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At least 1,513 records · Page 84
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Simulating Orbital Operations Of Spacecraft

Orbital Operations Simulator, OOS, computer program developed to implement mathematical models of complex outer-space vehicular systems and be "testbed" for new flight software. Has multi-vehicular-simulation capability to model on-orbit proximity and docking operations. Version 1.0, with its Prepare Processor and User Interface Shell designed to be true multivehicle dynamic simulator with capability to change mathematical models of spacecraft subsystems easily. Written in K & R standard C, LEX, and YACC languages and operates under System V shell.

Edwards, Carter↗
NASA NTRS1992

Model-based vision for space applications

This paper describes a method for tracking moving image features by combining spatial and temporal edge information with model based feature information. The algorithm updates the two-dimensional position of object features by correlating predicted model features with current image data. The results of the correlation process are used to compute an updated model. The algorithm makes use of a high temporal sampling rate with respect to spatial changes of the image features and operates in a real-time multiprocessing environment. Preliminary results demonstrate successful tracking for image feature velocities between 1.1 and 4.5 pixels every image frame. This work has applications for docking, assembly, retrieval of floating objects and a host of other space-related tasks.

Chaconas, Karen↗
NASA NTRS1992

Assured crew return vehicle post landing configuration design and test

The 1991-1992 senior Mechanical and Aerospace Engineering Design class continued work on the post landing configurations for the Assured Crew Return Vehicle (ACRV) and the Emergency Egress Couch (EEC). The ACRV will be permanently docked to Space Station Freedom fulfilling NASA's commitment of Assured Crew Return Capability in the event of an accident or illness aboard Space Station Freedom. The EEC provides medical support and a transportation surface for an incapacitated crew member. The objective of the projects was to give the ACRV Project Office data to feed into their feasibility studies. Four design teams were given the task of developing models with dynamically and geometrically scaled characteristics. Groups one and two combined efforts to design a one-fifth scale model for the Apollo Command Module derivative, an on-board flotation system, and a lift attachment point system. This model was designed to test the feasibility of a rigid flotation and stabilization system and to determine the dynamics associated with lifting the vehicle during retrieval. However, due to priorities, it was not built. Group three designed a one-fifth scale model of the Johnson Space Center (JSC) benchmark configuration, the Station Crew Return Alternative Module (SCRAM) with a lift attachment point system. This model helped to determine the flotation and lifting characteristics of the SCRAM configuration. Group four designed a full scale EEC with changeable geometric and geometric and dynamic characteristics. This model provided data on the geometric characteristics of the EEC and on the placement of the CG and moment of inertia. It also gave the helicopter rescue personnel direct input to the feasibility study. Section 1 describes in detail the design of a one-fifth scale model of the Apollo Command Module Derivative (ACMD) ACRV. The objective of the ACMD Configuration Model Team was to use geometric and dynamic constraints to design a one-fifth scale working model of the Apollo Command Module Derivative (ACMD) configuration with a Lift Attachment Point (LAP) System. This model was required to incorporate a rigidly mounted flotation system and the egress system designed the previous academic year. The LAP system was to be used to determine the dynamic effects of locating the lifting points at different locations on the vehicle. The team was then to build and test the model; however, due to priorities, this did not occur. To better simulate the ACMD after a water landing, the nose cone section was removed and the deck area exposed. The areas researched during the design process were construction, center of gravity and moment of inertia, and lift attachment points.

Source record↗
NASA NTRS1992

Developing a safe on-orbit cryogenic depot

New U.S. space initiatives will require technology to realize planned programs such as piloted lunar and Mars missions. Key to the optimal execution of such missions are high performance orbit transfer vehicles and propellant storage facilities. Large amounts of liquid hydrogen and oxygen demand a uniquely designed on-orbit cryogenic propellant depot. Because of the inherent dangers in propellant storage and handling, a comprehensive system safety program must be established. This paper shows how the myriad and complex hazards demonstrate the need for an integrated safety effort to be applied from program conception through operational use. Even though the cryogenic depot is still in the conceptual stage, many of the hazards have been identified, including fatigue due to heavy thermal loading from environmental and operating temperature extremes, micrometeoroid and/or depot ancillary equipment impact (this is an important problem due to the large surface area needed to house the large quantities of propellant), docking and maintenance hazards, and hazards associated with extended extravehicular activity. Various safety analysis techniques were presented for each program phase. Specific system safety implementation steps were also listed. Enhanced risk assessment was demonstrated through the incorporation of these methods.

Bahr, Nicholas J.↗
NASA NTRS1992

Pressurized Lunar Rover

The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder, allowing simultaneous transmission and reception. An S-band transponder is used to communicate with the crew during EVA. The PLR has a total mass of 6197 kg. It has a nominal speed of 10 km/hr and a top speed of 18 km/hr. The rover is capable of towing 3 metric tons (in addition to the RTG trailer).

