双臂自由飞行空间机器人捕捉目标实验研究

本文主要介绍了在地面上模拟的空间微重力环境下双臂自由飞行空间机器人捕捉目标的实验。首先介绍了双臂自由飞行空间机器人地面实验平台，该实验平台由机器人模型、视觉系统、无线通讯系统、网络系统、操作台、运动规划系统、气浮系统七个子模块构成。其次简单介绍了双臂自由飞行空间机器人捕捉目标策略，最后介绍了基于该实验平台的几种实验。     

Space debris and the need for space traffic control

This report summarises the presentations which took place at the ‘Space Traffic Control – Is the Space Debris Problem Solvable?’ conference hosted by the Royal Aeronautical Society on the 2nd July 2013. The conference sought to promote discussion over methods to deal with the issue of space debris in particular and speakers included representatives from the European Space Agency, the United Kingdom Space Agency, practitioners and academia. Themes which emerged during the conference included the urgency of the problem of space debris, the need for short-term and long-term solutions, the necessity for the development and implementation of space debris remediation technologies to complement existing mitigation efforts and, last but not least, the wider applications of space traffic control. Regarding the sub-title of the conference, ‘is the space debris problem solvable?’, it would appear from the presentations that while there is the potential for future management of the issue through debris remediation and harmonised mitigation efforts, no comprehensive solutions exist at the time of writing.     

Controlling the motion of a spacecraft when approaching a large object of space debris

The problem of calculating the parameters of maneuvering a spacecraft as it approaches a large object of space debris (LOSD) in close near-circular noncoplanar orbits has been considered. In [1–4], the results of analyzing the problem of the flyby of the separated LOSD groups have been presented. It has been assumed that a collector spacecraft approaches the LOSD and captures it or it is inserted into the nozzle of a small spacecraft that has a proper propulsion system (PS). However, in these papers, the flight from one object to another was only analyzed and the problem of approaching to LOSD with a given accuracy was not considered. This paper is a supplement to the cycle of papers [1–4]. It is assumed that, the final stage of approaching the LOSD is implemented by maneuvering in many orbits (up to several dozens) with low-thrust engines, but the PS operating time is fairly small compared with the orbit period in order to make it possible to use impulse approximation in the calculations.     

Large-size space debris flyby in low earth orbits

the analysis of NORAD catalogue of space objects executed with respect to the overall sizes of upper-stages and last stages of carrier rockets allows the classification of 5 groups of large-size space debris (LSSD). These groups are defined according to the proximity of orbital inclinations of the involved objects. The orbits within a group have various values of deviations in the Right Ascension of the Ascending Node (RAAN). It is proposed to use the RAANs deviations' evolution portrait to clarify the orbital planes’ relative spatial distribution in a group so that the RAAN deviations should be calculated with respect to the concrete precessing orbital plane of the concrete object. In case of the first three groups (inclinations i = 71°, i = 74°, i = 81°) the straight lines of the RAAN relative deviations almost do not intersect each other. So the simple, successive flyby of group’s elements is effective, but the significant value of total ΔV is required to form drift orbits. In case of the fifth group (Sun-synchronous orbits) these straight lines chaotically intersect each other for many times due to the noticeable differences in values of semi-major axes and orbital inclinations. The intersections’ existence makes it possible to create such a flyby sequence for LSSD group when the orbit of one LSSD object simultaneously serves as the drift orbit to attain another LSSD object. This flyby scheme requiring less ΔV was called “diagonal.” The RAANs deviations’ evolution portrait built for the fourth group (to be studied in the paper) contains both types of lines, so the simultaneous combination of diagonal and successive flyby schemes is possible. The value of total ΔV and temporal costs were calculated to cover all the elements of the 4th group. The article is also enriched by the results obtained for the flyby problem solution in case of all the five mentioned LSSD groups. The general recommendations are given concerned with the required reserve of total ΔV and with amount of detachable de-orbiting units onboard the maneuvering platform and onboard the refueling vehicle.     

