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.

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.

An autonomous rendezvous and docking system using cruise missile technologies

NASA Technical Reports Server (NTRS)

Jones, Ruel Edwin

1991-01-01

In November 1990 the Autonomous Rendezvous & Docking (AR&D) system was first demonstrated for members of NASA's Strategic Avionics Technology Working Group. This simulation utilized prototype hardware from the Cruise Missile and Advanced Centaur Avionics systems. The object was to show that all the accuracy, reliability and operational requirements established for a space craft to dock with Space Station Freedom could be met by the proposed system. The rapid prototyping capabilities of the Advanced Avionics Systems Development Laboratory were used to evaluate the proposed system in a real time, hardware in the loop simulation of the rendezvous and docking reference mission. The simulation permits manual, supervised automatic and fully autonomous operations to be evaluated. It is also being upgraded to be able to test an Autonomous Approach and Landing (AA&L) system. The AA&L and AR&D systems are very similar. Both use inertial guidance and control systems supplemented by GPS. Both use an Image Processing System (IPS), for target recognition and tracking. The IPS includes a general purpose multiprocessor computer and a selected suite of sensors that will provide the required relative position and orientation data. Graphic displays can also be generated by the computer, providing the astronaut / operator with real-time guidance and navigation data with enhanced video or sensor imagery.

Pilot in Rendezvous Docking Simulator

NASA Image and Video Library

1962-12-19

Unidentified Pilot eyeballs his way to a docking by peering through the portal in his capsule. Photo published in Spaceflight Revolution, NASA Langley Research Center From Sputnik to Apollo. By James R. Hansen. NASA SP-4308, 1995, p. 372.

Rendezvous and Docking for Space Exploration

NASA Technical Reports Server (NTRS)

Machula, M. F.; Crain, T.; Sandhoo, G. S.

2005-01-01

To achieve the exploration goals, new approaches to exploration are being envisioned that include robotic networks, modular systems, pre-positioned propellants and in-space assembly in Earth orbit, Lunar orbit and other locations around the cosmos. A fundamental requirement for rendezvous and docking to accomplish in-space assembly exists in each of these locations. While existing systems and technologies can accomplish rendezvous and docking in low earth orbit, and rendezvous and docking with crewed systems has been successfully accomplished in low lunar orbit, our capability must extend toward autonomous rendezvous and docking. To meet the needs of the exploration vision in-space assembly requiring both crewed and uncrewed vehicles will be an integral part of the exploration architecture. This paper focuses on the intelligent application of autonomous rendezvous and docking technologies to meet the needs of that architecture. It also describes key technology investments that will increase the exploration program's ability to ensure mission success, regardless of whether the rendezvous are fully automated or have humans in the loop.

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.

Design and fabrication of an autonomous rendezvous and docking sensor using off-the-shelf hardware

NASA Technical Reports Server (NTRS)

Grimm, Gary E.; Bryan, Thomas C.; Howard, Richard T.; Book, Michael L.

1991-01-01

NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Apollo 7/S-IVB Rendezvous in space

NASA Technical Reports Server (NTRS)

1968-01-01

The expended Saturn IVB stage as photographed from the Apollo 7 spacecraft during transposition and docking maneuvers. This photograph was taken over Sonora, Mexico, during Apollo 7's second revolution of the Earth. The round, white disc inside the open panels of the Saturn IVB is a simulated docking target similar to that used on the lunar module for docking during lunar missions.

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 7/S-IVB Rendezvous in space

NASA Image and Video Library

1968-10-11

AS07-03-1538 (11 Oct. 1968) --- The expended Saturn IVB stage as photographed from the Apollo 7 spacecraft during transposition and docking maneuvers. This photograph was taken during Apollo 7's second revolution of Earth. Earth below has heavy cloud cover. The round, white disc inside the open panels of the Saturn IVB is a simulated docking target similar to that used on the lunar module for docking during lunar missions.

Apollo 7/S-IVB Rendezvous in space

NASA Image and Video Library

1968-10-11

AS07-03-1531 (11 Oct. 1968) --- The expended Saturn IVB stage as photographed from the Apollo 7 spacecraft during transposition and docking maneuvers. This photograph was taken over Sonora, Mexico, during Apollo 7's second revolution of Earth. The round, white disc inside the open panels of the Saturn IVB is a simulated docking target similar to that used on the lunar module for docking during lunar missions.

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.

Pose Measurement Performance of the Argon Relative Navigation Sensor Suite in Simulated Flight Conditions

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Eepoel, John Van; Strube, Matt; Gill, Nat; Gonzalez, Marcelo; Hyslop, Andrew; Patrick, Bryan

2012-01-01

Argon is a flight-ready sensor suite with two visual cameras, a flash LIDAR, an on- board flight computer, and associated electronics. Argon was designed to provide sensing capabilities for relative navigation during proximity, rendezvous, and docking operations between spacecraft. A rigorous ground test campaign assessed the performance capability of the Argon navigation suite to measure the relative pose of high-fidelity satellite mock-ups during a variety of simulated rendezvous and proximity maneuvers facilitated by robot manipulators in a variety of lighting conditions representative of the orbital environment. A brief description of the Argon suite and test setup are given as well as an analysis of the performance of the system in simulated proximity and rendezvous operations.

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 (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

Imaging Flash Lidar for Safe Landing on Solar System Bodies and Spacecraft Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Roback, Vincent E.; Bulyshev, Alexander E.; Brewster, Paul F.; Carrion, William A; Pierrottet, Diego F.; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Noe, Anna M.

2015-01-01

NASA has been pursuing flash lidar technology for autonomous, safe landing on solar system bodies and for automated rendezvous and docking. During the final stages of the landing from about 1 kilometer to 500 meters above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard flight computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16,000 pixels range images with 7 centimeters precision, at 20 Hertz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument and presents the results of recent flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus) built by NASA Johnson Space Center. The flights were conducted at a simulated lunar terrain site, consisting of realistic hazard features and designated landing areas, built at NASA Kennedy Space Center specifically for this demonstration test. This paper also provides an overview of the plan for continued advancement of the flash lidar technology aimed at enhancing its performance to meet both landing and automated rendezvous and docking applications.

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).

On-orbit demonstration of automated closure and capture using ESA-developed proximity operations technologies and an existing, serviceable NASA Explorer Platform spacecraft

NASA Technical Reports Server (NTRS)

Hohwiesner, Bill; Claudinon, Bernard

1991-01-01

The European Space Agency (ESA) has been working to develop an autonomous rendezvous and docking capability since 1984 to enable Hermes to automatically dock with Columbus. As a result, ESA with Matra, MBB, and other space companies have developed technologies that are also directly supportive of the current NASA initiative for Automated Rendezvous and Capture. Fairchild and Matra would like to discuss the results of the applicable ESA/Matra rendezvous and capture developments, and suggest how these capabilities could be used, together with an existing NASA Explorer Platform satellite, to minimize new development and accomplish a cost effective automatic closure and capture demonstration program. Several RV sensors have been developed at breadboard level for the Hermes/Columbus program by Matra, MBB, and SAAB. Detailed algorithms for automatic rendezvous, closure, and capture have been developed by ESA and CNES for application with Hermes to Columbus rendezvous and docking, and they currently are being verified with closed-loop software simulation. The algorithms have multiple closed-loop control modes and phases starting at long range using GPS navigation. Differential navigation is used for coast/continuous thrust homing, holdpoint acquisition, V-bar hopping, and station point acquisition. The proximity operation sensor is used for final closure and capture. A subset of these algorithms, comprising the proximity operations algorithms, could easily be extracted and tailored to a limited objective closure and capture flight demonstration.

Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent-Magnet Docking Mechanism

NASA Technical Reports Server (NTRS)

Pei, Jing; Murchison, Luke; BenShabat, Adam; Stewart, Victor; Rosenthal, James; Follman, Jacob; Branchy, Mark; Sellers, Drew; Elandt, Ryan; Elliott, Sawyer;

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.

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.

Inverse simulation system for manual-controlled rendezvous and docking based on artificial neural network

NASA Astrophysics Data System (ADS)

Zhou, Wanmeng; Wang, Hua; Tang, Guojin; Guo, Shuai

2016-09-01

The time-consuming experimental method for handling qualities assessment cannot meet the increasing fast design requirements for the manned space flight. As a tool for the aircraft handling qualities research, the model-predictive-control structured inverse simulation (MPC-IS) has potential applications in the aerospace field to guide the astronauts' operations and evaluate the handling qualities more effectively. Therefore, this paper establishes MPC-IS for the manual-controlled rendezvous and docking (RVD) and proposes a novel artificial neural network inverse simulation system (ANN-IS) to further decrease the computational cost. The novel system was obtained by replacing the inverse model of MPC-IS with the artificial neural network. The optimal neural network was trained by the genetic Levenberg-Marquardt algorithm, and finally determined by the Levenberg-Marquardt algorithm. In order to validate MPC-IS and ANN-IS, the manual-controlled RVD experiments on the simulator were carried out. The comparisons between simulation results and experimental data demonstrated the validity of two systems and the high computational efficiency of ANN-IS.

GEMINI-TITAN (GT)-12 - EARTH SKY - AGENA RENDEZVOUS - OUTER SPACE

NASA Image and Video Library

1966-11-11

S66-62755 (11 Nov. 1966) --- Excellent stereo and side view of the Agena Target Docking Vehicle as seen from the Gemini-12 spacecraft during rendezvous and docking mission in space. The two spacecraft are 50 feet apart. Photo credit: NASA

An autonomous rendezvous and docking system using cruise missile technology

NASA Technical Reports Server (NTRS)

Jones, ED; Nicholson, Bruce

1991-01-01

In November 1990 General Dynamics demonstrated an AR&D system for members of the Strategic Avionics Technology Working Group. This simulation utilized prototype hardware derived from the Cruise Missile and Centaur avionics systems. The object of this proof of concept demonstration was to show that all the accuracy, reliability, and operational requirements established for a spacecraft to dock with Space Station Freedom could be met by the proposed AR&D system.

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.

NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

The NASA Advisory Council Task Force on the Shuttle-Mir rendezvous and docking convened on May 24 and 25, 1994. Based on the meetings, the Task Force made the following recommendations: at a minimum, the mission commander and payload commander for all subsequent Shuttle-Mir missions should be named at least 18 months in advance of the scheduled launch date; in order to derive early operational experience in advance of the first Mir docking mission, the primary objective of STS-63 should be Mir rendezvous and proximity operations; and if at all possible, the launch date for STS-63 should be moved forward.

The Space Operations Simulation Center (SOSC) and Closed-loop Hardware Testing for Orion Rendezvous System Design

NASA Technical Reports Server (NTRS)

D'Souza, Christopher; Milenkovich, Zoran; Wilson, Zachary; Huich, David; Bendle, John; Kibler, Angela

2011-01-01

The Space Operations Simulation Center (SOSC) at the Lockheed Martin (LM) Waterton Campus in Littleton, Colorado is a dynamic test environment focused on Autonomous Rendezvous and Docking (AR&D) development testing and risk reduction activities. The SOSC supports multiple program pursuits and accommodates testing Guidance, Navigation, and Control (GN&C) algorithms for relative navigation, hardware testing and characterization, as well as software and test process development. The SOSC consists of a high bay (60 meters long by 15.2 meters wide by 15.2 meters tall) with dual six degree-of-freedom (6DOF) motion simulators and a single fixed base 6DOF robot. The large testing area (maximum sensor-to-target effective range of 60 meters) allows for large-scale, flight-like simulations of proximity maneuvers and docking events. The facility also has two apertures for access to external extended-range outdoor target test operations. In addition, the facility contains four Mission Operations Centers (MOCs) with connectivity to dual high bay control rooms and a data/video interface room. The high bay is rated at Class 300,000 (. 0.5 m maximum particles/m3) cleanliness and includes orbital lighting simulation capabilities.

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

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.

SPARTAN: A High-Fidelity Simulation for Automated Rendezvous and Docking Applications

NASA Technical Reports Server (NTRS)

Turbe, Michael A.; McDuffie, James H.; DeKock, Brandon K.; Betts, Kevin M.; Carrington, Connie K.

2007-01-01

bd Systems (a subsidiary of SAIC) has developed the Simulation Package for Autonomous Rendezvous Test and ANalysis (SPARTAN), a high-fidelity on-orbit simulation featuring multiple six-degree-of-freedom (6DOF) vehicles. SPARTAN has been developed in a modular fashion in Matlab/Simulink to test next-generation automated rendezvous and docking guidance, navigation,and control algorithms for NASA's new Vision for Space Exploration. SPARTAN includes autonomous state-based mission manager algorithms responsible for sequencing the vehicle through various flight phases based on on-board sensor inputs and closed-loop guidance algorithms, including Lambert transfers, Clohessy-Wiltshire maneuvers, and glideslope approaches The guidance commands are implemented using an integrated translation and attitude control system to provide 6DOF control of each vehicle in the simulation. SPARTAN also includes high-fidelity representations of a variety of absolute and relative navigation sensors that maybe used for NASA missions, including radio frequency, lidar, and video-based rendezvous sensors. Proprietary navigation sensor fusion algorithms have been developed that allow the integration of these sensor measurements through an extended Kalman filter framework to create a single optimal estimate of the relative state of the vehicles. SPARTAN provides capability for Monte Carlo dispersion analysis, allowing for rigorous evaluation of the performance of the complete proposed AR&D system, including software, sensors, and mechanisms. SPARTAN also supports hardware-in-the-loop testing through conversion of the algorithms to C code using Real-Time Workshop in order to be hosted in a mission computer engineering development unit running an embedded real-time operating system. SPARTAN also contains both runtime TCP/IP socket interface and post-processing compatibility with bdStudio, a visualization tool developed by bd Systems, allowing for intuitive evaluation of simulation results. A description of the SPARTAN architecture and capabilities is provided, along with details on the models and algorithms utilized and results from representative missions.

Gemini Simulator and Neil Armstrong

NASA Image and Video Library

1963-11-06

Astronaut Neil Armstrong (left) was one of 14 astronauts, 8 NASA test pilots, and 2 McDonnell test pilots who took part in simulator studies. Armstrong was the first astronaut to participate (November 6, 1963). A.W. Vogeley described the simulator in his paper "Discussion of Existing and Planned Simulators For Space Research," "Many of the astronauts have flown this simulator in support of the Gemini studies and they, without exception, appreciated the realism of the visual scene. The simulator has also been used in the development of pilot techniques to handle certain jet malfunctions in order that aborts could be avoided. In these situations large attitude changes are sometimes necessary and the false motion cues that were generated due to earth gravity were somewhat objectionable; however, the pilots were readily able to overlook these false motion cues in favor of the visual realism." Roy F. Brissenden, noted in his paper "Initial Operations with Langley's Rendezvous Docking Facility," "The basic Gemini control studies developed the necessary techniques and demonstrated the ability of human pilots to perform final space docking with the specified Gemini-Agena systems using only visual references. ... Results... showed that trained astronauts can effect the docking with direct acceleration control and even with jet malfunctions as long as good visual conditions exist.... Probably more important than data results was the early confidence that the astronauts themselves gained in their ability to perform the maneuver in the ultimate flight mission." Francis B. Smith, noted in his paper "Simulators for Manned Space Research," "Some major areas of interest in these flights were fuel requirements, docking accuracies, the development of visual aids to assist alignment of the vehicles, and investigation of alternate control techniques with partial failure modes. However, the familiarization and confidence developed by the astronaut through flying and safely docking the simulator during these tests was one of the major contributions. For example, it was found that fuel used in docking from 200 feet typically dropped from about 20 pounds to 7 pounds after an astronaut had made a few training flights." -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203; A.W. Vogeley, "Discussion of Existing and Planned Simulators For Space Research," Paper presented at the Conference on the Role of Simulation in Space Technology, August 17-21, 1964; Roy F. Brissenden, "Initial Operations with Langley's Rendezvous Docking Facility," Langley Working Paper, LWP-21, 1964; Francis B. Smith, "Simulators for Manned Space Research," Paper presented at the 1966 IEEE International convention, March 21-25, 1966.

Hydra Rendezvous and Docking Sensor

NASA Technical Reports Server (NTRS)

Roe, Fred; Carrington, Connie

2007-01-01

The U.S. technology to support a CEV AR&D activity is mature and was developed by NASA and supporting industry during an extensive research and development program conducted during the 1990's and early 2000 time frame at the Marshall Space Flight Center. Development and demonstration of a rendezvous/docking sensor was identified early in the AR&D Program as the critical enabling technology that allows automated proxinity operations and docking. A first generation rendezvous/docking sensor, the Video Guidance Sensor (VGS) was developed and successfully flown on STS 87 and again on STS 95, proving the concept of a video-based sensor. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development of a new generation of video based rendezvous/docking sensor. The Advanced Video Guidance Sensor (AVGS) has greatly increased performance and additional capability for longer-range operation. A Demonstration Automatic Rendezvous Technology (DART) flight experiment was flown in April 2005 using AVGS as the primary proximity operations sensor. Because of the absence of a docking mechanism on the target satellite, this mission did not demonstrate the ability of the sensor to coltrold ocking. Mission results indicate that the rendezvous sensor operated successfully in "spot mode" (2 km acquisition of the target, bearing data only) but was never commanded to "acquire and track" the docking target. Parts obsolescence issues prevent the construction of current design AVGS units to support the NASA Exploration initiative. This flight proven AR&D technology is being modularized and upgraded with additional capabilities through the Hydra project at the Marshall Space Flight Center. Hydra brings a unique engineering approach and sensor architecture to the table, to solve the continuing issues of parts obsolescence and multiple sensor integration. This paper presents an approach to sensor hardware trades, to address the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS). It will also discuss approaches for upgrading AVGS to address parts obsolescence, and concepts for modularizing the sensor to provide configuration flexibility for multiple vehicle applications. Options for complementary sensors to be integrated into the multi-head Hydra system will also be presented. Complementary sensor options include ULTOR, a digital image correlator system that could provide relative six-degree-of-freedom information independently from AVGS, and time-of-flight sensors, which determine the range between vehicles by timing pulses that travel from the sensor to the target and back. Common targets and integrated targets, suitable for use with the multi-sensor options in Hydra, will also be addressed.

Autonomous rendezvous and docking operations of unmanned expendable cargo transfer vehicles (e.g. Centaur) with Space Station Freedom

NASA Technical Reports Server (NTRS)

Emmet, Brian R.

1991-01-01

This paper describes the results of the feasibility study using Centaur or other CTV's to deliver payloads to the Space Station Freedom (SSF). During this study was examined the requirements upon unmanned cargo transfer stages (including Centaur) for phasing, rendezvous, proximity operations and docking/berthing (capture).

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.

A modified proportional navigation scheme for rendezvous and docking with tumbling targets: The Planar case

NASA Technical Reports Server (NTRS)

Fitz-Coy, Norman; Liu, Ming-Cheng

1995-01-01

A two-phase proportional navigation scheme is developed for the case of two rigid bodies engaged in a rendezvous/docking maneuver. The target vehicle is nonmaneuvering, but does have constant nonzero angular and linear velocities. Under these conditions, it is shown that previously obtained solutions are not applicable. Analytical solutions are obtained leading to relationships between the transverse and LOS navigation constants. It is shown that the transverse navigation constant for the second phase of the maneuver must be 2. Also, initial conditions necessary for rendezvous are presented.

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.

Apollo 7/S-IVB Rendezvous in space

NASA Technical Reports Server (NTRS)

1968-01-01

The expended Saturn IVB stage as photographed from the Apollo 7 spacecraft during transposition and docking maneuvers at an altitude of 126 nautical miles, at ground elapsed time of three hours, 11 minutes. The round, white disc inside the open panels of the Saturn IVB is a simulated docking target similar to that used on the lunar module for docking during lunar missions. The spacecraft is directly over Odessa-Midland, Texas. The view between the two panels (area of large puffy clouds) extends southwest across Texas into the Mexican State of Chihuahua. The distance between the Apollo 7 spacecraft and the S-(VB is approximately 50 feet.

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.

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.

The Space Operations Simulation Center (SOSC) and Closed-Loop Hardware Testing for Orion Rendezvous System Design

NASA Technical Reports Server (NTRS)

Milenkovic, Zoran; DSouza, Christopher; Huish, David; Bendle, John; Kibler, Angela

2012-01-01

The exploration goals of Orion / MPCV Project will require a mature Rendezvous, Proximity Operations and Docking (RPOD) capability. Ground testing autonomous docking with a next-generation sensor such as the Vision Navigation Sensor (VNS) is a critical step along the path of ensuring successful execution of autonomous RPOD for Orion. This paper will discuss the testing rationale, the test configuration, the test limitations and the results obtained from tests that have been performed at the Lockheed Martin Space Operations Simulation Center (SOSC) to evaluate and mature the Orion RPOD system. We will show that these tests have greatly increased the confidence in the maturity of the Orion RPOD design, reduced some of the latent risks and in doing so validated the design philosophy of the Orion RPOD system. This paper is organized as follows: first, the objectives of the test are given. Descriptions of the SOSC facility, and the Orion RPOD system and associated components follow. The details of the test configuration of the components in question are presented prior to discussing preliminary results of the tests. The paper concludes with closing comments.

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.

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

NASA Technical Reports Server (NTRS)

Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kimball, Peter (Inventor); Scully, Mark (Inventor); Kapit, Jason (Inventor); Stone, William C. (Inventor)

2018-01-01

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

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.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision-making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

Kaleri works with the TORU teleoperated control system in the SM during Expedition 8

NASA Image and Video Library

2004-01-30

ISS008-E-14073 (30 January 2004) --- Cosmonaut Alexander Y. Kaleri, Expedition 8 flight engineer, practices docking procedures with the manual TORU rendezvous system in the Zvezda Service Module on the International Space Station (ISS) in preparation for the docking of the Progress 13 on January 31. With the manual TORU mode, Kaleri can perform necessary guidance functions from Zvezda via two hand controllers in the event of a failure of the “Kurs” automated rendezvous and docking (AR&D) of the Progress. Kaleri represents Rosaviakosmos.

Kaleri works with the TORU teleoperated control system in the SM during Expedition 8

NASA Image and Video Library

2004-01-30

ISS008-E-14076 (30 January 2004) --- Cosmonaut Alexander Y. Kaleri, Expedition 8 flight engineer, practices docking procedures with the manual TORU rendezvous system in the Zvezda Service Module on the International Space Station (ISS) in preparation for the docking of the Progress 13 on January 31. With the manual TORU mode, Kaleri can perform necessary guidance functions from Zvezda via two hand controllers in the event of a failure of the “Kurs” automated rendezvous and docking (AR&D) of the Progress. Kaleri represents Rosaviakosmos.

Kaleri works with the TORU teleoperated control system in the SM during Expedition 8

NASA Image and Video Library

2004-01-30

ISS008-E-14067 (30 January 2004) --- Cosmonaut Alexander Y. Kaleri, Expedition 8 flight engineer, practices docking procedures with the manual TORU rendezvous system in the Zvezda Service Module on the International Space Station (ISS) in preparation for the docking of the Progress 13 on January 31. With the manual TORU mode, Kaleri can perform necessary guidance functions from Zvezda via two hand controllers in the event of a failure of the “Kurs” automated rendezvous and docking (AR&D) of the Progress. Kaleri represents Rosaviakosmos.

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.

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.

Hardware-in-the-Loop Rendezvous Tests of a Novel Actuators Command Concept

NASA Astrophysics Data System (ADS)

Gomes dos Santos, Willer; Marconi Rocco, Evandro; Boge, Toralf; Benninghoff, Heike; Rems, Florian

2016-12-01

Integration, test and validation results, in a real-time environment, of a novel concept for spacecraft control are presented in this paper. The proposed method commands simultaneously a group of actuators optimizing a given set of objective functions based on a multiobjective optimization technique. Since close proximity maneuvers play an important role in orbital servicing missions, the entire GNC system has been integrated and tested at a hardware-in-the-loop (HIL) rendezvous and docking simulator known as European Proximity Operations Simulator (EPOS). During the test campaign at EPOS facility, a visual camera has been used to provide the necessary measurements for calculating the relative position with respect to the target satellite during closed-loop simulations. In addition, two different configurations of spacecraft control have been considered in this paper: a thruster reaction control system and a mixed actuators mode which includes thrusters, reaction wheels, and magnetic torqrods. At EPOS, results of HIL closed-loop tests have demonstrated that a safe and stable rendezvous approach can be achieved with the proposed GNC loop.

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.

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.

Apollo 7/S-IVB Rendezvous in space

NASA Image and Video Library

1968-10-11

AS07-03-1535 (11 Oct. 1968) --- The expended Saturn IVB stage as photographed from the Apollo 7 spacecraft during transposition and docking maneuvers at an altitude of 126 nautical miles, at ground elapsed time of three hours, 11 minutes. The round, white disc inside the open panels of the Saturn IVB is a simulated docking target similar to that used on the lunar module for docking during lunar missions. The spacecraft is directly over Odessa-Midland, Texas. The view between the two panels (area of large puffy clouds) extends southwest across Texas into the Mexican State of Chihuahua. The distance between the Apollo 7 spacecraft and the S-IVB is approximately 50 feet.

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.

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.

Holographic Weapons Sight as Crew Optical Alignment Sight

NASA Technical Reports Server (NTRS)

Merancy, Nujoud; Dehmlow, Brian; Brazzel, Jack P.

2011-01-01

Crew Optical Alignment Sights (COAS) are used by spacecraft pilots to provide a visual reference to a target spacecraft for lateral relative position during rendezvous and docking operations. NASA s Orion vehicle, which is currently under development, has not included a COAS in favor of automated sensors, but the crew office has requested such a device be added for situational awareness and contingency support. The current Space Shuttle COAS was adopted from Apollo heritage, weighs several pounds, and is no longer available for procurement which would make re-use difficult. In response, a study was conducted to examine the possibility of converting a commercially available weapons sight to a COAS for the Orion spacecraft. The device used in this study was the XPS series Holographic Weapon Sight (HWS) procured from L-3 EOTech. This device was selected because the targeting reticule can subtend several degrees, and display a graphic pattern tailored to rendezvous and docking operations. Evaluations of the COAS were performed in both the Orion low-fidelity mockup and rendezvous simulations in the Reconfigurable Operational Cockpit (ROC) by crewmembers, rendezvous engineering experts, and flight controllers at Johnson Space Center. These evaluations determined that this unit s size and mounting options can support proper operation and that the reticule visual qualities are as good as or better than the current Space Shuttle COAS. The results positively indicate that the device could be used as a functional COAS and supports a low-cost technology conversion solution.

Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation.

PubMed

Xia, Kewei; Huo, Wei

2016-05-01

This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Video-Guidance Design for the DART Rendezvous Mission

NASA Technical Reports Server (NTRS)

Ruth, Michael; Tracy, Chisholm

2004-01-01

NASA's Demonstration of Autonomous Rendezvous Technology (DART) mission will validate a number of different guidance technologies, including state-differenced GPS transfers and close-approach video guidance. The video guidance for DART will employ NASA/Marshall s Advanced Video Guidance Sensor (AVGS). This paper focuses on the terminal phase of the DART mission that includes close-approach maneuvers under AVGS guidance. The closed-loop video guidance design for DART is driven by a number of competing requirements, including a need for maximizing tracking bandwidths while coping with measurement noise and the need to minimize RCS firings. A range of different strategies for attitude control and docking guidance have been considered for the DART mission, and design decisions are driven by a goal of minimizing both the design complexity and the effects of video guidance lags. The DART design employs an indirect docking approach, in which the guidance position targets are defined using relative attitude information. Flight simulation results have proven the effectiveness of the video guidance design.

Results of prototype software development for automation of shuttle proximity operations

NASA Technical Reports Server (NTRS)

Hiers, Harry K.; Olszewski, Oscar W.

1991-01-01

A Rendezvous Expert System (REX) was implemented on a Symbolics 3650 processor and integrated with the 6 DOF, high fidelity Systems Engineering Simulator (SES) at the NASA Johnson Space Center in Houston, Texas. The project goals were to automate the terminal phase of a shuttle rendezvous, normally flown manually by the crew, and proceed automatically to docking with the Space Station Freedom (SSF). The project goals were successfully demonstrated to various flight crew members, managers, and engineers in the technical community at JSC. The project was funded by NASA's Office of Space Flight, Advanced Program Development Division. Because of the complexity of the task, the REX development was divided into two distinct efforts. One to handle the guidance and control function using perfect navigation data, and another to provide the required visuals for the system management functions needed to give visibility to the crew members of the progress being made towards docking the shuttle with the LVLH stabilized SSF.

Manned versus unmanned rendezvous and capture

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1991-01-01

Rendezvous and capture (docking) operations may be performed either automatically or under manual control. In cases where humans are far from the mission site, or high-bandwidth communications lines are not in place, automation is the only option. Such might be the case with unmanned missions to the moon or Mars that involve orbital docking or cargo transfer. In crewed situations where sensors, computation capabilities, and other necessary instrumentation are unavailable, manual control is the only alternative. Power, mass, cost, or other restrictions may limit the availability of the machinery required for an automated rendezvous and capture. The only occasions for which there is a choice about whether to use automated or manual control are those where the vehicle(s) have both the crew and instrumentation necessary to perform the mission either way. The following discussion will focus on the final approach or capture (docking) maneuver. The maneuvers required for long-range rendezvous operations are calculated by computers. It is almost irrelevant whether it is an astronaut, watching a count-down timer who pushes the button firing the thruster or whether the computer keeps track of the time and fires with the astronaut monitoring. The actual manual workload associated with a mission that may take as long as hours or days to perform is small. The workload per unit time increases tremendously during the final approach (docking) phase and this is where the issue of manual versus automatic is more important.

Supervised autonomous rendezvous and docking system technology evaluation

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.

1991-01-01

Technology for manned space flight is mature and has an extensive history of the use of man-in-the-loop rendezvous and docking, but there is no history of automated rendezvous and docking. Sensors exist that can operate in the space environment. The Shuttle radar can be used for ranges down to 30 meters, Japan and France are developing laser rangers, and considerable work is going on in the U.S. However, there is a need to validate a flight qualified sensor for the range of 30 meters to contact. The number of targets and illumination patterns should be minimized to reduce operation constraints with one or more sensors integrated into a robust system for autonomous operation. To achieve system redundancy, it is worthwhile to follow a parallel development of qualifying and extending the range of the 0-12 meter MSFC sensor and to simultaneously qualify the 0-30(+) meter JPL laser ranging system as an additional sensor with overlapping capabilities. Such an approach offers a redundant sensor suite for autonomous rendezvous and docking. The development should include the optimization of integrated sensory systems, packaging, mission envelopes, and computer image processing to mimic brain perception and real-time response. The benefits of the Global Positioning System in providing real-time positioning data of high accuracy must be incorporated into the design. The use of GPS-derived attitude data should be investigated further and validated.

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.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030552 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030578 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030563 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030460 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030445 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030584 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030444 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Progress 37P on approach to the ISS

NASA Image and Video Library

2010-05-01

ISS023-E-030528 (1 May 2010) --- An unpiloted ISS Progress resupply vehicle approaches the International Space Station, bringing 2.6 tons of food, fuel, oxygen, propellant and supplies for the Expedition 23 crew members aboard the station. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan. The docking was conducted by Russian cosmonaut Oleg Kotov, commander, in manual control through the TORU (telerobotically operated) rendezvous system due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system.

Guidance and Navigation for Rendezvous and Proximity Operations with a Non-Cooperative Spacecraft at Geosynchronous Orbit

NASA Technical Reports Server (NTRS)

Barbee, Brent William; Carpenter, J. Russell; Heatwole, Scott; Markley, F. Landis; Moreau, Michael; Naasz, Bo J.; VanEepoel, John

2010-01-01

The feasibility and benefits of various spacecraft servicing concepts are currently being assessed, and all require that the servicer spacecraft perform rendezvous, proximity, and capture operations with the target spacecraft to be serviced. Many high-value spacecraft, which would be logical targets for servicing from an economic point of view, are located in geosynchronous orbit, a regime in which autonomous rendezvous and capture operations are not commonplace. Furthermore, existing GEO spacecraft were not designed to be serviced. Most do not have cooperative relative navigation sensors or docking features, and some servicing applications, such as de-orbiting of a non-functional spacecraft, entail rendezvous and capture with a spacecraft that may be non-functional or un-controlled. Several of these challenges have been explored via the design of a notional mission in which a nonfunctional satellite in geosynchronous orbit is captured by a servicer spacecraft and boosted into super-synchronous orbit for safe disposal. A strategy for autonomous rendezvous, proximity operations, and capture is developed, and the Orbit Determination Toolbox (ODTBX) is used to perform a relative navigation simulation to assess the feasibility of performing the rendezvous using a combination of angles-only and range measurements. Additionally, a method for designing efficient orbital rendezvous sequences for multiple target spacecraft is utilized to examine the capabilities of a servicer spacecraft to service multiple targets during the course of a single mission.

Vision Based Navigation for Autonomous Cooperative Docking of CubeSats

NASA Astrophysics Data System (ADS)

Pirat, Camille; Ankersen, Finn; Walker, Roger; Gass, Volker

2018-05-01

A realistic rendezvous and docking navigation solution applicable to CubeSats is investigated. The scalability analysis of the ESA Autonomous Transfer Vehicle Guidance, Navigation & Control (GNC) performances and the Russian docking system, shows that the docking of two CubeSats would require a lateral control performance of the order of 1 cm. Line of sight constraints and multipath effects affecting Global Navigation Satellite System (GNSS) measurements in close proximity prevent the use of this sensor for the final approach. This consideration and the high control accuracy requirement led to the use of vision sensors for the final 10 m of the rendezvous and docking sequence. A single monocular camera on the chaser satellite and various sets of Light-Emitting Diodes (LEDs) on the target vehicle ensure the observability of the system throughout the approach trajectory. The simple and novel formulation of the measurement equations allows differentiating unambiguously rotations from translations between the target and chaser docking port and allows a navigation performance better than 1 mm at docking. Furthermore, the non-linear measurement equations can be solved in order to provide an analytic navigation solution. This solution can be used to monitor the navigation filter solution and ensure its stability, adding an extra layer of robustness for autonomous rendezvous and docking. The navigation filter initialization is addressed in detail. The proposed method is able to differentiate LEDs signals from Sun reflections as demonstrated by experimental data. The navigation filter uses a comprehensive linearised coupled rotation/translation dynamics, describing the chaser to target docking port motion. The handover, between GNSS and vision sensor measurements, is assessed. The performances of the navigation function along the approach trajectory is discussed.

First Integrated Flight Simulation For STS 114

NASA Image and Video Library

2004-10-13

JSC2004-E-45138 (13 October 2004) --- Astronaut Stephen N. Frick monitors communications at the spacecraft communicator (CAPCOM) console in the Shuttle Flight Control Room (WFCR) in Johnson Space Center’s (JSC) Mission Control Center (MCC) with the STS-114 crewmembers during a fully-integrated simulation on October 13. The seven member crew was in a JSC-based simulator during the sims. The dress rehearsal of Discovery's rendezvous and docking with the International Space Station (ISS) was the first flight-specific training for the Space Shuttle's return to flight.

Launch of Agena Target Docking Vehicle atop Atlas launch vehicle

NASA Technical Reports Server (NTRS)

1966-01-01

An Agena Target Docking Vehicle atop its Atlas launch vehicle was launched fromt the Kennedy Space Center's Launch Complex 14 at 6:05 a.m., September 12, 1966. The Agena served as a rendezvous and docking vehicle for the Gemini 11 spacecraft.

Evaluation of GPS position and attitude determination for automated rendezvous and docking missions. M.S. Thesis

NASA Technical Reports Server (NTRS)

Diprinzio, Marc D.; Tolson, Robert H.

1994-01-01

The use of the Global Positioning System for position and attitude determination is evaluated for an automated rendezvous and docking mission. The typical mission scenario involves the chaser docking with the target for resupply or repair purposes, and is divided into three sections. During the homing phase, the chaser utilizes coarse acquisition pseudorange data to approach the target; guidance laws for this stage are investigated. In the second phase, differential carrier phase positioning is utilized. The chaser must maintain a quasiconstant distance from the target, in order to resolve the initial integer ambiguities. Once the ambiguities are determined, the terminal phase is entered, and the rendezvous is completed with continuous carrier phase tracking. Attitude knowledge is maintained in all phases through the use of the carrier phase observable. A Kalman filter is utilized to estimate all states from the noisy measurement data. The effects of selective availability and cycle slips are also investigated.

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.

The Successful Development of an Automated Rendezvous and Capture (AR&C) System for the National Aeronautics and Space Administration

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.

2003-01-01

During the 1990's, the Marshall Space Flight Center (MSFC) conducted pioneering research in the development of an automated rendezvous and capture/docking (AR&C) system for U.S. space vehicles. Development and demonstration of a rendezvous sensor was identified early in the AR&C Program as the critical enabling technology that allows automated proximity operations and docking. A first generation rendezvous sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on STS-87 and STS-95, proving the concept of a video- based sensor. A ground demonstration of the entire system and software was successfully tested. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development, by the MSFC, of a new generation of video based rendezvous sensor. The Advanced Video Guidance Sensor (AGS) has greatly increased performance and additional capability for longer-range operation with a new target designed as a direct replacement for existing ISS hemispherical reflectors.

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.

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.

The influence of spatial ability and experience on performance during spaceship rendezvous and docking.

PubMed

Du, Xiaoping; Zhang, Yijing; Tian, Yu; Huang, Weifen; Wu, Bin; Zhang, Jingyu

2015-01-01

Manual rendezvous and docking (manual RVD) is a challenging space task for astronauts. Previous research showed a correlation between spatial ability and manual RVD skills among participants at early stages of training, but paid less attention to experts. Therefore, this study tried to explore the role of spatial ability in manual RVD skills in two groups of trainees, one relatively inexperienced and the other experienced operators. Additionally, mental rotation has been proven essential in RVD and was tested in this study among 27 male participants, 15 novices, and 12 experts. The participants performed manual RVD tasks in a high fidelity simulator. Results showed that experience moderated the relation between mental rotation ability and manual RVD performance. On one hand, novices with high mental rotation ability tended to perform that RVD task more successfully; on the other hand, experts with high mental rotation ability showed not only no performance advantage in the final stage of the RVD task, but had certain disadvantages in their earlier processes. Both theoretical and practical implications were discussed.

