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NASA NTRS2005

Rendezvous and Proximity Operations of the Space Shuttle

Space Shuttle rendezvous missions present unique challenges that were not fully recognized when the Shuttle was designed. Rendezvous targets could be passive (i.e., no lights or transponders), and not designed to facilitate Shuttle rendezvous, proximity operations, and retrieval. Shuttle reaction control system jet plume impingement on target spacecraft presented induced dynamics, structural loading, and contamination concerns. These issues, along with limited reaction control system propellant in the Shuttle nose, drove a change from the legacy Gemini/Apollo coelliptic profile to a stable orbit profile, and the development of new proximity operations techniques. Multiple scientific and on-orbit servicing missions, and crew exchange, assembly and replenishment flights to Mir and to the International Space Station drove further profile and piloting technique changes. These changes included new proximity operations, relative navigation sensors, and new computer generated piloting cues. However, the Shuttle's baseline rendezvous navigation system has not required modification to place the Shuttle at the proximity operations initiation point for all rendezvous missions flown.

Goodman, John L.↗

NASA NTRS2006

Considerations for Isochronous Data Services over the Proximity-1 Space Link

Future mission concepts for robotic and human explorations will involve a high level of real time control/monitoring operations such as tele-operation for spacecraft rendezvous and surface mobile platforms carrying life-support equipments. The timely dissemination of voice, command, and real-time telemetry for monitoring and coordination purposes is critical for mission success. It is envisioned that future missions will require a network infrastructure capable of supporting isochronous data services. The CCSDS Proximity-1 Space Link Protocol1 could be used to provide isochronous service over the surface-to-Earth relay as well as "beyond-the-horizon" communications between distant Lunar or Mars surface elements. This paper will analyze the latency, jitter, and throughput performance of the Proximity-1 protocol for isochronous applications. In particular we will focus on constrained scenarios where the protocol operates in full-duplex mode, carrying isochronous traffic in one direction and error-controlled traffic in the other direction. We analyze the impact of the strict priority scheme in Proximity-1 on delay jitter and the impact of the isochronous traffic on the efficiency of the reliable data transfer in the other direction, and discuss methods for performance optimization. In general, jitter performance is driving by relative loading of isochronous traffic on the forward link compared to the acknowledgement traffic. Under light loading condition, the upper-bound of the delay jitter is the transmission duration of an acknowledgement frame on the forward link; for higher loading scenarios, the maximum jitter is scaled up by the inverse of the residual bandwidth, i.e., the spare capacity available in the forward link to carry isochronous traffic.

isochronous communications↗

NASA NTRS2006

Considerations for Isochronous Data Services over the Proximity-1 Space Link

Future mission concepts for robotic and human explorations will involve a high level of real time control/monitoring operations such as tele-operation for spacecraft rendezvous and surface mobile platforms carrying life-support equipments. The timely dissemination of voice, command, and real-time telemetry for monitoring and coordination purposes is critical for mission success. It is envisioned that future missions will require a network infrastructure capable of supporting isochronous data services. The CCSDS Proximity-1 Space Link Protocol1 could be used to carry isochronous traffic. This paper we will focus on the data link layer portion of the Proximity-1 protocol specification and analyze its jitter and performance for supporting isochronous applications. In particular we will focus on constrained scenarios where the protocol operates in full-duplex mode, carrying isochronous traffic in one direction and error-controlled traffic in the other direction. We analyze the impact of the strict priority scheme in Proximity-1 used to arbitrate channel access on the latency jitter of the isochronous traffic and the efficiency of the reliable data transfer. In general, jitter performance is driven by the loading of the acknowledgement traffic on the forward link. Under light loading condition, the upper-bound of the delay jitter is the transmission duration of an acknowledgement frame on the forward link; for higher loading scenarios, the maximum jitter is scaled up by the inverse of the residual bandwidth, i.e., the spare capacity available in the forward link after accounting for the acknowledgement traffic. We derive analytical expression on the maximum jitter and discuss its performance.

space link↗

NASA NTRS2015

Cubesat Proximity Operations Demonstration (CPOD)

The CubeSat Proximity Operations Demonstration (CPOD) project will demonstrate rendezvous, proximity operations and docking (RPOD) using two 3-unit (3U) CubeSats. Each CubeSat is a satellite with the dimensions 4 inches x 4 inches x 13 inches (10 centimeters x 10 centimeters x 33 centimeters) and weighing approximately 11 pounds (5 kilograms). This flight demonstration will validate and characterize many new miniature low-power proximity operations technologies applicable to future missions. This mission will advance the state of the art in nanosatellite attitude determination,navigation and control systems, in addition to demonstrating relative navigation capabilities.The two CPOD satellites are scheduled to be launched together to low-Earth orbit no earlier than Dec. 1, 2015.