Creel, Kenneth↗
NASA NTRS1992

Design of a pressurized lunar rover

A pressurized lunar rover is necessary for future long-term habitation of the moon. The rover must be able to safely perform many tasks, ranging from transportation and reconnaissance to exploration and rescue missions. Numerous designs were considered in an effort to maintain a low overall mass and good mobility characteristics. The configuration adopted consists of two cylindrical pressure hulls passively connected by a pressurized flexible passageway. The vehicle has an overall length of 11 meters and a total mass of seven metric tons. The rover is driven by eight independently powered two meter diameter wheels. The dual-cylinder concept allows a combination of articulated frame and double Ackermann steering for executing turns. In an emergency, the individual drive motors allow the option of skid steering as well. Two wheels are connected to either side of each cylinder through a pinned bar which allows constant ground contact. Together, these systems allow the rover to easily meet its mobility requirements. A dynamic isotope power system (DIPS), in conjunction with a closed Brayton cycle, supplied the rover with a continuous supply of 8.5 kW. The occupants are all protected from the DIPS system's radiation by a shield of tantalum. The large amount of heat produced by the DIPS and other rover systems is rejected by thermal radiators. The thermal radiators and solar collectors are located on the top of the rear cylinder. The solar collectors are used to recharge batteries for peak power periods. The rover's shell is made of graphite-epoxy coated with multi-layer insulation (MLI). The graphite-epoxy provides strength while the thermally resistant MLI gives protection from the lunar environment. An elastomer separates the two materials to compensate for the thermal mismatch. The communications system allows for communication with the lunar base with an option for direct communication with earth via a lunar satellite link. The various links are combined into one signal broadcast in the S-band at 2.3 GHz. The rover is fitted with a parabolic reflector disk for S-band transmission, and an omnidirectional antenna for local extravehicular activity (EVA) communication. The rover's guidance, navigation, and control subsystem consists of an inertial guidance system, an orbiting lunar satellite, and an obstacle avoidance system. In addition, the rover is equipped with a number of external fixtures including two telerobotic arms, lights, cameras, EVA storage, manlocks, a docking fixture, solar panels, thermal radiators, and a scientific airlock. In conclusion, this rover meets all of the design requirements and clearly surpasses them in the areas of mobility and maneuverability.

Bhardwaj, Manoj↗
NASA NTRS1992

Project Minerva: A low cost manned Mars mission based on indigenous propellant production

Project Minerva is a low-cost manned Mars mission designed to deliver a crew of four to the Martian surface using only two sets of two launches from the Kennedy Space Center. Key concepts which make this mission realizable are the use of near-term technologies and in-situ propellant production, following the scenario originally proposed by R. Zubrin. The first set of launches delivers two unmanned payloads into low Earth orbit (LEO): the first payload consists of an Earth Return Vehicle (ERV), a propellant production plant, and a set of robotic vehicles; the second payload consists of the trans-Mars injection (TMI) upper stage. In LEO, the two payloads are docked and the configuration is injected into a Mars transfer orbit. The landing on Mars is performed with the aid of multiple aerobraking maneuvers. On the Martian surface, the propellant production plant uses a Sabatier/electrolysis type process to combine nine tons of hydrogen with carbon dioxide from the Martian atmosphere to produce over a hundred tons of liquid oxygen and liquid methane, which are later used as the propellants for the rover expeditions and the manned return journey of the ERV. The systems necessary for the flights to and from Mars, as well as those needed for the stay on Mars, are discussed. These systems include the transfer vehicle design, life support, guidance and communications, rovers and telepresence, power generation, and propellant manufacturing. Also included are the orbital mechanics, the scientific goals, and the estimated mission costs.

Beder, David↗
NASA NTRS1992

A simulated annealing approach to schedule optimization for the SES facility

The Shuttle Engineering Simulator (SES) is a facility which houses the software and hardware for a variety of simulation systems. The simulators include the Autonomous Remote Manipulator, the Manned Maneuvering Unit, Orbiter/Space Station docking, and shuttle entry and landing. The SES simulators are used by various groups throughout NASA. For example, astronauts use the SES to practice maneuvers with the shuttle equipment; programmers use the SES to test flight software; and engineers use the SES for design and analysis studies. Due to its high demand, the SES is busy twenty-four hours a day and seven days a week. Scheduling the facility is a problem that is constantly growing and changing with the addition of new equipment. Currently a number of small independent programs have been developed to help solve the problem, but the long-term answer lies in finding a flexible, integrated system that provides the user with the ability to create, optimize, and edit the schedule. COMPASS is an interactive and highly flexible scheduling system. However, until recently COMPASS did not provide any optimization features. This paper describes the simulated annealing extension to COMPASS. It now allows the user to interweave schedule creation, revision, and optimization. This practical approach was necessary in order to satisfy the operational requirements of the SES.