The influence of spatial ability and experience on performance during spaceship rendezvous and docking

PubMed Central

Du, Xiaoping; Zhang, Yijing; Tian, Yu; Huang, Weifen; Wu, Bin; Zhang, Jingyu

2015-01-01

Manual rendezvous and docking (manual RVD) is a challenging space task for astronauts. Previous research showed a correlation between spatial ability and manual RVD skills among participants at early stages of training, but paid less attention to experts. Therefore, this study tried to explore the role of spatial ability in manual RVD skills in two groups of trainees, one relatively inexperienced and the other experienced operators. Additionally, mental rotation has been proven essential in RVD and was tested in this study among 27 male participants, 15 novices, and 12 experts. The participants performed manual RVD tasks in a high fidelity simulator. Results showed that experience moderated the relation between mental rotation ability and manual RVD performance. On one hand, novices with high mental rotation ability tended to perform that RVD task more successfully; on the other hand, experts with high mental rotation ability showed not only no performance advantage in the final stage of the RVD task, but had certain disadvantages in their earlier processes. Both theoretical and practical implications were discussed. PMID:26236252

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

Application of neural networks to autonomous rendezvous and docking of space vehicles

NASA Technical Reports Server (NTRS)

Dabney, Richard W.

1992-01-01

NASA-Marshall has investigated the feasibility of numerous autonomous rendezvous and docking (ARD) candidate techniques. Neural networks have been studied as a viable basis for such systems' implementation, due to their intrinsic representation of such nonlinear functions as those for which analytical solutions are either difficult or nonexistent. Neural networks are also able to recognize and adapt to changes in their dynamic environment, thereby enhancing redundancy and fault tolerance. Outstanding performance has been obtained from ARD azimuth, elevation, and roll networks of this type.

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.

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.

Designing the STS-134 Re-Rendezvous: A Preparation for Future Crewed Rendezvous Missions

NASA Technical Reports Server (NTRS)

Stuit, Timothy D.

2011-01-01

In preparation to provide the capability for the Orion spacecraft, also known as the Multi-Purpose Crew Vehicle (MPCV), to rendezvous with the International Space Station (ISS) and future spacecraft, a new suite of relative navigation sensors are in development and were tested on one of the final Space Shuttle missions to ISS. The National Aeronautics and Space Administration (NASA) commissioned a flight test of prototypes of the Orion relative navigation sensors on STS-134, in order to test their performance in the space environment during the nominal rendezvous and docking, as well as a re-rendezvous dedicated to testing the prototype sensors following the undocking of the Space Shuttle orbiter at the end of the mission. Unlike the rendezvous and docking at the beginning of the mission, the re-rendezvous profile replicates the newly designed Orion coelliptic approach trajectory, something never before attempted with the shuttle orbiter. Therefore, there were a number of new parameters that needed to be conceived of, designed, and tested for this rerendezvous to make the flight test successful. Additionally, all of this work had to be integrated with the normal operations of the ISS and shuttle and had to conform to the constraints of the mission and vehicles. The result of this work is a separation and rerendezvous trajectory design that would not only prove the design of the relative navigation sensors for the Orion vehicle, but also would serve as a proof of concept for the Orion rendezvous trajectory itself. This document presents the analysis and decision making process involved in attaining the final STS-134 re-rendezvous design.

Visual Odometry for Autonomous Deep-Space Navigation

NASA Technical Reports Server (NTRS)

Robinson, Shane; Pedrotty, Sam

2016-01-01

Visual Odometry fills two critical needs shared by all future exploration architectures considered by NASA: Autonomous Rendezvous and Docking (AR&D), and autonomous navigation during loss of comm. To do this, a camera is combined with cutting-edge algorithms (called Visual Odometry) into a unit that provides accurate relative pose between the camera and the object in the imagery. Recent simulation analyses have demonstrated the ability of this new technology to reliably, accurately, and quickly compute a relative pose. This project advances this technology by both preparing the system to process flight imagery and creating an activity to capture said imagery. This technology can provide a pioneering optical navigation platform capable of supporting a wide variety of future missions scenarios: deep space rendezvous, asteroid exploration, loss-of-comm.

Re-rendezvous and approach of Progress 33P

NASA Image and Video Library

2009-07-12

ISS020-E-018056 (12 July 2009) --- An unpiloted ISS Progress 33 cargo craft approaches the International Space Station. On June 30, the Progress undocked from the station and 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.

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.

Orion Handling Qualities During ISS Proximity Operations and Docking

NASA Technical Reports Server (NTRS)

Stephens, John-Paul; Vos, Gordon A.; Bilimoria, Karl D.; Mueller, Eric R.; Brazzel, Jack; Spehar, Pete

2011-01-01

NASA's Orion spacecraft is designed to autonomously rendezvous and dock with many vehicles including the International Space Station. However, the crew is able to assume manual control of the vehicle s attitude and flight path. In these instances, Orion must meet handling qualities requirements established by NASA. Two handling qualities assessments were conducted at the Johnson Space Center to evaluate preliminary designs of the vehicle using a six degree of freedom, high-fidelity guidance, navigation, and control simulation. The first assessed Orion s handling qualities during the last 20 ft before docking, and included both steady and oscillatory motions of the docking target. The second focused on manual acquisition of the docking axis during the proximity operations phase and subsequent station-keeping. Cooper-Harper handling qualities ratings, workload ratings and comments were provided by 10 evaluation pilots for the docking study and 5 evaluation pilots for the proximity operations study. For the docking task, both cases received 90% Level 1 (satisfactory) handling qualities ratings, exceeding NASA s requirement. All ratings for the ProxOps task were Level 1. These evaluations indicate that Orion is on course to meet NASA's handling quality requirements for ProxOps and docking.

An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

NASA Technical Reports Server (NTRS)

Nelson, Kurt

1991-01-01

The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

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.

Fifth Report of the NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1995-01-01

The NASA Advisory Council Task Force on the Shuttle-Mir rendezvous and docking missions examine a number of specific issues related to the Shuttle-Mir program. Three teams composed of Task Force members and technical advisors were formed to address the follow issues: preliminary results from STS-71 and the status of preparations for STS-74; NASA's presence in Russia; and NASA's automated data processing and telecommunications (ADP/T) infrastructure in Russia. The three review team reports have been included in the fifth report of the Task Force.

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.

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.

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.

Automated Rendezvous and Capture in Space: A Technology Assessment

NASA Technical Reports Server (NTRS)

Polites, Michael E.

1998-01-01

This paper presents the results of a study to assess the technology of automated rendezvous and capture (AR&C) in space. The outline of the paper is as follows: First, the history of manual and automated rendezvous and capture and rendezvous and dock is presented. Next, the need for AR&C in space is reviewed. In light of these, AR&C systems are proposed that meet NASA's future needs, but can be developed in a reasonable amount of time with a reasonable amount of money. Technology plans for developing these systems are presented; cost and schedule are included.

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

Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

NASA Astrophysics Data System (ADS)

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Ren, Yongjie; Guo, Siyang; Zhu, Jigui

2018-04-01

In this paper we present a novel omnidirectional angle constraint based method for dynamic 6-DOF (six-degree-of-freedom) measurement. A photoelectric scanning measurement network is employed whose photoelectric receivers are fixed on the measured target. They are in a loop distribution and receive signals from rotating transmitters. Each receiver indicates an angle constraint direction. Therefore, omnidirectional angle constraints can be constructed in each rotation cycle. By solving the constrained optimization problem, 6-DOF information can be obtained, which is independent of traditional rigid coordinate system transformation. For the dynamic error caused by the measurement principle, we present an interpolation method for error reduction. Accuracy testing is performed in an 8  ×  8 m measurement area with four transmitters. The experimental results show that the dynamic orientation RMSEs (root-mean-square errors) are reduced from 0.077° to 0.044°, 0.040° to 0.030° and 0.032° to 0.015° in the X, Y, and Z axes, respectively. The dynamic position RMSE is reduced from 0.65 mm to 0.24 mm. This method is applied during the final approach phase in the rendezvous and docking simulation. Experiments under different conditions are performed in a 40  ×  30 m area, and the method is verified to be effective.

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.

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.

Virgil Gus Grissom's Visit to LaRC

NASA Image and Video Library

1963-02-22

Astronaut Virgil "Gus" Grissom at the controls of the Visual Docking Simulator. 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. "This facility was [later known as the Visual-Optical Simulator.] It presents to the pilot an out-the-window view of his target in correct 6 degrees of freedom motion. The scene is obtained by a television camera pick-up viewing a small-scale gimbaled model of the target." "For docking studies, the docking target picture was projected onto the surface of a 20-foot-diameter sphere and the pilot could, effectively, maneuver into contract. this facility was used in a comparison study with the Rendezvous Docking Simulator - one of the few comparison experiments in which conditions were carefully controlled and a reasonable sample of pilots used. All pilots preferred the more realistic RDS visual scene. The pilots generally liked the RDS angular motion cues although some objected to the false gravity cues that these motions introduced. Training time was shorter on the RDS, but final performance on both simulators was essentially equal. " "For station-keeping studies, since close approach is not required, the target was presented to the pilot through a virtual-image system which projects his view to infinity, providing a more realistic effect. In addition to the target, the system also projects a star and horizon background. "

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.

STS-101: CAR / Flight Day 03 Highlights

NASA Technical Reports Server (NTRS)

2000-01-01

The primary mission objective for STS-101 was to deliver supplies to the International Space Station, perform a space walk, and reboost the station from 230 statute miles to 250 statute miles. The commander of this mission was, James D. Haslsell. The crew was Scott J. Horowitz, the pilot, and mission specialists Mary Ellen Weber, Jeffrey N. Williams, James S. Voss, Susan J. Helms, and Yuri Vladimirovich Usachev. This videotape shows the activities of the third day of the flight. On this day the shuttle rendezvoused and docked with the station. The videotape shows the rendezvous and the docking maneuver, and some of the crew activities in the shuttle.

STS-104 Crew Training Clips

NASA Technical Reports Server (NTRS)

2001-01-01

The crewmembers of STS-104, Commander Steven Lindsey, Pilot Charles Hobaugh, and Mission Specialists Michael Gernhardt, James Reilly, and Janet Kavandi, are seen during various stages of their training. Footage shows the following: (1) Water Survival Training at the Neutral Buoyancy Laboratory (NBL); (2) Rendezvous and Docking Training in the Shuttle Mission Simulator; (3) Training in the Space Station Airlock; (4) Training in the Virtual Reality Lab; (5) Post-insertion Operations in the Fixed Base Simulator; (6) Extravehicular Activity Training at the NBL; (7) Crew Stowage Training in the Space Station Mock-up Training Facility; and (8) Water Transfer Training in the Crew Compartment Trainer.

Views of the Mir Space Station during rendezvous

NASA Image and Video Library

1997-05-16

STS084-350-023 (15-24 May 1997) --- A Space Shuttle point-of-view frame showing the docking port and target during rendezvous with Russia's Mir Space Station. The picture should be held horizontally with the retracted Kristall solar array at top. Other elements partially visible are Kvant-2 (left), Spektr (right) and Core Module (bottom).

GEMINI-TITAN (GT)-9 - EARTH-SKY - AUGMENTED TARGET DOCKING ADAPTER (ATDA) - MSC

NASA Image and Video Library

1966-06-06

S66-37923 (3 June 1966) --- The Augmented Target Docking Adapter (ATDA) as seen from the Gemini-9 spacecraft during one of their three rendezvous in space. The ATDA and Gemini-9 spacecraft are 66.5 feet apart. Failure of the docking adapter protective cover to fully separate on the ATDA prevented the docking of the two spacecraft. The ATDA was described by the Gemini-9 crew as an "angry alligator." Photo credit: NASA

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.

Kotov in SM during Progress 37P Docking

NASA Image and Video Library

2010-05-01

ISS023-E-031743 (1 May 2010) --- Russian cosmonaut Oleg Kotov, Expedition 23 commander, is pictured at the manual TORU docking system controls in the Zvezda Service Module of the International Space Station just before conducting a manual control docking of the Progress 37 due to a jet failure on the Progress that forced a shutdown of the Kurs automated rendezvous system. Progress 37 docked to the Pirs Docking Compartment at 2:30 p.m. (EDT) on May 1, 2010, after a three-day flight from the Baikonur Cosmodrome in Kazakhstan.

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.

Data Retrieved by ARCADE-R2 Experiment On Board the BEXUS-17 Balloon

NASA Astrophysics Data System (ADS)

Barbetta, M.; Branz, F.; Carron, A.; Olivieri, L.; Prendin, J.; Sansone, F.; Savioli, L.; Spinello, F.; Francesconi, A.

2015-09-01

The Autonomous Rendezvous, Control And Docking Experiment — Reflight 2 (ARCADE-R2) is a technology demonstrator aiming to prove automatic attitude determination and control, rendezvous and docking capabilities for small scale spacecraft and aircraft. The development of such capabilities could be fundamental to create, in the near future, fleets of cooperative, autonomous unmanned aerial vehicles for mapping, surveillance, inspection and remote observation of hazardous environments; small-class satellites could also benefit from the employment of docking systems to extend and reconfigure their mission profiles. ARCADE-R2 is designed to test these technologies on a stratospheric flight on board the BEXUS-17 balloon, allowing to demonstrate them in a harsh environment subjected to gusty winds and high pressure and temperature variations. In this paper, ARCADE-R2 architecture is introduced and the main results obtained from a stratospheric balloon flight are presented.

400mm Mapping Sequence performed during the STS-119 R-Bar Pitch Maneuver

NASA Image and Video Library

2008-03-17

ISS018-E-040791 (17 March 2009) --- Backdropped by a blanket of clouds, Space Shuttle Discovery is featured in this image photographed by an Expedition 18 crewmember on the International Space Station during rendezvous and docking operations. Before docking with the station, astronaut Lee Archambault, STS-119 commander, flew the shuttle through a Rendezvous Pitch Maneuver or basically a backflip to allow the space station crew a good view of Discovery's heat shield. Using digital still cameras equipped with both 400 and 800 millimeter lenses, the ISS crewmembers took a number of photos of the shuttle's thermal protection system and sent them down to teams on the ground for analysis. A 400 millimeter lens was used for this image. Docking occurred at 4:20 p.m. (CDT) on March 17, 2009. The final pair of power-generating solar array wings and the S6 truss segment are visible in Discovery?s cargo bay.

400mm Mapping Sequence performed during the STS-119 R-Bar Pitch Maneuver

NASA Image and Video Library

2008-03-17

ISS018-E-040792 (17 March 2009) --- Backdropped by a blanket of clouds, Space Shuttle Discovery is featured in this image photographed by an Expedition 18 crewmember on the International Space Station during rendezvous and docking operations. Before docking with the station, astronaut Lee Archambault, STS-119 commander, flew the shuttle through a Rendezvous Pitch Maneuver or basically a backflip to allow the space station crew a good view of Discovery's heat shield. Using digital still cameras equipped with both 400 and 800 millimeter lenses, the ISS crewmembers took a number of photos of the shuttle's thermal protection system and sent them down to teams on the ground for analysis. A 400 millimeter lens was used for this image. Docking occurred at 4:20 p.m. (CDT) on March 17, 2009. The final pair of power-generating solar array wings and the S6 truss segment are visible in Discovery?s cargo bay.

400mm Mapping Sequence performed during the STS-119 R-Bar Pitch Maneuver

NASA Image and Video Library

2008-03-17

ISS018-E-040790 (17 March 2009) --- Backdropped by the blackness of space, Space Shuttle Discovery is featured in this image photographed by an Expedition 18 crewmember on the International Space Station during rendezvous and docking operations. Before docking with the station, astronaut Lee Archambault, STS-119 commander, flew the shuttle through a Rendezvous Pitch Maneuver or basically a backflip to allow the space station crew a good view of Discovery's heat shield. Using digital still cameras equipped with both 400 and 800 millimeter lenses, the ISS crewmembers took a number of photos of the shuttle's thermal protection system and sent them down to teams on the ground for analysis. A 400 millimeter lens was used for this image. Docking occurred at 4:20 p.m. (CDT) on March 17, 2009. The final pair of power-generating solar array wings and the S6 truss segment are visible in Discovery?s cargo bay.

400mm Mapping Sequence performed during the STS-119 R-Bar Pitch Maneuver

NASA Image and Video Library

2008-03-17

ISS018-E-040789 (17 March 2009) --- Backdropped by the blackness of space, Space Shuttle Discovery is featured in this image photographed by an Expedition 18 crewmember on the International Space Station during rendezvous and docking operations. Before docking with the station, astronaut Lee Archambault, STS-119 commander, flew the shuttle through a Rendezvous Pitch Maneuver or basically a backflip to allow the space station crew a good view of Discovery's heat shield. Using digital still cameras equipped with both 400 and 800 millimeter lenses, the ISS crewmembers took a number of photos of the shuttle's thermal protection system and sent them down to teams on the ground for analysis. A 400 millimeter lens was used for this image. Docking occurred at 4:20 p.m. (CDT) on March 17, 2009. The final pair of power-generating solar array wings and the S6 truss segment are visible in Discovery’s cargo bay.

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.

Report of the Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

In October 1992, Russia and the U.S. agreed to conduct a fundamentally new program of human cooperation in space. This original 'Shuttle-Mir' project encompassed combined astronaut-cosmonaut activities on the Shuttle, Soyuz, and Mir spacecraft. At that time, the project was limited to: the STS-60 Shuttle mission, which was completed in February 1994 and carried the first Russian cosmonaut; the planned March 1995 Soyuz 18 launch which will carry a U.S. astronaut to the Mir space station for a three month mission; and the STS-71 Shuttle mission which is scheduled to rendezvous and dock with the Mir space station in June 1995. The Task Force's specific recommendations are given.

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.

An Assessment of the Technology of Automated Rendezvous and Capture in Space

NASA Technical Reports Server (NTRS)

Polites, M. E.

1998-01-01

This paper presents the results of a study to assess the technology of automated rendezvous and capture (AR&C) in space. The outline of the paper is as follows. First, the history of manual and automated rendezvous and capture and rendezvous and dock is presented. Next, the need for AR&C in space is established. Then, today's technology and ongoing technology efforts related to AR&C in space are reviewed. In light of these, AR&C systems are proposed that meet NASA's future needs, but can be developed in a reasonable amount of time with a reasonable amount of money. Technology plans for developing these systems are presented; cost and schedule are included.

Results of prototype software development for automation of shuttle proximity operations

NASA Technical Reports Server (NTRS)

Hiers, Hal; Olszweski, Oscar

1991-01-01

The effort involves demonstration of expert system technology application to Shuttle rendezvous operations in a high-fidelity, real-time simulation environment. The JSC Systems Engineering Simulator (SES) served as the test bed for the demonstration. Rendezvous applications were focused on crew procedures and monitoring of sensor health and trajectory status. Proximity operations applications were focused on monitoring, crew advisory, and control of the approach trajectory. Guidance, Navigation, and Control areas of emphasis included the approach, transition and stationkeeping guidance, and laser docking sensor navigation. Operator interface displays for monitor and control functions were developed. A rule-based expert system was developed to manage the relative navigation system/sensors for nominal operations and simple failure contingencies. Testing resulted in the following findings; (1) the developed guidance is applicable for operations with LVLH stabilized targets; (2) closing rates less than 0.05 feet per second are difficult to maintain due to the Shuttle translational/rotational cross-coupling; (3) automated operations result in reduced propellant consumption and plume impingement effects on the target as compared to manual operations; and (4) braking gates are beneficial for trajectory management. A versatile guidance design was demonstrated. An accurate proximity operations sensor/navigation system to provide relative attitude information within 30 feet is required and redesign of the existing Shuttle digital autopilot should be considered to reduce the cross-coupling effects. This activity has demonstrated the feasibility of automated Shuttle proximity operations with the Space Station Freedom. Indications are that berthing operations as well as docking can be supported.

Future directions in flight simulation: A user perspective

NASA Technical Reports Server (NTRS)

Jackson, Bruce

1993-01-01

Langley Research Center was an early leader in simulation technology, including a special emphasis in space vehicle simulations such as the rendezvous and docking simulator for the Gemini program and the lunar landing simulator used before Apollo. In more recent times, Langley operated the first synergistic six degree of freedom motion platform (the Visual Motion Simulator, or VMS) and developed the first dual-dome air combat simulator, the Differential Maneuvering Simulator (DMS). Each Langley simulator was developed more or less independently from one another with different programming support. At present time, the various simulation cockpits, while supported by the same host computer system, run dissimilar software. The majority of recent investments in Langley's simulation facilities have been hardware procurements: host processors, visual systems, and most recently, an improved motion system. Investments in software improvements, however, have not been of the same order.

The development of an autonomous rendezvous and docking simulation using rapid integration and prototyping technology

NASA Technical Reports Server (NTRS)

Shackelford, John H.; Saugen, John D.; Wurst, Michael J.; Adler, James

1991-01-01

A generic planar 3 degree of freedom simulation was developed that supports hardware in the loop simulations, guidance and control analysis, and can directly generate flight software. This simulation was developed in a small amount of time utilizing rapid prototyping techniques. The approach taken to develop this simulation tool, the benefits seen using this approach to development, and on-going efforts to improve and extend this capability are described. The simulation is composed of 3 major elements: (1) Docker dynamics model, (2) Dockee dynamics model, and (3) Docker Control System. The docker and dockee models are based on simple planar orbital dynamics equations using a spherical earth gravity model. The docker control system is based on a phase plane approach to error correction.

Third Report of the Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

In May 1994, the Task Force on the Shuttle-Mir Rendezvous and Docking Missions was established by the NASA Advisory Council. Its purpose is to review Phase 1 (Shuttle-Mir) planning, training, operations, rendezvous and docking, and management and to provide interim reports containing specific recommendations to the Advisory Council. Phase 1 represents the building block to create the experience and technical expertise for an International Space Station. The Phase 1 program brings together the United States and Russia in a major cooperative and contractual program that takes advantage of both countries' capabilities. The content of the Phase 1 program consists of the following elements as defined by the Phase 1 Program Management Plan, dated October 6, 1994: Shuttle-Mir rendezvous and docking missions; astronaut long duration presence on Mir Requirements for Mir support of Phase 1 when astronauts are not on board; outfitting Spektr and Priroda modules with NASA science, research, and risk mitigation equipment Related ground support requirements of NASA and the Russian Space Agency (RSA) to support Phase 1 Integrated NASA and RSA launch schedules and manifests The first meeting of the Task Force was held at the Johnson Space Center (JSC) on May 24 and 25, 1994 with a preliminary report submitted to the NASA Advisory Council on June 6, 1994. The second meeting of the Task Force was held at JSC on July 12 and 13, 1994 and a detailed report containing a series of specific recommendations was submitted on July 29, 1994. This report reflects the results of the third Task Force meeting which was held at JSC on 11 and 12 October, 1994. The briefings presented at that meeting reviewed NASA's response to the Task Force recommendations made to date and provided background data and current status on several critical areas which the Task Force had not addressed in its previous reports.

GEMINI-9 - EARTH SKY - ATDA

NASA Image and Video Library

1966-06-06

S66-37972 (3 June 1966) ?-- The Augmented Target Docking Adapter (ATDA) is photographed from the Gemini-9 spacecraft during one of three rendezvous occasions in space. The ATDA and Gemini-9 spacecraft are 35.5 feet apart in this view. Failure of the docking adapter protective cover on the ATDA to fully separate prevented the docking of the two spacecraft. The ATDA was described by the Gemini-9 crew members as an ?angry alligator.? Photo credit: NASA

STS-114 Discovery's approach for docking

NASA Image and Video Library

2005-07-28

ISS011-E-11233 (28 July 2005) --- One of a series of photographs showing the Space Shuttle Discovery as taken from aboard the International Space Station during rendezvous and docking operations. The Italian-built Raffaello Multi-Purpose Logistics Module (MPLM) is in the Shuttle’;s cargo bay. Earth, dotted with popcorn-like clouds, provides the backdrop for this image.

GEMINI-9 - EARTH SKY - ATDA

NASA Image and Video Library

1966-06-06

S66-37943 (3 June 1966) --- The Augmented Target Docking Adapter is photographed against the background of the blackness of space from the Gemini-9 spacecraft during one of their three rendezvous in space. The ATDA and Gemini-9 spacecraft are 71.5 feet apart. Failure of the docking adapter protective cover to fully separate on the ATDA prevented the docking of the two spacecraft. The ATDA was described by the Gemini-9 crew as an ?Angry Alligator.? Photo credit: NASA

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.

KSC-108-75PC-0388

NASA Image and Video Library

1975-07-15

CAPE CANAVERAL, Fla. – The Apollo Soyuz Test Project Saturn IB launch vehicle thundered away from KSC’s Launch Complex 39B at 3:50 p.m. today. Aboard the Apollo Command Module were ASTP Astronauts Thomas Stafford, Vance Brand and Donald Slayton. The astronauts will rendezvous and dock with a Soyuz spacecraft, launched this morning from the Baikonur launch facility in the Soviet Union, carrying Soviet cosmonauts Aleksey Leonov and Valeriy Kubasov. The first international crewed spaceflight was a joint U.S.-U.S.S.R. rendezvous and docking mission. The Apollo-Soyuz Test Project, or ASTP, took its name from the spacecraft employed: the American Apollo and the Soviet Soyuz. The three-man Apollo crew lifted off from Kennedy Space Center aboard a Saturn IB rocket on July 15, 1975, to link up with the Soyuz that had launched a few hours earlier. A cylindrical docking module served as an airlock between the two spacecraft for transfer of the crew members. Photo credit: NASA

Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

NASA Technical Reports Server (NTRS)

Trube, Matthew J.; Hyslop, Andrew M.; Carignan, Craig R.; Easley, Joseph W.

2012-01-01

A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

Analysis for orbital rendezvous of Chang'E-5 using SBI technique

NASA Astrophysics Data System (ADS)

Huang, Y.; Shan, Q.; Li, P.

2016-12-01

Chang'E-5 will be launched in later 2017/early 2018 using a new generation rocket from Wenchang satellite launch center, Hainan, China. It is a lunar sampling return mission, and it is the first time for China to carry out orbital rendezvous and docking in the Moon. How to achieve orbital rendezvous successfully in the Moon is very important in Chang'E-5 mission. Orbital rendezvous will be implemented between an orbiter and an ascender 200 km above the Moon. The ground tracking techniques include range, Doppler and VLBI, and they will be used to track the orbiter and the ascender when the ascender is about 70 km farther away from the orbiter. Later the ascender will approach the orbiter automatically. As a successful example, in Chang'E-3, the differential phase delay (delta delay) data between the rover and the lander are obtained with a random error of about 1 ps, and the relative position of the rover is determined with an accuracy of several meters by using same beam VLBI (SBI) technique. Here the application of the SBI technique for Chang'E-5 orbital rendezvous is discussed. SBI technique can be used to track the orbiter and the ascender simultaneously when they are in the same beam. Delta delay of the two probes can be derived, and the measurement accuracy is much higher than that of the traditional VLBI data because of the cancelation of common errors. Theoretically it can result in a more accurate relative orbit between the two probes. In the simulation, different strategies are discussed to analyze the contribution of SBI data to the orbit accuracy improvement especially relative orbit between the orbiter and ascender. The simulation results show that the relative position accuracy of the orbiter and ascender can reach about 1 m with delta delay data of 10 ps.

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.

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.

An overview of autonomous rendezvous and docking system technology development at General Dynamics

NASA Technical Reports Server (NTRS)

Kuenzel, Fred

1991-01-01

The Centaur avionics suite is undergoing a dramatic modernization for the commercial, DoD Atlas and Titan programs. The system has been upgraded to the current state-of-the-art in ring laser gyro inertial sensors and Mil-Std-1750A processor technology. The Cruise Missile avionic system has similarly been evolving for many years. Integration of GPS into both systems has been underway for over five years with a follow-on cruise missile system currently in flight test. Rendezvous and Docking related studies have been conducted for over five years in support of OMV, CTV, and Advanced Upper Stages, as well as several other internal IR&D's. The avionics system and AR&D simulator demonstrated to the SATWG in November 1990 has been upgraded considerably under two IR&D programs in 1991. The Centaur modern avionics system is being flown in block upgrades which started in July of 1990. The Inertial Navigation Unit will fly in November of 1991. The Cruise Missile avionics systems have been fully tested and operationally validated in combat. The integrated AR&D system for space vehicle applications has been under development and testing since 1990. A Joint NASA / GD ARD&L System Test Program is currently being planned to validate several aspects of system performance in three different NASA test facilities in 1992.

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

PRESS CONFERENCE - PUBLIC AFFAIRS OFFICE (PAO) - GEMINI-TITAN (GT) IX-A

NASA Image and Video Library

1966-06-17

S66-39446 (17 June 1966) --- Movie film of the Gemini-9A and Augmented Target Docking Adapter rendezvous was shown at the Gemini-9A press conference in the MSC auditorium. Astronauts Thomas P. Stafford (left) and Eugene A. Cernan discussed the Gemini-9A/ATDA rendezvous mission during the film. Pictured on the screen, shows a close-up of the ATDA, described by the astronauts as an "angry alligator." Photo credit: NASA

Enhancing AUV Operational Capabilities: Hovering, Rendezvous, and Docking

DTIC Science & Technology

1997-09-30

ton on the dock that plunges into the bottom of the puck. A rubber sheath insulates the end of the button from the seawater and the exposed current...AUV Navigation and Self -Motion in Shallow Water, ONR. Autonomous Oceanographic Sampling Network Development, ONR. Enhancing AUV Operational...and Failure Recovery, ONR. Dependable Network Topologies with Network Fragment Healing for Component Level Intelli- gent Distributed Control Systems for

Refining fuzzy logic controllers with machine learning

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.

1994-01-01

In this paper, we describe the GARIC (Generalized Approximate Reasoning-Based Intelligent Control) architecture, which learns from its past performance and modifies the labels in the fuzzy rules to improve performance. It uses fuzzy reinforcement learning which is a hybrid method of fuzzy logic and reinforcement learning. This technology can simplify and automate the application of fuzzy logic control to a variety of systems. GARIC has been applied in simulation studies of the Space Shuttle rendezvous and docking experiments. It has the potential of being applied in other aerospace systems as well as in consumer products such as appliances, cameras, and cars.

Simulation and ground testing with the Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Johnston, Albert S.; Bryan, Thomas C.; Book, Michael L.

2005-01-01

The Advanced Video Guidance Sensor (AVGS), an active sensor system that provides near-range 6-degree-of-freedom sensor data, has been developed as part of an automatic rendezvous and docking system for the Demonstration of Autonomous Rendezvous Technology (DART). The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state imager to detect the light returned from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The development of the sensor, through initial prototypes, final prototypes, and three flight units, has required a great deal of testing at every phase, and the different types of testing, their effectiveness, and their results, are presented in this paper, focusing on the testing of the flight units. Testing has improved the sensor's performance.

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.

Methodology for Prototyping Increased Levels of Automation for Spacecraft Rendezvous Functions

NASA Technical Reports Server (NTRS)

Hart, Jeremy J.; Valasek, John

2007-01-01

The Crew Exploration Vehicle necessitates higher levels of automation than previous NASA vehicles, due to program requirements for automation, including Automated Rendezvous and Docking. Studies of spacecraft development often point to the locus of decision-making authority between humans and computers (i.e. automation) as a prime driver for cost, safety, and mission success. Therefore, a critical component in the Crew Exploration Vehicle development is the determination of the correct level of automation. To identify the appropriate levels of automation and autonomy to design into a human space flight vehicle, NASA has created the Function-specific Level of Autonomy and Automation Tool. This paper develops a methodology for prototyping increased levels of automation for spacecraft rendezvous functions. This methodology is used to evaluate the accuracy of the Function-specific Level of Autonomy and Automation Tool specified levels of automation, via prototyping. Spacecraft rendezvous planning tasks are selected and then prototyped in Matlab using Fuzzy Logic techniques and existing Space Shuttle rendezvous trajectory algorithms.

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.

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.

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.

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.

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.

last ATV docking OBT

NASA Image and Video Library

2014-08-07

ISS040-E-089629 (7 Aug. 2014) --- In the International Space Station?s Zvezda Service Module, European Space Agency astronaut Alexander Gerst (foreground) and Russian cosmonaut Alexander Skvortsov, both Expedition 40 flight engineers, participate in a training session in preparation for the rendezvous and docking of ESA?s fifth and final Automated Transfer Vehicle (ATV-5). Nicknamed the ?Georges Lemaitre? in honor of the Belgian physicist and astronomer who first proposed the Big Bang theory, ATV-5 will deliver more than seven tons of scientific experiments, food and other supplies when it docks to the aft end of Zvezda on Aug. 12.

last ATV docking OBT

NASA Image and Video Library

2014-08-07

ISS040-E-089627 (7 Aug. 2014) --- In the International Space Station?s Zvezda Service Module, European Space Agency astronaut Alexander Gerst (foreground) and Russian cosmonaut Alexander Skvortsov, both Expedition 40 flight engineers, participate in a training session in preparation for the rendezvous and docking of ESA?s fifth and final Automated Transfer Vehicle (ATV-5). Nicknamed the ?Georges Lemaitre? in honor of the Belgian physicist and astronomer who first proposed the Big Bang theory, ATV-5 will deliver more than seven tons of scientific experiments, food and other supplies when it docks to the aft end of Zvezda on Aug. 12.

ADRC for spacecraft attitude and position synchronization in libration point orbits

NASA Astrophysics Data System (ADS)

Gao, Chen; Yuan, Jianping; Zhao, Yakun

2018-04-01

This paper addresses the problem of spacecraft attitude and position synchronization in libration point orbits between a leader and a follower. Using dual quaternion, the dimensionless relative coupled dynamical model is derived considering computation efficiency and accuracy. Then a model-independent dimensionless cascade pose-feedback active disturbance rejection controller is designed to spacecraft attitude and position tracking control problems considering parameter uncertainties and external disturbances. Numerical simulations for the final approach phase in spacecraft rendezvous and docking and formation flying are done, and the results show high-precision tracking errors and satisfactory convergent rates under bounded control torque and force which validate the proposed approach.

Expedition 19 Crew Training

NASA Image and Video Library

2009-03-20

Expedition 19 Commander Gennady I. Padalka is seen through a quarantine windowed room as he and other crew memebers participate in Soyuz rendezvous and docking training at the Cosmonaut Hotel, Saturday, March 21, 2009 in Baikonur, Kazakhstan. (Photo Credit: NASA/Bill Ingalls)

STS-98 crewmembers prepare for rendezvous and docking with ISS

NASA Image and Video Library

2001-02-09

STS98-E-5030 (9 February 2001) --- Three members of the STS-98 crew prepare for rendezvous with the International Space Station (ISS). Astronaut Thomas D. Jones (right), mission specialist, temporarily mans the pilot's station on the flight deck of the Space Shuttle Atlantis. Astronaut Mark L. Polansky, left, sits at the commander's station for this maneuver. At lower left is Astronaut Robert L. Curbeam, mission specialist. Astronaut Kenneth D. Cockrell, mission commander, is just out of frame at right. The photograph was recorded with a digital still camera.

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Cryan, Scott; Zipay, John; Strube, Matthew

2015-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a threedimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

2015-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR and D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR and D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR and D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a threedimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR and D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

2016-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion spacecraft. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build-time instead of at design-time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal non-recurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Fourth Report of the Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1995-01-01

On December 6, 1994, the NASA Administrator, Mr. Daniel Goldin, requested that Lt. Gen. Thomas P. Stafford, in his role as the Chairman of the NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions, lead a team composed of several Task Force members and technical advisors' to Russia with the goal of reviewing preparations and readiness for the upcoming international Space Station Phase 1 missions. In his directions to Gen. Stafford, Mr. Goldin requested that the review team focus its initial efforts on safety of flight issues for the following Phase 1A missions: the Soyuz TM-21 mission which will carry U.S. astronaut Dr. Norman Thagard and cosmonauts Lt. Col. Vladimir Dezhurov and Mr. Gennady Strekalov aboard a Soyuz spacecraft to the Mir Station; the Mir 18 Main Expedition during which Thagard and his fellow cosmonauts, Dezhurov and Strokalov, will spend approximately three months aboard the Mir Station; the STS-71 Space Shuttle mission which will perform the first Shuttle-Mir docking, carry cosmonauts Col. Anatoly SoloViev and Mr. Nikolai Budarin to the Mir Station, and return Thagard, Dezhurov, and Strekalov to Earth.

Image dissector camera system study

NASA Technical Reports Server (NTRS)

Howell, L.

1984-01-01

Various aspects of a rendezvous and docking system using an image dissector detector as compared to a GaAs detector were discussed. Investigation into a gimbled scanning system is also covered and the measured video response curves from the image dissector camera are presented. Rendezvous will occur at ranges greater than 100 meters. The maximum range considered was 1000 meters. During docking, the range, range-rate, angle, and angle-rate to each reflector on the satellite must be measured. Docking range will be from 3 to 100 meters. The system consists of a CW laser diode transmitter and an image dissector receiver. The transmitter beam is amplitude modulated with three sine wave tones for ranging. The beam is coaxially combined with the receiver beam. Mechanical deflection of the transmitter beam, + or - 10 degrees in both X and Y, can be accomplished before or after it is combined with the receiver beam. The receiver will have a field-of-view (FOV) of 20 degrees and an instantaneous field-of-view (IFOV) of two milliradians (mrad) and will be electronically scanned in the image dissector. The increase in performance obtained from the GaAs photocathode is not needed to meet the present performance requirements.

Automatic Docking System Sensor Design, Test, and Mission Performance

NASA Technical Reports Server (NTRS)

Jackson, John L.; Howard, Richard T.; Cole, Helen J.

1998-01-01

The Video Guidance Sensor is a key element of an automatic rendezvous and docking program administered by NASA that was flown on STS-87 in November of 1997. The system used laser illumination of a passive target in the field of view of an on-board camera and processed the video image to determine the relative position and attitude between the target and the sensor. Comparisons of mission results with theoretical models and laboratory measurements will be discussed.

Expedition 19 Crew Training

NASA Image and Video Library

2009-03-20

Expedition 19 Flight Engineer Michael R. Barratt and Spaceflight Participant Charles Simonyi, background, are seen through a quarantine windowed room as they participate in Soyuz rendezvous and docking training at the Cosmonaut Hotel, Saturday, March 21, 2009 in Baikonur, Kazakhstan. (Photo Credit: NASA/Bill Ingalls)

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.

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.

Apollo-Soyuz US-USSR joint mission results

NASA Technical Reports Server (NTRS)

Bean, A. L.; Evans, R. E.

