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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1990

Results from teleoperated free-flying spacecraft simulations in the Martin Marietta space operations simulator lab

To augment the capabilities of the Space Transportation System, NASA has funded studies and developed programs aimed at developing reusable, remotely piloted spacecraft and satellite servicing systems capable of delivering, retrieving, and servicing payloads at altitudes and inclinations beyond the reach of the present Shuttle Orbiters. Since the mid 1970's, researchers at the Martin Marietta Astronautics Group Space Operations Simulation (SOS) Laboratory have been engaged in investigations of remotely piloted and supervised autonomous spacecraft operations. These investigations were based on high fidelity, real-time simulations and have covered a wide range of human factors issues related to controllability. Among these are: (1) mission conditions, including thruster plume impingements and signal time delays; (2) vehicle performance variables, including control authority, control harmony, minimum impulse, and cross coupling of accelerations; (3) maneuvering task requirements such as target distance and dynamics; (4) control parameters including various control modes and rate/displacement deadbands; and (5) display parameters involving camera placement and function, visual aids, and presentation of operational feedback from the spacecraft. This presentation includes a brief description of the capabilities of the SOS Lab to simulate real-time free-flyer operations using live video, advanced technology ground and on-orbit workstations, and sophisticated computer models of on-orbit spacecraft behavior. Sample results from human factors studies in the five categories cited above are provided.

Hartley, Craig S.↗
NASA NTRS1999

Design of a Formation of Earth-Orbiting Satellites: The Auroral Lites Mission

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) has proposed a set of spacecraft flying in close formation around the Earth in order to measure the behavior of the auroras. The mission, named Auroral Lites, consists of four spacecraft configured to start at the vertices of a tetrahedron, flying over three mission phases. During the first phase, the distance between any two spacecraft in the formation is targeted at 10 kilometers (km). The second mission phase is much tighter, requiring satellite interrange spacing targeted at 500 meters. During the final phase of the mission, the formation opens to a nominal 100-km interrange spacing. In this paper, we present the strategy employed to initialize and model such a close formation during each of these phases. The analysis performed to date provides the design and characteristics of the reference orbit, the evolution of the formation during Phases I and II, and an estimate of the total mission delta-V budget. AI Solutions' mission design tool, FreeFlyer, was used to generate each of these analysis elements. The tool contains full force models, including both impulsive and finite duration maneuvers. Orbital maintenance can be fully modeled in the system using a flexible, natural scripting language built into the system. In addition, AI Solutions is in the process of adding formation extensions to the system facilitating mission analysis for formations like Auroral Lites. We will discuss how FreeFlyer is used for these analyses.

Hametz, Mark E.↗
NASA NTRS1999

Design of a Formation of Earth Orbiting Satellites: The Auroral Lites Mission

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) has proposed a set of spacecraft flying in close formation around the Earth in order to measure the behavior of the auroras. The mission, named Auroral Lites, consists of four spacecraft configured to start at the vertices of a tetrahedron, flying over three mission phases. During the first phase, the distance between any two spacecraft in the formation is targeted at 10 kilometers (km). The second mission phase is much tighter, requiring satellite interrange spacing targeted at 500 meters. During the final phase of the mission, the formation opens to a nominal 100-km interrange spacing. In this paper, we present the strategy employed to initialize and model such a close formation during each of these phases. The analysis performed to date provides the design and characteristics of the reference orbit, the evolution of the formation during Phases I and II, and an estimate of the total mission delta-V budget. AI Solutions' mission design tool, FreeFlyer(R), was used to generate each of these analysis elements. The tool contains full force models, including both impulsive and finite duration maneuvers. Orbital maintenance can be fully modeled in the system using a flexible, natural scripting language built into the system. In addition, AI Solutions is in the process of adding formation extensions to the system facilitating mission analysis for formations like Auroral Lites. We will discuss how FreeFlyer(R) is used for these analyses.

