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Safety aspects are studied of the space shuttle orbiter, the shuttle payloads, and space stations in earth orbital operations. The tasks generated safety requirements, guidelines, recommendations, and conceptual safety devices. The tasks studied were: hazardous payloads, docking, onboard survivability tumbling spacecraft, and escape and rescue operations.
The use of a movable mass control system to stabilize an arbitrarily tumbling asymmetric vehicle about the maximum inertia axis is considered. A first-order gradient optimization technique is used to minimize angular velocity components along the intermediate and minimum inertia axes. This method permits a wide range of initial guesses for mass position history. Motion of the control mass is along a linear track fixed in the vehicle. The control variable is taken as mass acceleration with respect to body coordinates. Motion is limited to defined quantities and a penalty function is used to insure a given range of positions. Numerical solutions of the optimization equations verify that minimum time detumbling is achieved with the largest permissible movable mass, length of linear track, and positions of the mass on the two coordinates perpendicular to the linear motion.
Optical and high-voltage electron microscopy were used to study radiation-produced defects. There is no systematic decrease in solar flare track distributions in lunar fines even to a depth of 2.5 m. The soil gradually accumulates in thickness; stirring by impacts is usually on a small scale. The accumulation rate at Luna 16 site is far lower than at the Apollo sites; the mean track density in micron-size grains there exceeds one trillion per sq cm; more than 90% of those grains are metamict; the Luna 16 site is at high longitude where electrostatic charging and transport of soil by geomagnetic tail electrons are minimal. A large fraction of soil grains on sloping ground have been isotropically irradiated, suggesting a tumbling downhill motion.-
Techniques and conceptual devices for carrying out detumbling operations are examined, and progress in the development of these concepts is discussed. Devices which reduce tumble to simple spin through active linear motion of a small mass are described, together with a Module for Automatic Dock and Detumble (MADD) that could perform an orbital transfer from the shuttle in order to track and dock at a preselected point on the distressed craft. Once docked, MADD could apply torques by firing thrustors to detumble the passive vehicle. Optimum combinations of mass-motion and external devices for various situation should be developed. The need for completely formulating the automatic control logic of MADD is also emphasized.
A quasi-rigid body initially spinning about its minor principal axis and experiencing energy dissipation will enter a tumbling mode and eventually reorient itself such that stable spin about its major principal axis is achieved. However, in this final state the body may be spinning in a positive or negative sense with respect to its major axis and aligned in a positive or negative sense with the inertially fixed angular momentum vector. This ambiguity can be controlled only through an active system. The associated dynamical formulations and simulations of uncontrolled reorientations are presented. Three control schemes are discussed and results offered for specific examples. These schemes include displacement of internal masses, spinning up of internal inertia, and reaction jets, all of which have demonstrated the ability to control spin ambiguity.
Chronic low-gravity simulation (pedestal support, suspension by wires or foam, and/or clinostat tumbling) of 11 aquatic red-eared sliders, Pseudemys scripta elegans, and of nine box turtles, Terrapine carolina, resulted in continued but slower linear carapace growth. Decreased shell height was accompanied by drastic plastron infolding. Chronic centrifugation (1.4, 1.8, 2.8, 5, or 8.1 g) of 81 box turtles caused an eventual decrease (12% per g) in linear growth rate. No consistent decrease occurred with aquatic turtles centrifuged at below 6 g. Maximum growth of length and roundness appears near 5 g for aquatic environments and near 1 g in land environments. Present results suggest that some gravity is necessary for normal bone growth.
Certain space shuttle missions may require the retrieval of passive spinning and processing satellites. One proposed means of retrieval utilizes a free-flying teleoperator launched from the shuttle. The feasibility of nulling the combined spin and precession (passivation) of a typical rigid satellite is first established using a Lagrangian formulation. It is shown that a proposed asymmetric teleoperator cannot be used for passivation in its present form because it would quickly tumble over after being spun-up to synchronize with the angular rates of the satellite. In addition, a dynamic analysis is made of the combined teleoperator-satellite system where an initial misalignment of their respective angular momentum vectors is assumed.