1975-01-01

The technical and nontechnical objectives of the Apollo-Soyuz mission are briefly considered. The mission demonstrated that Americans and Russians can work together to perform a very complex operation, including rendezvous in space, docking, and the conduction of joint experiments. Certain difficulties which had to be overcome were partly related to differences concerning the role of the astronaut in the basic alignment and docking procedures for space vehicles. Attention is also given to the experiments conducted during the mission and the approach used to overcome the language barrier.

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

Kring, C.T.; Varma, V.K.; Jatko, W.B.

The US Army and Team Crusader (United Defense, Lockheed Martin Armament Systems, etc.) are developing the next generation howitzer, the Crusader. The development program includes an advanced, self-propelled liquid propellant howitzer and a companion resupply vehicle. The resupply vehicle is intended to rendezvous with the howitzer near the battlefront and replenish ammunition, fuel, and other material. The Army has recommended that Crusader incorporate new and innovative technologies to improve performance and safety. One conceptual design proposes a robotic resupply boom on the resupply vehicle to upload supplies to the howitzer. The resupply boom would normally be retracted inside the resupplymore » vehicle during transit. When the two vehicles are within range of the resupply boom, the boom would be extended to a receiving port on the howitzer. In order to reduce exposure to small arms fire or nuclear, biological, and chemical hazards, the crew would remain inside the resupply vehicle during the resupply operation. The process of extending the boom and linking with the receiving port is called docking. A boom operator would be designated to maneuver the boom into contact with the receiving port using a mechanical joystick. The docking operation depends greatly upon the skill of the boom operator to manipulate the boom into docking position. Computer simulations at the National Aeronautics and Space Administration have shown that computer-assisted or autonomous docking can improve the ability of the operator to dock safely and quickly. This document describes the present status of the Crusader Autonomous Docking System (CADS) implemented at Oak Ridge National laboratory (ORNL). The purpose of the CADS project is to determine the feasibility and performance limitations of vision systems to satisfy the autonomous docking requirements for Crusader and conduct a demonstration under controlled conditions.« less

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.

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.

ATV during Demonstration Day 1 Rendezvous Test

NASA Image and Video Library

2008-03-29

ISS016-E-033720 (29 March 2008) --- Cosmonaut Yuri Malenchenko, Expedition 16 flight engineer, aboard the International Space Station used a digital still camera to record several images of the Jules Verne Automated Transfer Vehicle (ATV) during a rendezvous test March 29, 2008. Malenchenko fitted the camera with an 800mm lens typically employed for Shuttle RPM photography while the ATV sat 2.1 statute miles from the ISS during the first of two demonstration days in the lead up to a docking on April 3. On March 31, Demonstration Day 2 will see ATV approach to within 11 meters of the ISS.

Proximity Operations for Space Situational Awareness Spacecraft Rendezvous and Maneuvering using Numerical Simulations and Fuzzy Logic

NASA Astrophysics Data System (ADS)

Carrico, T.; Langster, T.; Carrico, J.; Alfano, S.; Loucks, M.; Vallado, D.

The authors present several spacecraft rendezvous and close proximity maneuvering techniques modeled with a high-precision numerical integrator using full force models and closed loop control with a Fuzzy Logic intelligent controller to command the engines. The authors document and compare the maneuvers, fuel use, and other parameters. This paper presents an innovative application of an existing capability to design, simulate and analyze proximity maneuvers; already in use for operational satellites performing other maneuvers. The system has been extended to demonstrate the capability to develop closed loop control laws to maneuver spacecraft in close proximity to another, including stand-off, docking, lunar landing and other operations applicable to space situational awareness, space based surveillance, and operational satellite modeling. The fully integrated end-to-end trajectory ephemerides are available from the authors in electronic ASCII text by request. The benefits of this system include: A realistic physics-based simulation for the development and validation of control laws A collaborative engineering environment for the design, development and tuning of spacecraft law parameters, sizing actuators (i.e., rocket engines), and sensor suite selection. An accurate simulation and visualization to communicate the complexity, criticality, and risk of spacecraft operations. A precise mathematical environment for research and development of future spacecraft maneuvering engineering tasks, operational planning and forensic analysis. A closed loop, knowledge-based control example for proximity operations. This proximity operations modeling and simulation environment will provide a valuable adjunct to programs in military space control, space situational awareness and civil space exploration engineering and decision making processes.

Expedition 19 Crew Training

NASA Image and Video Library

2009-03-20

Spaceflight Participant Charles Simonyi and Expedition 19 Flight Engineer Michael R. Barratt, foreground, along with cosmonaut instructors are seen through a quarantine windowed room as they participate in Soyuz rendezvous and docking training at the Cosmonaut Hotel, Saturday, March 21, 2009 in Baikonur, Kazakhstan. (Photo Credit: NASA/Bill Ingalls)

Official Portrait of Astronaut Michael Collins

NASA Technical Reports Server (NTRS)

1967-01-01

This is the official NASA portrait of astronaut Michael Collins. Collins chose an Air Force career following graduation from West Point. He served as an experimental flight test officer at the Air Force Flight Test Center, Edwards Air Force Base, California, and, in that capacity, tested performance and stability and control characteristics of Air Force aircraft, primarily jet fighters. Having logged approximately 5,000 hours flying time, Collins was one of the third group of astronauts named by NASA in October 1963. Collins completed two space flights, logging 266 hours in space, of which, 1 hour and 27 minutes was spent in Extra Vehicular Activity (EVA). On July 18, 1966, he served as backup pilot for the Gemini VII mission which included a successful rendezvous and docking with a separately launched Agena target vehicle and, using the power of the Agena, maneuvered the Gemini spacecraft into another orbit for a rendezvous with a second, passive Agena. His skillful performance in completing two periods of EVA included the recovery of a micrometeorite detection experiment from the passive Agena. July 16-24, 1969, Collins served as command module (CM) pilot on Apollo 11, the historic first lunar landing mission. He remained aboard the CM, Columbia, on station in lunar orbit and performed the final re-docking maneuvers following a successful lunar orbit rendezvous with the Lunar Module (LM), Eagle. Collins left NASA in January 1970.

Saturn Apollo Program

NASA Image and Video Library

1967-01-09

This is the official NASA portrait of astronaut Michael Collins. Collins chose an Air Force career following graduation from West Point. He served as an experimental flight test officer at the Air Force Flight Test Center, Edwards Air Force Base, California, and, in that capacity, tested performance and stability and control characteristics of Air Force aircraft, primarily jet fighters. Having logged approximately 5,000 hours flying time, Collins was one of the third group of astronauts named by NASA in October 1963. Collins completed two space flights, logging 266 hours in space, of which, 1 hour and 27 minutes was spent in Extra Vehicular Activity (EVA). On July 18, 1966, he served as backup pilot for the Gemini VII mission which included a successful rendezvous and docking with a separately launched Agena target vehicle and, using the power of the Agena, maneuvered the Gemini spacecraft into another orbit for a rendezvous with a second, passive Agena. His skillful performance in completing two periods of EVA included the recovery of a micrometeorite detection experiment from the passive Agena. July 16-24, 1969, Collins served as command module (CM) pilot on Apollo 11, the historic first lunar landing mission. He remained aboard the CM, Columbia, on station in lunar orbit and performed the final re-docking maneuvers following a successful lunar orbit rendezvous with the Lunar Module (LM), Eagle. Collins left NASA in January 1970.

Telerobotic rendezvous and docking vision system architecture

NASA Technical Reports Server (NTRS)

Gravely, Ben; Myers, Donald; Moody, David

1992-01-01

This research program has successfully demonstrated a new target label architecture that allows a microcomputer to determine the position, orientation, and identity of an object. It contains a CAD-like database with specific geometric information about the object for approach, grasping, and docking maneuvers. Successful demonstrations were performed selecting and docking an ORU box with either of two ORU receptacles. Small, but significant differences were seen in the two camera types used in the program, and camera sensitive program elements have been identified. The software has been formatted into a new co-autonomy system which provides various levels of operator interaction and promises to allow effective application of telerobotic systems while code improvements are continuing.

Report of the Attitude Control and Attitude Determination Panel. [spacecraft instrumentation technology

NASA Technical Reports Server (NTRS)

1979-01-01

Failures and deficiencies in flight programs are reviewed and suggestions are made for avoiding them. The technology development problem areas considered are control configured vehicle design, gyros, solid state star sensors, control instrumentation, tolerant/accomodating control systems, large momentum exchange devices, and autonomous rendezvous and docking.

Apollo-Soyuz test project

NASA Technical Reports Server (NTRS)

1975-01-01

Experiments proposed for the Apollo-Soyuz space mission are discussed. Data focus of space processing and manufacturing, earth surveys, and life sciences. Special efforts were made to test the compatibility of the rendezvous and docking systems for manned spacecraft. Mission planning programs, personnel training, and spacecraft modifications for both spacecraft are included.

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

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.

Space Tug Docking Study. Volume 5: Cost Analysis

NASA Technical Reports Server (NTRS)

1976-01-01

The cost methodology, summary cost data, resulting cost estimates by Work Breakdown Structure (WBS), technical characteristics data, program funding schedules and the WBS for the costing are discussed. Cost estimates for two tasks of the study are reported. The first, developed cost estimates for design, development, test and evaluation (DDT&E) and theoretical first unit (TFU) at the component level (Level 7) for all items reported in the data base. Task B developed total subsystem DDT&E costs and funding schedules for the three candidate Rendezvous and Docking Systems: manual, autonomous, and hybrid.

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.

Comet composition and density analyzer

NASA Technical Reports Server (NTRS)

Clark, B. C.

1982-01-01

Distinctions between cometary material and other extraterrestrial materials (meteorite suites and stratospherically-captured cosmic dust) are addressed. The technique of X-ray fluorescence (XRF) for analysis of elemental composition is involved. Concomitant with these investigations, the problem of collecting representative samples of comet dust (for rendezvous missions) was solved, and several related techniques such as mineralogic analysis (X-ray diffraction), direct analysis of the nucleus without docking (electron macroprobe), dust flux rate measurement, and test sample preparation were evaluated. An explicit experiment concept based upon X-ray fluorescence analysis of biased and unbiased sample collections was scoped and proposed for a future rendezvous mission with a short-period comet.

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.

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.

OMV mission simulator

NASA Technical Reports Server (NTRS)

Cok, Keith E.

1989-01-01

The Orbital Maneuvering Vehicle (OMV) will be remotely piloted during rendezvous, docking, or proximity operations with target spacecraft from a ground control console (GCC). The real-time mission simulator and graphics being used to design a console pilot-machine interface are discussed. A real-time orbital dynamics simulator drives the visual displays. The dynamics simulator includes a J2 oblate earth gravity model and a generalized 1962 rotating atmospheric and drag model. The simulator also provides a variable-length communication delay to represent use of the Tracking and Data Relay Satellite System (TDRSS) and NASA Communications (NASCOM). Input parameter files determine the graphics display. This feature allows rapid prototyping since displays can be easily modified from pilot recommendations. A series of pilot reviews are being held to determine an effective pilot-machine interface. Pilots fly missions with nominal to 3-sigma dispersions in translational or rotational axes. Console dimensions, switch type and layout, hand controllers, and graphic interfaces are evaluated by the pilots and the GCC simulator is modified for subsequent runs. Initial results indicate a pilot preference for analog versus digital displays and for two 3-degree-of-freedom hand controllers.

Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Roback, Vincent E.; Brewster, Paul F.; Hines, Glenn D.; Bulyshev, Alexander E.

2016-01-01

3-D Imaging flash lidar is recognized as a primary candidate sensor for safe precision landing on solar system bodies (Moon, Mars, Jupiter and Saturn moons, etc.), and autonomous rendezvous proximity operations and docking/capture necessary for asteroid sample return and redirect missions, spacecraft docking, satellite servicing, and space debris removal. During the final stages of landing, from about 1 km to 500 m above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard fli1ght computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station from several kilometers distance. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16k pixels range images with 7 cm precision, at a 20 Hz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument design and capabilities as demonstrated by the closed-loop flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus). Then a plan for continued advancement of the flash lidar technology will be explained. This proposed plan is aimed at the development of a common sensor that with a modest design adjustment can meet the needs of both landing and proximity operation and docking applications.

Expedition 19 Crew Training

NASA Image and Video Library

2009-03-20

Expedition 19 Commander Gennady I. Padalka, left, Flight Engineer Michael R. Barratt, right, and Spaceflight Participant Charles Simonyi, 2nd row right, along with cosmonaut instructors are seen through a quarantine windowed room as they participate in Soyuz rendezvous and docking training at the Cosmonaut Hotel, Saturday, March 21, 2009 in Baikonur, Kazakhstan. (Photo Credit: NASA/Bill Ingalls)

Apollo-Soyuz test project. Operations handbook command/service/docking modules (CSM 119/DM 1): Operational procedures reference issue

NASA Technical Reports Server (NTRS)

1974-01-01

Operational and configuration checks for the Apollo-Soyuz Test Project are presented. The checks include: backup crew prelaunch, prime crew prelaunch, boost and insertion, G and C reference data, G and N reference modes, rendezvous, navigation, Apollo-Soyuz operations, abort procedures, and emergency procedures.

ATV during Demonstration Day 2 Rendezvous Test

NASA Image and Video Library

2008-03-31

ISS016-E-034177 (31 March 2008) --- Backdropped by the blackness of space, the Jules Verne Automated Transfer Vehicle (ATV) approaches the International Space Station on Monday, March 31, 2008, for its "Demo Day 2" practice maneuvers. It moved to within 36 feet of the Zvezda Service Module in a rehearsal for docking on Thursday.

ATV during Demonstration Day 2 Rendezvous Test

NASA Image and Video Library

2008-03-31

ISS016-E-034176 (31 March 2008) --- Backdropped by the blackness of space, the Jules Verne Automated Transfer Vehicle (ATV) approaches the International Space Station on Monday, March 31, 2008, for its "Demo Day 2" practice maneuvers. It moved to within 36 feet of the Zvezda Service Module in a rehearsal for docking on Thursday.

Hatch opening

NASA Image and Video Library

2005-07-28

S114-E-5508 (28 July 2005) --- Astronaut Eileen M. Collins, STS-114 commander, prepares to open the hatch that will lead her and the entire Discovery crew into the International Space Station. This was just one highlight of a very busy day that earlier saw the flawless rendezvous and docking operations between the shuttle and the orbital outpost.

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.

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.

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.

KSC-2012-1866

NASA Image and Video Library

2012-02-17

Apollo-Soyuz Test Project: The first international crewed spaceflight was a joint U.S.-U.S.S.R. rendezvous and docking mission. The Apollo-Soyuz Test Project, or ASTP, took its name from the spacecraft employed: the American Apollo and the Soviet Soyuz. The three-man Apollo crew lifted off from Kennedy Space Center aboard a Saturn IB rocket on July 15, 1975, to link up with the Soyuz that had launched a few hours earlier. A cylindrical docking module served as an airlock between the two spacecraft for transfer of the crew members. Poster designed by Kennedy Space Center Graphics Department/Greg Lee. Credit: NASA

ART CONCEPTS - APOLLO-SOYUZ TEST PROJECT (ASTP)

NASA Image and Video Library

1975-04-01

S75-27288 (April 1975) --- An artist?s concept illustrating the mission profile of the Apollo-Soyuz Test Project. The phases of the mission depicted include launch, rendezvous, docking, separation and splashdown. During the joint U.S.-USSR ASTP flight, 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. This artwork is by Davis Meltzer.

Simulation of Mission Phases

NASA Technical Reports Server (NTRS)

Carlstrom, Nicholas Mercury

2016-01-01

This position with the Simulation and Graphics Branch (ER7) at Johnson Space Center (JSC) provided an introduction to vehicle hardware, mission planning, and simulation design. ER7 supports engineering analysis and flight crew training by providing high-fidelity, real-time graphical simulations in the Systems Engineering Simulator (SES) lab. The primary project assigned by NASA mentor and SES lab manager, Meghan Daley, was to develop a graphical simulation of the rendezvous, proximity operations, and docking (RPOD) phases of flight. The simulation is to include a generic crew/cargo transportation vehicle and a target object in low-Earth orbit (LEO). Various capsule, winged, and lifting body vehicles as well as historical RPOD methods were evaluated during the project analysis phase. JSC core mission to support the International Space Station (ISS), Commercial Crew Program (CCP), and Human Space Flight (HSF) influenced the project specifications. The simulation is characterized as a 30 meter +V Bar and/or -R Bar approach to the target object's docking station. The ISS was selected as the target object and the international Low Impact Docking System (iLIDS) was selected as the docking mechanism. The location of the target object's docking station corresponds with the RPOD methods identified. The simulation design focuses on Guidance, Navigation, and Control (GNC) system architecture models with station keeping and telemetry data processing capabilities. The optical and inertial sensors, reaction control system thrusters, and the docking mechanism selected were based on CCP vehicle manufacturer's current and proposed technologies. A significant amount of independent study and tutorial completion was required for this project. Multiple primary source materials were accessed using the NASA Technical Report Server (NTRS) and reference textbooks were borrowed from the JSC Main Library and International Space Station Library. The Trick Simulation Environment and User Training Materials version 2013.0 release was used to complete the Trick tutorial. Multiple network privilege and repository permission requests were required in order to access previous simulation models. The project was also an introduction to computer programming and the Linux operating system. Basic C++ and Python syntax was used during the completion of the Trick tutorial. Trick's engineering analysis and Monte Carlo simulation capabilities were observed and basic space mission planning procedures were applied in the conceptual design phase. Multiple professional development opportunities were completed in addition to project duties during this internship through the System for Administration, Training, and Education Resources for NASA (SATERN). Topics include: JSC Risk Management Workshop, CCP Risk Management, Basic Radiation Safety Training, X-Ray Radiation Safety, Basic Laser Safety, JSC Export Control, ISS RISE Ambassador, Basic SharePoint 2013, Space Nutrition and Biochemistry, and JSC Personal Protective Equipment. Additionally, this internship afforded the opportunity for formal project presentation and public speaking practice. This was my first experience at a NASA center. After completing this internship I have a much clearer understanding of certain aspects of the agency's processes and procedures, as well as a deeper appreciation from spaceflight simulation design and testing. I will continue to improve my technical skills so that I may have another opportunity to return to NASA and Johnson Space Center.

Autonomous rendezvous and capture development infrastructure

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.; Roe, Fred; Coker, Cindy; Nelson, Pam; Johnson, B.

1991-01-01

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

Precision Landing and Hazard Avoidance (PL&HA) Domain

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2016-01-01

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C (Guidance, Navigation and Control) functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking.

Expedition 19 Crew Training

NASA Image and Video Library

2009-03-20

Expedition 19 Commander Gennady I. Padalka, 3rd from left, Flight Engineer Michael R. Barratt, 4th from left, and Spaceflight Participant Charles Simonyi, far right, along with cosmonaut instructors are seen through a quarantine windowed room as they participate in Soyuz rendezvous and docking training at the Cosmonaut Hotel, Saturday, March 21, 2009 in Baikonur, Kazakhstan. (Photo Credit: NASA/Bill Ingalls)

Agena Target Vehicle atop Atlas Launch vehicle launched from KSC

NASA Technical Reports Server (NTRS)

1966-01-01

An Agena Target Vehicle atop its Atlas Launch vehicle is launched from the Kennedy Space Center (KSC) Launch Complex 14 at 10:15 am.m., May 17, 1966. The Agena was intended as a rendezvous and docking vehicle for the Gemini 9 spacecraft. However, since the Agena failed to achieve orbit, the Gemini 9 mission was postponed.

Development of an autonomous video rendezvous and docking system, phase 3

NASA Technical Reports Server (NTRS)

Tietz, J. C.

1984-01-01

Field-of-view limitations proved troublesome. Higher resolution was required. Side thrusters were too weak. The strategy logic was improved and the Kalman filter was augmented to estimate target attitude and tumble rate. Two separate filters were used. The new filter estimates target attitude and angular momentum. The Newton-Raphson iteration improves image interpretation.

Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2017-04-01

An adaptive relative pose control strategy is proposed for a pursue spacecraft in proximity operations on a tumbling target. Relative position vector between two spacecraft is required to direct towards the docking port of the target while the attitude of them must be synchronized. With considering the thrust misalignment of pursuer, an integrated controller for relative translational and relative rotational dynamics is developed by using norm-wise adaptive estimations. Parametric uncertainties, unknown coupled dynamics, and bounded external disturbances are compensated online by adaptive update laws. It is proved via Lyapunov stability theory that the tracking errors of relative pose converge to zero asymptotically. Numerical simulations including six degrees-of-freedom rigid body dynamics are performed to demonstrate the effectiveness of the proposed controller.

Human and Robotic Mission to Small Bodies: Mapping, Planning and Exploration

NASA Technical Reports Server (NTRS)

Neffian, Ara V.; Bellerose, Julie; Beyer, Ross A.; Archinal, Brent; Edwards, Laurence; Lee, Pascal; Colaprete, Anthony; Fong, Terry

2013-01-01

This study investigates the requirements, performs a gap analysis and makes a set of recommendations for mapping products and exploration tools required to support operations and scientific discovery for near- term and future NASA missions to small bodies. The mapping products and their requirements are based on the analysis of current mission scenarios (rendezvous, docking, and sample return) and recommendations made by the NEA Users Team (NUT) in the framework of human exploration. The mapping products that sat- isfy operational, scienti c, and public outreach goals include topography, images, albedo, gravity, mass, density, subsurface radar, mineralogical and thermal maps. The gap analysis points to a need for incremental generation of mapping products from low (flyby) to high-resolution data needed for anchoring and docking, real-time spatial data processing for hazard avoidance and astronaut or robot localization in low gravity, high dynamic environments, and motivates a standard for coordinate reference systems capable of describing irregular body shapes. Another aspect investigated in this study is the set of requirements and the gap analysis for exploration tools that support visualization and simulation of operational conditions including soil interactions, environment dynamics, and communications coverage. Building robust, usable data sets and visualisation/simulation tools is the best way for mission designers and simulators to make correct decisions for future missions. In the near term, it is the most useful way to begin building capabilities for small body exploration without needing to commit to specific mission architectures.

Relationship between automation trust and operator performance for the novice and expert in spacecraft rendezvous and docking (RVD).

PubMed

Niu, Jianwei; Geng, He; Zhang, Yijing; Du, Xiaoping

2018-09-01

Operator trust in automation is a crucial factor influencing its use and operational performance. However, the relationship between automation trust and performance remains poorly understood and requires further investigation. The objective of this paper is to explore the difference in trust and performance on automation-aided spacecraft rendezvous and docking (RVD) between the novice and the expert and to investigate the relationship between automation trust and performance as well. We employed a two-factor mixed design, with training skill (novice and expert) and automation mode (manual RVD and automation aided RVD) serving as the two factors. Twenty participants, 10 novices and 10 experts, were recruited to conduct six RVD tasks for two automation levels. After the tasks, operator performance was recorded by the desktop hand-held docking training equipment. Operator trust was also measured by a 12-items questionnaire at the beginning and end of each trial. As a result, automation narrowed the performance gap significantly between the novice and the expert, and the automation trust showed a marginally significant difference between the novice and the expert. Furthermore, the result demonstrated that the attitude angle control error of the expert was related to the total trust score, whereas other automation performance indicators were not related to the total score of trust. However, automation performance was related to the dimensions of trust, such as entrust, harmful, and dependable. Copyright © 2018 Elsevier Ltd. All rights reserved.

Imaging lidar technology: development of a 3D-lidar elegant breadboard for rendezvous and docking, test results, and prospect to future sensor application

NASA Astrophysics Data System (ADS)

Moebius, B.; Pfennigbauer, M.; Pereira do Carmo, J.

2017-11-01

During the previous 15 years, Rendezvous and Docking Sensors (RVS) were developed, manufactured and qualified. In the mean time they were successfully applied in some space missions: For automatic docking of the European ATV "Jules Verne" on the International Space Station in 2008; for automatic berthing of the first Japanese HTV in 2009, and even the precursor model ARP-RVS for measurements during Shuttle Atlantis flights STS-84 and STS-86 to the MIR station. Up to now, about twenty RVS Flight Models for application on ATV, HTV and the American Cygnus Spacecraft were manufactured and delivered to the respective customers. RVS is designed for tracking of customer specific, cooperative targets (i.e. retro reflectors that are arranged in specific geometries). Once RVS has acquired the target, the sensor measures the distance to the target by timeof- flight determination of a pulsed laser beam. Any echo return provokes an interrupt signal and thus the readout of the according encoder positions of the two scan mirrors that represent Azimuth and Elevation measurement direction to the target. [2], [3]. The capability of the RVS for 3D mapping of the scene makes the fully space qualified RVS to be real 3D Lidar sensors; thus they are a sound technical base for the compact 3D Lidar breadboard that was developed in the course of the Imaging Lidar Technology (ILT) project.

Autonomous rendezvous and capture development infrastructure

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.

1991-01-01

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

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.

Launch Vehicles

NASA Image and Video Library

2004-04-15

The Titan II liftoff. The Titan II launch vehicle was used for carrying astronauts on the Gemini mission. The Gemini Program was an intermediate step between the Project Mercury and the Apollo Program. The major objectives were to subject are two men and supporting equipment to long duration flights, to effect rendezvous and docking with other orbiting vehicle, and to perfect methods of reentry, and landing the spacecraft.

ATV during Demonstration Day 2 Rendezvous Test

NASA Image and Video Library

2008-03-31

ISS016-E-034191 (31 March 2008) --- Backdropped by the airglow of Earth's horizon and the blackness of space, the Jules Verne Automated Transfer Vehicle (ATV) approaches the International Space Station on Monday, March 31, 2008, for its "Demo Day 2" practice maneuvers. It moved to within 36 feet of the Zvezda Service Module in a rehearsal for docking on Thursday.

NASA payload data book: Payload analysis for space shuttle applications, volume 2

NASA Technical Reports Server (NTRS)

1972-01-01

Data describing the individual NASA payloads for the space shuttle are presented. The document represents a complete issue of the original payload data book. The subjects discussed are: (1) astronomy, (2) space physics, (3) planetary exploration, (4) earth observations (earth and ocean physics), (5) communications and navigation, (6) life sciences, (7) international rendezvous and docking, and (8) lunar exploration.

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.

Robust Targeting for the Smartphone Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Carter, Christopher

2017-01-01

The Smartphone Video Guidance Sensor (SVGS) is a miniature, self-contained autonomous rendezvous and docking sensor developed using a commercial off the shelf Android-based smartphone. It aims to provide a miniaturized solution for rendezvous and docking, enabling small satellites to conduct proximity operations and formation flying while minimizing interference with a primary payload. Previously, the sensor was limited by a slow (2 Hz) refresh rate and its use of retro-reflectors, both of which contributed to a limited operating environment. To advance the technology readiness level, a modified approach was developed, combining a multi-colored LED target with a focused target-detection algorithm. Alone, the use of an LED system was determined to be much more reliable, though slower, than the retro-reflector system. The focused target-detection system was developed in response to this problem to mitigate the speed reduction of using color. However, it also improved the reliability. In combination these two methods have been demonstrated to dramatically increase sensor speed and allow the sensor to select the target even with significant noise interfering with the sensor, providing millimeter level accuracy at a range of two meters with a 1U target.

Robust Targeting for the Smartphone Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Carter, C.

2017-01-01

The Smartphone Video Guidance Sensor (SVGS) is a miniature, self-contained autonomous rendezvous and docking sensor developed using a commercial off the shelf Android-based smartphone. It aims to provide a miniaturized solution for rendezvous and docking, enabling small satellites to conduct proximity operations and formation flying while minimizing interference with a primary payload. Previously, the sensor was limited by a slow (2 Hz) refresh rate and its use of retro-reflectors, both of which contributed to a limited operating environment. To advance the technology readiness level, a modified approach was developed, combining a multi-colored LED target with a focused target-detection algorithm. Alone, the use of an LED system was determined to be much more reliable, though slower, than the retro-reflector system. The focused target-detection system was developed in response to this problem to mitigate the speed reduction of using color. However it also improved the reliability. In combination these two methods have been demonstrated to dramatically increase sensor speed and allow the sensor to select the target even with significant noise interfering with the sensor, providing millimeter level precision at a range of two meters with a 1U target.

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.

Validation of GNSS Multipath Model for Space Proximity Operations Using the Hubble Servicing Mission 4 Experiment

NASA Technical Reports Server (NTRS)

Ashman, B. W.; Veldman, J. L.; Axelrad, P.; Garrison, J. L.; Winternitz, L. B.

2016-01-01

In the rendezvous and docking of spacecraft, GNSS signals can reflect off the target vehicle and cause large errors in the chaser vehicle receiver at ranges below a few hundred meters. It has been proposed that the additional ray paths, or multipath, be used as a source of information about the state of the target relative to the receiver. With Hubble Servicing Mission 4 as a case study, electromagnetic ray tracing has been used to construct a model of reflected signals from known geometry. Oscillations in the prompt correlator power due to multipath, known as multipath fading, are studied as a means of model validation. Agreement between the measured and simulated multipath fading serves to confirm the presence of signals reflected off the target spacecraft that might be used for relative navigation.

Validation of GNSS Multipath Model for Space Proximity Operations Using the Hubble Servicing Mission 4 Experiment

NASA Technical Reports Server (NTRS)

Ashman, Ben; Veldman, Jeanette; Axelrad, Penina; Garrison, James; Winternitz, Luke

2016-01-01

In the rendezvous and docking of spacecraft, GNSS signals can reflect off the target vehicle and cause prohibitively large errors in the chaser vehicle receiver at ranges below 200 meters. It has been proposed that the additional ray paths, or multipath, be used as a source of information about the state of the target relative to the receiver. With Hubble Servicing Mission 4 as a case study, electromagnetic ray tracing has been used to construct a model of reflected signals from known geometry. Oscillations in the prompt correlator power due to multipath, known as multipath fading, are studied as a means of model validation. Agreement between the measured and simulated multipath fading serves to confirm the presence of signals reflected off the target spacecraft that might be used for relative navigation.

LIFTOFF - GEMINI-TITAN (GT)-9A - ATLAS/AGENA - CAPE

NASA Image and Video Library

1966-05-17

S66-34610 (17 May 1966) --- An Agena Target Vehicle atop its Atlas Launch vehicle is launched from the Kennedy Space Center (KSC) Launch Complex 14 at 10:15 am., May 17, 1966. The Agena was intended as a rendezvous and docking vehicle for the Gemini-9 spacecraft. However, since the Agena failed to achieve orbit, the Gemini-9 mission was postponed. Photo credit: NASA

Progress 47P Redocking

NASA Image and Video Library

2012-07-29

ISS032-E-010629 (28 July 2012) --- The unpiloted Russian Progress 47 resupply spacecraft is featured in this image photographed by an Expedition 32 crew member as it approaches the International Space Station for re-docking on July 28, 2012. The cargo ship temporarily undocked on July 22 in order to test the new Kurs-NA automated rendezvous system. Station solar array panels are visible in the foreground.

Geometry-Based Observability Metric

NASA Technical Reports Server (NTRS)

Eaton, Colin; Naasz, Bo

2012-01-01

The Satellite Servicing Capabilities Office (SSCO) is currently developing and testing Goddard s Natural Feature Image Recognition (GNFIR) software for autonomous rendezvous and docking missions. GNFIR has flight heritage and is still being developed and tailored for future missions with non-cooperative targets: (1) DEXTRE Pointing Package System on the International Space Station, (2) Relative Navigation System (RNS) on the Space Shuttle for the fourth Hubble Servicing Mission.

Next Generation Advanced Video Guidance Sensor: Low Risk Rendezvous and Docking Sensor

NASA Technical Reports Server (NTRS)

Lee, Jimmy; Carrington, Connie; Spencer, Susan; Bryan, Thomas; Howard, Ricky T.; Johnson, Jimmie

2008-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) is being built and tested at MSFC. This paper provides an overview of current work on the NGAVGS, a summary of the video guidance heritage, and the AVGS performance on the Orbital Express mission. This paper also provides a discussion of applications to ISS cargo delivery vehicles, CEV, and future lunar applications.

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.

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Sanner, Robert M.

2006-01-01

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.

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

Automatic procedures generator for orbital rendezvous maneuver

NASA Technical Reports Server (NTRS)

Kohn, W.; Van Valkenburg, J. A.; Dunn, C. K.

1985-01-01

This paper describes the development of an expert system for defining and dynamically updating procedures for an orbital rendezvous maneuver. The product of the expert system is a procedure represented by a Moore automaton. The construction is recursive and driven by a simulation of the rendezvousing bodies.

Return to Flight: Crew Activities Resource Reel 1 of 2

NASA Technical Reports Server (NTRS)

2005-01-01

The crew of the STS-114 Discovery Mission is seen in various aspects of training for space flight. The crew activities include: 1) STS-114 Return to Flight Crew Photo Session; 2) Tile Repair Training on Precision Air Bearing Floor; 3) SAFER Tile Inspection Training in Virtual Reality Laboratory; 4) Guidance and Navigation Simulator Tile Survey Training; 5) Crew Inspects Orbital Boom and Sensor System (OBSS); 6) Bailout Training-Crew Compartment; 7) Emergency Egress Training-Crew Compartment Trainer (CCT); 8) Water Survival Training-Neutral Buoyancy Lab (NBL); 9) Ascent Training-Shuttle Motion Simulator; 10) External Tank Photo Training-Full Fuselage Trainer; 11) Rendezvous and Docking Training-Shuttle Engineering Simulator (SES) Dome; 12) Shuttle Robot Arm Training-SES Dome; 13) EVA Training Virtual Reality Lab; 14) EVA Training Neutral Buoyancy Lab; 15) EVA-2 Training-NBL; 16) EVA Tool Training-Partial Gravity Simulator; 17) Cure in Place Ablator Applicator (CIPAA) Training Glove Vacuum Chamber; 16) Crew Visit to Merritt Island Launch Area (MILA); 17) Crew Inspection-Space Shuttle Discovery; and 18) Crew Inspection-External Tank and Orbital Boom and Sensor System (OBSS). The crew are then seen answering questions from the media at the Space Shuttle Landing Facility.

Hatch opening

NASA Image and Video Library

2005-07-28

S114-E-5509 (28 July 2005) --- Astronaut Eileen M. Collins, STS-114 commander, has just opened the hatch that will lead her and the entire Discovery crew into the International Space Station. Astronaut Andrew S.W. Thomas, mission specialist, is partially visible at left edge of frame. This was just one highlight of a very busy day that earlier saw the flawless rendezvous and docking operations between the shuttle and the orbital outpost.

SPHERES experiment session

NASA Image and Video Library

2007-03-24

ISS014-E-17880 (24 March 2007) --- This medium close-up view shows three bowling-ball-sized free-flying satellites called Synchronized Position Hold, Engage, Reorient, Experimental Satellites (SPHERES) in the Destiny laboratory of the International Space Station. SPHERES were designed to test control algorithms for spacecraft by performing autonomous rendezvous and docking maneuvers inside the station. The results are important for multi-body control and in designing constellation and array spacecraft configurations.

Automated Rendezvous and Docking: 1994-2004

NASA Technical Reports Server (NTRS)

2004-01-01

This custom bibliography from the NASA Scientific and Technical Information Program lists a sampling of records found in the NASA Aeronautics and Space Database. The scope of this topic includes technologies for human exploration and robotic sample return missions. This area of focus is one of the enabling technologies as defined by NASA s Report of the President s Commission on Implementation of United States Space Exploration Policy, published in June 2004.

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

ATV GNC flight performance and lessons learned

NASA Astrophysics Data System (ADS)

Mongrard, O.; Cavrois, B.; Ankersen, F.; Dubois-Matra, O.; Zink, M.; Vergnol, A.; Piquemal, E.; Pionnier, G.; Southivong, U.

2018-06-01

ESA's fifth and final Automated Transfer Vehicle (ATV), Georges Lemaître, performed its fully automated rendezvous and docking with the International Space Station (ISS) on August 12, 2014. The ATV's navigation sensors have shown their worth docking the 20-ton vehicles with aft port of the Space Station, manoeuvring into position and docking with an excellent accuracy. For the second consecutive time after ATV-4, the accuracy at docking was such that the ATV probe head was directly captured inside the Zvezda docking mechanism without contact with the receiving cone. From 30 km and down to a distance of 250 m, ATV uses GPS (Global Positioning System) information from its own receiver and the Station's that is transmitted over a radiofrequency link. As it moves closer, ATV switches to laser navigation, using the reflection of laser pulses on reflectors mounted on the Space Station. This paper presents the achievements and performance of ATV GNC (Guidance, Navigation, and Control) across the 5 missions for both types of navigation. It will also discuss the observations made during the various flights regarding unforeseen conditions such as space environment or target pattern contamination having a potential impact on performance and how they were resolved.

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).

The Sensor Test for Orion RelNav Risk Mitigation (STORRM) Development Test Objective

NASA Technical Reports Server (NTRS)

Christian, John A.; Hinkel, Heather; D'Souza, Christopher N.; Maguire, Sean; Patangan, Mogi

2011-01-01

The Sensor Test for Orion Relative-Navigation Risk Mitigation (STORRM) Development Test Objective (DTO) flew aboard the Space Shuttle Endeavour on STS-134 in May- June 2011, and was designed to characterize the performance of the flash LIDAR and docking camera being developed for the Orion Multi-Purpose Crew Vehicle. The flash LIDAR, called the Vision Navigation Sensor (VNS), will be the primary navigation instrument used by the Orion vehicle during rendezvous, proximity operations, and docking. The DC will be used by the Orion crew for piloting cues during docking. This paper provides an overview of the STORRM test objectives and the concept of operations. It continues with a description of STORRM's major hardware components, which include the VNS, docking camera, and supporting avionics. Next, an overview of crew and analyst training activities will describe how the STORRM team prepared for flight. Then an overview of in-flight data collection and analysis is presented. Key findings and results from this project are summarized. Finally, the paper concludes with lessons learned from the STORRM DTO.

Space shuttle rendezous, radiation and reentry analysis code

NASA Technical Reports Server (NTRS)

Mcglathery, D. M.

1973-01-01

A preliminary space shuttle mission design and analysis tool is reported emphasizing versatility, flexibility, and user interaction through the use of a relatively small computer (IBM-7044). The Space Shuttle Rendezvous, Radiation and Reentry Analysis Code is used to perform mission and space radiation environmental analyses for four typical space shuttle missions. Included also is a version of the proposed Apollo/Soyuz rendezvous and docking test mission. Tangential steering circle to circle low-thrust tug orbit raising and the effects of the trapped radiation environment on trajectory shaping due to solar electric power losses are also features of this mission analysis code. The computational results include a parametric study on single impulse versus double impulse deorbiting for relatively low space shuttle orbits as well as some definitive data on the magnetically trapped protons and electrons encountered on a particular mission.

