An investigation of controlled tethering in space

Astronaut tethering and retrieval operations - systems analysis and design, and motion equations for connected bodies in orbi

Workshop on Europa's Icy Shell: Past, Present, and Future : February 6-8, 2004, Houston, Texas

The purpose was to discuss the current understanding of the icy shell, its physical state and evolution, and its interaction with the putative subsurface ocean. All aspects of the icy shell were considered, including composition, physical state (e.g., thickness, rheology), geologic history, present-day activity, biology, and exploration goals.Lunar and Planetary Institute, National Aeronautics and Space Administrationscientific organizing committee Adam Showman ... [and others] ; conveners Paul Schenk, Francis Nimmo, Louise Prockter ; [compiled by Lunar and Planetary Institute]PARTIAL CONTENTS: Overview of Europa's icy shell: questions of thickness, composition, rheology, tectonics, and Astrobiological potential / William B. McKinnon -- Composition and geochemical evolution of Europa's icy shell / J.S. Kargel -- Earth's ice sheets and ice shelves as an analog for Europa's icy shell / D.D.Blankenship and D.L. Morse -- Geological features and resurfacing history of Europa / L.M. Prockter and P.H. Figueredo -- Long period variations in tidal and Librational forcing of Europa / Bruce G. Bills -- Europa's ice shell thickness derived from thermal-orbital evolution models / H. Hussmann, T. Spohn

Proceedings of a Workshop on the Applications of Tethers in Space, Volume 1

Project overview; tether deployment; satellite system description; tether fundamentals; science applications; electrodynamic interactions; transportation; artificial gravity; and constellations; were described

Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (p. 217-228).This dissertation focuses on the synchronization of multiple dynamical systems using contraction theory, with applications to cooperative control of multi-agent systems and synchronization of interconnected dynamics such as tethered formation flight. Inspired by stable combinations of biological systems, contraction nonlinear stability theory provides a systematic method to reduce arbitrarily complex systems into simpler elements. One application of oscillation synchronization is a fully decentralized nonlinear control law, which eliminates the need for any inter-satellite communications. We use contraction theory to prove that a nonlinear control law stabilizing a single-tethered spacecraft can also stabilize arbitrarily large circular arrays of tethered spacecraft, as well as a three-spacecraft inline configuration. The convergence result is global and exponential due to the nature of contraction analysis. The proposed decentralized control strategy is further extended to robust adaptive control in order to account for model uncertainties. Numerical simulations and experimental results validate the exponential stability of the tethered formation arrays by implementing a tracking control law derived from the reduced dynamics.(cont.) This thesis also presents a new synchronization framework that can be directly applied to cooperative control of autonomous aerospace vehicles and oscillation synchronization in robotic manipulation and locomotion. We construct a dynamical network of multiple Lagrangian systems by adding diffusive couplings to otherwise freely moving or flying vehicles. The proposed tracking control law synchronizes an arbitrary number of robots into a common trajectory with global exponential convergence. The proposed control law is much simpler than earlier work in terms of both the computational load and the required signals. Furthermore, in contrast with earlier work which used simple double integrator models, the proposed method permits highly nonlinear systems and is further extended to adaptive synchronization, partial-joint coupling, and concurrent synchronization. Another contribution of the dissertation is a novel nonlinear control approach for underactuated tethered formation flight spacecraft. This is motivated by a controllability analysis that indicates that both array resizing and spin-up are fully controllable by the reaction wheels and the tether motor. This work reports the first propellant-free underactuated control results for tethered formation flight.(cont.) We also fulfill the potential of the proposed strategy by providing a new momentum dumping method. This dissertation work has evolved based on the research philosophy of balancing theoretical work with practicality, aiming at physically intuitive algorithms that can be directly implemented in real systems. In order to validate the effectiveness of the decentralized control and estimation framework, a new suite of hardware has been designed and added to the SPHERES (Synchronize Position Hold Engage and Reorient Experimental Satellite) testbed. Such recent improvements described in this dissertation include a new tether reel mechanism, a force-torque sensor and an air-bearing carriage with a reaction wheel. This thesis also introduces a novel relative attitude estimator, in which a series of Kalman filters incorporate the gyro, force-torque sensor and ultrasound ranging measurements. The closed-loop control experiments can be viewed at ...by Soon-Jo Chung.Sc.D

Tethers in Space Handbook

A new edition of the Tethers in Space Handbook was needed after the last edition published in 1989. Tether-related activities have been quite busy in the 90's. We have had the flights of TSSI and TSSI-R, SEDS-1 and -2, PMG, TIPS and OEDIPUS. In less than three years there have been one international Conference on Tethers in Space, held in Washington DC, and three workshops, held at ESA/Estec in the Netherlands, at ISAS in Japan and at the University of Michigan, Ann Harbor. The community has grown and we finally have real flight data to compare our models with. The life of spaceborne tethers has not been always easy and we got our dose of setbacks, but we feel pretty optimistic for the future. We are just stepping out of the pioneering stage to start to use tethers for space science and technological applications. As we are writing this handbook TiPs, a NRL tether project is flying above our heads. There is no emphasis in affirming that as of today spacebome tethers are a reality and their potential is far from being fully appreciated. Consequently, a large amount of new information had to be incorporated into this new edition. The general structure of the handbook has been left mostly unchanged. The past editors have set a style which we have not felt needed change. The section on the flights has been enriched with information on the scientific results. The categories of the applications have not been modified, and in some cases we have mentioned the existence of related flight data. We felt that the section contributed by Joe Carroll, called Tether Data, should be maintained as it was, being a "classic" and still very accurate and not at all obsolete. We have introduced a new chapter entitled Space Science and Tethers since flight experience has shown that tethers can complement other space-based investigations. The bibliography has been updated. Due to the great production in the last few years %e had to restrict our search to works published in refereed journal. The production, however, is much more extensive. In addition, we have included the summary of the papers presented at the last International Conference which was a forum for first-hand information on all the flights

A History of Aerospace Problems, Their Solutions, Their Lessons

The positive aspect of problem occurrences is the opportunity for learning and a challenge for innovation. The learning aspect is not restricted to the solution period of the problem occurrence, but can become the beacon for problem prevention on future programs. Problems/failures serve as a point of departure for scaling to new designs. To ensure that problems/failures and their solutions guide the future programs, a concerted effort has been expended to study these problems, their solutions, their derived lessons learned, and projections for future programs. This includes identification of technology thrusts, process changes, codes development, etc. However, they must not become an excuse for adding layers upon layers of standards, criteria, and requirements, but must serve as guidelines that assist instead of stifling engineers. This report is an extension of prior efforts to accomplish this task. Although these efforts only scratch the surface, it is a beginning that others must complete

Proceedings of a Workshop on Applications of Tethers in Space, Volume 2

The panel conclusions for each of the following panels (science applications; electrodynamic interactions; transportation applications; artificial gravity; constellations; and technology and test) are given

3D MHD Flux Emergence Experiments: Idealized models and coronal interactions

This paper reviews some of the many 3D numerical experiments of the emergence of magnetic fields from the solar interior and the subsequent interaction with the pre-existing coronal magnetic field. The models described here are idealized, in the sense that the internal energy equation only involves the adiabatic, Ohmic and viscous shock heating terms. However, provided the main aim is to investigate the dynamical evolution, this is adequate. Many interesting observational phenomena are explained by these models in a self-consistent manner.Comment: Review article, accepted for publication in Solar Physic

Applications of Tethers in Space, Volume 2

Topics discussed include tethered satellites, tether deployment, satellite systems, science applications, electrodynamic interactions, transportation applications, artificial gravity, constellations, and technology and testing