The dynamics of detumbling a randomly spinning spacecraft using externally mounted, movable telescoping appendages were studied both analytically and numerically. Two types of telescoping appendages are considered: where an end mass is mounted at the end of an (assumed) massless boom; and where the appendage is assumed to consist of a uniformly distributed homogeneous mass throughout its length. From an application of Liapunov's second method, boom extension maneuvers were determined to approach either of two desired final states: close to a zero inertial angular velocity state, and a final spin rate about only one of the principal axes. Recovery dynamics are evaluated analytically for the case of symmetrical deployment. Numerical examination of other asymmetrical cases verifies the practicality of using movable appendages to recover a randomly tumbling spacecraft.
This investigation deals with the use of a movable mass control system to stabilize a tumbling asymmetric spacecraft about the maximum inertia axis. A first-order gradient optimization technique is used to minimize angular velocity components along the intermediate and minimum inertia axes, thus, permitting a wide range of initial guesses for mass position history. Motion of the control mass is along a linear track fixed in the vehicle. The control variable is taken as mass acceleration with respect to body coordinates. Motion is limited to defined quantities and a penalty function is used to insure a given range of positions. Numerical solutions of the optimization equations verify that minimum time detumbling is achieved with the largest permissible movable mass, length of linear track, and positions of the mass on the two coordinates perpendicular to the linear motion. The optimal method permits detumbling in about one-fourth the time when compared to a force control law formulation available in the literature.
The dynamics of detumbling a randomly spinning spacecraft using externally mounted, movable telescoping appendages are studied both analytically and numerically. Two types of telescoping appendages are considered: (1) where an end mass is mounted at the end of an (assumed) massless boom; and (2) where the appendage is assumed to consist of a uniformly distributed homogeneous mass throughout its length. From an application of Liapunov's second method boom extension maneuvers can be determined to approach either of two desired final states: close to a zero inertial angular velocity state, and a final spin rate about only one of the principal axes. Recovery dynamics are evaluated analytically for the case of symmetrical deployment. Numerical examination of other asymmetrical cases verifies the practicality of using movable appendages to recover a randomly tumbling spacecraft.
Recent experiments involving liquid jets exhausting into a vacuum have led to significant conclusions regarding techniques for detumbling and despinning spacecraft during retrieval and rescue operations. A fine water spray directed toward a tumbling or a spinning object may quickly form ice over its surface. The added mass of water will absorb angular momentum and slow the vehicle. As this ice sublimes it carries momentum away with it. Thus, a complete detumble or despin is possible by simply spraying water at a disabled or spinning vehicle. Experimental and analytical results are presented on performance and physical properties. Although these are of a preliminary nature, the results are quite promising. Example situations are considered to illustrate potential applications.
Computer simulations were employed to generate results, based on a fairly complicated analytical model. Environmental effects considered include atmospheric drag and gravity gradients. Mathematical models were based on Euler's moment equations and transformations from the body frame to inertial frame. A range of altitudes was considered, from 278 kilometers to 417 kilometers. Skylab is predicted to be in this orbital range during the 1979-1980 period. Results indicated that there will be a cyclic attitude motion due to the combined effect of gravity gradient and atmosphere drag. This motion can be characterized as being a slow tumble.
Recent experiments involving liquid jets exhausting into a vacuum have led to significant conclusions regarding techniques for detumbling and despinning disabled spacecraft during retrieval operations. A fine water spray directed toward a tumbling or spinning object may quickly form ice over its surface. The added mass of water will absorb angular momentum and slow the vehicle. As this ice sublimes it carries momentum away with it. Thus, a complete detumble or despin is possible by simply spraying water at a disabled vehicle. Experiments were conducted in a ground based vacuum chamber to determine physical properties of water-ice in a space-like environment. Additional ices, alcohol and ammonia, were also studied. An analytical analysis based on the conservation of angular momentum, resulted in despin performance parameters, i.e., total water mass requirements and despin times. The despin and retrieval of a disabled spacecraft was considered to illustrate a potential application of the water spray technique.
