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NASA NTRS1984

Rendezvous and docking with remote piloted vehicles

The man-in-the-loop control system requirements for the Orbital Maneuvering Vehicle (OMV) are examined. Since many similarities exist between the Teleoperator Retrieval System (TRS) and the unfolding OMV concept, a review of the TRS control system baseline along with selected design trades which led to that baseline are discussed. TRS program issues relevant to the man-in-the-loop control system design include thruster size, communication delays and TV bandwidth compression, range/range rate radar, tumbling targets, shimmed docking interface, and control system definition. A TRS vs. OMV simulation comparative study is summarized, and the major issues currently facing the control system designer on OMV are discussed.

Micheal, J. D.↗

NASA NTRS1984

In-flight rescue of stranded TDRS-1 spacecraft

On April 4, 1983, the first Tracking and Data Relay Satellite (TDRS-1), one of six to be built for SPACECOM and NASA, was launched by the Space Shuttle Challenger. During the ascent to geosynchronous orbit, the Inertial Upper Stage (IUS) booster malfunctioned, leaving TDRS stranded in a low, elliptical orbit. This report describes the amazing satellite recovery from a wild tumble and the dramatic three-month rescue effort to move TDRS into synchronous orbit. It took a total burn time of 44 hours from a pair of tiny one-pound thrusters, about 800 pounds of propellant, an adaptable, robust attitude control system and much resourcefulness from ground operators to accomplish this feat. TDRS-1 reached its proper earth orbit on June 29, 1983 and then began its ten-year mission as a data relay satellite.

Schmeichel, H.↗

NASA NTRS1985

Effect of low-velocity or ballistic impact damage on the strength of thin composite and aluminum shear panels

Impact tests were conducted on shear panels fabricated from 6061-T6 aluminum and from woven fabric prepreg of Du Pont Kevlara fiber/epoxy resin and graphite fiber/epoxy resin. The shear panels consisted of three different composite laminates and one aluminum material configuration. Three panel aspect ratios were evaluated for each material configuration. Composite panels were impacted with a 1.27-cm (0.05-in) diameter aluminum sphere at low velocities of 46 m/sec (150 ft/sec) and 67 m/sec (220 ft/sec). Ballistic impact conditions consisted of a tumbled 0.50-caliber projectile impacting loaded composite and aluminum shear panels. The results of these tests indicate that ballistic threshold load (the lowest load which will result in immediate failure upon penetration by the projectile) varied between 0.44 and 0.61 of the average failure load of undamaged panels. The residual strengths of the panels after ballistic impact varied between 0.55 and 0.75 of the average failure strength of the undamaged panels. The low velocity impacts at 67 m/sec (220 ft/sec) caused a 15 to 20 percent reduction in strength, whereas the impacts at 46 m/sec (150 ft/sec) resulted in negligible strength loss. Good agreement was obtained between the experimental failure strengths and the predicted strength with the point stress failure criterion.

Farley, G. L.↗

NASA NTRS1985

Docking simulation analysis of range data requirements for the orbital maneuvering vehicle

The results of an initial study are reported assess the controllability of the Orbital Maneuvering Vehicle (OMV) for terminal closure and docking are reported. The vehicle characteristics used in this study are those of the Marshall Space Flight Center (MSFC) baseline OMV which were published with the request for proposals for preliminary design of this vehicle. This simulation was conducted at MSFC using the Target Motion Simulator. The study focused on the OMV manual mode capability to accommodate both stabilized and tumbling target engagements with varying complements of range and range rate data displayed to the OMV operator. Four trained test subjects performed over 400 simulated orbital dockings during this study. A firm requirement for radar during the terminal closure and dock phase of the OMV mission was not established by these simulations. Fifteen pound thrusters recommended in the MSFC baseline design were found to be advantageous for initial rate matching maneuvers with unstabilized targets; however, lower thrust levels were desirable for making the final docking maneuvers.

Micheal, J. D.↗

NASA NTRS1986

Theory of idealized two-dimensional ballute in Newtonian hypersonic flow

A differential equation governing the geometry of a two-dimensional ballute in hypersonic flow and its constraining boundary conditions are derived under idealized assumptions. By solving these equations, the shape of the ballute is determined over a range of conditions. Lift, drag, pitching moment, and the allowed limit of center-of-gravity location for stability (meta-center) are then calculated using Newtonian hypersonic approximation. It is shown that the meta-center occurs near the forward end because of compliance of the ballute membrane to the shock layer pressures, especially at low free-stream densities. In order for the vehicle employing the ballute to be stable at all densities, the center of gravity must be within approximately the forward 20 percent of overall length of the vehicle. However, typical flight trajectories of an aeroassisted orbital transfer vehicle employing the ballute for aerobraking show that the vehicle may be able to complete its atmospheric flight without tumbling provided that the center of gravity is located within the forward 43 percent of the vehicle length because of the relatively short duration of flight through the destabilizing low-density regime.

