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Three dimensional latching dynamics and loads induced during Apollo spacecraft docking, using linear stiffness or flexibility matrices for structural elasticity
The role of the Docking Module ECS (Environmental Control System) to be used on the Apollo-Soyuz Test mission is to provide a means for crewmen to transfer safely between the Apollo and Soyuz vehicles in a shirtsleeve environment. This paper describes the Docking Module ECS and includes the philosophy and rationale used in evaluating and selecting the capabilities that are required to satisfy the Docking Module's airlock function: (1) adjusting the pressure and composition of the atmosphere to effect crew transfer and (2) providing a shirtsleeve environment during transfer operations. An analytical evaluation is given of the environmental parameters (including CO2 level, humidity, and temperature) during a normal transfer timeline.
The United States and Soviet Union in July 1975 successfully completed a joint space mission utilizing each country's spacecraft and the compatible docking system designed and fabricated by each country. The compatible docking system is described, along with the extensive research, development, and testing leading up to the successful mission. It also describes the formulation and implementation of methods for breaking the language barrier, bridging the extensive distances for communication and travel, and adjusting to each country's different culture during the three-year development program.
Cross coupling between motion attenuators on opposite sides of docking mechanism proposed as means of increasing capture envelope. Prototype system for application of cross-coupling concept is one used for docking of Apollo and Soyuz spacecraft; however, given widespread use of docking mechanisms, concept may prove useful in many terrestrial applications as well.
The digital program ASTP Docking Dynamics as outlined is intended to aid the engineer using the program to determine the docking system loads and attendant vehicular motion resulting from docking two vehicles that have an androgynous, six-hydraulic-attenuator, guide ring, docking interface similar to that designed for the Apollo/Soyuz Test Project (ASTP). This program is set up to analyze two different vehicle combinations: the Apollo CSM docking to Soyuz and the shuttle orbiter docking to another orbiter. The subroutine modifies the vehicle control systems to describe one or the other vehicle combinations; the rest of the vehicle characteristics are changed by input data. To date, the program has been used to predict and correlate ASTP docking loads and performance with docking test program results from dynamic testing. The program modified for use on IBM 360 computers. Parts of the original docking system equations in the areas of hydraulic damping and capture latches are modified to better describe the detail design of the ASTP docking system.
Test systems are developed for rendezvous and docking of manned spacecraft and stations that are suitable for use as a standard international system. This includes the rendezvous and docking of Apollo and Soyuz spacecraft, and crew transfer. The conduct of the mission will include: (1) testing of compatible rendezvous systems in orbit; (2) testing of universal docking assemblies; (3) verifying the techniques for transfer of cosmonauts and astronauts; (4) performing certain activities by U.S.A. and U.S.S.R. crews in joint flight; and (5) gaining of experience in conducting joint flights by U.S.A. and U.S.S.R. spacecraft, including, in case of necessity, rendering aid in emergency situations.
Optical guidance system for Apollo rendezvous and docking
Discussion of the spectrum of remedial concepts and realistic mission constraints. A vehicle design is presented which is offered as the 'best' solution among a number of alternative designs in terms of its cost effectiveness. The probability of the safe reentry and recovery of one to three stranded astronauts is 0.80. The vehicle is symmetrical and lenticular in shape, and exhibits a modest lift-to-drag ratio of 0.5, allowing it to reenter a two-skip trajectory with minimal gravity forces on the astronauts. Attitude control, voice and beacon communication, and impact attenuation are also provided. The vehicle could be delivered in a docked position on the Apollo Applications Program multiple docking adapter.
