First flight of the ASTROCULTURE (TM) experiment as a part of the U.S. Shuttle/MIR program.

A number of space-based experiments have been conducted to assess the impact of microgravity on plant growth and development. In general, these experiments did not identify any profound impact of microgravity on plant growth and development, though investigations to study seed development have indicated difficulty in plants completing their reproductive cycle. However, it was not clear whether the lack of seed production was due to gravity effects or some other environmental condition prevailing in the unit used for conducting the experiment. The ASTROCULTURE (TM) flight unit contains a totally enclosed plant chamber in which all the critically important environmental conditions are controlled. Normal wheat (Triticum aestivum L.) growth and development in the ASTROCULTURE (TM) flight unit was observed during a ground experiment conducted prior to the space experiment. Subsequent to the ground experiment, the flight unit was transported to MIR by STS-89, as part of the U.S. Shuttle/MIR program, in an attempt to determine if super dwarf wheat plants that were germinated in microgravity would grow normally and produce seeds. The experiment was initiated on-orbit after the flight unit was transferred from the Space Shuttle to MIR. The ASTROCULTURE (TM) flight unit performed nominally for the first 24 hours after the flight unit was activated, and then the unit stopped functioning abruptly. Since it was not possible to return the unit to nominal operation it was decided to terminate the experiment. On return of the flight unit, it was confirmed that the control computer of the ASTROCULTURE (TM) flight unit sustained a radiation hit that affected the control software embedded in the computer. This experience points out that at high orbital inclinations, such as that of MIR and that projected for the International Space Station, the danger of encountering harmful radiation effects are likely unless the electronic components of the flight hardware are resistant to such impacts.     

Development of space-fertilized eggs and formation of primordial germ cells in the embryos of Medaka fish.

In the second International Microgravity Laboratory (IML-2) mission in 1994, four small Japanese killifish (Medaka, Oryzias latipes) made a space travel of 15 days aboard a space shuttle. These four adult Medaka fish successfully mated in space for the first time among vertebrate animals. Moreover, the eggs they laid developed normally, at least in their external appearance, hatching as fry (baby fish) in space. Fish mated and laid eggs every day during the first week. Near the end of the mission most of the eggs had a well-developed body with two pigmented eyes. In total, 43 eggs were laid (detected), out of which 8 fry hatched in space, as truly 'space-originated' babies. A further 30 fry hatched within 3 days after landing. This is the normal hatching rate, compared with the ground-based data. Among the 8 space-originated fry, four were killed for histological sections, and germ cells at the gonadal region were counted for each fry. Their numbers were in the range of the germ cells of the normal control fry (ground-kept samples). Thus, as embryos developed normally in their external appearance, inside the embryos the formation of primordial germ cells took place normally in space, and their migration to the genital ridges was not hindered by microgravity. The two of the remaining space-originated fry have grown up and been creating their offspring in the laboratory. This proved that the primordial germ cells formed in space were also normal from a functional point of view. The four space-travelled adult fish re-started mating and laying eggs on the 7th day after landing and continued to do so every day afterward. Fertilization rate and hatchability of these eggs were as high as the eggs laid by the laboratory-kept fish. This fact implies that in gametogenesis of adult fish, there are no specific stages of germ cells extremely susceptible to microgravity.     

Main characteristics of biological components of developing life support system observed during the experiments aboard orbital complex MIR.

Since 1990, the orbital complex MIR has witnessed several incubator experiments for determination of spaceflight effects on embryogenesis of Japanese quail. First viable chicks who had completed the whole embryological cycle in MIR microgravity hatched out in 1990; it became clear that newborns would not be able to adapt to microgravity unaided. There were 8 successful incubations of chicks in the period from 1990 to 1999. In 1995-1997 the MIR-NASA space science program united Russian and US investigators. As a result, experiments Greenhouse-1 and 2 were performed with an effort to grow super dwarf wheat from seed to seed, and experiment Greenhouse-3 aimed at receiving two successive generations of Brassica rapa. But results of these experiments could not be used for definitive conclusions concerning effects of spaceflight on plant ontogenesis and, therefore, experiments Greenhouse-4 and 5 were staged within the framework of the Russian national space program. The experiments finally yielded wheat seeds. Some of the seeds was left on the space station and, being planted, gave viable seedlings which, in their turn, produced the second crop of space seeds.     