Optimal four-impulse rendezvous between coplanar elliptical orbits

NASA Astrophysics Data System (ADS)

Wang, JianXia; Baoyin, HeXi; Li, JunFeng; Sun, FuChun

2011-04-01

Rendezvous in circular or near circular orbits has been investigated in great detail, while rendezvous in arbitrary eccentricity elliptical orbits is not sufficiently explored. Among the various optimization methods proposed for fuel optimal orbital rendezvous, Lawden's primer vector theory is favored by many researchers with its clear physical concept and simplicity in solution. Prussing has applied the primer vector optimization theory to minimum-fuel, multiple-impulse, time-fixed orbital rendezvous in a near circular orbit and achieved great success. Extending Prussing's work, this paper will employ the primer vector theory to study trajectory optimization problems of arbitrary eccentricity elliptical orbit rendezvous. Based on linearized equations of relative motion on elliptical reference orbit (referred to as T-H equations), the primer vector theory is used to deal with time-fixed multiple-impulse optimal rendezvous between two coplanar, coaxial elliptical orbits with arbitrary large eccentricity. A parameter adjustment method is developed for the prime vector to satisfy the Lawden's necessary condition for the optimal solution. Finally, the optimal multiple-impulse rendezvous solution including the time, direction and magnitudes of the impulse is obtained by solving the two-point boundary value problem. The rendezvous error of the linearized equation is also analyzed. The simulation results confirmed the analyzed results that the rendezvous error is small for the small eccentricity case and is large for the higher eccentricity. For better rendezvous accuracy of high eccentricity orbits, a combined method of multiplier penalty function with the simplex search method is used for local optimization. The simplex search method is sensitive to the initial values of optimization variables, but the simulation results show that initial values with the primer vector theory, and the local optimization algorithm can improve the rendezvous accuracy effectively with fast convergence, because the optimal results obtained by the primer vector theory are already very close to the actual optimal solution. If the initial values are taken randomly, it is difficult to converge to the optimal solution.

PROTOCOL - APOLLO-SOYUZ TEST PROJECT (ASTP) - TOUR - WASHINGTON, DC

NASA Image and Video Library

1974-09-07

S74-29892 (7 Sept. 1974) --- President Gerald R. Ford removes the Soviet Soyuz spacecraft model from a model set depicting the 1975 Apollo-Soyuz Test Project, an Earth orbital docking and rendezvous mission involving crewmen from the U.S. and USSR, who visited Mr. Ford at the White House. The cosmonauts and astronauts are, left to right, Vladimir A. Shatalov, Chief, Cosmonaut Training; Valeriy N. Kubasov, ASTP Soviet engineer; Aleksey A. Leonov, ASTP Soviet crew commander; Thomas P. Stafford, ASTP American crew commander; Donald K. Slayton, American crew?s docking module pilot; and Vance D. Brand, command module pilot for the U.S. team. Dr. George M. Low, Deputy Administrator, National Aeronautics and Space Administration, is partially obscured behind Mr. Ford.

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.

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-100 Crew Interview: Jeff Ashby

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Pilot Jeff Ashby is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Ashby then discusses his views about space exploration as it becomes an international collaboration.

STS-100 Crew Interview: Kent Rominger

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Commander Kent Rominger is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Rominger then discusses his views about space exploration as it becomes an international collaboration.

ISS Expedition 18 Synchronized Position Hold,Engage,Reorient,Experimental Satellites (SPHERES)

NASA Image and Video Library

2008-10-26

ISS018-E-005214 (26 Oct. 2008) --- This close-up view shows three bowling-ball-sized free-flying satellites called Synchronized Position Hold, Engage, Reorient, Experimental Satellites (SPHERES) in the Destiny laboratory of the International Space Station. SPHERES were designed to test control algorithms for spacecraft by performing autonomous rendezvous and docking maneuvers inside the station. The results are important for multi-body control and in designing constellation and array spacecraft configurations.

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.

Interactive optimization approach for optimal impulsive rendezvous using primer vector and evolutionary algorithms

NASA Astrophysics Data System (ADS)

Luo, Ya-Zhong; Zhang, Jin; Li, Hai-yang; Tang, Guo-Jin

2010-08-01

In this paper, a new optimization approach combining primer vector theory and evolutionary algorithms for fuel-optimal non-linear impulsive rendezvous is proposed. The optimization approach is designed to seek the optimal number of impulses as well as the optimal impulse vectors. In this optimization approach, adding a midcourse impulse is determined by an interactive method, i.e. observing the primer-magnitude time history. An improved version of simulated annealing is employed to optimize the rendezvous trajectory with the fixed-number of impulses. This interactive approach is evaluated by three test cases: coplanar circle-to-circle rendezvous, same-circle rendezvous and non-coplanar rendezvous. The results show that the interactive approach is effective and efficient in fuel-optimal non-linear rendezvous design. It can guarantee solutions, which satisfy the Lawden's necessary optimality conditions.

FLASH LIDAR Based Relative Navigation

NASA Technical Reports Server (NTRS)

Brazzel, Jack; Clark, Fred; Milenkovic, Zoran

2014-01-01

Relative navigation remains the most challenging part of spacecraft rendezvous and docking. In recent years, flash LIDARs, have been increasingly selected as the go-to sensors for proximity operations and docking. Flash LIDARS are generally lighter and require less power that scanning Lidars. Flash LIDARs do not have moving parts, and they are capable of tracking multiple targets as well as generating a 3D map of a given target. However, there are some significant drawbacks of Flash Lidars that must be resolved if their use is to be of long-term significance. Overcoming the challenges of Flash LIDARs for navigation-namely, low technology readiness level, lack of historical performance data, target identification, existence of false positives, and performance of vision processing algorithms as intermediaries between the raw sensor data and the Kalman filter-requires a world-class testing facility, such as the Lockheed Martin Space Operations Simulation Center (SOSC). Ground-based testing is a critical step for maturing the next-generation flash LIDAR-based spacecraft relative navigation. This paper will focus on the tests of an integrated relative navigation system conducted at the SOSC in January 2014. The intent of the tests was to characterize and then improve the performance of relative navigation, while addressing many of the flash LIDAR challenges mentioned above. A section on navigation performance and future recommendation completes the discussion.

Gossip-based solutions for discrete rendezvous in populations of communicating agents.

PubMed

Hollander, Christopher D; Wu, Annie S

2014-01-01

The objective of the rendezvous problem is to construct a method that enables a population of agents to agree on a spatial (and possibly temporal) meeting location. We introduce the buffered gossip algorithm as a general solution to the rendezvous problem in a discrete domain with direct communication between decentralized agents. We compare the performance of the buffered gossip algorithm against the well known uniform gossip algorithm. We believe that a buffered solution is preferable to an unbuffered solution, such as the uniform gossip algorithm, because the use of a buffer allows an agent to use multiple information sources when determining its desired rendezvous point, and that access to multiple information sources may improve agent decision making by reinforcing or contradicting an initial choice. To show that the buffered gossip algorithm is an actual solution for the rendezvous problem, we construct a theoretical proof of convergence and derive the conditions under which the buffered gossip algorithm is guaranteed to produce a consensus on rendezvous location. We use these results to verify that the uniform gossip algorithm also solves the rendezvous problem. We then use a multi-agent simulation to conduct a series of simulation experiments to compare the performance between the buffered and uniform gossip algorithms. Our results suggest that the buffered gossip algorithm can solve the rendezvous problem faster than the uniform gossip algorithm; however, the relative performance between these two solutions depends on the specific constraints of the problem and the parameters of the buffered gossip algorithm.

Gossip-Based Solutions for Discrete Rendezvous in Populations of Communicating Agents

PubMed Central

Hollander, Christopher D.; Wu, Annie S.

2014-01-01

The objective of the rendezvous problem is to construct a method that enables a population of agents to agree on a spatial (and possibly temporal) meeting location. We introduce the buffered gossip algorithm as a general solution to the rendezvous problem in a discrete domain with direct communication between decentralized agents. We compare the performance of the buffered gossip algorithm against the well known uniform gossip algorithm. We believe that a buffered solution is preferable to an unbuffered solution, such as the uniform gossip algorithm, because the use of a buffer allows an agent to use multiple information sources when determining its desired rendezvous point, and that access to multiple information sources may improve agent decision making by reinforcing or contradicting an initial choice. To show that the buffered gossip algorithm is an actual solution for the rendezvous problem, we construct a theoretical proof of convergence and derive the conditions under which the buffered gossip algorithm is guaranteed to produce a consensus on rendezvous location. We use these results to verify that the uniform gossip algorithm also solves the rendezvous problem. We then use a multi-agent simulation to conduct a series of simulation experiments to compare the performance between the buffered and uniform gossip algorithms. Our results suggest that the buffered gossip algorithm can solve the rendezvous problem faster than the uniform gossip algorithm; however, the relative performance between these two solutions depends on the specific constraints of the problem and the parameters of the buffered gossip algorithm. PMID:25397882

Analysis on the dynamic error for optoelectronic scanning coordinate measurement network

NASA Astrophysics Data System (ADS)

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Guo, Siyang; Ren, Yongjie

2018-01-01

Large-scale dynamic three-dimension coordinate measurement technique is eagerly demanded in equipment manufacturing. Noted for advantages of high accuracy, scale expandability and multitask parallel measurement, optoelectronic scanning measurement network has got close attention. It is widely used in large components jointing, spacecraft rendezvous and docking simulation, digital shipbuilding and automated guided vehicle navigation. At present, most research about optoelectronic scanning measurement network is focused on static measurement capacity and research about dynamic accuracy is insufficient. Limited by the measurement principle, the dynamic error is non-negligible and restricts the application. The workshop measurement and positioning system is a representative which can realize dynamic measurement function in theory. In this paper we conduct deep research on dynamic error resources and divide them two parts: phase error and synchronization error. Dynamic error model is constructed. Based on the theory above, simulation about dynamic error is carried out. Dynamic error is quantized and the rule of volatility and periodicity has been found. Dynamic error characteristics are shown in detail. The research result lays foundation for further accuracy improvement.

Short rendezvous missions for advanced Russian human spacecraft

NASA Astrophysics Data System (ADS)

Murtazin, Rafail F.; Budylov, Sergey G.

2010-10-01

The two-day stay of crew in a limited inhabited volume of the Soyuz-TMA spacecraft till docking to ISS is one of the most stressful parts of space flight. In this paper a number of possible ways to reduce the duration of the free flight phase are considered. The duration is defined by phasing strategy that is necessary for reduction of the phase angle between the chaser and target spacecraft. Some short phasing strategies could be developed. The use of such strategies creates more comfortable flight conditions for crew thanks to short duration and additionally it allows saving spacecraft's life support resources. The transition from the methods of direct spacecraft rendezvous using one orbit phasing (first flights of " Vostok" and " Soyuz" vehicles) to the currently used methods of two-day rendezvous mission can be observed in the history of Soviet manned space program. For an advanced Russian human rated spacecraft the short phasing strategy is recommended, which can be considered as a combination between the direct and two-day rendezvous missions. The following state of the art technologies are assumed available: onboard accurate navigation; onboard computations of phasing maneuvers; launch vehicle with high accuracy injection orbit, etc. Some operational requirements and constraints for the strategies are briefly discussed. In order to provide acceptable phase angles for possible launch dates the experience of the ISS altitude profile control can be used. As examples of the short phasing strategies, the following rendezvous missions are considered: direct ascent, short mission with the phasing during 3-7 orbits depending on the launch date (nominal or backup). For each option statistical modeling of the rendezvous mission is fulfilled, as well as an admissible phase angle range, accuracy of target state vector and addition fuel consumption coming out of emergency is defined. In this paper an estimation of pros and cons of all options is conducted.

Development of Ku-band rendezvous radar tracking and acquisition simulation programs

NASA Technical Reports Server (NTRS)

1986-01-01

The fidelity of the Space Shuttle Radar tracking simulation model was improved. The data from the Shuttle Orbiter Radar Test and Evaluation (SORTE) program experiments performed at the White Sands Missile Range (WSMR) were reviewed and analyzed. The selected flight rendezvous radar data was evaluated. Problems with the Inertial Line-of-Sight (ILOS) angle rate tracker were evaluated using the improved fidelity angle rate tracker simulation model.

STS-100 Crew Interview: John Phillips

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Mission Specialist John Phillips is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Phillips then discusses his views about space exploration as it becomes an international collaboration.

STS-100 Crew Interview: Umberto Guidoni

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Mission Specialist Umberto Guidoni is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Guidoni then discusses his views about space exploration as it becomes an international collaboration.

STS-100 Crew Interview: Chris Hadfield

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Mission Specialist Chris Hadfield is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Hadfield then discusses his views about space exploration as it becomes an international collaboration.

STS-100 Crew Interview: Yuri Lonchakov

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Mission Specialist Yuri Lonchakov is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Lonchakov then discusses his views about space exploration as it becomes an international collaboration.

STS-100 Crew Interview: Scott Parazynski

NASA Technical Reports Server (NTRS)

2001-01-01

STS-100 Mission Specialist Scott Parazynski is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, the rendezvous and docking of Endeavour with the International Space Station (ISS), the mission's spacewalks, and installation and capabilities of the Space Station robotic arm, UHF antenna, and Rafaello Logistics Module. Parazynski then discusses his views about space exploration as it becomes an international collaboration.

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

Artist's concept of ASTP mission profile

NASA Image and Video Library

1974-10-01

S74-14949 (October 1974) --- Artist?s drawings and call-outs depict phases of the joint U.S.-USSR Apollo-Soyuz Test Project, an Earth-orbital mission which will feature rendezvous and docking of the respective spacecraft of the two nations. ASTP crewmen for the USSR include Aleksey A. Leonov and Valeriy N. Kubasov. The astronaut team includes astronauts Thomas P. Stafford, Vance D. Brand and Donald K. Slayton. The mission is scheduled to take place in summer 1975.

Investigation of technical problems related to deployment and retrieval of spinning satellites

NASA Technical Reports Server (NTRS)

Kaplan, M. H.

1973-01-01

Results of a three-year research effort on retrieval and deployment problems associated with orbiting payloads are summarized. Answers to several basic questions about rendezvous, docking, and deployment dynamics and controls were obtained. A basic retrieval mission profile was formulated in order to develop relevant technology. A remotely controlled retrieval package was conceived. Special deployment dynamics problems associated with high altitude deployment were investigated, and new knowledge of payload spin reorientation was obtained.

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.

The Mechanical Performance of Subscale Candidate Elastomer Docking Seals

NASA Technical Reports Server (NTRS)

Bastrzyk, Marta B.; Daniels, Christopher C.

2010-01-01

The National Aeronautics and Space Administration is developing a Low Impact Docking System (LIDS) for future exploration missions. The mechanism is a new state-of-the-art device for in-space assembly of structures and rendezvous of vehicles. At the interface between two pressurized modules, each with a version of the LIDS attached, a composite elastomer-metal seal assembly prevents the breathable air from escaping into the vacuum of space. Attached to the active LIDS, this seal mates against the passive LIDS during docking operation. The main interface seal assembly must exhibit low leak and outgas values, must be able to withstand various harsh space environments, must remain operational over a range of temperatures from -50 C to 75 C, and perform after numerous docking cycles. This paper presents results from a comprehensive study of the mechanical performance of four candidate subscale seal assembly designs at -50, 23, 50, and 75 C test temperatures. In particular, the force required to fully compress the seal during docking, and that which is required for separation during the undocking operation were measured. The height of subscale main interface seal bulbs, as well as the test temperature, were shown to have a significant effect on the forces the main interface seal of the LIDS may experience during docking and undocking operations. The average force values required to fully compress each of the seal assemblies were shown to increase with test temperature by approximately 50% from -50 to 75 C. Also, the required compression forces were shown to increase as the height of the seal bulb was increased. The seal design with the tallest elastomer seal bulb, which was 31% taller than that with the shortest bulb, required force values approximately 45% higher than those for the shortest bulb, independent of the test temperature. The force required to separate the seal was shown to increase with decreasing temperature after 15 hours of simulated docking. No adhesion force was observed at 75 C, while magnitudes of up to 235 lbf were recorded at the refrigerated temperature. In addition, the adhesion force was observed to increase with bulb height. When compared with the LIDS program requirements, the measured compression force values were found to be below the maximum allowable load allotted to the main interface seal. However, the measured adhesion force values at the refrigerated test temperature were found to exceed the program limits.

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.

Development of Tools and Techniques for Processing STORRM Flight Data

NASA Technical Reports Server (NTRS)

Robinson, Shane; D'Souza, Christopher

2011-01-01

While at JSC for the summer of 2011, I was assigned to work on the sensor test for Orion relative-navigation risk mitigation (STORRM) development test objective (DTO). The STORRM DTO was flown on-board Endeavor during STS-134. The objective of the STORRM DTO is to test the visual navigation system (VNS), which will be used as the primary relative navigation sensor for the Orion spacecraft. The VNS is a flash lidar system intended to provide both line of sight and range information during rendezvous and proximity operations. The STORRM DTO also serves as a testbed for the high-resolution docking camera. This docking camera will be used to provide piloting cues for the crew during proximity operations. These instruments were mounted next to the trajectory control sensor (TCS) in Endeavour s payload bay. My principle objective for the summer was to generate a best estimated trajectory (BET) for Endeavor using the flight data collected by the VNS during rendezvous and the unprecedented re-rendezvous with the ISS. I processed the raw images from the VNS to produce range and bearing measurements. I then aggregated these measurements and extracted the measurements corresponding to individual reflectors. I combined the information contained in these measurements with data from the Endeavour's inertial sensors using Kalman smoothing techniques to ultimately produce a BET. This work culminated with a final presentation of the result to division management. Development of this tool required that traditional linear smoothing techniques be modified in a novel fashion to permit for the inclusion of non-linear measurements. This internship has greatly helped me further my career by providing exposure to real engineering projects. I also have benefited immensely from the mentorship of the engineers working on these projects. Many of the lessons I learned and experiences I had are of particular value because then can only be found in a place like JSC.

KSC-108-75P-0005

NASA Image and Video Library

1975-01-14

CAPE CANAVERAL, Fla. – Model of docked Apollo and Soyuz spacecraft in the foreground and skylight in the Vehicle Assembly Building high bay frame the second stage of the Saturn 1B booster that will launch the United States ASTP mission as a crane raises it prior to its mating with the Saturn 1B first stage. Mating of the Saturn 1B first and second stages was completed this morning. The U. S. ASTP launch with mission commander Thomas Stafford, command module pilot Vance Brand and docking module pilot Donald Slayton is scheduled at 3:50 p.m. EDT July 15. The first international crewed spaceflight was a joint U.S.-U.S.S.R. rendezvous and docking mission. The Apollo-Soyuz Test Project, or ASTP, took its name from the spacecraft employed: the American Apollo and the Soviet Soyuz. The three-man Apollo crew lifted off from Kennedy Space Center aboard a Saturn IB rocket on July 15, 1975, to link up with the Soyuz that had launched a few hours earlier. A cylindrical docking module served as an airlock between the two spacecraft for transfer of the crew members. Photo credit: NASA

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.

ARCADE-R2 experiment on board BEXUS 17 stratospheric balloon

NASA Astrophysics Data System (ADS)

Barbetta, Marco; Boesso, Alessandro; Branz, Francesco; Carron, Andrea; Olivieri, Lorenzo; Prendin, Jacopo; Rodeghiero, Gabriele; Sansone, Francesco; Savioli, Livia; Spinello, Fabio; Francesconi, Alessandro

2015-09-01

This paper provides an overview of the ARCADE-R2 experiment, a technology demonstrator that aimed to prove the feasibility of small-scale satellite and/or aircraft systems with automatic (a) attitude determination, (b) control and (c) docking capabilities. The experiment embodies a simplified scenario in which an unmanned vehicle mock-up performs rendezvous and docking operations with a fixed complementary unit. The experiment is composed by a supporting structure, which holds a small vehicle with one translational and one rotational degree of freedom, and its fixed target. The dual system features three main custom subsystems: a relative infrared navigation sensor, an attitude control system based on a reaction wheel and a small-scale docking mechanism. The experiment bus is equipped with pressure and temperature sensors, and wind probes to monitor the external environmental conditions. The experiment flew on board the BEXUS 17 stratospheric balloon on October 10, 2013, where several navigation-control-docking sequences were executed and data on the external pressure, temperature, wind speed and direction were collected, characterizing the atmospheric loads applied to the vehicle. This paper describes the critical components of ARCADE-R2 as well as the main results obtained from the balloon flight.

STS-74 liftoff (front view across water with bird)

NASA Technical Reports Server (NTRS)

1995-01-01

The Space Shuttle Atlantis breaks free from its Earthly ties and soars toward the stars. The five astronauts assigned to Mission STS-74 are headed for an historic rendezvous in space: the second docking of the U.S. Space Shuttle with the Russian Space Station Mir. Atlantis lifted off from Launch Pad 39A at 7:30:43.071 a.m. EST, Nov. 12. The mission commander is Kenneth D. Cameron; James D. Halsell Jr. is the pilot, and the three mission specialists are Jerry L. Ross, William S. 'Bill' McArthur Jr., and Chris A. Hadfield, who represents the Canadian Space Agency. The profile of Mission STS-74 represents a direct precursor to the types of activities flight crews will carry out during assembly and operation of the international space station later this decade. During their eight-day spaceflight, the crew will deliver a Russian-built Docking Module to Mir. The Docking Module will be attached to the docking port on Mir's Kristall module to serve as a permanent extension to the station to simplify future linkups with the Shuttle. The Shuttle astronauts and the three cosmonauts on Mir also will transfer logistics materials to and from Mir.

STS-104 Crew Interview: Steve Lindsey

NASA Technical Reports Server (NTRS)

2001-01-01

STS-104 Commander Steve Lindsey is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, its payload (the Joint Airlock and the external gas tanks), and the usefulness of the newly installed Canadian Robotic Arm (installed by STS-100 crew). Lindsey describes his role in the rendezvous, docking, undocking, and flyaround of the Atlantis Orbiter and the International Space Station (ISS) and discusses the mission's planned spacewalks.

STS-104 Crew Interview: Mike Gernhardt

NASA Technical Reports Server (NTRS)

2001-01-01

STS-104 Mission Specialist Mike Gernhardt is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, its payload (the Joint Airlock and the external gas tanks), and the usefulness of the newly installed Canadian Robotic Arm (installed by STS-100 crew). Gernhardt describes his role in the rendezvous, docking, undocking, and flyaround of the Atlantis Orbiter and the International Space Station (ISS) and discusses the mission's planned spacewalks.

STS-104 Crew Interview: Janet Kavandi

NASA Technical Reports Server (NTRS)

2001-01-01

STS-104 Mission Specialist Janet Kavandi is seen being interviewed. She answers questions about her inspiration to become an astronaut and her career path. She gives details on the mission's goals and significance, its payload (the Joint Airlock and the external gas tanks), and the usefulness of the newly installed Canadian Robotic Arm (installed by STS-100 crew). Kavandi describes her role in the rendezvous, docking, undocking, and flyaround of the Atlantis Orbiter and the International Space Station (ISS) and discusses the mission's planned spacewalks.

STS-104 Crew Interview: Jim Reilly

NASA Technical Reports Server (NTRS)

2001-01-01

STS-104 Mission Specialist Jim Reilly is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, its payload (the Joint Airlock and the external gas tanks), and the usefulness of the newly installed Canadian Robotic Arm (installed by STS-100 crew). Reilly describes his role in the rendezvous, docking, undocking, and flyaround of the Atlantis Orbiter and the International Space Station (ISS) and discusses the mission's planned spacewalks.

STS-104 Crew Interview: Charlie Hobaugh

NASA Technical Reports Server (NTRS)

2001-01-01

STS-104 Pilot Charlie Hobaugh is seen being interviewed. He answers questions about his inspiration to become an astronaut and his career path. He gives details on the mission's goals and significance, its payload (the Joint Airlock and the external gas tanks), and the usefulness of the newly installed Canadian Robotic Arm (installed by STS-100 crew). Hobaugh describes his role in the rendezvous, docking, undocking, and flyaround of the Atlantis Orbiter and the International Space Station (ISS) and discusses the mission's planned spacewalks.

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.

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.

Olivas uses a laser ranging device on STS-117 Space Shuttle Atlantis

NASA Image and Video Library

2007-06-10

S117-E-06953 (10 June 2007) --- Astronaut John "Danny" Olivas, STS-117 mission specialist, aims a laser range finder through one of the overhead windows on the aft flight deck of the Space Shuttle Atlantis at it approaches the International Space Station. This instrument is a regularly called-on tool during rendezvous operations with the station. The subsequent docking will allow the STS-117 astronauts and the Expedition 15 crew to team up for several days of key tasks in space.

Space Technology and the Soviet/US Strategic Competition: A Perspective and Forecast Using Twelve-Year Cycles

DTIC Science & Technology

1988-05-01

was opened. The original Soviet ICBM, the SS-6 " Sapwood ," while not deployed in any significant numbers, was continuously refined and used as a space...concern. Although still less capable than her adversary’s, the Soviet Navy was expanding rapidly. Even in the traditional area of American preeminence...work area , was 9.1 meters long and was sandwiched between the forward docking portion and the rear service module. After a preliminary rendezvous and

Low Earth Orbit Rendezvous Strategy for Lunar Missions

NASA Technical Reports Server (NTRS)

Cates, Grant R.; Cirillo, William M.; Stromgren, Chel

2006-01-01

On January 14, 2004 President George W. Bush announced a new Vision for Space Exploration calling for NASA to return humans to the moon. In 2005 NASA decided to use a Low Earth Orbit (LEO) rendezvous strategy for the lunar missions. A Discrete Event Simulation (DES) based model of this strategy was constructed. Results of the model were then used for subsequent analysis to explore the ramifications of the LEO rendezvous strategy.

TRAC based sensing for autonomous rendezvous

NASA Technical Reports Server (NTRS)

Everett, Louis J.; Monford, Leo

1991-01-01

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

Visual Odometry for Autonomous Deep-Space Navigation Project

NASA Technical Reports Server (NTRS)

Robinson, Shane; Pedrotty, Sam

2016-01-01

Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory’s considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm’s performance and ability to process ‘flight-like’ imagery formats with a ‘flight-like’ trajectory, positioning ourselves to easily process flight data from the upcoming ‘ISS Selfie’ activity and then compare the algorithm’s quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system.Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

Visual Odometry for Autonomous Deep-Space Navigation Project

NASA Technical Reports Server (NTRS)

Robinson, Shane; Pedrotty, Sam

2016-01-01

Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory's considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm's performance and ability to process 'flight-like' imagery formats with a 'flight-like' trajectory, positioning ourselves to easily process flight data from the upcoming 'ISS Selfie' activity and then compare the algorithm's quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system. Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

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.

Operator learning effects in teleoperated rendezvous & docking

NASA Astrophysics Data System (ADS)

Wilde, M.; Harder, J.; Purschke, R.

Teleoperation of spacecraft proximity operations and docking requires delicate timing and coordination of spacecraft maneuvers. Experience has shown that human operators show large performance fluctuations in these areas, which are a major factor to be addressed in operator training. In order to allow the quantification of the impact of these human fluctuations on control system performance and the human perception of this performance, a learning curve study was conducted with teleoperated final approach and docking scenarios. Over a period of ten experiment days, three test participants were tasked with repeatedly completing a set of three training scenarios. The scenarios were designed to contain different combinations of the major elements of any final approach and docking situation, and to feature an increasing difficulty level. The individual difficulty levels for the three operators furthermore differed in the level of operator support functions available in their human-machine interfaces. Operator performance in the test scenarios were evaluated in the fields approach success and precision, docking safety, and approach efficiency by a combination of recorded maneuver data and questionnaires. The results show that operator experience and the associated learning curves increase operator performance substantially, regardless of the support system used. The paper also shows that the fluctuations in operator performance and self-perception are substantial between as well as within experiment days, and must be reckoned with in teleoperation system design and mission planning.

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.

Gemini Model in the 10- by 10-Foot Supersonic Wind Tunnel

NASA Image and Video Library

1962-09-21

A researcher at the National Aeronautics and Space Administration (NASA) Lewis Research Center examines a small-scale model of the Gemini capsule in the 10- by 10-Foot Supersonic Wind Tunnel test section. Gemini was added to NASA’s manned space program after its predecessor, Mercury, and its antecedent, Apollo, were already established. Gemini was a transitional mission designed provide the astronauts with practice docking with other spacecraft and withstanding durations in space up to two weeks. The program was officially announced on December 7, 1961, but planning began in mid-1959. It was named Gemini after the zodiac twins because of the spacecraft’s two passenger capacity. The Gemini Program was the first program to start at the new Manned Spacecraft Center in Houston, now the Johnson Space Center. Unlike Mercury and Apollo, Lewis had very little involvement with the Gemini Program. This model was tested in the 10- by 10 tunnel for several weeks in September 1962. Lewis began managing the Agena second-stage rocket program shortly after this photograph was taken. Agenas were used to launch a variety of spacecraft and satellites in the 1960s. They were also used on several Gemini missions to provide targets for the astronauts to practice their rendezvous maneuvers. Gemini had two unmanned and ten manned flights in 1965 and 1966. These yielded the first spacewalks, long-duration space missions, first onboard computer, docking with a second spacecraft, and rendezvous maneuvers.

Validating Human Performance Models of the Future Orion Crew Exploration Vehicle

NASA Technical Reports Server (NTRS)

Wong, Douglas T.; Walters, Brett; Fairey, Lisa

2010-01-01

NASA's Orion Crew Exploration Vehicle (CEV) will provide transportation for crew and cargo to and from destinations in support of the Constellation Architecture Design Reference Missions. Discrete Event Simulation (DES) is one of the design methods NASA employs for crew performance of the CEV. During the early development of the CEV, NASA and its prime Orion contractor Lockheed Martin (LM) strived to seek an effective low-cost method for developing and validating human performance DES models. This paper focuses on the method developed while creating a DES model for the CEV Rendezvous, Proximity Operations, and Docking (RPOD) task to the International Space Station. Our approach to validation was to attack the problem from several fronts. First, we began the development of the model early in the CEV design stage. Second, we adhered strictly to M&S development standards. Third, we involved the stakeholders, NASA astronauts, subject matter experts, and NASA's modeling and simulation development community throughout. Fourth, we applied standard and easy-to-conduct methods to ensure the model's accuracy. Lastly, we reviewed the data from an earlier human-in-the-loop RPOD simulation that had different objectives, which provided us an additional means to estimate the model's confidence level. The results revealed that a majority of the DES model was a reasonable representation of the current CEV design.

STS-114 Flight Day 3 Highlights

NASA Technical Reports Server (NTRS)

2005-01-01

Video coverage of Day 3 includes highlights of STS-114 during the approach and docking of Discovery with the International Space Station (ISS). The Return to Flight continues with space shuttle crew members (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) seen in onboard activities on the fore and aft portions of the flight deck during the orbiter's approach. Camarda sends a greeting to his family, and Collins maneuvers Discovery as the ISS appears steadily closer in sequential still video from the centerline camera of the Orbiter Docking System. The approach includes video of Discovery from the ISS during the orbiter's Rendezvous Pitch Maneuver, giving the ISS a clear view of the thermal protection systems underneath the orbiter. Discovery docks with the Destiny Laboratory of the ISS, and the shuttle crew greets the Expedition 11 crew (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) of the ISS onboard the station. Finally, the Space Station Remote Manipulator System hands the Orbiter Boom Sensor System to its counterpart, the Shuttle Remote Manipulator System.

Artist's Concept of the Apollo-Soyuz Test Project

NASA Technical Reports Server (NTRS)

1974-01-01

This artist's concept depicts the Apollo-Soyuz Test Project (ASTP), the first international docking of the U.S.'s Apollo spacecraft and the U.S.S.R.'s Soyuz spacecraft in space. The objective of the ASTP mission was to provide the basis for a standardized international system for docking of marned spacecraft. The Soyuz spacecraft, with Cosmonauts Alexei Leonov and Valeri Kubasov aboard, was launched from the Baikonur Cosmodrome near Tyuratam in the Kazakh, Soviet Socialist Republic, at 8:20 a.m. (EDT) on July 15, 1975. The Apollo spacecraft, with Astronauts Thomas Stafford, Vance Brand, and Donald Slayton aboard, was launched from Launch Complex 39B, Kennedy Space Center, Florida, at 3:50 p.m. (EDT) on July 15, 1975. The Primary objectives of the ASTP were achieved. They performed spacecraft rendezvous, docking and undocking, conducted intervehicular crew transfer, and demonstrated the interaction of U.S. and U.S.S.R. control centers and spacecraft crews. The mission marked the last use of a Saturn launch vehicle. The Marshall Space Flight Center was responsible for development and sustaining engineering of the Saturn IB launch vehicle during the mission.

KU-Band rendezvous radar performance computer simulation model

NASA Technical Reports Server (NTRS)

Griffin, J. W.

1980-01-01

The preparation of a real time computer simulation model of the KU band rendezvous radar to be integrated into the shuttle mission simulator (SMS), the shuttle engineering simulator (SES), and the shuttle avionics integration laboratory (SAIL) simulator is described. To meet crew training requirements a radar tracking performance model, and a target modeling method were developed. The parent simulation/radar simulation interface requirements, and the method selected to model target scattering properties, including an application of this method to the SPAS spacecraft are described. The radar search and acquisition mode performance model and the radar track mode signal processor model are examined and analyzed. The angle, angle rate, range, and range rate tracking loops are also discussed.

A Proposed Strategy for the U.S. to Develop and Maintain a Mainstream Capability Suite ("Warehouse") for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje S.; Stillwater, Ryan A.; Babula, Maria; Moreau, Michael C.; Riedel, J. Ed; Mrozinski, Richard B.; Bradley, Arthur; Bryan, Thomas C.

2012-01-01

The ability of space assets to rendezvous and dock/capture/berth is a fundamental enabler for numerous classes of NASA fs missions, and is therefore an essential capability for the future of NASA. Mission classes include: ISS crew rotation, crewed exploration beyond low-Earth-orbit (LEO), on-orbit assembly, ISS cargo supply, crewed satellite servicing, robotic satellite servicing / debris mitigation, robotic sample return, and robotic small body (e.g. near-Earth object, NEO) proximity operations. For a variety of reasons to be described, NASA programs requiring Automated/Autonomous Rendezvous and Docking/Capture/Berthing (AR&D) capabilities are currently spending an order-of-magnitude more than necessary and taking twice as long as necessary to achieve their AR&D capability, "reinventing the wheel" for each program, and have fallen behind all of our foreign counterparts in AR&D technology (especially autonomy) in the process. To ensure future missions' reliability and crew safety (when applicable), to achieve the noted cost and schedule savings by eliminate costs of continually "reinventing the wheel ", the NASA AR&D Community of Practice (CoP) recommends NASA develop an AR&D Warehouse, detailed herein, which does not exist today. The term "warehouse" is used herein to refer to a toolbox or capability suite that has pre-integrated selectable supply-chain hardware and reusable software components that are considered ready-to-fly, low-risk, reliable, versatile, scalable, cost-effective, architecture and destination independent, that can be confidently utilized operationally on human spaceflight and robotic vehicles over a variety of mission classes and design reference missions, especially beyond LEO. The CoP also believes that it is imperative that NASA coordinate and integrate all current and proposed technology development activities into a cohesive cross-Agency strategy to produce and utilize this AR&D warehouse. An initial estimate indicates that if NASA strategically coordinates the development of a robust AR&D capability across the Agency, the cost of implementing AR&D on a spacecraft could be reduced from roughly $70M per mission to as low as $7M per mission, and the associated development time could be reduced from 4 years to 2 years, after the warehouse is completely developed. Table 1 shows the clear long-term benefits to the Agency in term of costs and schedules for various missions. (The methods used to arrive at the Table 1 numbers is presented in Appendices A and B.)

Real-time simulations for automated rendezvous and capture

NASA Technical Reports Server (NTRS)

Cuseo, John A.

1991-01-01

Although the individual technologies for automated rendezvous and capture (AR&C) exist, they have not yet been integrated to produce a working system in the United States. Thus, real-time integrated systems simulations are critical to the development and pre-flight demonstration of an AR&C capability. Real-time simulations require a level of development more typical of a flight system compared to purely analytical methods, thus providing confidence in derived design concepts. This presentation will describe Martin Marietta's Space Operations Simulation (SOS) Laboratory, a state-of-the-art real-time simulation facility for AR&C, along with an implementation for the Satellite Servicer System (SSS) Program.

Polynomial filter estimation of range and range rate for terminal rendezvous

NASA Technical Reports Server (NTRS)

Philips, R.

1970-01-01

A study was made of a polynomial filter for computing range rate information from CSM VHF range data. The filter's performance during the terminal phase of the rendezvous is discussed. Two modifications of the filter were also made and tested. A manual terminal rendezvous was simulated and desired accuracies were achieved for vehicles on an intercept trajectory, except for short periods following each braking maneuver when the estimated range rate was initially in error by the magnitude of the burn.

Solar electric propulsion for terminal flight to rendezvous with comets and asteroids. [using guidance algorithm

NASA Technical Reports Server (NTRS)

Bennett, A.

1973-01-01

A guidance algorithm that provides precise rendezvous in the deterministic case while requiring only relative state information is developed. A navigation scheme employing only onboard relative measurements is built around a Kalman filter set in measurement coordinates. The overall guidance and navigation procedure is evaluated in the face of measurement errors by a detailed numerical simulation. Results indicate that onboard guidance and navigation for the terminal phase of rendezvous is possible with reasonable limits on measurement errors.

Advanced Multipurpose Rendezvous Tracking System Study

NASA Technical Reports Server (NTRS)

Laurie, R. J.; Sterzer, F.

1982-01-01

Rendezvous and docking (R&D) sensors needed to support Earth orbital operations of vehicles were investigated to determine the form they should take. An R&D sensor must enable an interceptor vehicle to determine both the relative position and the relative attitude of a target vehicle. Relative position determination is fairly straightforward and places few constraints on the sensor. Relative attitude determination, however, is more difficult. The attitude is calculated based on relative position measurements of several reflectors placed in a known arrangement on the target vehicle. The constraints imposed on the sensor by the attitude determination method are severe. Narrow beamwidth, wide field of view (fov), high range accuracy, and fast random scan capability are all required to determine attitude by this method. A consideration of these constraints as well as others imposed by expected operating conditions and the available technology led to the conclusion that the sensor should be a cw optical radar employing a semiconductor laser transmitter and an image dissector receiver.

