Behavior of tethered debris with flexible appendages

Active exploration of the space leads to growth of a near-Earth space pollution. The frequency of the registered collisions of space debris with functional satellites highly increased during last 10 years. As a rule a large space debris can be observed from the Earth and catalogued, then it is possible to avoid collision with the active spacecraft. However every large debris is a potential source of a numerous small debris particles. To reduce debris population in the near Earth space the large debris should be removed from working orbits. The active debris removal technique is considered that intend to use a tethered orbital transfer vehicle, or a space tug attached by a tether to the space debris. This paper focuses on the dynamics of the space debris with flexible appendages. Mathematical model of the system is derived using the Lagrange formalism. Several numerical examples are presented to illustrate the mutual influence of the oscillations of flexible appendages and the oscillations of a tether. It is shown that flexible appendages can have a significant influence on the attitude motion of the space debris and the safety of the transportation process.     

New one-axis one-sensor magnetic attitude control theoretical and in-flight performance

New one-axis magnetic attitude control is proposed. Only one attitude sensor providing any inertial direction measurements is necessary, magnetometer is not used. The control may be used as a backup capability in case main actuators or some attitude sensors fail. Sun pointing is achievable using only three-axis Sun sensor, so the control may be used to lower the power consumption during battery charging. Asymptotic stability of different equilibria depending on the satellite inertia tensor is summarized. In-flight results from “Chibis-M” microsatellite are provided proving general control performance.     

The mass loss of spacecraft polyimide films under the action of atomic oxygen and vacuum ultraviolet radiation

The threshold values of the annual fluence of atomic oxygen (F _AO ≈ 10²⁰ cm^?2), as well as the ratios of the energy-flux density of vacuum ultraviolet radiation of the solar spectrum to the flux density of atomic oxygen (Φ _ν /Φ _AO ≈ 8 × 10^?15 mJ) were determined, which are characterized the influence of the synergistic effect on the mass loss of Kapton-H, PM-A, and PM-1E polyimide films, which are spacecraft materials.     

System of maintaining the thermal regime of a space radio telescope

We present the results of developing a system of thermal regime maintenance for the onboard complex of scientific instruments of the space radio telescope installed on the Spektr-R spacecraft. The structure of the system of thermal regime maintenance is presented that includes a set of autonomous systems of constructive elements of the radio telescope. Basic schemes and composition of aggregates are presented, and main principles of operation of the autonomous systems supporting the thermal regime of the radio telescope are considered.     

Spatial Thinking Across the College Curriculum: A Report on a Specialist Meeting

This report presents findings from a specialist meeting of spatially-minded researchers and administrators from education and industry to consider prospects for introducing courses and curricula on spatial thinking in higher education. More than 40 participants explored the rationale for expanding student exposure to concepts, tools, and applications of spatial reasoning across a range of science, engineering, and humanities disciplines. The focus was on what we know and what we need to know to make the case for space, underscoring basic research on what is meant by spatial thinking and on variations in the spatial reasoning skills required in different domains of knowledge. The need for rigorous assessments of learning outcomes associated with different approaches to teaching spatial thinking was emphasized.     

Spatial orientation during locomotion [correction of locomation] following space flight

To investigate changes in spatial orientation ability and walking performance following space flight, 7 astronaut subjects were asked pre- and post-flight to perform a goal directed locomotion paradigm which consisted of walking a triangular path with and without vision. This new paradigm, involving inputs from different sensory systems, allows quantification of several critical parameters, like orientation performance, walking velocities and postural stability, in a natural walking task. The paper presented here mainly focusses on spatial orientation performance quantified by the errors in walking the previously seen path without vision. Errors in length and reaching the corners did not change significantly from pre- to post-flight, while absolute angular errors slightly increased post-flight. The significant decrease in walking velocity and a change in head-trunk coordination while walking around the corners of the path observed post-flight may suggest that during re-adaptation to gravity the mechanisms which are necessary to perform the task have to be re-accomplished.     

Highly mobile space suit material optimization

This paper discusses the factors that control the flexibility of fabric space suit elements by examining a bending model of a pressurized fabric tube. Results from the model are used to evaluate the current direction in highly mobile EVA glove research and suggest that changes are necessary in the suit and glove fabric selection methodology.     

Telerobotics: problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of `telepresence' that may be useful for prolonged tasks. Using top-down 3-D model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview model to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and, in this university environment, to basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics. Speculation as to future industrial drives for this telerobotic field suggests efficient roles for government agencies such as NASA     

Position and force control of coordinated multiple arms

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6×n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented     

Discrete-time state estimation of analog double integrators

The problem of minimum variance discrete-time state estimation of a continuous-time double integrator via noisy continuous-time measurements is considered. The error covariance matrices of this estimation are calculated and analyzed. The relations between these covariance matrices and the error covariance matrix of the optimal continuous-time filter are obtained, and a way for determining the required sampling period is proposed. A commonly used approximated model is investigated; it is shown to be inappropriate unless a specific improvement is introduced in the model