Failure of the solar panels to erect and spin stabilize the TRANSIT Improvement Program (TIP) satellites is discussed, with emphasis on how the flight computer was reprogrammed to perform various control functions in order to achieve a partial mission success. These functions include: (1) power management to avoid troublesome spacecraft blackouts; (2) achieve enough spin stability to fire the OATS thruster; (3) raise the parking orbit to a workable altitude; (4) remove a high tumble rate which was the indirect result of the failure; and (5) deploy the gravity-gradient boom successfully on TIP-3.
Planning for the Skylab reentry, options for influencing the reentry, and a discussion of the Penn State drag modulation scheme are presented. The history of and risks in connection with Skylab reentry, and the NASA and the Penn State schemes for extending Skylab life are discussed. Coordinate systems and equations of motions describing the Skylab attitude motion, aerodynamic damping, and six-degree-of-freedom simulation are considered to derive structural damping models for Skylab, and to determine if stabilization is possible, and if it is, if the TACS (attitude-control) system can retumble the vehicle. It is concluded that at least 12 hours are required to carry out the Penn State drag modulation, and natural stabilization after a period of tumbling is possible but cannot be confirmed due to limitations in the modeling of aerodynamic properties, internal damping, and atmospheric density.
A concept for containing the shock inputs due to hydrodynamic ram caused by an impacting projectile within a fuel cell is discussed. This is to provide a buffering layer of foam, flexible, rigid or a combination thereof, which is sealed from the liquid. A program is described in which this buffering concept was tested. The effectiveness of a novel muzzle-mounted, 'tumble', test device is shown.
Retrieval of the solar maximum mission (SMM) observatory is feasible in terms of orbiter primary reaction control system (PRCS) plume disturbance of the SMM, orbiter propellant consumed, and flight time required. Man-in-loop simulations will be required to validate these operational techniques before the verification process is complete. Candidate approach and flyaround techniques were developed that allow the orbiter to attain the proper alinement with the SMM for clear access to the grapple fixture (GF) prior grappling. Because the SMM has very little control authority (approximately 14.8 pound-foot-seconds in two axes and rate-damped in the third) it is necessary to inhibit all +Z (upfiring) PRCS jets on the orbiter to avoid tumbling the SMM. A profile involving a V-bar approach and an out-of-plane flyaround appears to be the best choice and is recommended at this time. The flyaround technique consists of alining the +X-axes of the two vehicles parallel with each other and then flying the orbiter around the SMM until the GF is in view. The out-of-plane flyaround technique is applicable to any inertially stabilized payload, and, the entire final approach profile could be considered as standard for most retrieval missions.
The gravity dependence of circumnutational activity in the sunflower hypocotyl is investigated under conditions of simulated weightlessness. Seedling cultures of the sunflower Helianthus annuus were placed four days after planting in clinostats rotating at a rate of 1.0 rpm in the horizontal or somersaulting configurations, and plant movements around their growth axes were recorded in infrared light by a time-lapse closed-circuit video system. The amplitudes and mean cycle durations of the plant nutations in the horizontal and tumbling clinostats are observed to be 20% and 72%, and 32% and 74%, respectively, of the values observed in stationary plants; extrapolations to a state of zero g by the imposition of small centripetal forces on horizontally clinostated plants also indicate some nutational motion in the absence of gravity. It is concluded that the results are incompatible with the model of Israelsson and Johnsson (1967) of geotropic response with overshoot for sunflower circumnutation; however, results of the Spacelab 1 mission experiment are needed to unambiguously define the role of gravitation.