Hametz, Mark E.↗
NASA NTRS2021

Spatial Registration Assessments for the SNPP and N20 VIIRS Reflective Solar Bands Using Unscheduled Lunar Observations

The Visible Infrared Imaging Radiometer Suite (VIIRS) is a multi-spectral Earth-observing instrument on board the Suomi-NPP (SNPP) and NOAA-20 (N20) spacecraft, with spectral bands ranging in wavelength from 0.41 to 12.2 μm. For the reflective solar bands (RSB), the bands are calibrated on orbit using both solar diffuser (SD) and lunar observations. The lunar observations use near-monthly scheduled spacecraft maneuvers in order to view the Moon within a desired phase angle range. While the primary purpose of the maneuvers is for radiometric calibration, these observations can also be used to characterize the spatial performance of the instrument, including the band-to-band and detector-to-detector registration (BBR/DDR). The Moon can also be observed without spacecraft maneuvers. However, these observations are over a larger phase angle range. While the geometry of these unscheduled observations is more varied, they can still be used to assess the sensor performance. In this work, we will use unscheduled Moon data to analyze the BBR and DDR of the SNPP and N20 VIIRS RSB. For the BBR, we implemented an image cross-correlation approach, which removes the residual oscillations in the trending data when compared to previous methodologies. For the DDR, we developed an edge fitting approach that accounts for the lunar motion across the VIIRS focal plane array on a scan-by-scan basis using lunar and satellite ephemeris data. In our analysis, we find that the BBR and DDR for both VIIRS RSB are stable on orbit.

Band-to-band registration (BBR)↗
NASA NTRS2007

First In-Orbit Experience of TerraSAR-X Flight Dynamics Operations

TerraSAR-X is an advanced synthetic aperture radar satellite system for scientific and commercial applications that is realized in a public-private partnership between the German Aerospace Center (DLR) and the Astrium GmbH. TerraSAR-X was launched at June 15, 2007 on top of a Russian DNEPR-1 rocket into a 514 km sun-synchronous dusk-dawn orbit with an 11-day repeat cycle and will be operated for a period of at least 5 years during which it will provide high resolution SAR-data in the X-band. Due to the objectives of the interferometric campaigns the satellite has to comply to tight orbit control requirements, which are formulated in the form of a 250 m toroidal tube around a pre-flight determined reference trajectory (see [1] for details). The acquisition of the reference orbit was one of the main and key activities during the Launch and Early Orbit Phase (LEOP) and had to compensate for both injection errors and spacecraft safe mode attitude control thruster activities. The paper summarizes the activities of GSOC flight dynamics team during both LEOP and early Commissioning Phase, where the main tasks have been 1) the first-acquisition support via angle-tracking and GPS-based orbit determination, 2) maneuver planning for target orbit acquisition and maintenance, and 3) precise orbit and attitude determination for SAR processing support. Furthermore, a presentation on the achieved results and encountered problems will be addressed.

Kahle, R.↗
NASA NTRS2019

Lunar Navigation Beacon Network Using Global Navigation Satellite System Receivers

With the increasing traffic in the lunar regime as part of NASA efforts to return humans to the moon. In order to support these missions, new capabilities are needed to support autonomous navigation and inter-asset communication. Additionally, with maturation and flight demonstration of increasingly capable small satellites, there is an opportunity to embed technology into a small spacecraft as part of companion missions. This paper addresses one such architecture, taking advantage of a lunar lander vehicle to host a companion spacecraft to build out lunar navigation and communication capability. The backbone of this spacecraft is the Navigator GPS receiver. This hardware has continually broken records on high altitude GPS coverage and has the potential to support autonomous navigation at lunar distances. This research proposes a large cubesat built around this technology and catching a ride to the moon via a lander mission. The concept of operations includes the spacecraft deploying prior to the lunar sphere of influence and maneuvering to enter into a lunar orbit. With the Navigator receiver, this spacecraft is capable of a large amount of autonomy, with a limited need for ground-based orbit determination. This spacecraft will fly alongside the lander, acting as a navigation reference during cruise, descent, and post-landing for mission validation. To assess this mission scenario, three aspects are covered in detail herein: the feasibility and mission requirements for entering into a lunar orbit given deployment along a lander surface-bound trajectory, the performance capability of the receiver along this transfer trajectory and in lunar orbit, and the ability to support navigation of the lander itself. These three areas are discussed in detail, providing results that support feasibility of the mission and determination of initial requirements.

