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Effect of gravity-gradient torques on the dynamics of a spinning spacecraft with telescoping appendages
The effects of gravity-gradient torques during boom deployment maneuvers of a spinning spacecraft are examined with a combination of numerical and analytical methods. It is assumed that the spacecraft consists of a rigid central hub and movable rigid telescoping booms where the booms extend only along the hub principal axes. For the special case of symmetric deployment the stability boundaries are determined and a stability chart is used to study the system behavior. Possible cases of instability during this type of maneuver are identified.
A New Look at the GEO and Near-GEO Regimes: Operations, Disposals, and Debris
Since 1963 more than 900 spacecraft and more than 200 launch vehicle upper stages have been inserted into the vicinity of the geosynchronous regime. Equally important, more than 300 spacecraft have been maneuvered into disposal orbits at mission termination to alleviate unnecessary congestion in the finite GEO region. However, the number of GEO satellites continues to grow, and evidence exists of a substantial small debris population. In addition, the operational modes of an increasing number of GEO spacecraft differ from those of their predecessors of several decades ago, including more frequent utilization of inclined and eccentric geosynchronous orbits. Consequently, the nature of the GEO regime and its immediate surroundings is evolving from well-known classical characteristics. This paper takes a fresh look at the GEO satellite population and the near- and far-term environmental implications of the region, including the effects of national and international debris mitigation measures.
Neo – Mars Adaptive Training Integrative Knowledge System (MATRIKS) to Improve Operational Performance and its Neural Basis for Spaceflight
With prolonged mission durations, spaceflight crews will become increasingly dependent on onboard technologies for knowledge acquisition and maintenance. It is expected that not all skills and knowledge required for these missions can be retained and retrieved based on pre-mission training alone. Limited and delayed communication will significantly constrain support from Mission Control and crews will increasingly rely on autonomous onboard technologies to successfully perform post-landing operations. With the present project we will target NASA’s particular interest in developing and assessing an adaptive, just-in-time countermeasure that will consolidate and improve skills that are most relevant to space flight operations. To achieve this aim, NASA established a Virtual NASA Specialized Center of Research (VNSCOR)referred to as “Mars Adaptive Training Integrative Knowledge System (MATRIKS)”, comprising the following three projects: (1) “Trinity–Multi-Environment Virtual Training for Long Duration Exploration Missions”, PI: A. Anderson (UC Boulder); (2) “Morpheus–A Haptic Sensory Supplement to Optimize In-Flight Adaptive Training for Human Control of Spacecraft Robotic Arms”, PI: S. Robinson, UC Davis); and the present project “Neo–Adaptive Training integrative knowledge System to Improve Operational Performance and its Neural Basis for Spaceflight” (UPenn, PI: A.C. Stahn). Neo leverages a validated workstation called 6DF that simulates a rendezvous and docking maneuver using real spacecraft flight dynamics. It is designed to (1) train and improve sensorimotor skills relevant for inflight and post-landing operational tasks; (2) feature an autonomous and adaptive training approach that does not rely on feedback from flight operations on the ground; (3) maximize the transfer of mission-relevant motor skills; (4) allow the assessment of the neural circuitry underlying the task; and (5) deliver the training in a motivating and meaningful way to astronauts. Neocomprises two overarching aims: First, we will identify the neural circuitry underlying spaceflight relevant tasks by performing a subset of the 6DFtaskduring functional magnetic resonance imaging (MRI)in a total of up to N=30 subjects with varying levels of 6DF training experience. Second, as part of the above-mentioned VNSCOR MATRIKS the proposed 6DF autonomous intelligent tutor system will be integrated in an additive manner with a haptic feedback intervention (Morpheus), and a multi-environment virtual trainer(Trinity).It is expected that Neo, Morpheus and Trinity mutually complement each other to facilitate an effective countermeasure tool to acquire and retain operational skills that are critical for exploration class missions. To assess the efficacy of this combined effort, the VNSCOR MATRIKS will collect data inN=16 crew members in one HERA campaign of 45 days duration with N=16 crew members(four missions with N=4 crew member seach).The primary goal is to identify changes in operational performance as assessed by NASA’s simulator of Canadarm2 operations, i.e., Robotic On-board Trainer (ROBoT-r) in response to MATRIKS. As part of Neo we will also identify if, and to what extent MATRIKS will promote transfer to general cognitive performance (Cognition battery), distinctive visuo-spatial tasks critical for telerobotic tasks (Spatial Cognition battery), and affect brain structural changes and the neural circuitry of key brain networks expected to be relevant for spaceflight-related performance. At the conclusion of the research, we will have defined and demonstrated the use of a neuroscience-based, adaptive training integrative knowledge system to potentially mitigate visuo-spatial and sensorimotor brain changes associated with prolonged isolation and confinement to reduce the likelihood or impact of potential decrements in human performance capabilities during long-duration space missions. The expected significance of this 4-year project relates to its relevance for facilitating effective countermeasure tools to acquire and retain operational skills that are critical for exploration class missions. This will support the development of necessary countermeasures and technologies in support of human space exploration, focusing on mitigating operational performance risks.