Relative navigation capabilities↗

NASA NTRS1974

Results of wind tunnel tests at Mach 5 on the .004 scale model 2A configuration space shuttle to determine proximity effects and orbiter control effectiveness during orbiter/external tank abort separation (IAG)

Results from tests in the NASA/MSFC Trisonic Wind Tunnel on 0.004-Scale Orbiter and External Tank Force Models in Close Proximity (RTLS Abort Separation Conditions) are presented. The primary test objectives were to obtain data concerning proximity effects on the aerodynamic forces and moments experienced by Vehicle 2A Configuration Shuttle Orbiter and External Tank during an abort separation (Return to Launch Site) at a Mach number of 5. Additionally, data on orbiter control effectiveness during such an abort was obtained. Proximity effects were investigated for relative angles of incidence from minus 5 deg to plus 10 deg of the orbiter FRL with respect to the external tank centerline over a range of vertical and longitudinal displacements from the mated position to 2.5 tank diameters below and 3 tank diameters aft of the mated position.

Garton, W. P.↗

NASA NTRS1975

Proximity sensor technology for manipulator end effectors

Optical proximity sensing techniques which could be used to help control the critical grasping phase of a remote manipulation are described. The proximity sensors described use a triangulation geometry to detect a surface located in a pre-determined region. The design of the proximity sensors themselves is discussed, as well as their application to manipulator control with a local control loop, and possibilities for future development are discussed.

Johnston, A. R.↗

NASA NTRS1976

Aerodynamic characteristics in ground proximity

Results from recent investigations in the Langley V/STOL tunnel of an externally blown flap and an upper surface blown flap configuration in ground proximity are presented. Comparisons of longitudinal aerodynamic characteristics indicate that in ground proximity, drag is reduced for both configurations, but changes in lift are configuration dependent. Steady state analyses of the landing approach indicate an increase in flight path angle for both configurations in ground proximity because of the drag reduction. Dynamic analyses with a fixed-base simulator indicate that the resultant flight path during landing approach is dependent on the initial flight path angle and the control technique used.

Thomas, J. L.↗

NASA NTRS1978

Orbiter/payload proximity operations SES Postsim report. Lateral approach and other techniques

Various approach and stationkeeping simulations (proximity operations) were conducted in the Shuttle engineering simulator (SES). This simulator is the first to dynamically include the Orbiter reaction control system (RCS) plume effects on a payload being recovered after rendezvous operations. A procedure for braking, using the simultaneous firing of both jets, was evaluated and found very useful for proximity operations. However this procedure is very inefficient in the RCS usage and requires modifications to the digital autopilot (DAP) software. A new final approach, the lateral approach technique (LAT), or the momentum vector proximity approach, was also evaluated in the simulations. The LAT, which included a tailfirst approach for braking, was evaluated successfully with both inertial and gravity stabilized payloads.

Olszewski, O.↗

NASA NTRS1988

Modifications to the NASA Ames Space Station Proximity Operations (PROX OPS) Simulator

As the United States is approaching an operational space station era, flight simulators are required to investigate human design and performance aspects associated with orbital operations. Among these are proximity operations (PROX OPS), those activities occurring within a 1-km sphere of Space Station including rendezvous, docking, rescue, and repair. The Space Station Proximity Operations Simulator at NASA Ames Research Center was modified to provide the capability for investigations into human performance aspects of proximity operations. Accurate flight equations of motion were installed to provide the appropriate visual scene to test subjects performing simulated missions. Also, the flight control system was enhanced by enabling pilot control over thruster acceleration values. Currently, research is under way to examine human performance in a variety of mission scenarios.

Brody, Adam↗

NASA NTRS1990

Proximity operations concept design study, task 6

The feasibility of using optical technology to perform the mission of the proximity operations communications subsystem on Space Station Freedom was determined. Proximity operations mission requirements are determined and the relationship to the overall operational environment of the space station is defined. From this information, the design requirements of the communication subsystem are derived. Based on these requirements, a preliminary design is developed and the feasibility of implementation determined. To support the Orbital Maneuvering Vehicle and National Space Transportation System, the optical system development is straightforward. The requirements on extra-vehicular activity are such as to allow large fields of uncertainty, thus exacerbating the acquisition problem; however, an approach is given that could mitigate this problem. In general, it is found that such a system could indeed perform the proximity operations mission requirement, with some development required to support extra-vehicular activity.

