Canada and the International Space Station program: overview and status

The twelve months since IAF 2000 have been perhaps the most exciting, challenging and rewarding months for Canada since the beginning of our participation in the International Space Station program in 1984. The highlight was the successful launch, on-orbit check out, and the first operational use of Canadarm2, the Space Station Remote Manipulator System, between April and July 2001. The anomalies encountered and the solutions found to achieve this success are described in the paper. The paper describes, also, the substantial progress that has been made, during the twelve months since IAF 2000, by Canada as it continues to complete work on all flight-elements of its contribution to the International Space Station and as we transition into real-time Space Station operations support and Canadian utilization. Canada's contribution to the International Space Station is the Mobile Servicing System (MSS), the external robotic system that is key to the successful assembly of the Space Station, the maintenance of its external systems, astronaut EVA support, and the servicing of external science payloads. The MSS ground segment that supports MSS operations, training, sustaining engineering, and logistics activities is reaching maturity. The MSS Engineering Support Center and the MSS Sustaining Engineering Facility are providing real-time support for on-orbit operations, and a Canadian Payloads Telescience Operations Center is now in place. Mission Controllers, astronauts and cosmonauts from all Space Station Partners continue to receive training at the Canadian Space Agency. The Remote Multi Purpose Room, one element of the MSS Operations Complex, will be ready to assume backroom support in 2002. Canada has completed work on identifying its Space Station utilization activities for the period 2000 through 2004. Also during the past twelve months the CSA drafted and is proceeding with the approval of a Canadian Space Station Commercialization Policy. Canadian astronauts have now participated in three ISS assembly missions--Julie Payette on STS-96, Marc Garneau on STS-97, and Chris Hadfield on STS-100 in April 2001 during which he performed Canada's first EVA and the successful installation of the Space Station Remote Manipulator System.     

Dextre: Improving maintenance operations on the International Space Station

The Special Purpose Dexterous Manipulator (SPDM), known as “Dextre”, is currently slated to launch in February 2008 for deployment on the International Space Station (ISS) as the final component of Canada's Mobile Servicing System (MSS). Dextre's primary role on the Space Station is to perform repair and replacement (R&R) maintenance tasks on robotically compatible hardware such as Orbital Replaceable Units (ORUs), thereby eventually easing the burden on the ISS crew.This burden on the on-orbit crew translates practically into crew time being a limited resource on the ISS, and as such, finding ways to assist the crew in performing their tasks or offloading the crew completely when appropriate is a bonus to the ISS program. This is already accomplished very effectively by commanding as many non-critical robotics tasks as possible, such as powering up and free-space maneuvering of the Space Station Remote Manipulator System (SSRMS), known as “Canadarm2”, from the Ground.Thus, beyond its primary role, and based on an increasing clarity regarding the challenges of external maintenance on the ISS, Dextre is being considered for use in a number of ways with the objective of improving ISS operations while reducing and optimizing the use of crew time through the use of ground control for various tasks, pre-positioning hardware, acting as a temporary storage platform to break an Extra Vehicular Activity (EVA) day into manageable timelines, and extending the physical reach and range of the Canadarm2.This paper discusses the planned activities and operations for Dextre an rationale for how these will help optimize the use of crew resources on the ISS.     

The Special Purpose Dexterous Manipulator (SPDM) Systems Engineering Effort – A successful exercise in cheaper,faster and (hopefully) better systems engineering

The Special Purpose Dexterous Manipulator (SPDM) is the latest Space Robot developed by the Canadian Space Agency (CSA) and McDonald Detwiller Space and Advanced Robotics (MD Robotics, previously Spar Aerospace) for the International Space Station (ISS). The SPDM has presented its designers with a number of new challenges in performing the Systems Engineering effort required for a complex robotic system:(1) The SPDM initial design was started and attained various levels of maturity for various components under the Space Station Freedom environment, then the Program was stopped and finally restarted under the harsher environment in which the International Space Station is being built.(2) The SPDM is the first space robot to utilize previously developed and space certified robotic components, as well as components with high-commonality to the previously developed ones (electronics, S/W).(3) New requirements levied by the Customer during the negotiations leading to the Program re-start necessitated significant architectural changes versus the SPDM configuration `frozen' when the Program was shut down.(4) The SPDM is the first robotic system of this complexity that is being built under a Firm Fixed Price contract, with the commonality assumptions as one of the cost drivers.This combination of components of various pedigree, coupled with the constraints imposed by an FFP contract have been addressed by the designers through the definition of a novel approach to integrated Systems and Design Engineering.     

