Space station full-scale docking/berthing mechanisms development

NASA Technical Reports Server (NTRS)

Burns, Gene C.; Price, Harold A.; Buchanan, David B.

1988-01-01

One of the most critical operational functions for the space station is the orbital docking between the station and the STS orbiter. The program to design, fabricate, and test docking/berthing mechanisms for the space station is described. The design reflects space station overall requirements and consists of two mating docking mechanism halves. One half is designed for use on the shuttle orbiter and incorporates capture and energy attenuation systems using computer controlled electromechanical actuators and/or attenuators. The mating half incorporates a flexible feature to allow two degrees of freedom at the module-to-module interface of the space station pressurized habitat volumes. The design concepts developed for the prototype units may be used for the first space station flight hardware.

Fuzzy logic techniques for rendezvous and docking of two geostationary satellites

NASA Technical Reports Server (NTRS)

Ortega, Guillermo

1995-01-01

Large assemblings in space require the ability to manage rendezvous and docking operations. In future these techniques will be required for the gradual build up of big telecommunication platforms in the geostationary orbit. The paper discusses the use of fuzzy logic to model and implement a control system for the docking/berthing of two satellites in geostationary orbit. The system mounted in a chaser vehicle determines the actual state of both satellites and generates torques to execute maneuvers to establish the structural latching. The paper describes the proximity operations to collocate the two satellites in the same orbital window, the fuzzy guidance and navigation of the chaser approaching the target and the final Fuzzy berthing. The fuzzy logic system represents a knowledge based controller that realizes the close loop operations autonomously replacing the conventional control algorithms. The goal is to produce smooth control actions in the proximity of the target and during the docking to avoid disturbance torques in the final assembly orbit. The knowledge of the fuzzy controller consists of a data base of rules and the definitions of the fuzzy sets. The knowledge of an experienced spacecraft controller is captured into a set of rules forming the Rules Data Base.

Artist concept illustrating key events on day by day basis during Apollo 9

NASA Technical Reports Server (NTRS)

1969-01-01

Artist concept illustrating key events on day by day basis during Apollo 9 mission. First photograph illustrates activities on the first day of the mission, including flight crew preparation, orbital insertion, 103 north mile orbit, separations, docking and docked Service Propulsion System Burn (19792); Second day events include landmark tracking, pitch maneuver, yaw-roll maneuver, and high apogee orbits (19793); Third day events include crew transfer and Lunar Module system evaluation (19794); Fourth day events include use of camera, day-night extravehicular activity, use of golden slippers, and television over Texas and Louisiana (19795); Fifth day events include vehicles undocked, Lunar Module burns for rendezvous, maximum separation, ascent propulsion system burn, formation flying and docking, and Lunar Module jettison ascent burn (19796); Sixth thru ninth day events include service propulsion system burns and landmark sightings, photograph special tests (19797); Tenth day events i

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

NASA Technical Reports Server (NTRS)

Chien, Chiun-Hong; Baker, Kenneth

2011-01-01

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Overall view of test set-up in bldg 13 at JSC during docking set-up tests

NASA Image and Video Library

1974-08-04

S74-27049 (4 Aug. 1974) --- Overall view of test set-up in Building 23 at the Johnson Space Center during testing of the docking mechanisms for the joint U.S.-USSR Apollo-Soyuz Test Project. The cinematic check was being made when this picture was taken. The test control room is on the right. The Soviet-developed docking system is atop the USA-NASA developed docking system. Both American and Soviet engineers can be seen taking part in the docking testing. The ASTP docking mission in Earth orbit is scheduled for July 1975.

Dual RF Astrodynamic GPS Orbital Navigator Satellite

NASA Technical Reports Server (NTRS)

Kanipe, David B.; Provence, Robert Steve; Straube, Timothy M.; Reed, Helen; Bishop, Robert; Lightsey, Glenn

2009-01-01

Dual RF Astrodynamic GPS Orbital Navigator Satellite (DRAGONSat) will demonstrate autonomous rendezvous and docking (ARD) in low Earth orbit (LEO) and gather flight data with a global positioning system (GPS) receiver strictly designed for space applications. ARD is the capability of two independent spacecraft to rendezvous in orbit and dock without crew intervention. DRAGONSat consists of two picosatellites (one built by the University of Texas and one built by Texas A and M University) and the Space Shuttle Payload Launcher (SSPL); this project will ultimately demonstrate ARD in LEO.

Safety in earth orbit study. Volume 2: Analysis of hazardous payloads, docking, on-board survivability

NASA Technical Reports Server (NTRS)

1972-01-01

Detailed and supporting analyses are presented of the hazardous payloads, docking, and on-board survivability aspects connected with earth orbital operations of the space shuttle program. The hazards resulting from delivery, deployment, and retrieval of hazardous payloads, and from handling and transport of cargo between orbiter, sortie modules, and space station are identified and analyzed. The safety aspects of shuttle orbiter to modular space station docking includes docking for assembly of space station, normal resupply docking, and emergency docking. Personnel traffic patterns, escape routes, and on-board survivability are analyzed for orbiter with crew and passenger, sortie modules, and modular space station, under normal, emergency, and EVA and IVA operations.

STS-71 Shuttle/Mir mission report

NASA Technical Reports Server (NTRS)

Zimpfer, Douglas J.

1995-01-01

The performance measurements of the space shuttle on-orbit flight control system from the STS-71 mission is presented in this post-flight analysis report. This system is crucial to the stabilization of large space structures and will be needed during the assembly of the International Space Station A mission overview is presented, including the in-orbit flight tests (pre-docking with Mir) and the systems analysis during the docking and undocking operations. Systems errors and lessons learned are discussed, with possible corrective procedures presented for the upcoming Mir flight tests.

Autonomous docking system for space structures and satellites

NASA Astrophysics Data System (ADS)

Prasad, Guru; Tajudeen, Eddie; Spenser, James

2005-05-01

Aximetric proposes Distributed Command and Control (C2) architecture for autonomous on-orbit assembly in space with our unique vision and sensor driven docking mechanism. Aximetric is currently working on ip based distributed control strategies, docking/mating plate, alignment and latching mechanism, umbilical structure/cord designs, and hardware/software in a closed loop architecture for smart autonomous demonstration utilizing proven developments in sensor and docking technology. These technologies can be effectively applied to many transferring/conveying and on-orbit servicing applications to include the capturing and coupling of space bound vehicles and components. The autonomous system will be a "smart" system that will incorporate a vision system used for identifying, tracking, locating and mating the transferring device to the receiving device. A robustly designed coupler for the transfer of the fuel will be integrated. Advanced sealing technology will be utilized for isolation and purging of resulting cavities from the mating process and/or from the incorporation of other electrical and data acquisition devices used as part of the overall smart system.

One Year Crew Docking to the International Space Station

NASA Image and Video Library

2015-05-27

This video was taken by the crew members aboard the Soyuz TMA-16M spacecraft which docked to the International Space Station at 9:33 p.m. EDT March 27, 2015. NASA astronaut Scott Kelly and Russian cosmonauts Mikhail Kornienko and Gennady Padalka arrived just six hours after launching from Baikonur, Kazakhstan, completing four orbits around the Earth before catching up with the orbiting laboratory. The vehicle docked to the Poisk module (also known as the Mini-Research Module 2) on the space-facing side of the Russian Service Module. The spinning object in view is an antenna that is part of the automatic rendezvous and docking system known as KURS.

Preliminary GN&C Design for the On-Orbit Autonomous Assembly of Nanosatellite Demonstration Mission

NASA Technical Reports Server (NTRS)

Pei, Jing; Walsh, Matt; Roithmayr, Carlos; Karlgaard, Chris; Peck, Mason; Murchison, Luke

2017-01-01

Small spacecraft autonomous rendezvous and docking (ARD) is an essential technology for future space structure assembly missions. The On-orbit Autonomous Assembly of Nanosatellites (OAAN) team at NASA Langley Research Center (LaRC) intends to demonstrate the technology to autonomously dock two nanosatellites to form an integrated system. The team has developed a novel magnetic capture and latching mechanism that allows for docking of two CubeSats without precise sensors and actuators. The proposed magnetic docking hardware not only provides the means to latch the CubeSats, but it also significantly increases the likelihood of successful docking in the presence of relative attitude and position errors. The simplicity of the design allows it to be implemented on many CubeSat rendezvous missions. Prior to demonstrating the docking subsystem capabilities on orbit, the GN&C subsystem should have a robust design such that it is capable of bringing the CubeSats from an arbitrary initial separation distance of as many as a few thousand kilometers down to a few meters. The main OAAN Mission can be separated into the following phases: 1) Launch, checkout, and drift, 2) Far-Field Rendezvous or Drift Recovery, 3) Proximity Operations, 4) Docking. This paper discusses the preliminary GN&C design and simulation results for each phase of the mission.

The Advanced Video Guidance Sensor: Orbital Express and the Next Generation

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Heaton, Andrew F.; Pinson, Robin M.; Carrington, Connie L.; Lee, James E.; Bryan, Thomas C.; Robertson, Bryan A.; Spencer, Susan H.; Johnson, Jimmie E.

2008-01-01

The Orbital Express (OE) mission performed the first autonomous rendezvous and docking in the history of the United States on May 5-6, 2007 with the Advanced Video Guidance Sensor (AVGS) acting as one of the primary docking sensors. Since that event, the OE spacecraft performed four more rendezvous and docking maneuvers, each time using the AVGS as one of the docking sensors. The Marshall Space Flight Center's (MSFC's) AVGS is a nearfield proximity operations sensor that was integrated into the Autonomous Rendezvous and Capture Sensor System (ARCSS) on OE. The ARCSS provided the relative state knowledge to allow the OE spacecraft to rendezvous and dock. The AVGS is a mature sensor technology designed to support Automated Rendezvous and Docking (AR&D) operations. It is a video-based laser-illuminated sensor that can determine the relative position and attitude between itself and its target. Due to parts obsolescence, the AVGS that was flown on OE can no longer be manufactured. MSFC has been working on the next generation of AVGS for application to future Constellation missions. This paper provides an overview of the performance of the AVGS on Orbital Express and discusses the work on the Next Generation AVGS (NGAVGS).

STS-74 leaves O&C Building for TCDT

NASA Technical Reports Server (NTRS)

1995-01-01

The STS-74 flight crew walks out of the Operations and Checkout Building on their way to conduct Terminal Countdown Demostration Test (TCDT) exercises while aboard the Space Shuttle orbiter Atlantis at Launch Pad 39A. They are (from right): Mission Commander Kenneth Cameron; Pilot James Halsell; and Mission Specialists William McArthur Jr., Chris Hadfield, and Jerry Ross (back). Hadfield is an international mission specialist representing the Canadian Space Agency. This flight will feature the second docking of the Space Shuttle with the Russian Mir space station. Docking operations will be conducted with the Russian-built Docking Module attached to the end of the Orbiter Docking System (ODS) located in Atlantis payload bay. The DM will be left attached to the Mir when Atlantis undocks. This module will serve as a means to improve future Shuttle-Mir docking operations.

KENNEDY SPACE CENTER, FLA. - The orbiter Ku-band antenna looms large in this view of the Space Shuttle Atlantis' payload bay. Visible just past the antenna system - stowed on the starboard side of the payload bay wall - is the Orbiter Docking System (ODS), and connected to the ODS via a tunnel is the Spacehab Double Module in the aft area of the payload bay. This photograph was taken from the starboard wing platform on the fifth level of the Payload Changeout Room (PCR) at Launch Pad 39A. Work is under way in the PCR to close Atlantis' payload bay doors for flight. Atlantis currently is being targeted for liftoff on Mission STS-79, the fourth docking of the U.S. Shuttle to the Russian Space Station Mir, around Sept. 12.

NASA Image and Video Library

1996-08-22

KENNEDY SPACE CENTER, FLA. - The orbiter Ku-band antenna looms large in this view of the Space Shuttle Atlantis' payload bay. Visible just past the antenna system - stowed on the starboard side of the payload bay wall - is the Orbiter Docking System (ODS), and connected to the ODS via a tunnel is the Spacehab Double Module in the aft area of the payload bay. This photograph was taken from the starboard wing platform on the fifth level of the Payload Changeout Room (PCR) at Launch Pad 39A. Work is under way in the PCR to close Atlantis' payload bay doors for flight. Atlantis currently is being targeted for liftoff on Mission STS-79, the fourth docking of the U.S. Shuttle to the Russian Space Station Mir, around Sept. 12.

STS-79 payload SPACEHAB in PCR at LC39A

NASA Technical Reports Server (NTRS)

1996-01-01

Workers in the Payload Changeout Room (PCR) at Launch Pad 39A are preparing to close the payload doors for flight on the Space Shuttle Atlantis, targeted for liftoff on Mission STS-79 around September 12. The SPACEHAB Double Module located in the aft area of the payload bay is filled with supplies that will be transferred to the Russian Space Station Mir. STS-79 marks the second flight of a SPACEHAB in support of the Shuttle-Mir dockings, and the first flight of the double-module configuration. The SPACEHAB is connected by tunnel to the Orbiter Docking System (ODS), with the Androgynous Peripheral Docking System (APDS) clearly visible on top of the ODS. The APDS provides the docking interface for the linkup with Mir, while the ODS provides a passageway from the orbiter to the Russian space station and the SPACEHAB.

STS-71 hardware assembly view

NASA Image and Video Library

1994-12-02

S94-47810 (2 Dec. 1994) --- Lockheed Space Operations Company workers in the Extended Duration Orbiter (EDO) Facility, located inside the Vehicle Assembly Building (VAB), carefully hoist the Orbiter Docking System (ODS) from its shipping container into a test stand. The ODS was shipped in a horizontal position to the Kennedy Space Center (KSC) from contractor Rockwell Aerospace's Downey plant. Once the ODS is upright, work can continue to prepare the hardware for the first docking of the United States Space Shuttle and Russian Space Station MIR in 1995. The ODS contains both United States-made and Russian-made hardware. The black band is Russian-made thermal insulation protecting part of the docking mechanism, also Russian-made, called the Androgynous Peripheral Docking System (APDS). A red protective cap covers the APDS itself. Other elements of the ODS, most of it protected by white United States-made thermal insulation, were developed by Rockwell, which also integrated and checked out the assembled Russian-United States system.

APAS with petals extended after undocking

NASA Image and Video Library

2002-10-16

STS112-E-05777 (16 Oct. 2002) --- Close-up view of the Orbiter Docking System (ODS) Androgynous Peripheral Attachment System (APAS) petals extended in the STS-112 orbiter Atlantis payload bay after undocking with the International Space Station.

Concepts for the evolution of the Space Station Program

NASA Technical Reports Server (NTRS)

Michaud, Roger B.; Miller, Ladonna J.; Primeaux, Gary R.

1986-01-01

An evaluation is made of innovative but pragmatic waste management, interior and exterior orbital module construction, Space Shuttle docking, orbital repair operation, and EVA techniques applicable to the NASA Space Station program over the course of its evolution. Accounts are given of the Space Shuttle's middeck extender module, an on-orbit module assembly technique employing 'Pringles' stack-transportable conformal panels, a flexible Shuttle/Space Station docking tunnel, an 'expandable dome' for transfer of objects into the Space Station, and a Space Station dual-hatch system. For EVA operations, pressurized bubbles with articulating manipulator arms and EVA hard suits incorporating maneuvering, life support and propulsion capabilities, as well as an EVA gas propulsion system, are proposed. A Space Station ultrasound cleaning system is also discussed.

On-Orbit Autonomous Assembly from Nanosatellites

NASA Technical Reports Server (NTRS)

Murchison, Luke S.; Martinez, Andres; Petro, Andrew

2015-01-01

The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

American-built hardware for ASPT undergoes pre-delivery preparations

NASA Image and Video Library

1974-09-11

S74-28295 (September 1974) --- American-built hardware for the joint U.S.-USSR Apollo-Soyuz Test Project mission undergoes pre-delivery preparations in the giant clean room at Rockwell International Corporation?s Space Division at Downey, California. The U.S. portion of the ASTP docking system is in the right foreground. In the right background is the cylindrical-shaped docking module, which is designed to link the Apollo and Soyuz spacecraft when they dock in Earth orbit next summer. In the left background is the Apollo Command Module which they will carry the three American astronauts into Earth orbit. Photo credit: NASA

Enabling Exploration Through Docking Standards

NASA Technical Reports Server (NTRS)

Hatfield, Caris A.

2012-01-01

Human exploration missions beyond low earth orbit will likely require international cooperation in order to leverage limited resources. International standards can help enable cooperative missions by providing well understood, predefined interfaces allowing compatibility between unique spacecraft and systems. The International Space Station (ISS) partnership has developed a publicly available International Docking System Standard (IDSS) that provides a solution to one of these key interfaces by defining a common docking interface. The docking interface provides a way for even dissimilar spacecraft to dock for exchange of crew and cargo, as well as enabling the assembly of large space systems. This paper provides an overview of the key attributes of the IDSS, an overview of the NASA Docking System (NDS), and the plans for updating the ISS with IDSS compatible interfaces. The NDS provides a state of the art, low impact docking system that will initially be made available to commercial crew and cargo providers. The ISS will be used to demonstrate the operational utility of the IDSS interface as a foundational technology for cooperative exploration.

Orbital Boom Sensor System with a cloudy Earth limb

NASA Image and Video Library

2005-07-28

S114-E-5712 (28 July 2005) --- This view of the Orbital Boom Sensor System, backdropped by clouds and Earth’s limb, was taken by the STS-114 crew during approach and docking operations with the international space station.

Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

NASA Astrophysics Data System (ADS)

Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

2017-08-01

Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

A study of radar cross section measurement techniques

NASA Technical Reports Server (NTRS)

Mcdonald, Malcolm W.

1986-01-01

Past, present, and proposed future technologies for the measurement of radar cross section were studied. The purpose was to determine which method(s) could most advantageously be implemented in the large microwave anechoic chamber facility which is operated at the antenna test range site. The progression toward performing radar cross section measurements of space vehicles with which the Orbital Maneuvering Vehicle will be called upon to rendezvous and dock is a natural outgrowth of previous work conducted in recent years of developing a high accuracy range and velocity sensing radar system. The radar system was designed to support the rendezvous and docking of the Orbital Maneuvering Vehicle with various other space vehicles. The measurement of radar cross sections of space vehicles will be necessary in order to plan properly for Orbital Maneuvering Vehicle rendezvous and docking assignments. The methods which were studied include: standard far-field measurements; reflector-type compact range measurements; lens-type compact range measurement; near field/far field transformations; and computer predictive modeling. The feasibility of each approach is examined.

GEMINI-TITAN (GT)-11 - EARTH - SKY - DOCKING - OUTER SPACE

NASA Image and Video Library

1966-07-18

S66-46144 (18 July 1966) --- The Gemini-10 spacecraft is successfully docked with the Agena Target Docking Vehicle 5005. The Agena display panel is clearly visible. After docking with the Agena, astronauts John W. Young, command pilot, and Michael Collins, pilot, fired the 16,000-pound thrust engine of Agena-10's primary propulsion system to boost the combined vehicles into an orbit with an apogee of 413 nautical miles to set a new altitude record for manned spaceflight. Photo credit: NASA

ART CONCEPTS - ASTP

NASA Image and Video Library

1975-04-01

S75-27289 (May 1975) --- An artist?s concept depicting the American Apollo spacecraft docked with a Soviet Soyuz spacecraft in Earth orbit. During the joint U.S.-USSR Apollo-Soyuz Test Project mission, scheduled for July 1975, the American and Soviet crews will visit one another?s spacecraft while the Soyuz and Apollo are docked for a maximum period of two days. The mission is designed to test equipment and techniques that will establish international crew rescue capability in space, as well as permit future cooperative scientific missions. Each nation has developed separately docking systems based on a mutually agreeable single set of interface design specifications. The major new U.S. program elements are the docking module and docking system necessary to achieve compatibility of rendezvous and docking systems with the USSR-developed hardware to be used on the Soyuz spacecraft. The DM and docking system together with an Apollo Command/Service Module will be launched by a Saturn 1B launch vehicle. This artwork is by Paul Fjeld.

Integrated Docking Simulation and Testing with the Johnson Space Center Six-Degree of Freedom Dynamic Test System

NASA Technical Reports Server (NTRS)

Mitchell, Jennifer D.; Cryan, Scott P.; Baker, Kenneth; Martin, Toby; Goode, Robert; Key, Kevin W.; Manning, Thomas; Chien, Chiun-Hong

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Constellation Program; this is carried as one of the CEV Project top risks. The Exploration Technology Development Program (ETDP) AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation. One of the project activities is a series of "pathfinder" testing and simulation activities to integrate relative navigation sensors with the Johnson Space Center Six-Degree-of-Freedom Test System (SDTS). The SDTS will be the primary testing location for the Orion spacecraft s Low Impact Docking System (LIDS). Project team members have integrated the Orion simulation with the SDTS computer system so that real-time closed loop testing can be performed with relative navigation sensors and the docking system in the loop during docking and undocking scenarios. Two relative navigation sensors are being used as part of a "pathfinder" activity in order to pave the way for future testing with the actual Orion sensors. This paper describes the test configuration and test results.

Automated Rendezvous and Capture System Development and Simulation for NASA

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.; Murphy, Leslie

2004-01-01

The United States does not have an Automated Rendezvous and Capture/Docking (AR and C) capability and is reliant on manned control for rendezvous and docking of orbiting spacecraft. This reliance on the labor intensive manned interface for control of rendezvous and docking vehicles has a significant impact on the cost of the operation of the International Space Station (ISS) and precludes the use of any U.S. expendable launch capabilities for Space Station resupply. The Soviets have the capability to autonomously dock in space, but their system produces a hard docking with excessive force and contact velocity. Automated Rendezvous and Capture/Docking has been identified as a key enabling technology for the Space Launch Initiative (SLI) Program, DARPA Orbital Express and other DOD Programs. The development and implementation of an AR&C capability can significantly enhance system flexibility, improve safety, and lower the cost of maintaining, supplying, and operating the International Space Station. The Marshall Space Flight Center (MSFC) has conducted pioneering research in the development of an automated rendezvous and capture (or docking) (AR and C) system for U.S. space vehicles. This AR&C system was tested extensively using hardware-in-the-loop simulations in the Flight Robotics Laboratory, and a rendezvous sensor, the Video Guidance Sensor was developed and successfully flown on the Space Shuttle on flights STS-87 and STS-95, proving the concept of a video- based sensor. Further developments in sensor technology and vehicle and target configuration have lead to continued improvements and changes in AR&C system development and simulation. A new Advanced Video Guidance Sensor (AVGS) with target will be utilized on the Demonstration of Autonomous Rendezvous Technologies (DART) flight experiment in 2004.

A modular docking mechanism for in-orbit assembly and spacecraft servicing

NASA Technical Reports Server (NTRS)

Gampe, F.; Priesett, K.; Bentall, R. H.

1985-01-01

A Docking Mechanism concept is described which is suitable for use with autonomous docking systems. The central feature of using simple cylindrical handles on one side and a type of prism seating on the other is offered as a practical method of achieving a standardized structural interface without freezing continued development of the latches, either technically or commercially. The main emphasis in docking mechanism concepts is in two directions: (1) a very simple docking mechanism, involving mainly the latch mechanism to achieve a structural link; and (2) a sophisticated Docking Mechanism, where the latch mechanism is designed for nonrigid spacecraft and the achievement of very low dynamic interactions between spacecraft during the docking process.

Geostationary platform systems concepts definition study. Volume 2: Technical, book 2

NASA Technical Reports Server (NTRS)

1980-01-01

A selected concept for a geostationary platform is defined in sufficient detail to identify requirements for supporting research and technology, space demonstrations, GFE interfaces, costs, and schedules. This system consists of six platforms in geostationary orbit (GEO) over the Western Hemisphere and six over the Atlantic, to satisfy the total payload set associated with the nominal traffic model. Each platform is delivered to low Earth orbit (LEO) in a single shuttle flight, already mated to its LEO to GEO transfer vehicle and ready for deployment and transfer to GEO. An alternative concept is looked at briefly for comparison of configuration and technology requirements. This alternative consists of two large platforms, one over the Western Hemisphere consisting of three docked modules, and one over the Atlantic (two docked modules), to satisfy a high traffic model. The modules are full length orbiter cargo bay payloads, mated at LEO to orbital transfer vehicles (OTVs) delivered in other shuttle flights, for transfer to GEO, rendezvous, and docking. A preliminary feasibility study of an experimental platform is also performed to demonstrate communications and platform technologies required for the operational platforms of the 1990s.

STS-71 hardware assembly view

NASA Technical Reports Server (NTRS)

1994-01-01

Lockheed Space Operations Company workers in the Extended Duration Orbiter (EDO) Facility, located inside the Vehicle Assembly Building (VAB), carefully hoist the Orbiter Docking System (ODS) from its shipping container into a test stand. The ODS was ship

STS-74 Space Shuttle Mission Report

NASA Technical Reports Server (NTRS)

Fricke, Robert W., Jr.

1996-01-01

The STS-74 Space Shuttle Program Mission Report summarizes the Payload activities as well as the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Reusable Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSME) systems performance during the seventy-third flight of the Space Shuttle Program, the forty-eighth flight since the return-to-flight, and the fifteenth flight of the Orbiter Atlantis (OV-104). In addition to the Orbiter, the flight vehicle consisted of an ET that was designated ET-74; three Phase 11 SSME's that were designated as serial numbers 2012, 2026, and 2032 in positions 1, 2, and 3, respectively; and two SRB's that were designated BI-076. The RSRM's, designated RSRM-51, were installed in each SRB and the individual RSRM's were designated as 360TO51 A for the left SRB, and 360TO51 B for the right SRB. The primary objectives of this flight were to rendezvous and dock with the Mir Space Station and perform life sciences investigations. The Russian Docking Module (DM) was berthed onto the Orbiter Docking System (ODS) using the Remote Manipulator System (RMS), and the Orbiter docked to the Mir with the DM. When separating from the Mir, the Orbiter undocked, leaving the DM attached to the Mir. The two solar arrays, mounted on the DM, were delivered for future Russian installation to the Mir. The secondary objectives of the flight were to perform the operations necessary to fulfill the requirements of the GLO experiment (GLO-4)/Photogrammetric Appendage Structural Dynamics Experiment Payload (PASDE) (GPP), the IMAX Cargo Bay Camera (ICBC), and the Shuttle Amateur Radio Experiment-2 (SAREX-2). Appendix A lists the sources of data, both formal and informal, that were used to prepare this report. Appendix B provides the definition of acronyms and abbreviations used throughout the report. All times during the flight are given in Greenwich mean time (GMT)) and mission elapsed time (MET).

Space Shuttle Projects

NASA Image and Video Library

1995-06-01

This image of the Space Shuttle Orbiter Atlantis, with cargo bay doors open showing Spacelab Module for the Spacelab Life Science and the docking port, was photographed from the Russian Mir Space Station during STS-71 mission. The STS-71 mission performed the first docking with the Russian Mir Space Station to exchange crews. The Mir 19 crew, cosmonauts Anatoly Solovyev and Nikolai Budarin, replaced the Mir 18 crew, cosmonauts Valdamir Dezhurov and Gernady Strekalov, and astronaut Norman Thagard. Astronaut Thagard was launched aboard a Soyuz spacecraft in March 1995 for a three-month stay on the Mir Space Station as part of the Mir 18 crew. The Orbiter Atlantis was modified to carry a docking system compatible with the Mir Space Station. The Orbiter also carried a Spacelab module for the Spacelab Life Science mission in the payload bay in which various life science experiments and data collection took place throughout the 10-day mission.

A Comparison of Candidate Seal Designs for Future Docking Systems

NASA Technical Reports Server (NTRS)

Dunlap, Patrick, H., Jr.; Steinetz, Bruce, M.

2012-01-01

NASA is developing a new docking system to support future space exploration missions to low Earth orbit, the Moon, and other destinations. A key component of this system is the seal at the main docking interface which inhibits the loss of cabin air once docking is complete. Depending on the mission, the seal must be able to dock in either a seal-on-flange or seal-on-seal configuration. Seal-on-flange mating would occur when a docking system equipped with a seal docks to a system with a flat metal flange. This would occur when a vehicle docks to a node on the International Space Station. Seal-on-seal mating would occur when two docking systems equipped with seals dock to each other. Two types of seal designs were identified for this application: Gask-O-seals and multi-piece seals. Both types of seals had a pair of seal bulbs to satisfy the redundancy requirement. A series of performance assessments and comparisons were made between the candidate seal designs indicating that they meet the requirements for leak rate and compression and adhesion loads under a range of operating conditions. Other design factors such as part count, integration into the docking system tunnel, seal-on-seal mating, and cost were also considered leading to the selection of the multi-piece seal design for the new docking system. The results of this study can be used by designers of future docking systems and other habitable volumes to select the seal design best-suited for their particular application.

Apollo Soyuz test project. USA-USSR, fact sheet

NASA Technical Reports Server (NTRS)

1974-01-01

The Apollo Soyuz Test Project (ASTP) is discussed. The United States and the Soviet Union have agreed to develop compatible rendezvous and docking systems which will provide a basis for docking and rescue on future spacecraft of both nations. The ASTP mission will include testing the rendezvous system in orbit, verifying techniques for transfer of astronauts and cosmonauts, and conducting experiments while docked and undocked. Diagrams of the spacecraft and systems involved in the tests are presented. The prime contractors for the equipment are identified. Biographical data on the astronauts participating in the program are provided.

Overview of LIDS Docking Seals Development

NASA Technical Reports Server (NTRS)

Dunlap, Pat; Steinetz, Bruce; Daniels, Chris

2008-01-01

NASA is developing a new docking system to support future space exploration missions to low-Earth orbit, the Moon, and Mars. This mechanism, called the Low Impact Docking System (LIDS), is designed to connect pressurized space vehicles and structures including the Crew Exploration Vehicle, International Space Station, and lunar lander. NASA Glenn Research Center (GRC) is playing a key role in developing the main interface seal for this new docking system. These seals will be approximately 147 cm (58 in.) in diameter. GRC is evaluating the performance of candidate seal designs under simulated operating conditions at both sub-scale and full-scale levels. GRC is ultimately responsible for delivering flight hardware seals to NASA Johnson Space Center around 2013 for integration into LIDS flight units.

Orbital Express fluid transfer demonstration system

NASA Astrophysics Data System (ADS)

Rotenberger, Scott; SooHoo, David; Abraham, Gabriel

2008-04-01

Propellant resupply of orbiting spacecraft is no longer in the realm of high risk development. The recently concluded Orbital Express (OE) mission included a fluid transfer demonstration that operated the hardware and control logic in space, bringing the Technology Readiness Level to a solid TRL 7 (demonstration of a system prototype in an operational environment). Orbital Express (funded by the Defense Advanced Research Projects Agency, DARPA) was launched aboard an Atlas-V rocket on March 9th, 2007. The mission had the objective of demonstrating technologies needed for routine servicing of spacecraft, namely autonomous rendezvous and docking, propellant resupply, and orbital replacement unit transfer. The demonstration system used two spacecraft. A servicing vehicle (ASTRO) performed multiple dockings with the client (NextSat) spacecraft, and performed a variety of propellant transfers in addition to exchanges of a battery and computer. The fluid transfer and propulsion system onboard ASTRO, in addition to providing the six degree-of-freedom (6 DOF) thruster system for rendezvous and docking, demonstrated autonomous transfer of monopropellant hydrazine to or from the NextSat spacecraft 15 times while on orbit. The fluid transfer system aboard the NextSat vehicle was designed to simulate a variety of client systems, including both blowdown pressurization and pressure regulated propulsion systems. The fluid transfer demonstrations started with a low level of autonomy, where ground controllers were allowed to review the status of the demonstration at numerous points before authorizing the next steps to be performed. The final transfers were performed at a full autonomy level where the ground authorized the start of a transfer sequence and then monitored data as the transfer proceeded. The major steps of a fluid transfer included the following: mate of the coupling, leak check of the coupling, venting of the coupling, priming of the coupling, fluid transfer, gauging of receiving tank, purging of coupling and de-mate of the coupling.

Endeavour Payload Bay

NASA Image and Video Library

2010-02-20

S130-E-012478 (20 Feb. 2010) --- Backdropped by Earth?s horizon and the blackness of space, a partial view of space shuttle Endeavour's payload bay, vertical stabilizer, orbital maneuvering system (OMS) pods, Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) and docking mechanism are featured in this image photographed by an STS-130 crew member from an aft flight deck window.

ARCADE small-scale docking mechanism for micro-satellites

NASA Astrophysics Data System (ADS)

Boesso, A.; Francesconi, A.

2013-05-01

The development of on-orbit autonomous rendezvous and docking (ARD) capabilities represents a key point for a number of appealing mission scenarios that include activities of on-orbit servicing, automated assembly of modular structures and active debris removal. As of today, especially in the field of micro-satellites ARD, many fundamental technologies are still missing or require further developments and micro-gravity testing. In this framework, the University of Padova, Centre of Studies and Activities for Space (CISAS), developed the Autonomous Rendezvous Control and Docking Experiment (ARCADE), a technology demonstrator intended to fly aboard a BEXUS stratospheric balloon. The goal was to design, build and test, in critical environment conditions, a proximity relative navigation system, a custom-made reaction wheel and a small-size docking mechanism. The ARCADE docking mechanism was designed against a comprehensive set of requirements and it can be classified as small-scale, central, gender mating and unpressurized. The large use of commercial components makes it low-cost and simple to be manufactured. Last, it features a good tolerance to off-nominal docking conditions and a by-design soft docking capability. The final design was extensively verified to be compliant with its requirements by means of numerical simulations and physical testing. In detail, the dynamic behaviour of the mechanism in both nominal and off-nominal conditions was assessed with the multibody dynamics analysis software MD ADAMS 2010 and functional tests were carried out within the fully integrated ARCADE experiment to ensure the docking system efficacy and to highlight possible issues. The most relevant results of the study will be presented and discussed in conclusion to this paper.

Dynamical analysis of rendezvous and docking with very large space infrastructures in non-Keplerian orbits

NASA Astrophysics Data System (ADS)

Colagrossi, Andrea; Lavagna, Michèle

2018-03-01

A space station in the vicinity of the Moon can be exploited as a gateway for future human and robotic exploration of the solar system. The natural location for a space system of this kind is about one of the Earth-Moon libration points. The study addresses the dynamics during rendezvous and docking operations with a very large space infrastructure in an EML2 Halo orbit. The model takes into account the coupling effects between the orbital and the attitude motion in a circular restricted three-body problem environment. The flexibility of the system is included, and the interaction between the modes of the structure and those related with the orbital motion is investigated. A lumped parameter technique is used to represents the flexible dynamics. The parameters of the space station are maintained as generic as possible, in a way to delineate a global scenario of the mission. However, the developed model can be tuned and updated according to the information that will be available in the future, when the whole system will be defined with a higher level of precision.

MMU (Manned Maneuvering Unit) Task Simulator.

DTIC Science & Technology

1986-01-15

motion is obtained by applying the Clohessy - Wiltshire equations for terminal rendezvous/docking with the earth modeled as a uniform sphere " (Aj<endix...quaternions. The Clohessy - Wiltshire equations for terminal rendezvous/docking are used to model orbital drift. These are linearized equations of...system is the Clohessy - Wiltshire system, centered at the target and described in detail in Appendix A. The earth’s vector list is scaled at one distance

Integrated Simulation Design Challenges to Support TPS Repair Operations

NASA Technical Reports Server (NTRS)

Quiocho, Leslie J.; Crues, Edwin Z.; Huynh, An; Nguyen, Hung T.; MacLean, John

2005-01-01

During the Orbiter Repair Maneuver (ORM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSRMS during the ORM, simulation tools used for previous 'nominal' mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Multibody dynamical modeling for spacecraft docking process with spring-damper buffering device: A new validation approach

NASA Astrophysics Data System (ADS)

Daneshjou, Kamran; Alibakhshi, Reza

2018-01-01

In the current manuscript, the process of spacecraft docking, as one of the main risky operations in an on-orbit servicing mission, is modeled based on unconstrained multibody dynamics. The spring-damper buffering device is utilized here in the docking probe-cone system for micro-satellites. Owing to the impact occurs inevitably during docking process and the motion characteristics of multibody systems are remarkably affected by this phenomenon, a continuous contact force model needs to be considered. Spring-damper buffering device, keeping the spacecraft stable in an orbit when impact occurs, connects a base (cylinder) inserted in the chaser satellite and the end of docking probe. Furthermore, by considering a revolute joint equipped with torsional shock absorber, between base and chaser satellite, the docking probe can experience both translational and rotational motions simultaneously. Although spacecraft docking process accompanied by the buffering mechanisms may be modeled by constrained multibody dynamics, this paper deals with a simple and efficient formulation to eliminate the surplus generalized coordinates and solve the impact docking problem based on unconstrained Lagrangian mechanics. By an example problem, first, model verification is accomplished by comparing the computed results with those recently reported in the literature. Second, according to a new alternative validation approach, which is based on constrained multibody problem, the accuracy of presented model can be also evaluated. This proposed verification approach can be applied to indirectly solve the constrained multibody problems by minimum required effort. The time history of impact force, the influence of system flexibility and physical interaction between shock absorber and penetration depth caused by impact are the issues followed in this paper. Third, the MATLAB/SIMULINK multibody dynamic analysis software will be applied to build impact docking model to validate computed results and then, investigate the trajectories of both satellites to take place the successful capture process.

Apollo Soyuz, mission evaluation report

NASA Technical Reports Server (NTRS)

1975-01-01

The Apollo Soyuz mission was the first manned space flight to be conducted jointly by two nations - the United States and the Union of Soviet Socialist Republics. The primary purpose of the mission was to test systems for rendezvous and docking of manned spacecraft that would be suitable for use as a standard international system, and to demonstrate crew transfer between spacecraft. The secondary purpose was to conduct a program of scientific and applications experimentation. With minor modifications, the Apollo and Soyuz spacecraft were like those flown on previous missions. However, a new module was built specifically for this mission - the docking module. It served as an airlock for crew transfer and as a structural base for the docking mechanism that interfaced with a similar mechanism on the Soyuz orbital module. The postflight evaluation of the performance of the docking system and docking module, as well as the overall performance of the Apollo spacecraft and experiments is presented. In addition, the mission is evaluated from the viewpoints of the flight crew, ground support operations, and biomedical operations. Descriptions of the docking mechanism, docking module, crew equipment and experiment hardware are given.

Artist's concept of scene in Earth orbit during transposition and docking

NASA Technical Reports Server (NTRS)

1975-01-01

An artist's concept depicting a scene in Earth orbit during the Apollo transposition and docking maneuvers of the Apollo Soyuz Test Project (ASTP) mission. The Command/Service Module is moving into position to dock with the Docking Module. This scene will take place some one hour and twenty-three minutes after the Apollo-Saturn 1B liftoff from the Kennedy Space Center on July 15, 1975. The artwork is by Paul Fjeld.

Exterior view looking down through the approximate centerline of the ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Exterior view looking down through the approximate centerline of the upper hatch and docking ring on the external airlock on the Orbiter Discovery. This photograph was take in the Orbiter Processing Facility at the Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

NASA Docking System (NDS) Interface Definitions Document (IDD). Revision C, Nov. 2010

NASA Technical Reports Server (NTRS)

2010-01-01

The NASA Docking System (NDS) mating system supports low approach velocity docking and provides a modular and reconfigurable standard interface, supporting crewed and autonomous vehicles during mating and assembly operations. The NDS is NASA's implementation for the emerging International Docking System Standard (IDSS) using low impact docking technology. All NDS configurations can mate with the configuration specified in the IDSS Interface Definition Document (IDD) released September 21, 2010. The NDS evolved from the Low Impact Docking System (LIDS). The acronym international Low Impact Docking System (iLIDS) is also used to describe this system. NDS and iLIDS may be used interchangeability. Some of the heritage documentation and implementations (e.g., software command names) used on NDS will continue to use the LIDS acronym. The NDS IDD defines the interface characteristics and performance capability of the NDS, including uses ranging from crewed to autonomous space vehicles and from low earth orbit to deep space exploration. The responsibility for developing space vehicles and for making them technically and operationally compatible with the NDS rests with the vehicle providers. Host vehicle examples include crewed/uncrewed spacecraft, space station modules, elements, etc. Within this document, any docking space vehicle will be referred to as the host vehicle. This document defines the NDS-to-NDS interfaces, as well as the NDS-to-host vehicle interfaces and performance capability.

CAMELOT 2

NASA Technical Reports Server (NTRS)

1988-01-01

The design parameters of a space vehicle resulting from studies conducted at the University of Michigan are presented. The vehicle is identified as a Circulating Autonomous Mars-Earth Luxury Orbital Transport (CAMELOT). This report documents the results of the current study based on several key changes in the spacecraft systems and layout. Subjects discussed are propulsion, docking, power systems, habitat design, and orbital assembly.

The Next Generation Advanced Video Guidance Sensor: Flight Heritage and Current Development

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.

2009-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) is the latest in a line of sensors that have flown four times in the last 10 years. The NGAVGS has been under development for the last two years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in "spot mode" out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. This paper presents the flight heritage and results of the sensor technology, some hardware trades for the current sensor, and discusses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the various NGAVGS development units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

IUS/TUG orbital operations and mission support study. Volume 4: Project planning data

NASA Technical Reports Server (NTRS)

1975-01-01

Planning data are presented for the development phases of interim upper stage (IUS) and tug systems. Major project planning requirements, major event schedules, milestones, system development and operations process networks, and relevant support research and technology requirements are included. Topics discussed include: IUS flight software; tug flight software; IUS/tug ground control center facilities, personnel, data systems, software, and equipment; IUS mission events; tug mission events; tug/spacecraft rendezvous and docking; tug/orbiter operations interface, and IUS/orbiter operations interface.

KSC-98pc1219

NASA Image and Video Library

1998-10-03

KENNEDY SPACE CENTER, FLA. -- Lowered on a movable work platform or bucket inside the payload bay of orbiter Endeavour, STS-88 Mission Specialists Jerry L. Ross (far right) and James H. Newman (second from right) get a close look at the Orbiter Docking System. At left is the bucket operator and Wayne Wedlake, with United Space Alliance at Johnson Space Center. The STS-88 crew members are in Orbiter Processing Facility Bay 1 to participate in a Crew Equipment Interface Test (CEIT) to familiarize themselves with the orbiter's midbody and crew compartments. Targeted for liftoff on Dec. 3, 1998, STS-88 will be the first Space Shuttle launch for assembly of the International Space Station (ISS). The primary payload is the Unity connecting module which will be mated to the Russian-built Zarya control module, expected to be already on orbit after a November launch from Russia. While on orbit during STS-88, Unity will be latched atop the Orbiter Docking System in the forward section of Endeavour's payload bay for the mating of the two modules. After the mating, Ross and Newman are scheduled to perform three spacewalks to connect power, data and utility lines and install exterior equipment. The first major U.S.-built component of ISS, Unity will serve as a connecting passageway to living and working areas of the space station. Unity has two attached pressurized mating adapters (PMAs) and one stowage rack installed inside. PMA-1 provides the permanent connection point between Unity and Zarya; PMA-2 will serve as a Space Shuttle docking port. Zarya is a self-supporting active vehicle, providing propulsive control capability and power during the early assembly stages. It also has fuel storage capability

Mission requirements CSM-111/DM-2 Apollo/Soyuz test project

NASA Technical Reports Server (NTRS)

Blackmer, S. M.

1974-01-01

Test systems are developed for rendezvous and docking of manned spacecraft and stations that are suitable for use as a standard international system. This includes the rendezvous and docking of Apollo and Soyuz spacecraft, and crew transfer. The conduct of the mission will include: (1) testing of compatible rendezvous systems in orbit; (2) testing of universal docking assemblies; (3) verifying the techniques for transfer of cosmonauts and astronauts; (4) performing certain activities by U.S.A. and U.S.S.R. crews in joint flight; and (5) gaining of experience in conducting joint flights by U.S.A. and U.S.S.R. spacecraft, including, in case of necessity, rendering aid in emergency situations.

Autonomous docking ground demonstration

NASA Technical Reports Server (NTRS)

Lamkin, Steve L.; Le, Thomas Quan; Othon, L. T.; Prather, Joseph L.; Eick, Richard E.; Baxter, Jim M.; Boyd, M. G.; Clark, Fred D.; Spehar, Peter T.; Teters, Rebecca T.

1991-01-01

The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.

Connection stiffness and dynamical docking process of flux pinned spacecraft modules

NASA Astrophysics Data System (ADS)

Lu, Yong; Zhang, Mingliang; Gao, Dong

2014-02-01

This paper describes a novel kind of potential flux pinned docking system that consists of guidance navigation and control system, the traditional extrusion type propulsion system, and a flux pinned docking interface. Because of characteristics of passive stability of flux pinning, the docking control strategy of flux pinned docking system only needs a series of sequential control rather than necessary active feedback control, as well as avoidance of hazardous collision accident. The flux pinned force between YBaCuO (YBCO) high temperature superconductor bulk and permanent magnet is able to be given vent based on the identical current loop model and improved image dipole model, which can be validated experimentally. Thus, the connection stiffness between two flux pinned spacecraft modules can be calculated based on Hooke's law. This connection stiffness matrix at the equilibrium position has the positive definite performance, which can validate the passively stable connection of two flux pinned spacecraft modules theoretically. Furthermore, the relative orbital dynamical equation of two flux pinned spacecraft modules can be established based on Clohessy-Wiltshire's equations and improved image dipole model. The dynamical docking process between two flux pinned spacecraft modules can be obtained by way of numerical simulation, which suggests the feasibility of flux pinned docking system.

Connection stiffness and dynamical docking process of flux pinned spacecraft modules

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lu, Yong; Zhang, Mingliang, E-mail: niudun12@126.com; Gao, Dong

2014-02-14

This paper describes a novel kind of potential flux pinned docking system that consists of guidance navigation and control system, the traditional extrusion type propulsion system, and a flux pinned docking interface. Because of characteristics of passive stability of flux pinning, the docking control strategy of flux pinned docking system only needs a series of sequential control rather than necessary active feedback control, as well as avoidance of hazardous collision accident. The flux pinned force between YBaCuO (YBCO) high temperature superconductor bulk and permanent magnet is able to be given vent based on the identical current loop model and improvedmore » image dipole model, which can be validated experimentally. Thus, the connection stiffness between two flux pinned spacecraft modules can be calculated based on Hooke's law. This connection stiffness matrix at the equilibrium position has the positive definite performance, which can validate the passively stable connection of two flux pinned spacecraft modules theoretically. Furthermore, the relative orbital dynamical equation of two flux pinned spacecraft modules can be established based on Clohessy-Wiltshire's equations and improved image dipole model. The dynamical docking process between two flux pinned spacecraft modules can be obtained by way of numerical simulation, which suggests the feasibility of flux pinned docking system.« less

Project EGRESS: Earthbound Guaranteed Reentry from Space Station. the Design of an Assured Crew Recovery Vehicle for the Space Station

NASA Technical Reports Server (NTRS)

1990-01-01

Unlike previously designed space-based working environments, the shuttle orbiter servicing the space station will not remain docked the entire time the station is occupied. While an Apollo capsule was permanently available on Skylab, plans for Space Station Freedom call for a shuttle orbiter to be docked at the space station for no more than two weeks four times each year. Consideration of crew safety inspired the design of an Assured Crew Recovery Vehicle (ACRV). A conceptual design of an ACRV was developed. The system allows the escape of one or more crew members from Space Station Freedom in case of emergency. The design of the vehicle addresses propulsion, orbital operations, reentry, landing and recovery, power and communication, and life support. In light of recent modifications in space station design, Project EGRESS (Earthbound Guaranteed ReEntry from Space Station) pays particular attention to its impact on space station operations, interfaces and docking facilities, and maintenance needs. A water-landing medium-lift vehicle was found to best satisfy project goals of simplicity and cost efficiency without sacrificing safety and reliability requirements. One or more seriously injured crew members could be returned to an earth-based health facility with minimal pilot involvement. Since the craft is capable of returning up to five crew members, two such permanently docked vehicles would allow a full evacuation of the space station. The craft could be constructed entirely with available 1990 technology, and launched aboard a shuttle orbiter.