Williams, A. N.↗

NASA NTRS1991

Results of prototype software development for automation of shuttle proximity operations

The effort involves demonstration of expert system technology application to Shuttle rendezvous operations in a high-fidelity, real-time simulation environment. The JSC Systems Engineering Simulator (SES) served as the test bed for the demonstration. Rendezvous applications were focused on crew procedures and monitoring of sensor health and trajectory status. Proximity operations applications were focused on monitoring, crew advisory, and control of the approach trajectory. Guidance, Navigation, and Control areas of emphasis included the approach, transition and stationkeeping guidance, and laser docking sensor navigation. Operator interface displays for monitor and control functions were developed. A rule-based expert system was developed to manage the relative navigation system/sensors for nominal operations and simple failure contingencies. Testing resulted in the following findings; (1) the developed guidance is applicable for operations with LVLH stabilized targets; (2) closing rates less than 0.05 feet per second are difficult to maintain due to the Shuttle translational/rotational cross-coupling; (3) automated operations result in reduced propellant consumption and plume impingement effects on the target as compared to manual operations; and (4) braking gates are beneficial for trajectory management. A versatile guidance design was demonstrated. An accurate proximity operations sensor/navigation system to provide relative attitude information within 30 feet is required and redesign of the existing Shuttle digital autopilot should be considered to reduce the cross-coupling effects. This activity has demonstrated the feasibility of automated Shuttle proximity operations with the Space Station Freedom. Indications are that berthing operations as well as docking can be supported.

Hiers, Hal↗

NASA NTRS1994

Active Targets For Capacitive Proximity Sensors

Lightweight, low-power active targets devised for use with improved capacitive proximity sensors described in "Capacitive Proximity Sensor Has Longer Range" (GSC-13377), and "Capacitive Proximity Sensors With Additional Driven Shields" (GSC-13475). Active targets are short-distance electrostatic beacons; they generate known alternating electro-static fields used for alignment and/or to measure distances.

Jenstrom, Del T.↗

NASA NTRS2000

Trajectories in Close Proximity to Asteroids

Spacecraft motion in close proximity to irregularly shaped, rotating bodies such as asteroids presents a unique dynamical environment as compared to most space missions. There are several fundamental novelties in this environment that spacecraft must deal with. These include the possibility of orbital instabilities that can act over very short time spans (on the order of hours for some systems), possible non-uniform rotation of the central gravity field, divergence of traditional gravity field representations when close to the asteroid surface, dominance of perturbing forces, an extremely large asteroid model parameter space that must be prepared for in the absence of reliable information, and the possibility of employing new and novel trajectory control techniques such as hovering and repeated landings on the asteroid surface. An overview of how these novelties impact the space of feasible close proximity operations and how different asteroid model properties will affect their implementation is given. In so doing, four fundamental types of close proximity operations will be defined. Listed in order of increasing technical difficulty these are: (1) close, stable orbits; (2) low-altitude flyovers; (3) landing trajectories; and (4) hovering trajectories. The feasibility and difficulty of implementing these operations will vary as a function of the asteroid shape, size, density, and rotation properties, and as a function of the spacecraft navigation capability. Additional information is contained in the original extended abstract.

Scheeres, D. J.↗

NASA NTRS2003

Laser-Based Relative Navigation and Guidance for Space Shuttle Proximity Operations

American manned spacecraft have used visual piloting techniques in the terminal phase of randezvous during the Gemini, Apollo, Skylab, and Space Shuttle programs. In the last several years, space- shuttle astronauts have used the Rendezvous and Proximity Operations Program (RPOP), running; on a laptop computer, as a guidance and navigation aid during proximity operations. By processing measurements to the target satellite taken by a laser sensor, RPOP provides the shuttle crew with a more accurate relative position and velocity than from any other source. The inclusion of guidance algorithms allows RPOP to determine delta-velocities to fly very efficient, repeatable trajectories. This paper will focus on the guidance and navigation algorithms in RPOP, as well as results from simulation and flight. Although developed for shuttle proximity operations, the RPOP algorithms have potential applicability to an automated vehicle.

Laser sensors↗

NASA NTRS1960

Thrust Characteristics of Multiple Lifting Jets in Ground Proximity

An investigation has been made to determine the thrust characteristics within ground proximity of a series of models which might represent vertical take-off-and-landing (VTOL) aircraft with multiple exit jet engines exhausting vertically downward beneath a lifting surface. Variations in simulated engine configurations were provided by a series of nozzle insert plugs in which the number of jet exits, located symmetrically on a fixed circle, was varied, or the diameter of the circle was varied for a given number of jet exits. represent lifting surfaces, and high-pressure air was used to simulate jet-engine exhaust. Plywood plates were used to The results of the investigation showed that increasing the number of exits, such that an annular jet configuration was approached, provided more favorable thrust characteristics within ground proximity than any other variation in the geometry of these multiple jets. Tests of a configuration with two nozzles approximating a fan-in-wing VTOL aircraft with fans located at different spanwise locations indicated that the augmentation in thrust within ground proximity was greater for the arrangement with the more inboard location of the nozzles.

