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Eleven Countries, an Integrated Spacecraft: the Story of International Collaboration that Built the Orion Spacecraft and Powered the Success of the Artemis I Mission

The quest to return humans to the Moon in the next step towards humanity's exploration of space is more alive than ever. After a great deal of achievements, failures, and lessons learned, the Artemis I mission set o to the Moon on November 16, 2022, with the goal of testing a new rocket, the Space Launch System, and a new spacecraft, Orion: designed, assembled, and tested across two continents, and 11 countries. Behind this mission, decades of experience with the International Space Station, Autonomous Transfer Vehicle operations, and many other program collaborations built the know-how on how to succeed together in the toughest environment | deep space. The Artemis I mission proved to be an incredible success, meeting 161 total mission objectives, including 21 developed during the flight based on outperforming spacecraft. It was also a case-study in international collaboration, given that ESA, NASA, and industry partners Airbus and Lockheed Martin for the first time had to design, build, test, and fly a fully integrated human-rated spacecraft, with most critical functions dependent and interconnected across U.S. and European systems. The U.S.-built Orion Crew Module and Crew Module Adapter and European-built European Service Module (ESM) shared critical interfaces and commodities, from propulsion, avionics, active/passive thermal, electrical power generation, storage and distribution to the software that managed it all. In this paper, we will describe relevant aspects of the integrated spacecraft design, providing context for the challenges that the team faced in all phases required to get Orion ready to fly, and provide a direct account of how the joint team formed, trained, and supported the operations of the successful Artemis I mission. We will also explore the evolution of the partnerships, given that these allow a multi-national e ort to sustain the program production, share costs, leverage a broader base of engineering expertise, and build more diverse capabilities over the long haul to support the Artemis goals and objectives. Lastly, we will cover critical lessons learned and how the Orion Program has implemented these in preparation of the next Artemis missions to repeat the success of Artemis I. The purpose of this paper is to document knowledge we gained and lessons we learned through the development of an integrated Orion spacecraft, since it is imperative we build on this now, at the dawn of the Artemis Program, an international endeavor to push human space exploration.

Deep Space Exploration↗
NASA NTRS2018

Flight Demonstration of Novel Atmospheric Satellite Concept

The major focus of the Phase II effort described herein is to develop and demonstrate an aircraft capable of autonomously sailing (i.e., to cruise without propulsion or external assistance), and thereby prove that the dual-aircraft platform (DAP) atmospheric satellite concept is potentially viable. This sailing mode of flight was identified as the number-1 enabling technology required for the stratospheric DAP concept (also known as Stratosat) in the NIAC (NASA Innovative Advanced Concept) Phase I effort. No scientific demonstration of this technology has ever been done or documented to our knowledge. This report describes efforts to take a major step towards the sailing mode of flight capability using a single aircraft connected by cable to a moving ground vehicle which uses sufficient crosswind to cruise without propulsion while "pulling" the ground vehicle forward (i.e., without external assistance). The development of a prototype aircraft is described in terms of novel and key hardware and software elements. A specialized prototype aircraft is described, including a novel cable release mechanism, novel "lateron" control surfaces, and a highly-accurate onboard wind measurement system. Additionally, a novel means to safely connect the aircraft to the moving ground vehicle is described involving a fishing rod/reel and integrated load cell. All of these devices were designed and developed in-house and validated in flight testing. Software is developed to provide look-up tables that give the flight condition targets (i.e., 3-D position relative to ground vehicle, forward speed, aircraft orientation, etc.), based on current wind speed and direction. These tables are successfully validated in flight simulation and used onboard the aircraft. High fidelity analysis of the aircraft aerodynamics are described - required to produce accurate target sailing flight conditions. A novel wind tunnel measurement technique is developed to accurately assess the aerodynamics of the ultra-thin cable. A new specialized flight simulator is described which is utilized to develop and verify the flight software required onboard the aircraft, and to support training of pilots for flying the aircraft while tethered to a ground vehicle. The DAP flight simulator was developed within the Matlab-Simulink framework and included detailed treatment of aircraft/cable aerodynamics, cable dynamics, experimentally-derived propeller-motor thrust curves, actuator responsiveness, and realistic air turbulence. The specialized formation flight controller algorithm, developed using this flight simulator, and onboard the aircraft is described. Finally, a novel auto-tuning software is described and verified within the flight simulator that is shown to refine the sailing flight condition targets during flight using an optimization technique involving doublet maneuvers. Virtual flights using the auto-tuning software indicate that the prototype aircraft should be able to reach and hold sailing conditions despite moderate levels of turbulence provided there is sufficient mean wind available. An overview of the flight testing program is provided. Hundreds of short flights were conducted, primarily using a “dead” short runway at Deland Municipal Airport which permitted use of a moving ground vehicle. Additional flight tests at Space Florida’s Shuttle Landing Facility are also described. First year results from these tests in which the aircraft is controlled manually, demonstrated that excessive flight testing would be required for a pilot to learn to sail with visual cues. However, second year results from autonomous flight these tests included successful demonstration of the closed-loop autonomous formation flight capability (i.e., autonomously determine, reach, and hold the required 3-D location relative to the ground vehicle required for sailing). The next step of using the auto-tune software to autonomously refine the aircraft orientation targets to finally achieve sailing remains the primary goal of future work.

