Inflatable tether Patent
Space expandable tether device for use as passageway between two docked spacecraft
Huber, W. C.↗
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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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Free-flying teleoperator requirements and conceptual design.
A teleoperator, as defined by NASA, is a remotely controlled cybernetic man-machine system designed to augment and extend man's sensory, manipulative, and cognitive capabilities. Teleoperator systems can fulfill an important function in the Space Shuttle program. They can retrieve automated satellites for refurbishment and reuse. Cargo can be transferred over short or large distances and orbital operations can be supported. A requirements analysis is discussed, giving attention to the teleoperator spacecraft, docking and stowage systems, display and controls, propulsion, guidance, navigation, control, the manipulators, the video system, the electrical power, and aspects of communication and data management. Questions of concept definition and evaluation are also examined.
Onega, G. T.↗
Manned orbital systems concepts study. Book 3: Configurations for extended duration missions
Mission planning, systems analysis, and design concepts for the Space Shuttle/Spacelab system for extended manned operations are described. Topics discussed are: (1) payloads, (2) spacecraft docking, (3) structural design criteria, (4) life support systems, (5) power supplies, and (6) the role of man in long duration orbital operations. Also discussed are the assembling of large structures in space. Engineering drawings are included.
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Optical Sensor for Robotics
Optical Method for precisely docking spacecraft and satellite promises useful in terrestrial applications, such as control of robot movements in manufacturing. Reflections of laser beam from patterns on satellite yield information on radial misalinement, angle between axes, and range. Target pattern consists of rings of alternating high and low reflectivity and central section where reflectivity varies with angle of incidence but not with position.
Weindling, F.↗
Structural Dynamics and Control of Large Space Structures, 1982
Basic research in the control of large space structures is discussed. Active damping and control of flexible beams, active stabilization of flexible antenna feed towers, spacecraft docking, and robust pointing control of large space platform payloads are among the topics discussed.
Brumfield, M. L.↗
Ninteenth Aerospace Mechanisms Symposium
The proceedings of the 19th Aerospace Mechanisms Symposium are reported. Technological areas covered include space lubrication, bearings, aerodynamic devices, spacecraft/Shuttle latches, deployment, positioning, and pointing. Devices for spacecraft docking and manipulator and teleoperator mechanisms are also described.
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Precise computer controlled positioning of robot end effectors using force sensors
A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.
Shieh, L. S.↗
Precise computer controlled positioning of robot end effectors using sensory feedback
A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.
Wang, J. C.↗
Guideline requirements for serviceable spacecraft grasping/berthing/docking interfaces based on simulations and flight experience
The described efforts support a NASA Space Assembly and Servicing Working Group activity to draft guideline interface standards. The general requirements are to provide a simple, reliable, and durable system. Interface requirements developed include lateral position offset, axial and lateral velocities, and angular misalignment. A survey of concepts and simulation studies of spacecraft docking, existing docking/end effector performance criteria, and space proven, qualified docking data was conducted and evaluated, in order to provide recommended mechanical interface guidelines and interface tolerances for manual and autonomous capture operations. The criterion for the selection of the guidelines was maximum capability to handle malfunctions. Originally the guidelines for a zero velocity docking were considered to be covered within the grasping/berthing definition. It is acknowledged that perhaps a separate category needs to be established for this operation. The draft standard was delivered to the AIAA for review, revision, and issuance as the first U.S. national standard guideline on interfaces. The intent is to develop the guidelines into an International Standards Organization standard.
Thompson, Allen B.↗
Autonomous prealignment of a docking mechanism
Proposed future space exploration, such as lunar and Martian expeditions, will require autonomous docking of space vehicles. One proposed candidate method of autonomous docking utilizes a actively controlled parallel manipulator. Operation of the proposed docking manipulator can be segmented into four successive events: prealignment, capture/latching, attenuation, and structural rigidization. This paper discusses the development and testing of a digitally controlled, six-degree-of-freedom (6-DOF), parallel manipulator for the prealignment segment of a docking spacecraft.
Carroll, Monty B.↗
Adaptive Attitude Control System For Space Station
Report presents theoretical foundation for attitude control system for proposed Space Station Freedom in orbit around Earth. Intended to maintain space station in torque equilibrium with designated axes of its structure aligned with local vertical, local along-trajectory horizontal, and local across-trajectory horizontal axes, respectively. System required to provide desired combination of control performance and stability in presence of disturbances (e.g., variations in masses of payloads, movements of astronauts and equipment, atmospheric drag, gravitational anomalies, and interactions with docking spacecraft).
