The Materials Exposure Facility (MEF) is being proposed by LaRC as the first long-term space materials exposure facility with real-time interaction with materials experiments in actual conditions of orbital space flight. The MEF is proposed as a Space Station external payload dedicated to technology advancement in spacecraft materials and coatings research. This paper will define a set of potential logistics for removing the MEF from the Shuttle cargo bay and the process required for transferring the MEF to a specific external payload site on Space Station Freedom (SSF). The SSF UF-2 configuration is used for this study. The kinematics and ability to successfully perform the appropriate MEF maneuvers required were verified. During completion of this work, the Space Station was redesigned and the International Space Station Alpha (ISSA) configuration evolved. The transfer procedure for SSF was valid for ISSA; however, a verification of kinematics and clearances was essential. Also, SSF and ISSA robotic interfaces with the Orbiter were different

Klich, Phillip J.

Shannon, David T., Jr.

English

NASA Technical Reports Server

NASA Technical Memorandum 110156
//., -/
_)_j6
Shuttle to Space Station Transfer of the
Materials Exposure Facility
David T. Shannon, Jr.
Langley Research Center, Hampton, Virginia
Phillip J. Klich
Lockheed Engineering & Sciences Company, Hampton, Virginia
(NASA-TM-110156) SHUTTLE TO SPACE
STATION TRANSFER OF THE MATERIALS
EXPOSURE _ACILITY (NASA. Langley
Research Center) 26 p
N95-24765
Unclas
G3/16 0046245
March 1995
National Aeronautics and
Space Administration
Langley Research Center
Hampton, Virginia 23681-0001
https://ntrs.nasa.gov/search.jsp?R=19950018345 2020-06-16T07:23:32+00:00Z

Foreword
The Materials Exposure Facility (MEF) is proposed by Langley
Research Center (LaRC) as an attached payload for Space Station.
This paper reports the logistics of transferring the MEF robotically
from the Shuttle launch carrier to Space Station Freedom for active
integration at a specific external payload site. During the time of this
study the Space Station was redesigned and the International Space
Station Alpha (ISSA) evolved. A similar evaluation of the logistics of
transferring the MEF from the Shuttle to ISSA has been initiated at
LaRC.
Acknowledgments
Mr. Don E. Avery and Mr. Uriel M. Lovelace, Langley Research Center
are acknowledged for their technical contributions to this report.

Section
lo
2.
o
1
5.
6.
Ti_ble of Contents
Title
FOREWORD i
LIST OF FIGURES iii
LIST OF ACRONYMS iv
ABSTRACT 1
INTRODUCTION 1
MEF COMPONENTS 2
2.1 MEF/SMCE Tray Change-out Logistics 3
PROPOSED MEF/STATION OPERATIONAL
SCENARIO 3
3.1 Shuttle Docking to SSF 3
3.2 SRMS Hand-off ULC/MEF to SSRMS 4
3.3 SSRMS Docks the ULC/MEF to the MBS 4
3.4 SPDM Removes Robotic Fasteners 4
3.5 SSRMS Positions MEF on SSF Attach Payload
Site 5
RESULTS OF ANALYSIS 5
CONCLUDING REMARKS 6
REFERENCES 7
ii

List of Figures
1
2
3
4
5
6
7
8
9
i0
II
12
13
Title Zag.e
Space Station Freedom Configuration 8
Materials Exposure Facility 9
MEF Attached to SSF 10
Attached Payload Sites 11
MEF Experiments with Latch, Power and Data
Connection 12
MEF Tray Layout 13
Experiment Tray Layout 14
ULC/MEF Located in STS Cargo Bay 15
SRMS Grappled to ULC 16
ULC/MEF Hand-Off Operation 17
ULC/MEF Docked to the Mobile Remote Servicer 18
SSRMS Maneuvering to Grapple the MEF 19
STSP Proposed Utilization Flight 2 20
iii

EVA
ISSA
MEF
MBS
MRS
MT
OTCM
PMAS
SMCE
SPDM
SRMS
SSRMS
STSP
UF-2
ULC
List of Acronyms
Extravehicular Activity
International Space Station Alpha
Materials Exposure Facility
MRS Base System
Mobile Remote Servicer
Mobile Transporter
ORU-Tool Change-out Mechanism
Propulsion Module Attach Structure
Spacecraft Materials and Coatings
Experiments
Special Purpose Dexterous Manipulator
Shuttle Remote Manipulator System
Space Station Remote Manipulator System
Space Transportation System Program
Utilization Flight 2
Unpressurized Logistics Carrier
iv

