Requirements and applications for robotic servicing of military space systems

The utility of on-orbit servicing of spacecraft has been demonstrated by NASA several times using shuttle-based astronaut EVA. There has been interest in utilizing on-orbit servicing for military space systems as well. This interest has been driven by the increasing reliance of all branches of the military upon space-based assets, the growing numbers, complexity, and cost of those assets, and a desire to normalize support policies for space-based operations. Many military satellites are placed in orbits which are unduly hostile for astronaut operations and/or cannot be reached by the shuttle. In addition, some of the projected tasks may involve hazardous operations. This has led to a focus on robotic systems, instead of astronauts, for the basis of projected servicing systems. This paper describes studies and activities which will hopefully lead to on-orbit servicing being one of the tools available to military space systems designers and operators. The utility of various forms of servicing has been evaluated for present and projected systems, critical technologies have been identified, and strategies for the development and insertion of this technology into operational systems have been developed. Many of the projected plans have been adversely affected by budgetary restrictions and evolving architectures, but the fundamental benefits and requirements are well understood. A method of introducing servicing capabilities in a manner which has a low impact on the system designer and does not require the prior development of an expensive infrastructure is discussed. This can potentially lead to an evolutionary implementation of the full technology

Modeling, Stability Analysis, and Testing of a Hybrid Docking Simulator

A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS) is the verification and validation of the docking phase in an on-orbit servicing mission.....Comment: 30 papge

SHARC: Space Habitat, Assembly and Repair Center

Integrated Space Systems (ISS) has taken on the task of designing a Space Habitat, Assembly and Repair Center (SHARC) in Low Earth Orbit to meet the future needs of the space program. Our goal is to meet the general requirements given by the 1991/1992 AIAA/LORAL Team Space Design competition with an emphasis on minimizing the costs of such a design. A baseline structural configuration along with preliminary designs of the major subsystems was created. Our initial mission requirements, which were set by AIAA, were that the facility be able to: support simultaneous assembly of three major vehicles; conduct assembly operations and minimal extra vehicular activity (EVA); maintain orbit indefinitely; and assemble components 30 feet long with a 10 foot diameter in a shirtsleeve environment

Lunar base mission technology issues and orbital demonstration requirements on space station

The International Space Station has been the object of considerable design, redesign, and alteration since it was originally proposed in early 1984. In the intervening years the station has slowly evolved to a specific design that was thoroughly reviewed by a large agency-wide Critical Evaluation Task Force (CETF). As space station designs continue to evolve, studies must be conducted to determine the suitability of the current design for some of the primary purposes for which the station will be used. This paper concentrates on the technology requirements and issues, the on-orbit demonstration and verification program, and the space station focused support required prior to the establishment of a permanently manned lunar base as identified in the National Commission on Space report. Technology issues associated with the on-orbit assembly and processing of the lunar vehicle flight elements are also discussed

An Earth Orbiting Satellite Service and Repair Facility

A conceptual design was produced for the Geosynchronous Satellite Servicing Platform (GSSP), an orbital facility capable of repairing and servicing satellites in geosynchronous orbit. The GSSP is a man-tended platform, which consists of a habitation module, operations module, service bay and truss assembly. This design review includes an analysis of life support systems, thermal and power requirements, robotic and automated systems, control methods and navigation, and communications systems. The GSSP will utilize existing technology available at the time of construction, focusing mainly on modifying and integrating existing systems. The entire facility, along with two satellite retrieval vehicles (SRV), will be placed in geosynchronous orbit by the Advanced Launch System. The SRV will be used to ferry satellites to and from the GSSP. Technicians will be transferred from Earth to the GSSP and back in an Apollo-derived Crew Transfer Capsule (CTC). These missions will use advanced telerobotic equipment to inspect and service satellites. Four of these missions are tentatively scheduled per year. At this rate, the GSSP will service over 650 satelites during the projected 25 year lifespan

CEU Session #4 - Space Robotics for On-Orbit Servicing and Space Debris Removal

The next ten years will see an unprecedented increase in the number of spacecraft deployed in Earth orbit and the number of commercial ventures operating space assets. The large increase in the number of spacecraft and the large increase in the commercial value of space will lead to renewed interest in robotic on-orbit servicing (OOS) and active debris removal (ADR). The lecture will provide a brief overview over the history of crewed and robotic OOS and discuss the missions planned for the near future. It will then proceed to identify the critical enabling technologies for a future, operational OOS and ADR infrastructure, discuss the technical challenges and present promising concepts and demonstrated technologies that can make routine OOS and ADR a possibility. The focus will be on robotics technologies and spacecraft guidance, navigation and control systems

Ground controlled robotic assembly operations for Space Station Freedom

A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities

Contamination control concepts for space station customer servicing

The customer servicing operations envisioned for the space station, which include instrument repair, orbital replacement unit (ORU) changeout, and fluid replenishment for free-flying and attached payloads, are expected to create requirements for a unique contamination control subsystem for the customer servicing facility (CSF). Both the core space station and the CSF users present unique requirements/sensitivities, not all of which are currently defined with common criteria. Preliminary results from an assessment of the effects of the CSF-induced contamination environment are reported. Strategies for a comprehensive contamination control approach and a description of specific hardware devices and their applicability are discussed

Rendezvous Integration Complexities of NASA Human Flight Vehicles

Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements

Technology for the Future: In-Space Technology Experiments Program, part 2

The purpose of the Office of Aeronautics and Space Technology (OAST) In-Space Technology Experiments Program In-STEP 1988 Workshop was to identify and prioritize technologies that are critical for future national space programs and require validation in the space environment, and review current NASA (In-Reach) and industry/ university (Out-Reach) experiments. A prioritized list of the critical technology needs was developed for the following eight disciplines: structures; environmental effects; power systems and thermal management; fluid management and propulsion systems; automation and robotics; sensors and information systems; in-space systems; and humans in space. This is part two of two parts and contains the critical technology presentations for the eight theme elements and a summary listing of critical space technology needs for each theme