Boussalis, Dhemetrios↗
STS-74 Flight Day 5
On this fifth day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hadfield, were awakened to the theme from the movie '2001: A Space Odyssey.' The Mir 20 cosmonauts, Cmdr. Yuri Gidzenko, Flight Engineer Sergei Avdeyev, and Cosmonaut-Researcher (ESA) Thomas Reiter, and shuttle astronauts are shown giving each other plaques and presents to commemorate their historic docking event and the start towards the development of the International Space Station. There is a press conference from Moscow by a one of the officers of the Russian Space Agency with both flight crews and an additional separate press interview of the crews by Canadian reporters. There is video footage of the two docked spacecraft taken from various angles.
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Superconducting Magnets Used as a Magnetic Bumper/Tether System
Development of new materials for superconducting trapped field (permanent) magnets, and a continuation of tests on a magnetic bumper/tether for spacecraft docking is reported.
Weinstein, Roy↗
Expedition 1 Crew Resource Reel
This video shows footage of the Expedition 1 crew, William Shepherd, Yuri Gidzenko, and Sergei Krikalev, training for their stay on the International Space Station. Shepherd is seen training in the Soyuz spacecraft and inspecting the Service Module and Node 1. The three crewmembers are seen training for winter survival and extravehicular activity (in the Neutral Buoyancy Lab). They are taught how to use the fire extinguishers and extravehicular activity tools. Scenes show Gidzenko training in the crew compartment trainer and on the Mir Space Station and Krikalev on the STS-60 mission. A computer animation shows the Soyuz spacecraft docking with the Service Module.
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Treatment to Control Adhesion of Silicone-Based Elastomers
Seals are used to facilitate the joining of two items, usually temporarily. At some point in the future, it is expected that the items will need to be separated. This innovation enables control of the adhesive properties of silicone-based elastomers. The innovation may also be effective on elastomers other than the silicone-based ones. A technique has been discovered that decreases the level of adhesion of silicone- based elastomers to negligible levels. The new technique causes less damage to the material compared to alternative adhesion mitigation techniques. Silicone-based elastomers are the only class of rubber-like materials that currently meet NASA s needs for various seal applications. However, silicone-based elastomers have natural inherent adhesive properties. This stickiness can be helpful, but it can frequently cause problems as well, such as when trying to get items apart. In the past, seal adhesion was not always adequately addressed, and has caused in-flight failures where seals were actually pulled from their grooves, preventing subsequent spacecraft docking until the seal was physically removed from the flange via an extravehicular activity (EVA). The primary method used in the past to lower elastomer seal adhesion has been the application of some type of lubricant or grease to the surface of the seal. A newer method uses ultraviolet (UV) radiation a mixture of UV wavelengths in the range of near ultraviolet (NUV) and vacuum ultraviolet (VUV) wavelengths.
deGroh, Henry C., III↗
Intra-Extra Vehicular Activity Apollo Spacesuits
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.
Thomas, Kenneth S.↗
Attitude Dynamics of On-orbit Refueling Configurations
On-orbit refueling is a key enabling technology that will allow a significant increase in the amount of payload mass delivered beyond low-Earth orbit. Despite the potential benefits, there are numerous concerns regarding the operability and scalability of this critical technology. This paper explores the attitude dynamics of two docked spacecraft performing propellant transfer. A vector-dyadic equation is derived to account for the change over time in the mass distribution and the position of the mass center of the stack and moving mass terms omitted in previous literature. Subsequently, the result is applied to two SpaceX-inspired refueling configurations to assess the relative magnitudes of the various terms in the vector-dyadic equation in comparison to the gravity gradient torque.
vector-dyadic equation↗
Docking of a spacecraft with an unrestrained orbiting structure
A methodology is presented for simulating a docking process involving a rigid body and an unrestrained nonuniform beam in orbit, and the issues that must be faced in the course of producing any such simulation are discussed. An algorithm is produced for the simulation of motions of the unrestrained structure, which necessitates the use of a structural analysis program for the purpose of constructing modal functions. An impulse problem then is solved in order to discover the changes that take place in certain variables in the course of the docking. This information is utilized to determine the initial values of variables used to characterize postdocking motions of the system under consideration, and an algorithm for simulating these motions is created, in which a structural analysis program is again used to produce modal functions. Finally, an extension of the methodology to the simulation of the docking of a rigid body with more complex orbiting structures is discussed.
Levinson, D. A.↗