ShuttletoSpace Station
Transferof the
MaterialsExposure Facility
David T. Shannon, Jr.
NASA Langley Research Center, Hampton, Virginia
Phillip J. Klich
Lockheed Engineering and Sciences Co., Hampton, Virgim'a
ABSTRACT
The Materials Exposure Facility (MEF) is being proposed by LaRC as
the first long-term space materials exposure facility with real-time
interaction with materials experiments in actual conditions of orbital
space flight, Reference 1. The MEF is proposed as a Space Station
external payload dedicated to technology advancement in spacecraft
materials and coatings research. This paper will define a set of
potential logistics for removing the MEF from the Shuttle cargo bay
and the process required for transferring the MEF to a specific
external payload site on Space Station Freedom (SSF), Reference 2.
Figure 1 illustrates the SSF configuration used for this study. The
kinematics and ability to successfully perform the appropriate MEF
maneuvers required were verified. During completion of this work,
the Space Station was redesigned and the International Space Station
Alpha (ISSA) configuration evolved, Reference 3. The transfer
procedure for SSF was valid for ISSA; however, a verification of
kinematics and clearances was essential. Also, SSF and ISSA robotic
interfaces with the Orbiter were different.
1. INTRODUCTION
The Spacecraft Materials and Coatings Experiments (SMCE) are a
collection of the MEF experiments for the study of long-duration
space environmental effects on advanced materials and coatings.
The SMCE are twenty-six experiments individually packaged in the
MEF facility trays. The experiments can be removed robotically or
installed on-orbit throughout the life of the facility. Some
experiments will be long term, residing in the facility approximately
five years, while other experiments will require change-out in six
month to one year intervals. The exposure facility shown in Figure 2
is an aluminum tray support structure approximately 3 feet (H) x 6
feet (W) x 14 feet (L). The maximum MEF launch mass with a
complement of 26 experiments is approximately 4,500 pounds. Each
experiment is self contained within a tray and is allocated 75 pounds
for the experiment weight. The total weight of the experiments and
trays is approximately 2,990 pounds. The MEF power and data
electrical system will be initialized at payload integration to the
station payload site. The facility will remain passive during launch
and Shuttle/Station transfer operations.
The MEF is proposed to be attached to the SSF Port 1 - Face 6 - Bay 2
lower truss attached payload site as shown in Figure 3. Prime truss
locations have been designated for attached payload sites on SSF as
shown in Figure 4. The lower payload site was selected for the MEF
facility to provide experiments with ram, wake and nadir exposure
allowing the effects of directionally-dependent environmental
constituents such as atomic oxygen to be studied. The MEF is
scheduled to be launched fully integrated with 26 experiments. The
Unpressurized Logistics Carrier (ULC) has been selected as the launch
carrier for the MEF. STSP Utilization Flight 2 (UF-2) is manifested for
attached payloads and is a potential launch flight for MEF. This
paper will discuss the MEF experiment change out operations, the
logistics required to transfer the MEF from the Shuttle to a specific
SSF payload site, and to remove the ULC/MEF from the Orbiter's
Utilization Flight 2 proposed manifested flight, Reference 4.
2. MEF COMPONENTS
The MEF primary structure supports 26 experiment trays. MEF is
designed to facilitate the robotic change-out of the experiment trays.
A latch bolt, power connector and data connector are provided at
each experiment tray position to secure the tray and service
experiment requirements for power and data. Figure 5 shows the
location of these components on the support structure.
The facility is designed so that eight trays are located on both the
ram and wake faces, four on the Port and Starboard faces and two on
the nadir face providing the exposure to allow the effects of
directionally-dependent environmental constituents such as atomic
oxygen to be studied. The MEF tray layout in shown in Figure 6.
Each experiment tray weighs 40 pounds and is identical in
construction, facilitating its interchange ability. The structure of the
tray consists of an isogrid baseplate, side support structure and sheet
metal sides. The tray displayed in Figure 7, is a 45 degree truncated
pyramid on three sides with a straight fourth side. The tray is self-
guided into position due to the geometry of the structure. Alignment
is insured through the combination of an alignment pin located under
the tray and secured in position with a latch bolt, Reference 5.