Proximity Operations and Docking Sensor Development

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.; Brewster, Linda L.; Lee, James E.

2009-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) has been under development for the last three years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in spot mode out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. 12 Parts obsolescence issues prevent the construction of more AVGS units, and the next generation sensor was updated to allow it to support the CEV and COTS programs. The flight proven AR&D sensor has been redesigned to update parts and add additional capabilities for CEV and COTS with the development of the Next Generation AVGS at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities include greater sensor range, auto ranging capability, and real-time video output. This paper presents some sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the brassboard and proto-type NGAVGS units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Manned orbital systems concepts study. Book 3: Configurations for extended duration missions. [mission planning and project planning for space missions

NASA Technical Reports Server (NTRS)

1975-01-01

Mission planning, systems analysis, and design concepts for the Space Shuttle/Spacelab system for extended manned operations are described. Topics discussed are: (1) payloads, (2) spacecraft docking, (3) structural design criteria, (4) life support systems, (5) power supplies, and (6) the role of man in long duration orbital operations. Also discussed are the assembling of large structures in space. Engineering drawings are included.

Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

2008-01-01

bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

STS-112 Flight Day 3 Highlights

NASA Technical Reports Server (NTRS)

2002-01-01

During the third flight day of STS-112 (Commander Jeff Ashby, Pilot Pam Melroy and Mission Specialists Sandy Magnus, Piers Sellers, David Wolf and Fyodor Yurchikhin), the Space Shuttle Atlantis begins its final approach to the International Space Station (ISS) with which it will dock. The Chinese mainland is seen, at night, at a height of 242 statute miles. In one section of video from a camera onboard the ISS, Atlantis can be seen to be almost directly below the station, at a distance of several hundred feet. The orbiter's docking system is shown, as it is slowly guided by Ashby towards the forward docking port on the ISS's Destiny Laboratory Module and its forward docking port. Above the docking port, the S0 truss structure can be seen, to which the S1 truss structure in Atlantis' payload bay will be attached during this mission. Also seen are the Unity airlock and other modules. Following the completion of docking, in which an excellent shot of the docking system in hard dock is visible, the hatches between the two crafts are opened and the members of Atlantis are greeted by the very excited members of Expedition 5, who have been aboard the ISS for several months.

Laser space rendezvous and docking tradeoff

NASA Technical Reports Server (NTRS)

Adelman, S.; Levinson, S.; Raber, P.; Weindling, F.

1974-01-01

A spaceborne laser radar (LADAR) was configured to meet the requirements for rendezvous and docking with a cooperative object in synchronous orbit. The LADAR, configurated using existing pulsed CO2 laser technology and a 1980 system technology baseline, is well suited for the envisioned space tug missions. The performance of a family of candidate LADARS was analyzed. Tradeoff studies as a function of size, weight, and power consumption were carried out for maximum ranges of 50, 100, 200, and 300 nautical miles. The investigation supports the original contention that a rendezvous and docking LADAR can be constructed to offer a cost effective and reliable solution to the envisioned space missions. In fact, the CO2 ladar system offers distinct advantages over other candidate systems.

Artist's drawing of internal arrangement of orbiting Apollo and Soyuz crafts

NASA Technical Reports Server (NTRS)

1974-01-01

Artist's drawing illustrating the internal arrangement of orbiting the Apollo and Soyuz spacecraft in Earth orbit in a docked configuration. The three American Apollo crewmen and the two Soviet Soyuz crewmen will transfer to each other's spacecraft during the July Apollo Soyuz Test Project (ASTP) mission. The four ASTP visible components are, left to right, the Apollo Command Module, the Docking Module, the Soyuz Orbital Module and the Soyuz Descent Vehicle.

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Mitchell, J.; Johnston, A.; Howard, R.; Williamson, M.; Brewster, L.; Strack, D.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Williamson, Marlin L.; Johnston, Albert S.; Brewster, Linda L.; Mitchell, Jennifer D.; Cryan, Scott P.; Strack, David; Key, Kevin

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, (AR&D).) The crewed versions of the spacecraft may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

STS-79 Ku-band antenna, ODS and Spacehab module at PCR

NASA Technical Reports Server (NTRS)

1996-01-01

The orbiter Ku-band antenna looms large in this view of the Space Shuttle Atlantis' payload bay. Visible just past the antenna system -- stowed on the starboard side of the payload bay wall -- is the Orbiter Docking System (ODS), and connected to the ODS via a tunnel is the Spacehab Double Module in the aft area of the payload bay. This photograph was taken from the starboard wing platform on the fifth level of the Payload Changeout Room (PCR) at Launch Pad 39A. Work is under way in the PCR to close Atlantis' payload bay doors for flight. Atlantis currently is being targeted for liftoff on Mission STS-79, the fourth docking of the U.S. Shuttle to the Russian Space Station Mir, around September 12.

Docking Mechanism on Progress 52

NASA Image and Video Library

2014-02-03

ISS038-E-041175 (3 Feb. 2014) --- This close-up view shows the docking mechanism of the unpiloted Russian ISS Progress 52 resupply ship as it undocks from the International Space Station's Pirs Docking Compartment at 11:21 a.m. (EST) on Feb. 3, 2014. The Progress backed away to a safe distance from the orbital complex to begin several days of tests to study thermal effects of space on its attitude control system. Filled with trash and other unneeded items, the Russian resupply ship will be commanded to re-enter Earth's atmosphere Feb. 11 and disintegrate harmlessly over the Pacific Ocean.

Docking simulation analysis of range data requirements for the orbital maneuvering vehicle

NASA Technical Reports Server (NTRS)

Micheal, J. D.; Vinz, F. L.

1985-01-01

The results of an initial study are reported assess the controllability of the Orbital Maneuvering Vehicle (OMV) for terminal closure and docking are reported. The vehicle characteristics used in this study are those of the Marshall Space Flight Center (MSFC) baseline OMV which were published with the request for proposals for preliminary design of this vehicle. This simulation was conducted at MSFC using the Target Motion Simulator. The study focused on the OMV manual mode capability to accommodate both stabilized and tumbling target engagements with varying complements of range and range rate data displayed to the OMV operator. Four trained test subjects performed over 400 simulated orbital dockings during this study. A firm requirement for radar during the terminal closure and dock phase of the OMV mission was not established by these simulations. Fifteen pound thrusters recommended in the MSFC baseline design were found to be advantageous for initial rate matching maneuvers with unstabilized targets; however, lower thrust levels were desirable for making the final docking maneuvers.

A Mission Concept: Re-Entry Hopper-Aero-Space-Craft System on-Mars (REARM-Mars)

NASA Technical Reports Server (NTRS)

Davoodi, Faranak

2013-01-01

Future missions to Mars that would need a sophisticated lander, hopper, or rover could benefit from the REARM Architecture. The mission concept REARM Architecture is designed to provide unprecedented capabilities for future Mars exploration missions, including human exploration and possible sample-return missions, as a reusable lander, ascend/descend vehicle, refuelable hopper, multiple-location sample-return collector, laboratory, and a cargo system for assets and humans. These could all be possible by adding just a single customized Re-Entry-Hopper-Aero-Space-Craft System, called REARM-spacecraft, and a docking station at the Martian orbit, called REARM-dock. REARM could dramatically decrease the time and the expense required to launch new exploratory missions on Mars by making them less dependent on Earth and by reusing the assets already designed, built, and sent to Mars. REARM would introduce a new class of Mars exploration missions, which could explore much larger expanses of Mars in a much faster fashion and with much more sophisticated lab instruments. The proposed REARM architecture consists of the following subsystems: REARM-dock, REARM-spacecraft, sky-crane, secure-attached-compartment, sample-return container, agile rover, scalable orbital lab, and on-the-road robotic handymen.

Orion Rendezvous, Proximity Operations, and Docking Design and Analysis

NASA Technical Reports Server (NTRS)

D'Souza, Christopher; Hanak, F. Chad; Spehar, Pete; Clark, Fred D.; Jackson, Mark

2007-01-01

The Orion vehicle will be required to perform rendezvous, proximity operations, and docking with the International Space Station (ISS) and the Earth Departure Stage (EDS)/Lunar Landing Vehicle (LLV) stack in Low Earth Orbit (LEO) as well as with the Lunar Landing Vehicle in Low Lunar Orbit (LLO). The RPOD system, which consists of sensors, actuators, and software is being designed to be flexible and robust enough to perform RPOD with different vehicles in different environments. This paper will describe the design and the analysis which has been performed to date to allow the vehicle to perform its mission. Since the RPOD design touches on many areas such as sensors selection and placement, trajectory design, navigation performance, and effector performance, it is inherently a systems design problem. This paper will address each of these issues in order to demonstrate how the Orion RPOD has been designed to accommodate and meet all the requirements levied on the system.

Test - Apollo-Soyuz Test Project (ASTP)

NASA Image and Video Library

1974-07-01

S74-24671 (10 July 1974) --- Three Apollo-Soyuz Test Project (ASTP) engineers look over a Soyuz spacecraft docking system prior to an ASTP docking mechanism fitness test conducted in Building 13 at the Johnson Space Center (JSC). They are (left to right) Robert White, Vladimir Syromyatnikov and Yevgeniy Bobrov. White is the American chairman of ASTP Working Group Number 3, and Syromyatnikov is his Soviet counterpart. This working group is concerned with ASTP docking problems and procedures. White is with JSC's Spacecraft Design Division. Syromyatnikov is senior researcher of the Soviet State Research Institute of Machine Building. Bobrov is a junior researcher with the Institute of Machine Building. The joint United States - USSR ASTP docking mission in Earth orbit is scheduled for the summer of 1975.

General view looking aft along the port side of the ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

General view looking aft along the port side of the Orbiter Discovery into its payload bay. Note the Remote Manipulator System, Canadarm, in the foreground mounted on the port side longeron. The Remote Sensor Arm is mounted on the opposite, starboard, longeron. Also note the airlock and the protective covering over the docking mechanism. This image was taken in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

Application of fuzzy logic-neural network based reinforcement learning to proximity and docking operations

NASA Technical Reports Server (NTRS)

Jani, Yashvant

1992-01-01

As part of the Research Institute for Computing and Information Systems (RICIS) activity, the reinforcement learning techniques developed at Ames Research Center are being applied to proximity and docking operations using the Shuttle and Solar Max satellite simulation. This activity is carried out in the software technology laboratory utilizing the Orbital Operations Simulator (OOS). This interim report provides the status of the project and outlines the future plans.

View of STS-100 orbiter Endeavour approaching for docking

NASA Image and Video Library

2001-04-21

ISS002-E-5876 (21 April 2001) --- A distant view of the Space Shuttle Endeavour preparing to dock with the International Space Station (ISS) during the STS-100 mission. The STS-100 crewmembers are delivering the Canadarm2, Space Station Remote Manipulator System (SSRMS), and equipment stowed in the Multipurpose Logistics Module (MPLM) Raphaello to the ISS which are visible in Endeavour's payload bay. The image was taken with a digital still camera.

View of STS-100 orbiter Endeavour approaching for docking

NASA Image and Video Library

2001-04-21

ISS002-E-5887 (21 April 2001) --- A view of the Space Shuttle Endeavour preparing to dock with the International Space Station (ISS) during the STS-100 mission. The STS-100 crewmembers are delivering the Canadarm2, Space Station Remote Manipulator System (SSRMS), and equipment stowed in the Multipurpose Logistics Module (MPLM) Raphaello to the ISS which are visible in Endeavour's payload bay. The image was taken with a digital still camera.

STS-79 SPACEHAB Double module in Payload Bay

NASA Technical Reports Server (NTRS)

1996-01-01

Workers in the Payload Changeout Room (PCR) at Launch Pad 39A are preparing to close the payload doors for flight on the Space Shuttle Atlantis, targeted for liftoff on Mission STS-79 around September 12. The payloads in Atlantis' cargo bay will play key roles during the upcoming spaceflight, which will be highlighted by the fourth docking between the U.S. Shuttle and Russian Space Station Mir. Located in the aft (lowermost) area of the payload bay is the SPACEHAB Double Module, filled with supplies and other items slated for transfer to the Russian Space Station Mir as well as research equipment. The SPACEHAB is connected by tunnel to the Orbiter Docking System (ODS). This view looks directly at the top of the ODS and shows clearly the Androgynous Peripheral Docking System (APDS) that interfaces with the Docking Module on Mir to achieve a linkup.

Astronaut Brand and Cosmonaut Ivanchenko in Docking Module trainer

NASA Technical Reports Server (NTRS)

1974-01-01

Astronaut Vance D. Brand (foreground) and Cosmonaut Aleksandr S. Ivanchenko are seated in the Docking Module trainer in bldg 35 during Apollo Soyuz Test Project (ASTP) simulation training at JSC. Brand is the command module pilot of the American ASTP prime crew. Ivanchenko is the engineer on the Soviet ASTP fourth crew (back-up). During the exercise the American ASTP crew and the Soviet ASTP crew simulated docking the Apollo and Soyuz in Earth orbit and transferring to each other's spacecraft. This view is looking from inside the Command Module into the Docking Module. The hatchway leading into the Soyuz spacecraft orbital module mock-up is in the background.

Closeup view from the starboard side looking towards the port ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Close-up view from the starboard side looking towards the port side of the Orbiter Discovery looking at the airlock and payload bay. The docking ring has been removed from the airlock prior to this photo being taken. Note that the Orbiter Boom Sensor System is still attached while the Remote Manipulator System has been removed. Also note the suspended protective panels and walkways in place to protect the interior surfaces of the payload bay doors while in their open position. This view was taken from a service platform in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

Review of Full-Scale Docking Seal Testing Capabilities

NASA Technical Reports Server (NTRS)

Dunlap, Patrick H., Jr.; Penney, Nicholas; Wasowski, Janice L.; Daniels, Christopher C.; Steinetz, Bruce M.

2008-01-01

NASA is developing a new docking system to support future space exploration missions to low-Earth orbit, the Moon, and Mars. This mechanism, called the Low Impact Docking System (LIDS), is designed to connect pressurized space vehicles and structures including the Crew Exploration Vehicle, International Space Station, and lunar lander. NASA Glenn Research Center (GRC) is playing a key role in developing the main interface seal for this new docking system. These seals will be approximately 147 cm (58 in.) in diameter. To evaluate the performance of the seals under simulated operating conditions, NASA GRC is developing two new test rigs: a non-actuated version that will be used to measure seal leak rates and an actuated test rig that will be able to measure both seal leak rates and loads. Both test rigs will be able to evaluate the seals under seal-on-seal or seal-on-plate configurations at temperatures from -50 to 50 C (-58 to 122 F) under operational and pre-flight checkout pressure gradients in both aligned and misaligned conditions.

Performance of Subscale Docking Seals Under Simulated Temperature Conditions

NASA Technical Reports Server (NTRS)

Smith, Ian M.; Daniels, Christopher C.

2008-01-01

A universal docking system is being developed by the National Aeronautics and Space Administration (NASA) to support future space exploration missions to low Earth orbit (LEO), to the moon, and to Mars. The candidate docking seals for the system are a composite design consisting of elastomer seal bulbs molded into the front and rear sides of a metal ring. The test specimens were subscale seals with two different elastomer cross-sections and a 12-in. outside diameter. The seal assemblies were mated in elastomer seal-on-metal plate and elastomer seal-on-elastomer seal configurations. The seals were manufactured from S0383-70 silicone elastomer compound. Nominal and off-nominal joint configurations were examined. Both the compression load required to mate the seals and the leak rate observed were recorded while the assemblies were subjected to representative docking system operating temperatures of -58, 73, and 122 F (-50, 23, and 50 C). Both the loads required to fully compress the seals and their leak rates were directly proportional to the test temperature.

Satellite Docking Simulator with Generic Contact Dynamics Capabilities

NASA Astrophysics Data System (ADS)

Ma, O.; Crabtree, D.; Carr, R.; Gonthier, Y.; Martin, E.; Piedboeuf, J.-C.

2002-01-01

Satellite docking (and capture) systems are critical for the servicing or salvage of satellites. Satellite servicing has comparatively recently become a realistic and promising space operation/mission. Satellite servicing includes several of the following operations: rendezvous; docking (capturing); inspection; towing (transporting); refueling; refurbishing (replacement of faulty or "used-up" modules/boxes); and un-docking (releasing). Because spacecraft servicing has been, until recently non-feasible or non-economical, spacecraft servicing technology has been neglected. Accordingly, spacecraft designs have featured self- contained systems without consideration for operational servicing. Consistent with this view, most spacecrafts were designed and built without docking interfaces. If, through some mishap, a spacecraft was rendered non-operational, it was simply considered expendable. Several feasibility studies are in progress on salvaging stranded satellites (which, in fact had led to this project). The task of the designer of the docking system for a salvaging task is difficult. He/she has to work with whatever it is on orbit, and this excludes any special docking interfaces, which might have made his/her task easier. As satellite servicing becomes an accepted design requirement, many future satellites will be equipped with appropriate docking interfaces. The designer of docking systems will be faced with slightly different challenges: reliable, cost-effective, docking (and re-supply) systems. Thus, the role of designers of docking systems will increase from one of a kind, ad-hoc interfaces intended for salvaging operations, to docking systems for satellites and "caretaker" spacecraft which are meant for servicing and are produced in larger numbers. As in any space system (for which full and representative ground hardware test-beds are very expensive and often impossible to develop), simulations are mandatory for the development of systems and operations for satellite servicing. Simulations are also instrumental in concept studies during proposals and early development stages. Finally, simulations are useful during the operational phase of satellite servicing: improving the operational procedures; training ground operators; command and control, etc. Hence the need exists for a Satellite Servicing Simulator, which will support a project throughout its lifecycle. The paper addresses a project to develop a Simulink-based Satellite Docking Simulator (SDS) with generic Contact Dynamics (CD) capabilities. The simulator is intended to meet immediate practical demands for development of complex docking systems and operations at MD Robotics. The docking phase is the most critical and complex phase of the entire servicing sequence, and without docking there is no servicing. Docking mechanisms are often quite complex, especially when built to dock with a satellite manufactured without special docking interfaces. For successful docking operations, the design of a docking system must take into consideration: complexity of 3D geometric shapes defining the contact interfaces; sophistication of the docking mechanism; friction and stiction at the contacting surfaces; compliance (stiffness) and damping, in all axes; positional (translation and rotation) misalignments and relative velocities, in all axes; inertial properties of the docking satellites (including their distribution); complexity of the drive mechanisms and control sub-systems for the overall docking system; fully autonomous or tele-operated docking from the ground; etc. The docking simulator, which makes use of the proven Contact Dynamics Toolkit (CDT) developed by MD Robotics, is thus practically indispensable for the docking system designer. The use of the simulator could greatly reduce the prototyping and development time of a docking interface. A special feature of the simulator, which required an update of CDT, is variable step-size integration. This new capability permits increases in speed to accomplish all the simulation tasks.

Spacelab-Mir Module Lift in Operations and Checkout Building,

NASA Technical Reports Server (NTRS)

1995-01-01

The STS-71 Spacelab-Mir module is lifted by overhead crane from a test stand in the Operations and Checkout (O&C) Building after final checkout work is completed by the KSC payload processing team. the module will be integrated into the payload bay of the Space Shuttle orbiter Atlantis. During the 11-day mission, the module will serve as an orbital medical laboratory where joint U.S.-Russian investigations will be conducted on the physiological effects of long-duration spaceflight. Also on board Atlantis will be the Orbiter Docking System (ODS) that will permit the link-up of Atlantis and the Russian Mir Space Station. STS-71 is the first of seven planned docking missions. The Spacelab-Mir also carries supplies for the two Russian Mir 19 crew members who will liftoff as a part of the STS-71 crew and later transfer into the space station.

A Module for Automatic Dock and Detumble (MADD) for orbital rescue operations

NASA Technical Reports Server (NTRS)

Snow, W. R.; Kunciw, B. G.; Kaplan, M. H.

1973-01-01

The module for automatic dock and detumble (MADD) is an automated device for bringing a passive, tumbling space base under control in an orbital rescue situation. The conceptual design of such a device resulted from a consideration of tumbling motion analyses and mission constraints. Specific topics of investigation include orbit and attitude dynamics and detumble profiles. Position and attitude control systems for the various phases of operation were developed. Dynamic motion of a passive vehicle with MADD attached is considered as an example application and to determine control requirements. Since time is a critical factor in rescue operations, it is essential to execute the detumbling maneuver in a minimum of time. Optimization of the MADD thrusting sequence has also been investigated. Results indicate the control torque must be directed opposite to the angular momentum vector for the assumption used here.

Pressure Decay Testing Methodology for Quantifying Leak Rates of Full-Scale Docking System Seals

NASA Technical Reports Server (NTRS)

Dunlap, Patrick H., Jr.; Daniels, Christopher C.; Wasowski, Janice L.; Garafolo, Nicholas G.; Penney, Nicholas; Steinetz, Bruce M.

2010-01-01

NASA is developing a new docking system to support future space exploration missions to low-Earth orbit and the Moon. This system, called the Low Impact Docking System, is a mechanism designed to connect the Orion Crew Exploration Vehicle to the International Space Station, the lunar lander (Altair), and other future Constellation Project vehicles. NASA Glenn Research Center is playing a key role in developing the main interface seal for this docking system. This seal will be relatively large with an outside diameter in the range of 54 to 58 in. (137 to 147 cm). As part of this effort, a new test apparatus has been designed, fabricated, and installed to measure leak rates of candidate full-scale seals under simulated thermal, vacuum, and engagement conditions. Using this test apparatus, a pressure decay testing and data processing methodology has been developed to quantify full-scale seal leak rates. Tests performed on untreated 54 in. diameter seals at room temperature in a fully compressed state resulted in leak rates lower than the requirement of less than 0.0025 lbm, air per day (0.0011 kg/day).

Orbiter utilization as an ACRV

NASA Technical Reports Server (NTRS)

Cruz, Jonathan N.; Heck, Michael L.; Kumar, Renjith R.; Mazanek, Daniel D.; Troutman, Patrick A.

1990-01-01

Assuming that a Shuttle Orbiter could be qualified to serve long duration missions attached to Space Station Freedom in the capacity as an Assured Crew Return Vehicle (ACRV), a study was conducted to identify and examine candidate attach locations. Baseline, modified hardware, and new hardware design configurations were considered. Dual simultaneous Orbiter docking accommodation were required. Resulting flight characteristics analyzed included torque equilibrium attitude (TEA), microgravity environment, attitude controllability, and reboost fuel requirements. The baseline Station could not accommodate two Orbiters. Modified hardware configurations analyzed had large TEA's. The utilization of an oblique docking mechanism best accommodated an Orbiter as an ACRV.

Machine vision for real time orbital operations

NASA Technical Reports Server (NTRS)

Vinz, Frank L.

1988-01-01

Machine vision for automation and robotic operation of Space Station era systems has the potential for increasing the efficiency of orbital servicing, repair, assembly and docking tasks. A machine vision research project is described in which a TV camera is used for inputing visual data to a computer so that image processing may be achieved for real time control of these orbital operations. A technique has resulted from this research which reduces computer memory requirements and greatly increases typical computational speed such that it has the potential for development into a real time orbital machine vision system. This technique is called AI BOSS (Analysis of Images by Box Scan and Syntax).

Remote operation of an orbital maneuvering vehicle in simulated docking maneuvers

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1990-01-01

Simulated docking maneuvers were performed to assess the effect of initial velocity on docking failure rate, mission duration, and delta v (fuel consumption). Subjects performed simulated docking maneuvers of an orbital maneuvering vehicle (OMV) to a space station. The effect of the removal of the range and rate displays (simulating a ranging instrumentation failure) was also examined. Naive subjects were capable of achieving a high success rate in performing simulated docking maneuvers without extensive training. Failure rate was a function of individual differences; there was no treatment effect on failure rate. The amount of time subjects reserved for final approach increased with starting velocity. Piloting of docking maneuvers was not significantly affected in any way by the removal of range and rate displays. Radial impulse was significant both by subject and by treatment. NASA's 0.1 percent rule, dictating an approach rate no greater than 0.1 percent of the range, is seen to be overly conservative for nominal docking missions.

Impingement effect of service module reaction control system engine plumes. Results of service module reaction control system plume model force field application to an inflight Skylab mission proximity operation situation with the inflight Skylab response

NASA Technical Reports Server (NTRS)

Lobb, J. D., Jr.

1978-01-01

Plume impingement effects of the service module reaction control system thruster firings were studied to determine if previous flight experience would support the current plume impingement model for the orbiter reaction control system engines. The orbiter reaction control system is used for rotational and translational maneuvers such as those required during rendezvous, braking, docking, and station keeping. Therefore, an understanding of the characteristics and effects of the plume force fields generated by the reaction control system thruster firings were examined to develop the procedures for orbiter/payload proximity operations.

Earth orbital teleoperator mobility system evaluation program

NASA Technical Reports Server (NTRS)

Brye, R. G.; Shields, N. L., Jr.; Kirkpatrick, M., III

1977-01-01

The proximity translation and final docking of the space teleoperator evaluation vehicle (STEV) with large mass and small mass satellites was studied. Operations that may be performed by the STEV during the shuttle experiments are approximated.

Space shuttle Atlantis preparing to dock with Mir space station

NASA Image and Video Library

1995-06-28

NM18-309-018 (28 June 1995) --- The Space Shuttle Atlantis orbits Earth at a point above Iraq as photographed by one of the Mir-18 crew members aboard Russia's Mir Space Station. The image was photographed prior to rendezvous and docking of the two spacecraft. The Spacelab science module and the tunnel connecting it to the crew cabin, as well as the added mechanism for interface with the Mir's docking system can be easily seen. The geography pictured is 60 miles northwest of Baghdad. The Buhayrat Ath Tharthar (reservoir) is the widest body of water visible. Also seen are the Tigris and Euphrates Rivers.

Manual control aspects of orbital flight

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1990-01-01

Studies of spacecraft rendezvous and docking operations began in the Gemini program in preparation for the two dockings required to send a crew to the moon and return them safely to Earth. However, the goal of getting to the moon before the end of the decade was of greater concern than mission optimization so little or no time or money was expended in researching human factors implications of operational aspects such as braking gates or control modes. Also, with sixteen operational dockings over a six year period (12 Apollo, 3 Skylab, and 1 ASTP) in the United States space program, economies of scale were not yet available to justify extensive research into decreasing the time or fuel necessary for a successful docking. With an operational space station era approaching in which orbital maneuvering vehicle (OMV), orbital transfer vehicle (OTV), shuttle orbiter, and other traffic will play a major role, a concerted research effort now could help avoid many potential problems later in addition to increasing safety, fuel economy, and productivity. A knowledge of manual control capabilities associated with piloted spaceflight could help save a life if the operational flight envelope can be safely enlarged to include faster dockings that currently envisioned. For example, current and future research is designed to acquire the appropriate information.

A feasibility study of unmanned rendezvous and docking in Mars orbit: Midterm review

NASA Technical Reports Server (NTRS)

1974-01-01

The ascent, rendezvous, docking and sample transfer operations in a potential MSSR mission that uses the Mars orbital rendezvous mode are considered. In order that the design choices made for these operations remain compatible with the rest of the mission, the impact on the Earth launch, Mars landing and orbiting and Earth return phase are also being assessed. The selection and description of a preliminary baseline concept are presented.

American & Soviet engineers examine ASTP docking set-up following tests

NASA Image and Video Library

1974-07-10

S74-25394 (10 July 1974) --- A group of American and Soviet engineers of the Apollo-Soyuz Test Project working group three examines an ASTP docking set-up following a docking mechanism fitness test conducted in Building 13 at the Johnson Space Center. Working Group No. 3 is concerned with ASTP docking problems and techniques. The joint U.S.-USSR ASTP docking mission in Earth orbit is scheduled for the summer of 1975. The Apollo docking mechanism is atop the Soyuz docking mechanism.

SPACEHAB module at LC-39B for STS-76

NASA Technical Reports Server (NTRS)

1996-01-01

At Launch Pad 39B, the SPACEHAB module has been installed in the payload bay of the Space Shuttle Atlantis, which was rolled out to the pad a day previously. Already located in the payload bay was the Orbiter Docking System (ODS), to which the SPACEHAB was connected via a tunnel. During the upcoming flight of Atlantis on Mission STS-76, the ODS will be docked to the Docking Module located on the Kristall module docking port on the Russian Space Station Mir. The SPACEHAB will be filled with Russian and U.S. logistics equipment for transfer to Mir. Also located in the mini-research laboratory is the European Space Agency's Biorack, which houses experiments to be conducted by the U.S. astronauts during the nine-day flight. Atlantis is scheduled to lift off on the third Shuttle-Mir docking mission on March 21.

A Summary of the Rendezvous, Proximity Operations, Docking, and Undocking (RPODU) Lessons Learned from the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) Demonstration System Mission

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Carpenter, James R.

2011-01-01

The Guidance, Navigation, and Control (GN&C) Technical Discipline Team (TDT) sponsored Dr. J. Russell Carpenter, a Navigation and Rendezvous Subject Matter Expert (SME) from NASA's Goddard Space Flight Center (GSFC), to provide support to the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) rendezvous and docking flight test that was conducted in 2007. When that DARPA OE mission was completed, Mr. Neil Dennehy, NASA Technical Fellow for GN&C, requested Dr. Carpenter document his findings (lessons learned) and recommendations for future rendezvous missions resulting from his OE support experience. This report captures lessons specifically from anomalies that occurred during one of OE's unmated operations.

Orbital Propagation of Momentum Exchange Tether Systems

NASA Technical Reports Server (NTRS)

Westerhoff, John

2002-01-01

An advanced concept in in-space transportation currently being studied is the Momentum-Exchange/Electrodynamic Reboost Tether System (MXER). The system acts as a large momentum wheel, imparting a Av to a payload in low earth orbit (LEO) at the expense of its own orbital energy. After throwing a payload, the system reboosts itself using an electrodynamic tether to push against Earth's magnetic field and brings itself back up to an operational orbit to prepare for the next payload. The ability to reboost itself allows for continued reuse of the system without the expenditure of propellants. Considering the cost of lifting propellant from the ,ground to LEO to do the same Av boost at $10000 per pound, the system cuts the launch cost of the payload dramatically, and subsequently, the MXER system pays for itself after a small number of missions.1 One of the technical hurdles to be overcome with the MXER concept is the rendezvous maneuver. The rendezvous window for the capture of the payload is on the order of a few seconds, as opposed to traditional docking maneuvers, which can take as long ets necessary to complete a precise docking. The payload, therefore, must be able to match its orbit to meet up with the capture device on the end of the tether at a specific time and location in the future. In order to be able to determine that location, the MXER system must be numerically propagated forward in time to predict where the capture device will be at that instant. It should be kept in mind that the propagation computation must be done faster than real-time. This study focuses on the efforts to find and/or build the tools necessary to numerically propagate the motion of the MXER system as accurately as possible.

Full-Scale System for Quantifying Leakage of Docking System Seals for Space Applications

NASA Technical Reports Server (NTRS)

Dunlap, Patrick H., Jr.; Daniels, Christopher C.; Steinetz, Bruce M.; Erker, Arthur H.; Robbie, Malcolm G.; Wasowski, Janice L.; Drlik, Gary J.; Tong, Michael T.; Penney, Nicholas

2007-01-01

NASA is developing a new docking and berthing system to support future space exploration missions to low-Earth orbit, the Moon, and Mars. This mechanism, called the Low Impact Docking System, is designed to connect pressurized space vehicles and structures. NASA Glenn Research Center is playing a key role in developing advanced technology for the main interface seal for this new docking system. The baseline system is designed to have a fully androgynous mating interface, thereby requiring a seal-on-seal configuration when two systems mate. These seals will be approximately 147 cm (58 in.) in diameter. NASA Glenn has designed and fabricated a new test fixture which will be used to evaluate the leakage of candidate full-scale seals under simulated thermal, vacuum, and engagement conditions. This includes testing under seal-on-seal or seal-on-plate configurations, temperatures from -50 to 50 C (-58 to 122 F), operational and pre-flight checkout pressure gradients, and vehicle misalignment (plus or minus 0.381 cm (0.150 in.)) and gapping (up to 0.10 cm (0.040 in.)) conditions. This paper describes the main design features of the test rig and techniques used to overcome some of the design challenges.

Contact dynamics math model

NASA Technical Reports Server (NTRS)

Glaese, John R.; Tobbe, Patrick A.

1986-01-01

The Space Station Mechanism Test Bed consists of a hydraulically driven, computer controlled six degree of freedom (DOF) motion system with which docking, berthing, and other mechanisms can be evaluated. Measured contact forces and moments are provided to the simulation host computer to enable representation of orbital contact dynamics. This report describes the development of a generalized math model which represents the relative motion between two rigid orbiting vehicles. The model allows motion in six DOF for each body, with no vehicle size limitation. The rotational and translational equations of motion are derived. The method used to transform the forces and moments from the sensor location to the vehicles' centers of mass is also explained. Two math models of docking mechanisms, a simple translational spring and the Remote Manipulator System end effector, are presented along with simulation results. The translational spring model is used in an attempt to verify the simulation with compensated hardware in the loop results.

POSE Algorithms for Automated Docking

NASA Technical Reports Server (NTRS)

Heaton, Andrew F.; Howard, Richard T.

2011-01-01

POSE (relative position and attitude) can be computed in many different ways. Given a sensor that measures bearing to a finite number of spots corresponding to known features (such as a target) of a spacecraft, a number of different algorithms can be used to compute the POSE. NASA has sponsored the development of a flash LIDAR proximity sensor called the Vision Navigation Sensor (VNS) for use by the Orion capsule in future docking missions. This sensor generates data that can be used by a variety of algorithms to compute POSE solutions inside of 15 meters, including at the critical docking range of approximately 1-2 meters. Previously NASA participated in a DARPA program called Orbital Express that achieved the first automated docking for the American space program. During this mission a large set of high quality mated sensor data was obtained at what is essentially the docking distance. This data set is perhaps the most accurate truth data in existence for docking proximity sensors in orbit. In this paper, the flight data from Orbital Express is used to test POSE algorithms at 1.22 meters range. Two different POSE algorithms are tested for two different Fields-of-View (FOVs) and two different pixel noise levels. The results of the analysis are used to predict future performance of the POSE algorithms with VNS data.

General view looking forward from the starboard side of the ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

General view looking forward from the starboard side of the Orbiter Discovery looking into the payload bay and the bulkhead of the forward fuselage with the airlock. The docking ring and airlock hatches have been removed from the airlock prior to this photo being taken. Note that the Orbiter Boom Sensor System is still attached while the Remote Manipulator System has been removed. Also note the suspended protective panels and walkways in place to protect the interior surfaces of the payload bay doors while in their open position. This view was taken from a service platform in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

CSM docked DAP/orbital assembly bending interaction-axial case

NASA Technical Reports Server (NTRS)

Turnbull, J. F.; Jones, J. E.

1972-01-01

A digital autopilot which can provide attitude control for the entire Skylab orbital assembly using the service module reaction control jets is described. An important consideration is the potential interaction of the control system with the bending modes of the orbital assembly. Two aspects of this potential interaction were considered. The first was the possibility that bending induced rotations feeding back through the attitude sensor into the control system could produce an instability or self-sustained oscillation. The second was whether the jet activity commanded by the control system could produce excessive loads at any of the critical load points of the orbital assembly. Both aspects were studied by using analytic techniques and by running simulations on the all-digital simulator.

Artist's drawing of internal arrangement of orbiting Apollo & Soyuz crafts

NASA Image and Video Library

1974-12-01

S74-05269 (December 1974) --- An artist?s drawing illustrating the internal arrangement of the Apollo and Soyuz spacecraft in Earth orbit in a docked configuration. The three American Apollo crewmen and the two Soviet Soyuz crewmen will transfer to each other?s spacecraft during the July 1975 ASTP mission. The four Apollo-Soyuz Test Project visible components are, left to right, the Apollo Command Module, the Docking Module, the Soyuz Orbital Module and the Soyuz Descent Vehicle.

Orbiter Boom Sensor System and TPS tiles on orbiter Discovery as seen during EVA 3

NASA Image and Video Library

2005-08-03

S114-E-6310 (3 August 2005) --- The Red Sea forms the backdrop for this view featuring a portion of thermal protection tiles on the Space Shuttle Discovery’s underside and the Canadian-built remote manipulator system (RMS) robotic arm while docked to the international space station during the STS-114 mission. The image was photographed by astronaut Stephen K. Robinson (out of frame), mission specialist, during today’s extravehicular activities (EVA).

International Space Station (ISS)

NASA Image and Video Library

2002-10-09

Back dropped against a blue and white Earth, the Space Shuttle Orbiter Atlantis was photographed by an Expedition 5 crew member onboard the International Space Station (ISS) during rendezvous and docking operations. Docking occurred at 10:17 am on October 9, 2002. The Starboard 1 (S1) Integrated Truss Structure, the primary payload of the STS-112 mission, can be seen in Atlantis' cargo bay. Installed and outfitted within 3 sessions of Extravehicular Activity (EVA) during the 11 day mission, the S1 truss provides structural support for the orbiting research facility's radiator panels, which use ammonia to cool the Station's complex power system. The S1 truss, attached to the S0 (S Zero) truss installed by the previous STS-110 mission, flows 637 pounds of anhydrous ammonia through three heat rejection radiators.

Preliminary analysis of the benefits derived to US Air Force spacecraft from on-orbit refueling

NASA Astrophysics Data System (ADS)

Smith, Scott

1993-02-01

This analysis was undertaken during FY-91 as a preliminary step to identify potential benefits from refueling Air Force satellites on orbit. Both economic and operational benefits were included. Operational benefits were related in economic terms to allow evaluation. All economic comparisons were made using FY-91 costs. An additional purpose of the effort was to identify the preferred mission parameters, for an on-orbit refueling system. A companion study was being concurrently conducted by SSD/XRP and NASA/JPL to develop a hardware concept for an on-orbit refueling system. The mass estimates for refueling missions obtained from the companion study were used in conducting the economic analyses of this benefits study. For this study, on-orbit refueling was based on the concept developed in the companion JPL study. The concept involves launching an S/C carrying fuel that would be transferred to another 'target' S/C which is already in orbit. The two S/C would then rendezvous, dock, and transfer fuel. Another fluid, such as a cryogenic, might be included if needed by the target S/C. The hardware concept for refueling was intended to minimize costs. The re-fueler S/C was designated to be expendable and would contain only the minimal capabilities. It would be launched into the orbit plane and altitude of the target S/C(s). The re-fueler S/C would rendezvous and dock with the target S/C and the fluid transfer would occur. When the refueling mission was completed, the re-fueler S/C would be ejected from the orbit. In order to optimize launch costs, some missions involved launching two re-fueler S/C on the LV. In this case the second re-fueler S/C would be placed in a storage orbit until needed.

Preliminary analysis of the benefits derived to US Air Force spacecraft from on-orbit refueling

NASA Technical Reports Server (NTRS)

Smith, Scott

1993-01-01

This analysis was undertaken during FY-91 as a preliminary step to identify potential benefits from refueling Air Force satellites on orbit. Both economic and operational benefits were included. Operational benefits were related in economic terms to allow evaluation. All economic comparisons were made using FY-91 costs. An additional purpose of the effort was to identify the preferred mission parameters, for an on-orbit refueling system. A companion study was being concurrently conducted by SSD/XRP and NASA/JPL to develop a hardware concept for an on-orbit refueling system. The mass estimates for refueling missions obtained from the companion study were used in conducting the economic analyses of this benefits study. For this study, on-orbit refueling was based on the concept developed in the companion JPL study. The concept involves launching an S/C carrying fuel that would be transferred to another 'target' S/C which is already in orbit. The two S/C would then rendezvous, dock, and transfer fuel. Another fluid, such as a cryogenic, might be included if needed by the target S/C. The hardware concept for refueling was intended to minimize costs. The re-fueler S/C was designated to be expendable and would contain only the minimal capabilities. It would be launched into the orbit plane and altitude of the target S/C(s). The re-fueler S/C would rendezvous and dock with the target S/C and the fluid transfer would occur. When the refueling mission was completed, the re-fueler S/C would be ejected from the orbit. In order to optimize launch costs, some missions involved launching two re-fueler S/C on the LV. In this case the second re-fueler S/C would be placed in a storage orbit until needed.

General view looking forward along the centerline of the Orbiter ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

General view looking forward along the centerline of the Orbiter Discovery looking into the payload bay. This view shows the external airlock and the beam-truss attach structure supporting it and attaching it to the payload bay sill longerons. Also note the protective covering over the docking mechanism on top of the airlock assembly. This external airlock configuration was for mating to the International Space Station. This photograph was taken in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

KSC-2009-4811

NASA Image and Video Library

2009-08-21

CAPE CANAVERAL, Fla. – In NASA Kennedy Space Center's Orbiter Processing Facility 1, technicians begin a functional test on the orbital docking system on space shuttle Atlantis. The STS-129 mission will deliver to the International Space Station two spare gyroscopes, two nitrogen tank assemblies, two pump modules, an ammonia tank assembly and a spare latching end effector for the station's robotic arm. STS-129 is targeted to launch Nov. 12. Photo credit: NASA/Kim Shiflett

KSC-2009-4806

NASA Image and Video Library

2009-08-21

CAPE CANAVERAL, Fla. – In NASA Kennedy Space Center's Orbiter Processing Facility 1, technicians prepare to test the orbital docking system on space shuttle Atlantis. The STS-129 mission will deliver to the International Space Station two spare gyroscopes, two nitrogen tank assemblies, two pump modules, an ammonia tank assembly and a spare latching end effector for the station's robotic arm. STS-129 is targeted to launch Nov. 12. Photo credit: NASA/Kim Shiflett

KSC-2009-4808

NASA Image and Video Library

2009-08-21

CAPE CANAVERAL, Fla. – In NASA Kennedy Space Center's Orbiter Processing Facility 1, technicians begin testing the orbital docking system on space shuttle Atlantis. The STS-129 mission will deliver to the International Space Station two spare gyroscopes, two nitrogen tank assemblies, two pump modules, an ammonia tank assembly and a spare latching end effector for the station's robotic arm. STS-129 is targeted to launch Nov. 12. Photo credit: NASA/Kim Shiflett

STS-114 orbiter Discovery during docking of Raffaello

NASA Image and Video Library

2005-08-05

ISS011-E-11510 (5 August 2005) --- On the eve of the separation of Discovery and the International Space Station, an Expedition 11 crew member took this digital still picture. Crews onboard the orbital outpost and Discovery were wrapping up nine days of joint operations. The Space Shuttle is partially visible beneath other hardware. The Canadian-built robot arms for both spacecraft are dominant in the frame. A Russian Soyuz is docked to the Station in the foreground. After the Italian-built Multi-Purpose Logistics Module Raffaello was secured in Discovery's cargo bay, Astronauts Charles J. Camarda and Andrew S.W. Thomas, mission specialists operating from Discovery's aft flight deck, used the Shuttle arm to hand off the Orbiter Boom Sensor System to the Station arm. Then Astronauts Wendy B. Lawrence, mission specialist, and James M. Kelly, pilot, onboard Destiny, reberthed the OBSS in its position on the starboard sill of the cargo bay. Undocking is scheduled shortly before 2:30 a.m. (CDT) on August 6.

Space Shuttle Orbiter Structures and Mechanisms

NASA Technical Reports Server (NTRS)

Gilmore, Adam L.; Estes, Lynda R.; Eilers, James A.; Logan, Jeffrey S.; Evernden, Brent A.; Decker, William S.; Hagen, Jeffrey D.; Davis, Robert E.; Broughton, James K.; Campbell, Carlisle C.;

GEMINI-TITAN (GT)-10 - EARTH SKY - RENDEZVOUS - OUTER SPACE

NASA Image and Video Library

1966-07-18

S66-46122 (18 July 1966) --- Agena Target Docking Vehicle 5005 is photographed from the Gemini-Titan 10 (GT-10) spacecraft during rendezvous in space. The two spacecraft are about 38 feet apart. After docking with the Agena, astronauts John W. Young, command pilot, and Michael Collins, pilot, fired the 16,000 pound thrust engine of Agena X's primary propulsion system to boost the combined vehicles into an orbit with an apogee of 413 nautical miles to set a new altitude record for manned spaceflight. Photo credit: NASA

EMI from Spacecraft Docking Systems Spacecraft Charging - Plasma Contact Potentials

NASA Technical Reports Server (NTRS)

Norgard, John D.; Scully, Robert; Musselman, Randall

2012-01-01

The plasma contact potential of a visiting vehicle (VV), such as the Orion Service Module (SM), is determined while docking at the Orion Crew Exploration Vehicle (CEV). Due to spacecraft charging effects on-orbit, the potential difference between the CEV and the VV can be large at docking, and an electrostatic discharge (ESD) could occur at capture, which could degrade, disrupt, damage, or destroy sensitive electronic equipment on the CEV and/or VV. Analytical and numerical models of the CEV are simulated to predict the worst-case potential difference between the CEV and the VV when the CEV is unbiased (solar panels unlit: eclipsed in the dark and inactive) or biased (solar panels sunlit: in the light and active).

STS-114: Discovery Post MMT Briefing

NASA Technical Reports Server (NTRS)

2005-01-01

On flight day 13, Leroy Cain, STS-114 Ascent/Entry Flight Director, discusses the condition of the Space Shuttle Discovery, and the weather outlook for landing. He answers questions from the news media about his feelings about re-entry since the Columbia tragedy, possible new information during re-entry, critical moments in the Mission Control Room during landing, and differences between night landing and day landing. Footage of the Mission Control Room and a talk with Soichi Noguchi in orbit is shown. Also, footage of the truss structure of the International Space Station, Destiny Laboratory, crew cabin of Discovery, and the Orbiter Docking System linked up to forward docking port on Discovery is shown. Eileen Collins and Wendy Lawrence are shown in the flight deck of Discovery. Charles Camarda is also shown in the mid-deck. Downlink television from Discovery shows spacewalk choreographer Andy Thomas with Stephen Robinson and Soichi Noguchi preparing for depressurization and pre-breathing activities that will lead to the opening of the hatch. The installation of a replacement GPS antenna, images of the port wing of Discovery and Canadarm moving with the Orbital Boom Sensor System (OBSS) extension is shown.

Integrated Attitude Control Strategy for the Asteroid Redirect Mission

NASA Technical Reports Server (NTRS)

Lopez, Pedro, Jr.; Price, Hoppy; San Martin, Miguel

2014-01-01

A deep-space mission has been proposed to redirect an asteroid to a distant retrograde orbit around the moon using a robotic vehicle, the Asteroid Redirect Vehicle (ARV). In this orbit, astronauts will rendezvous with the ARV using the Orion spacecraft. The integrated attitude control concept that Orion will use for approach and docking and for mated operations will be described. Details of the ARV's attitude control system and its associated constraints for redirecting the asteroid to the distant retrograde orbit around the moon will be provided. Once Orion is docked to the ARV, an overall description of the mated stack attitude during all phases of the mission will be presented using a coordinate system that was developed for this mission. Next, the thermal and power constraints of both the ARV and Orion will be discussed as well as how they are used to define the optimal integrated stack attitude. Lastly, the lighting and communications constraints necessary for the crew's extravehicular activity planned to retrieve samples from the asteroid will be examined. Similarly, the joint attitude control strategy that employs both the Orion and the ARV attitude control assets prior, during, and after each extravehicular activity will also be thoroughly discussed.

