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NASA NTRS2016

Space Shuttle Program (SSP) Dual Docked Operations (DDO)

This document describes the concept definition, studies, and analysis results generated by the Space Shuttle Program (SSP), International Space Station (ISS) Program (ISSP), and Mission Operations Directorate for implementing Dual Docked Operations (DDO) during mated Orbiter/ISS missions. This work was performed over a number of years. Due to the ever increasing visiting vehicle traffic to and from the ISS, it became apparent to both the ISSP and the SSP that there would arise occasions where conflicts between a visiting vehicle docking and/or undocking could overlap with a planned Space Shuttle launch and/or during docked operations. This potential conflict provided the genesis for evaluating risk mitigations to gain maximum flexibility for managing potential visiting vehicle traffic to and from the ISS and to maximize launch and landing opportunities for all visiting vehicles.

Sills, Joel W., Jr.↗

NASA NTRS2021

Dual Quaternion Visual Servo Control

This paper focuses on a dual quaternion-based estimation and control approach for position-based visual servoing (PBVS). The pose estimation of the camera is achieved using a dual quaternion-based Extended Kalman Filter (EKF), which estimates the position and orientation of the camera based on feature points acquired through a sequence of camera images. Based on the estimation, a dual quaternion control law is developed to regulate the camera to the desired pose. Leveraging the local exponential stability of the EKF and the global exponential stability of the designed controller, a nonlinear separation principle is used to prove the stability of the joint estimation and control for PBVS. The method is distinguished from other PBVS methods in the sense that a compact representation of dual quaternion is used to represent the pose, and a joint stability of estimator and controller for PBVS in dual quaternion space is presented. The proposed dual quaternion PBVS method is validated using a simulation.

Quaternions↗

NASA NTRS2012

Dual Accelerometer Usage Strategy for Onboard Space Navigation

This work introduces a dual accelerometer usage strategy for onboard space navigation. In the proposed algorithm the accelerometer is used to propagate the state when its value exceeds a threshold and it is used to estimate its errors otherwise. Numerical examples and comparison to other accelerometer usage schemes are presented to validate the proposed approach.

Zanetti, Renato↗

NASA NTRS1992

Dual-arm supervisory and shared control space servicing task experiments

A dual-arm task execution primitive has been implemented for cooperative dual-arm telerobotic task execution utilizing multiple sensors concurrently. The primitive has been integrated into a telerobot task execution system and can be called by a task planning system for execution of tasks requiring dual-arm sensor based motion, e.g., force control, teleoperation, and shared control. The primitive has a large input parameter set which is used to specify the desired behavior of the motion. Move-squeeze decomposition is utilized to decompose forces sensed at the wrists of the two manipulators into forces in the move subspace, which cause system motion, and forces in the squeeze subspaces, which cause internal forces. The move and squeeze forces are then separately controlled. Several space servicing tasks utilizing the cooperative dual-arm control capability are described, and experimental results from the tasks are given. The supervisory and shared control tasks include capture of a rotating satellite, orbital replacement unit changeout, fluid coupler seating and locking, and contour following.

Backes, Paul G.↗

NASA NTRS1994

Free-floating dual-arm robots for space assembly

Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object in an object pool. The analytics of such assemblies involve not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. In an effort to understand such assemblies in zero gravity space environment, we are currently developing at Ohio University a free-floating assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free-floating assembly table. The objective is to pick up workpieces from the material table and combine them into prespecified assemblies. This paper presents analytical models of assembly primitives and strategies for overall assembly. A computer simulation of an assembly is developed using the analytical models. The experiment facility will be used to verify the theoretical predictions.

Agrawal, Sunil Kumar↗

NASA NTRS1992

Space-based astrometric optical interferometry with POINTS

POINTS, a dual space-based astrometric optical interferometer with nominal baseline length of 2 meters and measurement accuracy of 5 microarcseconds, which could be a powerful new multidisciplinary research tool is introduced. The instrument, including the laser gauges which are a central aspect of the instrument, are described. The design of the spacecraft, and the mission operations, including the bias determination and correction, are discussed. As a candidate for the Astrometric Interferometry Mission (AIM) mission, POINTS could open new areas of astrophysical research and change the nature of the questions being asked in some old areas. As a candidate for the TOPS-1 (Towards Other Planetary Systems) mission, it could be used to perform a definitive search for extra solar planetary systems, either finding and characterizing a large number of them or showing that they are far less numerous than now believed. POINTS, which is small, agile, and mechanically simple, would be the first of a new class of powerful instruments in space and would prove the technology for the larger members of that class to follow.

