The extravehicular mobility unit: A review of environment, requirements, and design changes in the US spacesuit

Requirements are rarely static, and are ever more likely to evolve as the development time of a system stretches out and its service life increases. In this paper, we discuss the evolution of requirements for the US spacesuit, the extravehicular mobility unit (EMU), as a case study to highlight the need for flexibility in system design. We explore one fundamental environmental change, using the Space Shuttle EMU aboard the International Space Station, and the resulting EMU requirement and design changes. The EMU, like other complex systems, faces considerable uncertainty during its service life. Changes in the technical, political, or economic environment cause changes in requirements, which in turn necessitate design modifications or upgrades. We make the case that flexibility is a key attribute that needs to be embedded in the design of long-lived, complex systems to enable them to efficiently meet the inevitability of changing requirements after they have been fielded.     

Preparing EMU for Space Station

In today's fiscally constrained environment, it can be expected that systems designed for one space program will increasingly be used to support other programs. The example of the U.S. extravehicular mobility unit (EMU), designed for use with the Space Shuttle, and now part of the baseline for the International Space Station (ISS) program, illustrates the adaption process. Certifying the Shuttle's EMU for use aboard ISS requires addressing three fundamental issues: Identifying new ISS requirements to be imposed on the EMU. Extending Shuttle's EMU on-orbit service interval to meet ISS's longer missions. Certifying Shuttle's EMU to meet new environments unique to ISS. Upon completion of the certification process, Shuttle's EMU will meet all requirements for supporting both the Shuttle and ISS program. This paper discusses the processes for addressing these issues and progress to date in achieving resolution.     

Survey of mission evolution and flexibility in the Space Shuttle program

Given the diversity of missions it has accomplished and the myriad of adaptations it has undergone, the US Space Shuttle is widely regarded as a highly flexible space vehicle. With the Shuttle’s upcoming 2011 retirement, it is instructive to survey the history of this vehicle’s flexibility for the insights it can provide to the design and characterization of flexibility in future space systems. Data are presented on the evolution of mission requirements over time for 120 missions performed by the Space Shuttle over a period of some 27 years. Distinct trends in the time domain – as well as their causes – are identified and discussed, and early manifest plans from 1982 serve as a confirmation that these trends were not originally anticipated. Eight examples are then presented of engineering modifications that allowed the Shuttle to adapt and accommodate these requirement changes. Several additional instances of Shuttle flexibility are explored, such as post-Columbia disaster modification, upgrade programs and derived vehicles, and one case in which flexibility was inhibited by an early design decision.     

Identification and status of design improvements to the NASA Shuttle EMU for International Space Station application

To meet the significant increase in EVA demand to support assembly and operations of the International Space Station (ISS), NASA and industry have improved the current Shuttle Extravehicular Mobility Unit (EMU), or "space suit", configuration to meet the unique and specific requirements of an orbital-based system. The current Shuttle EMU was designed to be maintained and serviced on the ground between frequent Shuttle flights. ISS will require the EMUs to meet increased EVAs out of the Shuttle Orbiter and to remain on orbit for up to 180 days without need for regular return to Earth for scheduled maintenance or refurbishment. Ongoing Shuttle EMU improvements have increased reliability, operational life and performance while minimizing ground and on-orbit maintenance cost and expendable inventory. Modifications to both the anthropomorphic mobility elements of the Space Suit Assembly (SSA) as well as to the Primary Life Support System (PLSS) are identified and discussed. This paper also addresses the status of on-going Shuttle EMU improvements and summarizes the approach for increasing interoperability of the U.S. and Russian space suits to be utilized aboard 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.     

