levels, the entire flight spacecraft was maintained at level 500A throughout each phase of development. The COBE contamination control program is described along with the difficulties experienced in maintaining the cleanliness quality of personnel and flight hardware throughout instrument assembly.

Beschreibung: Now that Voyager II has completed its grand tour of the solar system, all the planets in the solar system, with the exception of Pluto, have been studied. Even now, missions to return to Mercury, Venus, Mars Jupiter, and Saturn are currently flying or are planned. However, a mission to explore Pluto is not, at the present time, being considered seriously. The design problem presented to the students was very general, i.e., design an unmanned mission to Pluto with a launch window constraint of the years 2000 to 2010. All other characteristics of the mission, such as mission type (flyby, orbiter, lander, penetrator), scientific objectives and payload, and the propulsion system were to be determined by the design teams. The design studies exposed several general problems to be solved. Due to the extreme distance to Pluto (and a corresponding travel time in the range of 10 to 25 years), the spacecraft had to be lighter and more robust than current spacecraft designs. In addition, advanced propulsion concepts had to be considered. These included the new generation of launch vehicles and upper stages and nuclear electric propulsion. The probe design offered an abundance of synthesis and analysis problems. These included sizing trade studies, selection of subsystem components, analysis of spacecraft dynamics, stability and control, structural design and material selection, trajectory design, and selection of scientific equipment. Since the characteristics of the mission, excluding the launch window, were to be determined by the design teams, the solutions varied widely.

Beschreibung: The Materials Processing Sciences Glovebox is a rack mounted workstation which allows on orbit sample preparation and characterization of specimens from various experiment facilities. It provides an isolated safe, clean, and sterile environment for the crew member to work with potentially hazardous materials. It has to handle a range of chemicals broader than even PMMS. The theme is that the Space Station Laboratory experiment preparation and characterization operations provide the fundamental glovebox design characteristics. Glovebox subsystem concepts and how internal material handling operations affect the design are discussed.

Beschreibung: Lockheed Missiles and Space Company is responsible for designing, developing, and building the Life Sciences Glovebox, the Laboratory Sciences Workbench, and the Maintenance Workstation plus 16 other pieces of equipment for the U.S. Laboratory Module of the Space Station Freedom. The Laboratory Sciences Workbench and the Maintenance Workstation were functionally combined into a double structure to save weight and volume which are important commodities on the Space Station Freedom. The total volume of these items is approximately 180 cubic feet. These workstations and the glovebox will be delivered to NASA in 1994 and will be launched in 1995. The very long lifetime of 30 years presents numerous technical challenges in the areas of design and reliability. The equipment must be easy to use by international crew members and also easy to maintain on-orbit. For example, seals must be capable of on-orbit changeout and reverification. The stringent contamination requirements established for Space Station Freedom equipment also complicate the zero gravity glovebox design. The current contamination control system for the Life Sciences Glovebox and the Maintenance Workstation is presented. The requirement for the Life Sciences Glovebox to safely contain toxic, reactive, and radioactive materials presents challenges. Trade studies, CAD simulation techniques and design challenges are discussed to illustrate the current baseline conceptual designs. Areas which need input from the user community are identified.

Beschreibung: One of the benefits of experimentation on the Space Station is the ability to carry out the experiment, to immediately analyze the results, to calculate improved experimental parameters, and to quickly repeat the experiment. In this improved mode of operation there are new safety considerations that must be addressed in the design stages of both the station and the experiments. Some of the chemical and procedural requirements are shared, and some of the earth-bound storage, dispensing, and disposal techniques that may assist in the development of analogous procedures for the Space Station are discussed.

Beschreibung: As the Space Station nears reality in funding support from Congress, NASA plans to perform over a hundred different missions in the coming decade. Incrementally deployed, the Space Station will evolve into modules linked to an integral structure. Each module will have characteristic functions, such as logistics, habitation, and materials processing. Because the Space Station is to be user friendly for experimenters, NASA is anticipating that a variety of different chemicals will be taken on-board. Accidental release of these potentially toxic chemicals and their chemical compatibility is the focus of this discourse. The Microgravity Manufacturing Processing Facility (MMPF) will contain the various facilities within the U.S. Laboratory (USL). Each facility will have a characteristic purpose, such as alloy solidification or vapor crystal growth. By examining the proposed experiments for each facility, identifying the chemical constituents, their physical state and/or changes, byproducts and effluents, those payloads can be identified which may contain toxic, explosive, or reactive compounds that require processing or containment in mission peculiar waste management systems. Synergistic reactions from mixed effluent streams is of major concern. Each experiment will have it own data file, complete with schematic, chemical listing, physical data, etc. Chemical compatibility information from various databases will provide assistance in the analysis of alternate disposal techniques (pretreatment, separate storage, etc.). Along with data from the Risk Analysis of the Proposed USL Waste Management System, accidental release of potentially toxic and catastrophic chemicals would be eliminated or reduced.