Anzalone, Evan J.↗
NASA NTRS1994

Olympus propagation experiments

A summary of the activities of the OPEX (Olympus Propagation EXperimenters) group is given and some of the recent findings are presented. OLYMPUS, a telecommunication satellite owned by the European Space Agency, was launched on 12 June 1989. After the in-orbit tests were completed (in September 1989) the first propagation experiments started. Throughout 1990 the spacecraft functioned very well and a large number of experimenters received the beacon signals. On 29 May 1991 the spacecraft became inoperational after a major technical problem. With a series of complicated procedures OLYMPUS was recovered on 15 August 1991 - the first time in history that a civilian telecommunications satellite was brought back to service after losing power and telemetry. The propagation experiments were back on track. However, the recovery had used up so much fuel that the North-South station keeping had to be abandoned, which led to a natural increase of inclination at a rate of about 0.8 deg per year. On 10 October 1992 the second 30 GHz beacon tube failed, causing a loss of this beacon signal. The other two beacon frequencies continued to deliver a stable signal for more than two years. On 12 August 1993 the spacecraft experienced another problem with the altitude control, but this time there was not enough fuel left for a recovery maneuver and thus the mission came to an end.

Arbesser-Rastburg, Bertram↗
NASA NTRS2008

NASA Tech Briefs, August 2008

Customizable Digital Receivers for Radar Two-Camera Acquisition and Tracking of a Flying Target Visual Data Analysis for Satellites A Data Type for Efficient Representation of Other Data Types Hand-Held Ultrasonic Instrument for Reading Matrix Symbols Broadband Microstrip-to-Coplanar Strip Double-Y Balun A Topographical Lidar System for Terrain-Relative Navigation Programmable Low-Voltage Circuit Breaker and Tester Electronic Switch Arrays for Managing Microbattery Arrays Topics covered include: Lower-Dark-Current, Higher-Blue-Response CMOS Imagers; Fabricating Large-Area Sheets of Single-Layer Graphene by CVD; Support for Diagnosis of Custom Computer Hardware; Providing Goal-Based Autonomy for Commanding a Spacecraft; Dynamic Method for Identifying Collected Sample Mass; Optimal Planning and Problem-Solving; Attitude-Control Algorithm for Minimizing Maneuver Execution Errors; Grants Document-Generation System; Heat-Storage Modules Containing LiNO3 3H2O and Graphite Foam; Precipitation-Strengthened, High-Temperature, High-Force Shape Memory Alloys; Improved Relief Valve Would Be Less Susceptible to Failure; Safety Modification of Cam-and-Groove Hose Coupling; Using Composite Materials in a Cryogenic Pump; Using Electronic Noses to Detect Tumors During Neurosurgery; Producing Newborn Synchronous Mammalian Cells; Smaller, Lower-Power Fast-Neutron Scintillation Detectors; Rotationally Vibrating Electric-Field Mill; Estimating Hardness from the USDC Tool-Bit Temperature Rise; Particle-Charge Spectrometer; Automated Production of Movies on a Cluster of Computers; FIDO-Class Development Rover; and Tone-Based Command of Deep Space Probes Using Ground Antennas.

Source record↗
NASA NTRS1998

Design and implementation of satellite formations and constellations

The direction to develop small low cost spacecraft has led many scientists to recognize the advantage of flying spacecraft in constellations and formations to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, constellations and formation flying impose additional complications on orbit selection and orbit maintenance, especially when each spacecraft has its own orbit or science requirements. The purpose of this paper is to develop an operational control method for maintenance of these missions. Examples will be taken from the Earth Observing-1 (EO-1) spacecraft that is part of the New Millennium Program (NMP) and from proposed Earth System Science Program Office (ESSPO) constellations. Results can be used to determine the appropriateness of constellations and formation flying for a particular case as well as the operational impacts. Applications to the ESSPO and NMP are highly considered in analysis and applications. After constellation and formation analysis is completed, implementation of a maneuver maintenance strategy becomes the driver. Advances in technology and automation by GSFC's Guidance, Navigation, and Control Center allow more of the burden of the orbit selection and maneuver maintenance to be automated and ultimately placed onboard the spacecraft, mitigating most of the associated operational concerns. This paper presents the GSFC closed-loop control method to fly in either constellations or formations through the use of an autonomous closed loop three-axis navigation control and innovative orbit maintenance support. Simulation results using AutoCon(TM) and FreeFlyer(TM) with various fidelity levels of modeling and algorithms are presented.