Mcmahon, Mary Beth↗
NASA NTRS1993

Controls-structures-interaction dynamics during RCS control of the Orbiter/SRMS/SSF configuration

During the assembly flights of the Space Station Freedom (SSF), the Orbiter will either dock with the SSF and retract to the final berthed position, or will grapple the SSF using the Shuttle Remote Manipulator System (SRMS) and maneuver the SRMS coupled vehicles to their final berthed position. The SRMS method is expected to take approximately one to one and a half hours to complete and require periodic attitude corrections by either the Orbiter or the SSF reaction control system (RCS) or continuous control by a control moment gyro (CMG) system with RCS desaturation as required. Free drift of the attached vehicles is not currently thought to be acceptable because the desired system attitude will quickly deteriorate due to unbalanced gravity gradient and aerodynamic torques resulting in power generation problems, thermodynamic control problems, and communications problems. This paper deals with the simulation and control of the SRMS during trunnion/latch interaction dynamics and during RCS maneuvers. The SRMS servo drive joints have highly non-linear elastic characteristics which tend to degrade sensitive control strategies. In addition the system natural frequencies are extremely low and depend on the drive joint deflections and SRMS geometric position. The lowest mean period of oscillation for the Orbiter/SRMS/SSF(MB6) system in brakes hold mode positioned near the final berthed position is approximately 120 seconds. A detailed finite element model of the SRMS has been developed and used in a newly developed SRMS systems dynamics simulation to investigate the non-linear transient response dynamics of the Orbiter/SRMS/SSF systems. The present SRMS control strategy of brakes only recommended by the Charles Draper Labs is contrasted with a robust controller developed by the authors. The robust controller uses an optimal inear quadratic regulator (LQR) to optimally place the closed-loop poles of a multivariable continuous-time system within the common region of an open sector with the sector angle plus or minus 45 degrees from the negative real axis, and the left-hand side of a parallel to the imaginary axis in the complex s-plane. This guarantees that the critical damping ratio for the desired control modes is equal to or in excess of 0.707. The matrix sign function is used for solving the Riccati equations which appear in the controller design procedure. Fast and stable algorithms have recently been developed for the computation of the matrix sign function. Simulation results are given which demonstrate the potential CSI involvement for the current SRMS control system and the proposed control system.

Schliesing, J. A.↗
NASA NTRS1991

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 6: Controls and guidance

Viewgraphs of briefings from the Space Systems and Technology Advisory Committee (SSTAC)/ARTS review of the draft Integrated Technology Plan (ITP) on controls and guidance are included. Topics covered include: strategic avionics technology planning and bridging programs; avionics technology plan; vehicle health management; spacecraft guidance research; autonomous rendezvous and docking; autonomous landing; computational control; fiberoptic rotation sensors; precision instrument and telescope pointing; microsensors and microinstruments; micro guidance and control initiative; and earth-orbiting platforms controls-structures interaction.

Source record↗
NASA NTRS1991

TRAC based sensing for autonomous rendezvous

The Targeting Reflective Alignment Concept (TRAC) sensor is to be used in an effort to support an Autonomous Rendezvous and Docking (AR&D) flight experiment. The TRAC sensor uses a fixed-focus, fixed-iris CCD camera and a target that is a combination of active and passive components. The system experiment is anticipated to fly in 1994 using two Commercial Experiment Transporters (COMET's). The requirements for the sensor are: bearing error less than or equal to 0.075 deg; bearing error rate less than 0.3 deg/sec; attitude error less than 0.5 deg.; and attitude rate error less than 2.0 deg/sec. The range requirement depends on the range and the range rate of the vehicle. The active component of the target is several 'kilo-bright' LED's that can emit 2500 millicandela with 40 milliwatts of input power. Flashing the lights in a known pattern eliminates background illumination. The system should be able to rendezvous from 300 meters all the way to capture. A question that arose during the presentation: What is the life time of the LED's and their sensitivity to radiation? The LED's should be manufactured to Military Specifications, coated with silicon dioxide, and all other space qualified precautions should be taken. The LED's will not be on all the time so they should easily last the two-year mission.