View of the docking approach of Endeavour taken during Expedition Three

NASA Image and Video Library

2001-12-07

ISS003-E-8326 (7 Dec 2001) --- The Space Shuttle Endeavour, controlled by the flight crew of STS-108, is backdropped over a large area of cloud cover on Earth as it nears its rendezvous with the International Space Station (ISS). The Raffaello logistics module that is being brought up to the orbiting outpost is clearly visible in Endeavour's cargo bay. Among other activities the Endeavour's mission will include the change out of the station crews. The image was recorded with a digital still camera.

View of the docking approach of Endeavour taken during Expedition Three

NASA Image and Video Library

2001-12-07

ISS003-E-8328 (7 December 2001) --- The Space Shuttle Endeavour, controlled by the flight crew of STS-108, is backdropped over a large area of cloud cover on Earth as it nears its rendezvous with the International Space Station (ISS). The Raffaello logistics module that is being brought up to the orbiting outpost is clearly visible in Endeavour's cargo bay. Among other activities the Endeavour's mission will include the change out of the station crews. The image was recorded with a digital still camera.

STS-71 Mission Highlights Resources Tape

NASA Technical Reports Server (NTRS)

1997-01-01

The flight crew of the STS-71 Space Shuttle Orbiter Atlantis Commander Robert L. Gibson, Pilot Charles J. Precourt, Mission Specialists, Ellen S. Baker, Bonnie J. Dunbar, Gregory J. Harbaugh, and Payload Specialists, Norman E. Thagard, Vladimir Dezhurov, and Gennadiy Strekalov present an overview of their mission. It's primary objective is the first Mir docking with a space shuttle and crew transfer. Video footage includes the following: prelaunch and launch activities; the crew eating breakfast; shuttle launch; on orbit activities; rendezvous with Mir; Shuttle/Mir joint activities; undocking; and the shuttle landing.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089829 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089793 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089802 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089782 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089830 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089820 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

ATV Fly-Under

NASA Image and Video Library

2014-08-08

ISS040-E-089798 (8 Aug. 2014) --- The “Georges Lemaitre” Automated Transfer Vehicle (ATV-5), photographed by an Expedition 40 crew member, flies directly under the International Space Station at a distance of about 3.7 miles to test sensors and radar systems designed for future European spacecraft. After its “fly-under” of the station, the ATV will move in front of, above, and behind the outpost for the final days of its two-week rendezvous that will lead to an automated docking to the aft port of the Zvezda Service Module on Aug. 12.

KSC-108-75P-0057

NASA Image and Video Library

1975-02-10

CAPE CANAVERAL, Fla. – The Soviet and American crews for the July Apollo Soyuz Test Project [standing, center] addressed personnel assembled in a firing room at KSC on February 10. The crews for the joint manned space mission toured the Center during their three-day visit which also included inspection of ASTP equipment and facilities and a trip to Disney World. The first international crewed spaceflight was a joint U.S.-U.S.S.R. rendezvous and docking mission. The Apollo-Soyuz Test Project, or ASTP, took its name from the spacecraft employed: the American Apollo and the Soviet Soyuz. The three-man Apollo crew lifted off from Kennedy Space Center aboard a Saturn IB rocket on July 15, 1975, to link up with the Soyuz that had launched a few hours earlier. A cylindrical docking module served as an airlock between the two spacecraft for transfer of the crew members. Photo credit: NASA

LIRIS flight database and its use toward noncooperative rendezvous

NASA Astrophysics Data System (ADS)

Mongrard, O.; Ankersen, F.; Casiez, P.; Cavrois, B.; Donnard, A.; Vergnol, A.; Southivong, U.

2018-06-01

ESA's fifth and last Automated Transfer Vehicle, ATV Georges Lemaître, tested new rendezvous technology before docking with the International Space Station (ISS) in August 2014. The technology demonstration called Laser Infrared Imaging Sensors (LIRIS) provides an unseen view of the ISS. During Georges Lemaître's rendezvous, LIRIS sensors, composed of two infrared cameras, one visible camera, and a scanning LIDAR (Light Detection and Ranging), were turned on two and a half hours and 3500 m from the Space Station. All sensors worked as expected and a large amount of data was recorded and stored within ATV-5's cargo hold before being returned to Earth with the Soyuz flight 38S in September 2014. As a part of the LIRIS postflight activities, the information gathered by all sensors is collected inside a flight database together with the reference ATV trajectory and attitude estimated by ATV main navigation sensors. Although decoupled from the ATV main computer, the LIRIS data were carefully synchronized with ATV guidance, navigation, and control (GNC) data. Hence, the LIRIS database can be used to assess the performance of various image processing algorithms to provide range and line-of-sight (LoS) navigation at long/medium range but also 6 degree-of-freedom (DoF) navigation at short range. The database also contains information related to the overall ATV position with respect to Earth and the Sun direction within ATV frame such that the effect of the environment on the sensors can also be investigated. This paper introduces the structure of the LIRIS database and provides some example of applications to increase the technology readiness level of noncooperative rendezvous.

Multi-agent robotic systems and applications for satellite missions

NASA Astrophysics Data System (ADS)

Nunes, Miguel A.

A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi-agent robotic system has a consistent lower CPU load of 0.29 +/- 0.03 compared to 0.35 +/- 0.04 for the monolithic implementation, a 17.1 % reduction. The second contribution of this work is the development of a multi-agent robotic system for the autonomous rendezvous and docking of multiple spacecraft. To compute the maneuvers guidance, navigation and control algorithms are implemented as part of the multi-agent robotic system. The navigation and control functions are implemented using existing algorithms, but one important contribution of this section is the introduction of a new six degrees of freedom guidance method which is part of the guidance, navigation and control architecture. This new method is an explicit solution to the guidance problem, and is particularly useful for real time guidance for attitude and position, as opposed to typical guidance methods which are based on numerical solutions, and therefore are computationally intensive. A simulation scenario is run for docking four CubeSats deployed radially from a launch vehicle. Considering fully actuated CubeSats, the simulations show docking maneuvers that are successfully completed within 25 minutes which is approximately 30% of a full orbital period in low earth orbit. The final section investigates the problem of optimization of satellite constellations for fast revisit time, and introduces a new method to generate different constellation configurations that are evaluated with a genetic algorithm. Two case studies are presented. The first is the optimization of a constellation for rapid coverage of the oceans of the globe in 24 hours or less. Results show that for an 80 km sensor swath width 50 satellites are required to cover the oceans with a 24 hour revisit time. The second constellation configuration study focuses on the optimization for the rapid coverage of the North Atlantic Tracks for air traffic monitoring in 3 hours or less. The results show that for a fixed swath width of 160 km and for a 3 hour revisit time 52 satellites are required.

The First Joint Report of the General Thomas P. Stafford Task Force and the Academician Vladimir F. Utkin Advisory Expert Council on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1996-01-01

In October 1992, the National Aeronautics and Space Administration (NASA) and the Russian Space Agency (RSA) formally agreed to conduct a fundamentally new program of human cooperation in space. The 'Shuttle-Mir Program' encompassed combined astronaut-cosmonaut activities on the Shuttle, Soyuz Test Module(TM), and Mir station spacecraft. At that time, NASA and RSA limited the project to: the STS-60 mission carrying the first Russian cosmonaut to fly on the U.S. Space Shuttle; the launch of the first U.S. astronaut on the Soyuz vehicle for a multi-month mission as a member of a Mir crew; and the change-out of the U.S.-Russian Mir crews with a Russian crew during a Shuttle rendezvous and docking mission with the Mir Station. The objectives of the Phase 1 Program are to provide the basis for the resolution of engineering and technical problems related to the implementation of the ISS and future U.S.-Russian cooperation in space. This, combined with test data generated during the course of the Shuttle flights to the Mir station and extended joint activities between U.S. astronauts and Russian cosmonauts aboard Mir, is expected to reduce the technical risks associated with the construction and operation of the ISS. Phase 1 will further enhance the ISS by combining space operations and joint space technology demonstrations. Phase 1 also provides early opportunities for extended U.S. scientific and research activities, prior to utilization of the ISS.

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.

Construction in space - Toward a fresh definition of the man/machine relation

NASA Technical Reports Server (NTRS)

Watters, H. H.; Stokes, J. W.

1979-01-01

The EVA (extravehicular activity) project forming part of the space construction process is reviewed. The manual EVA constuction, demonstrated by the crew of Skylab 3 by assembling a modest space structure in the form of the twin-pole sunshade, is considered, indicating that the experiment dispelled many doubts about man's ability to execute routine and contingency EVA operations. Tests demonstrating the feasibility of remote teleoperator rendezvous, station keeping, and docking operations, using hand controllers for direct input and television for feedback, are noted. Future plans for designing space construction machines are mentioned.

Technology development, demonstration, and orbital support requirements for manned lunar and Mars missions

NASA Technical Reports Server (NTRS)

Llewellyn, Charles P.; Brender, Karen D.

1990-01-01

An overview of the critical technology needs and the Space Station Freedom (SSF) focused support requirements for the Office of Exploration's (OEXP) manned lunar and Mars missions is presented. Major emphasis is directed at the technology needs associated with the low earth orbit (LEO) transportation node assembly and vehicle processing functions required by the lunar and Mars mission flight elements. The key technology areas identified as crucial to support the LEO node function include in-space assembly and construction, in-space vehicle processing and refurbishment, space storable cryogenics, and autonomous rendezvous and docking.

Technology needs development and orbital support requirements for manned lunar and Mars missions

NASA Technical Reports Server (NTRS)

Brender, Karen D.; Llewellyn, Charles P.

1990-01-01

This paper presents an overview of the critical technology needs and the Space Station Freedom focused support requirements for the Office of Exploration's manned lunar and Mars missions. The emphasis is on e directed at the technology needs associated with the low earth orbit (LEO) transportation node assembly and vehicle processing functions required by the lunar Mars mission flight elements. The key technology areas identified as crucial to support the LEO node function include in-space assembly and construction, in-space vehicle processing and refurbishment, space storable cryogenics, and autonomous rendezvous and docking.

Operations analysis (study 2.1). Contingency analysis. [of failure modes anticipated during space shuttle upper stage planning

NASA Technical Reports Server (NTRS)

1974-01-01

Future operational concepts for the space transportation system were studied in terms of space shuttle upper stage failure contingencies possible during deployment, retrieval, or space servicing of automated satellite programs. Problems anticipated during mission planning were isolated using a modified 'fault tree' technique, normally used in safety analyses. A comprehensive space servicing hazard analysis is presented which classifies possible failure modes under the catagories of catastrophic collision, failure to rendezvous and dock, servicing failure, and failure to undock. The failure contingencies defined are to be taken into account during design of the upper stage.

Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly

NASA Technical Reports Server (NTRS)

LeMaster, Edward A.; Schaechter, David B.; Carrington, Connie K.

2006-01-01

The Modular Reconfigurable High Energy (MRHE) program aimed to develop technologies for the automated assembly and deployment of large-scale space structures and aggregate spacecraft. Part of the project involved creation of a terrestrial robotic testbed for validation and demonstration of these technologies and for the support of future development activities. This testbed was completed in 2005, and was thereafter used to demonstrate automated rendezvous, docking, and self-assembly tasks between a group of three modular robotic spacecraft emulators. This paper discusses the rationale for the MRHE project, describes the testbed capabilities, and presents the MRHE assembly demonstration sequence.

Hatch opening and greeting after rendezvous

NASA Image and Video Library

1997-02-27

STS081-373-025 (14 Jan 1997) --- Greeting between commanders - astronaut Michael A. Baker (foreground) and cosmonaut Valeri G. Korzun - just after hatch opening following the January 14, 1997, docking. Out of frame on the Space Shuttle Atlantis is astronaut Jerry M. Linenger, soon to be trading places with John E. Blaha, the current cosmonaut guest researcher, onboard Russia?s Mir Space Station since mid September 1996. Along with Baker and Linenger, other crew members now aboard Atlantis are astronauts Brent W. Jett, Jr., pilot; and mission specialists John M. Grunsfeld, Marsha S. Ivins and Peter J. K. (Jeff) Wisoff.

Artificial neural networks and approximate reasoning for intelligent control in space

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.

1991-01-01

A method is introduced for learning to refine the control rules of approximate reasoning-based controllers. A reinforcement-learning technique is used in conjunction with a multi-layer neural network model of an approximate reasoning-based controller. The model learns by updating its prediction of the physical system's behavior. The model can use the control knowledge of an experienced operator and fine-tune it through the process of learning. Some of the space domains suitable for applications of the model such as rendezvous and docking, camera tracking, and tethered systems control are discussed.

Analytical Evaluation of a Method of Midcourse Guidance for Rendezvous with Earth Satellites

NASA Technical Reports Server (NTRS)

Eggleston, John M.; Dunning, Robert S.

1961-01-01

A digital-computer simulation was made of the midcourse or ascent phase of a rendezvous between a ferry vehicle and a space station. The simulation involved a closed-loop guidance system in which both the relative position and relative velocity between ferry and station are measured (by simulated radar) and the relative-velocity corrections required to null the miss distance are computed and applied. The results are used to study the effectiveness of a particular set of guidance equations and to study the effects of errors in the launch conditions and errors in the navigation data. A number of trajectories were investigated over a variety of initial conditions for cases in which the space station was in a circular orbit and also in an elliptic orbit. Trajectories are described in terms of a rotating coordinate system fixed in the station. As a result of this study the following conclusions are drawn. Successful rendezvous can be achieved even with launch conditions which are substantially less accurate than those obtained with present-day techniques. The average total-velocity correction required during the midcourse phase is directly proportional to the radar accuracy but the miss distance is not. Errors in the time of booster burnout or in the position of the ferry at booster burnout are less important than errors in the ferry velocity at booster burnout. The use of dead bands to account for errors in the navigational (radar) equipment appears to depend upon a compromise between the magnitude of the velocity corrections to be made and the allowable miss distance at the termination of the midcourse phase of the rendezvous. When approximate guidance equations are used, there are limits on their accuracy which are dependent on the angular distance about the earth to the expected point of rendezvous.

Launch and Assembly Reliability Analysis for Mars Human Space Exploration Missions

NASA Technical Reports Server (NTRS)

Cates, Grant R.; Stromgren, Chel; Cirillo, William M.; Goodliff, Kandyce E.

2013-01-01

NASA s long-range goal is focused upon human exploration of Mars. Missions to Mars will require campaigns of multiple launches to assemble Mars Transfer Vehicles in Earth orbit. Launch campaigns are subject to delays, launch vehicles can fail to place their payloads into the required orbit, and spacecraft may fail during the assembly process or while loitering prior to the Trans-Mars Injection (TMI) burn. Additionally, missions to Mars have constrained departure windows lasting approximately sixty days that repeat approximately every two years. Ensuring high reliability of launching and assembling all required elements in time to support the TMI window will be a key enabler to mission success. This paper describes an integrated methodology for analyzing and improving the reliability of the launch and assembly campaign phase. A discrete event simulation involves several pertinent risk factors including, but not limited to: manufacturing completion; transportation; ground processing; launch countdown; ascent; rendezvous and docking, assembly, and orbital operations leading up to TMI. The model accommodates varying numbers of launches, including the potential for spare launches. Having a spare launch capability provides significant improvement to mission success.

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.

Human Mars Mission Performance Crew Taxi Profile

NASA Technical Reports Server (NTRS)

Duaro, Vince A.

1999-01-01

Using the results from Integrated Mission Program (IMP), a simulation language and code used to model present and future Earth Moon, or Mars missions, this report presents six different case studies of a manned Mars mission. The mission profiles, timelines, propellant requirements, feasibility and perturbation analysis is presented for two aborted, two delayed rendezvous, and two normal rendezvous cases for a future Mars mission.

VML 3.0 Reactive Sequencing Objects and Matrix Math Operations for Attitude Profiling

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.

2012-01-01

VML (Virtual Machine Language) has been used as the sequencing flight software on over a dozen JPL deep-space missions, most recently flying on GRAIL and JUNO. In conjunction with the NASA SBIR entitled "Reactive Rendezvous and Docking Sequencer", VML version 3.0 has been enhanced to include object-oriented element organization, built-in queuing operations, and sophisticated matrix / vector operations. These improvements allow VML scripts to easily perform much of the work that formerly would have required a great deal of expensive flight software development to realize. Autonomous turning and tracking makes considerable use of new VML features. Profiles generated by flight software are managed using object-oriented VML data constructs executed in discrete time by the VML flight software. VML vector and matrix operations provide the ability to calculate and supply quaternions to the attitude controller flight software which produces torque requests. Using VML-based attitude planning components eliminates flight software development effort, and reduces corresponding costs. In addition, the direct management of the quaternions allows turning and tracking to be tied in with sophisticated high-level VML state machines. These state machines provide autonomous management of spacecraft operations during critical tasks like a hypothetic Mars sample return rendezvous and docking. State machines created for autonomous science observations can also use this sort of attitude planning system, allowing heightened autonomy levels to reduce operations costs. VML state machines cannot be considered merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. The state machine approach enabled by VML 3.0 is progressing toward flight capability with a wide array of applicable mission activities.

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.

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.

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

NASA Astrophysics Data System (ADS)

Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

2018-02-01

An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

A Comparison of Trajectory Optimization Methods for the Impulsive Minimum Fuel Rendezvous Problem

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Mailhe, Laurie M.; Guzman, Jose J.

2002-01-01

In this paper we present a comparison of optimization approaches to the minimum fuel rendezvous problem. Both indirect and direct methods are compared for a variety of test cases. The indirect approach is based on primer vector theory. The direct approaches are implemented numerically and include Sequential Quadratic Programming (SQP), Quasi-Newton, Simplex, Genetic Algorithms, and Simulated Annealing. Each method is applied to a variety of test cases including, circular to circular coplanar orbits, LEO to GEO, and orbit phasing in highly elliptic orbits. We also compare different constrained optimization routines on complex orbit rendezvous problems with complicated, highly nonlinear constraints.

The Sensor Test for Orion RelNav Risk Mitigation Development Test Objective

NASA Technical Reports Server (NTRS)

Christian, John A.; Hinkel, Heather; Maguire, Sean

2011-01-01

The Sensor Test for Orion Relative-Navigation Risk Mitigation (STORRM) Development Test Objective (DTO) ew aboard the Space Shuttle Endeavour on STS-134, and was designed to characterize the performance of the ash LIDAR being developed for the Orion. This ash LIDAR, called the Vision Navigation Sensor (VNS), will be the primary navigation instrument used by the Orion vehicle during rendezvous, proximity operations, and docking. This paper provides an overview of the STORRM test objectives and the concept of operations. It continues with a description of the STORRM's major hardware compo nents, which include the VNS and the docking camera. Next, an overview of crew and analyst training activities will describe how the STORRM team prepared for flight. Then an overview of how insight data collection and analysis actually went is presented. Key ndings and results from this project are summarized, including a description of "truth" data. Finally, the paper concludes with lessons learned from the STORRM DTO.

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

STS-74 clears tower (with view of RSS)

NASA Technical Reports Server (NTRS)

1995-01-01

The STS-74 astronauts depart the Operations and Checkout Building, headed for the launch pad and a rendezvous in space. Leading the way are Commander Kenneth D. Cameron (front right) and Pilot James D. Halsell Jr. (front left). Behind them are the three mission specialists assigned to STS-74 (front to back): Chris A. Hadfield, representing the Canadian Space Agency; Jerry L. Ross, and William S. 'Bill' McArthur Jr. Awaiting them at Launch Pad 39A is the Space Shuttle Atlantis, scheduled for a second liftoff attempt lift off during a seven-minute launch window opening at about 7:30 a.m. EST, Nov. 12. During its approximately eight-day flight, Atlantis will dock with the Russian Space Station Mir and a permanent docking extension will be attached to the station, and transfer of materials to and from the mated spacecraft will be completed. A first launch attempt Nov. 11 was scrubbed due to unfavorable weather conditions at the contingency Transoceanic Abort Landing (TAL) sites.

KSC-75PC-0330

NASA Image and Video Library

1975-07-03

CAPE CANAVERAL, Fla. – ASTP prime crewmen Donald Slayton, Thomas Stafford and Vance Brand pose with their Saturn IB launch vehicle following the Countdown Demonstration Test [CDDT], a step-by-step dress rehearsal for their July 15 launch. During the “wet” portion of the test, conducted yesterday, the stages of the launch vehicle were fueled as they will be on launch day. The fuels were off loaded and the terminal portion of the count repeated today with the astronauts aboard the vehicle. The first international crewed spaceflight was a joint U.S.-U.S.S.R. rendezvous and docking mission. The Apollo-Soyuz Test Project, or ASTP, took its name from the spacecraft employed: the American Apollo and the Soviet Soyuz. The three-man Apollo crew lifted off from Kennedy Space Center aboard a Saturn IB rocket on July 15, 1975, to link up with the Soyuz that had launched a few hours earlier. A cylindrical docking module served as an airlock between the two spacecraft for transfer of the crew members. Photo credit: NASA

Path scheduling for multiple mobile actors in wireless sensor network

NASA Astrophysics Data System (ADS)

Trapasiya, Samir D.; Soni, Himanshu B.

2017-05-01

In wireless sensor network (WSN), energy is the main constraint. In this work we have addressed this issue for single as well as multiple mobile sensor actor network. In this work, we have proposed Rendezvous Point Selection Scheme (RPSS) in which Rendezvous Nodes are selected by set covering problem approach and from that, Rendezvous Points are selected in a way to reduce the tour length. The mobile actors tour is scheduled to pass through those Rendezvous Points as per Travelling Salesman Problem (TSP). We have also proposed novel rendezvous node rotation scheme for fair utilisation of all the nodes. We have compared RPSS with Stationery Actor scheme as well as RD-VT, RD-VT-SMT and WRP-SMT for performance metrics like energy consumption, network lifetime, route length and found the better outcome in all the cases for single actor. We have also applied RPSS for multiple mobile actor case like Multi-Actor Single Depot (MASD) termination and Multi-Actor Multiple Depot (MAMD) termination and observed by extensive simulation that MAMD saves the network energy in optimised way and enhance network lifetime compared to all other schemes.

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.

Multi-Conformer Ensemble Docking to Difficult Protein Targets

DOE PAGES

Ellingson, Sally R.; Miao, Yinglong; Baudry, Jerome; ...

2014-09-08

We investigate large-scale ensemble docking using five proteins from the Directory of Useful Decoys (DUD, dud.docking.org) for which docking to crystal structures has proven difficult. Molecular dynamics trajectories are produced for each protein and an ensemble of representative conformational structures extracted from the trajectories. Docking calculations are performed on these selected simulation structures and ensemble-based enrichment factors compared with those obtained using docking in crystal structures of the same protein targets or random selection of compounds. We also found simulation-derived snapshots with improved enrichment factors that increased the chemical diversity of docking hits for four of the five selected proteins.more » A combination of all the docking results obtained from molecular dynamics simulation followed by selection of top-ranking compounds appears to be an effective strategy for increasing the number and diversity of hits when using docking to screen large libraries of chemicals against difficult protein targets.« less

Autonomous Mission Manager for Rendezvous, Inspection and Mating

NASA Technical Reports Server (NTRS)

Zimpfer, Douglas J.

2003-01-01

To meet cost and safety objectives, space missions that involve proximity operations between two vehicles require a high level of autonomy to successfully complete their missions. The need for autonomy is primarily driven by the need to conduct complex operations outside of communication windows, and the communication time delays inherent in space missions. Autonomy also supports the goals of both NASA and the DOD to make space operations more routine, and lower operational costs by reducing the requirement for ground personnel. NASA and the DoD have several programs underway that require a much higher level of autonomy for space vehicles. NASA's Space Launch Initiative (SLI) program has ambitious goals of reducing costs by a factor or 10 and improving safety by a factor of 100. DARPA has recently begun its Orbital Express to demonstrate key technologies to make satellite servicing routine. The Air Force's XSS-ll program is developing a protoflight demonstration of an autonomous satellite inspector. A common element in space operations for many NASA and DOD missions is the ability to rendezvous, inspect anclJor dock with another spacecraft. For DARPA, this is required to service or refuel military satellites. For the Air Force, this is required to inspect un-cooperative resident space objects. For NASA, this is needed to meet the primary SLI design reference mission of International Space Station re-supply. A common aspect for each of these programs is an Autonomous Mission Manager that provides highly autonomous planning, execution and monitoring of the rendezvous, inspection and docking operations. This paper provides an overview of the Autonomous Mission Manager (AMM) design being incorporated into many of these technology programs. This AMM provides a highly scalable level of autonomous operations, ranging from automatic execution of ground-derived plans to highly autonomous onboard planning to meet ground developed mission goals. The AMM provides the capability to automatically execute the plans and monitor the system performance. In the event of system dispersions or failures the AMM can modify plans or abort to assure overall system safety. This paper describes the design and functionality of Draper's AMM framework, presents concept of operations associated with the use of the AMM, and outlines the relevant features of the flight demonstrations.

International Space Station (ISS)

NASA Image and Video Library

2005-07-28

Launched on July 26 2005 from the Kennedy Space Center in Florida, STS-114 was classified as Logistics Flight 1. Among the Station-related activities of the mission were the delivery of new supplies and the replacement of one of the orbital outpost's Control Moment Gyroscopes (CMGs). STS-114 also carried the Raffaello Multi-Purpose Logistics Module (MPLM) and the External Stowage Platform-2. Back dropped by popcorn-like clouds, the MPLM can be seen in the cargo bay as Discovery undergoes rendezvous and docking operations. Cosmonaut Sergei K. Kriklev, Expedition 11 Commander, and John L. Phillips, NASA Space Station officer and flight engineer photographed the spacecraft from the International Space Station (ISS).

International Space Station (ISS)

NASA Image and Video Library

2005-07-28

Launched on July 26, 2005 from the Kennedy Space Center in Florida, STS-114 was classified as Logistics Flight 1. Among the Station-related activities of the mission were the delivery of new supplies and the replacement of one of the orbital outpost's Control Moment Gyroscopes (CMGs). STS-114 also carried the Raffaello Multi-Purpose Logistics Module (MPLM) and the External Stowage Platform-2. Back dropped by popcorn-like clouds, the MPLM can be seen in the cargo bay as Discovery undergoes rendezvous and docking operations. Cosmonaut Sergei K. Kriklev, Expedition 11 Commander, and John L. Phillips, NASA Space Station officer and flight engineer photographed the spacecraft from the International Space Station (ISS).

WEB - A Wireless Experiment Box for the Dextre Pointing Package ELC Payload

NASA Technical Reports Server (NTRS)

Bleier, Leor Z.; Marrero-Fontanez, Victor J.; Sparacino, Pietro A.; Moreau, Michael C.; Mitchell, Jason William

2012-01-01

The Wireless Experiment Box (WEB) was proposed to work with the International Space Station (ISS) External Wireless Communication (EWC) system to support high-definition video from the Dextre Pointing Package (DPP). DPP/WEB was a NASA GSFC proposed ExPRESS Logistics Carrier (ELC) payload designed to flight test an integrated suite of Autonomous Rendezvous and Docking (AR&D) technologies to enable a wide spectrum of future missions across NASA and other US Government agencies. The ISS EWC uses COTS Wireless Access Points (WAPs) to provide high-rate bi-directional communications to ISS. In this paper, we discuss WEB s packaging, operation, antenna development, and performance testing.

Web: A Wireless Experiment Box for the Dextre Pointing Package ELC Payload

NASA Technical Reports Server (NTRS)

Bleier, Leor Z.; Marrero-Fontanez, Victor J.; Sparacino, Pietro A.; Moreau, Michael C.; Mitchell, Jason W.

2012-01-01

The Wireless Experiment Box (WEB) was proposed to work with the International Space Station (ISS) External Wireless Communication (EWC) system to support high-definition video from the Dextre Pointing Package (DPP). DPP/WEB was a NASA GSFC proposed ExPRESS Logistics Carrier (ELC) payload designed to flight test an integrated suite of Autonomous Rendezvous and Docking (AR&D) technologies to enable a wide spectrum of future missions across NASA and other US Government agencies. The ISS EWC uses COTS Wireless Access Points (WAPs) to provide high-rate bi-directional communications to ISS. In this paper, we discuss WEB s packaging, operation, antenna development, and performance testing.

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 prior to rendezvous and grapple

NASA Image and Video Library

1998-12-06

S88-E-5044 (12-06-98) --- With Endeavour's astronauts waiting to mate the Russian-built Zarya control module with the U.S.-built Unity connecting module, an electronic still camera (ESC) was used to record this image of the approaching Zarya. Using the shuttle's 50-ft.-long Canadian-built robot arm, astronaut Nancy J. Currie, working from Endeavour's aft flight deck, plucked Zarya out of orbit at 5:47 p.m. (CST), Dec. 6. The craft had been orbiting Earth for a little over 16 days prior to the grapple and subsequent docking to Unity. This image was recorded at 22:53:55 GMT, Dec. 6.

View of the FGB prior to rendezvous and grapple

NASA Image and Video Library

1998-12-06

S88-E-5045 (12-06-98) --- With Endeavour's astronauts waiting to mate the Russian-built Zarya control module with the U.S.-built Unity connecting module, an electronic still camera (ESC) was used to record this image of the approaching Zarya. Using the shuttle's 50-ft.-long Canadian-built robot arm, astronaut Nancy J. Currie, working from Endeavour's aft flight deck, plucked Zarya out of orbit at 5:47 p.m. (CST), Dec. 6. The craft had been orbiting Earth for a little over 16 days prior to the grapple and subsequent docking to Unity. This image was recorded at 23:02:06 GMT, Dec. 6.

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

NASA Technical Reports Server (NTRS)

Zhou, Zhinqiang

2012-01-01

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

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.

Office of Space Flight standard spaceborne Global Positioning System user equipment project

NASA Technical Reports Server (NTRS)

Saunders, Penny E.

1991-01-01

The Global Positioning System (GPS) provides users autonomous, real-time navigation capability. A vehicle equipped with GPS user equipment can receive and process signals transmitted by a constellation of GPS satellites and derive from the resulting measurements the vehicle's position and velocity. Specified accuracies range from 16 to 76 meters and 0.1 to 1.0 meters/second for position and velocity, respectively. In a rendezvous and docking scenario, the use of a technique called relative GPS can provide range and range rate accuracies on the order of 1 meter and 0.01 meters/second, respectively. Relative GPS requires both vehicles to be equipped with GPS user equipment and a data communication link for transmission of GPS data and GPS satellite selection coordination information. Through coordinated satellite selection, GPS measurement errors common to both users are cancelled and improved relative position and velocity accuracies are achieved. The background, the design approach, the expected performance and capabilities, the development plan, and the project status are described. In addition, a description of relative GPS, the possible GPS hardware and software configurations, and its application to automated rendezvous and capture are presented.

Automatic trajectory planning for low-thrust active removal mission in low-earth orbit

NASA Astrophysics Data System (ADS)

Di Carlo, Marilena; Romero Martin, Juan Manuel; Vasile, Massimiliano

2017-03-01

In this paper two strategies are proposed to de-orbit up to 10 non-cooperative objects per year from the region within 800 and 1400 km altitude in Low Earth Orbit (LEO). The underlying idea is to use a single servicing spacecraft to de-orbit several objects applying two different approaches. The first strategy is analogous to the Traveling Salesman Problem: the servicing spacecraft rendezvous with multiple objects in order to physically attach a de-orbiting kit that reduces the perigee of the orbit. The second strategy is analogous to the Vehicle Routing Problem: the servicing spacecraft rendezvous and docks with an object, spirals it down to a lower altitude orbit, undocks, and then spirals up to the next target. In order to maximise the number of de-orbited objects with minimum propellant consumption, an optimal sequence of targets is identified using a bio-inspired incremental automatic planning and scheduling discrete optimisation algorithm. The optimisation of the resulting sequence is realised using a direct transcription method based on an asymptotic analytical solution of the perturbed Keplerian motion. The analytical model takes into account the perturbations deriving from the J2 gravitational effect and the atmospheric drag.

wFReDoW: A Cloud-Based Web Environment to Handle Molecular Docking Simulations of a Fully Flexible Receptor Model

PubMed Central

De Paris, Renata; Frantz, Fábio A.; Norberto de Souza, Osmar; Ruiz, Duncan D. A.

2013-01-01

Molecular docking simulations of fully flexible protein receptor (FFR) models are coming of age. In our studies, an FFR model is represented by a series of different conformations derived from a molecular dynamic simulation trajectory of the receptor. For each conformation in the FFR model, a docking simulation is executed and analyzed. An important challenge is to perform virtual screening of millions of ligands using an FFR model in a sequential mode since it can become computationally very demanding. In this paper, we propose a cloud-based web environment, called web Flexible Receptor Docking Workflow (wFReDoW), which reduces the CPU time in the molecular docking simulations of FFR models to small molecules. It is based on the new workflow data pattern called self-adaptive multiple instances (P-SaMIs) and on a middleware built on Amazon EC2 instances. P-SaMI reduces the number of molecular docking simulations while the middleware speeds up the docking experiments using a High Performance Computing (HPC) environment on the cloud. The experimental results show a reduction in the total elapsed time of docking experiments and the quality of the new reduced receptor models produced by discarding the nonpromising conformations from an FFR model ruled by the P-SaMI data pattern. PMID:23691504

Relative navigation requirements for automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Kachmar, Peter M.; Polutchko, Robert J.; Chu, William; Montez, Moises

1991-01-01

This paper will discuss in detail the relative navigation system requirements and sensor trade-offs for Automatic Rendezvous and Capture. Rendezvous navigation filter development will be discussed in the context of navigation performance requirements for a 'Phase One' AR&C system capability. Navigation system architectures and the resulting relative navigation performance for both cooperative and uncooperative target vehicles will be assessed. Relative navigation performance using rendezvous radar, star tracker, radiometric, laser and GPS navigation sensors during appropriate phases of the trajectory will be presented. The effect of relative navigation performance on the Integrated AR&C system performance will be addressed. Linear covariance and deterministic simulation results will be used. Evaluation of relative navigation and IGN&C system performance for several representative relative approach profiles will be presented in order to demonstrate the full range of system capabilities. A summary of the sensor requirements and recommendations for AR&C system capabilities for several programs requiring AR&C will be presented.

Rapid design and optimization of low-thrust rendezvous/interception trajectory for asteroid deflection missions

NASA Astrophysics Data System (ADS)

Li, Shuang; Zhu, Yongsheng; Wang, Yukai

2014-02-01

Asteroid deflection techniques are essential in order to protect the Earth from catastrophic impacts by hazardous asteroids. Rapid design and optimization of low-thrust rendezvous/interception trajectories is considered as one of the key technologies to successfully deflect potentially hazardous asteroids. In this paper, we address a general framework for the rapid design and optimization of low-thrust rendezvous/interception trajectories for future asteroid deflection missions. The design and optimization process includes three closely associated steps. Firstly, shape-based approaches and genetic algorithm (GA) are adopted to perform preliminary design, which provides a reasonable initial guess for subsequent accurate optimization. Secondly, Radau pseudospectral method is utilized to transcribe the low-thrust trajectory optimization problem into a discrete nonlinear programming (NLP) problem. Finally, sequential quadratic programming (SQP) is used to efficiently solve the nonlinear programming problem and obtain the optimal low-thrust rendezvous/interception trajectories. The rapid design and optimization algorithms developed in this paper are validated by three simulation cases with different performance indexes and boundary constraints.

Polarized-interferometer feasibility study

NASA Technical Reports Server (NTRS)

Raab, F. H.

1983-01-01

The feasibility of using a polarized-interferometer system as a rendezvous and docking sensor for two cooperating spacecraft was studied. The polarized interferometer is a radio frequency system for long range, real time determination of relative position and attitude. Range is determined by round trip signal timing. Direction is determined by radio interferometry. Relative roll is determined from signal polarization. Each spacecraft is equipped with a transponder and an antenna array. The antenna arrays consist of four crossed dipoles that can transmit or receive either circularly or linearly polarized signals. The active spacecraft is equipped with a sophisticated transponder and makes all measurements. The transponder on the passive spacecraft is a relatively simple repeater. An initialization algorithm is developed to estimate position and attitude without any a priori information. A tracking algorithm based upon minimum variance linear estimators is also developed. Techniques to simplify the transponder on the passive spacecraft are investigated and a suitable configuration is determined. A multiple carrier CW signal format is selected. The dependence of range accuracy and ambiguity resolution error probability are derived and used to design a candidate system. The validity of the design and the feasibility of the polarized interferometer concept are verified by simulation.

Launch and Assembly Reliability Analysis for Human Space Exploration Missions

NASA Technical Reports Server (NTRS)

Cates, Grant; Gelito, Justin; Stromgren, Chel; Cirillo, William; Goodliff, Kandyce

2012-01-01

NASA's future human space exploration strategy includes single and multi-launch missions to various destinations including cis-lunar space, near Earth objects such as asteroids, and ultimately Mars. Each campaign is being defined by Design Reference Missions (DRMs). Many of these missions are complex, requiring multiple launches and assembly of vehicles in orbit. Certain missions also have constrained departure windows to the destination. These factors raise concerns regarding the reliability of launching and assembling all required elements in time to support planned departure. This paper describes an integrated methodology for analyzing launch and assembly reliability in any single DRM or set of DRMs starting with flight hardware manufacturing and ending with final departure to the destination. A discrete event simulation is built for each DRM that includes the pertinent risk factors including, but not limited to: manufacturing completion; ground transportation; ground processing; launch countdown; ascent; rendezvous and docking, assembly, and orbital operations leading up to trans-destination-injection. Each reliability factor can be selectively activated or deactivated so that the most critical risk factors can be identified. This enables NASA to prioritize mitigation actions so as to improve mission success.

Fiches pratiques: Si on jouait a la famille Dubois...; Pic et pic...et phonetique; Les rendez-vous des souvenirs; A l'ami (Practical Ideas: Let's Play House; Tick and Tick...and Phonetic; Rendezvous with Memories; To My Friend).

ERIC Educational Resources Information Center

Bravo, Maria Antonia Lavandera; And Others

1991-01-01

Four activities for French language classroom use are presented, including a simulation of the relationships and communication within a family; pronunciation instruction through phonetic transcription; cultural awareness through students' analysis of their own and their parents' specific memories; and analysis and comparison of a literary text and…

Simulation of the Interactions Between Gamma-Rays and Detectors Using BSIMUL

NASA Technical Reports Server (NTRS)

Haywood, S. E.; Rester, A. C., Jr.