Beschreibung: Before technical safety guidelines and requirements are established, a common understanding of their origin and importance must be shared between Space Station Program Management, the User Community, and the Safety organizations involved. Safety guidelines and requirements are driven by the nature of the experiments, and the degree of crew interaction. Hazard identification; development of technical safety requirements; operating procedures and constraints; provision of training and education; conduct of reviews and evaluations; and emergency preplanning are briefly discussed.

Beschreibung: Spacelab J and USML-1 provide prime examples of materials which are toxic at ambient conditions or toxic during the processing stages. The experimentation requirements are outlined in relation to toxicity and reactive materials handling. Triple containment is the preferred method for prevention of toxic material release in habitable areas for catastrophic hazards. The containments must be adequate for the intended use and environment. When operations preclude triple containment, innovative methods should be explored.

Beschreibung: The design of the Skylab missions, 1973 to 1974, was intended to exclude any direct handling of hazardous, toxic, or reactive materials. The materials processing facility and multipurpose furnace provided a contained environment for conducting metals melting, brazing, sphere forming, and crystal growth experiments. At the end of the third mission, following the completion of all other experiments, the materials processing facility was used for a series of flammability experiments. The flammability tests were done last because of the contamination expected from the burning of the materials within the facility. The flammability tests demonstrated a number of peculiar effects that have implications for future design (fire detection, location, and suppression/control). Although the results of the flammability tests contain lessons appropriate to planning, a number of events during the flight illustrate situations or conditions that pose considerations beyond the commonly accepted range of concern for safety-related matters. This presentation includes a discussion of: Skylab flammability studies and the implications for fire suppression/control; false fire alarms and the Skylab fire detection system; space environmental effects on materials that are normally benign; spills/release of contaminants; the detrimental effect that the release of non-hazardous materials have on detection systems; and the problem of locating sources/originating point of hazards.

Beschreibung: The Submillimeter Wave Astronomy Satellite (SWAS) selected for flight as part of the Small Explorer Program is described. SWAS consists of a 55 by 71 cm near optical quality off axis primary mirror, two heteorodyne radiometers with Schottky barrier diode mixers, and a single broadband (1.4 GHz) Acousto Optical Spectrometer (AOS). SWAS primary objective is to conduct a high spectral resolution survey of galactic molecular clouds in low lying transitions of water, molecular oxygen, atomic carbon and isotopic carbon monoxide. These species are crucial in gaining a better understanding of the chemistry and cooling of dense molecular clouds.

Beschreibung: Viewgraphs on flight telerobotic servicer evolution are presented. Topics covered include: paths for FTS evolution; frequently performed actions; primary task states; EPS radiator panel installation; generic task definitions; path planning; non-contact alignment; contact planning and control; and human operator interface.

Beschreibung: Viewgraphs on space teleoperations technology for space station evolution are presented. Topics covered include: shuttle remote manipulator system; mobile servicing center functions; mobile servicing center technology; flight telerobotic servicer-telerobot; flight telerobotic servicer technology; technologies required for space station assembly; teleoperation applications; and technology needs for space station evolution.

Beschreibung: Viewgraphs and discussion on agent-independent planning are presented. Topics covered include: definitions; Space Station Freedom robotics environment; transition from crewmember to robots; agent-independent planning system flow; independence between plans and agents; existing testbed; benefits of approach; and directions of future research.

Beschreibung: Viewgraphs on the mobile servicing system (MSS) are presented. Topics covered include: MSS overall configuration; MSS (space segment) hierarchy; functional requirements for special purpose dexterous manipulator (SPDM); SPDM configuration; objective of advanced technology development basic requirements for advanced technology; automation and robotics technologies MSS baseline; and automation and robotics technologies planned for incorporation.