Reasenberg, R. D.↗

NASA NTRS2002

Advanced Passive Microwave Radiometer Technology for GPM Mission

An interferometer-type passive microwave radiometer based on MMIC receiver technology and a thinned array antenna design is being developed under the Instrument Incubator Program (TIP) on a project entitled the Lightweight Rainfall Radiometer (LRR). The prototype single channel aircraft instrument will be ready for first testing in 2nd quarter 2003, for deployment on the NASA DC-8 aircraft and in a ground configuration manner; this version measures at 10.7 GHz in a crosstrack imaging mode. The design for a two (2) frequency preliminary space flight model at 19 and 35 GHz (also in crosstrack imaging mode) has also been completed, in which the design features would enable it to fly in a bore-sighted configuration with a new dual-frequency space radar (DPR) under development at the Communications Research Laboratory (CRL) in Tokyo, Japan. The DPR will be flown as one of two primary instruments on the Global Precipitation Measurement (GPM) mission's core satellite in the 2007 time frame. The dual frequency space flight design of the ERR matches the APR frequencies and will be proposed as an ancillary instrument on the GPM core satellite to advance space-based precipitation measurement by enabling better microphysical characterization and coincident volume data gathering for exercising combined algorithm techniques which make use of both radar backscatter and radiometer attenuation information to constrain rainrate solutions within a physical algorithm context. This talk will discuss the design features, performance capabilities, applications plans, and conical/polarametric imaging possibilities for the LRR, as well as a brief summary of the project status and schedule.

Smith, Eric A.↗

NASA NTRS2012

Comparison of Procedures for Dual and Triple Closely Spaced Parallel Runways

A human-in-the-loop high fidelity flight simulation experiment was conducted, which investigated and compared breakout procedures for Very Closely Spaced Parallel Approaches (VCSPA) with two and three runways. To understand the feasibility, usability and human factors of two and three runway VCSPA, data were collected and analyzed on the dependent variables of breakout cross track error and pilot workload. Independent variables included number of runways, cause of breakout and location of breakout. Results indicated larger cross track error and higher workload using three runways as compared to 2-runway operations. Significant interaction effects involving breakout cause and breakout location were also observed. Across all conditions, cross track error values showed high levels of breakout trajectory accuracy and pilot workload remained manageable. Results suggest possible avenues of future adaptation for adopting these procedures (e.g., pilot training), while also showing potential promise of the concept.

triple approaches↗

NASA NTRS1994

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

Erikson, Jon D.↗

NASA NTRS1994

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robotics

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an objective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

Erickson, Jon D.↗

NASA NTRS1983

Chung-Li, Taiwan dual mode (Doppler and spaced antenna) VHF radar: Preliminary specifications

A major unresolved question in the field of atmospheric research using VHF radar techniques is the relative merit of the two most widely used systems. These systems are the Doppler method and the spaced antenna method. It has been suggested that one radar of each type be operated side by side for a direct comparison of the two techniques. This duplication of effort is not cost effective. The major components of both systems are identical, and one radar could be operated in both modes by proper design of a suitable antenna system and by proper data analysis. The Chung-Li radar will be able to switch between modes on a time scale of seconds and is the first VHF radar to be able to directly compare the Doppler data with spaced antenna data. The system will have performance comparable with the present SOUSY spaced antenna system and will provide mesospheric data in addition to stratospheric and tropospheric data. The major specifications of the Chung-Li radar are given.

Brosnahan, J. W.↗

NASA NTRS1987

Design and assembly sequence analysis of option 3 for CETF reference space station

A design and assembly sequence was conducted on one option of the Dual Keel Space Station examined by a NASA Critical Evaluation Task Force to establish viability of several variations of that option. A goal of the study was to produce and analyze technical data to support Task Force decisions to either examine particular Option 3 variations in more depth or eliminate them from further consideration. An analysis of the phasing assembly showed that use of an Expendable Launch Vehicle in conjunction with the Space Transportation System (STS) can accelerate the buildup of the Station and ease the STS launch rate constraints. The study also showed that use of an Orbital Maneuvering Vehicle on the first flight can significantly benefit Station assembly and, by performing Station subsystem functions, can alleviate the need for operational control and reboost systems during the early flights. In addition to launch and assembly sequencing, the study assessed stability and control, and analyzed node-packaging options and the effects of keel removal on the structural dynamics of the Station. Results of these analyses are presented and discussed.