Biological dosimetry in Russian and Italian astronauts.

Large uncertainties are associated with estimates of equivalent dose and cancer risk for crews of long-term space missions. Biological dosimetry in astronauts is emerging as a useful technique to compare predictions based on quality factors and risk coefficients with actual measurements of biological damage in-flight. In the present study, chromosomal aberrations were analyzed in one Italian and eight Russian cosmonauts following missions of different duration on the MIR and the international space station (ISS). We used the technique of fluorescence in situ hybridization (FISH) to visualize translocations in chromosomes 1 and 2. In some cases, an increase in chromosome damage was observed after flight, but no correlation could be found between chromosome damage and flight history, in terms of number of flights at the time of sampling, duration in space and extra-vehicular activity. Blood samples from one of the cosmonauts were exposed in vitro to 6 MeV X-rays both before and after the flight. An enhancement in radiosensitivity induced by the spaceflight was observed.     

The dose rate observed on 19-21 October 1989 and its modulation by geophysical effects.

The Liulin dosimeter-radiometer on the MIR space station detected the 19 October 1989 high energy solar proton event. These results show that the main particle increase contains protons with energies up to about 9 GeV. After the main particle onset the Liulin dosimeter observed a typical geomagnetic cutoff modulation of the dose rate from the solar particles as the MIR space station traversed magnetic latitudes. When the interplanetary shock and associated solar plasma enveloped the earth on 20 October between 14 and 17 UT the radiation exposure increased significantly due to the lowering of the geomagnetic cutoff. The analysis of this event shows how various geophysical phenomena can significantly modulate the dose rate encountered by earth-orbiting spacecraft.     

Experimental investigations of quasistable radiation belts formed after solar proton events in September–October 1989 and March 1991 based on measurements made by “Liulin” dosimeter-radiometer on board the “MIR” space station

Since 1988 high sensitivity dosimeter-radiometer “Liulin” has been installed on board the MIR space station. Device measured absorbed dose rate and flux of penetrating particles. Results of measurements showed that after powerful solar proton events (SPE) September–October, 1989 and March, 1991 additional quasistable radiation belts were formed in the near earth space within the interval L=1.8−3.0. These “new” belts were observed as an additional maximums in flux (and sometimes dose) channels when crossing the SAA region. “New” belts were quasi stable and existed at least several months, decaying slightly after SPE. Dose to flux ratio analysis showed that major components of these belts were energetic electrons and protons arising in connection with preceding SPEs.     

Fate of the grafted ovaries from female salamander Pleurodeles waltl embarked on the Cosmos 2229 flight.

The flight procedure of "Experience Triton" on Cosmos 2229 made necessary to sacrifice the embarked females just after landing. In order to detect genetic abnormalities in the progency of these adult females, we have performed a surgical procedure based on the transplantation of an ovarian piece on a recipient animal. One year later, as observed after laparotomy, the grafted ovaries exhibit oogonies and some growing oocytes. In present time, out of 10 castrated and grafted adult females only one is still alive bearing a large grafted ovary. Out of 5 castrated and grafted juvenile males, three are still alive, two of them exhibit a developing grafted ovary. The grafted animals will be ready for mating within a few months. Therefore, it will soon be possible to study the progeny of animals that have been submitted to space conditions.     

Design of specific hardware to obtain embryos and maintain adult urodele amphibians aboard a space station.

The study of the influence of weightlessness on fertilization and embryonic development of a vertebrate is of importance in the understanding of basic embryogenesis and in the preparation of the future exploration of space. Accordingly, specific hardware was designed to perform experiments on board the MIR space station with an amphibian vertebrate model, taking into account the biological requirements and the multiple constraints of a long-term mission. This paper describes the biological uses and presents the technological specifications of the device developed under CNES management. The hardware was adapted to and is compatible with biological requirements as confirmed by three experiments performed in space on board the orbital MIR station.     