1996-01-01

Progress made during 1995 on the Monte-Carlo gamma-ray spectrum simulation program BSIMUL is discussed. Several features have been added, including the ability to model shield that are tapered cylinders. Several simulations were made on the Near Earth Asteroid Rendezvous detector.

Berthing simulator for space station and orbiter

NASA Technical Reports Server (NTRS)

Veerasamy, Sam

1991-01-01

The development of a real-time man-in-the-loop berthing simulator is in progress at NASA Lyndon B. Johnson Space Center (JSC) to conduct a parametric study and to measure forces during contact conditions of the actual docking mechanisms for the Space Station Freedom and the orbiter. In berthing, the docking ports of the Space Station and the orbiter are brought together using the orbiter robotic arm to control the relative motion of the vehicles. The berthing simulator consists of a dynamics docking test system (DDTS), computer system, simulator software, and workstations. In the DDTS, the Space Station, and the orbiter docking mechanisms are mounted on a six-degree-of-freedom (6 DOF) table and a fixed platform above the table. Six load cells are used on the fixed platform to measure forces during contact conditions of the docking mechanisms. Two Encore Concept 32/9780 computers are used to simulate the orbiter robotic arm and to operate the berthing simulator. A systematic procedure for a real-time dynamic initialization is being developed to synchronize the Space Station docking port trajectory with the 6 DOF table movement. The berthing test can be conducted manually or automatically and can be extended for any two orbiting vehicles using a simulated robotic arm. The real-time operation of the berthing simulator is briefly described.

STS-79 crew watches from aft flight deck during undocking from Mir

NASA Image and Video Library

1997-03-26

STS079-S-097 (16-26 Sept. 1996) --- Left to right, Terrence W. (Terry) Wilcutt, pilot; Shannon W. Lucid, mission specialist; and William F. Readdy, mission commander, are pictured on the space shuttle Atlantis' aft flight deck during undocking operations with Russia's Mir Space Station. Mir had served as both work and home for Lucid for over six months before greeting her American colleagues upon docking of Mir and Atlantis last week. Following her lengthy stay aboard Mir and several days on Atlantis, Lucid went on to spend 188 consecutive days in space before returning to Earth with the STS-79 crew. During the STS-79 mission, the crew used an IMAX camera to document activities aboard the Space Shuttle Atlantis and the various Mir modules. A hand-held version of the 65mm camera system accompanied the STS-79 crew into space in Atlantis' crew cabin. NASA has flown IMAX camera systems on many Shuttle missions, including a special cargo bay camera's coverage of other recent Shuttle-Mir rendezvous and/or docking missions.

Animation graphic interface for the space shuttle onboard computer

NASA Technical Reports Server (NTRS)

Wike, Jeffrey; Griffith, Paul

1989-01-01

Graphics interfaces designed to operate on space qualified hardware challenge software designers to display complex information under processing power and physical size constraints. Under contract to Johnson Space Center, MICROEXPERT Systems is currently constructing an intelligent interface for the LASER DOCKING SENSOR (LDS) flight experiment. Part of this interface is a graphic animation display for Rendezvous and Proximity Operations. The displays have been designed in consultation with Shuttle astronauts. The displays show multiple views of a satellite relative to the shuttle, coupled with numeric attitude information. The graphics are generated using position data received by the Shuttle Payload and General Support Computer (PGSC) from the Laser Docking Sensor. Some of the design considerations include crew member preferences in graphic data representation, single versus multiple window displays, mission tailoring of graphic displays, realistic 3D images versus generic icon representations of real objects, the physical relationship of the observers to the graphic display, how numeric or textual information should interface with graphic data, in what frame of reference objects should be portrayed, recognizing conditions of display information-overload, and screen format and placement consistency.

ASTRONAUT STAFFORD, THOMAS P. - PLAQUES - JSC

NASA Image and Video Library

1975-02-01

S75-25823 (February 1975) --- Cosmonaut Aleksei A. Leonov (left) and astronaut Thomas P. Stafford display the Apollo Soyuz Test Project (ASTP) commemorative plaque. The two commanders, of their respective crews, are in the Apollo Command Module (CM) trainer at Building 35 at NASA's Johnson Space Center (JSC). Two plaques divided into four quarters each will be flown on the ASTP mission. The American ASTP Apollo crew will carry the four United States quarter pieces aboard Apollo; and the Soviet ASTP Soyuz 19 crew will carry the four USSR quarter sections aboard Soyuz. The eight quarter pieces will be joined together to form two complete commemorative plaques after the two spacecraft rendezvous and dock in Earth orbit. One complete plaque then will be returned to Earth by the astronauts; and the other complete plaque will be brought back by the cosmonauts. The plaque is written in both English and Russian. The Apollo crew will consist of astronauts Thomas P. Stafford, commander; Donald K. "Deke" Slayton, docking module pilot; Vance D. Brand, command module pilot. The Soyuz 19 crew will consist of cosmonauts Aleksei A. Leonov, command pilot; and Valeri N. Kubasov, flight engineer.

Apollo-Soyuz Test Project (ASTP)

NASA Technical Reports Server (NTRS)

1974-01-01

This artist's concept depicts the Apollo-Soyuz Test Project (ASTP) with insets of photographs of three U.S. astronauts (Thomas Stafford, Vance Brand, and Donald Slayton) and two U.S.S.R. cosmonauts (Alexei Leonov and Valeri Kubasov). The objective of the ASTP mission was to accomplish the first docking of a standardized international system, the U.S.'s Apollo spacecraft and the U.S.S.R.'s Soyuz spacecraft, in space. The Soyuz spacecraft was launched from the Baikonur Cosmodrome near Tyuratam in the Kazakh, Soviet Socialist Republic, at 8:20 a.m. (EDT) on July 15, 1975. The Apollo spacecraft was launched from Launch Complex 39B, Kennedy Space Center, Florida, at 3:50 p.m. (EDT) on July 15, 1975. The Primary objectives of the ASTP were achieved. They performed spacecraft rendezvous, docking and undocking, conducted intervehicular crew transfer, and demonstrated the interaction of U.S. and U.S.S.R. control centers and spacecraft crews. The mission marked the last use of a Saturn launch vehicle. The Marshall Space Flight Center was responsible for development and sustaining engineering of the Saturn IB launch vehicle during the mission.

Design for an 8 Meter Monolithic UV/OIR Space Telescope

NASA Technical Reports Server (NTRS)

Stahl, H. Philip; Postman, Marc; Hornsby, Linda; Hopkins, Randall; Mosier, Gary E.; Pasquale, Bert A.; Arnold, William R.

2009-01-01

ATLAST-8 is an 8-meter monolithic UV/optical/NIR space observatory to be placed in orbit at Sun-Earth L2 by NASA's planned Ares V cargo launch vehicle. The ATLAST-8 will yield fundamental astronomical breakthroughs. The mission concept utilizes two enabling technologies: planned Ares-V launch vehicle (scheduled for 2019) and autonomous rendezvous and docking (AR&D). The unprecedented Ares-V payload and mass capacity enables the use of a massive, monolithic, thin-meniscus primary mirror - similar to a VLT or Subaru. Furthermore, it enables simple robust design rules to mitigate cost, schedule and performance risk. AR&D enables on-orbit servicing, extending mission life and enhancing science return.

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.

STS-108 Crew Interviews: Mark Kelly

NASA Technical Reports Server (NTRS)

2001-01-01

STS-108 Pilot Mark Kelly is seen during a prelaunch interview. He answers questions about the mission's goals and significance, explaining the meaning of 'utilization flight 1' (UF-1) as opposed to an 'assembly flight'. He gives details on the payload (Starshine Satellite, Avian Development Facility, and Rafaello Multipurpose Logistics Module (MPLM)), his role in the rendezvous, docking, and undocking of the Endeavour Orbiter to the International Space Station (ISS), how he will participate in the unloading and reloading of the MPLM, and the way in which the old and new resident crews of ISS will exchanged. Kelly ends with his thoughts on the short-term and long-term future of the International Space Station.

STS-108 Crew Interviews: Linda Godwin

NASA Technical Reports Server (NTRS)

2001-01-01

STS-108 Mission Specialist Linda Godwin is seen during a prelaunch interview. She answers questions about the mission's goals and significance, explaining the meaning of 'utilization flight 1' (UF-1) as opposed to an 'assembly flight'. She gives details on the payload (Starshine Satellite, Avian Development Facility, and Rafaello Multipurpose Logistics Module (MPLM)), her role in the rendezvous, docking, and undocking of the Endeavour Orbiter to the International Space Station (ISS), how she will participate in the unloading and reloading of the MPLM, and the way in which the old and new resident crews of ISS will exchanged. Godwin ends with her thoughts on the short-term and long-term future of the International Space Station.

STS-108 Crew Interviews: Dom Gorie

NASA Technical Reports Server (NTRS)

2001-01-01

STS-108 Commander Dom Gorie is seen during a prelaunch interview. He answers questions about the mission's goals and significance, explaining the meaning of 'utilization flight 1' (UF-1) as opposed to an 'assembly flight'. He gives details on the payload (Starshine Satellite, Avian Development Facility, and Rafaello Multipurpose Logistics Module (MPLM)), his role in the rendezvous, docking, and undocking of the Endeavour Orbiter to the International Space Station (ISS), how he will participate in the unloading and reloading of the MPLM, and the way in which the old and new resident crews of ISS will exchanged. Gorie ends with his thoughts on the short-term and long-term future of the International Space Station.

Raffaello Multi-Purpose Logistics Module (MPLM) in Discovery Cargo Bay

NASA Technical Reports Server (NTRS)

2005-01-01

Launched on July 26, 2005 from the Kennedy Space Center in Florida, STS-114 was classified as Logistics Flight 1. Among the Station-related activities of the mission were the delivery of new supplies and the replacement of one of the orbital outpost's Control Moment Gyroscopes (CMGs). STS-114 also carried the Raffaello Multi-Purpose Logistics Module (MPLM) and the External Stowage Platform-2. Back dropped by popcorn-like clouds, the MPLM can be seen in the cargo bay as Discovery undergoes rendezvous and docking operations. Cosmonaut Sergei K. Kriklev, Expedition 11 Commander, and John L. Phillips, NASA Space Station officer and flight engineer photographed the spacecraft from the International Space Station (ISS).

Raffaello Multi-Purpose Logistics Module (MPLM) in Discovery Cargo Bay

NASA Technical Reports Server (NTRS)

2005-01-01

Launched on July 26 2005 from the Kennedy Space Center in Florida, STS-114 was classified as Logistics Flight 1. Among the Station-related activities of the mission were the delivery of new supplies and the replacement of one of the orbital outpost's Control Moment Gyroscopes (CMGs). STS-114 also carried the Raffaello Multi-Purpose Logistics Module (MPLM) and the External Stowage Platform-2. Back dropped by popcorn-like clouds, the MPLM can be seen in the cargo bay as Discovery undergoes rendezvous and docking operations. Cosmonaut Sergei K. Kriklev, Expedition 11 Commander, and John L. Phillips, NASA Space Station officer and flight engineer photographed the spacecraft from the International Space Station (ISS).

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.

Cosmonaut Aleksey Leonov joins belly dancer on stage at Folklife Festival

NASA Image and Video Library

1974-09-14

S74-28666 (14 Sept. 1974) --- Cosmonaut Aleksey A. Leonov, in one of the lighter moments of activity involving Soviet cosmonauts and American astronauts, joins a belly dancer on stage as several visitors to weekend activity at the site of San Antonio?s HemisFair look on. Leonov is commander of the Soviet Apollo-Soyuz Test Project (ASTP) crew. A group of cosmonauts is in this country training with American astronauts for the joint U.S.-USSR ASTP rendezvous and docking mission scheduled for the summer of 1975. The Lebanese dancing was just one feature among many during the Texas Folklife Festival, in which members of 26 ethnic groups participated.

Intelligent Optical Systems Using Adaptive Optics

NASA Technical Reports Server (NTRS)

Clark, Natalie

2012-01-01

Until recently, the phrase adaptive optics generally conjured images of large deformable mirrors being integrated into telescopes to compensate for atmospheric turbulence. However, the development of smaller, cheaper devices has sparked interest for other aerospace and commercial applications. Variable focal length lenses, liquid crystal spatial light modulators, tunable filters, phase compensators, polarization compensation, and deformable mirrors are becoming increasingly useful for other imaging applications including guidance navigation and control (GNC), coronagraphs, foveated imaging, situational awareness, autonomous rendezvous and docking, non-mechanical zoom, phase diversity, and enhanced multi-spectral imaging. The active components presented here allow flexibility in the optical design, increasing performance. In addition, the intelligent optical systems presented offer advantages in size and weight and radiation tolerance.

Optimal Guidance Trajectories for a Nanosat Docking with a Non Cooperative Resident Space Object

DTIC Science & Technology

2014-03-07

12 − 3 sin 2 rref sin 2(kt)/2− (1 + cos 2iref)/8] + fx ÿ = −2(nc)ẋ− 3n2J2(R2e/2rref) sin2 iref sin(2kt) + fy z̈ = −(3c2 − 2)n2z + fz (24) where fx ...dynamics assumes three normalized controls: u = [ fx fxmax fy fymax fz fzmax ] (26) For simplicity, it is assumed that fimax = 1m/s2 for i = x, y, z...American Institute of Aeronautics and Astro - nautics, 2010. [7] G. Boyarko, O. Yakimenko, and M. Romano, Optimal rendezvous trajectories of a controlled

View of the FGB prior to rendezvous and grapple

NASA Image and Video Library

1998-12-06

S88-E-5047 (12-06-98) --- With Endeavour's astronauts waiting to mate the Russian-built Zarya control module with the U.S.-built Unity connecting module, an electronic still camera (ESC) was used to record this image of the approaching Zarya. A portion of Unity is in the foreground. Using the shuttle's 50-ft.-long Canadian-built robot arm, astronaut Nancy J. Currie, working from Endeavour's aft flight deck, plucked Zarya out of orbit at 5:47 p.m. (CST), Dec. 6. The craft had been orbiting Earth for a little over 16 days prior to the grapple and subsequent docking to Unity. This image was recorded at 23:11:05 GMT, Dec. 6.

Enabling Exploration Missions Now: Applications of On-orbit Staging

NASA Technical Reports Server (NTRS)

Folta, David C.; Vaughn, Frank; Westmeyer, Paul; Rawitscher, Gary; Bordi, Francesco

2005-01-01

Future NASA Exploration goals are difficult to meet using current launch vehicle implementations and techniques. We introduce a concept of On-Orbit Staging (OOS) using multiple launches into a Low Earth orbit (LEO) staging area to increase payload mass and reduce overall cost for exploration initiative missions. This concept is a forward-looking implementation of ideas put forth by Oberth and Von Braun to address the total mission design. Applying staging throughout the mission and utilizing technological advances in propulsion efficiency and architecture enable us to show that exploration goals can be met in the next decade. As part of this architecture, we assume the readiness of automated rendezvous, docking, and assembly technology.

STS-108 Crew Interviews: Dan Tani

NASA Technical Reports Server (NTRS)

2001-01-01

STS-108 Mission Specialist Dan Tani is seen during a prelaunch interview. He answers questions about the mission's goals and significance, explaining the meaning of 'utilization flight 1' (UF-1) as opposed to an 'assembly flight'. He gives details on the payload (Starshine Satellite, Avian Development Facility, and Rafaello Multipurpose Logistics Module (MPLM)), his role in the rendezvous, docking, and undocking of the Endeavour Orbiter to the International Space Station (ISS), how he will participate in the unloading and reloading of the MPLM, and the way in which the old and new resident crews of ISS will exchanged. Tani ends with his thoughts on the short-term and long-term future of the International Space Station.

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.

Study on Performance of Integration Control by Man and Machine in Stage of Final Approaching for Spaceship Rendezvous and Docking

NASA Astrophysics Data System (ADS)

Zhou, Qianxiang; Liu, Zhongqi

With the development of manned space technology, space rendezvous and docking (RVD) technology will play a more and more important role. The astronauts’ participation in a final close period of man-machine combination control is an important way of RVD technology. Spacecraft RVD control involves control problem of a total of 12 degrees of freedom (location) and attitude which it relative to the inertial space the orbit. Therefore, in order to reduce the astronauts’ operation load and reduce the security requirements to the ground station and achieve an optimal performance of the whole man-machine system, it is need to study how to design the number of control parameters of astronaut or aircraft automatic control system. In this study, with the laboratory conditions on the ground, a method was put forward to develop an experimental system in which the performance evaluation of spaceship RVD integration control by man and machine could be completed. After the RVD precision requirements were determined, 26 male volunteers aged 20-40 took part in the performance evaluation experiments. The RVD integration control success rates and total thruster ignition time were chosen as evaluation indices. Results show that if less than three RVD parameters control tasks were finished by subject and the rest of parameters control task completed by automation, the RVD success rate would be larger than eighty-eight percent and the fuel consumption would be optimized. In addition, there were two subjects who finished the whole six RVD parameters control tasks by enough train. In conclusion, if the astronauts' role should be integrated into the RVD control, it was suitable for them to finish the heading, pitch and roll control in order to assure the man-machine system high performance. If astronauts were needed to finish all parameter control, two points should be taken into consideration, one was enough fuel and another was enough long operation time.

Exploring the Stability of Ligand Binding Modes to Proteins by Molecular Dynamics Simulations: A Cross-docking Study.

PubMed

Liu, Kai; Kokubo, Hironori

2017-10-23

Docking has become an indispensable approach in drug discovery research to predict the binding mode of a ligand. One great challenge in docking is to efficiently refine the correct pose from various putative docking poses through scoring functions. We recently examined the stability of self-docking poses under molecular dynamics (MD) simulations and showed that equilibrium MD simulations have some capability to discriminate between correct and decoy poses. Here, we have extended our previous work to cross-docking studies for practical applications. Three target proteins (thrombin, heat shock protein 90-alpha, and cyclin-dependent kinase 2) of pharmaceutical interest were selected. Three comparable poses (one correct pose and two decoys) for each ligand were then selected from the docking poses. To obtain the docking poses for the three target proteins, we used three different protocols, namely: normal docking, induced fit docking (IFD), and IFD against the homology model. Finally, five parallel MD equilibrium runs were performed on each pose for the statistical analysis. The results showed that the correct poses were generally more stable than the decoy poses under MD. The discrimination capability of MD depends on the strategy. The safest way was to judge a pose as being stable if any one run among five parallel runs was stable under MD. In this case, 95% of the correct poses were retained under MD, and about 25-44% of the decoys could be excluded by the simulations for all cases. On the other hand, if we judge a pose as being stable when any two or three runs were stable, with the risk of incorrectly excluding some correct poses, approximately 31-53% or 39-56% of the two decoys could be excluded by MD, respectively. Our results suggest that simple equilibrium simulations can serve as an effective filter to exclude decoy poses that cannot be distinguished by docking scores from the computationally expensive free-energy calculations.

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.

The Data Transfer Kit: A geometric rendezvous-based tool for multiphysics data transfer

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

Slattery, S. R.; Wilson, P. P. H.; Pawlowski, R. P.

2013-07-01

The Data Transfer Kit (DTK) is a software library designed to provide parallel data transfer services for arbitrary physics components based on the concept of geometric rendezvous. The rendezvous algorithm provides a means to geometrically correlate two geometric domains that may be arbitrarily decomposed in a parallel simulation. By repartitioning both domains such that they have the same geometric domain on each parallel process, efficient and load balanced search operations and data transfer can be performed at a desirable algorithmic time complexity with low communication overhead relative to other types of mapping algorithms. With the increased development efforts in multiphysicsmore » simulation and other multiple mesh and geometry problems, generating parallel topology maps for transferring fields and other data between geometric domains is a common operation. The algorithms used to generate parallel topology maps based on the concept of geometric rendezvous as implemented in DTK are described with an example using a conjugate heat transfer calculation and thermal coupling with a neutronics code. In addition, we provide the results of initial scaling studies performed on the Jaguar Cray XK6 system at Oak Ridge National Laboratory for a worse-case-scenario problem in terms of algorithmic complexity that shows good scaling on 0(1 x 104) cores for topology map generation and excellent scaling on 0(1 x 105) cores for the data transfer operation with meshes of O(1 x 109) elements. (authors)« less

In Silico Analyses of Substrate Interactions with Human Serum Paraoxonase 1

DTIC Science & Technology

2008-01-01

substrate interactions of HuPON1 remains elusive. In this study, we apply homology modeling, docking, and molecular dynamic (MD) simulations to probe the...mod- eling; docking; molecular dynamics simulations ; binding free energy decomposition. 486 PROTEINS Published 2008 WILEY-LISS, INC. yThis article is a...apply homology modeling, docking, and molecular dynamic (MD) simulations to probe the binding interactions of HuPON1 with representative substrates. The

Low-thrust mission risk analysis, with application to a 1980 rendezvous with the comet Encke

NASA Technical Reports Server (NTRS)

Yen, C. L.; Smith, D. B.

1973-01-01

A computerized failure process simulation procedure is used to evaluate the risk in a solar electric space mission. The procedure uses currently available thrust-subsystem reliability data and performs approximate simulations of the thrust sybsystem burn operation, the system failure processes, and the retargeting operations. The method is applied to assess the risks in carrying out a 1980 rendezvous mission to the comet Encke. Analysis of the results and evaluation of the effects of various risk factors on the mission show that system component failure rates are the limiting factors in attaining a high mission relability. It is also shown that a well-designed trajectory and system operation mode can be used effectively to partially compensate for unreliable thruster performance.

Advanced Video Guidance Sensor (AVGS) Development Testing

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Johnston, Albert S.; Bryan, Thomas C.; Book, Michael L.

2004-01-01

NASA's Marshall Space Flight Center was the driving force behind the development of the Advanced Video Guidance Sensor, an active sensor system that provides near-range sensor data as part of an automatic rendezvous and docking system. The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state camera to detect the return from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The AVGS will fly as part of the Demonstration of Autonomous Rendezvous Technologies (DART) in October, 2004. This development effort has required a great deal of testing of various sorts at every phase of development. Some of the test efforts included optical characterization of performance with the intended target, thermal vacuum testing, performance tests in long range vacuum facilities, EMI/EMC tests, and performance testing in dynamic situations. The sensor has been shown to track a target at ranges of up to 300 meters, both in vacuum and ambient conditions, to survive and operate during the thermal vacuum cycling specific to the DART mission, to handle EM1 well, and to perform well in dynamic situations.

Reliable spacecraft rendezvous without velocity measurement

NASA Astrophysics Data System (ADS)

He, Shaoming; Lin, Defu

2018-03-01

This paper investigates the problem of finite-time velocity-free autonomous rendezvous for spacecraft in the presence of external disturbances during the terminal phase. First of all, to address the problem of lack of relative velocity measurement, a robust observer is proposed to estimate the unknown relative velocity information in a finite time. It is shown that the effect of external disturbances on the estimation precision can be suppressed to a relatively low level. With the reconstructed velocity information, a finite-time output feedback control law is then formulated to stabilize the rendezvous system. Theoretical analysis and rigorous proof show that the relative position and its rate can converge to a small compacted region in finite time. Numerical simulations are performed to evaluate the performance of the proposed approach in the presence of external disturbances and actuator faults.

Impact of Utilizing Photos and Deimos as Waypoints for Mars Human Surface Missions

NASA Technical Reports Server (NTRS)

Cianciolo, Alicia D.; Brown, Kendall

2015-01-01

Phobos and Deimos, the moons of Mars, are interesting exploration destinations that offer extensibility of the Asteroid Redirect Mission (ARM) technologies. Solar Electric Propulsion (SEP), asteroid rendezvous and docking, and surface operations can be used to land on and explore the moons of Mars. The close Mars vicinity of Phobos and Deimos warrant examining them as waypoints, or intermediate staging orbits, for Mars surface missions. This paper outlines the analysis performed to determine the mass impact of using the moons of Mars both as an intermediate staging point for exploration as well as for in-situ recourse utilization, namely propellant, to determine if the moons are viable options to include in the broader Mars surface exploration architecture.

Short-range/Long-range Integrated Target (SLIT) for Video Guidance Sensor Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Roe, Fred D. (Inventor); Bryan, Thomas C. (Inventor)

2009-01-01

A laser target reflector assembly for mounting upon spacecraft having a long-range reflector array formed from a plurality of unfiltered light reflectors embedded in an array pattern upon a hemispherical reflector disposed upon a mounting plate. The reflector assembly also includes a short-range reflector array positioned upon the mounting body proximate to the long-range reflector array. The short-range reflector array includes three filtered light reflectors positioned upon extensions from the mounting body. The three filtered light reflectors retro-reflect substantially all incident light rays that are transmissive by their monochromatic filters and received by the three filtered light reflectors. In one embodiment the short-range reflector array is embedded within the hemispherical reflector,

AnchorDock: Blind and Flexible Anchor-Driven Peptide Docking.

PubMed

Ben-Shimon, Avraham; Niv, Masha Y

2015-05-05

The huge conformational space stemming from the inherent flexibility of peptides is among the main obstacles to successful and efficient computational modeling of protein-peptide interactions. Current peptide docking methods typically overcome this challenge using prior knowledge from the structure of the complex. Here we introduce AnchorDock, a peptide docking approach, which automatically targets the docking search to the most relevant parts of the conformational space. This is done by precomputing the free peptide's structure and by computationally identifying anchoring spots on the protein surface. Next, a free peptide conformation undergoes anchor-driven simulated annealing molecular dynamics simulations around the predicted anchoring spots. In the challenging task of a completely blind docking test, AnchorDock produced exceptionally good results (backbone root-mean-square deviation ≤ 2.2Å, rank ≤15) for 10 of 13 unbound cases tested. The impressive performance of AnchorDock supports a molecular recognition pathway that is driven via pre-existing local structural elements. Copyright © 2015 Elsevier Ltd. All rights reserved.

Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

NASA Astrophysics Data System (ADS)

Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

2017-08-01

In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.

Multiple NEO Rendezvous, Reconnaissance and In Situ Exploration

NASA Astrophysics Data System (ADS)

Klaus, K.; Elsperman, M. S.; Cook, T.; Smith, D.

2010-12-01

We propose a two spacecraft mission (Mother Ship and Small Body Lander) rendezvous with multiple Near Earth Objects (NEO). This two spacecraft mission mimics the likely architecture approach that human explorers will use: a “mother ship”(MS) designed to get from Earth to the NEO and a “Small Body Lander”(SBL) that performs in situ investigation on or close to the NEO’s surface. The MS carries the SBL to the target NEO. Once at the target NEO, the MS conducts an initial reconnaissance in order to produce a high resolution map of the surface. This map is used to identify coordinates of interest which are sent to the SBL. The SBL un-docks from the MS to rendezvous with the NEO and collect data. Landings are possible, though the challenges of anchoring to the NEO surface are significant. The SBL design is flexible and adaptable, enabling science data collection on or near the surface. After surface investigations are completed on the first NEO, the SBL will return and autonomously rendezvous and dock with the MS. The MS then goes to the next NEO target. During transit to the next NEO, the SBL could be refueled by the MS, a TRL8 capability demonstrated on the DARPA/NASA Orbital Express mission in 2007, or alternately sized to operate without requiring refueling depending on the mission profile. The mission goals are to identify surface hazards; quantify engineering boundary conditions for future human visits, and identify resources for future exploitation. The mission goals will be accomplished through the execution of key mission objectives: (1) high-resolution surface topography; (2) surface composition and mineralogy; (3) radiation environment near NEO; and (4) mechanical properties of the surface. Essential SBL instruments include: a) LIDAR (Obj. 1); b) 3D, high- resolution hyperspectral imaging cameras (Obj. 2); c) radiation sensor package (Obj. 3); and d) strain gauges (Obj. 4). Additional or alternative instruments could include: e) x-ray fluorescence or laser-induced breakdown spectroscopy (LIBS) sensor package (Obj. 2); f) gamma ray/neutron spectrometry package (Obj. 2); and g) radiometer package (to address variations in thermal environment). The ability to reach, survey, sample, and analyze multiple NEOs at close proximity is an enormous capability that can enable NASA to rapidly achieve the primary Exploration Precursor Robotic Mission (xPRM) Program goal of characterizing NEOs for future human exploration. Instead of launching multiple dedicated missions to each NEO of interest, a multi-NEO sortie mission can be planned and executed to achieve the same mission objectives with one launch, dramatically reducing the cost of NEO exploration. Collectively, our NEO Exploration System Architecture provides solutions for a wide variety of exploration activities using a common spacecraft bus and common core instrumentation for the spacecraft. This engineering consistency will substantially improve the probability of mission success, increase the likelihood of maintaining an aggressive launch schedule, and decrease the total cost of multiple missions. NASA successfully used this approach with the robotic precursors leading up to the Apollo missions, and we see significant benefits from this same programmatic approach for the xPRM program.

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.

DockingApp: a user friendly interface for facilitated docking simulations with AutoDock Vina.

PubMed

Di Muzio, Elena; Toti, Daniele; Polticelli, Fabio

2017-02-01

Molecular docking is a powerful technique that helps uncover the structural and energetic bases of the interaction between macromolecules and substrates, endogenous and exogenous ligands, and inhibitors. Moreover, this technique plays a pivotal role in accelerating the screening of large libraries of compounds for drug development purposes. The need to promote community-driven drug development efforts, especially as far as neglected diseases are concerned, calls for user-friendly tools to allow non-expert users to exploit the full potential of molecular docking. Along this path, here is described the implementation of DockingApp, a freely available, extremely user-friendly, platform-independent application for performing docking simulations and virtual screening tasks using AutoDock Vina. DockingApp sports an intuitive graphical user interface which greatly facilitates both the input phase and the analysis of the results, which can be visualized in graphical form using the embedded JMol applet. The application comes with the DrugBank set of more than 1400 ready-to-dock, FDA-approved drugs, to facilitate virtual screening and drug repurposing initiatives. Furthermore, other databases of compounds such as ZINC, available also in AutoDock format, can be readily and easily plugged in.

DockingApp: a user friendly interface for facilitated docking simulations with AutoDock Vina

NASA Astrophysics Data System (ADS)

Di Muzio, Elena; Toti, Daniele; Polticelli, Fabio

2017-02-01

Molecular docking is a powerful technique that helps uncover the structural and energetic bases of the interaction between macromolecules and substrates, endogenous and exogenous ligands, and inhibitors. Moreover, this technique plays a pivotal role in accelerating the screening of large libraries of compounds for drug development purposes. The need to promote community-driven drug development efforts, especially as far as neglected diseases are concerned, calls for user-friendly tools to allow non-expert users to exploit the full potential of molecular docking. Along this path, here is described the implementation of DockingApp, a freely available, extremely user-friendly, platform-independent application for performing docking simulations and virtual screening tasks using AutoDock Vina. DockingApp sports an intuitive graphical user interface which greatly facilitates both the input phase and the analysis of the results, which can be visualized in graphical form using the embedded JMol applet. The application comes with the DrugBank set of more than 1400 ready-to-dock, FDA-approved drugs, to facilitate virtual screening and drug repurposing initiatives. Furthermore, other databases of compounds such as ZINC, available also in AutoDock format, can be readily and easily plugged in.

Genetic algorithm based fuzzy control of spacecraft autonomous rendezvous

NASA Technical Reports Server (NTRS)

Karr, C. L.; Freeman, L. M.; Meredith, D. L.

1990-01-01

The U.S. Bureau of Mines is currently investigating ways to combine the control capabilities of fuzzy logic with the learning capabilities of genetic algorithms. Fuzzy logic allows for the uncertainty inherent in most control problems to be incorporated into conventional expert systems. Although fuzzy logic based expert systems have been used successfully for controlling a number of physical systems, the selection of acceptable fuzzy membership functions has generally been a subjective decision. High performance fuzzy membership functions for a fuzzy logic controller that manipulates a mathematical model simulating the autonomous rendezvous of spacecraft are learned using a genetic algorithm, a search technique based on the mechanics of natural genetics. The membership functions learned by the genetic algorithm provide for a more efficient fuzzy logic controller than membership functions selected by the authors for the rendezvous problem. Thus, genetic algorithms are potentially an effective and structured approach for learning fuzzy membership functions.

Space Shuttle Projects

NASA Image and Video Library

1995-11-12

The STS-76 crew patch depicts the Space Shuttle Atlantis and Russia's Mir Space Station as the space ships prepare for a rendezvous and docking. The Spirit of 76, an era of new beginnings, is represented by the Space Shuttle rising through the circle of 13 stars in the Betsy Ross flag. STS-76 begins a new period of international cooperation in space exploration with the first Shuttle transport of a United States astronaut, Shannon W. Lucid, to the Mir Space Station for extended joint space research. Frontiers for future exploration are represented by stars and the planets. The three gold trails and the ring of stars in union form the astronaut logo. Two suited extravehicular activity (EVA) crew members in the outer ring represent the first EVA during Shuttle-Mir docked operations. The EVA objectives were to install science experiments on the Mir exterior and to develop procedures for future EVA's on the International Space Station. The surnames of the crew members encircle the patch: Kevin P. Chilton, mission commander; Richard A. Searfoss, pilot; Ronald M. Sega, Michael R. ( Rich) Clifford, Linda M. Godwin and Lucid, all mission specialists. This patch was designed by Brandon Clifford, age 12, and the crew members of STS-76.

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.

High performance transcription factor-DNA docking with GPU computing

PubMed Central

2012-01-01

Background Protein-DNA docking is a very challenging problem in structural bioinformatics and has important implications in a number of applications, such as structure-based prediction of transcription factor binding sites and rational drug design. Protein-DNA docking is very computational demanding due to the high cost of energy calculation and the statistical nature of conformational sampling algorithms. More importantly, experiments show that the docking quality depends on the coverage of the conformational sampling space. It is therefore desirable to accelerate the computation of the docking algorithm, not only to reduce computing time, but also to improve docking quality. Methods In an attempt to accelerate the sampling process and to improve the docking performance, we developed a graphics processing unit (GPU)-based protein-DNA docking algorithm. The algorithm employs a potential-based energy function to describe the binding affinity of a protein-DNA pair, and integrates Monte-Carlo simulation and a simulated annealing method to search through the conformational space. Algorithmic techniques were developed to improve the computation efficiency and scalability on GPU-based high performance computing systems. Results The effectiveness of our approach is tested on a non-redundant set of 75 TF-DNA complexes and a newly developed TF-DNA docking benchmark. We demonstrated that the GPU-based docking algorithm can significantly accelerate the simulation process and thereby improving the chance of finding near-native TF-DNA complex structures. This study also suggests that further improvement in protein-DNA docking research would require efforts from two integral aspects: improvement in computation efficiency and energy function design. Conclusions We present a high performance computing approach for improving the prediction accuracy of protein-DNA docking. The GPU-based docking algorithm accelerates the search of the conformational space and thus increases the chance of finding more near-native structures. To the best of our knowledge, this is the first ad hoc effort of applying GPU or GPU clusters to the protein-DNA docking problem. PMID:22759575

Combining self- and cross-docking as benchmark tools: the performance of DockBench in the D3R Grand Challenge 2

NASA Astrophysics Data System (ADS)

Salmaso, Veronica; Sturlese, Mattia; Cuzzolin, Alberto; Moro, Stefano

2018-01-01

Molecular docking is a powerful tool in the field of computer-aided molecular design. In particular, it is the technique of choice for the prediction of a ligand pose within its target binding site. A multitude of docking methods is available nowadays, whose performance may vary depending on the data set. Therefore, some non-trivial choices should be made before starting a docking simulation. In the same framework, the selection of the target structure to use could be challenging, since the number of available experimental structures is increasing. Both issues have been explored within this work. The pose prediction of a pool of 36 compounds provided by D3R Grand Challenge 2 organizers was preceded by a pipeline to choose the best protein/docking-method couple for each blind ligand. An integrated benchmark approach including ligand shape comparison and cross-docking evaluations was implemented inside our DockBench software. The results are encouraging and show that bringing attention to the choice of the docking simulation fundamental components improves the results of the binding mode predictions.

Orbital docking system centerline color television camera system test

NASA Technical Reports Server (NTRS)

Mongan, Philip T.

1993-01-01

A series of tests was run to verify that the design of the centerline color television camera (CTVC) system is adequate optically for the STS-71 Space Shuttle Orbiter docking mission with the Mir space station. In each test, a mockup of the Mir consisting of hatch, docking mechanism, and docking target was positioned above the Johnson Space Center's full fuselage trainer, which simulated the Orbiter with a mockup of the external airlock and docking adapter. Test subjects viewed the docking target through the CTVC under 30 different lighting conditions and evaluated target resolution, field of view, light levels, light placement, and methods of target alignment. Test results indicate that the proposed design will provide adequate visibility through the centerline camera for a successful docking, even with a reasonable number of light failures. It is recommended that the flight deck crew have individual switching capability for docking lights to provide maximum shadow management and that centerline lights be retained to deal with light failures and user preferences. Procedures for light management should be developed and target alignment aids should be selected during simulated docking runs.

Q-Learning and p-persistent CSMA based rendezvous protocol for cognitive radio networks operating with shared spectrum activity

NASA Astrophysics Data System (ADS)

Watson, Clifton L.; Biswas, Subir

2014-06-01

With an increasing demand for spectrum, dynamic spectrum access (DSA) has been proposed as viable means for providing the flexibility and greater access to spectrum necessary to meet this demand. Within the DSA concept, unlicensed secondary users temporarily "borrow" or access licensed spectrum, while respecting the licensed primary user's rights to that spectrum. As key enablers for DSA, cognitive radios (CRs) are based on software-defined radios which allow them to sense, learn, and adapt to the spectrum environment. These radios can operate independently and rapidly switch channels. Thus, the initial setup and maintenance of cognitive radio networks are dependent upon the ability of CR nodes to find each other, in a process known as rendezvous, and create a link on a common channel for the exchange of data and control information. In this paper, we propose a novel rendezvous protocol, known as QLP, which is based on Q-learning and the p-persistent CSMA protocol. With the QLP protocol, CR nodes learn which channels are best for rendezvous and thus adapt their behavior to visit those channels more frequently. We demonstrate through simulation that the QLP protocol provides a rendevous capability for DSA environments with different dynamics of PU activity, while attempting to achieve the following performance goals: (1) minimize the average time-to-rendezvous, (2) maximize system throughput, (3) minimize primary user interference, and (4) minimize collisions among CR nodes.