Contingency Trajectory Design for a Lunar Orbit Insertion Maneuver Failure by the Lunar Atmosphere Dust Environment Explorer (LADEE) Spacecraft
The purpose of this extended abstract is to present results from a failed lunar-orbit insertion (LOI) maneuver contingency analysis for the Lunar Atmosphere Dust Environment Explorer (LADEE) mission, managed and operated by NASA Ames Research Center in Moffett Field, CA. The LADEE spacecrafts nominal trajectory implemented multiple sub-lunar phasing orbits centered at Earth before eventually reaching the Moon (Fig. 1) where a critical LOI maneuver was to be performed [1,2,3]. If this LOI was missed, the LADEE spacecraft would be on an Earth-escape trajectory, bound for heliocentric space. Although a partial mission recovery is possible from a heliocentric orbit (to be discussed in the full paper), it was found that an escape-prevention maneuver could be performed several days after a hypothetical LOI-miss, allowing a return to the desired science orbit around the Moon without leaving the Earths sphere-of-influence (SOI).
Mars Observer Lecture: Mars Orbit Insertion
The Mars Observer mission spacecraft was primarily designed for exploring Mars and the Martian environment. The Mars Observer was launched on September 25, 1992. The spacecraft was lost in the vicinity of Mars on August 21, 1993 when the spacecraft began its maneuvering sequence for Martian orbital insertion. This videotape shows a lecture by Suzanne R. Dodd, the Mission Planning Team Chief for the Mars Observer Project. Ms Dodd begins with a brief overview of the mission and the timeline from the launch to orbital insertion. Ms Dodd then reviews slides showing the trajectory of the spacecraft on its trip to Mars. Slides of the spacecraft being constructed are also shown. She then discusses the Mars orbit insertion and the events that will occur to move the spacecraft from the capture orbit into a mapping orbit. During the trip to Mars, scientists at JPL had devised a new strategy, called Power In that would allow for an earlier insertion into the mapping orbit. The talk summarizes this strategy, showing on a slide the planned transition orbits. There are shots of the Martian moon, Phobos, taken from the Viking spacecraft, as Ms Dodd explains that the trajectory will allow the orbiter to make new observations of that moon. She also explains the required steps to prepare for mapping after the spacecraft has achieved the mapping orbit around Mars. The lecture ends with a picture of Mars from the Observer on its approach to the planet.