Will space run out of space? The orbital debris problem and its mitigation

An appraisal of current and future risks from space debris is presented with the aid of calculations carried out by the MASTER model. The efficacy of various technical options -- such as fuel venting, de-orbiting and use of a graveyard orbit -- for counteracting the problem is discussed. The article then focuses on governmental and international cooperative measures and looks at the recent work done by subcommittees of the UN COPUOS.     

Ground assisted rendezvous with geosynchronous satellites for the disposal of space debris by means of Earth-oriented tethers

Previous studies have shown that extended length Earth-oriented tethers in the geosynchronous (GEO) region can be used to re-orbit satellites to disposal orbits. One such approach involves the extension of a GEO based tether, collection of a debris object, and retraction of the tether, which transfers the retracted configuration to a higher energy orbit for debris disposal. The re-extension of the tether after debris disposal returns the configuration to the near-GEO altitude. The practical feasibility of such a system depends on the ability to collect GEO debris objects, attach them to a deployed tether system, and retract the tethers for transfer to the disposal orbits.This study addresses the collection and delivery of debris objects to the deployed tether system in GEO. The investigation considers the number, type and the characteristics of the debris objects as well as the collection tug that can be ground controlled to detect, rendezvous and dock with the debris objects for their delivery to the tethers system.A total of more than 400 objects are in drift orbits crossing all longitudes either below or above the geostationary radius. More than 130 objects are also known to librate around the stable points in GEO with periods of libration up to five or more years. A characterization of the position and velocity of the debris objects relative to the collection tug is investigated. Typical rendezvous performance requirements for uncooperative GEO satellites are examined, and the similarities with other approaches such as the ESA's CX-OLEV commercial mission proposal to extend the life of geostationary telecommunication satellites are noted.     

Passive optical detection of submillimeter and millimeter size space debris in low Earth orbit

Understanding of the space debris environment and accuracy of its observation-validated models are essential for optimal design and safe operation of satellite systems. Existing ground-based optical telescopes and radars are not capable of observing debris smaller than several millimeters in size. A new experimental and instrumental approach – the space-based Local Orbital Debris Environment (LODE) detector – aims at in situ measuring of debris with sizes from 0.2–10 mm near the satellite orbit. The LODE concept relies on a passive optical photon-counting time-tagging imaging system detecting solar photons (in the visible spectral range) reflected by debris crossing the sensor field of view. In contrast, prior feasibility studies of space-based optical sensors considered frame detectors in the focal plane. The article describes the new experimental concept, discusses top-level system parameters and design tradeoffs, outlines an approach to identifying and extracting rare debris detection events from the background, and presents an example of performance characteristics of a LODE sensor with a 6-cm diameter aperture. The article concludes with a discussion of possible sensor applications on satellites.     

Experimental modeling of impact of space dust and debris on flying vehicles and their components

For modeling the space dust and debris effect on flying vehicles, an investigation of the low-velocity impact of corundum and tungsten powders, accelerated by explosion, with particle size up to 50 microns on steel and duralumin targets was carried out. Also studied was the impact of sewing needles against metal and dielectric barriers, antimeteor shield models, and duralumin containers with hard materials, gunpowder, and explosives. At impact of powders at velocities of up to 2 km/s and needles at a velocity of up to 0.5 km/s against metals, the channels arose with lengths greater than 100 and 50 diameters of a striker. At impact of needles, the containers with hard explosive materials were destroyed because of ignition of their contents, and containers with plastic explosive were punched through, and no burning occurred. The energy, released at destruction of plexiglas blocks and containers with hard materials, many times exceeded the impact energy due to release of the elastic energy stored in them.     

Modeling the sodium potassium droplet interactions with the low earth orbit space debris environment

The NASA/JSC sodium potassium (NaK) RORSAT coolant source and propagation model has been extended to 1 mm in diameter via a size distribution, which is an inverse power law fit that has been modified to damp out in the large size regime. This function matches the observed Haystack NaK population down to diameters of about 6 mm. The extrapolated function takes the population to arbitrarily small sizes all the while retaining the mass dominance of the 1–3 cm droplets that is observed in the Haystack data. This result is physically satisfying since the mechanism of NaK ejection appears to be a nonviolent release at low relative velocities. We propose that any NaK particles smaller than about 1 mm that exist would not be due to that mechanism. Instead, we show that such a population could be the result of subsequent collisions of NaK droplets with larger resident space objects and the micrometeoroid population. Our preliminary analysis shows that collisions between these populations are likely in the time period of 1980 through present-day. Though the result of such collisions is generally unknown it is probable that some ejecta of NaK enter the low Earth orbit (LEO) environment as a result. It is these secondary NaK droplets/particles that we contend are the likely impactors noted on returned surfaces.     