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 systems engineering environment for integrated satellite development

Space mission implementation faces a very dynamic environment with fast-paced information technology advancement and shrinking space budgets. A more focused use of decreasing public investments in space requires a cost reduction over their entire life cycle, up to the end of the useful life of a spacecraft. The anticipation of cost, schedule, risk and performance requirements from all over the product life cycle to the early stages of product development is generally recognised as a necessary condition to reduce life cycle cost. In order to cope with the intrinsic functional complexity of space products, such requirements engineering activity must be performed in a structured way within a systems engineering approach. This paper aims to describe how Cradle, a commercial systems engineering environment software package, can be used for integrated satellite development, taking into consideration functional and life cycle process requirements. Cradle has requirements management, system modelling, performance modelling, configuration management and document generation capabilities integrated in the same environment. Also, the paper provides some examples of application and highlights how Cradle can enhance the satellite development related activities performed by the Brazilian Institute for Space Research (INPE).     

EVA 2000: a European/Russian space suit concept

For the European manned space activities an EVA space suit system was being developed in the frame of the Hermes Space Vehicle Programme of the European Space Agency (ESA). The space suit was to serve the needs for all relevant extravehicular activities for the Hermes Columbus operations planned to begin in 2004. For the present Russian manned space programme the relevant EVAs are performed by the Orlan-DMA semi-rigid space suit. The origin of its development reaches back to the 1970s and has since been adapted to cover the needs for extravehicular activities on Salyut and MIR until today. The latest modification of the space suit, which guaranteed its completely self-contained operation, was made in 1988. However, Russian specialists considered it necessary to start developing an EVA space suit of a new generation, which would have improved performance and would cover the needs by the turn of the century and into the beginning of the next century. Potentially these two suit developments could have a lot in common based on similarities in present concepts. As future manned space activities become more and more an international effort, a safe and reliable interoperability of the different space suit systems is required. Based on the results of the Munich Minister Conference in 1991, the European Space Agency and the Russian Space Agency agreed to initiate a requirements analysis and conceptual design study to determine the feasibility of a joint space suit development, EVA 2000. The design philosophy for the EVA 2000 study was oriented on a space suit system design of: space suit commonality and interoperability; increased crew productivity and safety; increase in useful life and reduced maintainability; reduced development and production cost. The EVA 2000 feasibility study was performed in 1992, and with the positive conclusions for EVA 2000, this approach became the new joint European Russian EVA Suit 2000 Development Programme. This paper gives an overview of the results of the feasibility study and presents the joint requirements and the proposed design concept of a jointly developed European Russian space suit.     

一体化检测系统设计与实现

从工程应用的角度，建立了一体化检测系统模型。系统采用分层设计思想进行工程化设计，注重设计的先进性、灵活性和可靠性。提出了一体化检测系统的设计原则，并对系统中各单元模块进行了详细描述，最后提出了改进和提高可靠性的设想。     

International Space Station as a base camp for exploration beyond low Earth orbit

The idea for using the International Space Station (ISS) as a platform for exploration has matured in the past few years and the concept continues to gain momentum. ISS provides a robust infrastructure which can be used to test systems and capabilities needed for missions to the Moon, Mars, asteroids and other potential destinations. International cooperation is a critical enabler and ISS has already demonstrated successful management of a large multi-national technical endeavor. Systems and resources needed for expeditions can be aggregated and thoroughly tested at ISS before departure thus providing wide operational flexibility and the best assurance of mission success. A small part of ISS called an Exploration Platform (ISS-EP) can be placed in cislunar space providing immediate benefits and flexibility for future exploration missions.We will show how ISS and the ISS-EP can be used to reduce risk and improve the operational flexibility for missions beyond low Earth orbit. Life support systems and other technologies developed for ISS can be evolved and adapted to the ISS-EP and other exploration spacecrafts. New technology, such as electric propulsion and advanced life support systems can be tested and proven at ISS as part of an incremental development program. Commercial companies who are introducing transportation and other services will benefit with opportunities to contribute to the mission since ISS will serve as a focal point for the commercialization of low earth orbit services. Finally, we will show how the use of ISS provides immediate benefits to the scientific community because its capabilities are available today and certain critical aspects of exploration missions can be simulated.     