Simulation of sloshing dynamics induced forces and torques actuated on dewar container driven by gravity gradient and jitter accelerations in microgravity
Some experimental spacecraft use superconducting sensors for gyro read-out and so must be maintained at a very low temperature. The boil-off from the cryogenic liquid used to cool the sensors can also be used, as the Gravity Probe B (GP-B) spacecraft does, as propellant to maintain attitude control and drag-free operation of the spacecraft. The cryogenic liquid for such spacecraft is, however, susceptible to both slosh-like motion and non-axisymmetric configurations under the influence of various kinds of gravity jitter and gravity gradient accelerations. Hence, it is important to quantify the magnitude of the liquid-induced perturbations on the spacecraft. We use the example of the GP-B to investigate such perturbations by numerical simulations. For this spacecraft disturbances can be imposed on the liquid by atmospheric drag, spacecraft attitude control maneuvers, and the earth's gravity gradient. More generally, onboard machinery vibrations and crew motion can also create disturbances. Recent studies suggest that high frequency disturbances are relatively unimportant in causing liquid motions in comparison to low frequency ones. The results presented here confirm this conclusion. After an initial calibration period, the GP-B spacecraft rotates in orbit at 0.1 rpm about the tank symmetry axis. For this rotation rate, the equilibrium liquid free surface shape is a 'doughnut' configuration for all residual gravity levels of 10(exp -6) g(sub 0) or less, as shown by experiments and by numerical simulations; furthermore, the superfluid behavior of the 1.8 K liquid helium used in GP-B eliminates temperature gradients and therefore such effects as Marangoni convection do not have to be considered. Classical fluid dynamics theory is used as the basis of the numerical simulations here, since Mason's experiments show that the theory is applicable for cryogenic liquid helium in large containers. To study liquid responses to various disturbances, we investigate and simulate three levels of gravity jitter (10(exp -6), 10(exp -7), and 10(exp -8) g(sub 0)) each at three predominant frequencies (0.1, 1.0, and 10 Hz), combined with a gravity gradient appropriate for the GP-B orbit. Dynamical evolution of sloshing dynamics excited fluid forces and torque fluctuations exerted on the dewar container driven by the combined gravity gradient and jitter accelerations are also investigated and simulated.
Combined design of structures and controllers for optimal maneuverability
Approaches to the combined design of structures and controllers for achieving optimal maneuverability are presented. A maneuverability index which directly reflects the minimum time required to perform a given set of maneuvers is introduced. By designing the flexible appendages, the maneuver time of the spacecraft is minimized under the constraints of structural properties, and post maneuver spillover is kept within a specified bound. The spillover reduction is achieved by making use of an appropriate reduced order model. The distributed parameter design problem is approached using assumed shape functions, and finite element analysis with dynamic reduction. Solution procedures have been investigated. Approximate design methods have been developed to overcome the computational difficulties. Some new constraints on the modal frequencies of the spacecraft are introduced in the original optimization problem to facilitate the solution process. It is shown that the global optimal design may be obtained by tuning the natural frequencies to satisfy specific constraints. Researchers quantify the difference between a lower bound to the solution for maneuver time associated with the original problem and the estimate obtained from the modified problem, for a specified application requirement. Numerical examples are presented to demonstrate the capability of this approach.
Orbit Determination of Spacecraft in Earth-Moon L1 and L2 Libration Point Orbits
The ARTEMIS mission, part of the THEMIS extended mission, is the first to fly spacecraft in the Earth-Moon Lissajous regions. In 2009, two of the five THEMIS spacecraft were redeployed from Earth-centered orbits to arrive in Earth-Moon Lissajous orbits in late 2010. Starting in August 2010, the ARTEMIS P1 spacecraft executed numerous stationkeeping maneuvers, initially maintaining a lunar L2 Lissajous orbit before transitioning into a lunar L1 orbit. The ARTEMIS P2 spacecraft entered a L1 Lissajous orbit in October 2010. In April 2011, both ARTEMIS spacecraft will suspend Lissajous stationkeeping and will be maneuvered into lunar orbits. The success of the ARTEMIS mission has allowed the science team to gather unprecedented magnetospheric