The effect of artificial gravity on plasma and tissue lipids in rats: The Cosmos 936 experiment

Plasma and tissue lipids in male SPF Wistar rats flown for 18.5 days aboard the Cosmos 936 biosatellite were analyzed. One group of rats was subjected to artificial gravity by use of a centrifuge during the flight. An experiment simulating known space flight factors other than weightlessness was done on Earth. An increase of total cholesterol in plasma, of nonesterified fatty acids in plasma and brown adipose tissue, of triacylglycerols in plasma, liver, thymus and bone marrow was noted several hours after biosatellite landing. Smaller changes were observed in the terrestrial control experiment. With the exception of triacylglycerol accumulation in bone marrow, these increases disappeared 25 days after biosatellite landing. Exposing the rats aboard the biosatellite to artificial gravity was beneficial in the sense that such exposure inhibited the phospholipid and triacylglycerol increase in plasma and inhibited the increase of triacylglycerol in liver and especially in bone marrow.     

探月足式飞跃机器人设计与控制

外星探测器依赖于探测装备完成探测任务，国际上常采用着陆器和巡视器设计外星探测器。外星探测器重量直接影响着探测成本，如果能把着陆器和巡视器融为一体，设计出可在月面反复着陆和行走的飞跃器，则能显著降低外星探测器的重量，大幅减少外星探测的成本。由于人类还没有实现利用腿式机器人探测月球，腿式月球探测飞跃器的开发可体现我国航天领域自主创新能力。依托北京空间飞行器总体设计部（航天五院总体部）与上海交通大学的合作项目“反复着陆器设计”，开展了月面低空飞跃着陆行走四足和六足飞跃探测器初探。飞跃探测器方案采用并联式主动腿式机构，具有在多种复杂地形上主动缓冲着陆和行走的适应能力；设计并采用了一种新型高功率密度力控驱动单元；进行了飞跃探测器的结构优化设计，实现了轻量化；针对着陆和行走过程中的控制问题，提出了主被动复合缓冲设计思路和控制方法，实现了飞跃器着陆过程的缓冲和身体稳定性，具备多次缓冲、自主移动、可收拢展开、着陆姿态调整、复杂地形适应等多种功能。     

基于多源影像的探测器月面着陆点定位与精度验证

探测器月面着陆点高精度定位是探测器着陆的重要技术环节,也是地外天体探测器开展各项工作的重要前提.本文基于多源图像数据,利用图像特征匹配和多重覆盖影像定位技术,设计了探测器月面着陆点高精度定位方法,并使用嫦娥三号任务相关影像进行了定位实验与精度验证.在高精度图像匹配和几何变换的基础上,降落相机序列影像间的匹配精度达到子像...     

Lifetime total radiation risk of cosmonauts for orbital and interplanetary flights.

This paper presents results of calculations of total radiation risk for cosmonauts over their lifetimes and assessments of possible shortening of life expectancy on the basis of generalized doses calculated for cosmonauts after a long term interplanetary and orbital space missions on "MIR" station and International Space Station with the use of mathematical expressions coming from a model of change mortality rate of mammals after irradiation. Tumor risk assessments for cosmonauts over lifetime after flights are also given. Dependences of the delayed radiation consequences mentioned above on flight duration, spacecraft shielding thicknesses, solar activity and cosmonauts' age are analyzed.     

月球着陆器着陆过程动力学分析

以哈尔滨工业大学宇航空间机构及控制研究中心研制的四腿桁架式月球着陆器样机为研究对象,通过简化模型,导出了着陆器着陆过程中各个着陆脚和着陆器质心在惯性坐标系中的位置坐标方程,以此位置坐标方程为依据得到了着陆器准静态稳定性条件.通过分析着陆器与月面着陆时瞬态动力学行为,得到了着陆器在此瞬态的各动力学参数的计算公式,以此为依据,并离散时间变量,给出了可以程序化实现整个动态着陆过程动力学模拟的计算过程,为进一步研究着陆过程动力学行为奠定了基础.      