Davenport, Edwin E.↗

NASA NTRS2004

Autonomous NanoTechnology Swarm (ANTS) Prospecting Asteroid Mission (PAM), Asteroid Proximity Operations

The Autonomous NanoTechnology Swarm (ANTS) is a generic mission architecture based on spatially distributed spacecraft, autonomous and redundant components, and hierarchical organization. The ANTS Prospecting Asteroid Mission (PAM) is an ANTS application which will nominally use a swarm of 1000 spacecraft. There would be 10 types of "specialists" with common spacecraft buses. There would be 10 subswarms of approximately 100 spacecraft each or approximately 10 of each specialist in each swarm. The ANTS PAM primary objective is the exploration of the asteroid belt in search of resources and material with astrobiologically relevant origins and signatures. The ANTS PAM spacecraft will nominally be released from a station in an Earth-Moon L1 libration point orbit, and they will use Solar sails for propulsion. The sail structure would be highly flexible, capable of changing morphology to change cross-section for capture of sunlight or to form effective "tip vanes" for attitude control. ANTS PAM sails would be capable of full to partial deployment, to change effective sail area and center of pressure, and thus allow attitude control. Results of analysis of a transfer trajectory from Earth to a sample target asteroid will be presented. ANTS PAM will require continuous coverage of different asteroid locations as close as one to two asteroid "diameters" from the surface of the asteroid for periods of science data collection during asteroid proximity operations. Hovering spacecraft could meet the science data collection objectives. The results of hovering analysis will be presented. There are locations for which hovering is not possible, for example on the illuminated side of the asteroid. For cases where hovering is not possible, the results of utilizing asteroid formations to orbit the asteroid and achieve the desired asteroid viewing will be presented for sample asteroids. The ability of ANTS PAM to reduce the area of the solar sail during asteroid proximity operations is critical to the maintenance of orbiting formations for a period of time. Results of analysis of potential "traffic" problems during asteroid proximity operations will be presented.

Marr, Greg↗

NASA NTRS1995

Human parathyroid hormone-(1-38) restores cancellous bone to the immobilized, osteopenic proximal tibial metaphysis in rats

The purpose of this study was to determine if human parathyroid hormone-(1-38) (hPTH(1-38)) can restore cancellous bone mass to the established osteopenic, immobilized proximal tibial metaphyses of female rats. The right hindlimbs of 6-month-old female Sprague-Dawley rats were immobilized by bandaging the right hindlimbs to the abdomen. After 30 days of right hindlimb immobilization, the rats were subcutaneously injected with 200 micrograms hPTH(1-38)/kg/day for 15 days (short-term treatment) or 75 days (longer-term treatment). Static bone histomorphometry was performed on the primary spongiosa, and both static and dynamic histomorphometry were performed on the secondary spongiosa of the right proximal tibial metaphyses. Immobilization for 30 days without treatment decreased trabecular bone area, number, and thickness in both primary and secondary spongiosa, and induced an increase in eroded perimeter and a decrease in tissue referent-bone formation rate in the secondary spongiosa. These changes reached a new steady state thereafter. Treatment with 200 micrograms hPTH(1-38)/kg/day for 15 days, beginning 30 days after immobilization, significantly increased trabecular bone area, thickness, and number in both primary and secondary spongiosa despite continuous immobilization when compared with controls. The short-term PTH treatment (15 days) significantly increased labeling perimeter, mineral apposition rate, and tissue referent-bone formation rate in the secondary spongiosa and stimulated longitudinal bone growth as compared with the controls. Longer PTH treatment (75 days) further increased trabecular bone area, thickness, and number as compared with controls and groups given short-term PTH treatment (15 days). The bone formation indices in the secondary spongiosa of the longer-term treated rats were lower than those of the short-term treated group, but they were still higher than those of controls. Our findings indicate that PTH treatment stimulates cancellous bone formation, and restores and adds extra cancellous bone to the established, disuse-osteopenic proximal tibial metaphysis of female rats with continuously immobilized right hindlimbs. These results suggest that PTH may be useful in treating disuse-induced osteoporosis in humans.

NASA Program Space Physiology and Countermeasures↗

NASA NTRS1949

Jet Diffusion in Proximity of a Wall

When auxiliary jet engines are installed on airframes; as well as in some new designs, the jet engines are mounted in such a way that the jet stream exhausts in close proximity to the fuselage. This report deals with the behavior of the jet in close proximity to a two-dimensional surface. The experiments were made to find out whether the axially symmetric stream tends to approach the flat surface. This report is the last of a series of four partial test reports of the Goettingen program for the installation of jet engines, dated October 12, 1943. This report is the complement of the report on intake in close proximity to a wall.

Kuechemann, D.↗