Folta, David↗
NASA NTRS1998

Design and Implementation of Satellite Formations and Constellations

The direction to develop small low cost spacecraft has led many scientists to recognize the advantage of flying spacecraft in constellations and formations to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, constellations and formation flying impose additional complications on orbit selection and orbit maintenance, especially when each spacecraft has its own orbit or science requirements. The purpose of this paper is to develop an operational control method for maintenance of these missions. Examples will be taken from the Earth Observing-1 (EO-1) spacecraft that is part of the New Millennium Program (NMP) and from proposed Earth System Science Program Office (ESSPO) constellations. Results can be used to determine the appropriateness of constellations and formation flying for a particular case as well as the operational impacts. Applications to the ESSPO and NMP are highly considered in analysis and applications. After constellation and formation analysis is completed, implementation of a maneuver maintenance strategy becomes the driver. Advances in technology and automation by GSFC's Guidance, Navigation, and Control Center allow more of the burden of the orbit selection and maneuver maintenance to be automated and ultimately placed onboard the spacecraft, mitigating most of the associated operational concerns. This paper presents the GSFC closed-loop control method to fly in either constellations or formations through the use of an autonomous closed loop three-axis navigation control and innovative orbit maintenance support. Simulation results using AutoCon(Trademark) and FreeFlyer(Trademark) with various fidelity levels of modeling and algorithms are presented.

Folta, David↗
NASA NTRS1983

Airborne reconnaissance in the civilian sector - Agricultural monitoring from high-altitude powered platforms

Design concepts and mission applications for unmanned high-altitude powered platforms (HAPPs) are discussed. A chemically powered HAPP (operating altitude 18-21 km, wingspan 26 m, payload 91 kg, endurance 2-3 days) would use current turboprop technology. A microwave-powered HAPP (operating altitude around 21 km, wingspan 57.9 m, payload 500 kg, endurance weeks or months) would circle within or perform boost-glide maneuvers around a microwave beam of density 1.1 kw/sq m. Of two solar-powered-HAPP designs presented, the more promising uses five vertical solar-panel-bearing fins, two of which can be made horizontal at night, (wingspan 57.8/98.3 m, payload 113 kg, endurance weeks or months). The operating altitude depends on the latitude and season: this HAPP design is shown to be capable of year-round 20-km-altitude flights over the San Joaquin Valley in California, where an agricultural-monitoring mission using Landsat-like remote sensors is proposed. Other applications may be better served by the characteristics of the other HAPPs. The primary advantage of HAPPs over satellites is found to be their ability to provide rapidly available high-resolution continuous or repetitive coverage of specific areas at relatively low cost.

Youngblood, J. W.↗
NASA NTRS1993

Mars rover sample return mission utilizing in situ production of the return propellants

This paper presents an unmanned Mars sample return mission that utilizes propellants manufactured in situ from the Martian atmosphere for the return trip. A key goal of the mission is to demonstrate the considerable benefits that can be realized through the use of indigenous resources and to test the viability of this approach as a precursor to manned missions to Mars. Two in situ propellant combinations, methane/oxygen and carbon monoxide/oxygen, are compared to imported terrestrial hydrogen/oxygen within a single mission architecture, using a single Earth launch vehicle. The mission is assumed to be launched from Earth in 2003. Upon reaching Mars, the landing vehicle aerobrakes, deploys a small satellite, and lands on the Martian surface. Once on the ground, the propellant production unit is activated, and the product gases are liquefied and stored in the empty tanks of the Earth Return Vehicle (ERV). Power for these activities is provided by a dynamic isotope power system. A semiautonomous rover, powered by the indigenous propellants, gathers between 25 and 30 kg of soil and rock samples which are loaded aboard the ERV for return to Earth. After a surface stay time of approximately 1.5 years, the ERV leaves Mars for the return voyage to Earth. When the vehicle reaches the vicinity of Earth, the sample return capsule detaches, and is captured and circularized in LEO via aerobraking maneuvers.