Summary Report of Mission Acceleration Measurements for STS-79. Launched 16 Sep. 1996

NASA Technical Reports Server (NTRS)

Rogers, Melissa J. B.; Moskowitz, Milton E.; Hrovat, Kenneth; Reckart, Timothy A.

1997-01-01

The Space Acceleration Measurement System (SAMS) collected acceleration data in support of the Mechanics of Granular Materials experiment during the STS-79 Mir docking mission, September 1996. STS-79 was the first opportunity to record SAMS data on an Orbiter while it was docked to Mir. Crew exercise activities in the Atlantis middeck and the Mir base module are apparent in the data. The acceleration signals related to the Enhanced Orbiter Refrigerator Freezer had different characteristics when comparing the data recorded on Atlantis on STS-79 with the data recorded on Mir during STS-74. This is probably due, at least in part, to different transmission paths and SAMS sensor head mounting mechanisms. Data collected on Atlantis during the STS-79 docking indicate that accelerations due to vehicle and solar array structural modes from Mir transfer to Atlantis and that the structural modes of the Atlantis-Mir complex are different from those of either vehicle independently. A 0.18 Hz component of the SAMS data, present while the two vehicles were docked, was probably caused by the Mir solar arrays. Compared to Atlantis structural modes of about 3.9 and 4.9 Hz, the Atlantis-Mir complex has structural components of about 4.5 and 5.1 Hz. After docking, apparent structural modes appeared in the data at about 0.8 and 1.8 Hz. The appearance, disappearance, and change in the structural modes during the docking and undocking phases of the joint Atlantis-Mir operations indicates that the structural modes of the two spacecraft have an effect on the microgravity environment of each other. The transfer of structural and equipment related accelerations between vehicles is something that should be considered in the International Space Station era.

Earth observation

NASA Image and Video Library

2018-03-05

iss055e000908 (March 5, 2018) --- Russia's Progress 68 resupply ship is pictured docked to the Pirs docking compartment as the International Space Station orbited over the Atlantic Ocean south of the island of Bermuda.

KSC00pp1767

NASA Image and Video Library

2000-11-18

KENNEDY SPACE CENTER, FLA. -- Working on the Orbiter Docking System of orbiter Atlantis are Mission Specialists Tom Jones (leaning over) and Robert Curbeam. They and the rest of the crew are at KSC for Crew Equipment Interface Test activities. Launch on mission STS-98 is scheduled for Jan. 18, 2001. It will be transporting the U.S. Lab, Destiny, to the International Space Station with five system racks already installed inside of the module. After delivery of electronics in the lab, electrically powered attitude control for Control Moment Gyroscopes will be activated

KSC-00pp1767

NASA Image and Video Library

2000-11-18

KENNEDY SPACE CENTER, FLA. -- Working on the Orbiter Docking System of orbiter Atlantis are Mission Specialists Tom Jones (leaning over) and Robert Curbeam. They and the rest of the crew are at KSC for Crew Equipment Interface Test activities. Launch on mission STS-98 is scheduled for Jan. 18, 2001. It will be transporting the U.S. Lab, Destiny, to the International Space Station with five system racks already installed inside of the module. After delivery of electronics in the lab, electrically powered attitude control for Control Moment Gyroscopes will be activated

International Space Station (ISS)

NASA Image and Video Library

2002-06-07

Pictured here is the forward docking port on the International Space Station's (ISS) Destiny Laboratory as seen by one of the STS-111 crewmembers from the Space Shuttle Orbiter Endeavour just prior to docking. In June 2002, STS-111 provided the Space Station with a new crew, Expedition Five, replacing Expedition Four after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish additional mission objectives: the delivery and installation of a new platform for the ISS robotic arm, the Mobile Base System (MBS) which is an important part of the Station's Mobile Servicing System allowing the robotic arm to travel the length of the Station; the replacement of a wrist roll joint on the Station's robotic arm; and unloading supplies and science experiments form the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

Closeup view looking forward along the centerline of the Orbiter ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Close-up view looking forward along the centerline of the Orbiter Discovery looking into the payload bay. This view is a close-up view of the external airlock and the beam-truss attach structure supporting it and attaching it to the payload bay sill longerons. Also note the protective covering over the docking mechanism on top of the airlock assembly. This external airlock configuration was for mating to the International Space Station. This photograph was taken in the Orbiter Processing Facility at Kennedy Space Cente - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

OFFICIAL EMBLEM - APOLLO-SOYUZ TEST PROJECT (ASTP)

NASA Image and Video Library

1974-03-01

S74-17843 (March 1974) --- This is the official emblem of the Apollo-Soyuz Test Project chosen by NASA and the Soviet Academy of Sciences. The joint U.S.-USSR space mission is scheduled to be flown in July 1975. Of circular design, the emblem has the words Apollo in English and Soyuz in Russian around a center disc which depicts the two spacecraft docked together in Earth orbit. The Apollo-Soyuz Test Project will be carried out by a Soviet Soyuz spacecraft and a U.S. Apollo spacecraft which will rendezvous and dock in orbit. Soyuz and Apollo will remain docked for as long as two days in which period, the three Apollo astronauts will enter Soyuz and the two Soyuz cosmonauts will visit Apollo via a docking module. The Russian word "soyuz" means "union" in English.

View of the Pirs Docking Compartment approaching the ISS during Expedition Three

NASA Image and Video Library

2001-09-17

ISS003-E-5620 (16 September 2001) --- The Russian Docking Compartment, named Pirs (the Russian word for pier), is only seconds away from docking with the International Space Station (ISS). One of the Expedition Three crew members, using a digital still camera with a 35mm lens, recorded the image from onboard the orbital outpost. The vehicle was launched on September 14, 2001 and docking occurred on September 16.

Investigation of Control System and Display Variations on Spacecraft Handling Qualities for Docking with Stationary and Rotating Targets

NASA Technical Reports Server (NTRS)

Jackson, E. Bruce; Goodrich, Kenneth H.; Bailey, Randall E.; Barnes, James R.; Ragsdale, William A.; Neuhaus, Jason R.

2010-01-01

This paper documents the investigation into the manual docking of a preliminary version of the Crew Exploration Vehicle with stationary and rotating targets in Low Earth Orbit. The investigation was conducted at NASA Langley Research Center in the summer of 2008 in a repurposed fixed-base transport aircraft cockpit and involved nine evaluation astronauts and research pilots. The investigation quantified the benefits of a feed-forward reaction control system thruster mixing scheme to reduce translation-into-rotation coupling, despite unmodeled variations in individual thruster force levels and off-axis center of mass locations up to 12 inches. A reduced rate dead-band in the phase-plane attitude controller also showed some promise. Candidate predictive symbology overlaid on a docking ring centerline camera image did not improve handling qualities, but an innovative attitude status indicator symbol was beneficial. The investigation also showed high workload and handling quality problems when manual dockings were performed with a rotating target. These concerns indicate achieving satisfactory handling quality ratings with a vehicle configuration similar to the nominal Crew Exploration Vehicle may require additional automation.

Node 3 Relocation Environmental Control and Life Support System Modification Kit Verification and Updated Status

NASA Technical Reports Server (NTRS)

Williams, David E.; Spector, Lawrence N.

2009-01-01

Node 1 (Unity) flew to International Space Station (ISS) on Flight 2A. Node 1 was the first module of the United States On-Orbit Segment (USOS) launched to ISS. The Node 1 ISS Environmental Control and Life Support (ECLS) design featured limited ECLS capability. The main purpose of Node 1 was to provide internal storage by providing four stowage rack locations within the module and to allow docking of multiple modules and a truss segment to it. The ECLS subsystems inside Node 1 were routed through the element prior to launch to allow for easy integration of the attached future elements, particularly the Habitation Module which was planned to be located at the nadir docking port of Node 1. After Node 1 was on-orbit, the Program decided not to launch the Habitation Module and instead, to replace it with Node 3 (Tranquility). In 2007, the Program became concerned with a potential Russian docking port approach issue for the Russian FGB nadir docking port after Node 3 is attached to Node 1. To solve this concern the Program decided to relocate Node 3 from Node 1 nadir to Node 1 port. To support the movement of Node 3 the Program decided to build a modification kit for Node 1, an on-orbit feedthrough leak test device, and new vestibule jumpers to support the ECLS part of the relocation. This paper provides a design overview of the modification kit, a summary of the Node 1 ECLS re-verification to support the Node 3 relocation from Node 1 nadir to Node 1 port, and a status of the ECLS modification kit installation into Node 1.

Node 3 Relocation Environmental Control and Life Support System Modification Kit Verification and Updated Status

NASA Technical Reports Server (NTRS)

Williams, David E.; Spector Lawrence N.

2010-01-01

Node 1 (Unity) flew to International Space Station (ISS) on Flight 2A. Node 1 was the first module of the United States On-Orbit Segment (USOS) launched to ISS. The Node 1 ISS Environmental Control and Life Support (ECLS) design featured limited ECLS capability. The main purpose of Node 1 was to provide internal storage by providing four stowage rack locations within the module and to allow docking of multiple modules and a truss segment to it. The ECLS subsystems inside Node 1 were routed through the element prior to launch to allow for easy integration of the attached future elements, particularly the Habitation Module which was planned to be located at the nadir docking port of Node 1. After Node I was on-orbit, the Program decided not to launch the Habitation Module and instead, to replace it with Node 3 (Tranquility). In 2007, the Program became concerned with a potential Russian docking port approach issue for the Russian FGB nadir docking port after Node 3 is attached to Node 1. To solve this concern the Program decided to relocate Node 3 from Node I nadir to Node 1 port. To support the movement of Node 3 the Program decided to build a modification kit for Node 1, an on-orbit feedthrough leak test device, and new vestibule jumpers to support the ECLS part of the relocation. This paper provides a design overview of the modification kit for Node 1, a summary of the Node 1 ECLS re-verification to support the Node 3 relocation from Node 1 nadir to Node 1 port, and a status of the ECLS modification kit installation into Node 1.

A Ground Testbed to Advance US Capability in Autonomous Rendezvous and Docking Project

NASA Technical Reports Server (NTRS)

D'Souza, Chris

2014-01-01

This project will advance the Autonomous Rendezvous and Docking (AR&D) GNC system by testing it on hardware, particularly in a flight processor, with a goal of testing it in IPAS with the Waypoint L2 AR&D scenario. The entire Agency supports development of a Commodity for Autonomous Rendezvous and Docking (CARD) as outlined in the Agency-wide Community of Practice whitepaper entitled: "A Strategy for the U.S. to Develop and Maintain a Mainstream Capability for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond". The whitepaper establishes that 1) the US is in a continual state of AR&D point-designs and therefore there is no US "off-the-shelf" AR&D capability in existence today, 2) the US has fallen behind our foreign counterparts particularly in the autonomy of AR&D systems, 3) development of an AR&D commodity is a national need that would benefit NASA, our commercial partners, and DoD, and 4) an initial estimate indicates that the development of a standardized AR&D capability could save the US approximately $60M for each AR&D project and cut each project's AR&D flight system implementation time in half.

Autonomous docking ground demonstration (category 3)

NASA Technical Reports Server (NTRS)

Lamkin, Steve L.; Eick, Richard E.; Baxter, James M.; Boyd, M. G.; Clark, Fred D.; Lee, Thomas Q.; Othon, L. T.; Prather, Joseph L.; Spehar, Peter T.; Teders, Rebecca J.

1991-01-01

The NASA Johnson Space Center (JSC) is involved in the development of an autonomous docking ground demonstration. The demonstration combines the technologies, expertise and facilities of the JSC Tracking and Communications Division (EE), Structures and Mechanics Division (ES), and the Navigation, Guidance and Control Division (EG) and their supporting contractors. The autonomous docking ground demonstration is an evaluation of the capabilities of the laser sensor system to support the docking phase (12ft to contact) when operated in conjunction with the Guidance, Navigation and Control Software. The docking mechanism being used was developed for the Apollo Soyuz Test Program. This demonstration will be conducted using the Six-Degrees of Freedom (6-DOF) Dynamic Test System (DTS). The DTS environment simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration the laser sensor will be mounted on the target vehicle and the retroreflectors on the chase vehicle. This arrangement was used to prevent potential damage to the laser. The sensor system. GN&C and 6-DOF DTS will be operated closed-loop. Initial condition to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved. Detailed description of each of the demonstration components (e.g., Sensor System, GN&C, 6-DOF DTS and supporting computer configuration) including their capabilities and limitations will be discussed. A demonstration architecture drawing and photographs of the test configuration will be presented.

Autonomous docking ground demonstration (category 3)

NASA Astrophysics Data System (ADS)

Lamkin, Steve L.; Eick, Richard E.; Baxter, James M.; Boyd, M. G.; Clark, Fred D.; Lee, Thomas Q.; Othon, L. T.; Prather, Joseph L.; Spehar, Peter T.; Teders, Rebecca J.

The NASA Johnson Space Center (JSC) is involved in the development of an autonomous docking ground demonstration. The demonstration combines the technologies, expertise and facilities of the JSC Tracking and Communications Division (EE), Structures and Mechanics Division (ES), and the Navigation, Guidance and Control Division (EG) and their supporting contractors. The autonomous docking ground demonstration is an evaluation of the capabilities of the laser sensor system to support the docking phase (12ft to contact) when operated in conjunction with the Guidance, Navigation and Control Software. The docking mechanism being used was developed for the Apollo Soyuz Test Program. This demonstration will be conducted using the Six-Degrees of Freedom (6-DOF) Dynamic Test System (DTS). The DTS environment simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration the laser sensor will be mounted on the target vehicle and the retroreflectors on the chase vehicle. This arrangement was used to prevent potential damage to the laser. The sensor system. GN&C and 6-DOF DTS will be operated closed-loop. Initial condition to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved. Detailed description of each of the demonstration components (e.g., Sensor System, GN&C, 6-DOF DTS and supporting computer configuration) including their capabilities and limitations will be discussed. A demonstration architecture drawing and photographs of the test configuration will be presented.

Endeavour lands atop 747 after downtime at Palmdale, CA

NASA Technical Reports Server (NTRS)

1997-01-01

The Space Shuttle Orbiter Endeavour arrives at KSCs Shuttle Landing Facility atop NASAs Boeing 747 Shuttle Carrier Aircraft (SCA) as it returns March 27, 1997 from Palmdale, Calif., after an eight-month Orbiter Maintenance Down Period (OMDP). Nearly 100 modifications were made to Endeavour during that time period, including some that were directly associated with work required to support International Space Station Operations. The most extensive of those was the installation of an external airlock to allow the orbiter to dock with the Station. Other modifications included upgrades to Endeavours power supply system, general purpose computers and thermal protection system, along with the installation of new light-weight commander and pilot seats and other weight-saving modifications.

Active Debris Removal of Multiple Priority Targets

NASA Astrophysics Data System (ADS)

Braun, Vitali; Flegel, Sven Kevin; Vörsmann, Peter; Wiedemann, Carsten; Gelhaus, Johannes; Moeckel, Marek; Kebschull, Christopher

2012-07-01

Today's space debris environment shows major concentrations of objects within distinct orbital regions for nearly all size regimes. The most critical region is found at orbital altitudes near 800 kilometers with high declinations. Within this region many satellites are operated in so called sun-synchronous orbits (SSO). Among those, there are Earth observation, communication and weather satellites. Due to the orbital geometry, head-on encounters with relative velocities of about 15 km/s are most probable and would thus result in highly energetic collisions, which are often referred to as catastrophic collisions, leading to the complete fragmentation of the participating objects. So called feedback collisions can then be triggered by the newly generated fragments, thus leading to a further population increase in the affected orbital region. This effect is known as the Kessler syndrome. Current studies show that catastrophic collisions are not a major problem today, but will become the main process for debris generation within the SSO region in the near future, even without any future launches. In order to avoid this effect, objects with a major impact on collisional cascading have to be actively removed from the critical region after their end of life. Not having the capability to perform an end-of-life maneuver in order to transfer to a graveyard orbit or to de-orbit, many satellites and rocket bodies would have to be de-orbited within a dedicated mission. In such a mission, a service satellite would perform a de-orbit maneuver, after having docked to a specific target. In this paper several systems, e.g. chemical and electrical engines are analysed with the main focus on removing multiple targets within one single mission. The service satellite has to undock from the previously de-orbited target in order to start the rendezvous and docking phase for a subsequent target. The targets are chosen from a previously defined priority list in order to enhance the mission efficiency. Total mission time and system mass shall enable the evaluation of the different concepts.

Reusable module for the storage, transportation, and supply of multiple propellants in a space environment

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D. (Inventor); Mankins, John C. (Inventor)

2004-01-01

A space module has an outer structure designed for traveling in space, a docking mechanism for facilitating a docking operation therewith in space, a first storage system storing a first propellant that burns as a result of a chemical reaction therein, a second storage system storing a second propellant that burns as a result of electrical energy being added thereto, and a bi-directional transfer interface coupled to each of the first and second storage systems to transfer the first and second propellants into and out thereof. The space module can be part of a propellant supply architecture that includes at least two of the space modules placed in an orbit in space.

Pathfinder autonomous rendezvous and docking project

NASA Technical Reports Server (NTRS)

Lamkin, Stephen (Editor); Mccandless, Wayne (Editor)

1990-01-01

Capabilities are being developed and demonstrated to support manned and unmanned vehicle operations in lunar and planetary orbits. In this initial phase, primary emphasis is placed on definition of the system requirements for candidate Pathfinder mission applications and correlation of these system-level requirements with specific requirements. The FY-89 activities detailed are best characterized as foundation building. The majority of the efforts were dedicated to assessing the current state of the art, identifying desired elaborations and expansions to this level of development and charting a course that will realize the desired objectives in the future. Efforts are detailed across all work packages in developing those requirements and tools needed to test, refine, and validate basic autonomous rendezvous and docking elements.

KSC-00pp1425

NASA Image and Video Library

2000-09-16

KENNEDY SPACE CENTER, FLA. -- In Orbiter Processing Facility (OPF) bay 2 during Crew Equipment Interface Test (CEIT), Mission Specialists Joe Tanner (left) and Carlos Noriega (right) practice working parts of the Orbital Docking System (ODS) in Endeavour’s payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission

KSC00pp1425

NASA Image and Video Library

2000-09-16

KENNEDY SPACE CENTER, FLA. -- In Orbiter Processing Facility (OPF) bay 2 during Crew Equipment Interface Test (CEIT), Mission Specialists Joe Tanner (left) and Carlos Noriega (right) practice working parts of the Orbital Docking System (ODS) in Endeavour’s payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission

The STS-97 crew take part in CEIT

NASA Technical Reports Server (NTRS)

2000-01-01

In Orbiter Processing Facility (OPF) bay 2 during Crew Equipment Interface Test (CEIT), Mission Specialists Joe Tanner (left) and Carlos Noriega (right) practice working parts of the Orbital Docking System (ODS) in Endeavour's payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission.

Rendezvous and docking tracker

NASA Technical Reports Server (NTRS)

Ray, Art J.; Ross, Susan E.; Deming, Douglas R.

1986-01-01

A conceptual solid-state rendezvous and docking tracker (RDT) has been devised for generating range and attitude data for a docking vehicle relative to a target vehicle. Emphasis is placed on the approach of the Orbiter to a link with the Space Station. Three laser illuminators ring the optical axis of the lens a directed toward retroreflectors on the target vehicle. Each retroreflector is equipped with a bandpass filter for a designated illumination frequency. Data are collected sequentially over a 20 deg field of view as the range closes to 100-1000 m. A fourth ranging retroreflector 0.3 m from center is employed during close-in maneuvers. The system provides tracking data on motions with 6 deg of freedom, and furnishes 500 msec updates (to be enhanced to 100 msec) to the operator at a computer console.

Implementation of Statistical Process Control: Evaluating the Mechanical Performance of a Candidate Silicone Elastomer Docking Seal

NASA Technical Reports Server (NTRS)

Oravec, Heather Ann; Daniels, Christopher C.

2014-01-01

The National Aeronautics and Space Administration has been developing a novel docking system to meet the requirements of future exploration missions to low-Earth orbit and beyond. A dynamic gas pressure seal is located at the main interface between the active and passive mating components of the new docking system. This seal is designed to operate in the harsh space environment, but is also to perform within strict loading requirements while maintaining an acceptable level of leak rate. In this study, a candidate silicone elastomer seal was designed, and multiple subscale test articles were manufactured for evaluation purposes. The force required to fully compress each test article at room temperature was quantified and found to be below the maximum allowable load for the docking system. However, a significant amount of scatter was observed in the test results. Due to the stochastic nature of the mechanical performance of this candidate docking seal, a statistical process control technique was implemented to isolate unusual compression behavior from typical mechanical performance. The results of this statistical analysis indicated a lack of process control, suggesting a variation in the manufacturing phase of the process. Further investigation revealed that changes in the manufacturing molding process had occurred which may have influenced the mechanical performance of the seal. This knowledge improves the chance of this and future space seals to satisfy or exceed design specifications.

Skylab 3,Skylab as the CM moves in for docking

NASA Image and Video Library

1973-07-28

SL3-114-1683 (28 July 1973) --- A close-up view of the Skylab space station photographed against an Earth background from the Skylab 3 Command and Service Modules (CSM) during station-keeping maneuvers prior to docking. Aboard the Command Module (CM) were astronauts Alan L. Bean, Owen K. Garriott and Jack R. Lousma, who remained with the Skylab Space Station in Earth orbit for 59 days. This picture was taken with a hand-held 70mm Hasselblad camera using a 100mm lens and SO-368 medium speed Ektachrome film. Note the one solar array system wing on the Orbital Workshop (OWS) which was successfully deployed during extravehicular activity (EVA) on the first manned Skylab flight. The parasol solar shield which was deployed by the Skylab 2 crew can be seen through the support struts of the Apollo Telescope Mount (ATM). Photo credit: NASA

Satellite Servicing's Autonomous Rendezvous and Docking Testbed on the International Space Station

NASA Technical Reports Server (NTRS)

Naasz, Bo J.; Strube, Matthew; Van Eepoel, John; Barbee, Brent W.; Getzandanner, Kenneth M.

2011-01-01

The Space Servicing Capabilities Project (SSCP) at NASA's Goddard Space Flight Center (GSFC) has been tasked with developing systems for servicing space assets. Starting in 2009, the SSCP completed a study documenting potential customers and the business case for servicing, as well as defining several notional missions and required technologies. In 2010, SSCP moved to the implementation stage by completing several ground demonstrations and commencing development of two International Space Station (ISS) payloads-the Robotic Refueling Mission (RRM) and the Dextre Pointing Package (DPP)--to mitigate new technology risks for a robotic mission to service existing assets in geosynchronous orbit. This paper introduces the DPP, scheduled to fly in July of 2012 on the third operational SpaceX Dragon mission, and its Autonomous Rendezvous and Docking (AR&D) instruments. The combination of sensors and advanced avionics provide valuable on-orbit demonstrations of essential technologies for servicing existing vehicles, both cooperative and non-cooperative.

STS (Space Transportation System) Task Simulator.

DTIC Science & Technology

1985-08-15

3 Clohessy - Wiltshire Coordinate System • • -1 1- .M 1°... "p ’. -. .’- 0 . _ -~:Q ~. ... . .o. ., 1. INTRODUCTION The Space Transportation System...motion is obtained by applying the Clohessy - Wiltshire equations for terminal rendezvous/docking with the earth modeled as a uni- form sphere...rotational accelerations to the present quaternions. The Clohessy - Wiltshire equations for terminal rendezvous/dockinq are used to model orbital drift

Astronaut Vance Brand seen in hatchway leading to Apollo Docking module

NASA Technical Reports Server (NTRS)

1975-01-01

Astronaut Vance D. Brand, command module pilot of the American Apollo Soyuz Test Project (ASTP) crew, is seen in the hatchway leading from the Apollo Command Module (CM) into the Apollo Docking Module (DM) during joint U.S.-USSR ASTP docking in Earth orbit mission. The 35mm camera is looking from the DM into the CM.

VIew of Mission Control on first day of ASTP docking in Earth orbit

NASA Technical Reports Server (NTRS)

1975-01-01

An overall view of the Mission Operations Control Room in the Mission Control Center on the first day of the Apollo Soyuz Test Project (ASTP) docking in Earth orbit mission. The American ASTP flight controllers at JSC were monitoring the progress of the Soviet ASTP launch when this photograph was taken. The television monitor shows Cosmonaut Yuri V. Romanenko at his spacecraft communicator's console in the ASTP mission control center in the Soviet Union.

View of Mission Control on first day of ASTP docking in Earth orbit

NASA Technical Reports Server (NTRS)

1975-01-01

An overall view of the Mission Operations Control Room in the Mission Control Center, bldg 30, JSC, on the first day of the Apollo Soyuz Test Project (ASTP) docking in Earth orbit. This photograph was taken shortly before the American ASTP launch from the Kennedy Space Center. The television monitor in the center background shows the ASTP Apollo-Saturn 1B space vehicle on Pad B at KSC's Launch Complex 39.

Orbital express capture system: concept to reality

NASA Astrophysics Data System (ADS)

Stamm, Shane; Motaghedi, Pejmun

2004-08-01

The development of autonomous servicing of on-orbit spacecraft has been a sought after objective for many years. A critical component of on-orbit servicing involves the ability to successfully capture, institute mate, and perform electrical and fluid transfers autonomously. As part of a Small Business Innovation Research (SBIR) grant, Starsys Research Corporation (SRC) began developing such a system. Phase I of the grant started in 1999, with initial work focusing on simultaneously defining the parameters associated with successful docking while designing to those parameters. Despite the challenge of working without specific requirements, SRC completed development of a prototype design in 2000. Throughout the following year, testing was conducted on the prototype to characterize its performance. Having successfully completed work on the prototype, SRC began a Phase II SBIR effort in mid-2001. The focus of the second phase was a commercialization effort designed to augment the prototype model into a more flight-like design. The technical requirements, however, still needed clear definition for the design to progress. The advent of the Orbital Express (OE) program provided much of that definition. While still in the proposal stages of the OE program, SRC began tailoring prototype redesign efforts to the OE program requirements. A primary challenge involved striking a balance between addressing the technical requirements of OE while designing within the scope of the SBIR. Upon award of the OE contract, the Phase II SBIR design has been fully developed. This new design, designated the Mechanical Docking System (MDS), successfully incorporated many of the requirements of the OE program. SRC is now completing dynamic testing on the MDS hardware, with a parallel effort of developing a flight design for OE. As testing on the MDS progresses, the design path that was once common to both SBIR effort and the OE program begins to diverge. The MDS will complete the scope of the Phase II SBIR work, while the new mechanism, the Orbital Express Capture System, will emerge as a flight-qualified design for the Orbital Express program.

ART CONCEPTS - APOLLO IX

NASA Image and Video Library

1969-02-20

S69-19796 (February 1969) --- Composite of six artist's concepts illustrating key events, tasks and activities on the fifth day of the Apollo 9 mission, including vehicles undocked, Lunar Module burns for rendezvous, maximum separation, ascent propulsion system burn, formation flying and docking, and Lunar Module jettison ascent burn. The Apollo 9 mission will evaluate spacecraft lunar module systems performance during manned Earth-orbital flight.

Space Operations Center system analysis. Volume 3, book 1: SOC system definition report, revision A

NASA Technical Reports Server (NTRS)

1982-01-01

The Space Operations Center (SOC) orbital space station program and its elements are described. A work breakdown structure is presented and elements for the habitat and service modules, docking tunnel and airlock modules defined. The basis for the element's design is given. Mass estimates for the elements are presented in the work breakdown structure.

Astronaut Vance Brand practices operating Docking Module hatch for ASTP

NASA Technical Reports Server (NTRS)

1975-01-01

Astronaut Vance D. Brand, command module pilot of the American Apollo Soyuz Test Project (ASTP) prime crew, practices operating a Docking Module hatch during ASTP pre-flight training at JSC. The Docking Module is designed to link the Apollo and Soyuz spacecraft during their docking in Earth orbit mission. Gary L. Doerre of JSC's Crew Training and Procedures Division is working with Brand. Doerre is wearing a face mask to help prevent possible exposure to Brand of disease prior to the ASTP launch.

Astronaut Richard Truly seen working with Apollo docking mechanism model

NASA Technical Reports Server (NTRS)

1975-01-01

Astronaut Richard H. Truly, an Apollo Soyuz Test Project (ASTP) spacecraft communicator, is seen working with an Apollo docking mechanism in the Mission Control Center during the joint U.S.-USSR ASTP docking in Earth orbit mission. Astronaut Truly, a member of the American ASTP crew support team, was working on the docking probe problem. The crew had notified ground control that there was a problem with removing the probe from the tunnel of the Apollo Command Module.

Initial Investigation of Reaction Control System Design on Spacecraft Handling Qualities for Earth Orbit Docking

NASA Technical Reports Server (NTRS)

Bailey, Randall E.; Jackson, E. Bruce; Goodrich, Kenneth H.; Ragsdale, W. Al; Neuhaus, Jason; Barnes, Jim

2008-01-01

A program of research, development, test, and evaluation is planned for the development of Spacecraft Handling Qualities guidelines. In this first experiment, the effects of Reaction Control System design characteristics and rotational control laws were evaluated during simulated proximity operations and docking. Also, the influence of piloting demands resulting from varying closure rates was assessed. The pilot-in-the-loop simulation results showed that significantly different spacecraft handling qualities result from the design of the Reaction Control System. In particular, cross-coupling between translational and rotational motions significantly affected handling qualities as reflected by Cooper-Harper pilot ratings and pilot workload, as reflected by Task-Load Index ratings. This influence is masked but only slightly by the rotational control system mode. While rotational control augmentation using Rate Command Attitude Hold can reduce the workload (principally, physical workload) created by cross-coupling, the handling qualities are not significantly improved. The attitude and rate deadbands of the RCAH introduced significant mental workload and control compensation to evaluate when deadband firings would occur, assess their impact on docking performance, and apply control inputs to mitigate that impact.

KSC00pp1768

NASA Image and Video Library

2000-11-18

KENNEDY SPACE CENTER, FLA. -- STS-98 Mission Specialist Marsha Ivins takes a topsy-turvy look at the EVA hatch in the Orbiter Docking System, which is already installed in the payload bay of orbiter Atlantis. She and the rest of the crew are at KSC for Crew Equipment Interface Test activities. Launch on mission STS-98 is scheduled for Jan. 18, 2001. It will be transporting the U.S. Lab, Destiny, to the International Space Station with five system racks already installed inside of the module. After delivery of electronics in the lab, electrically powered attitude control for Control Moment Gyroscopes will be activated

KSC-00pp1768

NASA Image and Video Library

2000-11-18

KENNEDY SPACE CENTER, FLA. -- STS-98 Mission Specialist Marsha Ivins takes a topsy-turvy look at the EVA hatch in the Orbiter Docking System, which is already installed in the payload bay of orbiter Atlantis. She and the rest of the crew are at KSC for Crew Equipment Interface Test activities. Launch on mission STS-98 is scheduled for Jan. 18, 2001. It will be transporting the U.S. Lab, Destiny, to the International Space Station with five system racks already installed inside of the module. After delivery of electronics in the lab, electrically powered attitude control for Control Moment Gyroscopes will be activated

STS-91 Commander Charles Precourt participates in CEIT at KSC

NASA Technical Reports Server (NTRS)

1998-01-01

STS-91 Commander Charles Precourt peers through an airlock like the one that will be aboard the orbiter Discovery when it docks with the Russian Space Station Mir on the ninth and final scheduled Mir docking in late May/early June. Precourt is in KSC's Orbiter Processing Facility Bay 2 for the STS-91 Crew Equipment Interface Test, or CEIT, during which the crew have an opportunity to get a hands-on look at the payloads with which they will be working on-orbit. The STS-91 crew are scheduled to launch aboard the Shuttle Discovery from KSC's Launch Pad 39A on May 28 at 8:05 EDT.

Employing lighting techniques during on-orbit operations

NASA Technical Reports Server (NTRS)

Wheelwright, Charles D.; Toole, Jennifer R.

1991-01-01

As a result of past space missions and evaluations, many procedures have been established and shown to be prudent applications for use in present and future space environment scenarios. However, recent procedures to employ the use of robotics to assist crewmembers in performing tasks which require viewing remote and obstructed locations have led to a need to pursue alternative methods to assist in these operations. One of those techniques which is under development entails incorporating the use of suitable lighting aids/techniques with a closed circuit television (CCTV) camera/monitor system to supervise the robotics operations. The capability to provide adequate lighting during grappling, deploying, docking and berthing operations under all on-orbit illumination conditions is essential to a successful mission. Using automated devices such as the Remote Manipulator System (RMS) to dock and berth a vehicle during payload retrieval, under nighttime, earthshine, solar, or artificial illumination conditions can become a cumbersome task without first incorporating lighting techniques that provide the proper target illumination, orientation, and alignment cues. Studies indicate that the use of visual aids such as the CCTV with a pretested and properly oriented lighting system can decrease the time necessary to accomplish grappling tasks. Evaluations have been and continue to be performed to assess the various on-orbit conditions in order to predict and determine the appropriate lighting techniques and viewing angles necessary to assist crewmembers in payload operations.

Employing lighting techniques during on-orbit operations

NASA Astrophysics Data System (ADS)

Wheelwright, Charles D.; Toole, Jennifer R.

As a result of past space missions and evaluations, many procedures have been established and shown to be prudent applications for use in present and future space environment scenarios. However, recent procedures to employ the use of robotics to assist crewmembers in performing tasks which require viewing remote and obstructed locations have led to a need to pursue alternative methods to assist in these operations. One of those techniques which is under development entails incorporating the use of suitable lighting aids/techniques with a closed circuit television (CCTV) camera/monitor system to supervise the robotics operations. The capability to provide adequate lighting during grappling, deploying, docking and berthing operations under all on-orbit illumination conditions is essential to a successful mission. Using automated devices such as the Remote Manipulator System (RMS) to dock and berth a vehicle during payload retrieval, under nighttime, earthshine, solar, or artificial illumination conditions can become a cumbersome task without first incorporating lighting techniques that provide the proper target illumination, orientation, and alignment cues. Studies indicate that the use of visual aids such as the CCTV with a pretested and properly oriented lighting system can decrease the time necessary to accomplish grappling tasks. Evaluations have been and continue to be performed to assess the various on-orbit conditions in order to predict and determine the appropriate lighting techniques and viewing angles necessary to assist crewmembers in payload operations.

A Design for an Orbital Assembly Facility for Complex Missions

NASA Astrophysics Data System (ADS)

Feast, S.; Bond, A.

A design is presented for an Operations Base Station (OBS) in low earth orbit that will function as an integral part of a space transportation system, enabling assembly and maintenance of a Cis-Lunar transportation infrastructure and integration of vehicles for other high energy space missions to be carried out. Construction of the OBS assumes the use of the SKYLON Single-Stage-to-Orbit (SSTO) spaceplane, which imposes design and assembly constraints due to its payload mass limits and payload bay dimensions. It is assumed that the space transport infrastructure and high mission energy vehicles would also make use of SKYLON to deploy standard transport equipment and stages bound by these same constraints. The OBS is therefore a highly modular arrangement, incorporating some of these other vehicle system elements in its layout design. Architecturally, the facilities of the OBS are centred around the Assembly Dock which is in the form of a large cylindrical spaceframe structure with two large doors on either end incorporating a skin of aluminised Mylar to enclose the dock. Longitudinal rails provide internal tether attachments to anchor vehicles and components while manipulators are used for the handling and assembling of vehicle structures. The exterior of the OBS houses the habitation modules for workforce and vehicle crews along with propellant farms and other operational facilities.

Neural networks: Alternatives to conventional techniques for automatic docking

NASA Technical Reports Server (NTRS)

Vinz, Bradley L.

1994-01-01

Automatic docking of orbiting spacecraft is a crucial operation involving the identification of vehicle orientation as well as complex approach dynamics. The chaser spacecraft must be able to recognize the target spacecraft within a scene and achieve accurate closing maneuvers. In a video-based system, a target scene must be captured and transformed into a pattern of pixels. Successful recognition lies in the interpretation of this pattern. Due to their powerful pattern recognition capabilities, artificial neural networks offer a potential role in interpretation and automatic docking processes. Neural networks can reduce the computational time required by existing image processing and control software. In addition, neural networks are capable of recognizing and adapting to changes in their dynamic environment, enabling enhanced performance, redundancy, and fault tolerance. Most neural networks are robust to failure, capable of continued operation with a slight degradation in performance after minor failures. This paper discusses the particular automatic docking tasks neural networks can perform as viable alternatives to conventional techniques.

Earth Observations taken by Expedition 30 crewmember

NASA Image and Video Library

2011-12-31

ISS030-E-038578 (31 Dec. 2011) --- Clouds form the backdrop for this scene photographed by one of the Expedition 30 crew members aboard the International Space Station, with two Russian spacecraft docked to the orbital outpost. A Soyuz (near foreground) is docked to Rassvet, also known as the Mini-Research Module 1 (MRM-1), and a Progress is linked to the Pirs Docking Compartment.

View of the Pirs Docking Compartment approaching the ISS during Expedition Three

NASA Image and Video Library

2001-09-17

ISS003-E-5677 (16 September 2001) --- The Russian Docking Compartment, named Pirs, the Russian word for pier, approaches the International Space Station (ISS). One of the Expedition Three crew members, using a digital still camera with a 180mm lens, recorded the image from onboard the orbital outpost. The vehicle was launched on September 14, 2001 and docking occurred on September 16.

View of the Pirs Docking Compartment approaching the ISS during Expedition Three

NASA Image and Video Library

2001-09-17

ISS003-E-5678 (16 September 2001) --- The Russian Docking Compartment, named Pirs, the Russian word for pier, approaches the International Space Station (ISS). One of the Expedition Three crew members, using a digital still camera with a 180mm lens, recorded the image from onboard the orbital outpost. The vehicle was launched on September 14, 2001 and docking occurred on September 16.

Artist's concept of Apollo/Soyuz spacecraft docking approach

NASA Image and Video Library

1973-08-01

S73-02395 (August 1973) --- An artist?s concept illustrating an Apollo-type spacecraft (on left) about to dock with a Soviet Soyuz-type spacecraft. A recent agreement between the United States and the Union of Soviet Socialist Republics provides for the docking in space of the Soyuz and Apollo-type spacecraft in Earth orbit in 1975. The joint venture is called the Apollo-Soyuz Test Project.

Hurley in the FWD FD during docking activities of Space Shuttle Endeavour

NASA Image and Video Library

2009-07-17

S127-E-006573 (17 July 2009) --- Astronaut Doug Hurley is at the pilot station on Endeavour's flight deck during rendezvous and docking activities between space shuttle and the the International Space Station. Later the STS-127 crew docked the shuttle with the orbital outpost and ingressed it, bringing the population of the ISS to a record 13 people for the time being.

Automated Rendezvous and Capture System Development and Simulation for NASA

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.; Murphy, Leslie

2004-01-01

The United States does not have an Automated Rendezvous and Capture Docking (AR&C) capability and is reliant on manned control for rendezvous and docking of orbiting spacecraft. T h i s reliance on the labor intensive manned interface for control of rendezvous and docking vehicles has a significant impact on the cost of the operation of the International Space Station (ISS) and precludes the use of any U.S. expendable launch capabilities for Space Station resupply. The Marshall Space Flight Center (MSFC) has conducted pioneering research in the development of an automated rendezvous and capture (or docking) (AR&C) system for U.S. space vehicles. This A M C system was tested extensively using hardware-in-the-loop simulations in the Flight Robotics Laboratory, and a rendezvous sensor, the Video Guidance Sensor was developed and successfully flown on the Space Shuttle on flights STS-87 and STS-95, proving the concept of a video- based sensor. Further developments in sensor technology and vehicle and target configuration have lead to continued improvements and changes in AR&C system development and simulation. A new Advanced Video Guidance Sensor (AVGS) with target will be utilized as the primary navigation sensor on the Demonstration of Autonomous Rendezvous Technologies (DART) flight experiment in 2004. Realtime closed-loop simulations will be performed to validate the improved AR&C systems prior to flight.

Next Generation Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Lee, Jimmy; Spencer, Susan; Bryan, Tom; Johnson, Jimmie; Robertson, Bryan

2008-01-01

The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. The United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport. Systems (COTS) Automated Rendezvous and Docking (AR&D). AVGS has a proven pedigree, based on extensive ground testing and flight demonstrations. The AVGS on the Demonstration of Autonomous Rendezvous Technology (DART)mission operated successfully in "spot mode" out to 2 km. The first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. Parts obsolescence issues prevent the construction of more AVGS. units, and the next generation sensor must be updated to support the CEV and COTS programs. The flight proven AR&D sensor is being redesigned to update parts and add additional. capabilities for CEV and COTS with the development of the Next, Generation AVGS (NGAVGS) at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities might include greater sensor range, auto ranging, and real-time video output. This paper presents an approach to sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It will also discuss approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, parts selection and test plans for the NGAVGS will be addressed to provide a highly reliable flight qualified sensor. Expanded capabilities through innovative use of existing capabilities will also be discussed.

Research Technology

NASA Image and Video Library

2002-03-13

NASA's Marshall Space Flight Center (MSFC) in Huntsville, Alabama, has begun a series of engine tests on the Reaction Control Engine developed by TRW Space and Electronics for NASA's Space Launch Initiative (SLI). SLI is a technology development effort aimed at improving the safety, reliability, and cost effectiveness of space travel for reusable launch vehicles. The engine in this photo, the first engine tested at MSFC that includes SLI technology, was tested for two seconds at a chamber pressure of 185 pounds per square inch absolute (psia). Propellants used were liquid oxygen as an oxidizer and liquid hydrogen as fuel. Designed to maneuver vehicles in orbit, the engine is used as an auxiliary propulsion system for docking, reentry, fine-pointing, and orbit transfer while the vehicle is in orbit. The Reaction Control Engine has two unique features. It uses nontoxic chemicals as propellants, which creates a safer environment with less maintenance and quicker turnaround time between missions, and it operates in dual thrust modes, combining two engine functions into one engine. The engine operates at both 25 and 1,000 pounds of force, reducing overall propulsion weight and allowing vehicles to easily maneuver in space. The force of low level thrust allows the vehicle to fine-point maneuver and dock, while the force of the high level thrust is used for reentry, orbital transfer, and course positioning.

A open loop guidance architecture for navigationally robust on-orbit docking

NASA Technical Reports Server (NTRS)

Chern, Hung-Sheng

1995-01-01

The development of an open-hop guidance architecture is outlined for autonomous rendezvous and docking (AR&D) missions to determine whether the Global Positioning System (GPS) can be used in place of optical sensors for relative initial position determination of the chase vehicle. Feasible command trajectories for one, two, and three impulse AR&D maneuvers are determined using constrained trajectory optimization. Early AR&D command trajectory results suggest that docking accuracies are most sensitive to vertical position errors at the initial conduction of the chase vehicle. Thus, a feasible command trajectory is based on maximizing the size of the locus of initial vertical positions for which a fixed sequence of impulses will translate the chase vehicle into the target while satisfying docking accuracy requirements. Documented accuracies are used to determine whether relative GPS can achieve the vertical position error requirements of the impulsive command trajectories. Preliminary development of a thruster management system for the Cargo Transfer Vehicle (CTV) based on optimal throttle settings is presented to complete the guidance architecture. Results show that a guidance architecture based on a two impulse maneuvers generated the best performance in terms of initial position error and total velocity change for the chase vehicle.

Power system interface and umbilical system study

NASA Technical Reports Server (NTRS)

1980-01-01

System requirements and basic design criteria were defined for berthing or docking a payload to the 25 kW power module which will provide electrical power and attitude control, cooling, data transfer, and communication services to free-flying and Orbiter sortie payloads. The selected umbilical system concept consists of four assemblies and command and display equipment to be installed at the Orbiter payload specialist station: (1) a movable platen assembly which is attached to the power system with EVA operable devices; (2) a slave platen assembly which is attached to the payload with EVA operable devices; (3) a fixed secondary platen permanently installed in the power system; and (4) a fixed secondary platen permanently installed on the payload. Operating modes and sequences are described.

KSC-00pp1427

NASA Image and Video Library

2000-09-16

KENNEDY SPACE CENTER, FLA. -- In Orbiter Processing Facility (OPF) bay 2 during Crew Equipment Interface Test (CEIT), Mission Specialist Joe Tanner (left) gets instruction from a worker while Mission Specialist Carlos Noriega (right) practices working latches on the Orbital Docking System in Endeavour’s payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission

KSC00pp1427

NASA Image and Video Library

2000-09-16

KENNEDY SPACE CENTER, FLA. -- In Orbiter Processing Facility (OPF) bay 2 during Crew Equipment Interface Test (CEIT), Mission Specialist Joe Tanner (left) gets instruction from a worker while Mission Specialist Carlos Noriega (right) practices working latches on the Orbital Docking System in Endeavour’s payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission

General view from inside the payload bay or the Orbiter ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

General view from inside the payload bay or the Orbiter Discovery approximately along its centerline looking forward toward the bulkhead of the forward fuselage. Note the panels and insulation removed for access to the orbiter's subsystems for inspection and post-mission processing. Also note the airlock and the beam-truss attach structure supporting it and attaching it to the payload bay sill longerons. In this view the docking ring and airlock hatches have been removed. This photo was taken during the processing of the Orbiter Discovery after its final mission and in preparation for its transition to the National Air and Space Museum. This view was taken in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

Usage of pre-flight data in short rendezvous mission of Soyuz-TMA spacecrafts

NASA Astrophysics Data System (ADS)

Murtazin, Rafail; Petrov, Nikolay

2014-01-01

The paper describes the reduction of the vehicle autonomous flight duration before docking to the ISS. The Russian Soyuz-TMA spacecraft dock to the ISS two days after launch. Due to the limited volume inside Soyuz-TMA the reduction of time until docking to the ISS is very important, since the long stay of the cosmonauts in the limited volume adds to the strain of the space flight. In the previous papers of the authors it was shown that the existing capabilities of Soyuz-TMA, the ISS and the ground control loop make it possible to transfer to the five-orbit rendezvous profile. However, the analysis of the cosmonauts' schedule on the launch day shows that its duration is at the allowable limit and that is why it is necessary to find a way to further reduce the flight duration of Soyuz-TMA before docking to less than five orbits. In a traditional rendezvous profile, the calculation of rendezvous burns begins only after determination of the actual vehicle insertion orbit. The paper describes an approach in which the first two rendezvous burns are performed as soon as the spacecraft reaches the reference orbit and the values of the burns are calculated prior to the launch based on the pre-flight data for the nominal insertion. This approach decreases the duration of the rendezvous by one orbit. The demonstration flight of a Progress vehicle using the proposed profile was implemented on August 1, 2012 and completely confirmed the correctness of the imbedded principles. The paper considers the possible improvements of the proposed approach and recovery from the contingencies.

Liquid Hydrogen Sensor Considerations for Space Exploration

NASA Technical Reports Server (NTRS)

Moran, Matthew E.

2006-01-01

The on-orbit management of liquid hydrogen planned for the return to the moon will introduce new considerations not encountered in previous missions. This paper identifies critical liquid hydrogen sensing needs from the perspective of reliable on-orbit cryogenic fluid management, and contrasts the fundamental differences in fluid and thermodynamic behavior for ground-based versus on-orbit conditions. Opportunities for advanced sensor development and implementation are explored in the context of critical Exploration Architecture operations such as on-orbit storage, docking, and trans-lunar injection burn. Key sensing needs relative to these operations are also examined, including: liquid/vapor detection, thermodynamic condition monitoring, mass gauging, and leak detection. Finally, operational aspects of an integrated system health management approach are discussed to highlight the potential impact on mission success.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

NASA Technical Reports Server (NTRS)

Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories

Understanding of and applications for robot vision guidance at KSC

NASA Technical Reports Server (NTRS)

Shawaga, Lawrence M.