偏置式冗余空间机械臂逆运动学求解的参数化方法

针对肩、肘、腕均有偏置的空间站遥操作机械臂（SSRMS）型7DOF冗余机械臂,提出了逆运动学求解的关节角参数化及臂型角参数化两种方法。前者根据机械臂的臂型特征,推导以θ1、θ2、θ6、θ7中的一个作为给定参数时其他关节角的表达式,得出8种可能解;后者首先构造与SSRMS型机械臂相对应的零偏置球关节-旋转关节-球关节（SRS）机械臂,然后以臂型角为参数求解SRS机械臂的逆运动学,再根据SSRMS与SRS机械臂的关系,得到SSRMS的8组逆解。仿真算例校验了所提方法的有效性。     

Development and verification of ground-based tele-robotics operations concept for Dextre

The Special Purpose Dextreous Manipulator (Dextre) is the latest addition to the on-orbit segment of the Mobile Servicing System (MSS); Canada's contribution to the International Space Station (ISS). Launched in March 2008, the advanced two-armed robot is designed to perform various ISS maintenance tasks on robotically compatible elements and on-orbit replaceable units using a wide variety of tools and interfaces. The addition of Dextre has increased the capabilities of the MSS, and has introduced significant complexity to ISS robotics operations. While the initial operations concept for Dextre was based on human-in-the-loop control by the on-orbit astronauts, the complexities of robotic maintenance and the associated costs of training and maintaining the operator skills required for Dextre operations demanded a reexamination of the old concepts. A new approach to ISS robotic maintenance was developed in order to utilize the capabilities of Dextre safely and efficiently, while at the same time reducing the costs of on-orbit operations. This paper will describe the development, validation, and on-orbit demonstration of the operations concept for ground-based tele-robotics control of Dextre. It will describe the evolution of the new concepts from the experience gained from the development and implementation of the ground control capability for the Space Station Remote Manipulator System; Canadarm 2. It will discuss the various technical challenges faced during the development effort, such as requirements for high positioning accuracy, force/moment sensing and accommodation, failure tolerance, complex tool operations, and the novel operational tools and techniques developed to overcome them. The paper will also describe the work performed to validate the new concepts on orbit and will discuss the results and lessons learned from the on-orbit checkout and commissioning of Dextre using the newly developed tele-robotics techniques and capabilities.     

Should the Space Station be an ark?

This essay explores the pros and cons of maximizing the number of species that can be maintained on the Space Station. It reviews some of the history of comparative space biology to show that different cultures have different perspectives on the study of non-traditional research organisms (ie non-rodents) in space. Despite these differences, there are simple principles that all international partners in the Space Station endeavour should be able to uphold when deciding what facilities to build and what species to fly. As an argument for maximizing the taxonomic diversity on the Space Station, examples are given to show how very similar organisms may have different reactions to microgravity. At the same time the political pressure in the USA to make the Space Station an institution specifically servicing the 'health, well-being and economic benefits of people on earth', is acknowledged. Ultimately the justification for what species will be on the Space Station should rest with the quality of the scientific questions being asked.     

Research priorities and plans for the International Space Station-results of the 'REMAP' Task Force

Recent events in the International Space Station (ISS) Program have resulted in the necessity to re-examine the research priorities and research plans for future years. Due to both technical and fiscal resource constraints expected on the International Space Station, it is imperative that research priorities be carefully reviewed and clearly articulated. In consultation with OSTP and the Office of Management and budget (OMB), NASA's Office of Biological and Physical Research (OBPR) assembled an ad-hoc external advisory committee, the Biological and Physical Research Maximization and Prioritization (REMAP) Task Force. This paper describes the outcome of the Task Force and how it is being used to define a roadmap for near and long-term Biological and Physical Research objectives that supports NASA's Vision and Mission. Additionally, the paper discusses further prioritizations that were necessitated by budget and ISS resource constraints in order to maximize utilization of the International Space Station. Finally, a process has been developed to integrate the requirements for this prioritized research with other agency requirements to develop an integrated ISS assembly and utilization plan that maximizes scientific output.     