measurements in the lunar Lissajous regions. In order to effectively perform lunar Lissajous stationkeeping maneuvers, the ARTEMIS operations team has provided orbit determination solutions with typical accuracies on the order of 0.1 km in position and 0.1 cm/s in velocity. The ARTEMIS team utilizes the Goddard Trajectory Determination System (GTDS), using a batch least squares method, to process range and Doppler tracking measurements from the NASA Deep Space Network (DSN), Berkeley Ground Station (BGS), Merritt Island (MILA) station, and United Space Network (USN). The team has also investigated processing of the same tracking data measurements using the Orbit Determination Tool Kit (ODTK) software, which uses an extended Kalman filter and recursive smoother to estimate the orbit. The orbit determination results from each of these methods will be presented and we will discuss the advantages and disadvantages associated with using each method in the lunar Lissajous regions. Orbit determination accuracy is dependent on both the quality and quantity of tracking measurements, fidelity of the orbit force models, and the estimation techniques used. Prior to Lissajous operations, the team determined the appropriate quantity of tracking measurements that would be needed to meet the required orbit determination accuracies. Analysts used the Orbit Determination Error Analysis System (ODEAS) to perform covariance analyses using various tracking data schedules. From this analysis, it was determined that 3.5 hours of DSN TRK-2-34 range and Doppler tracking data every other day would suffice to meet the predictive orbit knowledge accuracies in the Lissajous region. The results of this analysis are presented. Both GTDS and ODTK have high-fidelity environmental orbit force models that allow for very accurate orbit estimation in the lunar Lissajous regime. These models include solar radiation pressure, Earth and Moon gravity models, third body gravitational effects from the Sun, and to a lesser extent third body gravitational effects from Jupiter, Venus, Saturn, and Mars. Increased position and velocity uncertainties following each maneuver, due to small execution performance errors, requires that several days of post-maneuver tracking data be processed to converge on an accurate post-maneuver orbit solution. The effects of maneuvers on orbit determination accuracy will be presented, including a comparison of the batch least squares technique to the extended Kalman filter/smoother technique. We will present the maneuver calibration results derived from processing post-maneuver tracking data. A dominant error in the orbit estimation process is the uncertainty in solar radiation pressure and the resultant force on the spacecraft. An estimation of this value can include many related factors, such as the uncertainty in spacecraft reflectivity and surface area which is a function of spacecraft orientation (spin-axis attitude), uncertainty in spacecraft wet mass, and potential seasonal variability due to the changing direction of the Sun line relative to the Earth-Moon Lissajous reference frame. In addition, each spacecraft occasionally enters into Earth or Moon penumbra or umbra and these shadow crossings reduche solar radiation force for several hours. The effects of these events on orbit determination accuracy will be presented. In order to plan for upcoming stationkeeping maneuvers, the maneuver planning team must take the current orbit estimate, propagate it forward to the planned maneuver time, and determine the optimal maneuver to maintain the Lissajous orbit for one or more revolutions. The propagation is performed using a Runge-Kutta 7/8 integrator and typically the position and velocity uncertainty increases with propagation time, increasing the overall uncertainty of the orbit state at the maneuver execution time. The effect of orbit knowledge uncertainty on stationkeeping operations will be presented.
Frequency-shaped large-angle maneuvers
The paper considers the problem of maneuvering a flexible spacecraft through large angles in finite time. The basic control problem is divided into two parts. The first part consists of generating a frequency-shaped open-loop solution for the nonlinear rigid body as the nominal solution. The resulting two-point boundary-value problem is solved by introducing a continuation method for altering the mass distribution and boundary conditions for the spacecraft. For the second part, a feedback control is designed by linearizing the flexible body response about several points along the rigid body nominal solution. The perturbation gains are designed by using a frequency-shaped cost functional approach. The gains are linearly interpolated to produce smooth control time-histories as the linear piecewise constant plant models change during the maneuver.