1988-01-01

The primary thrust of robotics at KSC is for the servicing of Space Shuttle remote umbilical docking functions. In order for this to occur, robots performing servicing operations must be capable of tracking a swaying Orbiter in Six Degrees of Freedom (6-DOF). Currently, in NASA KSC's Robotic Applications Development Laboratory (RADL), an ASEA IRB-90 industrial robot is being equipped with a real-time computer vision (hardware and software) system to allow it to track a simulated Orbiter interface (target) in 6-DOF. The real-time computer vision system effectively becomes the eyes for the lab robot, guiding it through a closed loop visual feedback system to move with the simulated Orbiter interface. This paper will address an understanding of this vision guidance system and how it will be applied to remote umbilical servicing at KSC. In addition, other current and future applications will be addressed.

KSC-00pp1426

NASA Image and Video Library

2000-09-16

During the STS-97 Crew Equipment Interface Test (CEIT), Mission Specialist Carlos Noriega (right) gets hands-on experience with parts of the Orbital Docking System in Endeavour’s payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission

KSC00pp1426

NASA Image and Video Library

2000-09-16

During the STS-97 Crew Equipment Interface Test (CEIT), Mission Specialist Carlos Noriega (right) gets hands-on experience with parts of the Orbital Docking System in Endeavour’s payload bay. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission

Forward end (+XA side) of the PMA-2 prior to mating to the Orbiter Docking System (ODS).

NASA Image and Video Library

1998-12-05

STS088-335-017 (5 Dec. 1998) --- One of the STS-88 astronauts aimed a 35mm camera through Endeavour's aft flight deck windows to record this Dec. 5 image of the Unity connecting module as it was being unberthed in the cargo bay. The berthing and mating process constituted the first link in a long chain of events that led up to the eventual deployment in Earth orbit of the connected Unity and Zarya modules later in the 11-day mission. Photo credit: NASA

Spectroscopic, structural and drug docking studies of carbocysteine

NASA Astrophysics Data System (ADS)

Manivannan, M.; Rajeshwaran, K.; Govindhan, R.; Karthikeyan, B.

2017-09-01

Carbocysteine or carbocisteine having the empirical formula C5H9NO4S,is one of the most therapeutically prescribed expectorant, sold under the brand name viz., Mucodyne (UK and India), Rhinathiol and Mucolite. In pediatric respiratory pathology, it can relieve the symptoms of obstructive pulmonary disease (COPD) and bronchiectasis. On the consideration of its extensive pharmaceutical usage and medicinal value, we have investigated its chemical structure and composition by employing various spectral techniques like 1H, 13C NMR, FT-IR,Raman, UV-Visible spectroscopy and powder X-ray diffraction method. Density Functional Theoretical (DFT) studies on its electronic structure is also carried out. Drug docking studies were carried out to ascertain the nature of molecular interaction with the biological protein system. Furthermore theoretical Raman spectrum of this molecule has been computed and compared with the experimental Raman spectrum. The forbidden energy gap between its frontier molecular orbitals, viz., HOMO-LUMO is calculated and correlated with its observed λmax value. Atomic orbitals which are mainly contributes to the frontier molecular orbitals were identified. Molecular electrostatic potential diagram has been mapped to explain its chemical activity. Based on the results, a suitable mechanism of its protein binding mode and drug action has been discussed.

Requirements for a near-earth space tug vehicle

NASA Technical Reports Server (NTRS)

Gunn, Charles R.

1990-01-01

The requirement for a small but powerful space tug, which will be capable of autonomous orbital rendezvous, docking and translating cargos between near-earth orbits by the end of this decade to support the growing national and international space infrastructure focused near the Space Station Freedom, is described. An aggregate of missions drives the need for a space tug including reboosting decaying satellites back to their operational altitudes, retrieving failed or exhausted satellites to Shuttle or SSF for on-orbit refueling or repair, and transporting a satellite servicer system with an FTS to ailing satellites for supervised in-place repair. It is shown that the development and operation of a space tug to perform such numerous missions is more cost effective than separate module and satellite systems to perform the same tasks.

APOLLO SOYUZ TEST PROJECT [ASTP] COSMONAUT PEERS THROUGH ACCESS HATCH TRUSS

NASA Technical Reports Server (NTRS)

1975-01-01

Soviet prime crewman for the Apollo Soyuz Test Project Aleksey Leonov looks through an access hatch at the truss which will hold the Docking Module in the Spacecraft Lunar Adapter for the ASTP mission. The Docking Module will provide access between the Apollo and the Soyuz while they are docked in orbit. Leonov and his crewmen for the joint US/USSR mission spent three days in the KSC area.

View of the Pirs Docking Compartment approaching the ISS during Expedition Three

NASA Image and Video Library

2001-09-17

ISS003-E-5615 (16 September 2001) --- Appearing almost as a silhouette against Earth, the Russian Docking Compartment, named Pirs (the Russian word for pier), approaches the International Space Station (ISS). One of the Expedition Three crew members, using a digital still camera with a 70mm lens, recorded the image from onboard the orbital outpost. The vehicle was launched on September 14, 2001 and docking occurred on September 16.

Boom Rendezvous Alternative Docking Approach

NASA Technical Reports Server (NTRS)

Bonometti, Joseph A.

2006-01-01

Space rendezvous and docking has always been attempted with primarily one philosophic methodology. The slow matching of one vehicle's orbit by a second vehicle and then a final closing sequence that ends in matching the orbits with perfect precision and with near zero relative velocities. The task is time consuming, propellant intensive, risk inherent (plume impingement, collisions, fuel depletion, etc.) and requires substantial hardware mass. The historical background and rationale as to why this approach is used is discussed in terms of the path-not-taken and in light of an alternate methodology. Rendezvous and docking by boom extension is suggested to have inherent advantages that today s technology can readily exploit. Extension from the primary spacecraft, beyond its inherent large inertia, allows low inertia connections to be made rapidly and safely. Plume contamination issues are eliminated as well as the extra propellant mass and risk required for the final thruster (docking) operations. Space vehicle connection hardware can be significantly lightened. Also, docking sensors and controls require less fidelity; allowing them to be more robust and less sensitive. It is the potential safety advantage and mission risk reduction that makes this approach attractive, besides the prospect of nominal time and mass savings.

Orion Handling Qualities During ISS Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Hart, Jeremy J.; Stephens, J. P.; Spehar, P.; Bilimoria, K.; Foster, C.; Gonzalex, R.; Sullivan, K.; Jackson, B.; Brazzel, J.; Hart, J.

2011-01-01

The Orion spacecraft was designed to rendezvous with multiple vehicles in low earth orbit (LEO) and beyond. To perform the required rendezvous and docking task, Orion must provide enough control authority to perform coarse translational maneuvers while maintaining precision to perform the delicate docking corrections. While Orion has autonomous docking capabilities, it is expected that final approach and docking operations with the International Space Station (ISS) will initially be performed in a manual mode. A series of evaluations was conducted by NASA and Lockheed Martin at the Johnson Space Center to determine the handling qualities (HQ) of the Orion spacecraft during different docking and rendezvous conditions using the Cooper-Harper scale. This paper will address the specifics of the handling qualities methodology, vehicle configuration, scenarios flown, data collection tools, and subject ratings and comments. The initial Orion HQ assessment examined Orion docking to the ISS. This scenario demonstrates the Translational Hand Controller (THC) handling qualities of Orion. During this initial assessment, two different scenarios were evaluated. The first was a nominal docking approach to a stable ISS, with Orion initializing with relative position dispersions and a closing rate of approximately 0.1 ft/sec. The second docking scenario was identical to the first, except the attitude motion of the ISS was modeled to simulate a stress case ( 1 degree deadband per axis and 0.01 deg/sec rate deadband per axis). For both scenarios, subjects started each run on final approach at a docking port-to-port range of 20 ft. Subjects used the THC in pulse mode with cues from the docking camera image, window views, and range and range rate data displayed on the Orion display units. As in the actual design, the attitude of the Orion vehicle was held by the automated flight control system at 0.5 degree deadband per axis. Several error sources were modeled including Reaction Control System (RCS) jet angular and position misalignment, RCS thrust magnitude uncertainty, RCS jet force direction uncertainty due to self plume impingement, and Orion center of mass uncertainty.

Apollo Soyuz Test Project Commemorative plaque in orbit

NASA Image and Video Library

1975-07-17

AST-05-263 (17-18 July 1975) --- The Apollo-Soyuz Test Project (ASTP) Commemorative Plaque is assembled in the Soviet Soyuz Orbital Module during the joint U.S.-USSR Apollo-Soyuz Test Project docking mission in Earth orbit. The plaque is written both in English and Russian.

Early Program Development

NASA Image and Video Library

1971-01-01

This 1971 artist's concept shows a Nuclear Shuttle and an early Space Shuttle docked with an Orbital Propellant Depot. As envisioned by Marshall Space Flight Center Program Development persornel, an orbital modular propellant storage depot, supplied periodically by the Space Shuttle or Earth-to-orbit fuel tankers, would be critical in making available large amounts of fuel to various orbital vehicles and spacecraft.

KSC-98pc644

NASA Image and Video Library

1998-05-22

KENNEDY SPACE CENTER, FLA. -- The International Space Station's (ISS) Unity node, with Pressurized Mating Adapter (PMA)-2 attached, awaits further processing in the Space Station Processing Facility (SSPF). The Unity node is the first element of the ISS to be manufactured in the United States and is currently scheduled to lift off aboard the Space Shuttle Endeavour on STS-88 later this year. Unity has two PMAs attached to it now that this mate is completed. PMAs are conical docking adapters which will allow the docking systems used by the Space Shuttle and by Russian modules to attach to the node's hatches and berthing mechanisms. Once in orbit, Unity, which has six hatches, will be mated with the already orbiting Control Module and will eventually provide attachment points for the U.S. laboratory module; Node 3; an early exterior framework or truss for the station; an airlock; and a multi-windowed cupola. The Control Module, or Functional Cargo Block, is a U.S.-funded and Russian-built component that will be launched aboard a Russian rocket from Kazakstan

KSC-98pc645

NASA Image and Video Library

1998-05-22

KENNEDY SPACE CENTER, FLA. -- The International Space Station's (ISS) Unity node, with Pressurized Mating Adapter (PMA)-2 attached, awaits further processing in the Space Station Processing Facility (SSPF). The Unity node is the first element of the ISS to be manufactured in the United States and is currently scheduled to lift off aboard the Space Shuttle Endeavour on STS-88 later this year. Unity has two PMAs attached to it now that this mate is completed. PMAs are conical docking adapters which will allow the docking systems used by the Space Shuttle and by Russian modules to attach to the node's hatches and berthing mechanisms. Once in orbit, Unity, which has six hatches, will be mated with the already orbiting Control Module and will eventually provide attachment points for the U.S. laboratory module; Node 3; an early exterior framework or truss for the station; an airlock; and a multi-windowed cupola. The Control Module, or Functional Cargo Block, is a U.S.-funded and Russian-built component that will be launched aboard a Russian rocket from Kazakstan

Spacecraft flight simulation: A human factors investigation into the man-machine interface between an astronaut and a spacecraft performing docking maneuvers and other proximity operations

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1988-01-01

The anticipated increase in rendezvous and docking activities in the various space programs in the Space Station era necessitates a renewed interest in manual docking procedures. Ten test subjects participated in computer simulated docking missions in which the influence of initial velocity was examined. All missions started from a resting position of 304.8 meters (1000 feet) along the space station's +V-bar axis. Test subjects controlled their vehicle with a translational hand controller and digital auto pilot which are both virtually identical to their space shuttle counterparts. While the 0.1 percent rule (range rate is equal to 0.1 percent of the range) used by space shuttle pilots is comfortably safe, it is revealed to be extremely inefficient in terms of time and not justifiable in terms of marginal safety. Time is worth money, not only because of training and launch costs, but because the sooner a pilot and spacecraft return from a mission, the sooner they can begin the next one. Inexperienced test subjects reduced the costs of simulated docking by close to a factor of 2 and achieved safe dockings in less than 4 percent of the time the baseline approach would entail. This reduction in time can be used to save lives in the event of an accident on orbit, and can tremendously reduce docking costs if fuel is produced from waste water on orbit.

Safety in earth orbit study. Volume 1: Technical summary

NASA Technical Reports Server (NTRS)

1972-01-01

A summary of the technical results and conclusions is presented of the hazards analyses of earth orbital operations in conjunction with the space shuttle program. The space shuttle orbiter and a variety of manned and unmanned payloads delivered to orbit by the shuttle are considered. The specific safety areas examined are hazardous payloads, docking, on-orbit survivability, tumbling spacecraft, and escape and rescue.

A large motion zero-gravity suspension system for experimental simulation of orbital construction and deployment. M.S. Thesis

NASA Technical Reports Server (NTRS)

Straube, Timothy Milton

1993-01-01

The design and implementation of a vertical degree of freedom suspension system is described which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate orbital construction events such as docking, multiple component assembly, or structural deployment. A unique aspect of this device is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing break-away friction by a factor of twenty over the passive system alone. The thesis describes the development of the suspension hardware and the control algorithm. Experiments were performed to verify the suspensions system's effectiveness in providing a gravity off-load and simulating the motion of a structure in orbit. Additionally, a three dimensional system concept is presented as an extension of the one dimensional suspension system which was implemented.

Design and development status of ETS-7, an RVD and space robot experiment satellite

NASA Technical Reports Server (NTRS)

Oda, M.; Inagaki, T.; Nishida, M.; Kibe, K.; Yamagata, F.

1994-01-01

ETS-7 (Engineering Test Satellite #7) is an experimental satellite for the in-orbit experiment of the Rendezvous Docking (RVD) and the space robot (RBT) technologies. ETS-7 is a set of two satellites, a chaser satellite and a target satellite. Both satellites will be launched together by NASDA's H-2 rocket into a low earth orbit. Development of ETS-7 started in 1990. Basic design and EM (Engineering Model) development are in progress now in 1994. The satellite will be launched in mid 1997 and the above in-orbit experiments will be conducted for 1.5 years. Design of ETS-7 RBT experiment system and development status are described in this paper.

Robust Real-Time Wide-Area Differential GPS Navigation

NASA Technical Reports Server (NTRS)

Yunck, Thomas P. (Inventor); Bertiger, William I. (Inventor); Lichten, Stephen M. (Inventor); Mannucci, Anthony J. (Inventor); Muellerschoen, Ronald J. (Inventor); Wu, Sien-Chong (Inventor)

1998-01-01

The present invention provides a method and a device for providing superior differential GPS positioning data. The system includes a group of GPS receiving ground stations covering a wide area of the Earth's surface. Unlike other differential GPS systems wherein the known position of each ground station is used to geometrically compute an ephemeris for each GPS satellite. the present system utilizes real-time computation of satellite orbits based on GPS data received from fixed ground stations through a Kalman-type filter/smoother whose output adjusts a real-time orbital model. ne orbital model produces and outputs orbital corrections allowing satellite ephemerides to be known with considerable greater accuracy than from die GPS system broadcasts. The modeled orbits are propagated ahead in time and differenced with actual pseudorange data to compute clock offsets at rapid intervals to compensate for SA clock dither. The orbital and dock calculations are based on dual frequency GPS data which allow computation of estimated signal delay at each ionospheric point. These delay data are used in real-time to construct and update an ionospheric shell map of total electron content which is output as part of the orbital correction data. thereby allowing single frequency users to estimate ionospheric delay with an accuracy approaching that of dual frequency users.

Personnel occupied woven envelope robot power

NASA Technical Reports Server (NTRS)

1987-01-01

The Human Occupied Space Teleoperator (HOST) system currently under development utilizes a flexible tunnel/Stewart table structure to provide crew access to a pressurized manned work station or POD on the space station without extravehicular activity (EVA). The HOST structure facilitates moving a work station to multiple space station locations. The system has applications to orbiter docking, space station assembly, satellite servicing, space station maintenance, and logistics support. The conceptual systems design behind HOST is described in detail.

ASTP crewmen in Docking Module trainer during training session at JSC

NASA Technical Reports Server (NTRS)

1975-01-01

An interior view of the Docking Module trainer in bldg 35 during Apollo Soyuz Test Project (ASTP) joint crew training at JSC. Astronaut Thomas P. Stafford, commander of the American ASTP prime crew, is on the right. The other crewman is Cosmonaut Aleksey A. Leonov, commander of the Soviet ASTP prime crew. The training session simulated activities on the second day in Earth orbit. The Docking Module is designed to link the Apollo and Soyuz spacecraft.

View of the Pirs Docking Compartment approaching the ISS during Expedition Three

NASA Image and Video Library

2001-09-17

ISS003-E-5617 (16 September 2001) --- Appearing almost as a silhouette backdropped against Earth's horizon, the Russian Docking Compartment, named Pirs (the Russian word for pier), approaches the International Space Station (ISS). One of the Expedition Three crew members, using a digital still camera with a 70mm lens, recorded the image from onboard the orbital outpost. The vehicle was launched on September 14, 2001 and docking occurred on September 16.

KSC-98pc1222

NASA Image and Video Library

1998-10-03

KENNEDY SPACE CENTER, FLA. -- As the bucket operator (left) lowers them into the open payload bay of the orbiter Endeavour, STS-88 Mission Specialists Jerry L. Ross (second from left) and James H. Newman (second from right) do a sharp-edge inspection. At their right is Wayne Wedlake, with United Space Alliance at Johnson Space Center. Below them is the Orbiter Docking System, the remote manipulator system arm and a tunnel into the payload bay. The STS-88 crew members are participating in a Crew Equipment Interface Test (CEIT), familiarizing themselves with the orbiter's midbody and crew compartments. Targeted for liftoff on Dec. 3, 1998, STS-88 will be the first Space Shuttle launch for assembly of the International Space Station (ISS). The primary payload is the Unity connecting module which will be mated to the Russian-built Zarya control module, expected to be already on orbit after a November launch from Russia. After the mating, Ross and Newman are scheduled to perform three spacewalks to connect power, data and utility lines and install exterior equipment. The first major U.S.-built component of ISS, Unity will serve as a connecting passageway to living and working areas of the space station. Unity has two attached pressurized mating adapters (PMAs) and one stowage rack installed inside. PMA-1 provides the permanent connection point between Unity and Zarya; PMA-2 will serve as a Space Shuttle docking port. Zarya is a self-supporting active vehicle, providing propulsive control capability and power during the early assembly stages. It also has fuel storage capability

Space Launch Initiative (SLI) Engine Test

NASA Technical Reports Server (NTRS)

2002-01-01

NASA's Marshall Space Flight Center (MSFC) in Huntsville, Alabama, has begun a series of engine tests on the Reaction Control Engine developed by TRW Space and Electronics for NASA's Space Launch Initiative (SLI). SLI is a technology development effort aimed at improving the safety, reliability, and cost effectiveness of space travel for reusable launch vehicles. The engine in this photo, the first engine tested at MSFC that includes SLI technology, was tested for two seconds at a chamber pressure of 185 pounds per square inch absolute (psia). Propellants used were liquid oxygen as an oxidizer and liquid hydrogen as fuel. Designed to maneuver vehicles in orbit, the engine is used as an auxiliary propulsion system for docking, reentry, fine-pointing, and orbit transfer while the vehicle is in orbit. The Reaction Control Engine has two unique features. It uses nontoxic chemicals as propellants, which creates a safer environment with less maintenance and quicker turnaround time between missions, and it operates in dual thrust modes, combining two engine functions into one engine. The engine operates at both 25 and 1,000 pounds of force, reducing overall propulsion weight and allowing vehicles to easily maneuver in space. The force of low level thrust allows the vehicle to fine-point maneuver and dock, while the force of the high level thrust is used for reentry, orbital transfer, and course positioning.

Rendezvous and Docking Strategy for Crewed Segment of the Asteroid Redirect Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather D.; Cryan, Scott P.; D'Souza, Christopher; Dannemiller, David P.; Brazzel, Jack P.; Condon, Gerald L.; Othon, William L.; Williams, Jacob

2014-01-01

This paper will describe the overall rendezvous, proximity operations and docking (RPOD) strategy in support of the Asteroid Redirect Crewed Mission (ARCM), as part of the Asteroid Redirect Mission (ARM). The focus of the paper is on the crewed mission phase of ARM, starting with the establishment of Orion in the Distant Retrograde Orbit (DRO) and ending with docking to the Asteroid Redirect Vechicle (ARV). The paper will detail the sequence of maneuvers required to execute the rendezvous and proximity operations mission phases along with the on-board navigation strategies, including the final approach phase. The trajectories to be considered will include target vehicles in a DRO. The paper will also discuss the sensor requirements for rendezvous and docking and the various trade studies associated with the final sensor selection. Building on the sensor requirements and trade studies, the paper will include a candidate sensor concept of operations, which will drive the selection of the sensor suite; concurrently, it will be driven by higher level requirements on the system, such as crew timeline constraints and vehicle consummables. This paper will address how many of the seemingly competing requirements will have to be addressed to create a complete system and system design. The objective is to determine a sensor suite and trajectories that enable Orion to successfully rendezvous and dock with a target vehicle in trans lunar space. Finally, the paper will report on the status of a NASA action to look for synergy within RPOD, across the crewed and robotic asteroid missions.

Flag and Footprints Mission Mars: Preliminary Design Review Two

NASA Astrophysics Data System (ADS)

1998-01-01

SMI has developed a preliminary guideline for a flag and footprints manned mission to Mars. The manned mission is a split mission where the return and ground supplies will be sent on a cargo spacecraft. The crew spacecraft will leave on a high-energy trajectory once the cargo spacecraft has arrived in the prescribed orbit about Mars. The trajectory will be approximately 150-day from Low Earth Orbit (LEO) to the prescribed rendezvous orbit. The crew spacecraft will then dock with the orbiting cargo spacecraft for refuel and resupply. In addition, once safely docked, the crew members will transfer to the Mars Excursion Vehicle (MEV) for transport to the Martian surface. Each vehicle will be equipped with all necessary subsystems. To facilitate the transport of a large payload from Earth to Mars, the cargo spacecraft will utilize Ion propulsion. The Ion propulsion is ideal due to the high Isp characteristics. The crew spacecraft will be propelled with high-thrust RL-10 engines. Due to the smaller mass of the crew spacecraft, the spacecraft will utilize a 150-day high-energy trajectory. The MEV propulsion will be hypergolic. This choice of fuel is due to the reliability and simplicity of use. The crew members will stay on the surface of Mars for 30-days. During the 30-days, the crew will perform a series of scientific and exploratory experiments. To broaden the astronauts range of exploration, the astronauts will have access to three Unmanned Aerial Vehicles (UAV) and one rover while on the surface. The scientific experiments will consist of several soil and rock analyses as well as atmospheric study. Upon completion of the 30-day ground phase, the astronauts will return to the orbiting crew ship for return to Earth. SMI's flag and footprints mission outlines the fundamental systems and general requirements for these systems. SMI feels that with the fulfillment of these fundamental systems, this mission will be a highly desirable and potential candidate for development by NASA.

Mapping sequence performed during the STS-114 R-Bar Pitch Maneuver.

NASA Image and Video Library

2005-07-28

ISS011-E-11048 (28 July 2005) --- The crew cabin of the Space Shuttle Discovery was photographed by the crewmembers of the International Space Station as the two spacecraft approached each other for docking on July 28, 2005. The Expedition 12 crewmembers onboard the orbital outpost took a battery of survey photographs of the Shuttle thermal protection system.

Towards a standardized grasping and refuelling on-orbit servicing for geo spacecraft

NASA Astrophysics Data System (ADS)

Medina, Alberto; Tomassini, Angelo; Suatoni, Matteo; Avilés, Marcos; Solway, Nick; Coxhill, Ian; Paraskevas, Iosif S.; Rekleitis, Georgios; Papadopoulos, Evangelos; Krenn, Rainer; Brito, André; Sabbatinelli, Beatrice; Wollenhaupt, Birk; Vidal, Christian; Aziz, Sarmad; Visentin, Gianfranco

2017-05-01

Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a clear candidate for the application of autonomous rendezvous and docking mechanisms. However, during the last three decades most of the trials took place combining extravehicular activities (EVAs) with telemanipulated robotic arms. The European Space Agency (ESA) considers that grasping and refuelling are promising near-mid-term capabilities that could be performed by servicing spacecraft. Minimal add-ons on spacecraft to enhance their serviceability may protect them for a changing future in which satellite servicing may become mainstream. ESA aims to conceive and promote standard refuelling provisions that can be installed in present and future European commercial geostationary orbit (GEO) satellite platforms and scientific spacecraft. For this purpose ESA has started the ASSIST activity addressing the analysis, design and validation of internal provisions (such as modifications to fuel, gas, electrical and data architecture to allow servicing) and external provisions (such as integrated berthing fixtures with peripheral electrical, gas, liquid connectors, leak check systems and corresponding optical and radio markers for cooperative rendezvous and docking). This refuelling approach is being agreed with European industry (OHB, Thales Alenia Space) and expected to be consolidated with European commercial operators as a first step to become an international standard; this approach is also being considered for on-orbit servicing spacecraft, such as the SpaceTug, by Airbus DS. This paper describes in detail the operational means, structure, geometry and accommodation of the system. Internal and external provisions will be designed with the minimum possible impact on the current architecture of GEO satellites without introducing additional risks in the development and commissioning of the satellite. End-effector and berthing fixtures are being designed in the range of few kilos and linear dimensions around 15 cm. A central mechanical part is expected to perform first a soft docking followed by a motorized retraction ending during a hard docking phase using aligning pins. Mating and de-mating will be exhaustively analysed to ensure robustness of operations. Leakage-free valves would allow for the transfer of fuel to the serviced spacecraft. The validation of the ASSIST system through dedicated environmental tests in a vacuum chamber together with dynamic testing using an air-bearing table will allow for the demonstration of concept feasibility and its suitability for becoming a standard of the on-orbit space industry. Failure during the injection of the payload into the nominal target or transfer orbit. In most cases the satellite cannot accomplish this on its own; an orbit transfer vehicle could provide support. Necessity for support unfinished operations during the test and commissioning phase. Typical example can be incomplete deployment mechanism of solar arrays or of antenna dishes. Premature end of life of the satellite due to equipment obsolescence or wear. Extension of the expected duration of the satellite operative life through a refuelling of propellant tanks devoted to attitude/orbit control. This scenario will be the main subject of this ASSIST project and will be fully explored. This activity is led by GMV (coordinator and dynamics simulator) together with MOOG (mechanical design, breadboard manufacturing and environmental testing), NTUA (air-bearing table dynamics and testing), DLR (contact dynamics), OHB (mission requirements and propulsion provisions) and TAS (mission requirements).This paper is organized as follows: Section 1 provides an introduction, Section 2 introduces the ASSIST concept, Section 3 provides a review on servicing/refuelling systems, Section 4 describes the operational scenarios and phases, Section 5 presents the ASSIST design while Section 6 describes the step-by-step refuelling operations, Sections 7 and 8 present the internal and external provisions respectively, Section 9 introduces the Kinematic and Dynamic simulator, Section 10 shows the air-bearing test set-up, Section 11 describes the dynamic test cases and validation results and finally Sections 12 present the conclusions.

VIew of Mission Control on first day of ASTP docking in Earth orbit

NASA Image and Video Library

1975-07-15

S75-28483 (15 July 1975) --- An overall view of the Mission Operations Control Room in the Mission Control Center on the first day of the Apollo-Soyuz Test Project docking mission in Earth orbit. The American ASTP flight controllers at NASA's Johnson Space Center were monitoring the progress of the Soviet ASTP launch when this photograph was taken. The television monitor shows cosmonaut Yuri V. Romanenko at his spacecraft communicator?s console in the ASTP mission control center in the Soviet Union. The American ASTP liftoff followed the Soviet ASTP launch by seven and one-half hours.

Early Program Development

NASA Image and Video Library

1970-01-01

This artist's concept from 1970 shows a Nuclear Shuttle docked to an Orbital Propellant Depot and an early Space Shuttle. As envisioned by Marshall Space Flight Center Program Development plarners, the Nuclear Shuttle, in either manned or unmanned mode, would deliver payloads to lunar orbit or other destinations then return to Earth orbit for refueling and additonal missions.

STS-74 Flight Day 3

NASA Technical Reports Server (NTRS)

1995-01-01

On this third day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hadfield successfully connect the Russian-made docking module to the Space Shuttle using the shuttle's robot arm. There is a live, in-orbit press interview with the astronauts from inside the Russian docking module regarding the status of the mission thus far. The docking module will remain with Mir after the two spacecraft have undocked.

STS-74 flight day 3

NASA Astrophysics Data System (ADS)

1995-11-01

On this third day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hatfield successfully connect the Russian-made docking module to the Space Shuttle using the shuttle's robot arm. There is a live, in-orbit press interview with the astronauts from inside the Russian docking module regarding the status of the mission thus far. The docking module will remain with Mir after the two spacecraft have undocked.

Soyuz TMA-03M Spacecraft prepares to dock with the MRM-1

NASA Image and Video Library

2011-12-23

ISS030-E-015605 (23 Dec. 2011) --- With the three Expedition 30/31 crew members aboard, the Soyuz TMA-03M spacecraft (left) eases toward its docking with the Russian-built Mini-Research Module 1 (MRM-1), also known as Rassvet, Russian for "dawn." The docking, which once more enables six astronauts and cosmonauts to work together aboard the Earth-orbiting International Space Station, took place at 9:19 a.m. (CST) on Dec. 23, 2011.

Soyuz TMA-03M Spacecraft prepares to dock with the MRM-1

NASA Image and Video Library

2011-12-23

ISS030-E-015603 (23 Dec. 2011) --- With the three Expedition 30/31 crew members aboard, the Soyuz TMA-03M spacecraft (left) eases toward its docking with the Russian-built Mini-Research Module 1 (MRM-1), also known as Rassvet, Russian for "dawn." The docking, which once more enables six astronauts and cosmonauts to work together aboard the Earth-orbiting International Space Station, took place at 9:19 a.m. (CST) on Dec. 23, 2011.

Soyuz TMA-03M Spacecraft prepares to dock with the MRM-1

NASA Image and Video Library

2011-12-23

ISS030-E-015599 (23 Dec. 2011) --- With the three Expedition 30/31 crew members aboard, the Soyuz TMA-03M spacecraft (left) eases toward its docking with the Russian-built Mini-Research Module 1 (MRM-1), also known as Rassvet, Russian for "dawn." The docking, which once more enables six astronauts and cosmonauts to work together aboard the Earth-orbiting International Space Station, took place at 9:19 a.m. (CST) on Dec. 23, 2011.

Expedition 39 Docking

NASA Image and Video Library

2014-03-28

A view of the Russian Mission Control Center in Korolev, Russia on Friday, March 28, 2014 prior to the docking of Soyuz TMA-12M. The Soyuz TMA-12M spacecraft docked to the International Space Station at 7:53 p.m. EDT bringing Expedition 39 Soyuz Commander Alexander Skvortsov of the Russian Federal Space Agency, Roscosmos, Flight Engineer Steve Swanson of NASA and Flight Engineer Oleg Artemyev of Roscosmos to the ISS for their six month stay aboard the orbiting labratory. Photo Credit: (NASA/Joel Kowsky)

Apollo Soyuz test project, USA-USSR. [mission plan of spacecraft docking

NASA Technical Reports Server (NTRS)

1975-01-01

The mission plan of the docking of a United States Apollo and a Soviet Union Soyuz spacecraft in Earth orbit to test compatible rendezvous and docking equipment and procedures is presented. Space experiments conducted jointly by the astronauts and cosmonauts during the joint phase of the mission as well as experiments performed solely by the U.S. astronauts and spread over the nine day span of the flight are included. Biographies of the astronauts and cosmonauts are given.

Video guidance, landing, and imaging systems

NASA Technical Reports Server (NTRS)

Schappell, R. T.; Knickerbocker, R. L.; Tietz, J. C.; Grant, C.; Rice, R. B.; Moog, R. D.

1975-01-01

The adaptive potential of video guidance technology for earth orbital and interplanetary missions was explored. The application of video acquisition, pointing, tracking, and navigation technology was considered to three primary missions: planetary landing, earth resources satellite, and spacecraft rendezvous and docking. It was found that an imaging system can be mechanized to provide a spacecraft or satellite with a considerable amount of adaptability with respect to its environment. It also provides a level of autonomy essential to many future missions and enhances their data gathering ability. The feasibility of an autonomous video guidance system capable of observing a planetary surface during terminal descent and selecting the most acceptable landing site was successfully demonstrated in the laboratory. The techniques developed for acquisition, pointing, and tracking show promise for recognizing and tracking coastlines, rivers, and other constituents of interest. Routines were written and checked for rendezvous, docking, and station-keeping functions.

A study of 35-ghz radar-assisted orbital maneuvering vehicle/space telescope docking

NASA Technical Reports Server (NTRS)

Mcdonald, M. W.

1986-01-01

An experiment was conducted to study the effects of measuring range and range rate information from a complex radar target (a one-third scale model of the Edwin P. Hubble Space Telescope). The radar ranging system was a 35-GHz frequency-modulated continuous wave unit developed in the Communication Systems Branch of the Information and Electronic Systems Laboratory at Marshall Space Flight Cneter. Measurements were made over radar-to-target distances of 5 meters to 15 meters to simulate the close distance realized in the final stages of space vehicle docking. The Space Telescope model target was driven by an antenna positioner through a range of azimuth and elevation (pitch) angles to present a variety of visual aspects of the aft end to the radar. Measurements were obtained with and without a cube corner reflector mounted in the center of the aft end of the model. The results indicate that range and range rate measurements are performed significantly more accurately with the cooperative radar reflector affixed. The results further reveal that range rate (velocity) can be measured accurately enough to support the required soft docking with the Space Telescope.

Orbital spacecraft consumables resupply

NASA Technical Reports Server (NTRS)

Dominick, Sam M.; Eberhardt, Ralph N.; Tracey, Thomas R.

1988-01-01

The capability to replenish spacecraft, satellites, and laboratories on-orbit with consumable fluids provides significant increases in their cost and operational effectiveness. Tanker systems to perform on-orbit fluid resupply must be flexible enough to operate from the Space Transportation System (STS), Space Station, or the Orbital Maneuvering Vehicle (OMV), and to accommodate launch from both the Shuttle and Expendable Launch Vehicles (ELV's). Resupply systems for storable monopropellant hydrazine and bipropellants, and water have been developed. These studies have concluded that designing tankers capable of launch on both the Shuttle and ELV's was feasible and desirable. Design modifications and interfaces for an ELV launch of the tanker systems were identified. Additionally, it was determined that modularization of the tanker subsystems was necessary to provide the most versatile tanker and most efficient approach for use at the Space Station. The need to develop an automatic umbilical mating mechanism, capable of performing both docking and coupler mating functions was identified. Preliminary requirements for such a mechanism were defined. The study resulted in a modular tanker capable of resupplying monopropellants, bipropellants, and water with a single design.

Lindsey and Boe on forward flight deck

NASA Image and Video Library

2011-02-26

S133-E-006081 (25 Feb. 2011) --- On space shuttle Discovery’s forward flight deck, astronauts Steve Lindsey (right), STS-133 commander, and Eric Boe, pilot, switch seats for a brief procedure as the crew heads toward a weekend docking with the International Space Station. Earlier the crew conducted thorough inspections of the shuttle’s thermal tile system using the Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) and special cameras. Photo credit: NASA or National Aeronautics and Space Administration

Design of mechanisms to lock/latch systems under rotational or translational motion

NASA Technical Reports Server (NTRS)

Billimoria, R. P.

1976-01-01

Bodies/systems need to be stopped and locked/latched at the end of their path. Some examples of these systems in the aerospace industry (including launch vehicle, spacecraft, and the ground support equipment) are the command module access arm, service arms, docking module of the ASTP and the orbiter access arm for the space shuttle. Two major aspects are covered: (1) various methods of latching and (2) selection of the optimum method for latching, depending on the application and the design requirement criteria.

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

NASA Technical Reports Server (NTRS)

Tchoryk, Peter, Jr.; Whitten, Raymond P.

1991-01-01

SpARC, in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components wherever possible. The primary subsystems to be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be ELV based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. After the second COMET spacecraft has been launched in late 1994, the ARD demonstration will take place. The service module from the second COMET will serve as the chase vehicle.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Brewster, L.; Johnston, A.; Howard, R.; Mitchell, J.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS. The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (1) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multi-sensor series of trajectories.

STS-71 crew insignia

NASA Technical Reports Server (NTRS)

1995-01-01

The STS-71 crew patch design depicts the orbiter Atlantis in the process of the first international docking mission with the Russian Space Station Mir. The names of the 10 astronauts and cosmonauts who will fly aboard the orbiter are shown along the outer

KSC00pp0086

NASA Image and Video Library

2000-01-17

One of two new payload transporters for Kennedy Space Center sits on the dock at Port Canaveral. In the background is a cruise ship docked at the Port. The transporters were shipped by barge from their manufacturer, the KAMAG Company of Ulm, Germany. They are used to carry spacecraft and International Space Station elements from payload facilities to and from the launch pads and orbiter hangars. Each transporter is 65 feet long and 22 feet wide and has 24 tires divided between its two axles. The transporter travels 10 miles per hour unloaded, 5 miles per hour when loaded; it weighs up to 172,000 pounds when the canister with payloads rides atop. The transporters will be outfitted with four subsystems for monitoring the environment inside the canister during the payload moves: the Electrical Power System, Environmental Control System, Instrumentation and Communications System, and the Fluids and Gases System. Engineers and technicians are being trained on the transporter's operation and maintenance. The new transporters are replacing the 20-year-old existing Payload Canister Transporter system

KSC-00pp0085

NASA Image and Video Library

2000-01-17

One of two new payload transporters for Kennedy Space Center sits on the dock at Port Canaveral. In the background is a cruise ship docked at the Port. The transporters were shipped by barge from their manufacturer, the KAMAG Company of Ulm, Germany. They are used to carry spacecraft and International Space Station elements from payload facilities to and from the launch pads and orbiter hangars. Each transporter is 65 feet long and 22 feet wide and has 24 tires divided between its two axles. The transporter travels 10 miles per hour unloaded, 5 miles per hour when loaded; it weighs up to 172,000 pounds when the canister with payloads rides atop. The transporters will be outfitted with four subsystems for monitoring the environment inside the canister during the payload moves: the Electrical Power System, Environmental Control System, Instrumentation and Communications System, and the Fluids and Gases System. Engineers and technicians are being trained on the transporter's operation and maintenance. The new transporters are replacing the 20-year-old existing Payload Canister Transporter system

KSC-00pp0086

NASA Image and Video Library

2000-01-17

One of two new payload transporters for Kennedy Space Center sits on the dock at Port Canaveral. In the background is a cruise ship docked at the Port. The transporters were shipped by barge from their manufacturer, the KAMAG Company of Ulm, Germany. They are used to carry spacecraft and International Space Station elements from payload facilities to and from the launch pads and orbiter hangars. Each transporter is 65 feet long and 22 feet wide and has 24 tires divided between its two axles. The transporter travels 10 miles per hour unloaded, 5 miles per hour when loaded; it weighs up to 172,000 pounds when the canister with payloads rides atop. The transporters will be outfitted with four subsystems for monitoring the environment inside the canister during the payload moves: the Electrical Power System, Environmental Control System, Instrumentation and Communications System, and the Fluids and Gases System. Engineers and technicians are being trained on the transporter's operation and maintenance. The new transporters are replacing the 20-year-old existing Payload Canister Transporter system

KSC00pp0085

NASA Image and Video Library

2000-01-17

One of two new payload transporters for Kennedy Space Center sits on the dock at Port Canaveral. In the background is a cruise ship docked at the Port. The transporters were shipped by barge from their manufacturer, the KAMAG Company of Ulm, Germany. They are used to carry spacecraft and International Space Station elements from payload facilities to and from the launch pads and orbiter hangars. Each transporter is 65 feet long and 22 feet wide and has 24 tires divided between its two axles. The transporter travels 10 miles per hour unloaded, 5 miles per hour when loaded; it weighs up to 172,000 pounds when the canister with payloads rides atop. The transporters will be outfitted with four subsystems for monitoring the environment inside the canister during the payload moves: the Electrical Power System, Environmental Control System, Instrumentation and Communications System, and the Fluids and Gases System. Engineers and technicians are being trained on the transporter's operation and maintenance. The new transporters are replacing the 20-year-old existing Payload Canister Transporter system

The STS-97 crew take part in CEIT

NASA Technical Reports Server (NTRS)

2000-01-01

In Orbiter Processing Facility (OPF) bay 2 during Crew Equipment Interface Test (CEIT), members of the STS-97 crew look over the Orbital Docking System (ODS) in Endeavour's payload bay. At left, standing, is Mission Specialist Joe Tanner. At right is Mission Specialist Carlos Noriega, with his hands on the ODS. The others are workers in the OPF. The CEIT provides an opportunity for crew members to check equipment and facilities that will be on board the orbiter during their mission. The STS-97 mission will be the sixth construction flight to the International Space Station. The payload includes a photovoltaic (PV) module, providing solar power to the Station. STS-97 is scheduled to launch Nov. 30 from KSC for the 10-day mission.

Artist's concept of Skylab space station cluster in Earth's orbit

NASA Image and Video Library

1971-10-01

S71-52192 (1971) --- An artist's concept of the Skylab space station cluster in Earth's orbit. The cutaway view shows astronaut activity in the Orbital Workshop (OWS). The Skylab cluster is composed of the OWS, Airlock Module (AM), Multiple Docking Adapter (MDA), Apollo Telescope Mount (ATM), and the Command and Service Module (CSM). Photo credit: NASA

International Space Station (ISS)

NASA Image and Video Library

2000-12-01

This image of the International Space Station in orbit was taken from the Space Shuttle Endeavour prior to docking. Most of the Station's components are clearly visible in this photograph. They are the Node 1 or Unity Module docked with the Functional Cargo Block or Zarya (top) that is linked to the Zvezda Service Module. The Soyuz spacecraft is at the bottom.

Space Shuttle Projects

NASA Image and Video Library

1995-11-01

This image of the Russian Mir Space Station was photographed by a crewmember of the STS-74 mission when the Orbiter Atlantis was approaching the Mir Space Station. STS-74 was the second Space Shuttle/Mir docking mission. The Docking Module was delivered and installed, making it possible for the Space Shuttle to dock easily with Mir. The Orbiter Atlantis delivered water, supplies, and equipment, including two new solar arrays to upgrade the Mir, and returned to Earth with experiment samples, equipment for repair and analysis, and products manufactured on the Station. Mir was constructed in orbit by cornecting different modules, seperately launched from 1986 to 1996, providing a large and livable scientific laboratory in space. The 100-ton Mir was as big as six school buses and commonly housed three crewmembers. Mir was continuously occupied, except for two short periods, and hosted international scientists and American astronauts until August 1999. The journey of the 15-year-old Russian Mir Space Station ended March 23, 2001, as Mir re-entered the Earth's atmosphere and fell into the south Pacific ocean . STS-74 was launched on November 12, 1995, and landed at the Kennedy Space Center on November 20, 1995.

Development of concepts for satellite retrieval devices

NASA Technical Reports Server (NTRS)

Pruett, E. C.; Robertson, K. B., III; Loughead, T. E.

1979-01-01

The teleoperator being developed to augment the Space Transportation System (STS) for satellite placement, retrieval, or servicing at altitudes or orbital planes where it would be impractical to use the shuttle is primarily a general purpose propulsion stage that can be fitted with manipulator arms, automated servicers and satellite retrieval devices for particular missions. Design concepts for a general purpose retrieval device for docking with a satellite to which a grappling fixture has been attached, and for a retrieval device for docking with the Solar Maximum Mission (SMM) spacecraft were defined. The mechanical aspects of these two devices are discussed as well as the crew operations involved and problems created by the requirement for remote control. Drawings for the two retrieval device concepts are included.

Project EGRESS: The design of an assured crew return vehicle for the space station

NASA Technical Reports Server (NTRS)

1990-01-01

Keeping preliminary studies by NASA in mind, an Assured Crew Return Vehicle (ACRV) was developed. The system allows the escape of one or more crew members from Space Station Freedom in case of emergency. The design of the vehicle addresses propulsion, orbital operations, reentry, landing and recovery, power and communication, and life support. In light of recent modifications in Space Station design, Project EGRESS (Earthbound Guaranteed ReEntry from Space Station) pays particular attention to its impact on Space Station operations, interfaces and docking facilities, and maintenance needs. A water landing, medium lift vehicle was found to best satisfy project goals of simplicity and cost efficiency without sacrificing the safety and reliability requirements. With a single vehicle, one injured crew member could be returned to Earth with minimal pilot involvement. Since the craft is capable of returning up to five crew members, two such permanently docked vehicles would allow full evacuation of the Space Station. The craft could be constructed entirely with available 1990 technology and launched aboard a shuttle orbiter.

Unity with PMA-2 attached awaits further processing in the SSPF

NASA Technical Reports Server (NTRS)

1998-01-01

The International Space Station's (ISS) Unity node, with Pressurized Mating Adapter (PMA)-2 attached, awaits further processing by Boeing technicians in its workstand in the Space Station Processing Facility (SSPF). The Unity node is the first element of the ISS to be manufactured in the United States and is currently scheduled to lift off aboard the Space Shuttle Endeavour on STS-88 later this year. Unity has two PMAs attached to it now that this mate is completed. PMAs are conical docking adapters which will allow the docking systems used by the Space Shuttle and by Russian modules to attach to the node's hatches and berthing mechanisms. Once in orbit, Unity, which has six hatches, will be mated with the already orbiting Control Module and will eventually provide attachment points for the U.S. laboratory module; Node 3; an early exterior framework or truss for the station; an airlock; and a multi-windowed cupola. The Control Module, or Functional Cargo Block, is a U.S.-funded and Russian-built component that will be launched aboard a Russian rocket from Kazakstan.

Unity with PMA-2 attached awaits further processing in the SSPF

NASA Technical Reports Server (NTRS)

1998-01-01

The International Space Station's (ISS) Unity node, with Pressurized Mating Adapter (PMA)-2 attached, awaits further processing in the Space Station Processing Facility (SSPF). The Unity node is the first element of the ISS to be manufactured in the United States and is currently scheduled to lift off aboard the Space Shuttle Endeavour on STS-88 later this year. Unity has two PMAs attached to it now that this mate is completed. PMAs are conical docking adapters which will allow the docking systems used by the Space Shuttle and by Russian modules to attach to the node's hatches and berthing mechanisms. Once in orbit, Unity, which has six hatches, will be mated with the already orbiting Control Module and will eventually provide attachment points for the U.S. laboratory module; Node 3; an early exterior framework or truss for the station; an airlock; and a multi-windowed cupola. The Control Module, or Functional Cargo Block, is a U.S.- funded and Russian-built component that will be launched aboard a Russian rocket from Kazakstan.