Apollo-Soyuz docking module atmospheres were evaluated for incidence of decompression sickness in men simulating passage from the Russian spacecraft atmosphere, to the U.S. spacecraft atmosphere, and then to the American space suit pressure. Following 8 hr of 'shirtsleeve' exposure to 31:69::O2:N2 gas breathing mixture, at 10 psia, subjects were 'denitrogenated' for either 30 or 60 min with 100% O2 prior to decompression directly to 3.7 psia suit equivalent while performing exercise at fixed intervals. Five of 21 subjects experienced symptoms of decompression sickness after 60 min of denitrogenation compared to 6 among 20 subjects after 30 min of denitrogenation. A condition of Grade I bends was reported after 60 min of denitrogenation, and 3 of these 5 subjects noted the disappearance of all symptoms of bends at 3.7 psia. After 30 min of denitrogenation, 2 out of 6 subjects developed Grade II bends at 3.7 psia.
The application of analytical concepts developed to facilitate the design and analysis of the thermal simulator for the Apollo Soyuz docking module is discussed. The functions used to mathematically formulate the irradiance from a quartzline lamp and reflector are described with examples of applications to other geometries. General information is denoted for utilization of the functions in computer programs with approximate computer storage and statement requirements.
Six docking attempts were required in order to successfully achieve capture latch engagement during the transposition and docking phase following translunar injection. After docking, the probe and drogue were examined by the crew. Probe operation appeared normal and radial marks were noted on the drogue. During all subsequent operations, the probe operated properly.
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Kenneth Thomas will discuss the Apollo Intra-Extra Vehicular Activity (IEVA) spacesuits, which supported launch and reentry and extra-vehicular activity. This program was NASA's first attempt to develop a new suit design from requirements and concepts. Mr. Thomas will chronicle the challenges, developments, struggles, and solutions that culminated in the system that allowed the first human exploration of the Moon and deep space (outside low-Earth orbit). Apollo pressure suit designs allowed the heroic repair of the Skylab space station and supported the first U.S. and Russian spacecraft docking during the Apollo Soyuz Test Project. Mr. Thomas will also discuss the IEVA suits' successes and challenges associated with the IEVA developments of the 1960s.
Mathematical models for thermal analysis of Apollo Applications Program multiple docking adapter
The mission plan of the docking of a United States Apollo and a Soviet Union Soyuz spacecraft in Earth orbit to test compatible rendezvous and docking equipment and procedures is presented. Space experiments conducted jointly by the astronauts and cosmonauts during the joint phase of the mission as well as experiments performed solely by the U.S. astronauts and spread over the nine day span of the flight are included. Biographies of the astronauts and cosmonauts are given.
The Skylab Program includes three low earth orbit missions. These missions are designated SL-1/SL-2,SL-3 and SL-4. In addition to the three nominal Skylab missions, the program includes the Skylab Rescue Mission (SL-R). The SL-R mission is designed to provide a safe return of the Skylab crew in the event the Command Service Module (CSM) becomes disabled while docked to the Saturn Workshop (SWS). Mission requirements for the SL-R mission only are presented. SL-R mission configuration will be a CSM (modified with a field installed kit) manned by two crewmen launched on a Saturn IB Launch Vechicle. The SL-R CSM will rendezvous and dock with the SWS (or Orbital Assembly (OA), consisting of the SWS and disabled CSM, if the disabled CSM has not previously been jettisoned). The SWS configuration includes a Multiple Docking Adapter (MDA), Apollo Telescope Mount (ATM), Airlock Module (AM), and an S-IVB stage (modified as an Orbital Workshop (OWS), previously launched and inserted into orbit on a two-stage Saturn V Launch Vehicle for the SL-1/SL-2 mission.
Two Apollo Soyuz experiments designed to detect gravity anomalies from spacecraft motion are described. The geodynamics experiment (MA-128) measured large-scale gravity anomalies by detecting small accelerations of Apollo in the 222 km orbit, using Doppler tracking from the ATS-6 satellite. Experiment MA-089 measured 300 km anomalies on the earth's surface by detecting minute changes in the separation between Apollo and the docking module. Topics discussed in relation to these experiments include the Doppler effect, gravimeters, and the discovery of mascons on the moon.