A dynamic motion simulator for future European docking systems

NASA Technical Reports Server (NTRS)

Brondino, G.; Marchal, PH.; Grimbert, D.; Noirault, P.

1990-01-01

Europe's first confrontation with docking in space will require extensive testing to verify design and performance and to qualify hardware. For this purpose, a Docking Dynamics Test Facility (DDTF) was developed. It allows reproduction on the ground of the same impact loads and relative motion dynamics which would occur in space during docking. It uses a 9 degree of freedom, servo-motion system, controlled by a real time computer, which simulates the docking spacecraft in a zero-g environment. The test technique involves and active loop based on six axis force and torque detection, a mathematical simulation of individual spacecraft dynamics, and a 9 degree of freedom servomotion of which 3 DOFs allow extension of the kinematic range to 5 m. The configuration was checked out by closed loop tests involving spacecraft control models and real sensor hardware. The test facility at present has an extensive configuration that allows evaluation of both proximity control and docking systems. It provides a versatile tool to verify system design, hardware items and performance capabilities in the ongoing HERMES and COLUMBUS programs. The test system is described and its capabilities are summarized.

Robust adaptive relative position and attitude control for spacecraft autonomous proximity.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2016-07-01

This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Autonomous Path Planning for On-Orbit Servicing Vehicles

NASA Astrophysics Data System (ADS)

McInnes, C. R.

On-orbit servicing has long been considered as a means of reducing mission costs. While automated on-orbit servicing of satellites in LEO and GEO has yet to be realised, the International Space Station (ISS) will require servicing in a number of forms for re-supply, external visual inspection and maintenance. This paper will discuss a unified approach to path planning for such servicing vehicles using artificial potential field methods. In particular, path constrained rendezvous and docking of the ESA Automated Transfer Vehicle (ATV) at the ISS will be investigated as will mission and path planning tools for the Daimler-Chrysler Aerospace ISS Inspector free-flying camera. Future applications for free-flying microcameras and co-operative control between multiple free-flyers for on-orbit assembly will also be considered.

Cosolvent-Based Molecular Dynamics for Ensemble Docking: Practical Method for Generating Druggable Protein Conformations.

PubMed

Uehara, Shota; Tanaka, Shigenori

2017-04-24

Protein flexibility is a major hurdle in current structure-based virtual screening (VS). In spite of the recent advances in high-performance computing, protein-ligand docking methods still demand tremendous computational cost to take into account the full degree of protein flexibility. In this context, ensemble docking has proven its utility and efficiency for VS studies, but it still needs a rational and efficient method to select and/or generate multiple protein conformations. Molecular dynamics (MD) simulations are useful to produce distinct protein conformations without abundant experimental structures. In this study, we present a novel strategy that makes use of cosolvent-based molecular dynamics (CMD) simulations for ensemble docking. By mixing small organic molecules into a solvent, CMD can stimulate dynamic protein motions and induce partial conformational changes of binding pocket residues appropriate for the binding of diverse ligands. The present method has been applied to six diverse target proteins and assessed by VS experiments using many actives and decoys of DEKOIS 2.0. The simulation results have revealed that the CMD is beneficial for ensemble docking. Utilizing cosolvent simulation allows the generation of druggable protein conformations, improving the VS performance compared with the use of a single experimental structure or ensemble docking by standard MD with pure water as the solvent.

Effect of the explicit flexibility of the InhA enzyme from Mycobacterium tuberculosis in molecular docking simulations.

PubMed

Cohen, Elisangela M L; Machado, Karina S; Cohen, Marcelo; de Souza, Osmar Norberto

2011-12-22

Protein/receptor explicit flexibility has recently become an important feature of molecular docking simulations. Taking the flexibility into account brings the docking simulation closer to the receptors' real behaviour in its natural environment. Several approaches have been developed to address this problem. Among them, modelling the full flexibility as an ensemble of snapshots derived from a molecular dynamics simulation (MD) of the receptor has proved very promising. Despite its potential, however, only a few studies have employed this method to probe its effect in molecular docking simulations. We hereby use ensembles of snapshots obtained from three different MD simulations of the InhA enzyme from M. tuberculosis (Mtb), the wild-type (InhA_wt), InhA_I16T, and InhA_I21V mutants to model their explicit flexibility, and to systematically explore their effect in docking simulations with three different InhA inhibitors, namely, ethionamide (ETH), triclosan (TCL), and pentacyano(isoniazid)ferrate(II) (PIF). The use of fully-flexible receptor (FFR) models of InhA_wt, InhA_I16T, and InhA_I21V mutants in docking simulation with the inhibitors ETH, TCL, and PIF revealed significant differences in the way they interact as compared to the rigid, InhA crystal structure (PDB ID: 1ENY). In the latter, only up to five receptor residues interact with the three different ligands. Conversely, in the FFR models this number grows up to an astonishing 80 different residues. The comparison between the rigid crystal structure and the FFR models showed that the inclusion of explicit flexibility, despite the limitations of the FFR models employed in this study, accounts in a substantial manner to the induced fit expected when a protein/receptor and ligand approach each other to interact in the most favourable manner. Protein/receptor explicit flexibility, or FFR models, represented as an ensemble of MD simulation snapshots, can lead to a more realistic representation of the induced fit effect expected in the encounter and proper docking of receptors to ligands. The FFR models of InhA explicitly characterizes the overall movements of the amino acid residues in helices, strands, loops, and turns, allowing the ligand to properly accommodate itself in the receptor's binding site. Utilization of the intrinsic flexibility of Mtb's InhA enzyme and its mutants in virtual screening via molecular docking simulation may provide a novel platform to guide the rational or dynamical-structure-based drug design of novel inhibitors for Mtb's InhA. We have produced a short video sequence of each ligand (ETH, TCL and PIF) docked to the FFR models of InhA_wt. These videos are available at http://www.inf.pucrs.br/~osmarns/LABIO/Videos_Cohen_et_al_19_07_2011.htm.

Integrated vision-based GNC for autonomous rendezvous and capture around Mars

NASA Astrophysics Data System (ADS)

Strippoli, L.; Novelli, G.; Gil Fernandez, J.; Colmenarejo, P.; Le Peuvedic, C.; Lanza, P.; Ankersen, F.

2015-06-01

Integrated GNC (iGNC) is an activity aimed at designing, developing and validating the GNC for autonomously performing the rendezvous and capture phase of the Mars sample return mission as defined during the Mars sample return Orbiter (MSRO) ESA study. The validation cycle includes testing in an end-to-end simulator, in a real-time avionics-representative test bench and, finally, in a dynamic HW in the loop test bench for assessing the feasibility, performances and figure of merits of the baseline approach defined during the MSRO study, for both nominal and contingency scenarios. The on-board software (OBSW) is tailored to work with the sensors, actuators and orbits baseline proposed in MSRO. The whole rendezvous is based on optical navigation, aided by RF-Doppler during the search and first orbit determination of the orbiting sample. The simulated rendezvous phase includes also the non-linear orbit synchronization, based on a dedicated non-linear guidance algorithm robust to Mars ascent vehicle (MAV) injection accuracy or MAV failures resulting in elliptic target orbits. The search phase is very demanding for the image processing (IP) due to the very high visual magnitude of the target wrt. the stellar background, and the attitude GNC requires very high pointing stability accuracies to fulfil IP constraints. A trade-off of innovative, autonomous navigation filters indicates the unscented Kalman filter (UKF) as the approach that provides the best results in terms of robustness, response to non-linearities and performances compatibly with computational load. At short range, an optimized IP based on a convex hull algorithm has been developed in order to guarantee LoS and range measurements from hundreds of metres to capture.

Analysis and Selection of a Remote Docking Simulation Visual Display System

NASA Technical Reports Server (NTRS)

Shields, N., Jr.; Fagg, M. F.

1984-01-01

The development of a remote docking simulation visual display system is examined. Video system and operator performance are discussed as well as operator command and control requirements and a design analysis of the reconfigurable work station.

NASA's Automated Rendezvous and Docking/Capture Sensor Development and Its Applicability to the GER

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Cryan, Scott; DSouza, Christopher; Strube, Matthew

2014-01-01

This paper will address how a common Automated Rendezvous and Docking/Capture (AR&D/C) sensor suite can support Global Exploration Roadmap (GER) missions, and discuss how the model of common capability development to support multiple missions can enable system capability level partnerships and further GER objectives. NASA has initiated efforts to develop AR&D/C sensors, that are directly applicable to GER. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. NASA's AR&D/C sensor development path could benefit the International Exploration Coordination Group (ISECG) and support the GER mission scenario by providing a common sensor suite upon which GER objectives could be achieved while minimizing development costs. The paper will describe the concepts of operations of these missions and how the common sensors are utilized by each mission. It will also detail the potential partnerships and contribution of the International community in the development of this common AR&D/C sensor suite.

Vision-based localization for on-orbit servicing of a partially cooperative satellite

NASA Astrophysics Data System (ADS)

Oumer, Nassir W.; Panin, Giorgio; Mülbauer, Quirin; Tseneklidou, Anastasia

2015-12-01

This paper proposes ground-in-the-loop, model-based visual localization system based on transmitted images to ground, to aid rendezvous and docking maneuvers between a servicer and a target satellite. In particular, we assume to deal with a partially cooperative target, i.e. passive and without fiducial markers, but supposed at least to keep a controlled attitude, up to small fluctuations, so that the approach mainly involves translational motion. For the purpose of localization, video cameras provide an effective and relatively inexpensive solution, working at a wide range of distances with an increasing accuracy and robustness during the approach. However, illumination conditions in space are especially challenging, due to the direct sunlight exposure and to the glossy surface of a satellite, that creates strong reflections and saturations and therefore a high level of background clutter and missing detections. We employ a monocular camera for mid-range tracking (20 - 5 m) and stereo camera at close-range (5 - 0.5 m), with the respective detection and tracking methods, both using intensity edges and robustly dealing with the above issues. Our tracking system has been extensively verified at the facility of the European Proximity Operations Simulator (EPOS) of DLR, which is a very realistic ground simulation able to reproduce sunlight conditions through a high power floodlight source, satellite surface properties using multilayer insulation foils, as well as orbital motion trajectories with ground-truth data, by means of two 6 DOF industrial robots. Results from this large dataset show the effectiveness and robustness of our method against the above difficulties.

Autonomous Onboard Science Data Analysis for Comet Missions

NASA Technical Reports Server (NTRS)

Thompson, David R.; Tran, Daniel Q.; McLaren, David; Chien, Steve A.; Bergman, Larry; Castano, Rebecca; Doyle, Richard; Estlin, Tara; Lenda, Matthew

2012-01-01

Coming years will bring several comet rendezvous missions. The Rosetta spacecraft arrives at Comet 67P/Churyumov-Gerasimenko in 2014. Subsequent rendezvous might include a mission such as the proposed Comet Hopper with multiple surface landings, as well as Comet Nucleus Sample Return (CNSR) and Coma Rendezvous and Sample Return (CRSR). These encounters will begin to shed light on a population that, despite several previous flybys, remains mysterious and poorly understood. Scientists still have little direct knowledge of interactions between the nucleus and coma, their variation across different comets or their evolution over time. Activity may change on short timescales so it is challenging to characterize with scripted data acquisition. Here we investigate automatic onboard image analysis that could act faster than round-trip light time to capture unexpected outbursts and plume activity. We describe one edge-based method for detect comet nuclei and plumes, and test the approach on an existing catalog of comet images. Finally, we quantify benefits to specific measurement objectives by simulating a basic plume monitoring campaign.

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.

Robust control for spacecraft rendezvous system with actuator unsymmetrical saturation: a gain scheduling approach

NASA Astrophysics Data System (ADS)

Wang, Qian; Xue, Anke

2018-06-01

This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.

Drop Tower tests in preparation of a Tethered Electromagnetic Docking space demonstration

NASA Astrophysics Data System (ADS)

Olivieri, Lorenzo; Francesconi, Alessandro; Antonello, Andrea; Bettiol, Laura; Branz, Francesco; Duzzi, Matteo; Mantellato, Riccardo; Sansone, Francesco; Savioli, Livia

2016-07-01

A group of students of the University of Padova is recently developing some technologies to implement a Tethered Electromagnetic Docking (TED) experiment, a novel system for close rendezvous and mating manoeuvres between two spacecraft, consisting in a small tethered probe ejected by the chaser and magnetically guided by a receiving electromagnet mounted on the target. Because of the generated magnetic field, automatic self-alignment and mating are possible; then, as the tether is rewinded, the chaser is able to dock with the target. This concept allows to simplify standard docking procedures, thanks to the reduction of proximity navigation and guidance requirements, as well as consequent fuel reduction. Other interesting applications are expected, from active debris removal to space tugging; in particular, the utilization of the tethered connection for detumbling operations is considered. The realization of a space demonstrator requires a preliminary verification of the critical technologies employed in TED, in particular the magnetic guidance and the probe deploy and retrieve; in the framework of ESA "Drop your Thesis!" 2014 and 2016 campaigns the experiments FELDs (Flexible Electromagnetic Leash Docking system) and STAR (System for Tether Automatic Retrieval) have been focused on the test of such critical elements in the relevant microgravity environment of ZARM Drop Tower in Bremen. In particular, FELDs consisted in a simplified model of TED with a magnetic target interface, a passive tethered probe and its launch system: the experiment allowed to assess the passive self-alignment of the probe with respect to the target and to study the effect of friction between the tether and the release system. Similarly, STAR is investigating the tether actively controlled deployment and retrieval, with the experiment campaign planned on November 2016. In addition, another microgravity experiment is in preparation for the investigation of active magnetic navigation: PACMAN (Position and Attitude Control with MAgnetic Navigation) will consist in a CubeSat-sized spacecraft mock-up using on-board actively-controlled electromagnetic coils for guidance This paper describes the TED concept and presents the evaluation its performances with respect to standard docking procedure. The roadmap in TED development is then introduced, focusing on the importance of microgravity tests in the assessment of its critical technologies and discussing the influence of the collected data on the design drivers of the proposed space demonstrator.

Molecular Docking Simulation of Neuraminidase Influenza A Subtype H1N1 with Potential Inhibitor of Disulfide Cyclic Peptide (DNY, NNY, LRL)

NASA Astrophysics Data System (ADS)

Putra, R. P.; Imaniastuti, R.; Nasution, M. A. F.; Kerami, Djati; Tambunan, U. S. F.

2018-04-01

Oseltamivir resistance as an inhibitor of neuraminidase influenza A virus subtype H1N1 has been reported lately. Therefore, to solve this problem, several kinds of research has been conducted to design and discover disulfide cyclic peptide ligands through molecular docking method, to find the potential inhibitors for neuraminidase H1N1 which then can disturb the virus replication. This research was studied and evaluated the interaction of ligands toward enzyme using molecular docking simulation, which was performed on three disulfide cyclic peptide inhibitors (DNY, LRL, and NNT), along with oseltamivir and zanamivir as the standard ligands using MOE 2008.10 software. The docking simulation shows that all disulfide cyclic peptide ligands have lower Gibbs free binding energies (ΔGbinding) than the standard ligands, with DNY ligand has the lowest ΔGbinding at -7.8544 kcal/mol. Furthermore, these ligands were also had better molecular interactions with neuraminidase than the standards, owing by the hydrogen bonds that were formed during the docking simulation. In the end, we concluded that DNY, LRL and NNT ligands have the potential to be developed as the inhibitor of neuraminidase H1N1.

Structure-based design and evaluation of novel N-phenyl-1H-indol-2-amine derivatives for fat mass and obesity-associated (FTO) protein inhibition.

PubMed

Padariya, Monikaben; Kalathiya, Umesh

2016-10-01

Fat mass and obesity-associated (FTO) protein contributes to non-syndromic human obesity which refers to excessive fat accumulation in human body and results in health risk. FTO protein has become a promising target for anti-obesity medicines as there is an immense need for the rational design of potent inhibitors to treat obesity. In our study, a new scaffold N-phenyl-1H-indol-2-amine was selected as a base for FTO protein inhibitors by applying scaffold hopping approach. Using this novel scaffold, different derivatives were designed by extending scaffold structure with potential functional groups. Molecular docking simulations were carried out by using two different docking algorithm implemented in CDOCKER (flexible docking) and AutoDock programs (rigid docking). Analyzing results of rigid and flexible docking, compound MU06 was selected based on different properties and predicted binding affinities for further analysis. Molecular dynamics simulation of FTO/MU06 complex was performed to characterize structure rationale and binding stability. Certainly, Arg96 and His231 residue of FTO protein showed stable interaction with inhibitor MU06 throughout the production dynamics phase. Three residues of FTO protein (Arg96, Asp233, and His231) were found common in making H-bond interactions with MU06 during molecular dynamics simulation and CDOCKER docking. Copyright © 2016 Elsevier Ltd. All rights reserved.

Docking and molecular dynamics simulation of quinone compounds with trypanocidal activity.

PubMed

de Molfetta, Fábio Alberto; de Freitas, Renato Ferreira; da Silva, Albérico Borges Ferreira; Montanari, Carlos Alberto

2009-10-01

In this work, two different docking programs were used, AutoDock and FlexX, which use different types of scoring functions and searching methods. The docking poses of all quinone compounds studied stayed in the same region in the trypanothione reductase. This region is a hydrophobic pocket near to Phe396, Pro398 and Leu399 amino acid residues. The compounds studied displays a higher affinity in trypanothione reductase (TR) than glutathione reductase (GR), since only two out of 28 quinone compounds presented more favorable docking energy in the site of human enzyme. The interaction of quinone compounds with the TR enzyme is in agreement with other studies, which showed different binding sites from the ones formed by cysteines 52 and 58. To verify the results obtained by docking, we carried out a molecular dynamics simulation with the compounds that presented the highest and lowest docking energies. The results showed that the root mean square deviation (RMSD) between the initial and final pose were very small. In addition, the hydrogen bond pattern was conserved along the simulation. In the parasite enzyme, the amino acid residues Leu399, Met400 and Lys402 are replaced in the human enzyme by Met406, Tyr407 and Ala409, respectively. In view of the fact that Leu399 is an amino acid of the Z site, this difference could be explored to design selective inhibitors of TR.

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).

SPHERES as Formation Flight Algorithm Development and Validation Testbed: Current Progress and Beyond

NASA Technical Reports Server (NTRS)

Kong, Edmund M.; Saenz-Otero, Alvar; Nolet, Simon; Berkovitz, Dustin S.; Miller, David W.; Sell, Steve W.

2004-01-01

The MIT-SSL SPHERES testbed provides a facility for the development of algorithms necessary for the success of Distributed Satellite Systems (DSS). The initial development contemplated formation flight and docking control algorithms; SPHERES now supports the study of metrology, control, autonomy, artificial intelligence, and communications algorithms and their effects on DSS projects. To support this wide range of topics, the SPHERES design contemplated the need to support multiple researchers, as echoed from both the hardware and software designs. The SPHERES operational plan further facilitates the development of algorithms by multiple researchers, while the operational locations incrementally increase the ability of the tests to operate in a representative environment. In this paper, an overview of the SPHERES testbed is first presented. The SPHERES testbed serves as a model of the design philosophies that allow for the various researches being carried out on such a facility. The implementation of these philosophies are further highlighted in the three different programs that are currently scheduled for testing onboard the International Space Station (ISS) and three that are proposed for a re-flight mission: Mass Property Identification, Autonomous Rendezvous and Docking, TPF Multiple Spacecraft Formation Flight in the first flight and Precision Optical Pointing, Tethered Formation Flight and Mars Orbit Sample Retrieval for the re-flight mission.

Roboter in der Raumfahrt

NASA Astrophysics Data System (ADS)

Hirzinger, G.

(Robots in space)—The paper emphasizes the enormous automation impact in industry caused by microelectronics, a "byproduct" of space-technology. The evolutionary stages of robotic are outlined and it is shown that there are a lot of reasons for more automation, artificial intelligence and robotic in space, too. The telemanipulator concept is compared with the industrial robot concept, both showing up an increasing degree of similarity. The state of the art in sensory systems is discussed. By hand of the typical operations needed in space as rendezvous, assembly and docking the required robot skill is indicated. As a conclusion it is stated that the basic technologies available with industrial robots today could solve a lot of space problems. What remains to do—apart of course from ongoing research—is better integration and adaption of industrial techniques to the need of space technology.

Multi-Purpose Avionic Architecture for Vision Based Navigation Systems for EDL and Surface Mobility Scenarios

NASA Astrophysics Data System (ADS)

Tramutola, A.; Paltro, D.; Cabalo Perucha, M. P.; Paar, G.; Steiner, J.; Barrio, A. M.

2015-09-01

Vision Based Navigation (VBNAV) has been identified as a valid technology to support space exploration because it can improve autonomy and safety of space missions. Several mission scenarios can benefit from the VBNAV: Rendezvous & Docking, Fly-Bys, Interplanetary cruise, Entry Descent and Landing (EDL) and Planetary Surface exploration. For some of them VBNAV can improve the accuracy in state estimation as additional relative navigation sensor or as absolute navigation sensor. For some others, like surface mobility and terrain exploration for path identification and planning, VBNAV is mandatory. This paper presents the general avionic architecture of a Vision Based System as defined in the frame of the ESA R&T study “Multi-purpose Vision-based Navigation System Engineering Model - part 1 (VisNav-EM-1)” with special focus on the surface mobility application.

Institute of Navigation, Annual Meeting, 47th, Williamsburg, VA, June 10-12, 1991, Proceedings

NASA Astrophysics Data System (ADS)

1991-11-01

The present volume of navigation and exploration discusses space exploration, mapping and geodesy, aircraft navigation, undersea navigation, land and vehicular location, international and legal aspects of navigation, the history of navigation technology and applications, Loran development and implementation, GPS and GLONASS developments, and search and rescue. Topics addressed include stabilization of low orbiting spacecraft using GPS, the employment of laser navigation for automatic rendezvous and docking systems, enhanced pseudostatic processing, and the expanding role of sensor fusion. Attention is given to a gravity-aided inertial navigation system, recent developments in aviation products liability and navigation, the ICAO future air navigation system, and Loran's implementation in NAS. Also discussed are Inmarsat integrated navigation/communication activities, the GPS program status, the evolution of military GPS technology into the Navcore V receiver engine, and Sarsat location algorithms.

KSC-2012-2516

NASA Image and Video Library

2012-04-04

CAPE CANAVERAL, Fla. – In a processing hangar at Space Launch Complex-40 on Cape Canaveral Air Force Station in Florida, a cargo bag slides through the docking ring into the Space Exploration Technologies Dragon capsule for stowage for its scheduled April 30 liftoff aboard a Falcon 9 rocket. Known as SpaceX, the launch will be the company's second demonstration test flight for NASA's Commercial Orbital Transportation Services program, or COTS. During the flight, the capsule will conduct a series of checkout procedures to test and prove its systems, including rendezvous and berthing with the International Space Station. The cargo includes food and provisions for the station’s Expedition crews, such as clothing, batteries, and computer equipment. Under COTS, NASA has partnered with two private companies to launch cargo safely to the station. For more information, visit http://www.nasa.gov/spacex. Photo credit: NASA/Jim Grossmann

STS-88 Crew Interview: Nancy Currie

NASA Technical Reports Server (NTRS)

1998-01-01

Nancy Currie discusses the seven-day mission that will be highlighted by the mating of the U.S.-built Node 1 station element to the Functional Energy Block (FGB) which will already be in orbit, and two spacewalks to connect power and data transmission cables between the Node and the FGB. Node 1 will be the first Space Station hardware delivered by the Space Shuttle. He also disscusses the assembly sequence. The crew will conduct a series of rendezvous maneuvers similar to those conducted on other Shuttle missions to reach the orbiting FGB. Once the two elements are docked, Ross and Newman will conduct two scheduled spacewalks to connect power and data cables between the Node, PMAs and the FGB. The day following the spacewalks, Endeavour will undock from the two components, completing the first Space Station assembly mission.

Predicting receptor functionality of signaling lymphocyte activation molecule for measles virus hemagglutinin by docking simulation.

PubMed

Suzuki, Yoshiyuki

2017-05-01

Predicting susceptibility of various species to a virus assists assessment of risk of interspecies transmission. Evaluation of receptor functionality may be useful in screening for susceptibility. In this study, docking simulation was conducted for measles virus hemagglutinin (MV-H) and immunoglobulin-like variable domain of signaling lymphocyte activation molecule (SLAM-V). It was observed that the docking scores for MV-H and SLAM-V correlated with the activity of SLAM as an MV receptor. These results suggest that the receptor functionality may be predicted from the docking scores of virion surface proteins and cellular receptor molecules. © 2017 The Societies and John Wiley & Sons Australia, Ltd.

Homology modeling, molecular docking and MD simulation studies to investigate role of cysteine protease from Xanthomonas campestris in degradation of Aβ peptide.

PubMed

Dhanavade, Maruti J; Jalkute, Chidambar B; Barage, Sagar H; Sonawane, Kailas D

2013-12-01

Cysteine protease is known to degrade amyloid beta peptide which is a causative agent of Alzheimer's disease. This cleavage mechanism has not been studied in detail at the atomic level. Hence, a three-dimensional structure of cysteine protease from Xanthomonas campestris was constructed by homology modeling using Geno3D, SWISS-MODEL, and MODELLER 9v7. All the predicted models were analyzed by PROCHECK and PROSA. Three-dimensional model of cysteine protease built by MODELLER 9v7 shows similarity with human cathepsin B crystal structure. This model was then used further for docking and simulation studies. The molecular docking study revealed that Cys17, His87, and Gln88 residues of cysteine protease form an active site pocket similar to human cathepsin B. Then the docked complex was refined by molecular dynamic simulation to confirm its stable behavior over the entire simulation period. The molecular docking and MD simulation studies showed that the sulfhydryl hydrogen atom of Cys17 of cysteine protease interacts with carboxylic oxygen of Lys16 of Aβ peptide indicating the cleavage site. Thus, the cysteine protease model from X. campestris having similarity with human cathepsin B crystal structure may be used as an alternate approach to cleave Aβ peptide a causative agent of Alzheimer's disease. © 2013 Elsevier Ltd. All rights reserved.

Modeling and Simulation of a Novel Relay Node Based Secure Routing Protocol Using Multiple Mobile Sink for Wireless Sensor Networks.

PubMed

Perumal, Madhumathy; Dhandapani, Sivakumar

2015-01-01

Data gathering and optimal path selection for wireless sensor networks (WSN) using existing protocols result in collision. Increase in collision further increases the possibility of packet drop. Thus there is a necessity to eliminate collision during data aggregation. Increasing the efficiency is the need of the hour with maximum security. This paper is an effort to come up with a reliable and energy efficient WSN routing and secure protocol with minimum delay. This technique is named as relay node based secure routing protocol for multiple mobile sink (RSRPMS). This protocol finds the rendezvous point for optimal transmission of data using a "splitting tree" technique in tree-shaped network topology and then to determine all the subsequent positions of a sink the "Biased Random Walk" model is used. In case of an event, the sink gathers the data from all sources, when they are in the sensing range of rendezvous point. Otherwise relay node is selected from its neighbor to transfer packets from rendezvous point to sink. A symmetric key cryptography is used for secure transmission. The proposed relay node based secure routing protocol for multiple mobile sink (RSRPMS) is experimented and simulation results are compared with Intelligent Agent-Based Routing (IAR) protocol to prove that there is increase in the network lifetime compared with other routing protocols.

Modification of S-Adenosyl-l-Homocysteine as Inhibitor of Nonstructural Protein 5 Methyltransferase Dengue Virus Through Molecular Docking and Molecular Dynamics Simulation

PubMed Central

Tambunan, Usman Sumo Friend; Nasution, Mochammad Arfin Fardiansyah; Azhima, Fauziah; Parikesit, Arli Aditya; Toepak, Erwin Prasetya; Idrus, Syarifuddin; Kerami, Djati

2017-01-01

Dengue fever is still a major threat worldwide, approximately threatening two-fifths of the world’s population in tropical and subtropical countries. Nonstructural protein 5 (NS5) methyltransferase enzyme plays a vital role in the process of messenger RNA capping of dengue by transferring methyl groups from S-adenosyl-l-methionine to N7 atom of the guanine bases of RNA and the RNA ribose group of 2′OH, resulting in S-adenosyl-l-homocysteine (SAH). The modification of SAH compound was screened using molecular docking and molecular dynamics simulation, along with computational ADME-Tox (absorption, distribution, metabolism, excretion, and toxicity) test. The 2 simulations were performed using Molecular Operating Environment (MOE) 2008.10 software, whereas the ADME-Tox test was performed using various software. The modification of SAH compound was done using several functional groups that possess different polarities and properties, resulting in 3460 ligands to be docked. After conducting docking simulation, we earned 3 best ligands (SAH-M331, SAH-M2696, and SAH-M1356) based on ΔGbinding and molecular interactions, which show better results than the standard ligands. Moreover, the results of molecular dynamics simulation show that the best ligands are still able to maintain the active site residue interaction with the binding site until the end of the simulation. After a series of molecular docking and molecular dynamics simulation were performed, we concluded that SAH-M1356 ligand is the most potential SAH-based compound to inhibit NS5 methyltransferase enzyme for treating dengue fever. PMID:28469408

Simulation of carbohydrates, from molecular docking to dynamics in water.

PubMed

Sapay, Nicolas; Nurisso, Alessandra; Imberty, Anne

2013-01-01

Modeling of carbohydrates is particularly challenging because of the variety of structures resulting for the high number of monosaccharides and possible linkages and also because of their intrinsic flexibility. The development of carbohydrate parameters for molecular modeling is still an active field. Nowadays, main carbohydrates force fields are GLYCAM06, CHARMM36, and GROMOS 45A4. GLYCAM06 includes the largest choice of compounds and is compatible with the AMBER force fields and associated. Furthermore, AMBER includes tools for the implementation of new parameters. When looking at protein-carbohydrate interaction, the choice of the starting structure is of importance. Such complex can be sometimes obtained from the Protein Data Bank-although the stereochemistry of sugars may require some corrections. When no experimental data is available, molecular docking simulation is generally used to the obtain protein-carbohydrate complex coordinates. As molecular docking parameters are not specifically dedicated to carbohydrates, inaccuracies should be expected, especially for the docking of polysaccharides. This issue can be addressed at least partially by combining molecular docking with molecular dynamics simulation in water.

14 CFR 1214.111 - Rendezvous services.

Code of Federal Regulations, 2012 CFR

2012-01-01

....111 Rendezvous services. (a) A rendezvous mission involves the rendezvous of the Space Shuttle orbiter... Space Shuttle mission for an already orbiting spacecraft (or part thereof) and return of already... 14 Aeronautics and Space 5 2012-01-01 2012-01-01 false Rendezvous services. 1214.111 Section 1214...

14 CFR 1214.111 - Rendezvous services.

Code of Federal Regulations, 2013 CFR

2013-01-01

....111 Rendezvous services. (a) A rendezvous mission involves the rendezvous of the Space Shuttle orbiter... Space Shuttle mission for an already orbiting spacecraft (or part thereof) and return of already... 14 Aeronautics and Space 5 2013-01-01 2013-01-01 false Rendezvous services. 1214.111 Section 1214...

Recovery of spinning satellites

NASA Technical Reports Server (NTRS)

Coppey, J. M.; Mahaffey, W. R.

1977-01-01

The behavior of a space tug and a spinning satellite in a coupled configuration was simulated and analyzed. A docking concept was developed to investigate the requirements pertaining to the design of a docking interface. Sensing techniques and control requirements for the chase vehicle were studied to assess the feasibility of an automatic docking. The effects of nutation dampers and liquid propellant slosh motion upon the docking transient were investigated.

Modeling and Proposed Molecular Mechanism of Hydroxyurea Through Docking and Molecular Dynamic Simulation to Curtail the Action of Ribonucleotide Reductase.

PubMed

Iman, Maryam; Khansefid, Zeynab; Davood, Asghar

2016-01-01

Ribonucleotide Reductase (RNR) is an important anticancer chemotherapy target. It has main key role in DNA synthesis and cell growth. Therefore several RNR inhibitors, such as hydroxyurea, have entered the clinical trials. Based on our proposed mechanism, radical site of RNR protein reacts with hydroxyurea in which hydroxyurea is converted into its oxidized form compound III, and whereby the tyrosyl radical is converted into a normal tyrosine residue. In this study, docking and molecular dynamics simulations were used for proposed molecular mechanism of hydroxyurea in RNR inhibition as anticancer agent. The binding affinity of hydroxyurea and compound III to RNR was studied by docking method. The docking study was performed for the crystal structure of human RNR with the radical scavenger Hydroxyurea and its oxidized form to inhibit the human RNR. hydroxyurea and compound III bind at the active site with Tyr-176, which are essential for free radical formation. This helps to understand the functional aspects and also aids in the development of novel inhibitors for the human RNR2. To confirm the binding mode of inhibitors, the molecular dynamics (MD) simulations were performed using GROMACS 4.5.5, based upon the docked conformation of inhibitors. Both of the studied compounds stayed in the active site. The results of MD simulations confirmed the binding mode of ligands, accuracy of docking and the reliability of active conformations which were obtained by AutoDock. MD studies confirm our proposed mechanism in which compound III reacts with the active site residues specially Tyr-176, and inhibits the radical generation and subsequently inhibits the RNR enzyme.

19. Interior view showing flight simulator partition and rear overhead ...

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

19. Interior view showing flight simulator partition and rear overhead door, dock no. 493. View to south. - Offutt Air Force Base, Looking Glass Airborne Command Post, Nose Docks, On either side of Hangar Access Apron at Northwest end of Project Looking Glass Historic District, Bellevue, Sarpy County, NE

Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

NASA Astrophysics Data System (ADS)

Cao, Lu; Qiao, Dong; Xu, Jingwen

2018-02-01

Sub-Optimal Artificial Potential Function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

Guidance and navigation for rendezvous with an uncooperative target

NASA Astrophysics Data System (ADS)

Telaar, J.; Schlaile, C.; Sommer, J.

2018-06-01

This paper presents a guidance strategy for a rendezvous with an uncooperative target. In the applied design reference mission, a spiral approach is commanded ensuring a collision-free relative orbit due to e/i-vector separation. The dimensions of the relative orbit are successively reduced by Δv commands which at the same time improve the observability of the relative state. The navigation is based on line-of-sight measurements. The relative state is estimated by an extended Kalman filter (EKF). The performance of this guidance and navigation strategy is demonstrated by extensive Monte Carlo simulations taking into account all major uncertainties like measurement errors, Δv execution errors, and differential drag.

Combined 3D-QSAR, molecular docking, molecular dynamics simulation, and binding free energy calculation studies on the 5-hydroxy-2H-pyridazin-3-one derivatives as HCV NS5B polymerase inhibitors.

PubMed

Yu, Haijing; Fang, Yu; Lu, Xia; Liu, Yongjuan; Zhang, Huabei

2014-01-01

The NS5B RNA-dependent RNA polymerase (RdRP) is a promising therapeutic target for developing novel anti-hepatitis C virus (HCV) drugs. In this work, a combined molecular modeling study was performed on a series of 193 5-hydroxy-2H-pyridazin-3-one derivatives as inhibitors of HCV NS5B Polymerase. The best 3D-QSAR models, including CoMFA and CoMSIA, are based on receptor (or docking). Furthermore, a 40-ns molecular dynamics (MD) simulation and binding free energy calculations using docked structures of NS5B with ten compounds, which have diverse structures and pIC50 values, were employed to determine the detailed binding process and to compare the binding modes of the inhibitors with different activities. On one side, the stability and rationality of molecular docking and 3D-QSAR results were validated by MD simulation. The binding free energies calculated by the MM-PBSA method gave a good correlation with the experimental biological activity. On the other side, by analyzing some differences between the molecular docking and the MD simulation results, we can find that the MD simulation could also remedy the defects of molecular docking. The analyses of the combined molecular modeling results have identified that Tyr448, Ser556, and Asp318 are the key amino acid residues in the NS5B binding pocket. The results from this study can provide some insights into the development of novel potent NS5B inhibitors. © 2013 John Wiley & Sons A/S.

Multiple ligand simultaneous docking: orchestrated dancing of ligands in binding sites of protein.

PubMed

Li, Huameng; Li, Chenglong

2010-07-30

Present docking methodologies simulate only one single ligand at a time during docking process. In reality, the molecular recognition process always involves multiple molecular species. Typical protein-ligand interactions are, for example, substrate and cofactor in catalytic cycle; metal ion coordination together with ligand(s); and ligand binding with water molecules. To simulate the real molecular binding processes, we propose a novel multiple ligand simultaneous docking (MLSD) strategy, which can deal with all the above processes, vastly improving docking sampling and binding free energy scoring. The work also compares two search strategies: Lamarckian genetic algorithm and particle swarm optimization, which have respective advantages depending on the specific systems. The methodology proves robust through systematic testing against several diverse model systems: E. coli purine nucleoside phosphorylase (PNP) complex with two substrates, SHP2NSH2 complex with two peptides and Bcl-xL complex with ABT-737 fragments. In all cases, the final correct docking poses and relative binding free energies were obtained. In PNP case, the simulations also capture the binding intermediates and reveal the binding dynamics during the recognition processes, which are consistent with the proposed enzymatic mechanism. In the other two cases, conventional single-ligand docking fails due to energetic and dynamic coupling among ligands, whereas MLSD results in the correct binding modes. These three cases also represent potential applications in the areas of exploring enzymatic mechanism, interpreting noisy X-ray crystallographic maps, and aiding fragment-based drug design, respectively. 2010 Wiley Periodicals, Inc.

Development of an autonomous video rendezous and docking system

NASA Technical Reports Server (NTRS)

Tietz, J. C.; Kelly, J. H.

1982-01-01

Video control systems using three flashing lights and two other types of docking aids were evaluated through computer simulation and other approaches. The three light system performed much better than the others. Its accuracy is affected little by tumbling of the target spacecraft, and in the simulations it was able to cope with attitude rates up to 20,000 degrees per hour about the docking axis. Its performance with rotation about other axes is determined primarily by the state estimation and goal setting portions of the control system, not by measurement accuracy. A suitable control system, and a computer program that can serve as the basis for the physical simulation are discussed.

An Investigation of Molecular Docking and Molecular Dynamic Simulation on Imidazopyridines as B-Raf Kinase Inhibitors.