Slew maneuvers on the SCOLE Laboratory Facility
The Spacecraft Control Laboratory Experiment (SCOLE) was conceived to provide a physical test bed for the investigation of control techniques for large flexible spacecraft. The control problems studied are slewing maneuvers and pointing operations. The slew is defined as a minimum time maneuver to bring the antenna line-of-sight (LOS) pointing to within an error limit of the pointing target. The second objective is to rotate about the LOS within the 0.02 degree error limit. The SCOLE problem is defined as two design challenges: control laws for a mathematical model of a large antenna attached to the Space Shuttle by a long flexible mast; and a control scheme on a laboratory representation of the structure modelled on the control laws. Control sensors and actuators are typical of those which the control designer would have to deal with on an actual spacecraft. Computational facilities consist of microcomputer based central processing units with appropriate analog interfaces for implementation of the primary control system, and the attitude estimation algorithm. Preliminary results of some slewing control experiments are given.
Navigation for the new millennium: Autonomous navigation for Deep Space 1
The autonomous optical navigation system technology for the Deep Space 1 (DS1) mission is reported on. The DS1 navigation system will be the first to use autonomous navigation in deep space. The systems tasks are to: perform interplanetary cruise orbit determination using images of distant asteroids; control and maintain the orbit of the spacecraft with an ion propulsion system and conventional thrusters, and perform late knowledge updates of target position during close flybys in order to facilitate high quality data return from asteroid MaAuliffe and comet West-Kohoutek-Ikemura. To accomplish these tasks, the following functions are required: picture planning; image processing; dynamical modeling and integration; planetary ephemeris and star catalog handling; orbit determination; data filtering and estimation; maneuver estimation, and spacecraft ephemeris updating. These systems and functions are described and preliminary performance data are presented.
Orbit Determination and Navigation of the Solar Terrestrial Relations Observatory (STEREO)
This paper provides an overview of the required upgrades necessary for navigation of NASA's twin heliocentric science missions, Solar TErestrial RElations Observatory (STEREO) Ahead and Behind. The orbit determination of the STEREO spacecraft was provided by the NASA Goddard Space Flight Center's (GSFC) Flight Dynamics Facility (FDF) in support of the mission operations activities performed by the Johns Hopkins University Applied Physics Laboratory (APL). The changes to FDF s orbit determination software included modeling upgrades as well as modifications required to process the Deep Space Network X-band tracking data used for STEREO. Orbit results as well as comparisons to independently computed solutions are also included. The successful orbit determination support aided in maneuvering the STEREO spacecraft, launched on October 26, 2006 (00:52 Z), to target the lunar gravity assists required to place the spacecraft into their final heliocentric drift-away orbits where they are providing stereo imaging of the Sun.
Orbit Determination and Navigation of the Solar Terrestrial Relations Observatory (STEREO)
This paper provides an overview of the required upgrades necessary for navigation of NASA's twin heliocentric science missions, Solar TErestrial RElations Observatory (STEREO) Ahead and Behind. The orbit determination of the STEREO spacecraft was provided by the NASA Goddard Space Flight Center's (GSFC) Flight Dynamics Facility (FDF) in support of the mission operations activities performed by the Johns Hopkins University Applied Physics Laboratory (APL). The changes to FDF's orbit determination software included modeling upgrades as well as modifications required to process the Deep Space Network X-band tracking data used for STEREO. Orbit results as well as comparisons to independently computed solutions are also included. The successful orbit determination support aided in maneuvering the STEREO spacecraft, launched on October 26, 2006 (00:52 Z), to target the lunar gravity assists required to place the spacecraft into their final heliocentric drift-away orbits where they are providing stereo imaging of the Sun.