KSC-98pc646

NASA Image and Video Library

1998-05-22

KENNEDY SPACE CENTER, FLA. -- The International Space Station's (ISS) Unity node, with Pressurized Mating Adapter (PMA)-2 attached, awaits further processing by Boeing technicians in its workstand in the Space Station Processing Facility (SSPF). The Unity node is the first element of the ISS to be manufactured in the United States and is currently scheduled to lift off aboard the Space Shuttle Endeavour on STS-88 later this year. Unity has two PMAs attached to it now that this mate is completed. PMAs are conical docking adapters which will allow the docking systems used by the Space Shuttle and by Russian modules to attach to the node's hatches and berthing mechanisms. Once in orbit, Unity, which has six hatches, will be mated with the already orbiting Control Module and will eventually provide attachment points for the U.S. laboratory module; Node 3; an early exterior framework or truss for the station; an airlock; and a multi-windowed cupola. The Control Module, or Functional Cargo Block, is a U.S.-funded and Russian-built component that will be launched aboard a Russian rocket from Kazakstan

Training - Apollo-Soyuz Test Project (ASTP) - JSC

NASA Image and Video Library

1975-07-12

S75-28485 (12 July 1975) --- Astronaut Vance D. Brand, command module pilot of the American ASTP prime crew, practices operating a Docking Module hatch during Apollo-Soyuz Test Project preflight training at NASA's Johnson Space Center. The Docking Module is designed to link the Apollo and Soyuz spacecraft during their docking mission in Earth orbit. Gary L. Doerre of JSC?s Crew Training and Procedures Division is working with Brand. Doerre is wearing a face mask to help prevent possible exposure to Brand of disease prior to the ASTP launch.

Earth Observations taken by Expedition 30 crewmember

NASA Image and Video Library

2012-01-01

ISS030-E-038622 (1 Jan. 2012) --- Framed by a window of the Cupola on the International Space Station is a scene photographed by one of the Expedition 30 crew members aboard the orbital outpost showing two Russian spacecraft that are currently docked to it. A Soyuz (near foreground) is docked to Rassvet, also known as the Mini-Research Module 1 (MRM-1), and a Progress is linked to the Pirs Docking Compartment, just above center frame. Part of Earth, mostly clouds and water, can be seen running horizontally through the scene.

Apollo Rendezvous Docking Simulator

NASA Image and Video Library

1964-11-02

Originally the Rendezvous was used by the astronauts preparing for Gemini missions. The Rendezvous Docking Simulator was then modified and used to develop docking techniques for the Apollo program. The pilot is shown maneuvering the LEM into position for docking with a full-scale Apollo Command Module. From A.W. Vogeley, Piloted Space-Flight Simulation at Langley Research Center, Paper presented at the American Society of Mechanical Engineers, 1966 Winter Meeting, New York, NY, November 27 - December 1, 1966. The Rendezvous Docking Simulator and also the Lunar Landing Research Facility are both rather large moving-base simulators. It should be noted, however, that neither was built primarily because of its motion characteristics. The main reason they were built was to provide a realistic visual scene. A secondary reason was that they would provide correct angular motion cues (important in control of vehicle short-period motions) even though the linear acceleration cues would be incorrect. Apollo Rendezvous Docking Simulator: Langley s Rendezvous Docking Simulator was developed by NASA scientists to study the complex task of docking the Lunar Excursion Module with the Command Module in Lunar orbit.

Structures and mechanisms - Streamlining for fuel economy

NASA Technical Reports Server (NTRS)

Card, M. F.

1983-01-01

The design of prospective NASA space station components which inherently possess the means for structural growth without compromising initial system characteristics is considered. In structural design terms, space station growth can be achieved by increasing design safety factors, introducing dynamic isolators to prevent loads from reaching the initial components, or preplanning the refurbishment of the original structure with stronger elements. Design tradeoffs will be based on the definition of on-orbit loads, including docking and maneuvering, whose derived load spectra will allow the estimation of fatigue life. Improvements must be made in structural materials selection in order to reduce contamination, slow degradation, and extend the life of coatings. To minimize on-orbit maintenance, long service life lubrication systems with advanced sealing devices must be developed.

Hatch Opening OPS

NASA Image and Video Library

2009-08-31

S128-E-007008 (30 Aug. 2009) --- Astronauts Rick Sturckow (right), STS-128 commander; and Patrick Forrester, mission specialist, are pictured near the hatch on the middeck of Space Shuttle Discovery after docking with the International Space Station. The two spacecraft docked at 7:54 p.m. (CDT), and the Discovery crew entered the orbital outpost at 9:59 p.m. (CDT) on Aug. 30.

Space Shuttle Projects

NASA Image and Video Library

1995-11-01

This fish-eye view of the Russian Mir Space Station was photographed by a crewmember of the STS-74 mission after the separation. The image shows the installed Docking Module at bottom. The Docking Module was delivered and installed, making it possible for the Space Shuttle to dock easily with Mir. The Orbiter Atlantis delivered water, supplies, and equipment, including two new solar arrays to upgrade the Mir; and returned to Earth with experiment samples, equipment for repair and analysis, and products manufactured on the Station. Mir was constructed in orbit by cornecting different modules, each launched separately from 1986 to 1996, providing a large and livable scientific laboratory in space. The 100-ton Mir was as big as six school buses and commonly housed three crewmembers. Mir was continuously occupied, except for two short periods, and hosted international scientists and American astronauts until August 1999. The journey of the 15-year-old Russian Mir Space Station ended March 23, 2001, as Mir re-entered the Earth's atmosphere and fell into the south Pacific ocean. STS-74 was the second Space Shuttle/Mir docking mission launched on November 12, 1995, and landed at the Kennedy Space Center on November 20, 1995.

Astronaut Russell Schweickart photographed during EVA

NASA Technical Reports Server (NTRS)

1969-01-01

Astronaut Russell L. Schweickart, lunar module pilot, operates a 70mm Hasselblad camera during his extravehicular activity on the fourth day of the Apollo 9 earth-orbital mission. The Command/Service Module and the Lunar Module 3 'Spider' are docked. This view was taken form the Command Module 'Gumdrop'. Schweickart, wearing an Extravehicular Mobility Unit (EMU), is standing in 'golden slippers' on the Lunar Module porch. On his back, partially visible, are a Portable Life Support System (PLSS) and an Oxygen Purge System (OPS).

Detail view of the flight deck looking aft. The aft ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Detail view of the flight deck looking aft. The aft viewing windows are uncovered in this view and look out towards the payload bay. The overhead viewing windows have exterior covers in place in this view. The aft flight deck contains displays and controls for executing maneuvers for rendezvous, docking, payload deployment and retrieval, payload monitoring and the remote manipulator arm controls. Payload bay doors are also operated from this location. This view was taken in the Orbiter Processing Facility at the Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

View of the FGB/Zarya and Node 1/Unity modules in the payload bay

NASA Image and Video Library

1998-12-07

STS088-719-071 (6 Dec. 1998) --- Just a few feet away from a 70mm camera onboard the Space Shuttle Endeavour, the Russian-built control module and the U.S.-built Unity connecting module are mated in the shuttle's cargo bay. Using Endeavour's 50-ft. long Canadian-built Remote Manipulator System (RMS) robot arm, astronaut Nancy J. Currie working from the aft flight deck, plucked Zarya out of orbit at 5:47 p.m. (CST), December 6. The craft had been orbiting Earth for a little over 16 days prior to grapple and subsequent docking to Unity.

Crew Training - Apollo 9 - Grumman Aircraft Eng. Corp. (GAEC)

NASA Image and Video Library

1969-01-25

S69-17615 (25 Jan. 1969) --- Astronaut Russell L. Schweickart, lunar module pilot of the Apollo 9 prime crew, participates in a press conference at the Grumman Aircraft Engineering Corporation. Grumman is the contractor to NASA for the Lunar Module. Schweickart is holding a model of a docked Lunar Module/Command and Service Modules. The Apollo 9 mission will evaluate spacecraft lunar module systems performance during manned Earth-orbital flight.

The Vehicle Control Systems Branch at the Marshall Space Flight Center

NASA Technical Reports Server (NTRS)

Barret, Chris

1990-01-01

This paper outlines the responsibility of the Vehicle Control Systems Branch at the Marshall Space Flight Center (MSFC) to analyze, evaluate, define, design, verify, and specify requirements for advanced launch vehicles and related space projects, and to conduct research in advanced flight control concepts. Attention is given to branch responsibilities which include Shuttle-C, Shuttle-C Block II, Shuttle-Z, lunar cargo launch vehicles, Mars cargo launch vehicles, orbital maneuvering vehicle, automatic docking, tethered satellite, aeroassisted flight experiment, and solid rocket booster parachute recovery system design.

KSC-98pc538

NASA Image and Video Library

1998-04-27

The orbiter Discovery sits in the transfer aisle of KSC's Vehicle Assembly Building as it awaits being attached to the yellow hoist and crane for lifting into a vertical position. Once standing upright, Discovery will be mated with an orange external tank and two white solid rocket boosters, transforming the orbiter into the Space Shuttle Discovery, slated for launch on STS-91, the ninth and final docking mission with the Russian Space Station Mir. The six-member crew of STS-91 will dock with Mir and pick up Mission Specialist Andrew Thomas, Ph.D., who will have been on Mir about four months, to return him to Earth. STS-91 is scheduled to launch June 2 at about 6:04 p.m. EDT

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

NASA Technical Reports Server (NTRS)

Tchoryk, Peter, Jr.; Dobbs, Michael E.; Conrad, David J.; Apley, Dale J.; Whitten, Raymond P.

1991-01-01

The Space Automation and Robotics Center (SpARC), a NASA-sponsored Center for the Commercial Development of Space (CCDS), in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components whenever possible. The primary subsystems that will be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be expendable launch vehicle (ELV) based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. The ARD demonstration will take place in late 1994, after the second COMET spacecraft has been launched. The service module from the second COMET will serve as the chase vehicle.

Next Generation Advanced Video Guidance Sensor Development and Test

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.; Lee, Jimmy; Robertson, Bryan

2009-01-01

The Advanced Video Guidance Sensor (AVGS) was the primary docking sensor for the Orbital Express mission. The sensor performed extremely well during the mission, and the technology has been proven on orbit in other flights too. Parts obsolescence issues prevented the construction of more AVGS units, so the next generation of sensor was designed with current parts and updated to support future programs. The Next Generation Advanced Video Guidance Sensor (NGAVGS) has been tested as a breadboard, two different brassboard units, and a prototype. The testing revealed further improvements that could be made and demonstrated capability beyond that ever demonstrated by the sensor on orbit. This paper presents some of the sensor history, parts obsolescence issues, radiation concerns, and software improvements to the NGAVGS. In addition, some of the testing and test results are presented. The NGAVGS has shown that it will meet the general requirements for any space proximity operations or docking need.

Hatch Opening OPS

NASA Image and Video Library

2009-08-31

S128-E-007010 (30 Aug. 2009) --- Astronauts Rick Sturckow (bottom), STS-128 commander; John “Danny” Olivas (right) and Patrick Forrester, both mission specialists, are pictured near the hatch on the middeck of Space Shuttle Discovery after docking with the International Space Station. The two spacecraft docked at 7:54 p.m. (CDT), and the Discovery crew entered the orbital outpost at 9:59 p.m. (CDT) on Aug. 30.

Definition of technology development missions for early space station, orbit transfer vehicle servicing. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

1983-01-01

Orbital Transfer Vehicle (OTV) servicing study scope, propellant transfer, storage and reliquefaction technology development missions (TDM), docking and berthing TDM, maintenance TDM, OTV/payload integration TDM, combined TDMS design, summary space station accomodations, programmatic analysis, and TDM equipment operational usage are discussed.

Material Properties of Three Candidate Elastomers for Space Seals Applications

NASA Technical Reports Server (NTRS)

Bastrzyk, Marta B.; Daniels, Christopher C.; Oswald, Jay J.; Dunlap, Patrick H., Jr.; Steinetz, Bruce M.

2010-01-01

A next-generation docking system is being developed by the National Aeronautics and Space Administration (NASA) to support Constellation Space Exploration Missions to low Earth orbit (LEO), to the Moon, and to Mars. A number of investigations were carried out to quantify the properties of candidate elastomer materials for use in the main interface seal of the Low Impact Docking System (LIDS). This seal forms the gas pressure seal between two mating spacecraft. Three candidate silicone elastomer compounds were examined: Esterline ELA-SA-401, Parker Hannifin S0383-70, and Parker Hannifin S0899-50. All three materials were characterized as low-outgassing compounds, per ASTM E595, so as to minimize the contamination of optical and solar array systems. Important seal properties such as outgas levels, durometer, tensile strength, elongation to failure, glass transition temperature, permeability, compression set, Yeoh strain energy coefficients, coefficients of friction, coefficients of thermal expansion, thermal conductivity and diffusivity were measured and are reported herein.

Application of fuzzy logic-neural network based reinforcement learning to proximity and docking operations: Attitude control results

NASA Technical Reports Server (NTRS)

Jani, Yashvant

1992-01-01

As part of the RICIS activity, the reinforcement learning techniques developed at Ames Research Center are being applied to proximity and docking operations using the Shuttle and Solar Max satellite simulation. This activity is carried out in the software technology laboratory utilizing the Orbital Operations Simulator (OOS). This report is deliverable D2 Altitude Control Results and provides the status of the project after four months of activities and outlines the future plans. In section 2 we describe the Fuzzy-Learner system for the attitude control functions. In section 3, we provide the description of test cases and results in a chronological order. In section 4, we have summarized our results and conclusions. Our future plans and recommendations are provided in section 5.

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

NASA Technical Reports Server (NTRS)

1990-01-01

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Astronaut James McDivitt photographed inside Command Module during Apollo 9

NASA Image and Video Library

1969-03-06

AS09-20-3154 (3-13 March 1969) --- This close-up view of astronaut James A. McDivitt shows several days' beard growth. The Apollo 9 mission commander was onboard the Lunar Module (LM) "Spider" in Earth orbit, near the end of the flight. He was joined on the mission by astronauts David R. Scott, command module pilot, and Russell L. Schweickart, lunar module pilot. Schweickart took this picture while Scott remained in the Command Module (CM) "Gumdrop." In Earth orbit, the three tested the transposition and docking systems of the lunar module and command module. On a scheduled lunar landing mission later this year, a team of three astronauts and ground controllers will use what this crew and its support staff have learned in handling the systems of the two spacecraft.

3D Lasers Increase Efficiency, Safety of Moving Machines

NASA Technical Reports Server (NTRS)

2015-01-01

Canadian company Neptec Design Group Ltd. developed its Laser Camera System, used by shuttles to render 3D maps of their hulls for assessing potential damage. Using NASA funding, the firm incorporated LiDAR technology and created the TriDAR 3D sensor. Its commercial arm, Neptec Technologies Corp., has sold the technology to Orbital Sciences, which uses it to guide its Cygnus spacecraft during rendezvous and dock operations at the International Space Station.

KSC-07pd2681

NASA Image and Video Library

2007-10-05

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 39A, workers remove the rain gutters from space shuttle Discovery's payload bay. The gutters prevent leaks into the bay from rain while the shuttle is on the pad. Beneath is the orbital docking system. Mission STS-120 will bring the Harmony module that will provide attachment points for European and Japanese laboratory modules to the International Space Station. Launch of Discovery is targeted for Oct. 23. Photo credit: NASA/George Shelton

STS-89 M.S. Dunbar and Sharipov chat under the orbiter after landing

NASA Technical Reports Server (NTRS)

1998-01-01

STS-89 Mission Specialist Bonnie Dunbar, Ph.D., at left, discusses the mission with Mission Specialist Salizhan Sharipov of the Russian Space Agency under the orbiter Endeavour after it landed on Runway 15 at KSCs Shuttle Landing Facility Jan. 31. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the orbiter with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Dr. Dunbar; and Sharipov. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts.

Autonomous Rendezvous and Docking Conference, volume 1

NASA Technical Reports Server (NTRS)

1990-01-01

This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. It contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of the ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of the programmatic management, technical, schedule, and cost risks.

Autonomous Rendezvous and Docking Conference, volume 3

NASA Technical Reports Server (NTRS)

1990-01-01

This document consists of the presentation submitted at the Autonomous Rendezvous and Docking (ARD) Conference. The document contains three volumes: ARD hardware technology; ARD software technology; and ARD operations. The purpose of this conference is to identify the technologies required for an on orbit demonstration of ARD, assess the maturity of these technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

SMART-OLEV—An orbital life extension vehicle for servicing commercial spacecrafts in GEO

NASA Astrophysics Data System (ADS)

Kaiser, Clemens; Sjöberg, Fredrik; Delcura, Juan Manuel; Eilertsen, Baard

2008-07-01

Orbital Satellite Services Limited (OSSL) is a satellite servicing company that is developing an orbit life extension vehicle (OLEV) to extend the operational lifetime of geostationary satellites. The industrial consortium of SSC (Sweden), Kayser-Threde (Germany) and Sener (Spain) is in charge to develop and industrialize the space and ground segment. It is a fully commercial program with support of several space agencies during the development phase. The business plan is based on life extension for high value commercial satellites while also providing the satellite operators with various fleet management services such as graveyard burns, slot transfers and on orbit protection against replacement satellite or launch failures. The OLEV spacecraft will be able to dock with a geostationary satellite and uses an electrical propulsion system to extend its life by taking over the attitude control and station keeping functions. The OLEV system is building on the SMART-1 platform developed by Swedish Space Corporation. It was developed for ESA as a technology test-bed to demonstrate the use of electrical propulsion for interplanetary orbit transfer manoeuvres. The concept is called SMART-OLEV and takes advantage of the low cost, low mass SMART-1 platform by a maximum use of recurrent platform technology.

Synergistic Development, Test, and Qualification Approaches for the Ares I and V Launch Vehicles

NASA Technical Reports Server (NTRS)

Cockrell, Charles E.; Taylor, James L.; Patterson, Alan; Stephens, Samuel E.; Tuma, Margaret; Bartolotta, Paul; Huetter, Uwe; Kaderback, Don; Goggin, David

2009-01-01

The U.S. National Aeronautics and Space Administration (NASA) initiated plans to develop the Ares I and Ares V launch vehicles in 2005 to meet the mission objectives for future human exploration of space. Ares I is designed to provide the capability to deliver the Orion crew exploration vehicle (CEV) to low-Earth orbit (LEO), either for docking to the International Space Station (ISS) or docking with an Earth departure stage (EDS) and lunar lander for transit to the Moon. Ares V provides the heavy-lift capability to deliver the EDS and lunar lander to orbit. An integrated test plan was developed for Ares I that includes un-crewed flight validation testing and ground testing to qualify structural components and propulsion systems prior to operational deployment. The overall test program also includes a single development test flight conducted prior to the Ares I critical design review (CDR). Since the Ares V concept was formulated to maximize hardware commonality between the Ares V and Ares I launch vehicles, initial test planning for Ares V has considered the extensibility of test approaches and facilities from Ares I. The Ares V test plan was part of a successful mission concept review (MCR) in 2008.

Demonstration of Autonomous Rendezvous Technology (DART) Project Summary

NASA Technical Reports Server (NTRS)

Rumford, TImothy E.

2003-01-01

Since the 1960's, NASA has performed numerous rendezvous and docking missions. The common element of all US rendezvous and docking is that the spacecraft has always been piloted by astronauts. Only the Russian Space Program has developed and demonstrated an autonomous capability. The Demonstration of Autonomous Rendezvous Technology (DART) project currently funded under NASA's Space Launch Initiative (SLI) Cycle I, provides a key step in establishing an autonomous rendezvous capability for the United States. DART's objective is to demonstrate, in space, the hardware and software necessary for autonomous rendezvous. Orbital Sciences Corporation intends to integrate an Advanced Video Guidance Sensor and Autonomous Rendezvous and Proximity Operations algorithms into a Pegasus upper stage in order to demonstrate the capability to autonomously rendezvous with a target currently in orbit. The DART mission will occur in April 2004. The launch site will be Vandenburg AFB and the launch vehicle will be a Pegasus XL equipped with a Hydrazine Auxiliary Propulsion System 4th stage. All mission objectives will be completed within a 24 hour period. The paper provides a summary of mission objectives, mission overview and a discussion on the design features of the chase and target vehicles.

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

NASA Technical Reports Server (NTRS)

Sills, Joel W., Jr.; Bruno, Erica E.

2016-01-01

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.

Satellite Services Workshop, Volume 1

NASA Technical Reports Server (NTRS)

1982-01-01

Key issues associated with the orbital servicing of satellites are examined including servicing spacecraft and equipment, servicing operations, economics, satellite design, docking and berthing, and fluid management.

STS-74 flight day 4

NASA Astrophysics Data System (ADS)

1995-11-01

On this fourth day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hatfield, perform a successful docking between the space shuttle and the Mir space station using the Russian-made docking module that had been previously installed on the third day of the mission. The astronauts and the Mir 20 cosmonauts, Cmdr. Yuri Gidzenko, Flight Engineer Gergei Avdeyev, and Cosmonaut-Researcher (ESA) Thomas Reiter, are shown greeting each other from inside the docking module and an in-orbit interview between the crews and NASA is conducted in both English and Russian.

STS-74 Flight Day 4

NASA Technical Reports Server (NTRS)

1995-01-01

On this fourth day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hadfield, perform a successful docking between the space shuttle and the Mir space station using the Russian-made docking module that had been previously installed on the third day of the mission. The astronauts and the Mir 20 cosmonauts, Cmdr. Yuri Gidzenko, Flight Engineer Gergei Avdeyev, and Cosmonaut-Researcher (ESA) Thomas Reiter, are shown greeting each other from inside the docking module and an in-orbit interview between the crews and NASA is conducted in both English and Russian.

Soviet Soyuz spacecraft in orbit as seen from American Apollo spacecraft

NASA Image and Video Library

1975-07-17

AST-01-053 (17-19 July 1975) --- The Soviet Soyuz spacecraft is contrasted against a black-sky background in this photograph taken in Earth orbit. This view is looking toward the aft end of the Soyuz. Two solar panels protrude out from the spacecraft's Instrument Assembly Module. The ASTP astronauts and cosmonauts visited each other's spacecraft while the Soyuz and Apollo were docked in Earth orbit for two days.

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

Study on propellant dynamics during docking

NASA Technical Reports Server (NTRS)

Feng, G. C.; Robertson, S. J.

1972-01-01

The marker-and-cell numerical technique was applied to the study of axisymmetric and two-dimensional flow of liquid in containers under low gravity conditions. The purpose of the study was to provide the capability for numerically simulating liquid propellant motion in partially filled containers during a docking maneuver in orbit. A computer program to provide this capability for axisymmetric and two-dimensional flow was completed and computations were made for a number of hypothetical flow conditions.

Various candid views of STS-84 crew after hatch opening

NASA Image and Video Library

1997-05-17

STS084-379-034 (15-24 May 1997) --- Two mission commanders greet and shake hands moments after hatch-opening on docking day, of the Space Shuttle Atlantis and Russia's Mir Space Station. Charles J. Precourt (left), STS-84 commander, and Vasili V. Tsibliyev, Mir-23 commander, along with their respective flight crews went on to spend several days sharing joint activities in Earth-orbit. This is the sixth Atlantis/Mir docking mission.

Automatic rendezvous and docking systems functional and performance requirements

NASA Technical Reports Server (NTRS)

1985-01-01

A generalized mission design scheme which utilizes a standard mission profile for all OMV rendezvous operations, recognizes typical operational constraints, and minimizes propellant penalties due to nodal regression effects was developed. This scheme has been used to demonstrate a unified guidance and navigation maneuver processor (the UMP), which supports all mission phases through station-keeping. The initial demonstration version of the Orbital Rendezvous Mission Planner (ORMP) was provided for evaluation purposes, and program operation was discussed.

KSC-07pd2680

NASA Image and Video Library

2007-10-05

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 39A, workers are removing the rain gutters from space shuttle Discovery's payload bay. The gutters prevent leaks into the bay from rain while the shuttle is on the pad. Beneath is the orbital docking system. Mission STS-120 will bring the Harmony module that will provide attachment points for European and Japanese laboratory modules to the International Space Station. Launch of Discovery is targeted for Oct. 23. Photo credit: NASA/George Shelton

MS Mastracchio operates the RMS on the flight deck of Atlantis during STS-106

NASA Image and Video Library

2000-09-11

STS106-E-5099 (11 September 2000) --- Astronaut Richard A. Mastracchio, mission specialist, stands near viewing windows, video monitors and the controls for the remote manipulator system (RMS) arm (out of frame at left) on the flight deck of the Earth-orbiting Space Shuttle Atlantis during Flight Day 3 activity. Atlantis was docked with the International Space Station (ISS) when this photo was recorded with an electronic still camera (ESC).

Optical design of space cameras for automated rendezvous and docking systems

NASA Astrophysics Data System (ADS)

Zhu, X.

2018-05-01

Visible cameras are essential components of a space automated rendezvous and docking (AR and D) system, which is utilized in many space missions including crewed or robotic spaceship docking, on-orbit satellite servicing, autonomous landing and hazard avoidance. Cameras are ubiquitous devices in modern time with countless lens designs that focus on high resolution and color rendition. In comparison, space AR and D cameras, while are not required to have extreme high resolution and color rendition, impose some unique requirements on lenses. Fixed lenses with no moving parts and separated lenses for narrow and wide field-of-view (FOV) are normally used in order to meet high reliability requirement. Cemented lens elements are usually avoided due to wide temperature swing and outgassing requirement in space environment. The lenses should be designed with exceptional straylight performance and minimum lens flare given intense sun light and lacking of atmosphere scattering in space. Furthermore radiation resistant glasses should be considered to prevent glass darkening from space radiation. Neptec has designed and built a narrow FOV (NFOV) lens and a wide FOV (WFOV) lens for an AR and D visible camera system. The lenses are designed by using ZEMAX program; the straylight performance and the lens baffles are simulated by using TracePro program. This paper discusses general requirements for space AR and D camera lenses and the specific measures for lenses to meet the space environmental requirements.

STS-111 Onboard Photo of Endeavour Docking With PMA-2

NASA Technical Reports Server (NTRS)

2002-01-01

The STS-111 mission, the 14th Shuttle mission to visit the International Space Station (ISS), was launched on June 5, 2002 aboard the Space Shuttle Orbiter Endeavour. On board were the STS-111 and Expedition Five crew members. Astronauts Kerneth D. Cockrell, commander; Paul S. Lockhart, pilot, and mission specialists Franklin R. Chang-Diaz and Philippe Perrin were the STS-111 crew members. Expedition Five crew members included Cosmonaut Valeri G. Korzun, commander, Astronaut Peggy A. Whitson and Cosmonaut Sergei Y. Treschev, flight engineers. Three space walks enabled the STS-111 crew to accomplish mission objectives: The delivery and installation of the Mobile Remote Servicer Base System (MBS), an important part of the Station's Mobile Servicing System that allows the robotic arm to travel the length of the Station, which is necessary for future construction tasks; the replacement of a wrist roll joint on the Station's robotic arm; and the task of unloading supplies and science experiments from the Leonardo multipurpose Logistics Module, which made its third trip to the orbital outpost. In this photograph, the Space Shuttle Endeavour, back dropped by the blackness of space, is docked to the pressurized Mating Adapter (PMA-2) at the forward end of the Destiny Laboratory on the ISS. Endeavour's robotic arm is in full view as it is stretched out with the S0 (S-zero) Truss at its end.

KSC-04pd1684

NASA Image and Video Library

2004-07-16

KENNEDY SPACE CENTER, FLA. - An artist’s conception of the autonomous Demonstration for Autonomous Rendezvous (DART) spacecraft as it approaches the Multiple Paths, Beyond-Line-of-Site Communications (MUBLCOM) satellite. NASA is testing the DART as a docking system for next generation vehicles to guide spacecraft carrying cargo or equipment to the International Space Station, or retrieving or servicing satellites in orbit. Before the new system can be implemented on piloted spacecraft, it has to be tested in space. The computer-guided DART is equipped with an Advanced Video Guidance Sensor and a Global Positioning System that can receive signals from other spacecraft to allow DART to move within 330 feet of the target. DART is scheduled to launch from Vandenberg Air Force Base in California no earlier than Oct. 18. It will be released from a Pegasus XL launch vehicle carried aloft by an Orbital Sciences Corporation aircraft. The fourth stage of the Pegasus rocket will remain attached as an integral part of the spacecraft, allowing it to maneuver in space. Once in orbit, DART will race toward the target, the MUBLCOM satellite, for a rendezvous.

KSC-04pd1686

NASA Image and Video Library

2004-07-16

KENNEDY SPACE CENTER, FLA. - An artist’s conception of the autonomous Demonstration for Autonomous Rendezvous (DART) spacecraft as it approaches the Multiple Paths, Beyond-Line-of-Site Communications (MUBLCOM) satellite. NASA is testing the DART as a docking system for next generation vehicles to guide spacecraft carrying cargo or equipment to the International Space Station, or retrieving or servicing satellites in orbit. Before the new system can be implemented on piloted spacecraft, it has to be tested in space. The computer-guided DART is equipped with an Advanced Video Guidance Sensor and a Global Positioning System that can receive signals from other spacecraft to allow DART to move within 330 feet of the target. DART is scheduled to launch from Vandenberg Air Force Base in California no earlier than Oct. 18. It will be released from a Pegasus XL launch vehicle carried aloft by an Orbital Sciences Corporation aircraft. The fourth stage of the Pegasus rocket will remain attached as an integral part of the spacecraft, allowing it to maneuver in space. Once in orbit, DART will race toward the target, the MUBLCOM satellite, for a rendezvous.

KSC-04pd1685

NASA Image and Video Library

2004-07-16

KENNEDY SPACE CENTER, FLA. - An artist’s conception of the autonomous Demonstration for Autonomous Rendezvous (DART) spacecraft as it approaches the Multiple Paths, Beyond-Line-of-Site Communications (MUBLCOM) satellite. NASA is testing the DART as a docking system for next generation vehicles to guide spacecraft carrying cargo or equipment to the International Space Station, or retrieving or servicing satellites in orbit. Before the new system can be implemented on piloted spacecraft, it has to be tested in space. The computer-guided DART is equipped with an Advanced Video Guidance Sensor and a Global Positioning System that can receive signals from other spacecraft to allow DART to move within 330 feet of the target. DART is scheduled to launch from Vandenberg Air Force Base in California no earlier than Oct. 18. It will be released from a Pegasus XL launch vehicle carried aloft by an Orbital Sciences Corporation aircraft. The fourth stage of the Pegasus rocket will remain attached as an integral part of the spacecraft, allowing it to maneuver in space. Once in orbit, DART will race toward the target, the MUBLCOM satellite, for a rendezvous.

Skylab

NASA Image and Video Library

1972-01-01

This artist's concept is a cutaway illustration of the Skylab with the Command/Service Module being docked to the Multiple Docking Adapter. In an early effort to extend the use of Apollo for further applications, NASA established the Apollo Applications Program (AAP) in August of 1965. The AAP was to include long duration Earth orbital missions during which astronauts would carry out scientific, technological, and engineering experiments in space by utilizing modified Saturn launch vehicles and the Apollo spacecraft. Established in 1970, the Skylab Program was the forerurner of the AAP. The goals of the Skylab were to enrich our scientific knowledge of the Earth, the Sun, the stars, and cosmic space; to study the effects of weightlessness on living organisms, including man; to study the effects of the processing and manufacturing of materials utilizing the absence of gravity; and to conduct Earth resource observations. The Skylab also conducted 19 selected experiments submitted by high school students. Skylab's 3 different 3-man crews spent up to 84 days in Earth orbit. The Marshall Space Flight Center (MSFC) had responsibility for developing and integrating most of the major components of the Skylab: the Orbital Workshop (OWS), Airlock Module (AM), Multiple Docking Adapter (MDA), Apollo Telescope Mount (ATM), Payload Shroud (PS), and most of the experiments. MSFC was also responsible for providing the Saturn IB launch vehicles for three Apollo spacecraft and crews and a Saturn V launch vehicle for the Skylab.

KSC-08pd2092

NASA Image and Video Library

2008-07-21

CAPE CANAVERAL, Fla. – In the high bay of the Payload Hazardous Servicing Facility at NASA's Kennedy Space Center, the protective wrapping has been removed from the Flight Support System for the Hubble Space Telescope revealing the soft capture mechanism , or SCM. The SCM will be permanently attached to Hubble’s aft shroud by spacewalking astronauts and will provide a rendezvous and docking target that can be easily seen and recognized by a docking vehicle. The Flight Support System, or FSS, is one of four carriers supporting hardware for space shuttle Atlantis' STS-125 mission to service the telescope. The Super Lightweight Interchangeable Carrier, or SLIC, and the Orbital Replacement Unit Carrier, or ORUC, have also arrived at Kennedy. The Multi-Use Lightweight Equipment carrier will be delivered in early August. The carriers will be prepared for the integration of telescope science instruments, both internal and external replacement components, as well as the flight support equipment to be used by the astronauts during the Hubble servicing mission, targeted for launch Oct. 8. Photo credit: NASA/Jack Pfaller

Coding and quantification of a facial expression for pain in lambs.

PubMed

Guesgen, M J; Beausoleil, N J; Leach, M; Minot, E O; Stewart, M; Stafford, K J

2016-11-01

Facial expressions are routinely used to assess pain in humans, particularly those who are non-verbal. Recently, there has been an interest in developing coding systems for facial grimacing in non-human animals, such as rodents, rabbits, horses and sheep. The aims of this preliminary study were to: 1. Qualitatively identify facial feature changes in lambs experiencing pain as a result of tail-docking and compile these changes to create a Lamb Grimace Scale (LGS); 2. Determine whether human observers can use the LGS to differentiate tail-docked lambs from control lambs and differentiate lambs before and after docking; 3. Determine whether changes in facial action units of the LGS can be objectively quantified in lambs before and after docking; 4. Evaluate effects of restraint of lambs on observers' perceptions of pain using the LGS and on quantitative measures of facial action units. By comparing images of lambs before (no pain) and after (pain) tail-docking, the LGS was devised in consultation with scientists experienced in assessing facial expression in other species. The LGS consists of five facial action units: Orbital Tightening, Mouth Features, Nose Features, Cheek Flattening and Ear Posture. The aims of the study were addressed in two experiments. In Experiment I, still images of the faces of restrained lambs were taken from video footage before and after tail-docking (n=4) or sham tail-docking (n=3). These images were scored by a group of five naïve human observers using the LGS. Because lambs were restrained for the duration of the experiment, Ear Posture was not scored. The scores for the images were averaged to provide one value per feature per period and then scores for the four LGS action units were averaged to give one LGS score per lamb per period. In Experiment II, still images of the faces nine lambs were taken before and after tail-docking. Stills were taken when lambs were restrained and unrestrained in each period. A different group of five human observers scored the images from Experiment II. Changes in facial action units were also quantified objectively by a researcher using image measurement software. In both experiments LGS scores were analyzed using a linear MIXED model to evaluate the effects of tail docking on observers' perception of facial expression changes. Kendall's Index of Concordance was used to measure reliability among observers. In Experiment I, human observers were able to use the LGS to differentiate docked lambs from control lambs. LGS scores significantly increased from before to after treatment in docked lambs but not control lambs. In Experiment II there was a significant increase in LGS scores after docking. This was coupled with changes in other validated indicators of pain after docking in the form of pain-related behaviour. Only two components, Mouth Features and Orbital Tightening, showed significant quantitative changes after docking. The direction of these changes agree with the description of these facial action units in the LGS. Restraint affected people's perceptions of pain as well as quantitative measures of LGS components. Freely moving lambs were scored lower using the LGS over both periods and had a significantly smaller eye aperture and smaller nose and ear angles than when they were held. Agreement among observers for LGS scores were fair overall (Experiment I: W=0.60; Experiment II: W=0.66). This preliminary study demonstrates changes in lamb facial expression associated with pain. The results of these experiments should be interpreted with caution due to low lamb numbers. Copyright © 2016 Elsevier B.V. All rights reserved.

KSC-98pc1164

NASA Image and Video Library

1998-09-28

The orbiter Atlantis is towed away from the Shuttle Landing Facility after returning home from California atop its Shuttle Carrier Aircraft. The orbiter spent 10 months in Palmdale undergoing extensive inspections and modifications in the orbiter processing facility there. The modifications included several upgrades enabling it to support International Space Station missions, such as adding an external airlock for ISS docking missions and installing thinner, lighter thermal protection blankets for weight reduction which will allow it to haul heavier cargo. Atlantis will undergo preparations in the Orbiter Processing Facility at KSC for its planned flight in June 1999

Free-flying teleoperator requirements and conceptual design.

NASA Technical Reports Server (NTRS)

Onega, G. T.; Clingman, J. H.

1973-01-01

A teleoperator, as defined by NASA, is a remotely controlled cybernetic man-machine system designed to augment and extend man's sensory, manipulative, and cognitive capabilities. Teleoperator systems can fulfill an important function in the Space Shuttle program. They can retrieve automated satellites for refurbishment and reuse. Cargo can be transferred over short or large distances and orbital operations can be supported. A requirements analysis is discussed, giving attention to the teleoperator spacecraft, docking and stowage systems, display and controls, propulsion, guidance, navigation, control, the manipulators, the video system, the electrical power, and aspects of communication and data management. Questions of concept definition and evaluation are also examined.

LAREDO: LAunching, REndezvous and DOcking Simulation Tool

DTIC Science & Technology

2006-08-01

the Clohessy - Wiltshire equation for small eccentricities and relative distances, as shown in Eq. (12). z 2 y x 2 azz ax2y ay2x3x +−= +−= ++= ω ω...ωω && &&& &&& (12) In case of circular orbits, the LAREDO tool orbital maneuvers are all based on the Clohessy - Wiltshire equations4, where the set...Elliptical maneuvers guidance and control The Clohessy - Wiltshire equations described in the above section cannot be applied when the orbits have a

Flexible Electrostatic Technology for Capture and Handling Project

NASA Technical Reports Server (NTRS)

Keys, Andrew; Bryan, Tom; Horwitz, Chris; Rakoczy, John; Waggoner, Jason

2015-01-01

To NASA unfunded & planned missions: This new capability to sense proximity, flexibly align to, and attractively grip and capture practically any object in space without any pre-designed physical features or added sensors or actuators will enable or enhance many of MSFC's strategic emphasis areas in space transportation, and space systems such as: 1. A Flexible Electrostatic gripper can enable the capture, gripping and releasing of an extraterrestrial sample of different minerals or a sample canister (metallic or composite) without requiring a handle or grapple fixture.(B) 2. Flexible self-aligning in-space capture/soft docking or berthing of ISS resupply vehicles, pressurized modules, or nodes for in-space assembly and shielding, radiator, and solar Array deployment for space habitats (C) 3. The flexible electrostatic gripper when combined with a simple steerable extendible boom can grip, position, and release objects of various shapes and materials with low mass and power without any prior handles or physical accommodations or surface contamination for ISS experiment experiments and in-situ repair.(F)(G) 4. The Dexterous Docking concept previously proposed to allow simple commercial resupply ships to station-keep and capture either ISS or an Exploration vehicle for supply or fluid transfer lacked a self-sensing, compliant, soft capture gripper like FETCH that could retract and attach to a CBM. (I) 5. To enable a soft capture and de-orbit of a piece of orbital debris will require self-aligning gripping and holding an object wherever possible (thermal coverings or shields of various materials, radiators, solar arrays, antenna dishes) with little or no residual power while adding either drag or active low level thrust.(K) 6. With the scalability of the FETCH technology, small satellites can be captured and handled or can incorporate FETCH gripper to dock to and handle other small vehicles and larger objects for de-orbiting or mitigating Orbital debris (L) 7. Many of previous MSFC and NASA proposals or concepts can now be realized or simplified by the development of the this initial and future FETCH grippers including commercial resupply, Exploration vehicle assembly, Satellite servicing, and orbital debris removal since a major part of these missions is to align to and capture some handle. Completed Project (2013 - 2014) Flexible Electrostatic Technology for Capture & Handling Project Center Innovation Fund: MSFC CIF Program | Space Technology Mission Directorate (STMD) For more information visit techport.nasa.gov Some NASA technology projects are smaller (for example SBIR/STTR, NIAC and Center Innovation Fund), and will have less content than other, larger projects. Newly created projects may not sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 pounds per square inch or 70-300 lb./sq. ft. of surface contact, the FETCH can turn-on and turn-off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, and precision relocation for accurate anchor adhesion.

Fully autonomous navigation for the NASA cargo transfer vehicle

NASA Technical Reports Server (NTRS)

Wertz, James R.; Skulsky, E. David

1991-01-01

A great deal of attention has been paid to navigation during the close approach (less than or equal to 1 km) phase of spacecraft rendezvous. However, most spacecraft also require a navigation system which provides the necessary accuracy for placing both satellites within the range of the docking sensors. The Microcosm Autonomous Navigation System (MANS) is an on-board system which uses Earth-referenced attitude sensing hardware to provide precision orbit and attitude determination. The system is capable of functioning from LEO to GEO and beyond. Performance depends on the number of available sensors as well as mission geometry; however, extensive simulations have shown that MANS will provide 100 m to 400 m (3(sigma)) position accuracy and 0.03 to 0.07 deg (3(sigma)) attitude accuracy in low Earth orbit. The system is independent of any external source, including GPS. MANS is expected to have a significant impact on ground operations costs, mission definition and design, survivability, and the potential development of very low-cost, fully autonomous spacecraft.

KSC-98pc259

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, FLA. -- STS-89 Commander Terrence Wilcutt, at left, shakes hands with Pilot Joe Edwards Jr. under the orbiter Endeavour after it landed on Runway 15 at KSC’s Shuttle Landing Facility Jan. 31. Kneeling in front of the wheel of the orbiter's nose, the commander and pilot congratulate each other on a perfect alignment of the wheel down the center of the runway. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the orbiter with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Wilcutt; Pilot Edwards; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov of the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

STS-71, Space Shuttle Mission Report

NASA Technical Reports Server (NTRS)

Frike, Robert W., Jr.

1995-01-01

The STS-71 Space Shuttle Program Mission Report summarizes the Payload activities and provides detailed data on the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Reusable Solid Rocket Motor (RSRM), and the Space Shuttle main engine (SSME) systems performance. STS-71 is the 100th United States manned space flight, the sixty-ninth Space Shuttle flight, the forty-fourth flight since the return-to-flight, the fourteenth flight of the OV-104 Orbiter vehicle Atlantis, and the first joint United States (U.S.)-Russian docking mission since 1975. In addition to the OV-104 Orbiter vehicle, the flight vehicle consisted of an ET that was designated ET-70; three SSMEs that were designated 2028, 2034, and 2032 in positions 1, 2, and 3, respectively; and two SRBs that were designated Bl-072. The RSRMs that were an integral part of the SRBs were designated 360L045A for the left SRB and 360W045B for the right SRB. The STS-71 mission was planned as a 1 0-day plus 1-day-extension mission plus 2 additional days for contingency operations and weather avoidance. The primary objectives of this flight were to rendezvous and dock with the Mir Space Station and perform on-orbit joint U.S.-Russian life sciences investigations, logistical resupply of the Mir Space Station, return of the United States astronaut flying on the Mir, the replacement of the Mir-18 crew with the two-cosmonaut Mir-19 crew, and the return of the Mir-18 crew to Earth. The secondary objectives were to perform the requirements of the IMAX Camera and the Shuttle Amateur Radio experiment-2 (SAREX-2).

Shuttle interaction study extension

NASA Technical Reports Server (NTRS)

1982-01-01

The following areas of Space Shuttle technology were discussed: variable altitude strategy, spacecraft servicing, propellant storage, orbiter plume impingement, space based design, mating (docking and berthing), shuttle fleet utilization, and mission/traffic model.

STS-74 crew talk with recovery convoy crew after landing

NASA Technical Reports Server (NTRS)

1995-01-01

On Runway 33 of KSC's Shuttle Landing Facility, STS-74 Commander Kenneth D. Cameron (left) and Mission Specialists Jerry L. Ross and Chris A. Hadfield chat with KSC recovery convoy crew member Shawn Greenwell, a runway measurement engineer. Cameron guided the orbiter Atlantis to the 27th end-of-mission landing at KSC in Shuttle program history, with main gear touchdown occuring at 12:01:27 p.m. EST. STS-74 marked the second docking of the U.S. Space Shuttle to the Russian Space Station Mir; Atlantis also was flown for the first docking earlier this year and its next mission, STS-76 in 1996, will be the third docking flight.

Techniques for detumbling a disabled space base

NASA Technical Reports Server (NTRS)

Kaplan, M. H.

1973-01-01

Techniques and conceptual devices for carrying out detumbling operations are examined, and progress in the development of these concepts is discussed. Devices which reduce tumble to simple spin through active linear motion of a small mass are described, together with a Module for Automatic Dock and Detumble (MADD) that could perform an orbital transfer from the shuttle in order to track and dock at a preselected point on the distressed craft. Once docked, MADD could apply torques by firing thrustors to detumble the passive vehicle. Optimum combinations of mass-motion and external devices for various situation should be developed. The need for completely formulating the automatic control logic of MADD is also emphasized.

Endeavour SRMS / OBSS during Survey OPS

NASA Image and Video Library

2010-02-09

S130-E-005338 (8 Feb. 2010) --- Backdropped by the South China Sea and the Gulf of Tonkin, the Tranquility node in space shuttle Endeavour’s payload bay, vertical stabilizer, orbital maneuvering system (OMS) pods and a shadow-covered docking mechanism are featured in this image photographed by the STS-130 crew from an aft flight deck window. Hainan Island can be seen between the South China Sea (bottom) and Gulf of Tonkin (top). The Leizhou Peninsula of the Chinese mainland is on the upper right.

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

NASA Technical Reports Server (NTRS)

1991-01-01

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.

APOLLO IX - ART CONCEPTS - EXTRAVEHICULAR ACTIVITY (EVA)

NASA Image and Video Library

1969-02-06

S69-18546 (February 1969) --- North American Rockwell artist's concept illustrating the docking of the Lunar Module ascent stage with the Command and Service Modules during the Apollo 9 mission. The two figures in the Lunar Module represent astronauts James A. McDivitt, Apollo 9 commander; and Russell L. Schweickart, lunar module pilot. The figure in the Command Module represents astronaut David R. Scott, command module pilot. The Apollo 9 mission will evaluate spacecraft lunar module systems performance during manned Earth-orbital flight.

KSC-07pd1774

NASA Image and Video Library

2007-07-03

KENNEDY SPACE CENTER, FLA. -- The main engines on the orbiter Endeavour (upper right) are seen as Endeavour is lowered into high bay 1 of the Vehicle Assembly Building for stacking with the external tank (seen at left) and solid rocket boosters on the mobile launcher platform. Endeavour will be launched on mission STS-118, its first flight in more than four years. The shuttle has undergone extensive modifications, including the addition of safety upgrades already added to shuttles Discovery and Atlantis. Endeavour also features new hardware, such as the Station-to-Shuttle Power Transfer System that will allow the docked shuttle to draw electrical power from the station and extend its visits to the orbiting lab. Endeavour is targeted for launch on Aug. 7. Photo credit: NASA/Troy Cryder

NBL experimental photographic support: STS-111-UF2

NASA Image and Video Library

2008-12-05

JSC2001-02996 (December 2001) --- Astronauts Philippe Perrin and Franklin R. Chang-Diaz practice procedures to be used during space walks scheduled to perform work on the International Space Station (ISS). The two STS-111 mission specialists, wearing training versions of the Extravehicular Mobility Unit (EMU) space suit, make use of the Neutral Buoyancy Laboratory (NBL) giant pool to rehearse their assigned chores. While the Space Shuttle Endeavour is docked to the orbital outpost, two space walks are scheduled to hook up the mobile base system, the second part of the mobile platform for the station’s Canadarm2 robotic arm and other assembly tasks. Perrin represents CNES, the French Space Agency. STS-111 will be the 14th shuttle mission to visit the orbital outpost.