The European contribution to a global civil navigation satellite system

Space technology revolutionizes navigation. It will become the method for any task of position, velocity, range determination and time distribution. The existing navigation satellite systems of the USA (GPS) and of Russia (GLONASS) are military systems. They only partly meet the requirements of civil safety critical applications. A global civil navigation satellite system (GNSS) is required. The European Union (EU) has recognized the importance of satellite based navigation and its role for transportation in general and for the development of the Trans-European Network (TEN) in particular. It has therefore decided to become a major partner in the development of the GNSS. In this article a concept is proposed which starts with a European regional segment (ENSS) as an element for the integrated global system. This concept requires the establishment of international standards to enable seamless global service. It has the advantage of meeting both the particular demands of regions and civil user groups.     

Dynamics and control of an orbiting flexible mobile manipulator

This paper presents a Lagrangian formulation for studying the dynamics and control of the proposed Space Station based Mobile Servicing System (MSS) for a particular case of inplane libration and maneuvers. The simplified case is purposely considered to help focus on the effects of structural and joint flexibility parameters of the MSS on the complex interactions between the station and manipulator dynamics during slewing and translational maneuvers. The response results suggest that under critical combinations of parameters, the system can become unstable. During maneuvers, the deflection of the MSS can become excessive, leading to positioning error of the payload. At the same time the libration error can also be significant. A linear quadratic regulator is designed to control the deflection of the manipulator and maintain the station at its operating configuration.     

总剂量探测技术的空间应用

空间辐射对飞行器可造成辐射损伤甚至失效,对航天员的生命健康安全存在着威胁。随着航天活动的深入,对空间辐射探测技术的发展提出了更高的要求。通过辐射敏感场效应晶体管（RADFET）探测技术设计研制了总剂量探测器,介绍了探测器的设计原理和测试数据分析,以及研究发展方向和空间应用展望。     

Satellite end of life constraints: Technical and organisational solutions

Since 1974 with the radiocommunication satellite Symphony1, CNES launched and operated 11 GEO and 20 LEO satellites. During those 36 years, both flight segment and ground segment dramatically evolved and operational organisations and techniques equally improved. At the present time, CNES operates 1 GEO satellite and 17 LEO satellites with not much more people and costs than in 1986 when its first Satellite Operation Direction in Toulouse was only in charge of Telecom1A, Telecom1B and Spot1. This fantastic technical evolution combined with the huge increase of services to citizens and governments given by Space systems was unfortunately also associated with an enormous growth of space pollution by debris of all sizes. From the beginning, CNES was a major actor of the international effort to promote regulations in order to try to reduce or at least control this problematic situation. Internally, CNES, not only set up an operational on-call service to deal with collision risks, but decided to do its best to apply the new guidelines to the end of life of satellites under its responsibility even for those developed and launched a very long time ago. For instance, that was the case in 2009 for the reorbitation of the GEO satellite Telecom 2C (launched in 1995) and for the deorbitation of the LEO satellite Spot2 (launched in 1990). In addition, CNES prepares procedures to be able to be as exemplary as possible for its other spacecrafts whose end of life approaches. The constraints and challenges to face in order to cope with these new requirements are multiple: choice of final orbit, realistic calculation of re-entry duration, estimation of residual propellant, electric passivation, management of explosion risks… All these studies and operational experience gained will be helpful for the new role of CNES, which recently became in charge of controlling space operators in the frame of the new French space law on space operations.     