Beschreibung: Viewgraphs and discussion of onboard system health assessment are presented. Success of the space station program will be measured by how well it addresses the basic requirements for (1) maintaining the orbiting Space Station Freedom fully operational for its projected life of thirty years, and (2) the cost-effective execution of the overall space station program. Onboard system health assessment must provide complete and thorough testing capabilities along with effective associated redundancy/fault management.

Beschreibung: Viewgraphs on space station displays and controls technology evolution are presented. Topics covered include: a historical perspective; major development objectives; current development activities; key technology areas; and technology evolution issues.

Beschreibung: The next century of spaceflight will witness an expansion in the physical scale of spacecraft, from the extreme of the microspacecraft to the very large megaspacecraft. This will respectively spawn advances in highly integrated and miniaturized components, and also advances in lightweight structures, space fabrication, and exotic control systems. Challenges are also presented by the advent of advanced propulsion systems, many of which require controlling and directing hot plasma, dissipating large amounts of waste heat, and handling very high radiation sources. Vehicle configuration studies for a number of theses types of advanced spacecraft were performed, and some of them are presented along with the rationale for their physical layouts.

Beschreibung: An overview of the Space Station program for workshop participants is given. Covered here are overall program guidelines, international involvement, the present baseline configuration, and development plans for the coming year.

Beschreibung: There are three categories of accelerations to be encountered on orbiting spacecraft: (1) quasi-steady accelerations, caused by atmospheric drag or by gravity gradients, 10(exp -6) to 10(exp -7) g sub o; (2) transient accelerations, caused by movements of the astronauts, mass translocations, landing and departure of other spacecraft, etc.; and (3) oscillary accelerations, caused by running machinery (fans, pumps, generators). Steady accelerations cause continuing displacements; transients cause time-limited displacements. The important aspect is the area under the acceleration curve, measured over a certain time interval. Note that this quantity is not equivalent to a velocity because of friction effects. Transient motions are probably less important than steady accelerations because they only produce constant displacements. If the accelerative forces were not equal and opposite, the displacement would increase with time. A steady acceleration will produce an increasing velocity of a particle, but eventually an equilibrium value will be reached where drag and acceleration forces are equal. From then on, the velocity will remain constant, and the displacement will increase linearly with time.

Beschreibung: It is argued that it is essential to have a centrifuge operating during manned space station operations. Background information and a rationale for the research centrifuge are given. It is argued that we must provide a controlled acceleration environment for comparison with microgravity studies. The lack of control groups in previous studies throws into question whether the obseved effects were the result of microgravity or not. The centrifuge could be used to provide a 1-g environment to supply specimens free of launch effects for long-term studies. With the centrifuge, the specimens could be immediately transferred to microgravity without undergoing gradual acclimation. Also, the effects of artificial gravity on humans could be investigated. It is also argued that the presence of the centrifuge on the space station will not cause undo vibrations or other disturbing effects.

Beschreibung: Structural dynamic characteristics and responses of the Space Station due to the natural and induced environment are discussed. Problems that are peculiar to the Space Station are also discussed. These factors lead to an overall acceleration environment that users may expect. This acceleration environment can be considered as a loading, as well as a disturbance environment.

Beschreibung: Payloads onboard the Space Station will be subjected to a steady state acceleration level dominated by gravity gradient and aerodynamic drag forces. The g-level due to gravity gradient forces depends on the payload location relative to the center of mass, whereas the g-level due to aerodynamic drag may be assumed nearly constant throughout the Space Station. The vector of acceleration due to aerodynamic drag can always be broken down into three orthogonal components, in the direction opposite to the velocity vector, along the local vertical, and perpendicular to the orbit plane. It will be shown that the gravity gradient term has two components, which are orthogonal to one another. One component is along the local vertical and the other is perpendicular to the orbit plane. Thus, the combination of all components form an orthogonal triad of vectors. Addressed here are the payload location constraints to satisfy the requirements of 1 micro-g. The permissible locations are within an open-ended tube having an elliptical cross section, which is aligned with the velocity vector and centered on the system center of mass.