NBL experimental photographic support: STS-111-UF2

NASA Image and Video Library

2008-12-05

JSC2001-02995 (December 2001) --- Astronauts Philippe Perrin and Franklin R. Chang-Diaz practice procedures to be used during space walks scheduled to perform work on the International Space Station (ISS). The two STS-111 mission specialists, wearing training versions of the Extravehicular Mobility Unit (EMU) space suit, make use of the Neutral Buoyancy Laboratory (NBL) giant pool to rehearse their assigned chores. While the Space Shuttle Endeavour is docked to the orbital outpost, two space walks are scheduled to hook up the mobile base system, the second part of the mobile platform for the station’s Canadarm2 robotic arm and other assembly tasks. Perrin represents CNES, the French Space Agency. STS-111 will be the 14th shuttle mission to visit the orbital outpost.

Advanced Video Guidance Sensor and next-generation autonomous docking sensors

NASA Astrophysics Data System (ADS)

Granade, Stephen R.

2004-09-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Advanced Video Guidance Sensor and Next Generation Autonomous Docking Sensors

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Earth Observations taken by the STS-135 Crew

NASA Image and Video Library

2011-07-09

S135-E-006265 (9 July 2011) --- A nadir view from the Earth-orbiting space shuttle Atlantis, photographed by one of four STS-135 crewmembers, shows the southernmost part of Italy, referred to as the "boot." The astronauts were on the mission's second day of activity in Earth orbit, and the eve of docking day with the International Space Station. Photo credit: NASA

STS-100 Photo-op/Shut-up/Depart O&C/Launch Endeavour On Orbit/Landing/Crew Egress

NASA Technical Reports Server (NTRS)

2001-01-01

This video shows an overview of crew activities from STS-100. The crew of Space Shuttle Shuttle Endeavour includes: Commander Kent Rominger; Pilot Jeffrey Ashby; and Mission Specialists Chris Hadfield, John Phillips, Scott Parazynski, Umberto Guidoni, and Yuri Lonchakov. Sections of the video include: Photo-op; Suit-up; Depart O&C; Ingress; Launch with Playbacks; On-orbit; Landing with Playbacks; Crew Egress & Departure. Voiceover narration introduces the astronauts at their pre-flight meal, and continues during the video, except for the launch and landing sequences. Launch playback views include: NEXT; Beach Tracker; VAB; PAD-A; Tower-1; UCS-15; Grandstand; OTV-60; OTV-70; OTV-71; DOAMS; UCS-10 Tracker; UCS-23 Tracker; On-board Ascent Camera. The On-orbit section of the video shows preparations for an extravehicular activity (EVA) to install Canadarm 2 on the International Space Station (ISS). Preparation for docking with the ISS, and the docking of the orbiter and ISS are shown. The attachment of Canadarm 2 and the Raffaello Logistics Module, a resupply vehicle, are shown. The crew also undertakes some maintenance of the ISS. Landing playback views include: TV-1; TV-2; LRO-1; LRO-2; PPOV.

A Survey of LIDAR Technology and Its Use in Spacecraft Relative Navigation

NASA Technical Reports Server (NTRS)

Christian, John A.; Cryan, Scott P.

2013-01-01

This paper provides a survey of modern LIght Detection And Ranging (LIDAR) sensors from a perspective of how they can be used for spacecraft relative navigation. In addition to LIDAR technology commonly used in space applications today (e.g. scanning, flash), this paper reviews emerging LIDAR technologies gaining traction in other non-aerospace fields. The discussion will include an overview of sensor operating principles and specific pros/cons for each type of LIDAR. This paper provides a comprehensive review of LIDAR technology as applied specifically to spacecraft relative navigation. HE problem of orbital rendezvous and docking has been a consistent challenge for complex space missions since before the Gemini 8 spacecraft performed the first successful on-orbit docking of two spacecraft in 1966. Over the years, a great deal of effort has been devoted to advancing technology associated with all aspects of the rendezvous, proximity operations, and docking (RPOD) flight phase. After years of perfecting the art of crewed rendezvous with the Gemini, Apollo, and Space Shuttle programs, NASA began investigating the problem of autonomous rendezvous and docking (AR&D) to support a host of different mission applications. Some of these applications include autonomous resupply of the International Space Station (ISS), robotic servicing/refueling of existing orbital assets, and on-orbit assembly.1 The push towards a robust AR&D capability has led to an intensified interest in a number of different sensors capable of providing insight into the relative state of two spacecraft. The present work focuses on exploring the state-of-the-art in one of these sensors - LIght Detection And Ranging (LIDAR) sensors. It should be noted that the military community frequently uses the acronym LADAR (LAser Detection And Ranging) to refer to what this paper calls LIDARs. A LIDAR is an active remote sensing device that is typically used in space applications to obtain the range to one or more points on a target spacecraft. As the name suggests, LIDAR sensors use light (typically a laser) to illuminate the target and measure the time it takes for the emitted signal to return to the sensor. Because the light must travel from the source, to

STS-79 Space Shuttle Mission Report

NASA Technical Reports Server (NTRS)

Fricke, Robert W., Jr.

1996-01-01

STS-79 was the fourth of nine planned missions to the Russian Mir Space Station. This report summarizes the activities such as rendezvous and docking and spaceborne experiment operations. The report also discusses the Orbiter, External Tank (ET), Solid Rocket Boosters (SRB), Reusable Solid Rocket Motor (RSRM) and the space shuttle main engine (SSME) systems performance during the flight. The primary objectives of this flight were to rendezvous and dock with the Mir Space Station and exchange a Mir Astronaut. A double Spacehab module carried science experiments and hardware, risk mitigation experiments (RME's) and Russian logistics in support of program requirements. Additionally, phase 1 program science experiments were carried in the middeck. Spacehab-05 operations were performed. The secondary objectives of the flight were to perform the operations necessary for the Shuttle Amateur Radio Experiment-2 (SAREX-2). Also, as a payload of opportunity, the requirements of Midcourse Space Experiment (MSX) were completed.

DARPA Orbital Express program: effecting a revolution in space-based systems

NASA Astrophysics Data System (ADS)

Whelan, David A.; Adler, E. A.; Wilson, Samuel B., III; Roesler, Gordon M., Jr.

2000-11-01

A primary goal of the Defense Advanced Research Projects Agency is to develop innovative, high-risk technologies with the potential of a revolutionary impact on missions of the Department of Defense. DARPA is developing a space experiment to prove the feasibility of autonomous on- orbit servicing of spacecraft. The Orbital Express program will demonstrate autonomous on-orbit refueling, as well as autonomous delivery of a small payload representing an avionics upgrade package. The maneuverability provided to spacecraft from a ready refueling infrastructure will enable radical new capabilities for the military, civil and commercial spacecraft. Module replacement has the potential to extend bus lifetimes, and to upgrade the performance of key subsystems (e.g. processors) at the pace of technology development. The Orbital Express technology development effort will include the necessary autonomy for a viable servicing infrastructure; a universal interface for docking, refueling and module transfers; and a spacecraft bus design compatible with this servicing concept. The servicer spacecraft of the future may be able to act as a host platform for microsatellites, extending their capabilities while reducing risk. An infrastructure based on Orbital Express also benefits from, and stimulates the development of, lower-cost launch strategies.

L-8: Docking Systems and Other Attachment/Release Mechanisms and Related Technologies

NASA Technical Reports Server (NTRS)

Lewis, James

2016-01-01

We are sharpening our focus on Human Space Flight (HSF) Exploration Beyond Low Earth Orbit. We want to ensure that HSF technologies are ready to take Humans to Mars in the 2030s. Various Roadmaps define the needed technologies. We are attempting to define our activities and dependencies. Our Goal: Get within 8 years of launching humans to Mars (L-8) by 2025. Develop and Mature the technologies and systems needed. Develop and Mature the personnel needed. We need collaborators to make it happen, and we think they can benefit by working with us.

Performance of a capillary propellant management device with hydrazine

NASA Technical Reports Server (NTRS)

Tegart, J. R.

1979-01-01

The propellant management device that was successfully used in the Viking Orbiter spacecraft was selected for the main propulsion system of the Teleoperator Retrieval System (TRS). Due to differences in the missions and different propellants, the operation of this sheet metal vane device required reverification for the TRS application. An analytical investigation was performed considering the adverse acceleration environment and the high contract angle of the hydrazine propellant. Drop tower tests demonstrated that the device would provide propellant acquisition while the TRS was docked with Skylab, but its operation would have to be supplemented through propellant settling when free-flying.

Reference equations of motion for automatic rendezvous and capture

NASA Technical Reports Server (NTRS)

Henderson, David M.

1992-01-01

The analysis presented in this paper defines the reference coordinate frames, equations of motion, and control parameters necessary to model the relative motion and attitude of spacecraft in close proximity with another space system during the Automatic Rendezvous and Capture phase of an on-orbit operation. The relative docking port target position vector and the attitude control matrix are defined based upon an arbitrary spacecraft design. These translation and rotation control parameters could be used to drive the error signal input to the vehicle flight control system. Measurements for these control parameters would become the bases for an autopilot or feedback control system (FCS) design for a specific spacecraft.

MISSION CONTROL CENTER (MCC) - APOLLO-SOYUZ TEST PROJECT (ASTP) - JSC

NASA Image and Video Library

1975-07-17

S75-28683 (17 July 1975) --- An overall view of the Mission Operations Control Room in the Mission Control Center during the joint U.S.-USSR Apollo-Soyuz Test Project docking mission in Earth orbit. M.P. Frank, the American senior ASTP flight director, is seated at his console in the right foreground. He is watching the large television monitor which shows a view of the Soyuz spacecraft as seen from the Apollo spacecraft during rendezvous and docking maneuvers.

Space Shuttle Projects

NASA Image and Video Library

1997-09-08

The STS-86 flight was the seventh shuttle-Mir docking mission, symbolized by seven stars. The international crew includes astronauts from the United States, Russia, and France. The flags of these nations are incorporated in the rays of the astronaut logo. The rays of light streaking across the sky depict the orbital tracks of the two spacecraft as they prepare to dock. During the flight, an American astronaut and a Russian cosmonaut will perform an extravehicular activity (EVA). The mercator projection of Earth illustrates the global cooperative nature of the flight.

Space Environment Effects on Silicone Seal Materials

NASA Technical Reports Server (NTRS)

deGroh, Henry C., III; Daniels, Christopher C.; Dever, Joyce A.; Miller, Sharon K.; Waters, Deborah L.; Finkbeiner, Joshua R.; Dunlap, Patrick H.; Steinetz, Bruce M.

2010-01-01

A docking system is being developed by the NASA to support future space missions. It is expected to use redundant elastomer seals to help contain cabin air during dockings between two spacecraft. The sealing surfaces are exposed to the space environment when vehicles are not docked. In space, the seals will be exposed to temperatures between 125 to -75 C, vacuum, atomic oxygen, particle and ultraviolet radiation, and micrometeoroid and orbital debris (MMOD). Silicone rubber is the only class of space flight-qualified elastomeric seal material that functions across the expected temperature range. NASA Glenn has tested three silicone elastomers for such seal applications: two provided by Parker (S0899-50 and S0383-70) and one from Esterline (ELA-SA-401). The effects of atomic oxygen (AO), UV and electron particle radiation, and vacuum on the properties of these three elastomers were examined. Critical seal properties such as leakage, adhesion, and compression set were measured before and after simulated space exposures. The S0899-50 silicone was determined to be inadequate for extended space seal applications due to high adhesion and intolerance to UV, but both S0383-70 and ELA-SA-401 seals were adequate.

KSC-98pc1165

NASA Image and Video Library

1998-09-28

The orbiter Atlantis, being towed from the Shuttle Landing Facility, is reflected in waters from the Banana Creek next to the towway. The orbiter spent 10 months in Palmdale, CA, undergoing extensive inspections and modifications in the orbiter processing facility there. The modifications included several upgrades enabling it to support International Space Station missions, such as adding an external airlock for ISS docking missions and installing thinner, lighter thermal protection blankets for weight reduction which will allow it to haul heavier cargo. Atlantis will undergo preparations in the Orbiter Processing Facility at KSC for its planned flight in June 1999

KSC-98pc688

NASA Image and Video Library

1998-06-02

KENNEDY SPACE CENTER, Fla. -- Some of Florida's natural foliage stands silent sentinel to the lift off of the Space Shuttle Discovery from Launch Pad 39A at 6:06:24 p.m. EDT June 2. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as a STS-91 crew member after living more than four months aboard Mir

STS-91 Launch of Discovery from Launch Pad 39-A

NASA Technical Reports Server (NTRS)

1998-01-01

Some of Florida's natural foliage stands silent sentinel to the lift off of the Space Shuttle Discovery from Launch Pad 39A at 6:06:24 p.m. EDT June 2. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as an STS-91 crew member after living more than four months aboard Mir.

KSC-98pc684

NASA Image and Video Library

1998-06-02

KENNEDY SPACE CENTER, Fla. -- The Space Coast's natural foliage frames the Space Shuttle Discovery and the reflection of the intense heat and light of its liftoff from Launch Pad 39A at 6:06:24 p.m. EDT June 2. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as an STS-91 crew member after living more than four months aboard Mir

KSC-98pc683

NASA Image and Video Library

1998-06-02

KENNEDY SPACE CENTER, Fla. -- Tree branches frame the Space Shuttle Discovery as it lifts off from Launch Pad 39A at 6:06:24 p.m. EDT June 2 on its way to the Mir space station. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as an STS-91 crew member after living more than four months aboard Mir

Orbital Express AVGS Validation and Calibration for Automated Rendezvous

NASA Technical Reports Server (NTRS)

Heaton, Andrew F.; Howard, Richard T.; Pinson, Robin M.

2008-01-01

From March to July of 2007, the DARPA Orbital Express mission achieved a number of firsts in autonomous spacecraft operations. The NASA Advanced Video Guidance Sensor (AVGS) was the primary docking sensor during the first two dockings and was used in a blended mode three other automated captures. The AVGS performance exceeded its specification by approximately an order of magnitude. One reason that the AVGS functioned so well during the mission was that the validation and calibration of the sensor prior to the mission advanced the state-of-the-art for proximity sensors. Some factors in this success were improvements in ground test equipment and truth data, the capability for ILOAD corrections for optical and other effects, and the development of a bias correction procedure. Several valuable lessons learned have applications to future proximity sensors.

Synthesis, spectroscopic investigations, DFT studies, molecular docking and antimicrobial potential of certain new indole-isatin molecular hybrids: Experimental and theoretical approaches

NASA Astrophysics Data System (ADS)

Almutairi, Maha S.; Zakaria, Azza S.; Ignasius, P. Primsa; Al-Wabli, Reem I.; Joe, Isaac Hubert; Attia, Mohamed I.

2018-02-01

Indole-isatin molecular hybrids 5a-i have been synthesized and characterized by different spectroscopic methods to be evaluated as new antimicrobial agents against a panel of Gram positive bacteria, Gram negative bacteria, and moulds. Compound 5h was selected as a representative example of the prepared compounds 5a-i to perform computational investigations. Its vibrational properties have been studied using FT-IR and FT-Raman with the aid of density functional theory approach. The natural bond orbital analysis as well as HOMO and LUMO molecular orbitals investigations of compound 5h were carried out to explore its possible intermolecular delocalization or hyperconjugation and its possible interactions with the target protein. Molecular docking of compound 5h predicted its binding mode with the fungal target protein.

STS-89 Mission Highlights Resource Tape

NASA Technical Reports Server (NTRS)

1998-01-01

The flight crew of the STS-89 Space Shuttle Orbiter Endeavour, Cmdr. Terrence W. Wilcutt, Pilot Frank Edwards, and Mission Specialists Michael P. Anderson, James F. Reilly, Bonnie J. Dunbar, Salizhan Shakirovich Sharipov, David A. Wolf, and Andrew S.W. Thomas, present an overview of their mission. Images include prelaunch activities such as eating the traditional breakfast, crew suit-up, and the ride out to the launch pad. Also included are various panoramic views of the shuttle on the pad. The crew is readied in the white room' for their mission. After the closing of the hatch and arm retraction, launch activities are shown including countdown, engine ignition, launch, and the separation of the Solid Rocket Boosters (SRBs). Once in orbit, there are various views of the Mir Space Station as the shuttle begins its approach and docks. After the docking the two crews open the entry hatch and greet each other. The astronauts and cosmonauts transfer supplies from the shuttle to Mir. The astronauts prepare for the reentry phase of their mission. Endeavour separates from the Russian Space Station with a gentle push from springs in the docking mechanism that attaches it to the Space Station. The final view shows the crews' preparations for reentry and landing.

STS-111 Onboard Photo of Endeavour Docking With PMA-2

NASA Technical Reports Server (NTRS)

2002-01-01

The STS-111 mission, the 14th Shuttle mission to visit the International Space Station (ISS), was launched on June 5, 2002 aboard the Space Shuttle Orbiter Endeavour. On board were the STS-111 and Expedition Five crew members. Astronauts Kerneth D. Cockrell, commander; Paul S. Lockhart, pilot, and mission specialists Franklin R. Chang-Diaz and Philippe Perrin were the STS-111 crew members. Expedition Five crew members included Cosmonaut Valeri G. Korzun, commander, Astronaut Peggy A. Whitson and Cosmonaut Sergei Y. Treschev, flight engineers. Three space walks enabled the STS-111 crew to accomplish the delivery and installation of the Mobile Remote Servicer Base System (MBS), an important part of the Station's Mobile Servicing System that allows the robotic arm to travel the length of the Station, which is necessary for future construction tasks; the replacement of a wrist roll joint on the Station's robotic arm; and the task of unloading supplies and science experiments from the Leonardo multipurpose Logistics Module, which made its third trip to the orbital outpost. In this photograph, the Space Shuttle Endeavour, back dropped by the blackness of space, is docked to the pressurized Mating Adapter (PMA-2) at the forward end of the Destiny Laboratory on the ISS. A portion of the Canadarm2 is visible on the right and Endeavour's robotic arm is in full view as it is stretched out with the S0 (S-zero) Truss at its end.

Flight Test Results from Real-Time Relative Global Positioning System Flight Experiment on STS-69

NASA Technical Reports Server (NTRS)

Park, Young W.; Brazzel, Jack P., Jr.; Carpenter, J. Russell; Hinkel, Heather D.; Newman, James H.

1996-01-01

A real-time global positioning system (GPS) Kalman filter has been developed to support automated rendezvous with the International Space Station (ISS). The filter is integrated with existing Shuttle rendezvous software running on a 486 laptop computer under Windows. In this work, we present real-time and postflight results achieved with the filter on STS-69. The experiment used GPS data from an Osborne/Jet propulsion Laboratory TurboRouge receiver carried on the Wake Shield Facility (WSF) free flyer and a Rockwell Collins 3M receiver carried on the Orbiter. Real time filter results, processed onboard the Shuttle and replayed in near-time on the ground, are based on single vehicle mode operation and on 5 to 20 minute snapshots of telemetry provided by WSF for dual-vehicle mode operation. The Orbiter and WSF state vectors calculated using our filter compare favorably with precise reference orbits determined by the University of Texas Center for Space Research. The lessons learned from this experiment will be used in conjunction with future experiments to mitigate the technology risk posed by automated rendezvous and docking to the ISS.

STS-86 crew member Wolf dons a gas mask during TCDT

NASA Technical Reports Server (NTRS)

1997-01-01

STS-86 Mission Specialist David A. Wolf dons a gas mask as part of training exercises during the Terminal Countdown Demonstration Test (TCDT), a dress rehearsal for launch. Wolf is wearing the patch from his first and only mission to date, STS-58 in 1993. STS-86 will be the seventh docking of the Space Shuttle with the Russian Space Station Mir. During the docking, Wolf will transfer to the orbiting Russian station and become a member of the Mir 24 crew, replacing U.S. astronaut C. Michael Foale, who has been on the Mir since the last docking mission, STS-84, in May. Launch of Mission STS-86 aboard the Space Shuttle Atlantis is targeted for Sept. 25.

APOLLO-SOYUZ TEST PROJECT (ASTP) - CREWMEN - JSC

NASA Image and Video Library

1975-07-09

S75-28361 (9 July 1975) --- These ten American astronauts compose the U.S. prime crew, the backup crew and the crew support team for the joint U.S.-USSR Apollo-Soyuz Test Project docking mission in Earth orbit. They are, left to right, Robert L. Crippen, support team; Robert F. Overmyer, support team; Richard H. Truly, support team; Karol J. Bobko, support team; Donald K. Slayton, prime crew docking module pilot; Thomas P. Stafford, prime crew commander; Vance D. Brand, prime crew command module pilot; Jack R. Lousma, backup crew docking module pilot; Ronald E. Evans, backup crew command module pilot; and Alan L. Bean, backup crew commander. They are photographed by the Apollo Mission Simulator console in Building 5 at NASA's Johnson Space Center.

Aerodynamics of Reentry Vehicle Clipper at Descent Phase

NASA Astrophysics Data System (ADS)

Semenov, Yu. P.; Reshetin, A. G.; Dyadkin, A. A.; Petrov, N. K.; Simakova, T. V.; Tokarev, V. A.

2005-02-01

From Gagarin spacecraft to reusable orbiter Buran, RSC Energia has traveled a long way in the search for the most optimal and, which is no less important, the most reliable spacecraft for manned space flight. During the forty years of space exploration, in cooperation with a broad base of subcontractors, a number of problems have been solved which assure a safe long stay in space. Vostok and Voskhod spacecraft were replaced with Soyuz supporting a crew of three. During missions to a space station, it provides crew rescue capability in case of a space station emergency at all times (the spacecraft life is 200 days).The latest modification of Soyuz spacecraft -Soyuz TMA -in contrast to its predecessors, allows to become a space flight participant to a person of virtually any anthropometric parameters with a mass of 50 to 95 kg capable of withstanding up to 6 g load during descent. At present, Soyuz TMA spacecraft are the state-of-the-art, reliable and only means of the ISS crew delivery, in-flight support and return. Introduced on the basis of many years of experience in operation of manned spacecraft were not only the principles of deep redundancy of on-board systems and equipment, but, to assure the main task of the spacecraft -the crew return to Earth -the principles of functional redundancy. That is, vital operations can be performed by different systems based on different physical principles. The emergency escape system that was developed is the only one in the world that provides crew rescue in case of LV failure at any phase in its flight. Several generations of space stations that have been developed have broadened, virtually beyond all limits, capabilities of man in space. The docking system developed at RSC Energia allowed not only to dock spacecraft in space, but also to construct in orbit various complex space systems. These include large space stations, and may include in the future the in-orbit construction of systems for the exploration of the Moon and Mars.. Logistics spacecraft Progress have been flying regularly since 1978. The tasks of these unmanned spacecraft include supplying the space station with all the necessities for long-duration missions, such as propellant for the space station propulsion system, crew life support consumables, scientific equipment for conducting experiments. Various modifications of the spacecraft have expanded the space station capabilities. 1988 saw the first, and, much to our regret, the last flight of the reusable orbiter Buran.. Buran could deliver to orbit up to 30 tons of cargo, return 20 tons to Earth and have a crew of up to 10. However, due to our country's economic situation the project was suspended.

Biconic cargo return vehicle with an advanced recovery system

NASA Technical Reports Server (NTRS)

1990-01-01

The current space exploration initiative is focused around the development of the Space Station Freedom (SSF). Regular resupply missions must support a full crew on the station. The present mission capability of the shuttle is insufficient, making it necessary to find an alternative. One alternative is a reusable Cargo Return Vehicle (CRV). The suggested design is a biconic shaped, dry land recovery CRV with an advance recovery system (ARC). A liquid rocket booster will insert the CRV into a low Earth orbit. Three onboard liquid hydrogen/liquid oxygen engines are used to reach the orbit of the station. The CRV will dock to the station and cargo exchange will take place. Within the command and control zone (CCZ), the CRV will be controlled by a gaseous nitrogen reaction control system (RCS). The CRV will have the capability to exchange the payload with the Orbital Maneuvering Vehicle (OMV). The bent biconic shape will give the CRV sufficient crossrange to reach Edwards Air Force Base and several alternative sites. Near the landing site, a parafoil-shaped ARS is deployed. The CRV is designed to carry a payload of 40 klb, and has an unloaded weight of 35 klb.

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

NASA Technical Reports Server (NTRS)

Schuster, John R.; Brown, Norman S.

1987-01-01

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.

SSSFD manipulator engineering using statistical experiment design techniques

NASA Technical Reports Server (NTRS)

Barnes, John

1991-01-01

The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

KSC-98pc830

NASA Image and Video Library

1998-07-14

STS-88 crew members inspect the orbital docking mechanism in the payload bay of Orbiter Endeavour during the Crew Equipment Interface Test (CEIT), held in the Orbiter Processing Facility Bay 1 at KSC. The CEIT gives astronauts an opportunity for a hands-on look at the payloads on which they will be working on orbit. STS-88 will be the first Space Shuttle launch for the International Space Station. Scheduled to lift off on Dec. 3, 1998, the seven-day mission will be highlighted by the mating of the U.S.-built Unity connecting module to the Zarya control module, which will already be in orbit, and two space walks to connect power and data transmission cables between the two modules

The Advanced Re-Entry Vehicle (ARV) A Development Step From ATV Toward Manned Transportation Systems

NASA Astrophysics Data System (ADS)

Bottacini, Massimiliano; Berthe, Philippe; Vo, Xavier; Pietsch, Klaus

2011-05-01

The Advanced Re-entry Vehicle (ARV) programme has been undertaken by Europe with the objective to contribute to the preparation of a future European crew transportation system, while providing a valuable logistic support to the ISS through an operational cargo return system. This development would allow: - the early acquisition of critical technologies; - the design, development and testing of elements suitable for the follow up human rated transportation system. These vehicles should also serve future LEO infrastructures and exploration missions. With the aim to satisfy the above objectives a team composed by major European industries and led by EADS Astrium Space Transportation is currently conducting the phase A of the programme under contract with the European Space Agency (ESA). Two vehicle versions are being investigated: a Cargo version, transporting cargo only to/from the ISS, and a Crew version, which will allow the transfer of both crew and cargo to/from the ISS. The ARV Cargo version, in its present configuration, is composed of three modules. The Versatile Service Module (VSM) provides to the system the propulsion/GNC for orbital manoeuvres and attitude control and the orbital power generation. Its propulsion system and GNC shall be robust enough to allow its use for different launch stacks and different LEO missions in the future. The Un-pressurised Cargo Module (UCM) provides the accommodation for about 3000 kg of unpressurised cargo and is to be sufficiently flexible to ensure the transportation of: - orbital infrastructure components (ORU’s); - scientific / technological experiments; - propellant for re-fuelling, re-boost (and de-orbiting) of the ISS. The Re-entry Module (RM) provides a pressurized volume to accommodate active/passive cargo (2000 kg upload/1500 kg download). It is conceived as an expendable conical capsule with spherical heat-shield, interfacing with the new docking standard of the ISS, i.e. it carries the IBDM docking system, on a dedicated adapter. Its thermo-mechanical design, GNC, descent & landing systems take into account its future evolution for crew transportation. The ARV Crew version is also composed of three main modules: - an Integrated Resource Module (IRM) providing the main propulsion and power functions during the on-orbit phases of the mission; - a Re-entry Module (RM) providing the re-entry function and a pressurized environment for four crew members and about 250 kg of passive / active cargo; - a Crew Escape System (CES) providing the function of emergency separation of the RM from the launcher (in case of failure of this latter). The paper presents an overview of the ARV Cargo and Crew versions requirements derived from the above objectives, their mission scenarios, system architectures and performances. The commonality aspects between the ARV Cargo version and future transportation systems (including also the ARV Crew version and logistic carriers) are also highlighted.

Microgravity experiments of nano-satellite docking mechanism for final rendezvous approach and docking phase

NASA Astrophysics Data System (ADS)

Ui, Kyoichi; Matunaga, Saburo; Satori, Shin; Ishikawa, Tomohiro

2005-09-01

Laboratory for Space Systems (LSS), Tokyo Institute of Technology (Tokyo Tech) conducted three-dimensional microgravity environment experiments about a docking mechanism for mothership-daughtership (MS-DS) nano-satellite using the facility of Japan Micro Gravity Center (JAMIC) with Hokkaido Institute of Technology (HIT). LSS has studied and developed a docking mechanism for MS-DS nano-satellite system in final rendezvous approach and docking phase since 2000. Consideration of the docking mechanism is to mate a nano-satellite stably while remaining control error of relative velocity and attitude because it is difficult for nano-satellite to have complicated attitude control and mating systems. Objective of the experiments is to verify fundamental grasping function based on our proposed docking methodology. The proposed docking sequence is divided between approach/grasping phase and guiding phase. In the approach/grasping phase, the docking mechanism grasps the nano-satellite even though the nano-satellite has relative position and attitude control errors as well as relative velocity in a docking space. In the guiding function, the docking mechanism guides the nano-satellite to a docking port while adjusting its attitude in order to transfer electrical power and fuel to the nano-satellite. In the paper, we describe the experimental system including the docking mechanism, control system, the daughtership system and the release mechanism, and describe results of microgravity experiments in JAMIC.

STS-91 Commander Charles Precourt participates in CEIT

NASA Technical Reports Server (NTRS)

1998-01-01

STS-91 Commander Charles Precourt inspects the windows of the cockpit from inside of the orbiter Discovery during the Crew Equipment Interface Test, or CEIT, in KSC's Orbiter Processing Facility Bay 2. During CEIT, the crew have an opportunity to get a hands-on look at the payloads with which they'll be working on- orbit. The STS-91 crew are scheduled to launch aboard the Shuttle Discovery for the ninth and final docking with the Russian Space Station Mir from KSC's Launch Pad 39A on May 28 at 8:05 EDT.

Development of the dynamic motion simulator of 3D micro-gravity with a combined passive/active suspension system

NASA Technical Reports Server (NTRS)

Yoshida, Kazuya; Hirose, Shigeo; Ogawa, Tadashi

1994-01-01

The establishment of those in-orbit operations like 'Rendez-Vous/Docking' and 'Manipulator Berthing' with the assistance of robotics or autonomous control technology, is essential for the near future space programs. In order to study the control methods, develop the flight models, and verify how the system works, we need a tool or a testbed which enables us to simulate mechanically the micro-gravity environment. There have been many attempts to develop the micro-gravity testbeds, but once the simulation goes into the docking and berthing operation that involves mechanical contacts among multi bodies, the requirement becomes critical. A group at the Tokyo Institute of Technology has proposed a method that can simulate the 3D micro-gravity producing a smooth response to the impact phenomena with relatively simple apparatus. Recently the group carried out basic experiments successfully using a prototype hardware model of the testbed. This paper will present our idea of the 3D micro-gravity simulator and report the results of our initial experiments.

Robotics in near-earth space

NASA Technical Reports Server (NTRS)

Card, Michael E.

1991-01-01

The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

Earth Observations taken by the STS-135 Crew

NASA Image and Video Library

2011-07-09

S135-E-006268 (9 July 2011) --- A nadir view from the Earth-orbiting space shuttle Atlantis, photographed by one of four STS-135 crewmembers, shows the area of Italy referred to as the "boot." Part of Sicily is at frame's bottom center. The astronauts were on the mission's second day of activity in Earth orbit, and the eve of docking day with the International Space Station. Photo credit: NASA

Orbital operations study. Appendix A: Interactivity analysis

NASA Technical Reports Server (NTRS)

1972-01-01

Supplemental analyses conducted to verify that safe, feasible, design concepts exist for accomplishing the attendant interface activities of the orbital operations mission are presented. The data are primarily concerned with functions and concepts common to more than one of the interfacing activities or elements. Specific consideration is given to state vector update, payload deployment, communications links, jet plume impingement, attached element operations, docking and structural interface assessment, and propellant transfer.

Space station contamination modeling

NASA Technical Reports Server (NTRS)

Gordon, T. D.

1989-01-01

Current plans for the operation of Space Station Freedom allow the orbit to decay to approximately an altitude of 200 km before reboosting to approximately 450 km. The Space Station will encounter dramatically increasing ambient and induced environmental effects as the orbit decays. Unfortunately, Shuttle docking, which has been of concern as a high contamination period, will likely occur during the time when the station is in the lowest orbit. The combination of ambient and induced environments along with the presence of the docked Shuttle could cause very severe contamination conditions at the lower orbital altitudes prior to Space Station reboost. The purpose here is to determine the effects on the induced external environment of Space Station Freedom with regard to the proposed changes in altitude. The change in the induced environment will be manifest in several parameters. The ambient density buildup in front of ram facing surfaces will change. The source of such contaminants can be outgassing/offgassing surfaces, leakage from the pressurized modules or experiments, purposeful venting, and thruster firings. The third induced environment parameter with altitude dependence is the glow. In order to determine the altitude dependence of the induced environment parameters, researchers used the integrated Spacecraft Environment Model (ISEM) which was developed for Marshall Space Flight Center. The analysis required numerous ISEM runs. The assumptions and limitations for the ISEM runs are described.

Force Modeling and State Propagation for Navigation and Maneuver Planning for the Proximity Operations Nano-Satellite Flight Demonstration Mission

NASA Astrophysics Data System (ADS)

Roscoe, C.; Griesbach, J.; Westphal, J.; Hawes, D.; Carrico, J.

2013-09-01

The state propagation accuracy resulting from different choices of gravitational force models and orbital perturbations is investigated for a pair of CubeSats flying in formation in low Earth orbit (LEO). Accurate on-board state propagation is necessary to autonomously plan maneuvers and perform proximity operations and docking safely. The ability to perform high-precision navigation is made especially challenging by the limited computer processing power available on-board the spacecraft. Propagation accuracy is investigated both in terms of the absolute (chief) state and the relative (deputy relative to chief) state. Different perturbing effects are quantified and related directly to important mission factors such as maneuver accuracy, fuel use (mission lifetime), and collision prediction/avoidance (mission safety). The Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) program is to demonstrate rendezvous proximity operations (RPO), formation flying, and docking with a pair of 3U CubeSats. The program is sponsored by NASA Ames via the Office of the Chief Technologist (OCT) in support of its Small Spacecraft Technology Program (SSTP). The goal of the mission is to demonstrate complex RPO and docking operations with a pair of low-cost 3U CubeSat satellites using passive navigation sensors. The primary orbital perturbation affecting spacecraft in low Earth orbit (LEO) is the Earth oblateness, or J2, perturbation. Provided that a spacecraft does not have an extremely high area-to-mass ratio or is not flying at a very low altitude, the effect of J2 will usually be greater than that of atmospheric drag, which will typically be the next largest perturbing force in LEO. After these perturbations, factors such as higher-order Earth gravitational parameters, third-body perturbations, and solar radiation pressure will follow in magnitude but will have much less noticeable effects than J2 and drag. For spacecraft formations, where relative dynamics and not absolute dynamics are of primary importance, J2 will still be significant but drag effects become highly dependent on differences in the ballistic coefficients of the spacecraft in the formation. The PONSFD program uses a pair of 3U CubeSats with protruding solar panels, which means that inertial attitude differences between the two spacecraft will result in large differences in presented cross-sectional area. However, on-board prediction of drag effects may not be practical in all circumstances because it requires accurate knowledge of the Earth's atmospheric density as well as of the attitude of both spacecraft. This paper investigates the accuracy of performing long-term state propagation using different choices of gravitational force models and orbital perturbations for a wide range of orbit altitude and inclination possibilities. Propagation accuracy is affected by a number of orbit parameters and force model parameters which makes performing such a study with uncertain orbit knowledge a challenging prospect. However, much intuition can be gained by breaking the study down in terms of each of these parameters to see the effect of each one individually. The results of this study will be used to select a propagation method for the on-board navigation system for the mission.

Earth Observation taken by EHDC2

NASA Image and Video Library

2017-09-06

iss053e002946 (Sept. 6, 2017) --- The Soyuz MS-05 crew spacecraft is pictured docked to the Rassvet Mini-Research Module-1 as the International Space Station was orbiting above northern central China during a night pass.

NASA Docking System (NDS) Technical Integration Meeting

NASA Technical Reports Server (NTRS)

Lewis, James L.

2010-01-01

This slide presentation reviews the NASA Docking System (NDS) as NASA's implementation of the International Docking System Standard (IDSS). The goals of the NDS, is to build on proven technologies previously demonstrated in flight and to advance the state of the art of docking systems by incorporating Low Impact Docking System (LIDS) technology into the NDS. A Hardware Demonstration was included in the meeting, and there was discussion about software, NDS major system interfaces, integration information, schedule, and future upgrades.

Combining molecular docking and QSAR studies for modeling the anti-tyrosinase activity of aromatic heterocycle thiosemicarbazone analogues

NASA Astrophysics Data System (ADS)

Dong, Huanhuan; Liu, Jing; Liu, Xiaoru; Yu, Yanying; Cao, Shuwen

2018-01-01

A collection of thirty-six aromatic heterocycle thiosemicarbazone analogues presented a broad span of anti-tyrosinase activities were designed and obtained. A robust and reliable two-dimensional quantitative structure-activity relationship model, as evidenced by the high q2 and r2 values (0.848 and 0.893, respectively), was gained based on the analogues to predict the quantitative chemical-biological relationship and the new modifier direction. Inhibitory activities of the compounds were found to greatly depend on molecular shape and orbital energy. Substituents brought out large ovality and high highest-occupied molecular orbital energy values helped to improve the activity of these analogues. The molecular docking results provided visual evidence for QSAR analysis and inhibition mechanism. Based on these, two novel tyrosinase inhibitors O04 and O05 with predicted IC50 of 0.5384 and 0.8752 nM were designed and suggested for further research.

STS-91 Launch of Discovery from Launch Pad 39-A

NASA Technical Reports Server (NTRS)

1998-01-01

Searing the early evening sky with its near sun-like rocket exhaust, the Space Shuttle Discovery lifts off from Launch Pad 39A at 6:06:24 p.m. EDT June 2 on its way to the Mir space station. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as a STS-91 crew member after living more than four months aboard Mir.

Vibrational, spectroscopic, molecular docking and density functional theory studies on N-(5-aminopyridin-2-yl)acetamide

NASA Astrophysics Data System (ADS)

Asath, R. Mohamed; Rekha, T. N.; Premkumar, S.; Mathavan, T.; Benial, A. Milton Franklin

2016-12-01

Conformational analysis was carried out for N-(5-aminopyridin-2-yl)acetamide (APA) molecule. The most stable, optimized structure was predicted by the density functional theory calculations using the B3LYP functional with cc-pVQZ basis set. The optimized structural parameters and vibrational frequencies were calculated. The experimental and theoretical vibrational frequencies were assigned and compared. Ultraviolet-visible spectrum was simulated and validated experimentally. The molecular electrostatic potential surface was simulated. Frontier molecular orbitals and related molecular properties were computed, which reveals that the higher molecular reactivity and stability of the APA molecule and further density of states spectrum was simulated. The natural bond orbital analysis was also performed to confirm the bioactivity of the APA molecule. Antidiabetic activity was studied based on the molecular docking analysis and the APA molecule was identified that it can act as a good inhibitor against diabetic nephropathy.

KSC-98pc732

NASA Image and Video Library

1998-06-02

KENNEDY SPACE CENTER, Fla. -- Startled by the thunderous roar of the Space Shuttle Discovery’s engines as it lifts off, birds hurriedly leave the Launch Pad 39A area for a more peaceful site. Liftoff time for the 91st Shuttle launch and last Shuttle-Mir mission was 6:06:24 p.m. EDT June 2. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as an STS-91 crew member after living more than four months aboard Mir

GEMINI-TITAN (GT)-9 PREFLIGHT ACTIVITY - ASTRONAUT THOMAS P. STAFFORD - MISC. - KSC

NASA Image and Video Library

1969-01-21

S66-32044 (17 May 1966) --- Astronauts Eugene A. Cernan (left), pilot, and Thomas P. Stafford, command pilot, discuss the postponed Gemini-9 mission just after egressing their spacecraft in the white room atop Pad 19. The Agena Target Vehicle failed to achieve orbit, causing a termination of the mission. The spaceflight (to be called Gemini-9A) has been rescheduled for May 31. A Gemini Augmented Target Docking Adapter will be used as the rendezvous and docking vehicle for the Gemini-9 spacecraft. Photo credit: NASA

MISSION CONTROL CENTER (MCC) - APOLLO-SOYUZ TEST PROJECT (ASTP) - JSC

NASA Image and Video Library

1975-07-17

S75-28682 (17 July 1975) --- An overall view of the Mission Operations Control Room in the Mission Control Center during the joint U.S.-USSR Apollo-Soyuz Test Project docking mission in Earth orbit. The large television monitor shows a view of the Soyuz spacecraft as seen from the Apollo spacecraft during rendezvous and docking maneuvers. Eugene F. Kranz, JSC Deputy Director of Flight Operations, is standing in the foreground. M.P. Frank, the American senior ASTP flight director, is partially obscured on the right.

Mir Space Station survey pre- and post-docking during STS-76 mission

NASA Image and Video Library

1996-03-24

STS076-705-019 (23 March 1996) --- Backdropped against the darkness of space, Russia's Mir Space Station is seen from the aft flight deck window of the Space Shuttle Atlantis. The two spacecraft were about to make their third docking in Earth-orbit. With the subsequent delivery of astronaut Shannon W. Lucid to the Mir Space Station, the Mir-21 crew grew to three, as the mission specialist quickly becomes a cosmonaut guest researcher. She will spend approximately 140 days on Mir before returning to Earth.

Foale on middeck with tea

NASA Image and Video Library

1997-09-30

S86-E-5346 (30 September 1997) --- This Electronic Still Camera (ESC) image shows astronaut C. Michael Foale, mission specialist, hydrating tea in the middeck of the Earth-orbiting Space Shuttle Atlantis. Foale, now a STS-86 crew member, has been onboard the Russian Mir Space Station as a cosmonaut guest researcher since mid-May 1997. He was replaced by astronaut David A. Wolf during the STS-86 Atlantis/Mir docking mission. This is the seventh Atlantis/Mir docking mission. This view was taken at 00:35:35 GMT on September 30, 1997.

Expedition 54 Soyuz Docking

NASA Image and Video Library

2017-12-19

NASA International Space Station Program Manager Kirk Shireman speaks with the Expedition 54 crew from the Moscow Mission Control Center in Korolev, Russia a few hours after the Soyuz MS-07 docked to the International Space Station on Tuesday, Dec. 19, 2017. Hatches were opened at 5:55 a.m. EST and Anton Shkaplerov of Roscosmos, Scott Tingle of NASA, and Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) joined Expedition 54 Commander Alexander Misurkin of Roscosmos and crewmates Mark Vande Hei and Joe Acaba of NASA aboard the orbiting laboratory. Photo Credit: (NASA/Joel Kowsky)

Autonomous Rendezvous and Docking Conference, volume 2

NASA Technical Reports Server (NTRS)

1990-01-01

Autonomous Rendezvous and Docking (ARD) will be a requirement for future space programs. Clear examples include satellite servicing, repair, recovery, and reboost in the near term, and the longer range lunar and planetary exploration programs. ARD will permit more aggressive unmanned space activities, while providing a valuable operational capability for manned missions. The purpose of the conference is to identify the technologies required for an on-orbit demonstration of ARD, assess the maturity of those technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

KSC-98pc1166

NASA Image and Video Library

1998-09-28

The orbiter Atlantis, being towed from the Shuttle Landing Facility toward the Vehicle Assembly Building (VAB) , intersects the morning sun's rays. In the background, to the right of the VAB, are the Orbiter Processing Facility 1 and 2. Atlantis spent 10 months in Palmdale, CA, undergoing extensive inspections and modifications in the orbiter processing facility there. The modifications included several upgrades enabling it to support International Space Station missions, such as adding an external airlock for ISS docking missions and installing thinner, lighter thermal protection blankets for weight reduction which will allow it to haul heavier cargo. Atlantis will undergo preparations at KSC in Orbiter Processing Facility 2 for its planned flight in June 1999

Autonomous berthing/unberthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF)

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

Discussed here is the autonomous berthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF) developed by NASA for berthing and docking applications in space. The WAM/WAF system enables fast and reliable berthing (unberthing) of space hardware. A successful operation of the WAM/WAF requires that the WAM motor velocity be precisely controlled. The operating principle and the design of the WAM/WAF is described as well as the development of a control system used to regulate the WAM motor velocity. The results of an experiment in which the WAM/WAF is used to handle an orbital replacement unit are given.

Orion Orbit Control Design and Analysis

NASA Technical Reports Server (NTRS)

Jackson, Mark; Gonzalez, Rodolfo; Sims, Christopher

2007-01-01

The analysis of candidate thruster configurations for the Crew Exploration Vehicle (CEV) is presented. Six candidate configurations were considered for the prime contractor baseline design. The analysis included analytical assessments of control authority, control precision, efficiency and robustness, as well as simulation assessments of control performance. The principles used in the analytic assessments of controllability, robustness and fuel performance are covered and results provided for the configurations assessed. Simulation analysis was conducted using a pulse width modulated, 6 DOF reaction system control law with a simplex-based thruster selection algorithm. Control laws were automatically derived from hardware configuration parameters including thruster locations, directions, magnitude and specific impulse, as well as vehicle mass properties. This parameterized controller allowed rapid assessment of multiple candidate layouts. Simulation results are presented for final phase rendezvous and docking, as well as low lunar orbit attitude hold. Finally, on-going analysis to consider alternate Service Module designs and to assess the pilot-ability of the baseline design are discussed to provide a status of orbit control design work to date.

NASA Docking System (NDS) Interface Definitions Document (IDD). Revision F, Dec. 15, 2011

NASA Technical Reports Server (NTRS)

Lewis, James

2011-01-01

The NASA Docking System (NDS) mating system supports low approach velocity docking and provides a modular and reconfigurable standard interface, supporting crewed and autonomous vehicles during mating and assembly operations. The NDS is NASA s implementation for the International Docking System Standard (IDSS) using low impact docking technology. All NDS configurations can mate with the configuration specified in the IDSS Interface Definition Document (IDD), Revision A, released May 13, 2011. The NDS evolved from the Low Impact Docking System (LIDS). The term (and its associated acronym), international Low Impact Docking System (iLIDS) is also used to describe this system. NDS and iLIDS may be used interchangeability. Some of the heritage documentation and implementations (e.g., software command names) used on the NDS will continue to use the LIDS acronym.

Astronaut Vance Brand at controls of Apollo Command Module

NASA Technical Reports Server (NTRS)

1975-01-01

Astronaut Vance D. Brand, command module pilot of the American ASTP crew, is seen at the controls of the Apollo Command Module during the joint U.S.-USSR Apollo Soyuz Test Project (ASTP) docking in Earth orbit mission.

OMV--Short Range Vehicle Concept

NASA Technical Reports Server (NTRS)

1986-01-01

In this 1986 artist's concept, the Orbital Maneuvering Vehicle (OMV), is shown without its main propulsion module. Essentially two propulsion vehicles in one, the OMV could be powered by a main propulsion module , or, in its short range vehicle configuration shown here, use its own hydrazine and cold gas thrusters. As envisioned by Marshall Space Flight Center plarners, the OMV would be a remotely-controlled free-flying space tug which would place, rendezvous, dock, and retrieve orbital payloads.

STS-120 Flight Controllers on console during mission

NASA Image and Video Library

2007-10-31

JSC2007-E-095788 (3 Nov. 2007) --- Flight directors Norm Knight (left) and Bryan Lunney, inside the shuttle flight control room of JSC's Mission Control Center, monitor the progress of the Nov. 3 spacewalk by two members of Discovery's crew, while the space shuttle is docked with the International Space Station in Earth orbit. Astronaut Scott Parazynski was busy at work on repairing a tear in a solar panel on the orbiting outpost.