Garrett, L. Bernard↗

NASA NTRS1987

Long term orbital storage of cryogenic propellants for advanced space transportation missions

A comprehensive study has developed the major features of a large capacity orbital propellant depot for the space-based, cryogenic OTV. The study has treated both the Dual-Keel Space Station and co-orbiting platforms as the accommodations base for the propellant storage facilities, and trades have examined both tethered and hard-docked options. Five tank set concepts were developed for storing the propellants, and along with layout options for the station and platform, were evaluated from the standpoints of servicing, propellant delivery, boiloff, micrometeoroid/debris shielding, development requirements, and cost. These trades led to the recommendation that an all-passive storage concept be considered for the platform and an actively refrigerated concept providing for reliquefaction of all boiloff be considered for the Space Station. The tank sets are modular, each storing up to 45,400 kg of LO2/LH2, and employ many advanced features to provide for microgravity fluid management and to limit boiloff. The features include such technologies as zero-gravity mass gauging, total communication capillary liquid acquisition devices, autogenous pressurization, thermodynamic vent systems, thick multilayer insulation, vapor-cooled shields, solar-selective coatings, advanced micrometeoroid/debris protection systems, and long-lived cryogenic refrigeration systems.

Schuster, John R.↗

NASA NTRS1970

Spin vector control for a spinning space station. Volume 2 - Analytic manual Final report

Computer manual for calculating dynamic vector control of dual spin space station

Guderian, W.↗

NASA NTRS1988

Neutral environment for space station

The results of studies to determine the contamination compatibility of the cross boom and dual keel Space Station configurations with attached payloads are presented. The approach was to define the 3-D configuration of the Space Station and calculate surface-to-surface view factors and solid angles between surfaces and points in an extensive point matrix around the Space Station via a modified TRASYS model. The molecular number column densities along specific experiment lines-of-sight on the cross boom generally meet JSC 30426 requirements. The deposition of contaminants on payload surfaces exceeds the JSC 30426 requirements. These model predictions require updating because of the impact on background brightness predictions. An increase of a factor of 2 to 10 in column densities would result in an unacceptable optical background.

Rantanen, R. O.↗

NASA NTRSDate not supplied

Advancements in Frequency Domain Analysis of Dual Centerline Propellant Tanks for Space Vehicle Stability and Design

This paper presents advancements in the frequency domain stability analysis for landing and ascent vehicle configurations with dual centerline propellant tanks, developed in support of Guidance, Navigation, and Control (GNC) insight activities for the Human Landing System project. The study focuses on the impact of axial thrust on the dual tank slosh danger zone solution. The frequency domain stability analysis tool is developed within the GeneraLized Aerospace Simulation in Simulink® (GLASS) framework at NASA Marshall Space Flight Center. The frequency domain stability analysis tool is used to determine slosh damping and control systems design requirements. The accuracy of the tool’s instability predictions is validated against time-domain outcomes within the GLASS simulation environment, showing consistent and anticipated results. Additionally, the method is validated by comparing its results with Frequency Domain Analysis and Comparison Tool Assuming Linearity (FRACTAL), a frequency domain analysis tool with extensive heritage and rigorous verification and validation using NASA Ares I-X and SLS flight data. The findings of this paper contribute to a better understanding of dual-tank slosh instability and support improved design and operation margins of space vehicles.

Han Woong (Brian) Bae↗

NASA NTRSDate not supplied

Advancements in Frequency Domain Analysis of Dual Centerline Propellant Tanks for Space Vehicle Stability and Design

Han Woong (Brian) Bae↗

NASA NTRS1986

Dual wound dc brush motor gearhead

The design requirements, the design, development tests and problems, the qualification and life test and the findings of the strip examination of a dual wound DC brushed motor gearhead are described. It is the only space qualified dual wound dc brushed motor gearhead in Europe.

Henson, Barrie W.↗