The need for a United Nations space policy

The international community is entering an era of shared global utilities from space and is increasingly reliant on space systems and activities that support a myriad of applications and utilities on Earth. A growing number of states are seeking to develop or extend their space capabilities. At the same time, a variety of non-state actors are also extending their involvement in space activities. The United Nations is the principal inter-governmental forum to deal with various space issues of global importance. Moreover, the United Nations system itself has become increasingly reliant on space systems for its day-to-day operations. In order for the United Nations to play its necessary role in the space arena, it will need to be supported by a space policy. A United Nations space policy would provide over-arching guidance on space activities for UN stakeholders in the space arena; it would inform UN participation in space activities and would promote improved coordination and cooperative governance of outer space activities. A world without a common UN space policy will not be able to respond to the challenges of the rapidly evolving space arena in the 21st century.     

Options for space — proposal for a programme

Because of the physical scale of human operations at present, we need to extend them into the Solar System for sustainability and into interstellar space for knowledge. Stabilizing the population on Earth, as well as reducing poverty, is vital, as is a more environmentally appropriate demographic transition than the historical one. Space assets can contribute most to strategic threats in areas like power and minerals and can also assist global education. Such public interest is important as education, but it is vital to remember that a certain level of precision in materials and engineering is needed before ideas become realizable. The crucial step is to turn the space environment to an open market and override the present government monopoly constraint. As a start, a Center for International Space Industrialization Research (CSIR) is to be set up as a model for the better understanding of the issues involved, thus making a case for strategic investment for space assets.     

Funding for space - private finance for public space missions?

Private users of space capability are used to buying a service, not a spacecraft. The supplier builds, launches and operates the spacecraft and the users only pay for the service that they receive. Publicly funded users could benefit from the same approach. Transferring responsibility for the success of the mission to a true prime contractor who is best able to manage technical and programme risks can lead to significant reductions in costs and timescales, but demands changes in attitudes by governments, users, industry and space agencies.     

Optimal target grasping of a flexible space manipulator for a class of objectives

Space graspers are complex systems, composed by robotic arms placed on an orbiting platform. In order to fulfil the manoeuvres’ requirements, it is necessary to properly model all the forces acting on the space robot. A fully nonlinear model is used to describe the dynamics, based on a multibody approach. The model includes the orbital motion, the gravity gradient, the aerodynamic effects, as well as the flexibility of the links. The present paper aims to design, thanks to nonlinear optimization algorithms, a class of manoeuvres that, given the same target to be grasped, are characterized by different mission objectives. The grasping mission can be performed with the objective to minimize the power consumption. Collision avoidance constraints can be also added when the target is equipped with solar panels or other appendices. In some cases, large elastic displacements should be expected, possibly leading to an inaccurate positioning of the end-effector. Therefore, different design strategies can require that the manoeuvre is accomplished with minimum vibrations’ amplitude at the end-effector. Performance of the different strategies is analyzed in terms of control effort, trajectory errors, and flexible response of the manipulator.     

A model for the evolution of the on-orbit man-made debris environment

A model for the evolution of the low Earth orbit man-made debris population is presented and the results of several test cases discussed. Debris sources include normal operations in space, explosions occurring on spacecraft in orbit, and collisions between objects in orbit; the stochastic occurrence of these deposition events is modeled using Monte Carlo techniques. A technique for discriminating between objects populating long-life vs rapid-decay orbits is discussed and applied to the analysis of debris contributions from collisions of comparable sized objects. In varying degrees, each of the cases presented indicate there is cause for concern for spacecraft and space operations from the 1990s onward-man-made debris will play a role which may vary from presenting a considerable hazard to certain operations or certain spacecraft to effectively prohibiting the use of certain spaceccraft or space operations.     