Bruckner, A. P.↗
NASA NTRS1994

Attitude stability of a spinning spacecraft during appendage deployment/retraction

The work presented is motivated by the need for a national satellite rescue policy, not the ad hoc policy now in place. In studying different approaches for a national policy, the issue of capture and stabilization of a tumbling spacecraft must be addressed. For a rescue mission involving a tumbling spacecraft, it may be advantageous to have a rescue vehicle which is compact and 'rigid' during the rendezvous/capture phase. After capture, passive stabilization techniques could be utilized as an efficient means of detumbling the resulting system (i.e., both the rescue vehicle and captures spacecraft). Since the rescue vehicle is initially compact and 'rigid,' significant passive stabilization through energy dissipation can only be achieved through the deployment of flexible appendages. Once stabilization is accomplished, retraction of the appendages before maneuvering the system to its final destination may also prove advantageous. It is therefore of paramount interest that we study the effect of appendage deployment/retraction on the attitude stability of a spacecraft. Particular interest should be paid to appendage retraction, since if this process is destabilizing, passive stabilization as proposed may not be useful. Over the past three decades, it has been an 'on-again-off-again affair' with the problem of spacecraft appendage deployment. In most instances, these studies have been numerical simulations of specific spacecraft configurations for which there were specific concerns. The primary focus of these studies was the behavior of the appendage during deployment; the effects of appendage retraction was considered only in one of these studies. What is missing in the literature is a thorough study of the effects of appendage deployment/retraction on the attitude stability of a spacecraft. This paper presents a rigorous analysis of the stability of a spinning spacecraft during the deployment or the retraction of an appendage. The analysis is simplified such that meaningful insights into the problem can be inferred; it is not overly simplified such that critical dynamical behavior is neglected. The system is analyzed assuming that the spacecraft hub is rigid. The appendage deployment mechanism is modeled as a point mass on a massless rod whose length undergoes prescribed changes. Simplified flexibility effects of the appendage are included. The system is examined for stability by linearizing the equations in terms of small deviations from steady, noninterfering coning motion. Routh's procedure for analyzing small deviations from steady motion in dynamical systems is utilized in the analysis. The system of equations are nondimensionalized to facilitate parametric studies. The results are presented in terms of a reduced number of nondimensional parameters so that some general conclusions may be drawn. Verification of the linear analysis is presented through numerical simulations of the complete nonlinear, nonautonomous, coupled equations.

Fitz-Coy, Norman↗
NASA NTRS2003

Orbit Optimization for the Geospace Electrodynamics Connections (GEC) Mission

The Geospace Electrodynamics Connections (GEC) mission plan is to launch multiple spacecraft to perform in-situ atmospheric science in the lower ionosphere. There is limited experience in this low altitude region with the Atmospheric Explorer-C (AE-C) being the last spacecraft to explore this region in 1973. AE-C flew an eccentric orbit using maneuvers to lower its perigee to near 130 km at various times during its mission. GEC will advance the science performed by AE-C by performing multiple low-perigee, atmospheric dipping campaigns for extended durations. AE-C kept its perigee near 130 km for only a total of roughly 1 day. Furthermore, GEC plans to carry a more diverse suite of instruments and will be able to capture different temporal and spatial phenomena through the use of multiple spacecraft flying in a string of pearls formation. The mission analysis for GEC has been broken into two parts: the analysis of the parking orbit with the dipping campaigns and the examination of the multi-satellite dynamics of the GEC constellation. The analysis described in this paper examines the capability to meet the requirements necessary to support the 10 dipping campaigns using a single spacecraft as a representative of all three in the constellation. Further analysis is being performed to analyze the multi-satellite nature of the GEC mission.

Mesarch, Michael A.↗
NASA NTRS2008

The NASA Robotic Conjunction Assessment Process: Overview and Operational Experiences

Orbital debris poses a significant threat to spacecraft health and safety. Recent events such as China's anti-satellite test and the Breeze-M rocket explosion have led to an even greater awareness and concern in the satellite community. Therefore, the National Aeronautics and Space Administration (NASA) has established requirements that routine conjunction assessment screening shall be performed for all maneuverable spacecraft having perigees less than 2000 km or within 200 km of geosynchronous altitude. NASA s Goddard Space Flight Center (GSFC) has developed an operational collision risk assessment process to protect NASA s high-value unmanned (robotic) assets that has been in use since January 2005. This paper provides an overview of the NASA robotic conjunction assessment process, including descriptions of the new tools developed to analyze close approach data and of the risk mitigation strategies employed. In addition, statistical data describing the number of conjunctions experienced are presented. A debris avoidance maneuver performed by Aura in June of 2008 is described in detail to illustrate the process.