2.1 MEF/SMCE Tray Change-out Logistics
The 26 SCME trays are equipped with micro-interfaces and latch
bolts designed for robotic and extravehicular activity (EVA) manipu-
lations, References 5 and 6. One arm of the Special Purpose
Dexterous Manipulator (SPDM) would grapple to a micro-interface on
the MEF while the other arm equipped with the ORU-Tool Change-out
Mechanism (OTCM) grapples to a specific experiment tray micro-
interface or MEF H-handle and robotically unlatches the latch bolt
and removes the experiment tray from the MEF. The experiment is
transferred robotically from the MEF to the tray carrier on the ULC
utilizing the SPDM. New experiment trays in the tray carrier are
removed and installed robotically on the MEF reversing the above
change-out procedure.
3. PROPOSED MEF/STATION OPERATIONAL SCENARIO
3.1 Shuttle Docking to SSF
The on-orbit scenario of transferring the MEF from the Shuttle to SSF
begins with docking the Shuttle to the Station. The ULC grapple
fixture must be accessible to the Shuttle Remote Manipulator System
(SRMS). This will depend largely on the Shuttle flight manifest and
the location of the ULC in the cargo bay. Figure 8 illustrates one
configuration of the ULC/MEF in the cargo bay. In the event the ULC
grapple fixture is not accessible to the SRMS, the following options
may be available:
Off-load other payloads from the Shuttle cargo bay first.
This will allow the SRMS accessibility to the ULC grapple
f'Lxture for removing the ULC.
• Relocate the grapple fixture on the ULC. This will give
the SRMS access to the grapple fixture if off-loading is not
an option.
Use the Space Station Remote Manipulator System
(SSRMS) to remove the ULC with the attached MEF from
the Shuttle cargo bay and place the ULC on the Mobile
Remote Servicer (MRS) Base System (MBS) Propulsion
Module Attach System (PMAS). This option was not
allowed on SSF. However, this is an option for the ISSA.
Further evaluation of the Shuttle to ISSA transfer process utilizing
the SSRMS will be reviewed as the MEF/ISSA design matures.
3.2 SRMS Hand-off ULC/MEF to SSRMS
A crew member in the Orbiter activates the SRMS to grapple the ULC,
disengage the trunion latches and lift the ULC and MEF from the
cargo bay toward the MBS. Figure 9 shows the SRMS attached to the
ULC in the cargo bay.
The SSRMS then attaches to the other ULC grapple fixture and
receives the ULC and MEF in a hand-off operation from the SRMS as
shown in Figure 10.
3.3 SSRMS Docks the ULC/MEF to the MBS
After receiving the ULC/MEF, the SSRMS then soft docks the ULC
with the MEF to the MBS PMAS. The PMAS capture latch will then
hard dock the ULC to the MBS. Figure 11 highlights this operation.
The PMAS is Station structure with accommodating trunion latches
and electrical interfaces that receives and latches propulsion
modules, external payloads, and ULC's to the MBS and Station
interfaces. The SSRMS then releases the ULC. A crew member in the
Space Station activates and relocates the MBS/Mobile Transporter
(MT) to a position above the external payload attach site.
3.4 SPDM Removes Robotic Fasteners
The SSF crew member then activates the SSRMS and moves it into
position to attach to the SPDM. The SPDM is grappled to the end of
the SSRMS to allow additional reach capability in reaching the MEF
4
"hard-to-get-to attachment fasteners." One arm of the SPDM will
attach to one of the MEF provided H-handles for stability while the
other arm grapples to specific micro interfaces or H-handles and
robotically detaches the MEF/ULC attach fasteners with the OTCM,
Several fasteners will remain attached to the ULC until the SPDM is
released from the SSRMS and grappled to the MBS, The SSRMS will
now grapple to the MEF and apply its brake while the SPDM releases
the remaining MEF fasteners as shown in Figure 12. The SPDM is
then disengaged from the SSRMS and repositioned on the MBS.
3.5 SSRMS Positions MEF on SSFAttach Payload Site
Once the Facility is detached from the ULC, the SSRMS positions and
soft-docks the MEF to the PMAS at a specific external payload site.
The PMAS capture latch then hard docks the MEF completing the
mechanical and electrical integration of the MEF to SSF as shown in
Figure 3. The SSRMS releases from the MEF grapple fixture and
returns to the MBS. The Station crew member then relocates the MT
with the ULC still attached to a location for off-loading other ORU's or
attached payloads.
4. RESULTS OF ANALYSIS
Analyzing the proposed operational scenario addressed questions
and concerns about the feasibility of conducting a Shuttle to Station
transfer of the MEF. Critical findings that surfaced during the
analysis are as follows:
• The hand-off maneuver can be completed successfully within