Early Program Development

NASA Image and Video Library

1986-01-01

In this 1986 artist's concept, the Orbital Maneuvering Vehicle (OMV), is shown without its main propulsion module. Essentially two propulsion vehicles in one, the OMV could be powered by a main propulsion module , or, in its short range vehicle configuration shown here, use its own hydrazine and cold gas thrusters. As envisioned by Marshall Space Flight Center plarners, the OMV would be a remotely-controlled free-flying space tug which would place, rendezvous, dock, and retrieve orbital payloads.

Capability 9.3 Assembly and Deployment

NASA Technical Reports Server (NTRS)

Dorsey, John

2005-01-01

Large space systems are required for a range of operational, commercial and scientific missions objectives however, current launch vehicle capacities substantially limit the size of space systems (on-orbit or planetary). Assembly and Deployment is the process of constructing a spacecraft or system from modules which may in turn have been constructed from sub-modules in a hierarchical fashion. In-situ assembly of space exploration vehicles and systems will require a broad range of operational capabilities, including: Component transfer and storage, fluid handling, construction and assembly, test and verification. Efficient execution of these functions will require supporting infrastructure, that can: Receive, store and protect (materials, components, etc.); hold and secure; position, align and control; deploy; connect/disconnect; construct; join; assemble/disassemble; dock/undock; and mate/demate.

Quantum mechanical, spectroscopic study (FT-IR and FT - Raman), NBO analysis, HOMO-LUMO, first order hyperpolarizability and docking studies of a non-steroidal anti-inflammatory compound

NASA Astrophysics Data System (ADS)

Sakthivel, S.; Alagesan, T.; Muthu, S.; Abraham, Christina Susan; Geetha, E.

2018-03-01

Experimental and theoretical studies on the optimized geometrical structure, electronic and vibrational characteristics of (+)-(S)-2-(6-methoxynaphthalen-2-yl) propanoic acid are presented employing B3LYP/6-311++G (d,p) basis set. Simulated FT-IR and FT-Raman spectra were in concurrence with the observed spectra attained in a spectral range of FT-IR (4000 - 400 cm-1) and FT-Raman (4000 - 100 cm-1). Quantum chemical calculations and the comprehensive vibrational assignments of wavenumbers of the optimized geometry using Potential Energy Distribution (PED) were calculated with scaled quantum mechanics. The infrared intensities and Raman intensities of (+)-(S)-2-(6-methoxynaphthalen-2-yl) propanoic acid were reported. Frontier molecular orbital analysis and reactivity parameters were calculated. Molecular Electrostatic Potential (MEP), Natural Bond Orbital (NBO) analysis, Non Linear Optical (NLO) behavior and thermodynamic properties were studied. In addition, the Mulliken charge distribution and Fukui function were analyzed. Molecular docking was used to dock in the title molecule into the active site of the protein 5L9B which belongs to the class of proteins exhibiting the property as a HIF1A (Hypoxia-inducible factor 1-alpha) expression inhibitor and the minimum binding energy was detected to be -6.2 kcal/mol.

STS-71 mission highlights resource tape

NASA Astrophysics Data System (ADS)

1995-09-01

This video highlights the international cooperative Shuttle/Mir mission of the STS-71 flight. The STS-71 flightcrew consists of Cmdr. Robert Hoot' Gibson, Pilot Charles Precourt, and Mission Specialists Ellen Baker, Bonnie Dunbar, and Gregory Harbaugh. The Mir 18 flightcrew consisted of Cmdr. Vladamir Dezhurov, Flight Engineer Gennady Strekalov, and Cosmonaut-Research Dr. Norman Thagard. The Mir 18 crew consisted of Cmdr. Anatoly Solovyev and Flight Engineer Nikolai Budarin. The prelaunch, launch, shuttle in-orbit, and in-orbit rendezvous and docking of the Mir Space Station to the Atlantis Space Shuttle are shown. The Mir 19 crew accompanied the STS-71 crew and will replace the Mir 18 crew upon undocking from the Mir Space Station. Shown is on-board footage from the Mir Space Station of the Mir 18 crew engaged in hardware testing and maintenance, medical and physiological tests, and a tour of the Mir. A spacewalk by the two Mir 18 cosmonauts is shown as they performed maintenance of the Mir Space Station. After the docking between Atlantis and Mir is completed, several mid-deck physiological experiments are performed along with a tour of Atlantis. Dr Thagard remained behind with the Shuttle after undocking to return to Earth with reports from his Mir experiments and observations. In-cabin experiments included the IMAX Camera Systems tests and the Shuttle Amateur Radio Experiment-2 (SAREX-2). There is footage of the shuttle landing.

KSC-98pc829

NASA Image and Video Library

1998-07-14

STS-88 crew members inspect the orbital docking mechanism in the payload bay of Orbiter Endeavor during the Crew Equipment Interface Test (CEIT), held in the Orbiter Processing Facility Bay 1 at KSC. The tunnel and airlock are below it. The CEIT gives astronauts an opportunity for a hands-on look at the payloads on which they will be working on orbit. STS-88 will be the first Space Shuttle launch for the International Space Station. Scheduled to lift off from KSC on Dec. 3, 1998, the seven-day mission will be highlighted by the mating of the U.S.-built Unity connecting module to the Zarya control module, which will already be in orbit, and two space walks to connect power and data transmission cables between the two modules

Summary Report of Mission Acceleration Measurements for STS-89: Launched January 22, 1998

NASA Technical Reports Server (NTRS)

Hrovat, Kenneth; McPherson, Kevin

1999-01-01

Support of microgravity research on the 89th flight of the Space Transportation System (STS-89) and a continued effort to characterize the acceleration environment of the Space Shuttle Orbiter and the Mir Space Station form the basis for this report. For the STS-89 mission, the Space Shuttle Endeavour was equipped with a Space Acceleration Measurement System (SAMS) unit, which collected more than a week's worth of data. During docked operations with Mir, a second SAMS unit collected approximately a day's worth of data yielding the only set of acceleration measurements recorded simultaneously on the two spacecraft. Based on the data acquired by these SAMS units, this report serves to characterize a number of acceleration events and quantify their impact on the local nature of the accelerations experienced at the Mechanics of Granular Materials (MGM) experiment location. Crew activity was shown to nearly double the median root-mean-square (RMS) acceleration level calculated below 10 Hz, while the Enhanced Orbiter Refrigerator/Freezer operating at about 22 Hz was a strong acceleration source in the vicinity of the MGM location. The MGM science requirement that the acceleration not exceed q I mg was violated numerous times during their experiment runs; however, no correlation with sample instability has been found to this point. Synchronization between the SAMS data from Endeavour and from Mir was shown to be close much of the time, but caution with respect to exact timing should be exercised when comparing these data. When orbiting as a separate vehicle prior to docking, Endeavour had prominent structural modes above 3 Hz, while Mir exhibited a cluster of modes around 1 Hz. When mated, a transition to common modes was apparent in the two SAMS data sets. This report is not a comprehensive analysis of the acceleration data, so those interested in further details should contact the Principal Investigator Microgravity Services team at the National Aeronautics and Space Administration's John H. Glenn Research Center.

The Synergistic Engineering Environment

NASA Technical Reports Server (NTRS)

Cruz, Jonathan

2006-01-01

The Synergistic Engineering Environment (SEE) is a system of software dedicated to aiding the understanding of space mission operations. The SEE can integrate disparate sets of data with analytical capabilities, geometric models of spacecraft, and a visualization environment, all contributing to the creation of an interactive simulation of spacecraft. Initially designed to satisfy needs pertaining to the International Space Station, the SEE has been broadened in scope to include spacecraft ranging from those in low orbit around the Earth to those on deep-space missions. The SEE includes analytical capabilities in rigid-body dynamics, kinematics, orbital mechanics, and payload operations. These capabilities enable a user to perform real-time interactive engineering analyses focusing on diverse aspects of operations, including flight attitudes and maneuvers, docking of visiting spacecraft, robotic operations, impingement of spacecraft-engine exhaust plumes, obscuration of instrumentation fields of view, communications, and alternative assembly configurations. .

Astronauts Stafford and Brand at controls of Apollo Command Module

NASA Technical Reports Server (NTRS)

1975-01-01

Two American ASTP crewmen, Astronauts Thomas P. Stafford (foreground) and Vance D. Brand are seen at the controls of the Apollo Command Module during the joint U.S.-USSR Apollo Soyuz Test Project (ASTP) docking in Earth orbit mission.

Laser Range and Bearing Finder for Autonomous Missions

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object's distance, direction, and orientation. This is true whether the mission is autonomous in-space assembly, rendezvous and docking, or rover surface navigation. Advanced Optical Systems, Inc. has developed a wide-angle laser range and bearing finder (RBF) for autonomous space missions. The laser RBF has a number of features that make it well-suited for autonomous missions. It has an operating range of 10 m to 5 km, with a 5 deg field of view. Its wide field of view removes the need for scanning systems such as gimbals, eliminating moving parts and making the sensor simpler and space qualification easier. Its range accuracy is 1% or better. It is designed to operate either as a stand-alone sensor or in tandem with a sensor that returns range, bearing, and orientation at close ranges, such as NASA's Advanced Video Guidance Sensor. We have assembled the initial prototype and are currently testing it. We will discuss the laser RBF's design and specifications. Keywords: laser range and bearing finder, autonomous rendezvous and docking, space sensors, on-orbit sensors, advanced video guidance sensor

Probing vibrational activities, electronic properties, molecular docking and Hirshfeld surfaces analysis of 4-chlorophenyl ({[(1E)-3-(1H-imidazol-1-yl)-1-phenylpropylidene]amino}oxy)methanone: A promising anti-Candida agent

NASA Astrophysics Data System (ADS)

Jayasheela, K.; Al-Wahaibi, Lamya H.; Periandy, S.; Hassan, Hanan M.; Sebastian, S.; Xavier, S.; Daniel, Joseph C.; El-Emam, Ali A.; Attia, Mohamed I.

2018-05-01

The promising anti-Candida agent, 4-chlorophenyl ({[1E-3(1H-imidazole-1-yl)-1-phenylpropylidene}oxy)methanone (4-CPIPM) was comprehensively characterized by FT-IR, FT-Raman, UV, as well as 1H and 13C spectroscopic techniques. The theoretical calculations in the current study utilized Gaussian 09 W software with DFT approach of the B3LYP/6-311++G(d,p) method. The experimental X-ray diffraction data of the 4-CPIPM molecule were compared with the optimized structure and showed well agreement. Intermolecular electronic interactions and their stabilization energies have been analyzed by natural bond orbital method. Potential energy distribution confirmed the normal fundamental mode of vibration with the aid of MOLVIB software. The chemical shift values of the 1H and 13C spectra of the title compound were computed using gauge independent atomic orbital and the results were compared with the experimental values. The time-dependent density function theory method was used to predict the electronic, absorption wavelength and frontier molecular orbital energies. The HOMO-LUMO plots proved the charge transfer in the molecular system of the title compound through conjugated paths. The molecular electrostatic potential analysis provided the electrophilic and nucleophilic reactive sites in the title molecule which have been analyzed using Hirshfeld surface and two dimensions fingerprint plots. Non covalent interactions were also studied using reduced density gradient analysis and color filled electron density diagram. Molecular docking studies of the ligand-protein interactions along with their binding energies were carried out aiming to explain the potent anti-Candida activity of the title molecule.

Low Impact Docking System (LIDS)

NASA Technical Reports Server (NTRS)

LaBauve, Tobie E.

2009-01-01

Since 1996, NASA has been developing a docking system that will simplify operations and reduce risks associated with mating spacecraft. This effort has focused on developing and testing an original, reconfigurable, active, closed-loop, force-feedback controlled docking system using modern technologies. The primary objective of this effort has been to design a docking interface that is tunable to the unique performance requirements for all types of mating operations (i.e. docking and berthing, autonomous and piloted rendezvous, and in-space assembly of vehicles, modules and structures). The docking system must also support the transfer of crew, cargo, power, fluid, and data. As a result of the past 10 years of docking system advancement, the Low Impact Docking System or LIDS was developed. The current LIDS design incorporates the lessons learned and development experiences from both previous and existing docking systems. LIDS feasibility was established through multiple iterations of prototype hardware development and testing. Benefits of LIDS include safe, low impact mating operations, more effective and flexible mission implementation with an anytime/anywhere mating capability, system level redundancy, and a more affordable and sustainable mission architecture with reduced mission and life cycle costs. In 1996 the LIDS project, then known as the Advanced Docking Berthing System (ADBS) project, launched a four year developmental period. At the end of the four years, the team had built a prototype of the soft-capture hardware and verified the control system that will be used to control the soft-capture system. In 2001, the LIDS team was tasked to work with the X- 38 Crew Return Vehicle (CRV) project and build its first Engineering Development Unit (EDU).

Developing a safe on-orbit cryogenic depot

NASA Technical Reports Server (NTRS)

Bahr, Nicholas J.

1992-01-01

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.

Progress 33P undock

NASA Image and Video Library

2009-06-30

ISS020-E-015987 (30 June 2009) --- An unpiloted ISS Progress 33 cargo craft, filled with trash and unneeded items, departs from the International Space Station?s Pirs Docking Compartment at 1:30 p.m. (CDT) on June 30, 2009. The Progress was commanded into a parking orbit for its re-rendezvous with the ISS on July 12, approaching to within 10-15 meters of the Zvezda Service Module to test new automated rendezvous equipment mounted on Zvezda during a pair of spacewalks earlier this month by Gennady Padalka and Mike Barratt that will be used to guide the new Mini-Research Module-2 (MRM2) to an unpiloted docking to the zenith port of Zvezda later this year. MRM2 will serve as a new docking port for Russian spacecraft and an additional airlock for spacewalks conducted out of the Russian segment.

Inflight - Apollo 9 (Crew Activities)

NASA Image and Video Library

1969-03-06

S69-26150 (6 March 1969) --- Television watchers on Earth saw this view of the Apollo 9 Command Module during the second live telecast from Apollo 9 early Thursday afternoon on the fourth day in space. This view is looking through the docking window of the Lunar Module. The cloud-covered Earth can be seen in the background. Inside the Lunar Module "Spider" were Astronauts James A. McDivitt, Apollo 9 commander; and Russell L. Schweickart, lunar module pilot. At this moment Apollo 9 was orbiting Earth with the Command and Service Modules docked nose-to-nose with the Lunar Module. Astronaut David R. Scott, command module pilot, remained at the controls in the Command Module "Gumdrop" while the other two astronauts checked out the Lunar Module. McDivitt and Schweickart moved into the Lunar Module from the Command Module by way of the docking tunnel.

Non-opioid analgesic drug flupirtine: Spectral analysis, DFT computations, in vitro bioactivity and molecular docking study

NASA Astrophysics Data System (ADS)

Leenaraj, D. R.; Hubert Joe, I.

2017-06-01

Spectral features of non-opioid analgesic drug flupirtine have been explored by the Fourier transform infrared, Raman and Nuclear magnetic resonance spectroscopic techniques combined with density functional theory computations. The bioactive conformer of flupirtine is stabilized by an intramolecular Csbnd H⋯N hydrogen bonding resulting by the steric strain of hydrogen atoms. Natural bond orbital and natural population analysis support this result. The charge redistribution also has been analyzed. Antimicrobial activities of flupirtine have been screened by agar well disc diffusion and molecular docking methods, which exposes the importance of triaminopyridine in flupirtine.

President Ford and both the Soviet and American ASTP crews

NASA Technical Reports Server (NTRS)

1974-01-01

President Gerald R. Ford removes the Soviet Soyuz spacecraft model from a model set depicting the 1975 Apollo Soyuz Test Project (ASTP), an Earth orbital docking and rendezvous mission with crewmen from the U.S. and USSR. From left to right, Vladamir A. Shatalov, Chief, Cosmonaut training; Valeriy N. Kubasov, ASTP Soviet engineer; Aleksey A. Leonov, ASTP Soviet crew commander; Thomas P. Stafford, commander of the American crew; Donald K. Slayton, American docking module pilot; Vance D. Brand, command module pilot for the American crew. Dr. George M Low, Deputy Administrator for NASA is partially obscured behind President Ford.

View of docked Apollo 9 Command/Service Module and Lunar Module

NASA Image and Video Library

1969-03-06

AS09-20-3064 (6 March 1969) --- Excellent view of the docked Apollo 9 Command and Service Modules (CSM) and Lunar Module (LM), with Earth in the background, during astronaut David R. Scott's stand-up extravehicular activity (EVA), on the fourth day of the Apollo 9 Earth-orbital mission. Scott, command module pilot, is standing in the open hatch of the Command Module (CM). Astronaut Russell L. Schweickart, lunar module pilot, took this photograph of Scott from the porch of the LM. Inside the LM was astronaut James A. McDivitt, Apollo 9 commander.

Flight deck activity during flyaround of Mir Space Station

NASA Image and Video Library

1996-04-19

STS076-316-008 (23 March 1996) --- On the aft flight deck of the Space Shuttle Atlantis, astronaut Linda M. Godwin uses a hand-held laser instrument to check the range of Russia's Mir Space Station during docking operations. The two spacecraft were in the process of making their third docking in Earth-orbit. With the subsequent delivery of astronaut Shannon W. Lucid to the Mir, the Mir-21 crew grew from two to three, as the mission specialist quickly becomes a cosmonaut guest researcher. Lucid will spend approximately 140 days on Mir before returning to Earth.

Expedition 54 Soyuz Docking

NASA Image and Video Library

2017-12-19

Anton Shkaplerov of Roscosmos is seen after the opening of the hatches between the Soyuz MS-07 spacecraft and the International Space Station on the screens in the Moscow Mission Control Center in Korolev, Russia a few hours after the Soyuz MS-07 docked to the International Space Station on Tuesday, Dec. 19, 2017. Hatches were opened at 5:55 a.m. EST and Shkaplerov, Scott Tingle of NASA, and Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) joined Expedition 54 Commander Alexander Misurkin of Roscosmos and crewmates Mark Vande Hei and Joe Acaba of NASA aboard the orbiting laboratory. Photo Credit: (NASA/Joel Kowsky)

Expedition 54 Soyuz Docking

NASA Image and Video Library

2017-12-19

Japan Aerospace Exploration Agency (JAXA) International Space Station Program Manager Koichi Wakata speaks with the Expedition 54 crew from the Moscow Mission Control Center in Korolev, Russia a few hours after the Soyuz MS-07 docked to the International Space Station on Tuesday, Dec. 19, 2017. Hatches were opened at 5:55 a.m. EST and Anton Shkaplerov of Roscosmos, Scott Tingle of NASA, and Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) joined Expedition 54 Commander Alexander Misurkin of Roscosmos and crewmates Mark Vande Hei and Joe Acaba of NASA aboard the orbiting laboratory. Photo Credit: (NASA/Joel Kowsky)

Russian and American Apollo-Soyuz Test Project (ASTP) - Prime Crew Portrait

NASA Image and Video Library

1975-02-27

S75-22410 (March 1975) --- These five men compose the two prime crews of the joint United States-USSR Apollo-Soyuz Test Project (ASTP) docking mission in Earth orbit scheduled for July 1975. They are astronaut Thomas P. Stafford (standing on left), commander of the American crew; cosmonaut Aleksey A. Leonov (standing on right), commander of the Soviet crew; astronaut Donald K. Slayton (seated on left), docking module pilot of the American crew; astronaut Vance D. Brand (seated center), command module pilot of the American crew; and cosmonaut Valeriy N. Kubasov (seated on right), engineer on the Soviet crew.

KSC-2012-1851

NASA Image and Video Library

2012-02-17

Project Gemini: On Jan. 3, 1962, NASA announced the advanced Mercury Mark II project had been named "Gemini." After 12 missions – 2 uncrewed and 10 crewed – Project Gemini ended Nov. 15, 1966, following a nearly four-day, 59 orbit-flight. Its achievements included long-duration spaceflight, rendezvous and docking of two spacecraft in Earth orbit, extravehicular activity, and precision-controlled re-entry and landing of the spacecraft. Poster designed by Kennedy Space Center Graphics Department/Greg Lee. Credit: NASA

Linear Actuator System for the NASA Docking System

NASA Technical Reports Server (NTRS)

Dick, Brandon N.; Oesch, Christopher; Rupp, Timothy W.

2017-01-01

The Linear Actuator System (LAS) is a major sub-system within the NASA Docking System (NDS). The NDS Block 1 will be used on the Boeing Crew Space Transportation (CST-100) system to achieve docking with the International Space Station. Critical functions in the Soft Capture aspect of docking are performed by the LAS. This paper describes the general function of the LAS, the system's key requirements and technical challenges, and the development and qualification approach for the system.

Enhancing Return from Lunar Surface Missions via the Deep Space Gateway

NASA Astrophysics Data System (ADS)

Chavers, D. G.; Whitley, R. J.; Percy, T. K.; Needham, D. H.; Polsgrove, T. T.

2018-02-01

The Deep Space Gateway (DSG) will facilitate access to and communication with lunar surface assets. With a science airlock, docking port, and refueling capability in an accessible orbit, the DSG will enable high priority science across the lunar surface.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007747 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” is about to dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007862 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” is about to dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007859 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” is about to dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007748 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” is about to dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

Definition of technology development missions for early space station, orbit transfer vehicle servicing, volume 2

NASA Technical Reports Server (NTRS)

1983-01-01

Propellant transfer, storage, and reliquefaction TDM; docking and berthing technology development mission; maintenance technology development mission; OTV/payload integration, space station interface/accommodations; combined TDM conceptual design; programmatic analysis; and TDM equipment usage are discussed.

Empty STS-114 orbiter Discovery Payload bay

NASA Image and Video Library

2005-07-29

ISS011-E-11340 (29 July 2005) --- A "fish-eye" lens on a digital still camera was used to record this image of the Space Shuttle Discovery from the International Space Station, to which it is docked for several days of joint activities.

iss054e022072

NASA Image and Video Library

2018-01-12

iss054e022072 (Jan. 12, 2018) --- The International Space Station orbits above the Falkland Islands off the coast of the southern-most portion of Argentina on the continent of South America. In the upper-right of the photograph is the docked Progress 68 cargo craft.

Design, Development and Testing of the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) Guidance, Navigation and Control System

NASA Technical Reports Server (NTRS)

Wagenknecht, J.; Fredrickson, S.; Manning, T.; Jones, B.

2003-01-01

Engineers at NASA Johnson Space Center have designed, developed, and tested a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities. The technology demonstration system, known as the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam), has been integrated into the approximate form and function of a flight system. The primary focus has been to develop a system capable of providing external views of the International Space Station. The Mini AERCam system is spherical-shaped and less than eight inches in diameter. It has a full suite of guidance, navigation, and control hardware and software, and is equipped with two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations. Tests have been performed in both a six degree-of-freedom closed-loop orbital simulation and on an air-bearing table. The Mini AERCam system can also be used as a test platform for evaluating algorithms and relative navigation for autonomous proximity operations and docking around the Space Shuttle Orbiter or the ISS.

Mechanism test bed. Flexible body model report

NASA Technical Reports Server (NTRS)

Compton, Jimmy

1991-01-01

The Space Station Mechanism Test Bed is a six degree-of-freedom motion simulation facility used to evaluate docking and berthing hardware mechanisms. A generalized rigid body math model was developed which allowed the computation of vehicle relative motion in six DOF due to forces and moments from mechanism contact, attitude control systems, and gravity. No vehicle size limitations were imposed in the model. The equations of motion were based on Hill's equations for translational motion with respect to a nominal circular earth orbit and Newton-Euler equations for rotational motion. This rigid body model and supporting software were being refined.

View of an eyebolt seen as foreign object debris (FOD) during Expedition 8

NASA Image and Video Library

2004-02-15

ISS008-E-15890 (15 February 2004) --- This image was taken from the International Space Station (ISS) Feb 15 and shows a small piece of debris reported by the Expedition 8 crew. The debris, which has been identified as a two-inch "eyebolt" from a solar array on the Progress cargo craft that recently docked with the Station, drifted slowly away and posed no problems for the complex. The eyebolt is from a system that is used with the arrays during the Progress' launch and serves no function after the arrays are deployed in orbit.

Aerospace applications of atmospheric rendezvous.

NASA Technical Reports Server (NTRS)

Bird, J. D.; Schaezler, A. D.

1972-01-01

This paper studies the feasibility of the use of an atmospheric rendezvous concept to increase the efficiency and flexibility of space transportation systems. In this concept the second stage of a recoverable orbital launch vehicle or hypersonic transport would be built without wings, landing gear, or subsonic flight propulsion, and would be received in an atmospheric rendezvous by a carrier vehicle at the terminal point of flight for subsequent ferry to a landing site. Significant possibilities for weight improvement are shown and the attractiveness of a subsonic form of atmospheric rendezvous in either a towing or docking mode is illustrated.

Mapping Sequence performed during the STS-117 R-Bar Pitch Maneuver

NASA Image and Video Library

2007-06-10

ISS015-E-11320 (10 June 2007) --- This is one of a series of images, photographed with a digital still camera using an 800mm focal length, featuring the different areas of the Space Shuttle Atlantis as it approached the International Space Station and performed a back-flip to accommodate close scrutiny by eyeballs and cameras. This image shows part of Atlantis' cabin and its docking system, which a short time later was involved in linking up with the orbital outpost. Distance from the station and shuttle at this time was approximately 600 feet.

Astronaut Russell Schweickart photographed during EVA

NASA Image and Video Library

1969-03-06

AS09-19-2983 (6 March 1969) --- Astronaut Russell L. Schweickart, lunar module pilot, operates a 70mm Hasselblad camera during his extravehicular activity (EVA) on the fourth day of the Apollo 9 Earth-orbital mission. The Command and Service Modules (CSM) and Lunar Module (LM) "Spider" are docked. This view was taken from the Command Module (CM) "Gumdrop". Schweickart, wearing an Extravehicular Mobility Unit (EMU), is standing in "golden slippers" on the LM porch. On his back, partially visible, are a Portable Life Support System (PLSS) and an Oxygen Purge System (OPS). Astronaut James A. McDivitt, Apollo 9 commander, was inside the "Spider". Astronaut David R. Scott, command module pilot, remained at the controls in the CM.

Apollo 9 Mission image - Astronaut Russell L. Schweickart, lunar module pilot, during EVA

NASA Image and Video Library

1969-03-03

Astronaut Russell L. Schweickart, lunar module pilot, operates a 70mm Hasselblad camera during his extravehicular activity on the fourth day of the Apollo 9 earth-orbital mission. The Command/Service Module and the Lunar Module 3 "Spider" are docked. This view was taken form the Command Module "Gumdrop". Schweickart, wearing an Extravehicular Mobility Unit (EMU), is standing in "golden slippers" on the Lunar Module porch. On his back, partially visible, are a Portable Life Support System (PLSS) and an Oxygen Purge System (OPS). Film magazine was A,film type was SO-368 Ektachrome with 0.460 - 0.710 micrometers film / filter transmittance response and haze filter,80mm lens.

The other side of the safety coin. [aerospace operations

NASA Technical Reports Server (NTRS)

Roth, Gilbert L.

1986-01-01

The development, inspection and testing requirements for successful production and launch and safe operation of spaceflight hardware are discussed. Emphasis is placed on paying acute attention to malfunctions, which could be caused by contaminants (particles in docking rings), insufficiently durable materials (Orbiter brakes), etc. Generic and specific problems which occur in propulsion, avionics, mechanical and computer systems and in configuration management, manufacturing and process control efforts are explored. Case histories of deficiencies found in LOX fuel lines, contaminated hydraulic control systems, the Solar Maximum Mission thermal insulation grommets, are summarized. Thorough inspection and testing procedures and design change recording during manufacture of spacecraft components are identified as requisites for successful space missions.

Multilevel Parallelization of AutoDock 4.2.

PubMed

Norgan, Andrew P; Coffman, Paul K; Kocher, Jean-Pierre A; Katzmann, David J; Sosa, Carlos P

2011-04-28

Virtual (computational) screening is an increasingly important tool for drug discovery. AutoDock is a popular open-source application for performing molecular docking, the prediction of ligand-receptor interactions. AutoDock is a serial application, though several previous efforts have parallelized various aspects of the program. In this paper, we report on a multi-level parallelization of AutoDock 4.2 (mpAD4). Using MPI and OpenMP, AutoDock 4.2 was parallelized for use on MPI-enabled systems and to multithread the execution of individual docking jobs. In addition, code was implemented to reduce input/output (I/O) traffic by reusing grid maps at each node from docking to docking. Performance of mpAD4 was examined on two multiprocessor computers. Using MPI with OpenMP multithreading, mpAD4 scales with near linearity on the multiprocessor systems tested. In situations where I/O is limiting, reuse of grid maps reduces both system I/O and overall screening time. Multithreading of AutoDock's Lamarkian Genetic Algorithm with OpenMP increases the speed of execution of individual docking jobs, and when combined with MPI parallelization can significantly reduce the execution time of virtual screens. This work is significant in that mpAD4 speeds the execution of certain molecular docking workloads and allows the user to optimize the degree of system-level (MPI) and node-level (OpenMP) parallelization to best fit both workloads and computational resources.

Methodology for Developing a Probabilistic Risk Assessment Model of Spacecraft Rendezvous and Dockings

NASA Technical Reports Server (NTRS)

Farnham, Steven J., II; Garza, Joel, Jr.; Castillo, Theresa M.; Lutomski, Michael

2011-01-01

In 2007 NASA was preparing to send two new visiting vehicles carrying logistics and propellant to the International Space Station (ISS). These new vehicles were the European Space Agency s (ESA) Automated Transfer Vehicle (ATV), the Jules Verne, and the Japanese Aerospace and Explorations Agency s (JAXA) H-II Transfer Vehicle (HTV). The ISS Program wanted to quantify the increased risk to the ISS from these visiting vehicles. At the time, only the Shuttle, the Soyuz, and the Progress vehicles rendezvoused and docked to the ISS. The increased risk to the ISS was from an increase in vehicle traffic, thereby, increasing the potential catastrophic collision during the rendezvous and the docking or berthing of the spacecraft to the ISS. A universal method of evaluating the risk of rendezvous and docking or berthing was created by the ISS s Risk Team to accommodate the increasing number of rendezvous and docking or berthing operations due to the increasing number of different spacecraft, as well as the future arrival of commercial spacecraft. Before the first docking attempt of ESA's ATV and JAXA's HTV to the ISS, a probabilistic risk model was developed to quantitatively calculate the risk of collision of each spacecraft with the ISS. The 5 rendezvous and docking risk models (Soyuz, Progress, Shuttle, ATV, and HTV) have been used to build and refine the modeling methodology for rendezvous and docking of spacecrafts. This risk modeling methodology will be NASA s basis for evaluating the addition of future ISS visiting spacecrafts hazards, including SpaceX s Dragon, Orbital Science s Cygnus, and NASA s own Orion spacecraft. This paper will describe the methodology used for developing a visiting vehicle risk model.

Vibrational spectroscopic, molecular docking and quantum chemical studies on 6-aminonicotinamide

NASA Astrophysics Data System (ADS)

Mohamed Asath, R.; Premkumar, S.; Mathavan, T.; Milton Franklin Benial, A.

2017-04-01

The most stable molecular structure of 6-aminonicotinamide (ANA) molecule was predicted by conformational analysis and vibrational spectral analysis was carried out by experimental and theoretical methods. The calculated and experimentally observed vibrational frequencies were assigned and compared. The π→π* electronic transition of the molecule was predicted by theoretically calculated ultraviolet-visible spectra in gas and liquid phase and further validated experimentally using ethanol as a solvent. Frontier molecular orbitals analysis was carried out to probe the reactive nature of the ANA molecule and further the site selectivity to specific chemical reactions were effectively analyzed by Fukui function calculation. The molecular electrostatic potential surface was simulated to confirm the reactive sites of the molecule. The natural bond orbital analysis was also performed to understand the intra molecular interactions, which confirms the bioactivity of the ANA molecule. Neuroprotective nature of the ANA molecule was analyzed by molecular docking analysis and the ANA molecule was identified as a good inhibitor against Alzheimer's disease.

KSC-98pc687

NASA Image and Video Library

1998-06-02

KENNEDY SPACE CENTER, Fla. -- Startled by the thunderous roar of the Space Shuttle Discovery’s engines as it lifts off, a bird hurriedly leaves the Launch Pad 39A area for a more peaceful site. Liftoff time for the 91st Shuttle launch and last Shuttle-Mir mission was 6:06:24 p.m. EDT June 2. On board Discovery are Mission Commander Charles J. Precourt; Pilot Dominic L. Gorie; and Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet Lynn Kavandi and Valery Victorovitch Ryumin. The nearly 10-day mission will feature the ninth and final Shuttle docking with the Russian space station Mir, the first Mir docking for the Space Shuttle orbiter Discovery, the first on-orbit test of the Alpha Magnetic Spectrometer (AMS), and the first flight of the new Space Shuttle super lightweight external tank. Astronaut Andrew S. W. Thomas will be returning to Earth as an STS-91 crew member after living more than four months aboard Mir

Spectroscopic, quantum chemical calculation and molecular docking of dipfluzine

NASA Astrophysics Data System (ADS)

Srivastava, Karnica; Srivastava, Anubha; Tandon, Poonam; Sinha, Kirti; Wang, Jing

2016-12-01

Molecular structure and vibrational analysis of dipfluzine (C27H29FN2O) were presented using FT-IR and FT-Raman spectroscopy and quantum chemical calculations. The theoretical ground state geometry and electronic structure of dipfluzine are optimized by the DFT/B3LYP/6-311++G (d,p) method and compared with those of the crystal data. The 1D potential energy scan was performed by varying the dihedral angle using B3LYP functional at 6-31G(d,p) level of theory and thus the most stable conformer of the compound were determined. Molecular electrostatic potential surface (MEPS), frontier orbital analysis and electronic reactivity descriptor were used to predict the chemical reactivity of molecule. Energies of intra- and inter-molecular hydrogen bonds in molecule and their electronic aspects were investigated by natural bond orbital (NBO). To find out the anti-apoptotic activity of the title compound molecular docking studies have been performed against protein Fas.

Photon momentum transfer plane for asteroid, meteoroid, and comet orbit shaping

NASA Technical Reports Server (NTRS)

Campbell, Jonathan W. (Inventor)

2004-01-01

A spacecraft docks with a spinning and/or rotating asteroid, meteoroid, comet, or other space object, utilizing a tether shaped in a loop and utilizing subvehicles appropriately to control loop instabilities. The loop is positioned about a portion of the asteroid and retracted thereby docking the spacecraft to the asteroid, meteoroid, comet, or other space object. A deployable rigidized, photon momentum transfer plane of sufficient thickness may then be inflated and filled with foam. This plane has a reflective surface that assists in generating a larger momentum from impinging photons. This plane may also be moved relative to the spacecraft to alter the forces acting on it, and thus on the asteroid, meteoroid, comet, or other space object to which it is attached. In general, these forces may be utilized, over time, to alter the orbits of asteroids, meteoroids, comets, or other space objects. Sensors and communication equipment may be utilized to allow remote operation of the rigidized, photon momentum transfer plane and tether.

KSC-97PC1352

NASA Image and Video Library

1997-09-09

STS-86 crew members get a ride in, and learn to operate, an M-113 armored personnel carrier as part of training exercises during the Terminal Countdown Demonstration Test (TCDT), a dress rehearsal for launch. George Hoggard, in back at left, a training officer with KSC Fire Services, provides this part of the training to Mission Specialists Wendy B. Lawrence, to the right of Hoggard; Vladimir Georgievich Titov of the Russian Space Agency; and Scott E. Parazynski. STS-86 will be the seventh docking of the Space Shuttle with the Russian Space Station Mir. During the docking, Titov and Parazynski are scheduled to conduct a spacewalk primarily to retrieve four suitcase-sized environmental payloads from the exterior of the Mir docking module. Also during the mission, STS-86 Mission Specialist David A. Wolf will transfer to the orbiting Russian station and become a member of the Mir 24 crew, replacing U.S. astronaut C. Michael Foale, who has been on the Mir since the last docking mission, STS-84, in May. Launch of Mission STS-86 aboard the Space Shuttle Atlantis is targeted for Sept. 25 from Launch Pad 39A

ASTP - INSIGNIAS

NASA Image and Video Library

1975-01-01

S75-20361 (27 Feb. 1975) --- This is the American crew insignia of the joint United States-USSR Apollo-Soyuz Test Project (ASTP) scheduled to take place in July 1975. Of circular design, the insignia has a colorful border area, outlined in red, with the names of the five crew members and the words Apollo in English and Soyuz in Russian around an artist?s concept of the Apollo and Soyuz spacecraft about to dock in Earth orbit. The bright sun and the blue and white Earth are in the background. The white stars on the blue background represent American astronauts Thomas P. Stafford, commander; Vance D. Brand, command module pilot; and Donald (Deke) K. Slayton, docking module pilot. The dark gold stars on the red background represent Soviet cosmonauts Aleksey A. Leonov, commander, and Valeriy N. Kubasov, engineer. Soyuz and Apollo will be launched separately from the USSR and United States, and will dock and remain together for as long as two days. The three Apollo astronauts will enter Soyuz and the two Soviet cosmonauts will visit the Apollo spacecraft via a docking module. The Russian word ?soyuz? means ?union? in English.

Computational studies of novel chymase inhibitors against cardiovascular and allergic diseases: mechanism and inhibition.

PubMed

Arooj, Mahreen; Thangapandian, Sundarapandian; John, Shalini; Hwang, Swan; Park, Jong K; Lee, Keun W

2012-12-01

To provide a new idea for drug design, a computational investigation is performed on chymase and its novel 1,4-diazepane-2,5-diones inhibitors that explores the crucial molecular features contributing to binding specificity. Molecular docking studies of inhibitors within the active site of chymase were carried out to rationalize the inhibitory properties of these compounds and understand their inhibition mechanism. The density functional theory method was used to optimize molecular structures with the subsequent analysis of highest occupied molecular orbital, lowest unoccupied molecular orbital, and molecular electrostatic potential maps, which revealed that negative potentials near 1,4-diazepane-2,5-diones ring are essential for effective binding of inhibitors at active site of enzyme. The Bayesian model with receiver operating curve statistic of 0.82 also identified arylsulfonyl and aminocarbonyl as the molecular features favoring and not favoring inhibition of chymase, respectively. Moreover, genetic function approximation was applied to construct 3D quantitative structure-activity relationships models. Two models (genetic function approximation model 1 r(2) = 0.812 and genetic function approximation model 2 r(2) = 0.783) performed better in terms of correlation coefficients and cross-validation analysis. In general, this study is used as example to illustrate how combinational use of 2D/3D quantitative structure-activity relationships modeling techniques, molecular docking, frontier molecular orbital density fields (highest occupied molecular orbital and lowest unoccupied molecular orbital), and molecular electrostatic potential analysis may be useful to gain an insight into the binding mechanism between enzyme and its inhibitors. © 2012 John Wiley & Sons A/S.

Orbital Express Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Howard, Ricky; Heaton, Andy; Pinson, Robin; Carrington, Connie

2008-01-01

In May 2007 the first US fully autonomous rendezvous and capture was successfully performed by DARPA's Orbital Express (OE) mission. Since then, the Boeing ASTRO spacecraft and the Ball Aerospace NEXTSat have performed multiple rendezvous and docking maneuvers to demonstrate the technologies needed for satellite servicing. MSFC's Advanced Video Guidance Sensor (AVGS) is a primary near-field proximity operations sensor integrated into ASTRO's Autonomous Rendezvous and Capture Sensor System (ARCSS), which provides relative state knowledge to the ASTRO GN&C system. This paper provides an overview of the AVGS sensor flying on Orbital Express, and a summary of the ground testing and on-orbit performance of the AVGS for OE. The AVGS is a laser-based system that is capable of providing range and bearing at midrange distances and full six degree-of-freedom (6DOF) knowledge at near fields. The sensor fires lasers at two different frequencies to illuminate the Long Range Targets (LRTs) and the Short Range Targets (SRTs) on NEXTSat. Subtraction of one image from the other image removes extraneous light sources and reflections from anything other than the corner cubes on the LRTs and SRTs. This feature has played a significant role for Orbital Express in poor lighting conditions. The very bright spots that remain in the subtracted image are processed by the target recognition algorithms and the inverse-perspective algorithms, to provide 3DOF or 6DOF relative state information. Although Orbital Express has configured the ASTRO ARCSS system to only use AVGS at ranges of 120 m or less, some OE scenarios have provided opportunities for AVGS to acquire and track NEXTSat at greater distances. Orbital Express scenarios to date that have utilized AVGS include a berthing operation performed by the ASTRO robotic arm, sensor checkout maneuvers performed by the ASTRO robotic arm, 10-m unmated operations, 30-m unmated operations, and Scenario 3-1 anomaly recovery. The AVGS performed very well during the pre-unmated operations, effectively tracking beyond its 10-degree Pitch and Yaw limit-specifications, and did not require I-LOAD adjustments before unmated operations. AVGS provided excellent performance in the 10-m unmated operations, effectively tracking and maintaining lock for the duration of this scenario, and showing good agreement between the short and long range targets. During the 30-m unmated operations, the AVGS continuously tracked the SRT to 31.6 m, exceeding expectations, and continuously tracked the LRT from 8.8 m out to 31.6 m, with good agreement between these two target solutions. After this scenario was aborted at a 10-m separation during remate operations, the AVGS tracked the LRT out 54.3 m, until the relative attitude between the vehicles was too large. The vehicles remained apart for eight days, at ranges from 1 km to 6 km. During the approach to remate in this recovery operation, the AVGS began tracking the LRT at 150 m, well beyond the OE planned limits for AVGS ranges, and functioned as the primary sensor for the autonomous rendezvous and docking.

Human and Robotic Exploration Missions to Phobos Prior to Crewed Mars Surface Missions

NASA Technical Reports Server (NTRS)

Gernhardt, Michael L.; Chappell, Steven P.; Bekdash, Omar S.; Abercromby, Andrew F. J.; Crues, Edwin Z.; Li, Zu Qun; Bielski, Paul; Howe, A. Scott

2016-01-01

Phobos is a scientifically significant destination that would facilitate the development and operation of the human Mars transportation infrastructure, unmanned cargo delivery systems and other Mars surface systems. In addition to developing systems relevant to Mars surface missions, Phobos offers engineering, operational, and public engagement opportunities that could enhance subsequent Mars surface operations. These opportunities include the use of low latency teleoperations to control Mars surface assets associated with exploration science, human landing-site selection and infrastructure development, which may include in situ resource utilization (ISRU) to provide liquid oxygen for the Mars Ascent Vehicle (MAV). A human mission to Mars' moons would be preceded by a cargo pre-deploy of a surface habitat and a pressurized excursion vehicle (PEV) to Mars orbit. Once in Mars orbit, the habitat and PEV would spiral to Phobos using solar electric propulsion based systems, with the habitat descending to the surface and the PEV remaining in orbit. When a crewed mission is launched to Phobos, it would include the remaining systems to support the crew during the Earth-Mars transit and to reach Phobos after insertion in to Mars orbit. The crew would taxi from Mars orbit to Phobos to join with the predeployed systems in a spacecraft that is based on a MAV, dock with and transfer to the PEV in Phobos orbit, and descend in the PEV to the surface habitat. A static Phobos surface habitat was chosen as a baseline architecture, in combination with the PEV that was used to descend from orbit as the main exploration vehicle. The habitat would, however, have limited capability to relocate on the surface to shorten excursion distances required by the PEV during exploration and to provide rescue capability should the PEV become disabled. To supplement exploration capabilities of the PEV, the surface habitat would utilize deployable EVA support structures that allow astronauts to work from portable foot restraints or body restrain tethers in the vicinity of the habitat. Prototype structures were tested as part of NEEMO 20.

STS-97 Post Flight Presentation

NASA Technical Reports Server (NTRS)

2001-01-01

Various shots highlight the STS-97 Endeavour mission. Footage shows the crew suiting up and leaving the Operations and Checkout (O&C) Building, the launch, and landing. Various on-orbit activities are seen, such as docking with the International Space Station (ISS), the spacewalks (installing the PV Module P6), array deployment, meeting the Expedition 1 crew, eating, and undocking. Shots show the northern lights and a meteorite entering Earth's atmosphere from above. The Andes can be seen from the Orbiter while the P6 arrays are deploying.

sl2-x9-747

NASA Image and Video Library

2013-09-10

SL2-X9-747 (June 1973) --- Astronaut Paul J. Weitz, Skylab 2 pilot, mans the control and display console of the Apollo Telescope Mount (ATM) in this onboard view photographed in Earth orbit. The ATM C&D console is located in the Multiple Docking Adapter (MDA) of the Skylab 1/2 space station. Weitz, along with astronaut Charles Conrad Jr., commander, and scientist-astronaut Joseph P. Kerwin, science pilot, went on to successfully complete a 28-day mission in Earth orbit. Photo credit: NASA

Integrated Simulation Design Challenges to Support TPS Repair Operations

NASA Technical Reports Server (NTRS)

Quiocho, Leslie J.; Crues, Edwin Z.; Huynh, An; Nguyen, Hung T.; MacLean, John

2006-01-01

During the Orbiter Repair Maneuver (OM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSMS during the ORM, simulation tools used for previous nominal mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. Prevalent throughout this ORM operation is a dynamically varying topology. In other words, the ORM starts with the SRMS grappled to the mated Shuttle/ISS stack (closed loop topology), moves to an open loop chain topology consisting of the Shuttle, SRMS, and ISS, and then, at the repair configuration, extends the chain topology to one consisting of the Shuttle, SMS, ISS, and SSRMS/EVA crewman. The resulting long dynamic chain of vehicles and manipulators may exhibit significant motion between the Shuttle worksite and the EVA crewman due to the system flexibility throughout the topology (particularly within the SRMS/SSRMS joints and links). Since the attachment points of both manipulators span the flexible structure of the ISS, simulation analysis may also need to take that into consideration. Moreover, due to the lengthy time duration associated with the maneuver and repair, orbital effects become a factor and require the ISS vehicle control system to maintain active attitude control. Several facets of the ORM operation make the associated analytical efforts different from previous mission support, including: (1) the magnitude of the SRMS handled payload (Le., Orbiter class), (2) the orbital effects induced on the integrated system consisting of the large Shuttle and ISS masses connected by a light flexible SRMS, (3) long duration environmental consequences due to the lengthy operational times associated with the maneuver and repair of the TPS, (4) active attitude control (as opposed to free drift) interacting with the SRMS and SSRMS manipulators (also due to the length of the maneuver and repair), (5) relative dynamics between the EVA crewman and thc worksite influenced by the extended flexible topology. In order to meet these analysis challenges, an O Msi mulation architecture was developed leveraging upon numerous pre-existing simulation elements to analyze the various subsystems individually. For example, core manipulator subsystem simulations for both the SRMS and SSRMS were originally combined to provide the dual-arm dynamics topology simulation (in the absence of orbital dynamics and vehicle control). This capability was later merged with the simulation used to analyze SRMS loading with a heavy payload in the orbital environment with an active payload control system (in this case, the ISS Attitude Control System (ACS)), configured for the ORM. The resulting worksite dynamics simulation, based off of the modified ORM simulation, provided the extended topological chain of vehicles and manipulators, while taking into account the orbital effects of both the Shuttle and ISS (as well as its ACS). Verification and validation (V&V) of these integrated simulations became a challenge in itself. A systematic approach needed to be developed such that integration simulation results could be tested against previous constituent simulations upon which these simulations were built. General V&V categories included: (1) core orbital state propagation, (2), stand-alone SRMS, (3) stand-alone SSRMS, (4) stand-alone ISS ACS, (5)ntegrated Shuttle, SRMS, ISS (with active ACS) in the orbital environment, and (5) dual-arm SRMS/SSRMS dynamics topology. Integrated simulation V&V run suites were created and correlated to verification runs from subsystem simulations, in order to establish the validity of the results. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Linear Actuator System for the NASA Docking System

NASA Technical Reports Server (NTRS)

Dick, Brandon; Oesch, Chris

2017-01-01

The Linear Actuator System (LAS) is a major sub-system within the NASA Docking System (NDS). The NDS Block 1 will be used on the Boeing Crew Space Transportation (CST-100) system to achieve docking with the International Space Station. Critical functions in the Soft Capture aspect of docking are performed by the LAS, which implements the Soft Impact Mating and Attenuation Concept (SIMAC). This paper describes the general function of the LAS, the system's key requirements and technical challenges, and the development and qualification approach for the system.