PubMed

Xie, Huiding; Li, Yupeng; Yu, Fang; Xie, Xiaoguang; Qiu, Kaixiong; Fu, Jijun

2015-11-16

In the recent cancer treatment, B-Raf kinase is one of key targets. Nowadays, a group of imidazopyridines as B-Raf kinase inhibitors have been reported. In order to investigate the interaction between this group of inhibitors and B-Raf kinase, molecular docking, molecular dynamic (MD) simulation and binding free energy (ΔGbind) calculation were performed in this work. Molecular docking was carried out to identify the key residues in the binding site, and MD simulations were performed to determine the detail binding mode. The results obtained from MD simulation reveal that the binding site is stable during the MD simulations, and some hydrogen bonds (H-bonds) in MD simulations are different from H-bonds in the docking mode. Based on the obtained MD trajectories, ΔGbind was computed by using Molecular Mechanics Generalized Born Surface Area (MM-GBSA), and the obtained energies are consistent with the activities. An energetic analysis reveals that both electrostatic and van der Waals contributions are important to ΔGbind, and the unfavorable polar solvation contribution results in the instability of the inhibitor with the lowest activity. These results are expected to understand the binding between B-Raf and imidazopyridines and provide some useful information to design potential B-Raf inhibitors.

Computational analysis for selectivity of histone deacetylase inhibitor by replica-exchange umbrella sampling molecular dynamics simulations

NASA Astrophysics Data System (ADS)

Tsukamoto, Shuichiro; Sakae, Yoshitake; Itoh, Yukihiro; Suzuki, Takayoshi; Okamoto, Yuko

2018-03-01

We performed protein-ligand docking simulations with a ligand T247, which has been reported as a selective inhibitor of a histone deacetylase HDAC3, by the replica-exchange umbrella sampling method in order to estimate the free energy profiles along ligand docking pathways of HDAC3-T247 and HDAC2-T247 systems. The simulation results showed that the docked state of the HDAC3-T247 system is more stable than that of the HDAC2-T247 system although the amino-acid sequences and structures of HDAC3 and HDAC2 are very similar. By comparing structures obtained from the simulations of both systems, we found the difference between structures of hydrophobic residues at the entrance of the catalytic site. Moreover, we performed conventional molecular dynamics simulations of HDAC3 and HDAC2 systems without T247, and the results also showed the same difference of the hydrophobic structures. Therefore, we consider that this hydrophobic structure contributes to the stabilization of the docked state of the HDAC3-T247 system. Furthermore, we show that Tyr209, which is one of the hydrophobic residues in HDAC2, plays a key role in the instability from the simulation results of a mutated-HDAC2 system.

Molecular Docking, Molecular Dynamics Simulations, Computational Screening to Design Quorum Sensing Inhibitors Targeting LuxP of Vibrio harveyi and Its Biological Evaluation.

PubMed

Rajamanikandan, Sundaraj; Jeyakanthan, Jeyaraman; Srinivasan, Pappu

2017-01-01

Quorum sensing (QS) plays an important role in the biofilm formation, production of virulence factors and stress responses in Vibrio harveyi. Therefore, interrupting QS is a possible approach to modulate bacterial behavior. In the present study, three docking protocols, such as Rigid Receptor Docking (RRD), Induced Fit Docking (IFD), and Quantum Polarized Ligand Docking (QPLD) were used to elucidate the binding mode of boronic acid derivatives into the binding pocket of LuxP protein in V. harveyi. Among the three docking protocols, IFD accurately predicted the correct binding mode of the studied inhibitors. Molecular dynamics (MD) simulations of the protein-ligand complexes indicates that the inter-molecular hydrogen bonds formed between the protein and ligand complex remains stable during the simulation time. Pharmacophore and shape-based virtual screening were performed to find selective and potent compounds from ChemBridge database. Five hit compounds were selected and subjected to IFD and MD simulations to validate the binding mode. In addition, enrichment calculation was performed to discriminate and separate active compounds from the inactive compounds. Based on the computational studies, the potent Bicyclo [2.2.1] hept-5-ene-2,3-dicarboxylic acid-2,6-dimethylpyridine 1-oxide (ChemBridge_5144368) was selected for in vitro assays. The compound exhibited dose dependent inhibition in bioluminescence and also inhibits biofilm formation in V. harveyi to the level of 64.25 %. The result from the study suggests that ChemBridge_5144368 could serve as an anti-quorum sensing molecule for V. harveyi.

Identification of Novel Aldose Reductase Inhibitors from Spices: A Molecular Docking and Simulation Study.

PubMed

Antony, Priya; Vijayan, Ranjit

2015-01-01

Hyperglycemia in diabetic patients results in a diverse range of complications such as diabetic retinopathy, neuropathy, nephropathy and cardiovascular diseases. The role of aldose reductase (AR), the key enzyme in the polyol pathway, in these complications is well established. Due to notable side-effects of several drugs, phytochemicals as an alternative has gained considerable importance for the treatment of several ailments. In order to evaluate the inhibitory effects of dietary spices on AR, a collection of phytochemicals were identified from Zingiber officinale (ginger), Curcuma longa (turmeric) Allium sativum (garlic) and Trigonella foenum graecum (fenugreek). Molecular docking was performed for lead identification and molecular dynamics simulations were performed to study the dynamic behaviour of these protein-ligand interactions. Gingerenones A, B and C, lariciresinol, quercetin and calebin A from these spices exhibited high docking score, binding affinity and sustained protein-ligand interactions. Rescoring of protein ligand interactions at the end of MD simulations produced binding scores that were better than the initially docked conformations. Docking results, ligand interactions and ADMET properties of these molecules were significantly better than commercially available AR inhibitors like epalrestat, sorbinil and ranirestat. Thus, these natural molecules could be potent AR inhibitors.

Identification of Novel Aldose Reductase Inhibitors from Spices: A Molecular Docking and Simulation Study

PubMed Central

Antony, Priya; Vijayan, Ranjit

2015-01-01

Hyperglycemia in diabetic patients results in a diverse range of complications such as diabetic retinopathy, neuropathy, nephropathy and cardiovascular diseases. The role of aldose reductase (AR), the key enzyme in the polyol pathway, in these complications is well established. Due to notable side-effects of several drugs, phytochemicals as an alternative has gained considerable importance for the treatment of several ailments. In order to evaluate the inhibitory effects of dietary spices on AR, a collection of phytochemicals were identified from Zingiber officinale (ginger), Curcuma longa (turmeric) Allium sativum (garlic) and Trigonella foenum graecum (fenugreek). Molecular docking was performed for lead identification and molecular dynamics simulations were performed to study the dynamic behaviour of these protein-ligand interactions. Gingerenones A, B and C, lariciresinol, quercetin and calebin A from these spices exhibited high docking score, binding affinity and sustained protein-ligand interactions. Rescoring of protein ligand interactions at the end of MD simulations produced binding scores that were better than the initially docked conformations. Docking results, ligand interactions and ADMET properties of these molecules were significantly better than commercially available AR inhibitors like epalrestat, sorbinil and ranirestat. Thus, these natural molecules could be potent AR inhibitors. PMID:26384019

Finding a Potential Dipeptidyl Peptidase-4 (DPP-4) Inhibitor for Type-2 Diabetes Treatment Based on Molecular Docking, Pharmacophore Generation, and Molecular Dynamics Simulation

PubMed Central

Meduru, Harika; Wang, Yeng-Tseng; Tsai, Jeffrey J. P.; Chen, Yu-Ching

2016-01-01

Dipeptidyl peptidase-4 (DPP-4) is the vital enzyme that is responsible for inactivating intestinal peptides glucagon like peptide-1 (GLP-1) and Gastric inhibitory polypeptide (GIP), which stimulates a decline in blood glucose levels. The aim of this study was to explore the inhibition activity of small molecule inhibitors to DPP-4 following a computational strategy based on docking studies and molecular dynamics simulations. The thorough docking protocol we applied allowed us to derive good correlation parameters between the predicted binding affinities (pKi) of the DPP-4 inhibitors and the experimental activity values (pIC50). Based on molecular docking receptor-ligand interactions, pharmacophore generation was carried out in order to identify the binding modes of structurally diverse compounds in the receptor active site. Consideration of the permanence and flexibility of DPP-4 inhibitor complexes by means of molecular dynamics (MD) simulation specified that the inhibitors maintained the binding mode observed in the docking study. The present study helps generate new information for further structural optimization and can influence the development of new DPP-4 inhibitors discoveries in the treatment of type-2 diabetes. PMID:27304951

Finding a Potential Dipeptidyl Peptidase-4 (DPP-4) Inhibitor for Type-2 Diabetes Treatment Based on Molecular Docking, Pharmacophore Generation, and Molecular Dynamics Simulation.

PubMed

Meduru, Harika; Wang, Yeng-Tseng; Tsai, Jeffrey J P; Chen, Yu-Ching

2016-06-13

Dipeptidyl peptidase-4 (DPP-4) is the vital enzyme that is responsible for inactivating intestinal peptides glucagon like peptide-1 (GLP-1) and Gastric inhibitory polypeptide (GIP), which stimulates a decline in blood glucose levels. The aim of this study was to explore the inhibition activity of small molecule inhibitors to DPP-4 following a computational strategy based on docking studies and molecular dynamics simulations. The thorough docking protocol we applied allowed us to derive good correlation parameters between the predicted binding affinities (pKi) of the DPP-4 inhibitors and the experimental activity values (pIC50). Based on molecular docking receptor-ligand interactions, pharmacophore generation was carried out in order to identify the binding modes of structurally diverse compounds in the receptor active site. Consideration of the permanence and flexibility of DPP-4 inhibitor complexes by means of molecular dynamics (MD) simulation specified that the inhibitors maintained the binding mode observed in the docking study. The present study helps generate new information for further structural optimization and can influence the development of new DPP-4 inhibitors discoveries in the treatment of type-2 diabetes.

Two-phase framework for near-optimal multi-target Lambert rendezvous

NASA Astrophysics Data System (ADS)

Bang, Jun; Ahn, Jaemyung

2018-03-01

This paper proposes a two-phase framework to obtain a near-optimal solution of multi-target Lambert rendezvous problem. The objective of the problem is to determine the minimum-cost rendezvous sequence and trajectories to visit a given set of targets within a maximum mission duration. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary solutions, which provides candidate rendezvous trajectories. The second phase formulates a variant of traveling salesman problem (TSP) using the elementary solutions prepared in the first phase and determines the final rendezvous sequence and trajectories of the multi-target rendezvous problem. The validity of the proposed optimization framework is demonstrated through an asteroid exploration case study.

Mapping multiple potential ATP binding sites on the matrix side of the bovine ADP/ATP carrier by the combined use of MD simulation and docking.

PubMed

Di Marino, Daniele; Oteri, Francesco; della Rocca, Blasco Morozzo; D'Annessa, Ilda; Falconi, Mattia

2012-06-01

The mitochondrial adenosine diphosphate/adenosine triphosphate (ADP/ATP) carrier-AAC-was crystallized in complex with its specific inhibitor carboxyatractyloside (CATR). The protein consists of a six-transmembrane helix bundle that defines the nucleotide translocation pathway, which is closed towards the matrix side due to sharp kinks in the odd-numbered helices. In this paper, we describe the interaction between the matrix side of the AAC transporter and the ATP(4-) molecule using carrier structures obtained through classical molecular dynamics simulation (MD) and a protein-ligand docking procedure. Fifteen structures were extracted from a previously published MD trajectory through clustering analysis, and 50 docking runs were carried out for each carrier conformation, for a total of 750 runs ("MD docking"). The results were compared to those from 750 docking runs performed on the X-ray structure ("X docking"). The docking procedure indicated the presence of a single interaction site in the X-ray structure that was conserved in the structures extracted from the MD trajectory. MD docking showed the presence of a second binding site that was not found in the X docking. The interaction strategy between the AAC transporter and the ATP(4-) molecule was analyzed by investigating the composition and 3D arrangement of the interaction pockets, together with the orientations of the substrate inside them. A relationship between sequence repeats and the ATP(4-) binding sites in the AAC carrier structure is proposed.

Navigation Strategies for Primitive Solar System Body Rendezvous and Proximity Operations

NASA Technical Reports Server (NTRS)

Getzandanner, Kenneth M.

2011-01-01

A wealth of scientific knowledge regarding the composition and evolution of the solar system can be gained through reconnaissance missions to primitive solar system bodies. This paper presents analysis of a baseline navigation strategy designed to address the unique challenges of primitive body navigation. Linear covariance and Monte Carlo error analysis was performed on a baseline navigation strategy using simulated data from a· design reference mission (DRM). The objective of the DRM is to approach, rendezvous, and maintain a stable orbit about the near-Earth asteroid 4660 Nereus. The outlined navigation strategy and resulting analyses, however, are not necessarily limited to this specific target asteroid as they may he applicable to a diverse range of mission scenarios. The baseline navigation strategy included simulated data from Deep Space Network (DSN) radiometric tracking and optical image processing (OpNav). Results from the linear covariance and Monte Carlo analyses suggest the DRM navigation strategy is sufficient to approach and perform proximity operations in the vicinity of the target asteroid with meter-level accuracy.

Scannerless laser range imaging using loss modulation

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

Sandusky, John V

2011-08-09

A scannerless 3-D imaging apparatus is disclosed which utilizes an amplitude modulated cw light source to illuminate a field of view containing a target of interest. Backscattered light from the target is passed through one or more loss modulators which are modulated at the same frequency as the light source, but with a phase delay .delta. which can be fixed or variable. The backscattered light is demodulated by the loss modulator and detected with a CCD, CMOS or focal plane array (FPA) detector to construct a 3-D image of the target. The scannerless 3-D imaging apparatus, which can operate inmore » the eye-safe wavelength region 1.4-1.7 .mu.m and which can be constructed as a flash LADAR, has applications for vehicle collision avoidance, autonomous rendezvous and docking, robotic vision, industrial inspection and measurement, 3-D cameras, and facial recognition.« less

Apollo 17 Command/Service modules photographed from lunar module in orbit

NASA Image and Video Library

1972-12-14

AS17-145-22254 (14 Dec. 1972) --- An excellent view of the Apollo 17 Command and Service Modules (CSM) photographed from the Lunar Module (LM) "Challenger" during rendezvous and docking maneuvers in lunar orbit. The LM ascent stage, with astronauts Eugene A. Cernan and Harrison H. Schmitt aboard, had just returned from the Taurus-Littrow landing site on the lunar surface. Astronaut Ronald E. Evans remained with the CSM in lunar orbit. Note the exposed Scientific Instrument Module (SIM) Bay in Sector 1 of the Service Module (SM). Three experiments are carried in the SIM bay: S-209 lunar sounder, S-171 infrared scanning spectrometer, and the S-169 far-ultraviolet spectrometer. Also mounted in the SIM bay are the panoramic camera, mapping camera and laser altimeter used in service module photographic tasks. A portion of the LM is on the right.

STS-76 liftoff - left side close up

NASA Technical Reports Server (NTRS)

1996-01-01

The chase to catch up with the Russian Space Station Mir gets under way with an on-time liftoff, as the Space Shuttle Atlantis hurtles skyward from Launch Pad 39B at 3:13:04 a.m. EST, March 22. On board for Mission STS-76 -- also the 76th Shuttle flight - - are a crew of six: Mission Commander Kevin P. Chilton; Pilot Richard A. Searfoss; Payload Commander Ronald M. Sega; and Mission Specialists Michael Richard 'Rich' Clifford, Linda M. Godwin, and Shannon W. Lucid. During the course of the planned nine-day flight, Atlantis will rendezvous and dock with Mir for athe third time. Lucid will transfer to the station for an approximately four-and-a-half month stay, becoming the first American woman to live on Mir. In addition, Godwin and Clifford will perform an extravehicular activity later in the mission, the first around the mated Atlantis-Mir assembly.

Overview of NASA's In Space Robotic Servicing

NASA Technical Reports Server (NTRS)

Reed, Benjamin B.

2015-01-01

The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.

MS Lucid places samples in the TEHOF aboard the Spektr module

NASA Image and Video Library

1997-03-26

STS079-S-082 (16-26 Sept. 1996) --- Cosmonaut guest researcher Shannon W. Lucid and Valeri G. Korzun, her Mir-22 commander, are pictured on the Spektr Module aboard Russia's Earth-orbiting Mir Space Station. Korzun was the third of four commanders that Lucid served with during her record-setting 188 consecutive days in space. Later, Lucid returned to Earth with her fourth commander-astronaut William F. Readdy-and five other NASA astronauts to complete the STS-79 mission. During the STS-79 mission, the crew used an IMAX camera to document activities aboard the space shuttle Atlantis and the various Mir modules. A hand-held version of the 65mm camera system accompanied the STS-79 crew into space in Atlantis' crew cabin. NASA has flown IMAX camera systems on many Shuttle missions, including a special cargo bay camera's coverage of other recent Shuttle-Mir rendezvous and/or docking missions.

An overview of autonomous rendezvous and docking system technology development

NASA Astrophysics Data System (ADS)

Nelson, Kurt D.

The Centaur upper stage was selected for an airborne avionics modernization program. The parts used in the existing avionics units were obsolete. Continued use of existing hardware would require substantial redesign, yet would result in the use of outdated hardware. Out of date processes, with very expensive and labor intensive technologies, were being used for manufacturing. The Atlas/Centaur avionics were to be procured at a fairly high rate that demanded the use of modern components. The new avionics also reduce size, weight, power, and parts count with a dramatic improvement in reliability. Finally, the cost leverage derived from upgrading the avionics as opposed to any other subsystem for the existing Atlas/Centaur was a very large consideration in the upgrade decision. The upgrade program is a multiyear effort that began in 1989. It includes telemetry, guidance and navigation, control electronics, thrust vector control, and redundancy levels.

STS-76 liftoff - right side view from across marsh

NASA Technical Reports Server (NTRS)

1996-01-01

The chase to catch up with the Russian Space Station Mir gets under way with an on-time liftoff, as the Space Shuttle Atlantis hurtles skyward from Launch Pad 39B at 3:13:04 a.m. EST, March 22. On board for Mission STS-76 -- also the 76th Shuttle flight - - are a crew of six: Mission Commander Kevin P. Chilton; Pilot Richard A. Searfoss; Payload Commander Ronald M. Sega; and Mission Specialists Michael Richard 'Rich' Clifford, Linda M. Godwin, and Shannon W. Lucid. During the course of the planned nine-day flight, Atlantis will rendezvous and dock with Mir for athe third time. Lucid will transfer to the station for an approximately four-and-a-half month stay, becoming the first American woman to live on Mir. In addition, Godwin and Clifford will perform an extravehicular activity later in the mission, the first around the mated Atlantis-Mir assembly.

STS-76 liftoff - right side close up

NASA Technical Reports Server (NTRS)

1996-01-01

The chase to catch up with the Russian Space Station Mir gets under way with an on-time liftoff, as the Space Shuttle Atlantis hurtles skyward from Launch Pad 39B at 3:13:04 a.m. EST, March 22. On board for Mission STS-76 -- also the 76th Shuttle flight - - are a crew of six: Mission Commander Kevin P. Chilton; Pilot Richard A. Searfoss; Payload Commander Ronald M. Sega; and Mission Specialists Michael Richard 'Rich' Clifford, Linda M. Godwin, and Shannon W. Lucid. During the course of the planned nine-day flight, Atlantis will rendezvous and dock with Mir for athe third time. Lucid will transfer to the station for an approximately four-and-a-half month stay, becoming the first American woman to live on Mir. In addition, Godwin and Clifford will perform an extravehicular activity later in the mission, the first around the mated Atlantis-Mir assembly.

STS-76 liftoff - right side view from Pad 39B

NASA Technical Reports Server (NTRS)

1996-01-01

The chase to catch up with the Russian Space Station Mir gets under way with an on-time liftoff, as the Space Shuttle Atlantis hurtles skyward from Launch Pad 39B at 3:13:04 a.m. EST, March 22. On board for Mission STS-76 -- also the 76th Shuttle flight - - are a crew of six: Mission Commander Kevin P. Chilton; Pilot Richard A. Searfoss; Payload Commander Ronald M. Sega; and Mission Specialists Michael Richard 'Rich' Clifford, Linda M. Godwin, and Shannon W. Lucid. During the course of the planned nine-day flight, Atlantis will rendezvous and dock with Mir for athe third time. Lucid will transfer to the station for an approximately four-and-a-half month stay, becoming the first American woman to live on Mir. In addition, Godwin and Clifford will perform an extravehicular activity later in the mission, the first around the mated Atlantis-Mir assembly.

Spheres: from Ground Development to ISS Operations

NASA Technical Reports Server (NTRS)

Katterhagen, A.

2016-01-01

SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) is an internal International Space Station (ISS) Facility that supports multiple investigations for the development of multi-spacecraft and robotic control algorithms. The SPHERES National Lab Facility aboard ISS is managed and operated by NASA Ames Research Center (ARC) at Moffett Field California. The SPHERES Facility on ISS consists of three self-contained eight-inch diameter free-floating satellites which perform the various flight algorithms and serve as a platform to support the integration of experimental hardware. SPHERES has served to mature the adaptability of control algorithms of future formation flight missions in microgravity (6 DOF (Degrees of Freedom) / long duration microgravity), demonstrate key close-proximity formation flight and rendezvous and docking maneuvers, understand fault diagnosis and recovery, improve the field of human telerobotic operation and control, and lessons learned on ISS have significant impact on ground robotics, mapping, localization, and sensing in three-dimensions - among several other areas of study.

Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons

NASA Technical Reports Server (NTRS)

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

2008-01-01

Orbital Express (OE) was a successful mission demonstrating automated rendezvous and docking. The 2007 mission consisted of two spacecraft, the Autonomous Space Transport Robotic Operations (ASTRO) and the Next Generation Serviceable Satellite (NEXTSat) that were designed to work together and test a variety of service operations in orbit. The Advanced Video Guidance Sensor, AVGS, was included as one of the primary proximity navigation sensors on board the ASTRO. The AVGS was one of four sensors that provided relative position and attitude between the two vehicles. Marshall Space Flight Center was responsible for the AVGS software and testing (especially the extensive ground testing), flight operations support, and analyzing the flight data. This paper briefly describes the historical mission, the data taken on-orbit, the ground testing that occurred, and finally comparisons between flight data and ground test data for two different flight regimes.

Advanced optical technologies for space exploration

NASA Astrophysics Data System (ADS)

Clark, Natalie

2007-09-01

NASA Langley Research Center is involved in the development of photonic devices and systems for space exploration missions. Photonic technologies of particular interest are those that can be utilized for in-space communication, remote sensing, guidance navigation and control, lunar descent and landing, and rendezvous and docking. NASA Langley has recently established a class-100 clean-room which serves as a Photonics Fabrication Facility for development of prototype optoelectronic devices for aerospace applications. In this paper we discuss our design, fabrication, and testing of novel active pixels, deformable mirrors, and liquid crystal spatial light modulators. Successful implementation of these intelligent optical devices and systems in space, requires careful consideration of temperature and space radiation effects in inorganic and electronic materials. Applications including high bandwidth inertial reference units, lightweight, high precision star trackers for guidance, navigation, and control, deformable mirrors, wavefront sensing, and beam steering technologies are discussed. In addition, experimental results are presented which characterize their performance in space exploration systems

Scannerless laser range imaging using loss modulation

DOEpatents

Sandusky, John V [Albuquerque, NM

2011-08-09

A scannerless 3-D imaging apparatus is disclosed which utilizes an amplitude modulated cw light source to illuminate a field of view containing a target of interest. Backscattered light from the target is passed through one or more loss modulators which are modulated at the same frequency as the light source, but with a phase delay .delta. which can be fixed or variable. The backscattered light is demodulated by the loss modulator and detected with a CCD, CMOS or focal plane array (FPA) detector to construct a 3-D image of the target. The scannerless 3-D imaging apparatus, which can operate in the eye-safe wavelength region 1.4-1.7 .mu.m and which can be constructed as a flash LADAR, has applications for vehicle collision avoidance, autonomous rendezvous and docking, robotic vision, industrial inspection and measurement, 3-D cameras, and facial recognition.

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.

Human Exploration and Avionic Technology Challenges

NASA Technical Reports Server (NTRS)

Benjamin, Andrew L.

2005-01-01

For this workshop, I will identify critical avionic gaps, enabling technologies, high-pay off investment opportunities, promising capabilities, and space applications for human lunar and Mars exploration. Key technology disciplines encompass fault tolerance, miniaturized instrumentation sensors, MEMS-based guidance, navigation, and controls, surface communication networks, and rendezvous and docking. Furthermore, I will share bottom-up strategic planning relevant to manned mission -driven needs. Blending research expertise, facilities, and personnel with internal NASA is vital to stimulating collaborative technology solutions that achieve NASA grand vision. Retaining JSC expertise in unique and critical areas is paramount to our long-term success. Civil servants will maintain key roles in setting technology agenda, ensuring quality results, and integrating technologies into avionic systems and manned missions. Finally, I will present to NASA, academia, and the aerospace community some on -going and future advanced avionic technology programs and activities that are relevant to our mission goals and objectives.

Autonomous RPOD Technology Challenges for the Coming Decade

NASA Technical Reports Server (NTRS)

Naasz, Bo J.; Moreau, Michael C.

2012-01-01

Rendezvous Proximity Operations and Docking (RPOD) technologies are important to a wide range of future space endeavors. This paper will review some of the recent and ongoing activities related to autonomous RPOD capabilities and summarize the current state of the art. Gaps are identified where future investments are necessary to successfully execute some of the missions likely to be conducted within the next ten years. A proposed RPOD technology roadmap that meets the broad needs of NASA's future missions will be outlined, and ongoing activities at OSFC in support of a future satellite servicing mission are presented. The case presented shows that an evolutionary, stair-step technology development program. including a robust campaign of coordinated ground tests and space-based system-level technology demonstration missions, will ultimately yield a multi-use main-stream autonomous RPOD capability suite with cross-cutting benefits across a wide range of future applications.

Advanced Optical Technologies for Space Exploration

NASA Technical Reports Server (NTRS)

Clark, Natalie

2007-01-01

NASA Langley Research Center is involved in the development of photonic devices and systems for space exploration missions. Photonic technologies of particular interest are those that can be utilized for in-space communication, remote sensing, guidance navigation and control, lunar descent and landing, and rendezvous and docking. NASA Langley has recently established a class-100 clean-room which serves as a Photonics Fabrication Facility for development of prototype optoelectronic devices for aerospace applications. In this paper we discuss our design, fabrication, and testing of novel active pixels, deformable mirrors, and liquid crystal spatial light modulators. Successful implementation of these intelligent optical devices and systems in space, requires careful consideration of temperature and space radiation effects in inorganic and electronic materials. Applications including high bandwidth inertial reference units, lightweight, high precision star trackers for guidance, navigation, and control, deformable mirrors, wavefront sensing, and beam steering technologies are discussed. In addition, experimental results are presented which characterize their performance in space exploration systems.

AnchorDock for Blind Flexible Docking of Peptides to Proteins.

PubMed

Slutzki, Michal; Ben-Shimon, Avraham; Niv, Masha Y

2017-01-01

Due to increasing interest in peptides as signaling modulators and drug candidates, several methods for peptide docking to their target proteins are under active development. The "blind" docking problem, where the peptide-binding site on the protein surface is unknown, presents one of the current challenges in the field. AnchorDock protocol was developed by Ben-Shimon and Niv to address this challenge.This protocol narrows the docking search to the most relevant parts of the conformational space. This is achieved by pre-folding the free peptide and by computationally detecting anchoring spots on the surface of the unbound protein. Multiple flexible simulated annealing molecular dynamics (SAMD) simulations are subsequently carried out, starting from pre-folded peptide conformations, constrained to the various precomputed anchoring spots.Here, AnchorDock is demonstrated using two known protein-peptide complexes. A PDZ-peptide complex provides a relatively easy case due to the relatively small size of the protein, and a typical peptide conformation and binding region; a more challenging example is a complex between USP7 N-term and a p53-derived peptide, where the protein is larger, and the peptide conformation and a binding site are generally assumed to be unknown. AnchorDock returned native-like solutions ranked first and third for the PDZ and USP7 complexes, respectively. We describe the procedure step by step and discuss possible modifications where applicable.

Ligand-biased ensemble receptor docking (LigBEnD): a hybrid ligand/receptor structure-based approach

NASA Astrophysics Data System (ADS)

Lam, Polo C.-H.; Abagyan, Ruben; Totrov, Maxim

2018-01-01

Ligand docking to flexible protein molecules can be efficiently carried out through ensemble docking to multiple protein conformations, either from experimental X-ray structures or from in silico simulations. The success of ensemble docking often requires the careful selection of complementary protein conformations, through docking and scoring of known co-crystallized ligands. False positives, in which a ligand in a wrong pose achieves a better docking score than that of native pose, arise as additional protein conformations are added. In the current study, we developed a new ligand-biased ensemble receptor docking method and composite scoring function which combine the use of ligand-based atomic property field (APF) method with receptor structure-based docking. This method helps us to correctly dock 30 out of 36 ligands presented by the D3R docking challenge. For the six mis-docked ligands, the cognate receptor structures prove to be too different from the 40 available experimental Pocketome conformations used for docking and could be identified only by receptor sampling beyond experimentally explored conformational subspace.

Prediction of binding poses to FXR using multi-targeted docking combined with molecular dynamics and enhanced sampling

NASA Astrophysics Data System (ADS)

Bhakat, Soumendranath; Åberg, Emil; Söderhjelm, Pär

2018-01-01

Advanced molecular docking methods often aim at capturing the flexibility of the protein upon binding to the ligand. In this study, we investigate whether instead a simple rigid docking method can be applied, if combined with multiple target structures to model the backbone flexibility and molecular dynamics simulations to model the sidechain and ligand flexibility. The methods are tested for the binding of 35 ligands to FXR as part of the first stage of the Drug Design Data Resource (D3R) Grand Challenge 2 blind challenge. The results show that the multiple-target docking protocol performs surprisingly well, with correct poses found for 21 of the ligands. MD simulations started on the docked structures are remarkably stable, but show almost no tendency of refining the structure closer to the experimentally found binding pose. Reconnaissance metadynamics enhances the exploration of new binding poses, but additional collective variables involving the protein are needed to exploit the full potential of the method.

Prediction of binding poses to FXR using multi-targeted docking combined with molecular dynamics and enhanced sampling.

PubMed

Bhakat, Soumendranath; Åberg, Emil; Söderhjelm, Pär

2018-01-01

Advanced molecular docking methods often aim at capturing the flexibility of the protein upon binding to the ligand. In this study, we investigate whether instead a simple rigid docking method can be applied, if combined with multiple target structures to model the backbone flexibility and molecular dynamics simulations to model the sidechain and ligand flexibility. The methods are tested for the binding of 35 ligands to FXR as part of the first stage of the Drug Design Data Resource (D3R) Grand Challenge 2 blind challenge. The results show that the multiple-target docking protocol performs surprisingly well, with correct poses found for 21 of the ligands. MD simulations started on the docked structures are remarkably stable, but show almost no tendency of refining the structure closer to the experimentally found binding pose. Reconnaissance metadynamics enhances the exploration of new binding poses, but additional collective variables involving the protein are needed to exploit the full potential of the method.

Spacecraft Trajectory Analysis and Mission Planning Simulation (STAMPS) Software

NASA Technical Reports Server (NTRS)

Puckett, Nancy; Pettinger, Kris; Hallstrom,John; Brownfield, Dana; Blinn, Eric; Williams, Frank; Wiuff, Kelli; McCarty, Steve; Ramirez, Daniel; Lamotte, Nicole;

STS-135 crew during Rendezvous Training session in Building 16 dome

NASA Image and Video Library

2011-03-23

JSC2011-E-028139 (23 March 2011) --- NASA astronauts Chris Ferguson (left), STS-135 commander; Doug Hurley (center), pilot; and Sandy Magnus, mission specialist, participate in an exercise in the systems engineering simulator in the Avionics Systems Laboratory at NASA's Johnson Space Center. The facility includes moving scenes of full-sized International Space Station components over a simulated Earth. Photo credit: NASA or National Aeronautics and Space Administration

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.

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 Donald K. Slayton (right) is the docking module pilot of the American ASTP prime crew. The other man is Cosmonaut Valeriy N. Kubasov, engineer on the Soviet ASTP first (prime) crew. The training session simulated activities on the second day in space. The Docking module is designed to link the Apollo and Soyuz spacecraft.

GRAMM-X public web server for protein–protein docking

PubMed Central

Tovchigrechko, Andrey; Vakser, Ilya A.

2006-01-01

Protein docking software GRAMM-X and its web interface () extend the original GRAMM Fast Fourier Transformation methodology by employing smoothed potentials, refinement stage, and knowledge-based scoring. The web server frees users from complex installation of database-dependent parallel software and maintaining large hardware resources needed for protein docking simulations. Docking problems submitted to GRAMM-X server are processed by a 320 processor Linux cluster. The server was extensively tested by benchmarking, several months of public use, and participation in the CAPRI server track. PMID:16845016

Lipoxygenase directed anti-inflammatory and anti-cancerous secondary metabolites: ADMET-based screening, molecular docking and dynamics simulation.

PubMed

Singh, Swati; Awasthi, Manika; Pandey, Veda P; Dwivedi, Upendra N

2017-02-01

Lipoxygenases (LOXs), key enzymes involved in the biosynthesis of leukotrienes, are well known to participate in the inflammatory and immune responses. With the recent reports of involvement of 5-LOX (one of the isozymes of LOX in human) in cancer, there is a need to find out selective inhibitors of 5-LOX for their therapeutic application. In the present study, plant-derived 300 anti-inflammatory and anti-cancerous secondary metabolites (100 each of alkaloids, flavonoids and terpenoids) have been screened for their pharmacokinetic properties and subsequently docked for identification of potent inhibitors of 5-LOX. Pharmacokinetic analyses revealed that only 18 alkaloids, 26 flavonoids, and 9 terpenoids were found to fulfill all the absorption, distribution, metabolism, excretion, and toxicity descriptors as well as those of Lipinski's Rule of Five. Docking analyses of pharmacokinetically screened metabolites and their comparison with a known inhibitor (drug), namely zileuton revealed that only three alkaloids, six flavonoids and three terpenoids were found to dock successfully with 5-LOX with the flavonoid, velutin being the most potent inhibitor among all. The results of the docking analyses were further validated by performing molecular dynamics simulation and binding energy calculations for the complexes of 5-LOX with velutin, galangin, chrysin (in order of LibDock scores), and zileuton. The data revealed stabilization of all the complexes within 15 ns of simulation with velutin complex exhibiting least root-mean-square deviation value (.285 ± .007 nm) as well as least binding energy (ΔG bind  = -203.169 kJ/mol) as compared to others during the stabilization phase of simulation.

Medicinal plant phytochemicals and their inhibitory activities against pancreatic lipase: molecular docking combined with molecular dynamics simulation approach.

PubMed

Ahmed, Bilal; Ali Ashfaq, Usman; Usman Mirza, Muhammad

2018-05-01

Obesity is the worst health risk worldwide, which is linked to a number of diseases. Pancreatic lipase is considered as an affective cause of obesity and can be a major target for controlling the obesity. The present study was designed to find out best phytochemicals against pancreatic lipase through molecular docking combined with molecular dynamics (MD) simulation. For this purpose, a total of 3770 phytochemicals were docked against pancreatic lipase and ranked them on the basis of binding affinity. Finally, 10 molecules (Kushenol K, Rosmarinic acid, Reserpic acid, Munjistin, Leachianone G, Cephamycin C, Arctigenin, 3-O-acetylpadmatin, Geniposide and Obtusin) were selected that showed strong bonding with the pancreatic lipase. MD simulations were performed on top five compounds using AMBER16. The simulated complexes revealed stability and ligands remained inside the binding pocket. This study concluded that these finalised molecules can be used as drug candidate to control obesity.

Automated docking of ligands to an artificial active site: augmenting crystallographic analysis with computer modeling

NASA Astrophysics Data System (ADS)

Rosenfeld, Robin J.; Goodsell, David S.; Musah, Rabi A.; Morris, Garrett M.; Goodin, David B.; Olson, Arthur J.

2003-08-01

The W191G cavity of cytochrome c peroxidase is useful as a model system for introducing small molecule oxidation in an artificially created cavity. A set of small, cyclic, organic cations was previously shown to bind in the buried, solvent-filled pocket created by the W191G mutation. We docked these ligands and a set of non-binders in the W191G cavity using AutoDock 3.0. For the ligands, we compared docking predictions with experimentally determined binding energies and X-ray crystal structure complexes. For the ligands, predicted binding energies differed from measured values by ± 0.8 kcal/mol. For most ligands, the docking simulation clearly predicted a single binding mode that matched the crystallographic binding mode within 1.0 Å RMSD. For 2 ligands, where the docking procedure yielded an ambiguous result, solutions matching the crystallographic result could be obtained by including an additional crystallographically observed water molecule in the protein model. For the remaining 2 ligands, docking indicated multiple binding modes, consistent with the original electron density, suggesting disordered binding of these ligands. Visual inspection of the atomic affinity grid maps used in docking calculations revealed two patches of high affinity for hydrogen bond donating groups. Multiple solutions are predicted as these two sites compete for polar hydrogens in the ligand during the docking simulation. Ligands could be distinguished, to some extent, from non-binders using a combination of two trends: predicted binding energy and level of clustering. In summary, AutoDock 3.0 appears to be useful in predicting key structural and energetic features of ligand binding in the W191G cavity.

Mission options for rendezvous with the most accessible Near-Earth Asteroid - 1989 ML

NASA Technical Reports Server (NTRS)

Mcadams, Jim V.

1992-01-01

The recent discovery of the Amor-class 1989 ML, the most accessible known asteroid for minimum-energy rendezvous missions, has expedited the search for frequent, low-cost Near-Earth Asteroid rendezvous and round-trip missions. This paper identifies trajectory characteristics and assesses mass performance for low Delta V ballistic rendezvous opportunities to 1989 ML during the period 1996-2010. This asteroid also offers occasional unique extended mission opportunities, such as the lowest known Delta V requirement for any asteroid sample return mission as well as pre-rendezvous asteroid flyby and post-rendezvous comet flyby opportunities requiring less than 5.25 km/sec total Delta V. This paper also briefly comments concerning mission opportunities for asteroid 1991 JW, which recently replaced other known asteroids as the most accessible Near-Earth Asteroid for fast rendezvous and round-trip missions.

Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

NASA Technical Reports Server (NTRS)

Wood, S. J.; Dean, S. L.; De Dios, Y. E.; Moore, S. T.

2010-01-01

INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.