Flight↗
NASA NTRS1962

Advanced Environmental Systems

Atmosphere controls for advanced manned space vehicles will in some cases require techniques different from those selected as optimum for the Mercury environmental control system (ECS). Water conservation will be rigorous for vehicles which use a solar or nuclear auxiliary power unit (APU). For missions longer than a few hundred hours, CO2 will be removed in a regenerable process. Several promising regenerable CO2 removal systems are presented, including freeze-out. Regeneration of oxygen from C02 is discussed as the next step in atmosphere control advancement. Test work on CO2 hydrogenation by the Sabatier process is cited. The recommended makeup of ECS elements is presented as a function of mission duration.

Manned spacecraft↗
NASA NTRS1965

Proceedings of the conference on the exploration of Mars and Venus

Although the lunar landing and exploration effort will continue for some time to absorb a large part of the total space exploration effort, attention is now being focused on the possibilities of exploration of the near earth planets, Mars and Venus. While astronomical observations of these planets has been going on for considerable time, recent years have seen an increase in this activity. One Venus "Fly-By" has been accomplished and the success of Mariner IV gives evidence that this means of observation is practical and undoubtedly will continue. The problems of manned and unmanned exploration of these planets have occupied the attention of a number of scientists and engineers engaged in the space effort. The papers presented at the conference discussed the characteristics of the planets and their atmospheres and the problems inherent in their exploration. The topics included information, speculation and future planning based on the best opinions of experts in the field. It was the aim of the conference to furnish participants from educational institutions, private industry, research laboratories and governmental agencies knowledge of this next step in space exploration. For the educators, perhaps new information for instruction and new avenues of research were the greatest dividends to be expected. In giving the other participants an opportunity to hear the leaders in the field and discuss their own problems, it is hoped that the Conference made a significant contribution to the space exploration effort.

Mars (Planet)↗
NASA NTRS1971

Bayesian recursive image estimation.

A procedure for recursively estimating images that are characterized statistically by the mean and correlation functions associated with the random process representing the brightness level is proposed for the case where the images are corrupted by additive noise. First, a dynamic model is developed with a response characteristic which matches that of the scanner output (the input of the estimator is the output of a horizontal line scanner) in a statistical sense. Such models have the form of an ordinary differential or difference equation with white noise input. An insignificant approximation is introduced by using a constant-coefficient model. The appropriate model is a vector valued difference equation with the solution representing a vector Markov process. The next step is to obtain the minimum mean square estimate of the image by using a Kalman filter. Since the image estimation is an interpolation problem, two successive runs over the observation are performed in opposite directions and the resultant estimates are averaged. Examples are included for illustration.

Nahi, N. E.↗
NASA NTRS1971

The Apollo Lunar Roving Vehicle.