Beschreibung: A flight experiment that could be used to measure Space Station dynamics during and after its assembly is discussed. By integrating sensors into the structure to measure its ambient dynamic responses, it will provide some information as to how it behaves during its evolution. The objectives of the experiment are to define a series of experiments to measure the dynamic responses due to disturbances to establish the experiment scenarios, and to identify the locations of the instrumentation that can be integrated into the structure. Researchers have also defined the Space Station resources that are required so that they can be included in the Mission Requirements Data Base (MRDB). They used the 16-flight-assembly scenario that was recommended by Rockwell as the baseline.

Beschreibung: The rationale and methodology used to incorporate graphics into explanations provided by an expert system for Space Station Freedom rack integration is examined. The rack integration task is typical of a class of constraint satisfaction problems for large programs where expertise from several areas is required. Graphically oriented approaches are used to explain the conclusions made by the system, the knowledge base content, and even at more abstract levels the control strategies employed by the system. The implemented architecture combines hypermedia and inference engine capabilities. The advantages of this architecture include: closer integration of user interface, explanation system, and knowledge base; the ability to embed links to deeper knowledge underlying the compiled knowledge used in the knowledge base; and allowing for more direct control of explanation depth and duration by the user. The graphical techniques employed range from simple statis presentation of schematics to dynamic creation of a series of pictures presented motion picture style. User models control the type, amount, and order of information presented.

Beschreibung: The Space Station Freedom is being designed and developed with user requirements being used to shape the configuration. Plans include accommodation provisions for a wide variety of attached payloads including the Earth sciences research activities which are the focus of this conference. The station program is even beginning some preliminary payload manifesting which involves planning for accommodation of payload during the station's assembly flights. Potential payload organizations should be aware of the station's plans for payload accommodations so as to guide their own payload activities for future space station use.

Beschreibung: Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

Beschreibung: A review of the interactions between proposed Space Station systems/payloads and the environment that contribute to electromagnetic interference was performed. Seven prime sources of interference have been identified. These are: The Space Station power system; active experiments such as beam injection; ASTROMAG; ram and wake density gradients; pick up ions produced by vented or offgassed clouds; waves produced by current loops that include the plasma and structure; arcing from high voltage solar arrays (or possible ESD in polar orbit). This review indicates that: minimizing leakage current from the 20 kHz power system to the structure; keeping the surfaces of the Space Station structure, arrays, and radiators nonconducting; minimizing venting of payloads or systems to non-operational periods; careful placement of payloads sensitive to magnetic field perturbations or wake noise; and designing an operational timeline compatible with experiment requirement are the most effective means of minimizing the effects of this interference. High degrees of uncertainty exist in the estimates of magnitudes of gas emission induced EMI, radiation of 20 kHz and harmonics, ASTROMAG induced interference, and arc threshold/frequency of the solar array. These processes demand further attention so that mitigation efforts are properly calibrated.

Beschreibung: Simulated docking maneuvers were performed to assess the effect of initial velocity on docking failure rate, mission duration, and delta v (fuel consumption). Subjects performed simulated docking maneuvers of an orbital maneuvering vehicle (OMV) to a space station. The effect of the removal of the range and rate displays (simulating a ranging instrumentation failure) was also examined. Naive subjects were capable of achieving a high success rate in performing simulated docking maneuvers without extensive training. Failure rate was a function of individual differences; there was no treatment effect on failure rate. The amount of time subjects reserved for final approach increased with starting velocity. Piloting of docking maneuvers was not significantly affected in any way by the removal of range and rate displays. Radial impulse was significant both by subject and by treatment. NASA's 0.1 percent rule, dictating an approach rate no greater than 0.1 percent of the range, is seen to be overly conservative for nominal docking missions.

Beschreibung: Automated and robotic systems will be exposed to a variety of environmental anomalies as a result of adverse interactions with the space environment. As an example, the coupling of electrical transients into control systems, due to EMI from plasma interactions and solar array arcing, may cause spurious commands that could be difficult to detect and correct in time to prevent damage during critical operations. Spacecraft glow and space debris could introduce false imaging information into optical sensor systems. The presentation provides a brief overview of the primary environments (plasma, neutral atmosphere, magnetic and electric fields, and solid particulates) that cause such adverse interactions. The descriptions, while brief, are intended to provide a basis for the other papers presented at this conference which detail the key interactions with automated and robotic systems. Given the growing complexity and sensitivity of automated and robotic space systems, an understanding of adverse space environments will be crucial to mitigating their effects.