航天项目管理——高技术复杂项目管理

航天项目是高技术项目。航天项目管理是高技术复杂项目管理。人的动机和行为的不确定性以及高新技术的挑战是复杂性的重要根源。高技术项目组织管理需要系统思维,高技术系统研制要采用系统工程方法。系统思维和系统工程方法是项目管理者应对复杂管理局面的有效方法。     

A methodology for system-of-systems design in support of the engineering team

Space missions have experienced a trend of increasing complexity in the last decades, resulting in the design of very complex systems formed by many elements and sub-elements working together to meet the requirements. In a classical approach, especially in a company environment, the two steps of design-space exploration and optimization are usually performed by experts inferring on major phenomena, making assumptions and doing some trial-and-error runs on the available mathematical models. This is done especially in the very early design phases where most of the costs are locked-in.With the objective of supporting the engineering team and the decision-makers during the design of complex systems, the authors developed a modelling framework for a particular category of complex, coupled space systems called System-of-Systems. Once modelled, the System-of-Systems is solved using a computationally cheap parametric methodology, named the mixed-hypercube approach, based on the utilization of a particular type of fractional factorial design-of-experiments, and analysis of the results via global sensitivity analysis and response surfaces.As an applicative example, a system-of-systems of a hypothetical human space exploration scenario for the support of a manned lunar base is presented. The results demonstrate that using the mixed-hypercube to sample the design space, an optimal solution is reached with a limited computational effort, providing support to the engineering team and decision makers thanks to sensitivity and robustness information. The analysis of the system-of-systems model that was implemented shows that the logistic support of a human outpost on the Moon for 15 years is still feasible with currently available launcher classes. The results presented in this paper have been obtained in cooperation with Thales Alenia Space—Italy, in the framework of a regional programme called STEPS.¹     

A new generation of space engines

A primary method of launching future spacecraft will be the Space Transportation System (STS). Studies have identified minimum length stages capable of lifting heavy and deployed payloads from the STS low-Earth orbit to geosynchronous Earth orbit using storage or cryogenic propulsion systems.

Aerojet TechSystems is presently developing two engines suitable for these stages, a storable engine in the few thousand pound thrust range, and a cryogenic engine with a thrust of only a few hundred pounds. The stringent life and performance requirements of these engines offer new technical challenges which can only be met through the consequent employment of novel materials and processes for the storable engine and through innovative design concepts for the cryogenic engine. The storable engine breadboard testing has been accomplished, and the flightweight development program will be complete by the end of this decade. A qualified engine is anticipated for service in the early 1990 time frame. The low thrust cryogenic engine lags this storable engine by approximately three years in development and availability.

This paper discusses the technical issues, their solutions, and the development status of these two engines.     

The Soviet/Russian spacesuit history: Part III—The European connection

The European spacesuit system (ESSS) initiated by the European Space Agency (ESA) in the late 1980s had many similarities with the Soviet/Russian ORLAN spacesuit system, due to the Hermes system requirements. First, direct contacts in 1989 permitted closer comparison of the two suit systems, and soon the ORLAN manufacturer Zvezda could be contracted as support to the European spacesuit team. In particular, the suit enclosure design and predevelopment testing and operational analysis were performed in close cooperation between Zvezda and the European team under Dornier.

With the changing system requirements and a closer cooperation between ESA and the new Russian Space Agency (RKA) a new joint spaceplane/stations mission scenario came about. This scenario could be served by one spacesuit system, EVA SUIT 2000, which was to be jointly developed by a team headed by Zvezda and Dornier for ESA and RKA. ORLAN-DMA and ESSS experience and hardware were the initial platforms for these activities to create a new generation spacesuits for the Mir 2 and later the ISSs.

A suit demonstrator was manufactured and tested by the end of 1994 when ESA stopped its spacesuit development activities and the joint EVA SUIT 2000 project was terminated. However, many of the features designed, manufactured and tested for the EVA SUIT 2000 were then implemented by Zvezda in the new Russian spacesuit system ORLAN-M, now in full operation onboard the ISS.     

空间太阳望远镜的热设计和热光学分析

将卫星热控制技术与光学波像差理论相结合,以空间太阳望远镜（SST）为例,对空间光学系统的热设计和热光学分析进行了研究,以光学指标作为热设计的最终评价标准,为高分辨率空间光学系统的热设计找到了一套行之有效的方法。