After listing the basic requirements such as operational demands and lunar environmental conditions, characteristic design data of the roving vehicle are given with special attention to the four wheel drive and its control system, the steering system, and the navigational instrumentation. The overall system is optimized in view of total mass, range, mobility, load carrying capability, safety, highest reliability through redundancy, and last but not least, cost and development time. Optimization of the drive and power system has first been evaluated by mathematical models and computational simulation of the vehicle hardware, the wheel/soil interaction, and the lunar terrain profile. The next step to refine optimization and evaluation of the drive, steering, and power system including man/machine interaction has been carried out by the use of a six-degree-of-freedom simulator subjecting the astronauts in their space suits to simulated vehicle motions while driving over a simulated terrain, observable on a cathode ray tube display.

Haeussermann, W.↗
NASA NTRS1973

Research and applications modules /RAM/ - A family of payload carriers.

RAM is a family of payload carriers, pressurized, unpressurized and pressurizable, that operate in conjunction with the Space Shuttle and associated space systems to provide modular facilities to conduct manned or man-tended research in low earth orbit. RAM family elements are discussed as the next step in evolution from the Sortie Laboratory required to provide a significant increase in experimental capability, flexibility, and economy necessary to meet the needs of an expanding program of research and applications activities. Examples of RAM missions and operations as sortie mission laboratories and observatories, and free-flying man-tended observatories are illustrated.

Withee, W. W.↗
NASA NTRS1975

Advanced computer technology - An aspect of the Terminal Configured Vehicle program

NASA is conducting a Terminal Configured Vehicle program to provide improvements in the air transportation system such as increased system capacity and productivity, increased all-weather reliability, and reduced noise. A typical jet transport has been equipped with highly flexible digital display and automatic control equipment to study operational techniques for conventional takeoff and landing aircraft. The present airborne computer capability of this aircraft employs a multiple computer simple redundancy concept. The next step is to proceed from this concept to a reconfigurable computer system which can degrade gracefully in the event of a failure, adjust critical computations to remaining capacity, and reorder itself, in the case of transients, to the highest order of redundancy and reliability.

Berkstresser, B. K.↗
NASA NTRS1976

Preentry communications study. Outer planets atmospheric entry probe

A pre-entry communications study is presented for a relay link between a Jupiter entry probe and a spacecraft in hyperbolic orbit. Two generic communications links of interest are described: a pre-entry link to a spun spacecraft antenna, and a pre-entry link to a despun spacecraft antenna. The propagation environment of Jupiter is defined. Although this is one of the least well known features of Jupiter, enough information exists to reasonably establish bounds on the performance of a communications link. Within these bounds, optimal carrier frequencies are defined. The next step is to identify optimal relative geometries between the probe and the spacecraft. Optimal trajectories are established for both spun and despun spacecraft antennas. Given the optimal carrier frequencies, and the optimal trajectories, the data carrying capacities of the pre-entry links are defined. The impact of incorporating pre-entry communications into a basic post entry probe is then assessed. This assessment covers the disciplines of thermal control, power source, mass properties and design layout. A conceptual design is developed of an electronically despun antenna for use on a Pioneer class of spacecraft.

Hinrichs, C. A.↗
NASA NTRS1978

Critical fault patterns determination in fault-tolerant computer systems

The method proposed tries to enumerate all the critical fault-patterns (successive occurrences of failures) without analyzing every single possible fault. The conditions for the system to be operating in a given mode can be expressed in terms of the static states. Thus, one can find all the system states that correspond to a given critical mode of operation. The next step consists in analyzing the fault-detection mechanisms, the diagnosis algorithm and the process of switch control. From them, one can find all the possible system configurations that can result from a failure occurrence. Thus, one can list all the characteristics, with respect to detection, diagnosis, and switch control, that failures must have to constitute critical fault-patterns. Such an enumeration of the critical fault-patterns can be directly used to evaluate the overall system tolerance to failures. Present research is focused on how to efficiently make use of these system-level characteristics to enumerate all the failures that verify these characteristics.

Mccluskey, E. J.↗
NASA NTRS1978

Free as a bird - A point of view

A number of ways are discussed in which ingenious people can further increase their enjoyment of experimenting in air (balloons, man-powered flight, etc.). For the lowest cost forms of flight, private sponsorship has been modestly successful. Much more could be done if people would not take themselves so seriously and always demand that advanced technology should serve some nationalistic or economic goals. For the society, the next step forward will perhaps originate if it is demonstrated to the government, manufacturers, and customers that private flying has become too costly due to those factors which limit the acquisition and introduction of new knowledge.