Making space for history

This report summarizes the presentations given at the third annual British Rocketry Oral-History Project, held in Surrey, UK in April 2001. A wide range of papers was given (to an equally diverse audience), covering past and present developments in air and space, both military and civilian. Many of the scientists and engineers who had worked on specific projects were present and their personal reminiscences enlivened proceedings. The importance of history in understanding not only the past but also the future of space efforts was emphasized.     

Bright light as a chronobiological countermeasure for shiftwork in space

Work-rest schedules during long duration space missions involve several factors which could disrupt sleep and circadian temporal organisation: (1) displacement of sleep due to two-shift operations; (2) planned or unplanned schedule changes due to operational requirements; (3) social and light Zeitgebers different from those on earth; (4) changes in the gravitational exposure. Timed bright light treatment has the potential to accelerating adaptation to schedule changes. Four male subjects were exposed to two sessions of 11 d of simulated microgravity (6 ° head down tilt bedrest) with 6-h extensions of the wake period on 2 days (12-h phase delay). In a blind crossover design, subjects were exposed to bright light (> 3500 lux) for 5 h on each of the 2 shift days and the following day, at times either expected to accelerate the adjustment to the phase delay (experimental condition) or to have no phase shifting effect (control condition). Sleep was recorded polygraphically, the circadian system was monitored by recordings of heart rate and body temperature, and by collection of urine (electrolyte and hormone excretion). Only the rhythms of 6-hydroxymelatoninsulphate and potassium excretions showed significantly enhanced adjustment under the experimental condition. Different rhythms Actapted to the 12-h delay at different rates, comparable to those observed after time zone shifts. Sleep was shorter in simulated weightlessness than in normal ambulatory age-matched subjects, consistent with the shorter sleep durations characteristic of space flight. These results confirm the disruptive effects of wake-rest schedule shifts on sleep and circadian rhythms. Contrary to our initial hypothesis, 5-h exposures to bright light finishing at the time of the circadian temperature minimum were not more effective at accelerating adjustment to a 12-h schedule delay than exposures coinciding with the temperature maximum. We conclude that, while bright light may accelerate adjustment to work-rest schedule delays, any such effect seems to be largely independent from the timing of the light exposure.     

On a lunar space elevator

We consider a space elevator system for lunar surface access that consists of a space station in circumlunar orbit, a cable reaching down to some meters above the surface and a magnetically levitated vehicle driven by a linear motor. It accelerates the load to be lifted to the speed of the cable end. Loads to be delivered are either put on the vehicle and slowed down by it or they are slowed down by a sand braking technique in a mare terrain. It is technically possible to operate this transport system nearly without fuel supply from Earth. We calculate various steel cable dimensions for a static stress maximum of $\text{1}\text{5}\text{th}$ of the tensile strength. The process of takeover is considered in detail. Five ways of eliminating the adverse large cable elongation due to the load are described. The touchdown process and behaviour of the cable after disconnection are analysed. The positive difference between the speed of the load at takeover and cable end can excite a large inplane swing motion. We propose to damp it by a dissipative pulley that hangs in a loop of wire leading to the ends of two beams mounted on the space station tangentially to the orbit, the pulley's core being connected with the load. Roll librations are damped by energy losses in the elastic beams; damping can be reinforced by viscous beam elements and/or controlled out-of-plane motions of the beams. We argue in favour of the possibility of fast deployment. The problems of vehicle vibrations and agglutination at sand braking blades are underlined and their combined experimental investigation is suggested.     

Europe needs a space policy

This article argues that growing space activities are essential to maintain European high-technology ambitions. The approval of ESA's future programme at the ministers' meeting in late 1991 is regarded as an absolute minimum and the adoption of a collective European space policy setting European autonomy, international cooperation, competitiveness and equitable market conditions is urgently required. The article further argues that a power structure to define, adopt and update such a policy and monitor its implementation must be established. It should be based on ESA, with other organizations concerned with space playing advisory roles.