Experimental Auxiliary Rocket Engine, Part I Final Report
Design and development of rocket engine for spacecraft reaction control and maneuvering systems
Small Spacecraft System-Level Design and Optimization for Interplanetary Trajectories
The feasibility of an interplanetary mission for a CubeSat, a type of miniaturized spacecraft, that uses an emerging technology, the CubeSat Ambipolar Thruster (CAT) is investigated. CAT is a large delta-V propulsion system that uses a high-density plasma source that has been miniaturized for small spacecraft applications. An initial feasibility assessment that demonstrated escaping Low Earth Orbit (LEO) and achieving Earth-escape trajectories with a 3U CubeSat and this thruster technology was demonstrated in previous work. We examine a mission architecture with a trajectory that begins in Earth orbits such as LEO and Geostationary Earth Orbit (GEO) which escapes Earth orbit and travels to Mars, Jupiter, or Saturn. The goal was to minimize travel time to reach the destinations and considering trade-offs between spacecraft dry mass, fuel mass, and solar power array size. Sensitivities to spacecraft dry mass and available power are considered. CubeSats are extremely size, mass, and power constrained, and their subsystems are tightly coupled, limiting their performance potential. System-level modeling, simulation, and optimization approaches are necessary to find feasible and optimal operational solutions to ensure system-level interactions are modeled. Thus, propulsion, power/energy, attitude, and orbit transfer models are integrated to enable systems-level analysis and trades. The CAT technology broadens the possible missions achievable with small satellites. In particular, this technology enables more sophisticated maneuvers by small spacecraft such as polar orbit insertion from an equatorial orbit, LEO to GEO transfers, Earth-escape trajectories, and transfers to other interplanetary bodies. This work lays the groundwork for upcoming CubeSat launch opportunities and supports future development of interplanetary and constellation CubeSat and small satellite mission concepts.
Determination of Response Versus Scan Angle for the NOAA-20 Visible Infrared Imaging Radiometer Suite Thermal Emissive Bands from Emissive Radiation Measurements During the Pitch Maneuver
The visible infrared imaging radiometer suite (VIIRS) is a key sensor onboard the newly launched (November 18, 2017) NOAA-20 satellite and the early launched Suomi National Polar-orbiting Partnership (SNPP) satellite. The two VIIRS sensors are nearly identical in design. Its onboard calibration components include a solar diffuser (SD) and a SD stability monitor for the reflective solar bands, a V-grooved blackbody for the thermal emissive bands (TEBs),and a space view port for background subtraction. These onboard calibrators are located at fixed scan angles. The response versus scan angle (RVS) of the VIIRS scan mirror was characterized prelaunch in lab-ambient conditions and is currently used to calibrate the on-orbit response for all scan angles relative to the calibrator's scan angle. A spacecraft-level pitch maneuver was scheduled during the initial intensive calibration and validation testing for both the NOAA-20 and SNPP. The pitch maneuver provided a rare opportunity for VIIRS to make observations of deep space over the entire range of the scan angle, which can be used to characterize the TEBRVS. We analyze the NOAA-20 pitch maneuver data and assess the derived TEB RVS. A comparison between the RVS determined by the pitch maneuver observations and prelaunch lab measurements is conducted for each band, detector, and mirror side of the half-angle mirror.
Determination of the NOAA-20 VIIRS TEB RVS from Emissive Radiation Measurements During the Pitch Maneuver
The Visible Infrared Imaging Radiometer Suite (VIIRS) is a key sensor carried on the newly launched (November 18, 2017) Joint Polar Satellite System-1 (JPSS-1), now transitioned to NOAA-20, and the Suomi National Polar-orbiting Partnership (SNPP) satellite. The two VIIRS sensors are nearly identical in design. Its on-board calibration components include a solar diffuser (SD) and a solar diffuser stability monitor (SDSM) for the reflective solar bands (RSB), a V-groove blackbody for the thermal emissive bands (TEB), and a space view (SV) port for background subtraction. These on-board calibrators are located at fixed scan angles. The VIIRS response versus scan angle (RVS) was characterized prelaunch in lab ambient conditions and is currently used to calibrate the on-orbit response for all scan angles relative to the calibrator's scan angle. A spacecraft level pitch maneuver was scheduled during the initial intensive Cal/Val testing for both the NOAA-20 and SNPP. The pitch maneuver provided a rare opportunity for VIIRS to make observations of deep space over the entire scan angle range, which can be used to characterize the TEB RVS. This study provides our analysis of the NOAA-20 pitch maneuver data and assessment of the derived TEB RVS. A comparison between the RVS determined by the pitch maneuver observations and prelaunch lab measurements is conducted for each band, detector, and mirror side of the half angle mirror.