Pleurodeles waltl, amphibian, Urodele, is a suitable biological model for embryological and physiological space experiments on a vertebrate.

Pleurodeles waltl (amphibian, Urodele) is an appropriate biological model for space experiments on a vertebrate. One reason for interest in this animal concerns the study of the effects of absence of gravity on embryonic development. First, after mating (on Earth) the females retain live, functional sperm in their cloacum for up to 5 months, allowing normal in vivo fertilisation after hormonal stimulation. Second, their development is slow, which allows analyses of all the key stages of ontogenesis from the oocyte to swimming tailbud embryos or larvae. We have performed detailed studies and analyses of the effects of weightlessness on amphibian Pleurodeles embryos, fertilised and allowed to develop until the swimming larvae stage. These experiments were performed in space during three missions on the MIR-station: FERTILE I, FERTILE II and NEUROGENESIS respectively in 1996, 1998 and 1999. We show that in microgravity abnormalities appeared at specific stages of development compared to 1g-centrifuge control embryos and 1g-ground control embryos. In this report we describe abnormalities occurring in the central nervous system. These modifications occur during the neurulation process (delay in the closure of the neural tube and failure of closure of this tube in the cephalic area) and at the early tailbud stage (microcephaly observed in 40% of the microgravity-embryos). However, if acephalic and microcephalic embryos are not taken into account, these abnormalities did not disturb further morphological, biochemical and functional development and the embryos were able to regulate and a majority of normal hatching and swimming larvae were obtained in weightlessness with a developmental time-course equivalent to that of 1g-centrifuge control embryos (on the MIR station) and 1g-ground control embryos.     

Readaptation of fish to 1g after long-term microgravity: behavioural results from the STS 89 mission.

The swimming behaviour of adult and neonate swordtail fish Xiphophorus helleri was qualitatively analysed from video recordings taken throughout the STS 89 spaceshuttle mission from launch to landing and thereafter. After the flight, the swimming behaviour of neonate samples was quantitatively assessed in the course of the readaptation to 1g earth gravity at days 0, 1 and 4 after recovery. Regarding the swimming behaviour during the mission, the adult fish swam thigmotactically (i.e., responding to tactile stimuli) along the walls of their aquarium, but like the neonates, they did not show any aberrant behavioural patterns. This indicates that they could easily adapt themselves to microgravity. On mission day 9, however, looping responses (most probably initiated by mechanical disturbances) occurred indicating a continuously performed "C-start" escape response (the respective body bend looks like the letter "C"). Immediately after landing (observed in videos recorded onboard the space shuttle), the adults performed a head-up swimming beating heavily with the caudal and pectoral fins; this aberrant behaviour gradually decreased during the first hours after recovery.     

含单边非完整约束飞机滑跑的建模与仿真方法

当飞机在地面上滑行时,其运动会受到风载荷和不对称刹车力矩的影响.为分析飞机的动力学行为,给出了一种基于非完整非光滑多体系统动力学的建模与数值仿真方法.将飞机视为由机身和前后起落架组成的多体系统,主起落架的轮子为纯滚动,飞机在地面滑跑时考虑前起落架轮子的侧向滑移.飞机在跑道上滑跑的动力学方程由Routh方程导出,用约束稳定化方法抑制约束的漂移.轮与地面间的摩擦模型为库仑摩擦模型并用集值函数描述,以用于判断前轮是否发生侧向滑移.最后通过数值仿真算例分析风载荷和不对称刹车力矩作用下飞机在跑道上滑行的动力学行为.      

Space experiment on behaviors of treefrog.

Japanese treefrogs (Hyla japonica) are planned to be sent to the space station MIR. Experimental system was developed to observe their behaviors under microgravity.     

The response of endocrine system to stress loads during space flight in human subject.