Park, C.↗

NASA NTRS1987

Solar system dynamics

The rotational dynamics of irregularly shaped satellites and the origin of Kirkwood Gaps are discussed. The chaotic tumbling of Hyperion and the anomalously low eccentricity of Deimos are examined. The Digital Orrery is used to explore the phase space of the ellipic restricted three body problem near the principal commensurabilities (2/1, 5/2, 3/1, and 3/2). The results for the 3/1 commensurability are in close agreement with those found earlier with the algebraic mapping method. Large chaotic zones are associated with the 3/1, 2/1 and 5/2 resonances, where there are gaps in the distribution of asteroids. The region near the 3/2 resonance, where the Hilda group of asteroids is located, is largely devoid of chaotic behavior. Thus, there is a qualitative agreement between the character of the motion and the distribution of asteroids.

Wisdom, Jack↗

NASA NTRS1986

Orbital resonances, unusual configurations and exotic rotation states among planetary satellites

The origin of orbital resonances is shown in the demonstration of the evolution of a pair of planetary satellites through a commensurability of the mean motions by a sequence of diagrams of constant energy curves in a two-dimensional phase space; the closed curve corresponding to the motion in each successive diagram is identified by its adiabatically conserved area. It is found that two-body resonances serve as a basis in the solution of the problem of the origin and evolution of the three-body Laplace resonance among the Galilean satellites of Jupiter. The unusual rotation state of Saturn's satellite Hyperion which is expected to tumble chaotically for an indefinite amount of time is discussed.

Peale, S. J.↗

NASA NTRS1987

Development of a facility using robotics for testing automation of inertial instruments

The Integrated Robotics System Simulation (ROBSIM) was used to evaluate the performance of the PUMA 560 arm as applied to testing of inertial sensors. Results of this effort were used in the design and development of a feasibility test environment using a PUMA 560 arm. The implemented facility demonstrated the ability to perform conventional static inertial instrument tests (rotation and tumble). The facility included an efficient data acquisitions capability along with a precision test servomechanism function resulting in various data presentations which are included in the paper. Analysis of inertial instrument testing accuracy, repeatability and noise characteristics are provided for the PUMA 560 as well as for other possible commercial arm configurations. Another integral aspect of the effort was an in-depth economic analysis and comparison of robot arm testing versus use of contemporary precision test equipment.

Greig, Joy Y.↗

NASA NTRS1987

Orbital Maneuvering Vehicle - New capability

The Orbital Maneuvering Vehicle (OMV) program is reviewed with reference to the current status of the program, vehicle description, and mission capabilities. The OMV, which will be available in 1991, will be able to economically deliver and retreive spacecraft from orbits beyond the practical limits of the Shuttle. It will be capable of meeting the present needs of the Space Transportation System and its payloads and the future space activities associated with the Space Station. In addition to the inherent capability of the OMV, it can be enhanced by the addition of special purpose mission kits to meet special mission needs, such as servicing, refueling, and recovery of tumbling satellites.

Huber, William G.↗

NASA NTRS1987

Inflight combined vertical and lateral space vehicular accelerations - Human tolerances

Human tolerance studies related to inflight rolling (tumbling) accelerations are discussed, with emphasis on the need to provide data on combinations of Gy, as experienced during an anomalous roll aboard Gemini VIII during which upper body (-) Gz forces and lower body (+) Gz forces were experienced. The study also points to the need to provide data on tolerances to (+) or (-) Gy combined with (-) Gz, in addition to the lowered tolerances to Gy and Gz accelerations experienced by those adapted to microgravity. It is noted that such data can be used to establish limits on spacecraft acceleration maneuvering specifications.

Mohler, S. R.↗

NASA NTRS1987

Urey Prize Lecture - Chaotic dynamics in the solar system

Attention is given to solar system cases in which chaotic solutions of Newton's equations are important, as in chaotic rotation and orbital evolution. Hyperion is noted to be tumbling chaotically; chaotic orbital evolution is suggested to be of fundamental importance to an accounting for the Kirkwood gaps in asteroid distribution and for the phase space boundary of the chaotic zone at the 3/1 mean-motion commensurability with Jupiter. In addition, chaotic trajectories in the 2/1 chaotic zone reach very high eccentricities by a route that carries them to high inclinations temporarily.

Wisdom, Jack↗

NASA NTRS1988

Evolution of inclined galactic gas disks. I - A cloud-fluid approach

In this paper, numerical models are developed to follow the time-dependent behavior of inclined gas disks in nonspherical galaxies. Differential equations are developed which describe the time rate of change of the orbits of mass elements composing a thin, smoothly warping and twisting gas disk. These equations include multiple moments due to the nonsphericity of the galactic mass distribution, Coriolis effects arising from determination of orbits in a reference frame which tumbles with the surface figure of the galaxy, and viscous forces arising from cloud-cloud collisions. A cloud-fluid approach is used in determining the viscous forces. Physical arguments are used to determine the maximum permissible local value of the coefficient of kinematic viscosity. For small initial inclinations, analytic expressions are obtained for the inclination as a function of time and for the settling time, and the features of the solution are discussed.