the capability of the planned Station and Orbiter components,
The SPDM/SSRMS will have the necessary reach capability to
disconnect all of the connectors used to attach the MEF to the
ULC.
A clearance problem exists with the SRMS attaching to the ULC
grapple fLxture for the proposed UL-2 flight configuration,
Reference 7, and as shown schematically in Figure 13. Discus-
sions with Boeing engineers indicated that it may be possible to
relocate the ULC grapple f'Lxtures. Another option to allow
adequate clearances would be to off load other manifested
cargo prior to removing the ULC/MEF.
5
• There are no other major clearance concerns with respect to
other components during the on-orbit operation.
5. CONCLUDING REMARKS
The ability to successfully perform the Shuttle to Station hand-off
maneuver utilizing the SSRMS with the SPDM assistance in releasing
the MEF from the ULC and robotically attaching the MEF to the
Station was verified. However, clearance problems do exist with the
manifested UF-2 flight. The Silicon Graphics, Inc. computer system
utilizing Wave Front Technologies, Inc. software package was used to
successfully perform and verify the kinematics and MEF maneuvers.
A MEF video was produced by David Shannon, NASA, Langley
Research Center recording the operational scenario of the hand-off
maneuver, Reference 8.
The hand-off maneuver may also be used for ISSA payload transfer.
However, verification of kinematics will be required. Also, the
SSRMS can be used to remove payloads from the Orbiter cargo bay
for the ISSA configuration. This transfer maneuver was not possible
for SSF. The concept of utilizing the SSRMS for transferring the MEF
from the Shuttle to ISSA is currently being reviewed at LaRC.
6
REFERENCES
. MEF Video, NASA, LaRC, David T. Shannon, Jr., July 1993,
PN#93-2.
o WP-2 Attached Payload Accommodations, Exhibit C Task
C92KC-051 Report, April 1992, under Contract NAS 9-18200.
o International Space Station Data Book, JSC 32324, November
1993.
. Space Shuttle Systems Payload Accommodations, NSTS 07700,
Volume XIV, Rev J, January 1988.
. Space Station Program Robotic Systems Integration Standards,
Volume II: Robotic Interface Standards, SSP 30550, June 1992.
6. EVA Tools and Equipment, JSC-20466, Rev B, November 1993.
. Internal Space Station Alpha Manipulator Assembly Sequence
Feasibility Assessment, AF-1R Through Assembly Complete,
JSC-37941, April 13,1994.
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1. AGENCY USE ONLY (Leave blank) 2. REPORT DATE 3. REPORT TYPE AND DATES COVERED
March 1995 Technica] Memorandum
4. TITLE AND SUBTITLE 5. FUNDING NUMBERS
Shuttle to Space Station Transfer of the Materials Exposure Facility 963-89-00-01
6. AUTHOR(S)
David T. Shannon, Jr.
Phillip J. Klich
7, PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES)
NASA
Langley Research Center
Hampton, Virginia 23681-0001
9. SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS(ES)
National Aeronautics and Space Administration
Washington, DC 20546
B. PERFORMING ORGANIZATION
REPORT NUMBER
10. SPONSORING/MONITORING
AGENCY REPORT NUMBER
NASA TM-110156
11. SUPPLEMENTARY NOTES
12a. DISTRIBUTION I AVAILABILITY STATEMENT
Unclassified - Unlimited
Subject Category 16
12b. DISTRIBUTION OODE
13. ABSTRACT (Maximum 200 words)
The Materials Exposure Facility (MEF) is being proposed by LaRC as the first long-term space materials exposure
facility with real-time interaction with materials experiments in actual conditions of orbital space flight. The MEF is
proposed as a Space Station external payload dedicated to technology advancement in spacecraft materials and
coatings research. This paper will define a set of potential logistics for removing the MEF from the Shuttle cargo
bay and the process required for transferring the MEF to a specific external payload site on Space Station
Freedom (SSF). The SSF UF-2 configuration is used for this study. The kinematics and ability to successfully
perform the appropriate MEF maneuvers required were verified. During completion of this work, the Space
Station was redesigned and the International Space Station Alpha (ISSA) configuration evolved. The transfer
procedure for SSF was valid for ISSA; however, a verification of kinematics and clearances was essential. Also,
SSF and ISSA robotic interfaces with the Orbiter were different.
1,s. SUBJECTERMS
Transportation; Flight article operations;
Space Station operations
17. SECURITY CLASSIFICATION 18. SECURITY CLASSIFICATION
OF REPORT OF THIS PAGE
Unclassified Unclassified
NSN 7540-01-280-5500
19. SECURITY CLASSIFICATION
OF ABSTRACT
15. NUMBER OFPAGES
25
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Shuttle to space station transfer of the materials exposure facility

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