Everett, Louis J.↗
NASA NTRS1991

Trajectory control sensor engineering model detailed test objective

The concept employed in an existing Trajectory Control Sensor (TCS) breadboard is being developed into an engineering model to be considered for flight on the Shuttle as a Detailed Test Objective (DTO). The sensor design addresses the needs of Shuttle/SSF docking/berthing by providing relative range and range rate to 1500 meters as well as the perceived needs of AR&C by relative attitude measurement over the last 100 meters. Range measurement is determined using a four-tone ranging technique. The Doppler shift on the highest frequency tone will be used to provide direct measurement of range rate. Bearing rate and attitude rates will be determined through back differencing of bearing and attitude, respectively. The target consists of an isosceles triangle configuration of three optical retroreflectors, roughly one meter and one-half meter in size. After target acquisition, the sensor continually updates the positions of the three retros at a rate of about one hertz. The engineering model is expected to weigh about 25 pounds, consume 25-30 watts, and have an envelope of about 1.25 cubic feet. The following concerns were addressed during the presentation: are there any concerns with differentiating attitude and bearing to get attitude and bearing rates? Since the docking scenario has low data bandwidth, back differencing is a sufficient approximation of a perfect differentiator for this application. Could range data be obtained if there were no retroreflectors on the target vehicle? Possibly, but only at close range. It would be dependent on target characteristics.

Dekome, Kent↗
NASA NTRS1991

A method for modeling contact dynamics for automated capture mechanisms

Logicon Control Dynamics develops contact dynamics models for space-based docking and berthing vehicles. The models compute contact forces for the physical contact between mating capture mechanism surfaces. Realistic simulation requires proportionality constants, for calculating contact forces, to approximate surface stiffness of contacting bodies. Proportionality for rigid metallic bodies becomes quite large. Small penetrations of surface boundaries can produce large contact forces.

Williams, Philip J.↗
NASA NTRS1991

Autonomous rendezvous and capture development infrastructure

In the development of the technology for autonomous rendezvous and docking, key infrastructure capabilities must be used for effective and economical development. This need involves facility capabilities, both equipment and personnel, to devise, develop, qualify, and integrate ARD elements and subsystems into flight programs. One effective way of reducing technical risks in developing ARD technology is the use of the Low Earth Orbit test facility. Using a reusable free-flying testbed carried in the Shuttle, as a technology demonstration test flight, can be structured to include a variety of sensors, control schemes, and operational approaches. This testbed and flight demonstration concept will be used to illustrate how technologies and facilities at MSFC can be used to develop and prove an ARD system.

Bryan, Thomas C.↗
NASA NTRS1991

NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems

Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations.

Tobbe, Patrick A.↗
NASA NTRS1993

Lunar transfer vehicle studies

Lunar transportation architectures exist for several different mission scenarios. Direct flights from Earth are possible, as the Apollo program clearly demonstrated. Alternatively, a space transfer vehicle could be constructed in space by using the Space Station as a base of operations, or multiple vehicles could be launched from Earth and dock in LEO without using a space station for support. Similarly, returning personnel could proceed directly to Earth or rendezvous at the Space Station for a ride back home on the Space Shuttle. Multiple design concepts exist which are compatible with these scenarios and which can support requirements of cargo, personnel, and mission objectives. Regardless of the ultimate mission selected, some technologies will certainly play a key role in the design and operation of advanced lunar transfer vehicles. Current technologies are capable of delivering astronauts to the lunar surface, but improvements are needed to affordably transfer the material and equipment that will be needed for establishing a lunar base. Materials and structures advances, in particular, will enable the development of more capable cryogenic fluid management and propulsion systems, improved structures, and more efficient vehicle assembly, servicing and processing.

Keeley, Joseph T.↗
NASA NTRS1993

Multi-beam range imager for autonomous operations

For space operations from the Space Station Freedom the real time range imager will be very valuable in terms of refuelling, docking as well as space exploration operations. For these applications as well as many other robotics and remote ranging applications, a small potable, power efficient, robust range imager capable of a few tens of km ranging with 10 cm accuracy is needed. The system developed is based on a well known pseudo-random modulation technique applied to a laser transmitter combined with a novel range resolution enhancement technique. In this technique, the transmitter is modulated by a relatively low frequency of an order of a few MHz to enhance the signal to noise ratio and to ease the stringent systems engineering requirements while accomplishing a very high resolution. The desired resolution cannot easily be attained by other conventional approaches. The engineering model of the system is being designed to obtain better than 10 cm range accuracy simply by implementing a high precision clock circuit. In this paper we present the principle of the pseudo-random noise (PN) lidar system and the results of the proof of experiment.

Marzwell, Neville I.↗
NASA NTRS1991

Autonomous rendezvous and capture development infrastructure

In the development of the technology for autonomous rendezvous and docking, key infrastructure capabilities must be used for effective and economical development. This involves facility capabilities, both equipment and personnel, to devise, develop, qualify, and integrate ARD elements and subsystems into flight programs. One effective way of reducing technical risks in developing ARD technology is the use of the ultimate test facility, using a Shuttle-based reusable free-flying testbed to perform a Technology Demonstration Test Flight which can be structured to include a variety of additional sensors, control schemes, and operational approaches. This conceptual testbed and flight demonstration will be used to illustrate how technologies and facilities at MSFC can be used to develop and prove an ARD system.

Bryan, Thomas C.↗