The responses of endocrine system to the exposure to stress-work load and hormonal changes during oral glucose tolerance tests were studied in the Slovak astronaut before (three weeks before flight), during (on the 4th and the 6th days of space flight), and after space flight (1-3 days and 15-17 days after space flight) on board of space station MIR. Blood samples during the tests were collected via cannula inserted into cubital vein, centrifuged in the special appliance Plasma-03, frozen in Kryogem-03, and at the end of the 8-day space flight transferred to Earth in special container for hormonal analysis. Preflight workload produced an increase of plasma norepinephrine and a moderate elevation of epinephrine levels. Plasma levels of insulin, growth hormone, prolactin and cortisol were not markedly changed immediately or 10 min after the end of work load. The higher increases of plasma growth hormone, prolactin and catecholamine levels were noted after workload during space flight as compared to preflight response. The higher plasma glucose and insulin levels were noted during the oral glucose tolerance test in space flight and also in the post flight period. Plasma epinephrine levels were slightly decreasing during glucose tolerance test; however, plasma norepinephrine levels were not changed. The similar patterns of catecholamine levels during glucose tolerance test were found when compared the preflight, in-flight and post flight values. These data demonstrate the changes of the dynamic responses of endocrine system to stress-work and metabolic loads during space flight in human subject.     

Landing of the asteroid probe with three-legged cushioning: Planar asymmetric dynamics and safety margin

The probes landing on the surfaces of the asteroids can increase the scientific return of the exploration missions and also promote the development of deep space resources. Because of its excellent applicability to the uneven terrain and a lighter configuration than the four-legged mechanisms, the three-legged cushioning mechanisms are suitable for dissipating the impact energy and then quickly stabilizing the probe attitude when the probe lands on the micro-gravitational surfaces of the asteroids. Research on the landing dynamics of the probe facilitates to the design of the landing-cushioning mechanism and the optimization of its configuration, as well as the assessment of the landing safety. Comparing with the previous extensive related literature focusing on landing dynamics of the probes assisted by the four-legged cushioning mechanisms, this paper studies creatively the planar dynamics considering the asymmetric characteristic and the leg-leg coupling to understand the landing process of the asteroid probe with the three-legged cushioning mechanism and thereby to optimize the configuration of cushioning mechanism and assess safety margin of the landing. According to the touchdown status, the asymmetric landing modes are classified and the coupling issue in the construction of the landing models is explained. Consequently, two types of dynamics models describing the two-stages touchdown cushioning process of the probe are established. Then, five significant configuration factors of the cushioning mechanism are extracted, and their values combinations are designed according to the Taguchi orthogonal method. On this basis, the maximum safe landing attitude angles of the probe are solved by using these values combinations as the input conditions under the dangerous situations in different landing modes. The range analysis and nonlinear fitting methods are employed to discuss the influence of the configuration factors on the landing safety margin, and the favorable parameter values of the configuration factors are determined. Next, the influence of the ground obstacle on the landing safety margin and several methods to improve the margin are researched. Finally, the complete attitude changes of the probe in two representative landing cases are analyzed. The results studied in this paper can contribute to configuration optimization of the three-legged cushioning mechanisms and safety assessment of the legged probes landing on the asteroids, as well as to provide a reference for discussing the leg-leg coupling issue received less attention in landing dynamics of the probes with the four-legged cushioning mechanisms.     

面向狭小空间的起落架收放轨迹智能设计方法

扁平化气动外形是高超声速飞行器获得较高升阻比的优先布局，但该外形严重约束了起落架的收藏空间，常规机构很难满足要求，只能采用复杂机构的三维运动实现起落架的窄空间收放。然而，当前主流的计算机辅助设计迭代试凑法在解决空间机构设计问题方面非常依赖工程经验，耗时耗力且很难得到最优结果。为解决这一问题，创新性地提出基于智能优化算法的起落架复杂机构自主设计方法。首先，分析并建立起落架收放机构的运动学理论模型；然后，建立起落架结构间距离描述及碰撞检测模型，并运用深度神经网络自主设计起落架收放机构的最优运动轨迹；最后，以某狭窄舱段的起落架收放策略设计为例，应用该设计方法进行设计。结果表明:所提设计方法可以快速得到最优的起落架收放机构设计方案，可用于指导高超声速飞行器起落架收放机构的设计。