Steiman-Cameron, Thomas Y.↗

NASA NTRS1988

Design of an interim space rescue ferry vehicle

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

Halsell, James D., Jr.↗

NASA NTRS1988

Mass unbalance analysis for GP-B rotors

Using three different approaches, laboratory results were obtained for the mass unbalance of the NASA Gravity Probe B rotors designed to test Einstein's gravitational theory. In the first method, measurements of the precession rate of the spinning rotor are deduced from spin-frequency components of the trapped flux. The other approaches involve the measuring of niobium coating thickness using an electron back-scattering device and the measuring of the periodicities of a tumbling rotor. Assumptions of the methods are discussed, along with reasons for discrepancies among the results.

Keiser, G. M.↗

NASA NTRS1987

Open control/display system for a telerobotics work station

A working Advanced Space Cockpit was developed that integrated advanced control and display devices into a state-of-the-art multimicroprocessor hardware configuration, using window graphics and running under an object-oriented, multitasking real-time operating system environment. This Open Control/Display System supports the idea that the operator should be able to interactively monitor, select, control, and display information about many payloads aboard the Space Station using sets of I/O devices with a single, software-reconfigurable workstation. This is done while maintaining system consistency, yet the system is completely open to accept new additions and advances in hardware and software. The Advanced Space Cockpit, linked to Grumman's Hybrid Computing Facility and Large Amplitude Space Simulator (LASS), was used to test the Open Control/Display System via full-scale simulation of the following tasks: telerobotic truss assembly, RCS and thermal bus servicing, CMG changeout, RMS constrained motion and space constructible radiator assembly, HPA coordinated control, and OMV docking and tumbling satellite retrieval. The proposed man-machine interface standard discussed has evolved through many iterations of the tasks, and is based on feedback from NASA and Air Force personnel who performed those tasks in the LASS.

Keslowitz, Saul↗

NASA NTRS1988

Laser agile illumination for object tracking and classification - Feasibility study

The 'agile illumination' concept for discrimination between ICBM warheads and decoys involves a two-aperture illumination with coherent light, diffraction of light by propagation, and a resulting interference pattern on the object surface. A scanning two-beam interference pattern illuminates one object at a time; depending on the shape, momentum, spinning, and tumbling characteristics of the interrogated object, different temporal signals will be obtained for different classes of objects.

Scholl, Marija S.↗

NASA NTRS1988

High-alpha flight dynamics research on the X-29 configuration using dynamic model test techniques

High-angle-of-attack flight dynamics of the X-29 configuration were studied using dynamic model test techniques. These tests identified phenomena including wing rock, spins, and tumbling which dominate the high-alpha behavior of the configuration and define its usable flight envelope. Results of these tests have been used to design flight control concepts to minimize adverse behavior. Planned high-angle-of-attack flight tests of the X-29 airplane will provide an opportunity to validate the model predictions.

Croom, Mark A.↗

NASA NTRS1989

The sensory transduction pathways in bacterial chemotaxis

Bacterial chemotaxis is a useful model for investigating in molecular detail the behavioral response of cells to changes in their environment. Peritrichously flagellated bacteria such as coli and typhimurium swim by rotating helical flagella in a counterclockwise direction. If flagellar rotation is briefly reversed, the bacteria tumble and change the direction of swimming. The bacteria continuously sample the environment and use a temporal sensing mechanism to compare the present and immediate past environments. Bacteria respond to a broad range of stimuli including changes in temperature, oxygen concentration, pH and osmotic strength. Bacteria are attracted to potential sources of nutrition such as sugars and amino acids and are repelled by other chemicals. In the methylation-dependent pathways for sensory transduction and adaptation in E. coli and S. typhimurium, chemoeffectors bind to transducing proteins that span the plasma membrane. The transducing proteins are postulated to control the rate of autophosphorylation of the CheA protein, which in turn phosphorylates the CheY protein. The phospho-CheY protein binds to the switch on the flagellar motor and is the signal for clockwise rotation of the motor. Adaptation to an attractant is achieved by increasing methylation of the transducing protein until the attractant stimulus is cancelled. Responses to oxygen and certain sugars involve methylation-independent pathways in which adaption occurs without methylation of a transducing protein. Taxis toward oxygen is mediated by the electron transport system and changes in the proton motive force. Recent studies have shown that the methylation-independent pathway converges with the methylation-dependent pathway at or before the CheA protein.

Taylor, Barry L.↗