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 method for calculating the resistance of spacecraft design elements under the action of space debris particles

In this paper, the problems of the application and development of models of space debris when designing means of the anti-meteorite spacecraft protection are considered. The developed method enables us to calculate the resistance of design elements based on the conjugation of a modified spatial model of the distribution of space-debris particles and ballistic limit dependences for a calculated element.     

On the problem of rotation of the ocean and icy crust of Jovian moon Europa

A mathematical model of the non-steady-state magnetosphere of the ocean of Jupiter’s moon Europa is described. This magnetosphere is induced by the magnetic field of Jupiter, and its interaction with the Europa ocean is considered. Rotation of the ocean and its icy crust with respect to the hard core is described by a system of integro-differential equations with singular kernels, the values of the Reynolds number and magnetic Reynolds number being large for the system. The solution to these equations obtained by the methods of operational calculus is analyzed quantitatively and compared with a model experiment.     

Numerical simulation of circulation of the Titan’s atmosphere: Interpretation of measurements of the <Emphasis Type="Italic">Huygens</Emphasis> probe

The results of numerical simulation of the general circulation in the Titan’s atmosphere at heights from 0 to 250 km are presented, obtained using a new model based on numerical solution of complete equations of motion of viscous compressible gas at the temperature distribution given by an empirical model. The model uses no hydrostatic equation and, as compared with traditional models, has higher resolution in vertical and over horizon. The results presented differ from results of other models and agree with the vertical profile of the zonal component of wind velocity measured by the Huygens spacecraft. Interpretation of this profile is given, including its main peculiarity consisting in a nonmonotonic behavior at heights from 60 to 75 km.     

Physical Calibrations of the FREND Instrument Installed Onboard TGO Martian Orbiter

Cosmic Research - The article presents results of ground calibrations of the FREND neutron telescope installed onboard the TGO spacecraft of the Russian-European ExoMars project. The main goal of...     

Optimization of transfers under constraints on the thrust direction: II

This paper completes the study of optimal transfers with constraints imposed on the thrust vector direction that was opened by paper [1]. The linear inhomogeneous and homogeneous constraints on the thrust direction are considered (specified either by equalities or inequalities), as well as mixed constraints. Some examples of the constraints are presented. A modified method of the transporting trajectory is applied in order to find the optimal transfer under the linear constraints on the thrust direction. This method also gives the necessary condition for a transfer possibility at a given constraint on the thrust direction. A numerical example is considered, in which the propellant consumption is analyzed for the cases of transfers with and without constraints.     

A mission template for exploration and damage mitigation of potential hazard of Near Earth Asteroids

The Apophis Exploratory and Mitigation Platform (AEMP) concept was developed as a prototype mission to explore and potentially deflect the Near Earth Asteroid (NEA) 99942 Apophis. Deflection of the asteroid from the potential 2036 impact will be achieved using a gravity tractor technique, while a permanent deflection, eliminating future threats, will be imparted using a novel albedo manipulation technique. This mission will serve as an archetypal template for future missions to small NEAs and could be adapted to mitigate the threat of collision with other potential Earth-crossing objects.     

The Mawrth Vallis region of Mars: A potential landing site for the Mars Science Laboratory (MSL) mission

The primary objective of NASA's Mars Science Laboratory (MSL) mission, which will launch in 2011, is to characterize the habitability of a site on Mars through detailed analyses of the composition and geological context of surface materials. Within the framework of established mission goals, we have evaluated the value of a possible landing site in the Mawrth Vallis region of Mars that is targeted directly on some of the most geologically and astrobiologically enticing materials in the Solar System. The area around Mawrth Vallis contains a vast (>1?×?10? km2) deposit of phyllosilicate-rich, ancient, layered rocks. A thick (>150?m) stratigraphic section that exhibits spectral evidence for nontronite, montmorillonite, amorphous silica, kaolinite, saponite, other smectite clay minerals, ferrous mica, and sulfate minerals indicates a rich geological history that may have included multiple aqueous environments. Because phyllosilicates are strong indicators of ancient aqueous activity, and the preservation potential of biosignatures within sedimentary clay deposits is high, martian phyllosilicate deposits are desirable astrobiological targets. The proposed MSL landing site at Mawrth Vallis is located directly on the largest and most phyllosilicate-rich deposit on Mars and is therefore an excellent place to explore for evidence of life or habitability.     

Empirical modeling of the total electron content in the ionosphere

A method of modeling the total electron content (TEC) based on the semi-empirical ionospheric model developed in Irkutsk State University is suggested. Comparison with the Klobuchar model has shown that the proposed method provides a more accurate presentation of TEC. A conclusion is drawn that the use of this method for compensation of the ionospheric error in single-frequency navigation receivers would lead to a substantial increase in the accuracy of their positioning.     

Bacterial growth at the high concentrations of magnesium sulfate found in martian soils

The martian surface environment exhibits extremes of salinity, temperature, desiccation, and radiation that would make it difficult for terrestrial microbes to survive. Recent evidence suggests that martian soils contain high concentrations of MgSO? minerals. Through warming of the soils, meltwater derived from subterranean ice-rich regolith may exist for an extended period of time and thus allow the propagation of terrestrial microbes and create significant bioburden at the near surface of Mars. The current report demonstrates that halotolerant bacteria from the Great Salt Plains (GSP) of Oklahoma are capable of growing at high concentrations of MgSO? in the form of 2 M solutions of epsomite. The epsotolerance of isolates in the GSP bacterial collection was determined, with 35% growing at 2 M MgSO?. There was a complex physiological response to mixtures of MgSO? and NaCl coupled with other environmental stressors. Growth also was measured at 1 M concentrations of other magnesium and sulfate salts. The complex responses may be partially explained by the pattern of chaotropicity observed for high-salt solutions as measured by agar gelation temperature. Select isolates could grow at the high salt concentrations and low temperatures found on Mars. Survival during repetitive freeze-thaw or drying-rewetting cycles was used as other measures of potential success on the martian surface. Our results indicate that terrestrial microbes might survive under the high-salt, low-temperature, anaerobic conditions on Mars and present significant potential for forward contamination. Stringent planetary protection requirements are needed for future life-detection missions to Mars.