The International Space Station: a pathway to the future

Nearly six years after the launch of the first International Space Station element, and four years after its initial occupation, the United States and our 6 international partners have made great strides in operating this impressive Earth orbiting research facility. This past year we have done so in the face of the adversity of operating without the benefit of the Space Shuttle. In his January 14, 2004, speech announcing a new vision for America's space program, President Bush affirmed the United States' commitment to completing construction of the International Space Station by 2010. The President also stated that we would focus our future research aboard the Station on the long-term effects of space travel on human biology. This research will help enable human crews to venture through the vast voids of space for months at a time. In addition, ISS affords a unique opportunity to serve as an engineering test bed for hardware and operations critical to the exploration tasks. NASA looks forward to working with our partners on International Space Station research that will help open up new pathways for future exploration and discovery beyond low Earth orbit. This paper provides an overview of the International Space Station Program focusing on a review of the events of the past year, as well as plans for next year and the future.     

带空间机械臂的充液航天器姿态动力学研究

本文研究空间机械臂运动对充液航天器姿态的影响，讨论了利用机械臂调整充液航天器姿态问题、以及机械臂操作与航天器姿态稳定的协调问题。研究表明：影响充液航天器姿态的因素除了机械臂运动的路径，还有机械臂运动的时间、机械臂转角的变化规律、液体的粘性、质量和惯性张量等。其中机械臂运动时间的影响比较明显，而且机械臂运动得越慢对航天器姿态的影响越大。合理地选择机械臂操作时间和机械臂转角变化规律，可以实现机械臂操作     

A space station experiment on large antenna assembly and measurement

The large assembly antenna in space can meet future requirements of both high frequency and large aperture. This paper proposes an experiment on assembling a large antenna at the Space Station, and discusses a realizable procedure of the experiment. The objective of this experiment is that a large antenna of a 10-m diameter is assembled in space and at the same time problems occurring in the assembling process are clarified by conducting the following experiments: assembly of test articles by manipulators, measurement of both mechanical and electrical performance of the assembled antenna, test of the pointing control system, and operational test. In the operational test, the weather radar development test and the large aperture microwave radiometer development test are conducted. Furthermore, the problem areas and items of further study are discussed in this paper.     

A regenerable carbon dioxide removal and oxygen recovery system for the Japanese Experiment Module

The Japanese Space Station Program is now under Phase B study by the National Space Development Agency of Japan in participation with the U.S. Space Station Program. A Japanese Space Station participation will be a dedicated pressurized module to be attached to the U.S. Space Station, and is called Japanese Experiment Module (JEM). Astronaut scientists will conduct various experimental operations there. Thus an environment control and life support system is required. Regenerable carbon dioxide removal and collection technique as well as oxygen recovery technique has been studied and investigated for several years. A regenerable carbon dioxide removal subsystem using steam desorbed solid amine and an oxygen recovery subsystem using Sabatier methane cracking have a good possibility for the application to the Japanese Experiment Module. Basic performance characteristics of the carbon dioxide removal and oxygen recovery subsystem are presented according to the results of a fundamental performance test program. The trace contaminant removal process is also investigated and discussed. The solvent recovery plant for the regeneration of various industrial solvents, such as hydrocarbons, alcohols and so on, utilizes the multi-bed solvent adsorption and steam desorption process, which is very similar to the carbon dioxide removal subsystem. Therefore, to develop essential components including adsorption tank (bed), condenser. process controller and energy saving system, the technology obtained from the experience to construct solvent recovery plant can be easily and effectively applicable to the carbon dioxide removal subsystem. The energy saving efficiency is evaluated for blower power reduction, steam reduction and waste heat utilization technique. According to the above background, the entire environment control and life support system for the Japanese Experiment Module including the carbon dioxide removal and oxygen recovery subsystem is evaluated and proposed.     

The Space Shuttle—Evaluating an American icon

The Space Transportation System (STS), for better or worse, has dominated the US space program for some 30 years and is now an American icon. The Space Shuttle orbiters have flown over 120 missions and certainly accomplished some amazing feats, including the deployment of the International Space Station (ISS), the launch and double repair of the Hubble Telescope, a number of classified missions for the US defense establishment and the cementing of international cooperation in space. As the remaining Space Shuttle orbiters head toward various museums, it is timely to look at the STS program in terms of key US space policy decisions that have paralleled the Space Shuttle’s often troubled history. This article seeks, from both a historical and a policy perspective, to assess what might have been. While noting the major accomplishments of the STS, it also identifies what can best be characterized as major lost opportunities and flawed policy decisions that have had multi-billion dollar consequences. In this regard, the US Congress, the White House, and NASA leadership have all played a role. If there have been failings, they have not been by NASA alone, but the entire US space policy leadership.     