STS-86 Crew Photo outside hatch in LC-39A White Room

NASA Technical Reports Server (NTRS)

1997-01-01

STS-86 crew members pose for a group photograph outside the hatch to the crew cabin of the Space Shuttle Atlantis at Launch Pad 39A. Kneeling in front, from left, are Mission Specialists Vladimir Georgievich Titov of the Russian Space Agency, David A. Wolf and Wendy B. Lawrence. Standing, from left, are Pilot Michael J. Bloomfield, Mission Specialist Scott E. Parazynski, Commander James D. Wetherbee, and Mission Specialist Jean-Loup J.M. Chretien of the French Space Agency, CNES. STS-86 will be the seventh docking of the Space Shuttle with the Russian Space Station Mir. During the docking, Wolf will transfer to the orbiting Russian station and become a member of the Mir 24 crew, replacing U.S. astronaut C. Michael Foale, who has been on the Mir since the last docking mission, STS-84, in May. Launch of Mission STS-86 aboard the Space Shuttle Atlantis is targeted for Sept. 25.

Studies on molecular structure, vibrational spectra and molecular docking analysis of 3-Methyl-1,4-dioxo-1,4-dihydronaphthalen-2-yl 4-aminobenzoate

NASA Astrophysics Data System (ADS)

Suresh, D. M.; Amalanathan, M.; Hubert Joe, I.; Bena Jothy, V.; Diao, Yun-Peng

2014-09-01

The molecular structure, vibrational analysis and molecular docking analysis of the 3-Methyl-1,4-dioxo-1,4-dihydronaphthalen-2-yl 4-aminobenzoate (MDDNAB) molecule have been carried out using FT-IR and FT-Raman spectroscopic techniques and DFT method. The equilibrium geometry, harmonic vibrational wave numbers, various bonding features have been computed using density functional method. The calculated molecular geometry has been compared with experimental data. The detailed interpretation of the vibrational spectra has been carried out by using VEDA program. The hyper-conjugative interactions and charge delocalization have been analyzed using natural bond orbital (NBO) analysis. The simulated FT-IR and FT-Raman spectra satisfactorily coincide with the experimental spectra. The PES and charge analysis have been made. The molecular docking was done to identify the binding energy and the Hydrogen bonding with the cancer protein molecule.

Application of fuzzy logic-neural network based reinforcement learning to proximity and docking operations: Special approach/docking testcase results

NASA Technical Reports Server (NTRS)

Jani, Yashvant

1993-01-01

As part of the RICIS project, the reinforcement learning techniques developed at Ames Research Center are being applied to proximity and docking operations using the Shuttle and Solar Maximum Mission (SMM) satellite simulation. In utilizing these fuzzy learning techniques, we use the Approximate Reasoning based Intelligent Control (ARIC) architecture, and so we use these two terms interchangeably to imply the same. This activity is carried out in the Software Technology Laboratory utilizing the Orbital Operations Simulator (OOS) and programming/testing support from other contractor personnel. This report is the final deliverable D4 in our milestones and project activity. It provides the test results for the special testcase of approach/docking scenario for the shuttle and SMM satellite. Based on our experience and analysis with the attitude and translational controllers, we have modified the basic configuration of the reinforcement learning algorithm in ARIC. The shuttle translational controller and its implementation in ARIC is described in our deliverable D3. In order to simulate the final approach and docking operations, we have set-up this special testcase as described in section 2. The ARIC performance results for these operations are discussed in section 3 and conclusions are provided in section 4 along with the summary for the project.

STS-79 Rolls over from OPF to VAB

NASA Technical Reports Server (NTRS)

1996-01-01

A vantage point high atop the Vehicle Assembly Building (VAB) shrinks the size and scale of the orbiter Atlantis as it is rolled from the Orbiter Processing Facility to the VAB. During the five working days it spends inside the huge building, Atlantis will be mated to the external tank/twin solid rocket booster assembly, and then rolled out to Launch Pad 39A. Here, the SPACEHAB Double Module will be installed in the orbiter's payload bay and final launch preparations will get underway. Atlantis is scheduled for liftoff on Mission STS-79 , the fourth docking with the Russian Space Station Mir, scheduled for July 31.

SL3-108-01288

NASA Image and Video Library

1973-07-01

SL3-108-1288 (July-Sept. 1973) --- Astronaut Owen K. Garriott, science pilot of the Skylab 3 mission, is stationed at the Apollo Telescope Mount (ATM) console in the Multiple Docking Adapter (MDA) of the Skylab space station in Earth orbit. This picture was taken with a handheld 35mm Nikon camera. Astronauts Garriott, Alan L. Bean and Jack R. Lousma remained with the Skylab space station cluster in orbit for 59 days conducting numerous medical, scientific and technological experiments. In orbit the MDA functions as a major experiment control center for solar observations. From this console the astronauts actively control the ATM solar physics telescopes. Photo credit: NASA

Numerical modeling of on-orbit propellant motion resulting from an impulsive acceleration

NASA Technical Reports Server (NTRS)

Aydelott, John C.; Mjolsness, Raymond C.; Torrey, Martin D.; Hochstein, John I.

1987-01-01

In-space docking and separation maneuvers of spacecraft that have large fluid mass fractions may cause undesirable spacecraft motion in response to the impulsive-acceleration-induced fluid motion. An example of this potential low gravity fluid management problem arose during the development of the shuttle/Centaur vehicle. Experimentally verified numerical modeling techniques were developed to establish the propellant dynamics, and subsequent vehicle motion, associated with the separation of the Centaur vehicle from the shuttle orbiter cargo bay. Although the shuttle/Centaur development activity was suspended, the numerical modeling techniques are available to predict on-orbit liquid motion resulting from impulsive accelerations for other missions and spacecraft.

The Advanced Re-Entry Vehicle (ARV) a Development Step from ATV Toward Manned Transportation Systems

NASA Astrophysics Data System (ADS)

Bottacini, M.; Berthe, P.; Vo, X.; Pietsch, K.

2011-08-01

The Advanced Re-entry Vehicle (ARV) programme has been undertaken by Europe with the objective to contribute to the preparation of a future European crew transportation system, while providing a valuable logistic support to the ISS through an operational cargo return system. This development would allow: - the early acquisition of critical technologies; - the design, development and testing of elements suitable for the follow up human rated transportation system. These vehicles should also serve future LEO infrastructures and exploration missions. With the aim to satisfy the above objectives a team composed by major European industries and led by EADS Astrium Space Transportation is currently conducting the phase A of the programme under contract with the European Space Agency (ESA). Two vehicle versions are being investigated: a Cargo version, transporting cargo only to/from the ISS, and a Crew version, which will allow the transfer of both crew and cargo to/from the ISS. The ARV Cargo version, in its present configuration, is composed of three modules. The Versatile Service Module (VSM) provides to the system the propulsion/GNC for orbital manoeuvres and attitude control and the orbital power generation. Its propulsion system and GNC shall be robust enough to allow its use for different launch stacks and different LEO missions in the future. The Un-pressurised Cargo Module (UCM) provides the accommodation for about 3000 kg of un-pressurised cargo and is to be sufficiently flexible to ensure the transportation of: - orbital infrastructure components (ORU's); - scientific / technological experiments; - propellant for re-fuelling, re-boost (and deorbiting) of the ISS. The Re-entry Module (RM) provides a pressurized volume to accommodate active/passive cargo (2000 kg upload/1500 kg download). It is conceived as an expendable conical capsule with spherical heat- hield, interfacing with the new docking standard of the ISS, i.e. it carries the IBDM docking system, on a dedicated adapter. Its thermo-mechanical design, GNC, descent & landing systems take into account its future evolution for crew transportation. The ARV Crew version is also composed of three main modules: - an Integrated Resource Module (IRM) providing the main propulsion and power functions during the on-orbit phases of the mission; - a Re-entry Module (RM) providing the re-entry function and a pressurized environment for four crew members and about 250 kg of passive / active cargo; - a Crew Escape System (CES) providing the function of emergency separation of the RM from the launcher (in case of failure of this latter). The paper presents an overview of the ARV Cargo and Crew versions requirements derived from the above objectives, their mission scenarios, system architectures and performances. The commonality aspects between the ARV Cargo version and future transportation systems (including also the ARV Crew version and logistic carriers) are also highlighted.

Concept of Operations for a Prospective "Proving Ground" in the Lunar Vicinity

NASA Technical Reports Server (NTRS)

Love, Stanley G.; Hill, James J.; Goodliff, Kandyce

2016-01-01

NASA is studying conceptual architectures for a "Proving Ground" near the Moon or in high lunar orbit to conduct human space exploration missions that bridge the gap between today's operations with the International Space Station (ISS) and future human exploration of Mars beginning in the 2030s. This paper describes the framework of a concept of operations ("Conops") for candidate activities in the Proving Ground. The Conops discusses broad goals that the Proving Ground might address, such as participation from commercial entities, support for human landings on the Moon, use of mature technologies, and growth of capability through a steady cadence of increasingly ambitious piloted missions. Additional Proving Ground objectives are outlined in a companion paper. Key elements in the Conops include the Orion spacecraft (with mission kits for docking and other specialized operations) and the Space Launch System (SLS) heavy-lift rocket. Potential additions include a new space suit, commercial launch vehicles and logistics carriers, Solar Electric Propulsion (SEP) stages to move elements between different orbits and eventually take them on excursions to deep space, a core module with multiple docking ports, a habitation block, and robotic and piloted lunar landers. The landers might include reusable ascent modules which could remain docked to in-space elements between lunar sorties. A module providing advanced regenerative life support functions could launch to the ISS, and later move to the Proving Ground. The architecture will include infrastructure for launch preparation, communication, mission control, and range safety. The Conops describes notional missions chosen to guide the design of the architecture and its elements. One such mission might be the delivery of a approximately 10-t Transit Habitat element, comanifested with Orion on a Block 1B SLS launcher, to the Proving Ground. In another mission, the architecture might participate in direct human exploration of an asteroidal boulder brought to high lunar orbit by the Asteroid Redirect Mission. The Proving Ground stack could serve as a staging point and tele-operation center for robotic and piloted Moon landings. With the addition of a SEP stage, the architecture could support months-long excursions within and beyond the Earth's sphere of influence, possibly culminating in a year-long mission to land humans on a near-Earth asteroid. In the last case, after returning to near-lunar space, two of the asteroid explorers could join two crewmembers freshly arrived from Earth for a Moon landing, helping to quantify the risk of landing deconditioned crews on Mars. In a conceptual mission particularly stressing to system design, Proving Ground elements could transit to Mars orbit. Other possible design-driving operations include relocation of the stack with no crew on board, the unpiloted journey of the advanced life support module from ISS to the lunar vicinity, excursions to other destinations in near-Earth space, and additional support for Mars exploration in conjunction with the Evolvable Mars Campaign. The Proving Ground Conops concludes with a discussion of aborts and contingency operations

Androgynous, Reconfigurable Closed Loop Feedback Controlled Low Impact Docking System With Load Sensing Electromagnetic Capture Ring

NASA Technical Reports Server (NTRS)

Lewis, James L. (Inventor); Carroll, Monty B. (Inventor); Morales, Ray H. (Inventor); Le, Thang D. (Inventor)

2002-01-01

The present invention relates to a fully androgynous, reconfigurable closed loop feedback controlled low impact docking system with load sensing electromagnetic capture ring. The docking system of the present invention preferably comprises two Docking- assemblies, each docking assembly comprising a load sensing ring having an outer face, one of more electromagnets, one or more load cells coupled to said load sensing ring. The docking assembly further comprises a plurality of actuator arms coupled to said load sensing ring and capable of dynamically adjusting the orientation of said load sensing ring and a reconfigurable closed loop control system capable of analyzing signals originating from said plurality of load cells and of outputting real time control for each of the actuators. The docking assembly of the present invention incorporates an active load sensing system to automatically dynamically adjust the load sensing ring during capture instead of requiring significant force to push and realign the ring.

Spacecraft capture and docking system

NASA Technical Reports Server (NTRS)

Kong, Kinyuen (Inventor); Rafeek, Shaheed (Inventor); Myrick, Thomas (Inventor)

2001-01-01

A system for capturing and docking an active craft to a passive craft has a first docking assembly on the active craft with a first contact member and a spike projecting outwardly, a second docking assembly on the passive craft having a second contact member and a flexible net deployed over a target area with an open mesh for capturing the end of the spike of the active craft, and a motorized net drive for reeling in the net and active craft to mate with the passive craft's docking assembly. The spike has extendable tabs to allow it to become engaged with the net. The net's center is coupled to a net spool for reeling in. An alignment funnel has inclined walls to guide the net and captured spike towards the net spool. The passive craft's docking assembly includes circumferentially spaced preload wedges which are driven to lock the wedges against the contact member of the active craft. The active craft's docking assembly includes a rotary table and drive for rotating it to a predetermined angular alignment position, and mating connectors are then engaged with each other. The system may be used for docking spacecraft in zero or low-gravity environments, as well as for docking underwater vehicles, docking of ancillary craft to a mother craft in subsonic flight, in-flight refueling systems, etc.

Astronaut Owen Garriott at the Apollo Telescope Mount console

NASA Image and Video Library

1973-08-08

Scientist-Astronaut Owen K. Garriott, science pilot of the Skylab 3 mission, is stationed at the Apollo Telescope Mount (ATM) console in the Multiple Docking Adapter of the Skylab space station in Earth orbit. From this console the astronauts actively control the ATM solar physics telescope.

Space augmentation of military high-level waste disposal

NASA Technical Reports Server (NTRS)

English, T.; Lees, L.; Divita, E.

1979-01-01

Space disposal of selected components of military high-level waste (HLW) is considered. This disposal option offers the promise of eliminating the long-lived radionuclides in military HLW from the earth. A space mission which meets the dual requirements of long-term orbital stability and a maximum of one space shuttle launch per week over a period of 20-40 years, is a heliocentric orbit about halfway between the orbits of earth and Venus. Space disposal of high-level radioactive waste is characterized by long-term predictability and short-term uncertainties which must be reduced to acceptably low levels. For example, failure of either the Orbit Transfer Vehicle after leaving low earth orbit, or the storable propellant stage failure at perihelion would leave the nuclear waste package in an unplanned and potentially unstable orbit. Since potential earth reencounter and subsequent burn-up in the earth's atmosphere is unacceptable, a deep space rendezvous, docking, and retrieval capability must be developed.

Advanced Docking System With Magnetic Initial Capture

NASA Technical Reports Server (NTRS)

Lewis, James L.; Carroll, Monty B.; Morales, Ray; Le, Thang

2004-01-01

An advanced docking system is undergoing development to enable softer, safer docking than was possible when using prior docking systems. This system is intended for original use in docking of visiting spacecraft and berthing the Crew Return Vehicle at the International Space Station (ISS). The system could also be adapted to a variety of other uses in outer space and on Earth, including mating submersible vehicles, assembling structures, and robotic berthing/handling of payloads and cargo. Heretofore, two large spacecraft have been docked by causing the spacecraft to approach each other at a speed sufficient to activate capture latches - a procedure that results in large docking loads and is made more difficult because of the speed. The basic design and mode of operation of the present advanced docking system would eliminate the need to rely on speed of approach to activate capture latches, thereby making it possible to reduce approach speed and thus docking loads substantially. The system would comprise an active subsystem on one spacecraft and a passive subsystem on another spacecraft with which the active subsystem will be docked. The passive subsystem would include an extensible ring containing magnetic striker plates and guide petals. The active subsystem would include mating guide petals and electromagnets containing limit switches and would be arranged to mate with the magnetic striker plates and guide petals of the passive assembly. The electromagnets would be carried on (but not rigidly attached to) a structural ring that would be instrumented with load sensors. The outputs of the sensors would be sent, along with position information, as feedback to an electronic control subsystem. The system would also include electromechanical actuators that would extend or retract the ring upon command by the control subsystem.

Analyses of the dynamic docking test system for advanced mission docking system test programs. [Apollo Soyuz Test Project

NASA Technical Reports Server (NTRS)

Gates, R. M.; Williams, J. E.

1974-01-01

Results are given of analytical studies performed in support of the design, implementation, checkout and use of NASA's dynamic docking test system (DDTS). Included are analyses of simulator components, a list of detailed operational test procedures, a summary of simulator performance, and an analysis and comparison of docking dynamics and loads obtained by test and analysis.

STS-74 flight day 2

NASA Astrophysics Data System (ADS)

1995-11-01

On the second day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hatfield, were awakened to music from the play 'The Nutcracker'. The astronauts hosted an in-orbit interview with Canadian reporters and journalists from Toronto, answering general questions about living in space and space flight, and explaining the delicate maneuvers that the shuttle will have to perform for the Mir docking procedures scheduled for the next day. Due to the awkward angle that the shuttle will use to approach the Mir, the docking procedure will be done in an almost blind state.

KSC-00padig028

NASA Image and Video Library

2000-07-12

A Russian 3-stage Proton rocket blasts into the sky at 12:56 a.m. EDT with the Russian-built Zvezda module in a successful launch from Baikonur Cosmodrome, Kazakhstan. Zvezda is the primary Russian contribution to the International Space Station, serving as the early Station living quarters. It will also provide early propulsive attitude control and reboost capabilities and be the main docking port for Russian Progress cargo resupply vehicles. The third Station component, Zvezda will dock by remote control with the already orbiting Zarya and Unity modules at an altitude of about 245 by 230 statute miles. (Image taken with Nikon D1 digital camera.)

Saturn 1B space vehicle for ASTP moves from VAB to launch complex

NASA Image and Video Library

1975-03-24

S75-24007 (24 March 1975) --- The Saturn 1B space vehicle for the Apollo-Soyuz Test Project mission, with its launch umbilical tower, rides atop a huge crawler-transporter as it moves slowly away from the Vehicle Assembly Building on its 4.24-mile journey to Pad B, Launch Complex 39, at NASA's Kennedy Space Center. The ASTP vehicle is composed of a Saturn 1B (first) stage, a Saturn IVB (second) stage, and a payload consisting of a Command/Service Module and a Docking Module. The joint U.S.-USSR ASTP docking mission in Earth orbit is scheduled for July 1975.

KSC-97pc720

NASA Image and Video Library

1997-04-28

STS-84 Mission Specialist C. Michael Foale, who will become the fifth U.S. astronaut to live and work on the Russian Space Station Mir, arrives at KSC’s Shuttle Landing Facility for the STS-84 Terminal Countdown Demonstration Test (TCDT), a dress rehearsal for launch. Foale will be dropped off on Mir when the Space Shuttle Atlantis docks with Mir next month. He will become a member of the Mir 23 crew, replacing U.S. astronaut Jerry M. Linenger, who will return to Earth on Atlantis after about four months on the orbiting station. STS-84 will be the sixth Shuttle-Mir docking. Liftoff is targeted for May 15

KSC - APOLLO-SOYUZ TEST PROJECT (ASTP) COMMAND SERVICE MODULE (CSM) - KSC

NASA Image and Video Library

1974-09-08

S74-32049 (8 Sept. 1974) --- The Apollo Command Module for the Apollo-Soyuz Test Project mission goes through receiving, inspection and checkout procedures in the Manned Spacecraft Operations Building at the Kennedy Space Center. The spacecraft had just arrived by air from the Rockwell International plant at Downey, California. The Apollo spacecraft (Command Module, Service Module and Docking Module), with astronauts Thomas P. Stafford, Vance D. Brand and Donald K. Slayton aboard, will dock in Earth orbit with a Soviet Soyuz spacecraft during the joint U.S.-USSR ASTP flight scheduled for July 1975. The Soviet and American crews will visit one another?s spacecraft.

STS-74 Flight Day 2

NASA Technical Reports Server (NTRS)

1995-01-01

On the second day of the STS-74 mission, the flight crew, Cmdr. Kenneth Cameron, Pilot James Halsell, and Mission Specialists William McArthur, Jerry Ross, and Chris Hadfield, were awakened to music from the play 'The Nutcracker'. The astronauts hosted an in-orbit interview with Canadian reporters and journalists from Toronto, answering general questions about living in space and space flight, and explaining the delicate maneuvers that the shuttle will have to perform for the Mir docking procedures scheduled for the next day. Due to the awkward angle that the shuttle will use to approach the Mir, the docking procedure will be done in an almost blind state.

Expedition 54 Soyuz Docking

NASA Image and Video Library

2017-12-19

Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) is seen after the opening of the hatches between the Soyuz MS-07 spacecraft and the International Space Station on the screens in the Moscow Mission Control Center in Korolev, Russia a few hours after the Soyuz MS-07 docked to the International Space Station on Tuesday, Dec. 19, 2017. Hatches were opened at 5:55 a.m. EST and Shkaplerov, Scott Tingle of NASA, and Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) joined Expedition 54 Commander Alexander Misurkin of Roscosmos and crewmates Mark Vande Hei and Joe Acaba of NASA aboard the orbiting laboratory. Photo Credit: (NASA/Joel Kowsky)

Expedition 54 Soyuz Docking

NASA Image and Video Library

2017-12-19

Scott Tingle of NASA is seen embracing Expedition 54 Commander Alexander Misurkin after the opening of the hatches between the Soyuz MS-07 spacecraft and the International Space Station on the screens in the Moscow Mission Control Center in Korolev, Russia a few hours after the Soyuz MS-07 docked to the International Space Station on Tuesday, Dec. 19, 2017. Hatches were opened at 5:55 a.m. EST and Tingle, Anton Shkaplerov of Roscosmos, and Norishige Kanai of the Japan Aerospace Exploration Agency (JAXA) joined Expedition 54 Commander Alexander Misurkin of Roscosmos and crewmates Mark Vande Hei and Joe Acaba of NASA aboard the orbiting laboratory. Photo Credit: (NASA/Joel Kowsky)

Spacecraft Docking System

NASA Technical Reports Server (NTRS)

Ghofranian, Siamak (Inventor); Chuang, Li-Ping Christopher (Inventor); Motaghedi, Pejmun (Inventor)

2016-01-01

A method and apparatus for docking a spacecraft. The apparatus comprises elongate members, movement systems, and force management systems. The elongate members are associated with a docking structure for a spacecraft. The movement systems are configured to move the elongate members axially such that the docking structure for the spacecraft moves. Each of the elongate members is configured to move independently. The force management systems connect the movement systems to the elongate members and are configured to limit a force applied by the each of the elongate members to a desired threshold during movement of the elongate members.

KSC-pasts89-2

NASA Image and Video Library

1998-01-31

The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-398d1fr09

NASA Image and Video Library

1998-01-31

The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-pasts89-1

NASA Image and Video Library

1998-01-31

The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pasts89-1

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, FLA. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc247

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc256

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc250

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc254

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-398d1fr06

NASA Image and Video Library

1998-01-31

The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc255

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc253

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc249

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-398d1fr03

NASA Image and Video Library

1998-01-31

The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc248

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pasts89-2

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, FLA. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts.

KSC-98pc260

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, FLA. -- The orbiter Endeavour closes the day peacefully on KSC's Shuttle Landing Facility Runway 15, completing the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc251

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

KSC-98pc252

NASA Image and Video Library

1998-01-31

KENNEDY SPACE CENTER, Fla. -- The Space Shuttle orbiter Endeavour touches down on Runway 15 of the KSC Shuttle Landing Facility (SLF) to complete the nearly nine-day STS-89 mission. Main gear touchdown was at 5:35:09 p.m. EST on Jan. 31, 1998. The wheels stopped at 5:36:19 EST, completing a total mission time of eight days, 19 hours, 48 minutes and four seconds. The 89th Space Shuttle mission was the 42nd (and 13th consecutive) landing of the orbiter at KSC, and STS-89 was the eighth of nine planned dockings of the Space Shuttle with the Russian Space Station Mir. STS-89 Mission Specialist Andrew Thomas, Ph.D., succeeded NASA astronaut and Mir 24 crew member David Wolf, M.D., who was on the Russian space station since late September 1997. Dr. Wolf returned to Earth on Endeavour with the remainder of the STS-89 crew, including Commander Terrence Wilcutt; Pilot Joe Edwards Jr.; and Mission Specialists James Reilly, Ph.D.; Michael Anderson; Bonnie Dunbar, Ph.D.; and Salizhan Sharipov with the Russian Space Agency. Dr. Thomas is scheduled to remain on Mir until the STS-91 Shuttle mission returns in June 1998. In addition to the docking and crew exchange, STS-89 included the transfer of science, logistical equipment and supplies between the two orbiting spacecrafts

Investigation of binding features: effects on the interaction between CYP2A6 and inhibitors.

PubMed

Ai, Chunzhi; Li, Yan; Wang, Yonghua; Li, Wei; Dong, Peipei; Ge, Guangbo; Yang, Ling

2010-07-15

A computational investigation has been carried out on CYP2A6 and its naphthalene inhibitors to explore the crucial molecular features contributing to binding specificity. The molecular bioactive orientations were obtained by docking (FlexX) these compounds into the active site of the enzyme. And the density functional theory method was further used to optimize the molecular structures with the subsequent analysis of molecular lipophilic potential (MLP) and molecular electrostatic potential (MEP). The minimal MLPs, minimal MEPs, and the band gap energies (the energy difference between the highest occupied molecular orbital and lowest unoccupied molecular orbital) showed high correlations with the inhibition activities (pIC(50)s), illustrating their significant roles in driving the inhibitor to adopt an appropriate bioactive conformation oriented in the active site of CYP2A6 enzyme. The differences in MLPs, MEPs, and the orbital energies have been identified as key features in determining the binding specificity of this series of compounds to CYP2A6 and the consequent inhibitory effects. In addition, the combinational use of the docking, MLP and MEP analysis is also demonstrated as a good attempt to gain an insight into the interaction between CYP2A6 and its inhibitors. Copyright 2010 Wiley Periodicals, Inc.

Magnet-Based System for Docking of Miniature Spacecraft

NASA Technical Reports Server (NTRS)

Howard, Nathan; Nguyen, Hai D.

2007-01-01

A prototype system for docking a miniature spacecraft with a larger spacecraft has been developed by engineers at the Johnson Space Center. Engineers working on Mini AERCam, a free-flying robotic camera, needed to find a way to successfully dock and undock their miniature spacecraft to refuel the propulsion and recharge the batteries. The subsystems developed (see figure) include (1) a docking port, designed for the larger spacecraft, which contains an electromagnet, a ball lock mechanism, and a service probe; and (2) a docking cluster, designed for the smaller spacecraft, which contains either a permanent magnet or an electromagnet. A typical docking operation begins with the docking spacecraft maneuvering into position near the docking port on the parent vehicle. The electromagnet( s) are then turned on, and, if necessary, the docking spacecraft is then maneuvered within the capture envelope of the docking port. The capture envelope for this system is approximated by a 5-in. (12.7-cm) cube centered on the front of the docking-port electromagnet and within an angular misalignment of <30 . Thereafter, the magnetic forces draw the smaller spacecraft toward the larger one and this brings the spacecraft into approximate alignment prior to contact. Mechanical alignment guides provide the final rotational alignment into one of 12 positions. Once the docking vehicle has been captured magnetically in the docking port, the ball-lock mechanism is activated, which locks the two spacecraft together. At this point the electromagnet( s) are turned off, and the service probe extended if recharge and refueling are to be performed. Additionally, during undocking, the polarity of one electromagnet can be reversed to provide a gentle push to separate the two spacecraft. This system is currently being incorporated into the design of Mini AERCam vehicle.

Building large telescopes in orbit using small satellites

NASA Astrophysics Data System (ADS)

Saunders, Chris; Lobb, Dan; Sweeting, Martin; Gao, Yang

2017-12-01

In many types of space mission there is a constant desire for larger and larger instrument apertures, primarily for the purposes of increased resolution or sensitivity. In the Radio Frequency domain, this is currently addressed by antennas that unfold or deploy on-orbit. However, in the optical and infrared domains, this is a significantly more challenging problem, and has up to now either been addressed by simply having large monolithic mirrors (which are fundamentally limited by the volume and mass lifting capacity of any launch vehicle) or by complex 'semi-folding' designs such as the James Webb Space Telescope. An alternative is to consider a fractionated instrument which is launched as a collection of individual smaller elements which are then assembled (or self-assemble) once in space, to form a much larger overall instrument. SSTL has been performing early concept assessment work on such systems for high resolution science observations from high orbits (potentially also for persistent surveillance of Earth). A point design of a 25 m sparse aperture (annular ring) telescope is presented. Key characteristics of 1) multiple small elements launched separately and 2) on-orbit assembly to form a larger instrument are included in the architecture. However, on-orbit assembly brings its own challenges in terms of guidance navigation and control, robotics, docking mechanisms, system control and data handling, optical alignment and stability, and many other elements. The number and type of launchers used, and the technologies and systems used heavily affect the outcome and general cost of the telescope. The paper describes one of the fractionated architecture concepts currently being studied by SSTL, including the key technologies and operational concepts that may be possible in the future.

High Leverage Space Transportation System Technologies for Human Exploration Missions to the Moon and Beyond

NASA Technical Reports Server (NTRS)

Borowski, Stanley K.; Dudzinski, Leonard A.

1996-01-01

The feasibility of returning humans to the Moon by 2004, the 35th anniversary of the Apollo 11 landing, is examined assuming the use of existing launch vehicles (the Space Shuttle and Titan 4B), a near term, advanced technology space transportation system, and extraterrestrial propellant--specifically 'lunar-derived' liquid oxygen or LUNOX. The lunar transportation system (LTS) elements consist of an expendable, nuclear thermal rocket (NTR)-powered translunar injection (TLI) stage and a combination lunar lander/Earth return vehicle (LERV) using cryogenic liquid oxygen and hydrogen (LOX/LH2) chemical propulsion. The 'wet' LERV, carrying a crew of 2, is configured to fit within the Shuttle orbiter cargo bay and requires only modest assembly in low Earth orbit. After Earth orbit rendezvous and docking of the LERV with the Titan 4B-launched NTR TLI stage, the initial mass in low Earth orbit (IMLEO) is approx. 40 t. To maximize mission performance at minimum mass, the LERV carries no return LOX but uses approx. 7 t of LUNOX to 'reoxidize' itself for a 'direct return' flight to Earth followed by an 'Apollo-style' capsule recovery. Without LUNOX, mission capability is constrained and the total LTS mass approaches the combined Shuttle-Titan 4B IMLEO limit of approx. 45 t even with enhanced NTR and chemical engine performance. Key technologies are discussed, lunar mission scenarios described, and LTS vehicle designs and characteristics are presented. Mission versatility provided by using a small 'all LH2' NTR engine or a 'LOX-augmented' derivative, either individually or in clusters, for outer planet robotic orbiter, small Mars cargo, lunar 'commuter', and human Mars exploration class missions is also briefly discussed.

2005 NASA Seal/Secondary Air System Workshop, Volume 1

NASA Technical Reports Server (NTRS)

Steinetz, Bruce M. (Editor); Hendricks, Robert C. (Editor)

2006-01-01

The 2005 NASA Seal/Secondary Air System workshop covered the following topics: (i) Overview of NASA s new Exploration Initiative program aimed at exploring the Moon, Mars, and beyond; (ii) Overview of the NASA-sponsored Propulsion 21 Project; (iii) Overview of NASA Glenn s seal project aimed at developing advanced seals for NASA s turbomachinery, space, and reentry vehicle needs; (iv) Reviews of NASA prime contractor, vendor, and university advanced sealing concepts including tip clearance control, test results, experimental facilities, and numerical predictions; and (v) Reviews of material development programs relevant to advanced seals development. Turbine engine studies have shown that reducing high-pressure turbine (HPT) blade tip clearances will reduce fuel burn, lower emissions, retain exhaust gas temperature margin, and increase range. Several organizations presented development efforts aimed at developing faster clearance control systems and associated technology to meet future engine needs. The workshop also covered several programs NASA is funding to develop technologies for the Exploration Initiative and advanced reusable space vehicle technologies. NASA plans on developing an advanced docking and berthing system that would permit any vehicle to dock to any on-orbit station or vehicle. Seal technical challenges (including space environments, temperature variation, and seal-on-seal operation) as well as plans to develop the necessary "androgynous" seal technologies were reviewed. Researchers also reviewed tests completed for the shuttle main landing gear door seals.

ATV-4 approach to ISS

NASA Image and Video Library

2013-06-15

ISS036-E-008169 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” approaches the International Space Station. The spacecraft went on to successfully dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007858 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” approaches the International Space Station. The spacecraft went on to successfully dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ATV-4 approach to ISS

NASA Image and Video Library

2013-06-15

ISS036-E-008170 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” approaches the International Space Station. The spacecraft went on to successfully dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007856 (15 June 2013) --- The European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” approaches the International Space Station. The spacecraft went on to successfully dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

ESA Albert Einstein ATV-4 during approach

NASA Image and Video Library

2013-06-15

ISS036-E-007864 (15 June 2013) --- As seen from a window in the Pirs module, the European Space Agency's Automated Transfer Vehicle-4 (ATV-4) “Albert Einstein” is about to dock to the orbital outpost at 2:07 GMT, June 15, 2013, following a ten-day period of free-flight.

President Gerald Ford talks to ASTP crewmen via radio-telephone

NASA Technical Reports Server (NTRS)

1975-01-01

President Gerald R. Ford watches ASTP crewmen Thomas P. Stafford, Donald K. Slayton and Valeriy N. Kubasov on television as he talks to them via radio-telephone while they orbited the Earth on July 18, 1975. The American Apollo spacecraft and Soviet Soyuz spacecraft were docked.

Apollo 9 Command/Service Modules photographed from Lunar Module

NASA Technical Reports Server (NTRS)

1969-01-01

The Apollo 9 Command/Service Modules photographed from the Lunar Module, 'Spider', on the fifth day of the Apollo 9 earth-orbital mission. Docking mechanism is visible in nose of the Command Module, 'Gumdrop'. Object jutting out from the Service Module aft bulkhead is the high-gain S-Band antenna.

Apollo 9 Lunar Module in lunar landing configuration

NASA Technical Reports Server (NTRS)

1969-01-01

View of the Apollo 9 Lunar Module, in a lunar landing configuration, as photographed form the Command/Service Module on the fifth day of the Apollo 9 earth-orbital mission. The landing gear on the Lunar Module 'Spider' has been deployed. Note Lunar Module's upper hatch and docking tunnel.

Ford uses Cycle Ergometer on MDDK

NASA Image and Video Library

2009-09-04

S128-E-007532 (4 Sept. 2009) ---- Astronaut Kevin Ford, STS-128 pilot, works out on the bicycle ergometer on the middeck of the Space Shuttle Discovery. The shuttle is currently docked with the International Space Station while the STS-128 astronauts work with the Expedition 20 crewmembers aboard the orbital outpost.

Hernandez uses Cycle Ergometer on MDDK

NASA Image and Video Library

2009-09-04

S128-E-007534 (4 Sept. 2009) ---- Astronaut Jose Hernandez, STS-128 mission specialist, works out on the bicycle ergometer on the middeck of the Space Shuttle Discovery. The shuttle is currently docked with the International Space Station while the STS-128 astronauts work with the Expedition 20 crewmembers aboard the orbital outpost.

Forrester types on laptop computer in the orbiter middeck

NASA Image and Video Library

2001-08-13

STS105-E-5158 (13 August 2001) --- Astronaut Patrick G. Forrester, STS-105 mission specialist, inputs data on a laptop computer on the mid deck of the Space Shuttle Discovery, which is currently docked to the International Space Station (ISS). The image was recorded with a digital still camera.

ISS during STS-135 Approach

NASA Image and Video Library

2011-07-10

S135-E-006777 (10 July 2011) --- This is one of a series of images showing the International Space Station photographed by a crewmember onboard the space shuttle Atlantis as the two spacecraft performed rendezvous and docking operations on the STS-135 mission's third day in Earth orbit. Photo credit: NASA

ISS during STS-135 Approach

NASA Image and Video Library

2011-07-10

S135-E-006784 (10 July 2011) --- This is one of a series of images showing the International Space Station photographed by a crewmember onboard the space shuttle Atlantis as the two spacecraft performed rendezvous and docking operations on the STS-135 mission's third day in Earth orbit. Photo credit: NASA

ISS Segments during STS-135 Approach

NASA Image and Video Library

2011-07-10

S135-E-006787 (10 July 2011) --- This is one of a series of images showing the International Space Station photographed by a crewmember onboard the space shuttle Atlantis as the two spacecraft performed rendezvous and docking operations on the STS-135 mission's third day in Earth orbit. Photo credit: NASA

ISS during STS-135 Approach

NASA Image and Video Library

2011-07-10

S135-E-006700 (10 July 2011) --- This is one of a series of images showing the International Space Station photographed by a crewmember onboard the space shuttle Atlantis as the two spacecraft performed rendezvous and docking operations on the STS-135 mission's third day in Earth orbit. Photo credit: NASA

ISS during STS-135 Approach

NASA Image and Video Library

2011-07-10

S135-E-006698 (10 July 2011) --- This is one of a series of images showing the International Space Station photographed by a crewmember onboard the space shuttle Atlantis as the two spacecraft performed rendezvous and docking operations on the STS-135 mission's third day in Earth orbit. Photo credit: NASA

ISS during STS-135 Approach

NASA Image and Video Library

2011-07-10

S135-E-006702 (10 July 2011) --- This is one of a series of images showing the International Space Station photographed by a crewmember onboard the space shuttle Atlantis as the two spacecraft performed rendezvous and docking operations on the STS-135 mission's third day in Earth orbit. Photo credit: NASA

Constellation

NASA Image and Video Library

2008-02-15

SHOWN IS A CONCEPT IMAGE OF THE ARES V EARTH DEPARTURE STAGE AND LUNAR SURFACE ACCESS MODULE DOCKED WITH THE ORION CREW EXPLORATION VEHICLE IN EARTH ORBIT. THE DEPARTURE STAGE, POWERED BY A J-2X ENGINE, IS NEEDED TO ESCAPE EARTH'S GRAVITY AND SEND THE CREW VEHICLE AND LUNAR MODULE ON THEIR JOURNEY TO THE MOON.

SKYLAB (SL)-4 - CREW TRAINING (ORBITAL WORKSTATION [OWS]) - JSC

NASA Image and Video Library

1973-08-22

S73-32847 (10 Sept. 1973) --- Astronaut Gerald P. Carr, Skylab 4 commander, changes a dial on the control and display panel for the Earth Resources Experiments package (EREP) during a training exercise in the Multiple Docking Adapter (MDA) one-G trainer at Johnson Space Center. Photo credit: NASA

AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

NASA Technical Reports Server (NTRS)

Fredrickson, Steven E.; Duran, Steve G.; Braun, Angela N.; Straube, Timothy M.; Mitchell, Jennifer D.

2006-01-01

The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits with minimal impact on IVA operators and ground controllers, the Mini AERCam system architecture incorporates intelligent systems attributes that support various autonomous capabilities. 1) A robust command sequencer enables task-level command scripting. Command scripting is employed for operations such as automatic inspection scans over a region of interest, and operator-hands-off automated docking. 2) A system manager built on the same expert-system software as the command sequencer provides detection and smart-response capability for potential system-level anomalies, like loss of communications between the Free Flyer and control station. 3) An AERCam dynamics manager provides nominal and off-nominal management of guidance, navigation, and control (GN&C) functions. It is employed for safe trajectory monitoring, contingency maneuvering, and related roles. This paper will describe these architectural components of Mini AERCam autonomy, as well as the interaction of these elements with a human operator during supervised autonomous control.

Modular, Reconfigurable, High-Energy Technology Development

NASA Technical Reports Server (NTRS)

Carrington, Connie; Howell, Joe

2006-01-01

The Modular, Reconfigurable High-Energy (MRHE) Technology Demonstrator project was to have been a series of ground-based demonstrations to mature critical technologies needed for in-space assembly of a highpower high-voltage modular spacecraft in low Earth orbit, enabling the development of future modular solar-powered exploration cargo-transport vehicles and infrastructure. MRHE was a project in the High Energy Space Systems (HESS) Program, within NASA's Exploration Systems Research and Technology (ESR&T) Program. NASA participants included Marshall Space Flight Center (MSFC), the Jet Propulsion Laboratory (JPL), and Glenn Research Center (GRC). Contractor participants were the Boeing Phantom Works in Huntsville, AL, Lockheed Martin Advanced Technology Center in Palo Alto, CA, ENTECH, Inc. in Keller, TX, and the University of AL Huntsville (UAH). MRHE's technical objectives were to mature: (a) lightweight, efficient, high-voltage, radiation-resistant solar power generation (SPG) technologies; (b) innovative, lightweight, efficient thermal management systems; (c) efficient, 100kW-class, high-voltage power delivery systems from an SPG to an electric thruster system; (d) autonomous rendezvous and docking technology for in-space assembly of modular, reconfigurable spacecraft; (e) robotic assembly of modular space systems; and (f) modular, reconfigurable distributed avionics technologies. Maturation of these technologies was to be implemented through a series of increasingly-inclusive laboratory demonstrations that would have integrated and demonstrated two systems-of-systems: (a) the autonomous rendezvous and docking of modular spacecraft with deployable structures, robotic assembly, reconfiguration both during assembly and (b) the development and integration of an advanced thermal heat pipe and a high-voltage power delivery system with a representative lightweight high-voltage SPG array. In addition, an integrated simulation testbed would have been developed containing software models representing the technologies being matured in the laboratory demos. The testbed would have also included models for non-MRHE developed subsystems such as electric propulsion, so that end-to-end performance could have been assessed. This paper presents an overview of the MRHE Phase I activities at MSFC and its contractor partners. One of the major Phase I accomplishments is the assembly demonstration in the Lockheed Martin Advanced Technology Center (LMATC) Robot-Satellite facility, in which three robot-satellites successfully demonstrated rendezvous & docking, self-assembly, reconfiguration, adaptable GN&C, deployment, and interfaces between modules. Phase I technology maturation results from ENTECH include material recommendations for radiation hardened Stretched Lens Array (SLA) concentrator lenses, and a design concept and test results for a hi-voltage PV receiver. UAH's accomplishments include Supertube heatpipe test results, which support estimates of thermal conductivities at 30,000 times that of an equivalent silver rod. MSFC performed systems trades and developed a preliminary concept design for a 100kW-class modular reconfigurable solar electric propulsion transport vehicle, and Boeing Phantom Works in Huntsville performed assembly and rendezvous and docking trades. A concept animation video was produced by SAIC, wllich showed rendezvous and docking and SLA-square-rigger deployment in LEO.

Kotov practices the manual docking techniques with the TORU

NASA Image and Video Library

2013-11-22

ISS038-E-006656 (22 Nov. 2013) --- Russian cosmonaut Oleg Kotov, Expedition 38 commander, practices manual docking techniques with the TORU, or telerobotically operated rendezvous system, in the Zvezda Service Module of the International Space Station in preparation for the docking of the Progress 53 spacecraft. Kotov, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the station in the event of a failure of the Kurs automated docking system. The Progress 53 craft is scheduled to complete its automated docking to the aft port of Zvezda at 5:28 p.m. (EST) on Nov. 29.

TORU OBT

NASA Image and Video Library

2014-07-22

ISS040-E-070857 (22 July 2014) --- Russian cosmonaut Alexander Skvortsov, Expedition 40 flight engineer, practices manual docking techniques with the TORU, or telerobotically operated rendezvous system, in the Zvezda Service Module of the International Space Station in preparation for the docking of the Progress 56 spacecraft. Skvortsov, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the station in the event of a failure of the Kurs automated docking system. The Progress 56 craft is scheduled to complete its automated docking to the Pirs docking compartment at 11:30 p.m. (EDT) on July 23, 2014.

Tyurin practices the manual docking techniques with the TORU

NASA Image and Video Library

2013-11-22

ISS038-E-006663 (22 Nov. 2013) --- Russian cosmonaut Mikhail Tyurin, Expedition 38 flight engineer, practices manual docking techniques with the TORU, or telerobotically operated rendezvous system, in the Zvezda Service Module of the International Space Station in preparation for the docking of the Progress 53 spacecraft. Tyurin, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the station in the event of a failure of the Kurs automated docking system. The Progress 53 craft is scheduled to complete its automated docking to the aft port of Zvezda at 5:28 p.m. (EST) on Nov. 29.

TORU OBT

NASA Image and Video Library

2014-07-22

ISS040-E-070859 (22 July 2014) --- Russian cosmonaut Alexander Skvortsov, Expedition 40 flight engineer, practices manual docking techniques with the TORU, or telerobotically operated rendezvous system, in the Zvezda Service Module of the International Space Station in preparation for the docking of the Progress 56 spacecraft. Skvortsov, using the Simvol-TS screen and hand controllers, could manually dock the Progress to the station in the event of a failure of the Kurs automated docking system. The Progress 56 craft is scheduled to complete its automated docking to the Pirs docking compartment at 11:30 p.m. (EDT) on July 23, 2014.

Astronaut Russell Schweickart photographed during EVA

NASA Image and Video Library

1969-03-06

AS09-19-2994 (6 March 1969) --- Astronaut Russell L. Schweickart, lunar module pilot, is photographed from the Command Module (CM) "Gumdrop" during his extravehicular activity (EVA) on the fourth day of the Apollo 9 Earth-orbital mission. He holds, in his right hand, a thermal sample which he is retrieving from the Lunar Module (LM) exterior. The Command and Service Modules (CSM) and LM "Spider" are docked. Schweickart, wearing an Extravehicular Mobility Unit (EMU), is standing in "golden slippers" on the LM porch. Visible on his back are the Portable Life Support System (PLSS) and Oxygen Purge System (OPS). Astronaut James A. McDivitt, Apollo 9 commander, was inside the "Spider". Astronaut David R. Scott, command module pilot, remained at the controls in the CM "Gumdrop".

Rendezvous Integration Complexities of NASA Human Flight Vehicles

NASA Technical Reports Server (NTRS)

Brazzel, Jack P.; Goodman, John L.

2009-01-01

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.

Experimental Investigation of Elastomer Docking Seal Compression Set, Adhesion, and Leakage

NASA Technical Reports Server (NTRS)

Daniels, Christopher C.; Oswald, Jay J.; Bastrzyk, Marta B.; Smith, Ian; Dunlap, Patrick H., Jr.; Steinetz, Bruce M.

2008-01-01

A universal docking and berthing system is being developed by the National Aeronautics and Space Administration (NASA) to support all future space exploration missions to low-Earth orbit (LEO), to the Moon, and to Mars. An investigation of the compression set of two seals mated in a seal-on-seal configuration and the force required to separate the two seals after periods of mating was conducted. The leakage rates of seals made from two silicone elastomer compounds, S0383-70 and S0899-50, configured in seal-on-seal mating were quantified. The test specimens were sub-scale seals with representative cross-sections and a 12 inch outside diameter. The leakage rate of the seals manufactured from S0899-50 was higher than that of the seals made from S0383-70 by a factor of 1.8. Similarly, the adhesion of the 50 durometer elastomer was significantly higher than that of the 70 durometer compound. However, the compression set values of the S0899-50 material were observed to be significantly lower than those for the S0383-70.