Burke, J. D.↗
NASA NTRS1979

Properties and performance of fine-filament bronze-process Nb3Sn conductors

Fine-filament bronze-process Nb3Sn superconductors were fabricated to fulfill stringent requirements on critical current under tension in a one-inch bend diameter, current density, stability, and conductor losses. A large fraction of niobium filaments was incorporated in a bronze matrix, and a cable containing 4453 2-micron diameter filaments in each of six strands provided a current density of 85,000 A/sq cm at 10 to the -11th ohm-cm, 10 T, and 4.2 K. The next step was to incorporate copper stabilizer in a conductor with 20,538 filaments. These conductors, fabricated so that bend strains of about 1% would be experienced by the filaments in the one-inch bend, stably carried currents in the 200-500 A range. A quench current of 540 A in a 5-cm bend corresponds to 158,000 A/sq cm in the bronze and filament area, believed to be the highest critical current density reported for multifilamentary Nb3Sn.

Walker, M. S.↗
NASA NTRS1979

Computer aided control of a mechanical arm

A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

Derocher, W. L., Jr.↗
NASA NTRS1979

The interaction between giant gaseous protoplanets and the primitive solar nebula

The manner in which a giant gaseous protoplanet becomes embedded in the primitive solar nebula determines surface boundary conditions which must be used in studying the evolution of such objects. On the one hand, if the system resembles a contact binary system, then the envelope of the protoplanet should approach the entropy of the surrounding nebula. On the other hand angular momentum transfer by resonance and tidal effects between the nebula and the protoplanet may cause the nebula to exhibit a zone of avoidance near the protoplanet, thus inhibiting exchange of material. This problem has been studied with a computer program developed by D. N. C. Lin which simulates disk hydrodynamics by particle motions with dissipation. These studies suggest that for expected values of the protoplanet/protosun mass ratios, significant inhibition of mass exchange is likely, so that it is a reasonable next step to undertake protoplanet evolution studies with the imposition of minimum protoplanet surface temperatures.

Cameron, A. G. W.↗
NASA NTRS1982

Walking-Beam Solar-Cell Conveyor

Microprocessor-controlled walking-beam conveyor moves cells between work stations in automated assembly line. Conveyor has arm at each work station. In unison arms pick up all solar cells and advance them one station; then beam retracks to be in position for next step. Microprocessor sets beam stroke, speed, and position.

Feder, H.↗
NASA NTRS1981

Galileo - Mission to Jupiter

The Galileo mission to Jupiter in the latter half of this decade is NASA's next step in the exploration of Jupiter. The primary science objectives are to study the satellites, the magnetosphere, and Jupiter's atmosphere. In general, there are four characteristics of the Galileo mission which provide the capability to address questions not answered by Voyager: (1) long-term observations - at least 11 orbits of Jupiter in nearly two years - will allow temporal studies of Io vulcanism as well as of interactions between the satellites and magnetosphere; (2) very close satellite flybys - at a distance less than 1000 km at each Galilean satellite - will allow in-depth studies of these satellites at distances 20 to 100 times closer than Voyager achieved; (3) an atmospheric entry probe will measure composition, structure, temperature, energy balance, cloud layer locations and structure, and particle size distribution in Jupiter's atmosphere; and (4) the Orbiter's advanced instrumentation will allow higher resolution and more detailed studies of the satellites, atmosphere, and magnetosphere

Casani, J. R.↗
NASA NTRS1982

Geographic science team

The rational for using remote sensing in land use/land cover, geomorphology, and cartography applications is stated as well as potential uses in each of these areas. The next step to be perfected is indicated. Spatial and spectral resolution requirements for photointerpretations and/or multispectral pattern recognition of geomorphic elements and of cultural surface cover are listed. Requirements for photographic/analog or digital photogrammetry from spaceborne multispectral linear array sensors are included. A prioritized summary of data gaps in the geographic sciences is included.

Bryant, N.↗