Medical concerns for exploration-class missions

The Space Exploration Initiative will challenge life scientists with a diverse set of crew medical risks. The varied sources of this cumulative risk are identified and briefly discussed in terms of risk assessment and preliminary plans for risk management. The roles of Space Station Freedom and other flight programs are discussed in the context of exploration medical objectives; and the significant differences between Space Station era (second generation) and exploration medical support systems (third generation) are reviewed.     

KIBO (Japanese Experiment Module in ISS) operations—2008/3–2009/10

Japan Aerospace Exploration Agency (JAXA) launched its own first manned experiment facility in space called the KIBO (Japanese Experiment Module, JEM) in 2008 and 2009 and started operations as part of International Space Station (ISS). To accomplish this Operation, JAXA made its own ground facility in Tsukuba, Japan, called Space Station Integration and Promotion Center (SSIPC). Ground personnel at SSIPC called the JEM Flight Control Team (JFCT) operate the KIBO and have learnt many lessons during its operation. In this presentation, some topics are chosen and explained such as (1) crew/ground personnel interaction and (2) planning lessons learned for manned space activities.     

Microgravity research results and experiences from the NASA/MIR space station program

The Microgravity Research Program (MRP) participated aggressively in Phase 1 of the International Space Station Program using the Russian Mir Space Station. The Mir Station offered an otherwise unavailable opportunity to explore the advantages and challenges of long duration microgravity space research. Payloads with both National Aeronautics and Space Agency (NASA) and commercial backing were included as well as cooperative research with the Canadian Space Agency (CSA). From this experience, much was learned about long-duration on-orbit science utilization and developing new working relationships with our Russian partner to promote efficient planning, operations, and integration to solve complexities associated with a multiple partner program.

This paper focuses on the microgravity research conducted onboard the Mir space station. It includes the Program preparation and planning necessary to support this type of cross increment research experience; the payloads which were flown; and summaries of significant microgravity science findings.     

Canada's role on space station

The paper addresses the evolution of the Canadian Space Station Program between 1981 and 2003. Discussions with potential international partners, aimed at jointly developing the current International Space Station program, were initiated by NASA in 1982. Canada chose, through the further development of the technologies of Canadarm on the space shuttle, to provide and operate an advanced and comprehensive external robotics system for space station, and to use the space station for scientific and commercial purposes. The program was to become a corner-stone of the new Canadian Space Agency. The development phase of the Canadian Space Station Program has been completed and two of the three major elements are currently operational in space.     

国外空间站外部污染控制体系简介

国外从20世纪80年代起就开展了对空间站外部污染及其控制措施的研究,已在总体设计、地面验证、加工制造、在轨验证等方面形成了较为成熟和完备的污染控制体系。为了借鉴他国的成功经验,服务于我国空间站建设,文章从污染分类、污染影响、污染分析、污染控制要求、污染控制措施、污染验证等方面对国外空间站外部污染控制体系进行了介绍,并对我国的空间站外部污染研究提出了建议。     

Leadership issues with multicultural crews on the international space station: lessons learned from Shuttle/Mir

In isolated and confined environments, two important leadership roles have been identified: the task/instrumental role (which focuses on work goals and operational needs), and the supportive/expressive role (which focuses on morale goals and emotional needs). On the International Space Station, the mission commander should be familiar with both of these aspects of leadership. In previous research involving a 135-day Mir space station simulation in Moscow and a series of on-orbit Mir space station missions during the Shuttle/Mir program, both these leadership roles were studied. In new analyses of the Shuttle/Mir data, we found that for crewmembers, the supportive role of the commander (but not the task role) related positively with crew cohesion. For mission control personnel on the ground, both the task and supportive roles of their leader were related positively to mission control cohesion. The implications of these findings are discussed in terms of leadership on board the International Space Station.     

Law aboard the space station

For over two decades, multilateral treaties have governed the spaceborne activities of nations in a variety of situations. In recent years, however, it has been apparent that a legal vacuum exists concerning the activities of individual citizens who are sent into space by the spacefaring nations. Few laws exist which are specifically intended to regulate private individuals and entities in space. This situation has led to uncertainty for potential participants in NASA's international Space Station programme. Moreover, it now appears that the Intergovernmental Agreement concerning the Space Station may not solve the problem.