Newman, Lauri Kraft↗
NASA NTRS1984

Manned maneuvering unit simulations on the Space Operations Simulator

Details of the Manned Maneuvering Unit (MMU) and its use is discussed. MMU simulations in the Space Operations Simulator (SOS) use two major devices. The first is a six-degree-of-freedom moving base carriage that allows the trainee freedom to fly the MMU in a large room and to match rates and dock with full scale targets. The second device is a large screen television display that provides the trainee with accurate views of tumbling targets from any point in a surrounding sphere up to 300 meters (1000 feet) in diameter. Astronauts used the SOS to train for the Solar Max repair mission and are now using it to train for a mission to recover the Palapa-B communications satellite. Subjective comparisons by astronauts of an orbit MMU performance to simulated MMU performance in the SOS indicate that the simulations are very realistic. Data from the Solar Max mission have resulted in two software upgrades that increase SOS fidelity for the next MMU mission: a model of contact dynamics between the MMU and a target spacecraft, and a model of MMU plume impingement forces during docking.

Hartley, C.↗
NASA NTRS2007

Trajectory Design and Orbit Determination for the Lunar CRater Observation and Sensing Satellite (LCROSS)

The Lunar CRater Observation and Sensing Satellite (LCROSS) was competitively selected by the National Aeronautical and Space Administration (NASA) Exploration Systems Mission Directorate (ESMD) as a low-cost (< $80M) 1000 kg secondary payload to be launched with the Lunar Reconnaissance Orbiter (LRO) in October of 2008. LCROSS is a lunar impactor mission that will investigate the presence or absence of water in a permanently shadowed crater. Following launch, trans-lunar injection (TLI) and separation from LRO, LCROSS will remain attached to the launch vehicle's approximately 2300 kg spent Earth Departure Upper Stage (EDUS) and will guide it toward an impact of a permanently shadowed crater at the lunar South Pole. Hours prior to impact, LCROSS will separate from the EDUS and perform a braking maneuver that will allow the spacecraft to take measurements of the resulting EDUS impact ejecta cloud for several minutes, before impacting the crater as well. As a cost-capped secondary mission that must accommodate specific LRO launch dates, LCROSS faces unique challenges and constraints that must be carefully reconciled in order to satisfy an ambitious set of science observation requirements. This paper examines driving mission requirements and constraints and describes the trajectory design and navigation strategy that shape the LCROSS mission.

Galal, Ken↗
NASA NTRS2012

Benefits of a Single-Person Spacecraft for Weightless Operations

Historically, less than 20 percent of crew time related to extravehicular activity (EVA) is spent on productive external work.1 A single-person spacecraft with 90 percent efficiency provides productive new capabilities for maintaining the International Space Station (ISS), exploring asteroids, and servicing telescopes or satellites. With suits, going outside to inspect, service or repair a spacecraft is time-consuming, requiring pre-breathe time, donning a fitted space suit, and pumping down an airlock. For ISS, this is between 12.5 and 16 hours for each EVA, not including translation and work-site set up. The work is physically demanding requiring a day of rest between EVAs and often results in suit-induced trauma with frequent injury to astronauts fingers2. For maximum mobility, suits use a low pressure, pure oxygen atmosphere. This represents a fire hazard and requires pre-breathing to reduce the risk of decompression sickness (bends). With virtually no gravity, humans exploring asteroids cannot use legs for walking. The Manned Maneuvering Unit offers a propulsive alternative however it is no longer in NASA s flight inventory. FlexCraft is a single person spacecraft operating at the same cabin atmosphere as its host so there is no risk of the bends and no pre-breathing. This allows rapid, any-time access to space for repeated short or long EVAs by different astronauts. Integrated propulsion eliminates hand-over-hand translation or having another crew member operate the robotic arm. The one-size-fits-all FlexCraft interior eliminates the suit part inventory and crew time required to fit all astronauts. With a shirtsleeve cockpit, conventional displays and controls are used and because the work is not strenuous no rest days are required. Furthermore, there is no need for hand tools because manipulators are equipped with force multiplying end-effectors that can deliver the precise torque for the job.

Griffin, Brand N.↗