On the dynamics of a novel manipulator with slewing and deployable links

Using a novel space platform-based manipulator with slewing and deployable links, the paper addresses two issues of considerable importance: (a) How important is it to model flexibility of the system? (b) How many modes are needed to adequately represent the elastic character? Results suggest that the fundamental mode is able to capture physics of the response quite accurately. Due to its massive character, the platform dynamics is virtually unaffected, even by severe maneuvers of the manipulator. Hence, treating the platform as rigid would save the computational cost without affecting the accuracy. Although the link flexibility does affect the manipulator's tip vibration, the joint and platform vibrations remain negligible. The revolute joint flexibility appears to be an important parameter affecting both the joint as well as tip responses. The information should prove useful in the design of this new class of manipulators.     

The European Astronaut Centre prepares for International Space Station operations

The European Space Agency (ESA) contribution to the International Space Station (ISS) goes much beyond the delivery of hardware like the Columbus Laboratory, its payloads and the Automated Transfer Vehicles. ESA Astronauts will be members of the ISS crew. ESA, according to its commitments as ISS international partner, will be responsible to provide training on its elements and payloads to all ISS crewmembers and medical support for ESA astronauts. The European Astronaut Centre (EAC) in Cologne has developed over more than a decade into the centre of expertise for manned space activities within ESA by contributing to a number of important co-operative spaceflight missions. This role will be significantly extended for ISS manned operations. Apart from its support to ESA astronauts and their onboard operations, EAC will have a key role in training all ISS astronauts on ESA elements and payloads. The medical support of ISS crew, in particular of ESA astronauts has already started. This paper provides an overview on status and further plans in building up this homebase function for ESA astronauts and on the preparation towards Training Readiness for ISS crew training at EAC, Cologne. Copyright 2001 by the European Space Agency. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. Released to IAF/IAA/AIAA to publish in all forms.     

Single-Axis Solar Orientation of a Satellite of the Earth

The possibility of using the mode of single-axis solar orientation is considered for a satellite placed into a nearly circular orbit with an altitude of 900 km and bearing a solar sail. The satellite (together with the sail) has an axisymmetric structure, its symmetry axis being the principal central axis of the maximum moment of inertia. The center of the sail pressure lies on this axis and is displaced with respect to the satellite's center of mass. The symmetry axis of the satellite is set to the Sun so that its center of mass would be located between the Sun and the pressure center and would rotate around this axis with an angular velocity of a few degrees per second. The satellite's axis of symmetry makes a slow precession under the action of the gravitational moment and the moment of light pressure forces. Though the maximum magnitudes of these moments are comparable, the moment of the light pressure forces dominates and controls the precession in such a way that the symmetry axis orientation to the Sun remains unchanged.     

Dynamics and control of variable-geometry truss structures

Variable-geometry truss structures are likely to be used extensively in the future for in-orbit space construction. This paper considers dynamics formulation and vibration control of such structures. The truss system is modelled as a collection of sub-structures consisting of truss booms, prismatic actuator elements, and in some cases a manipulator at the end. Each truss boom is treated as a separate ‘link’ and its flexibility is modelled using the finite element method. Equations of motion for individual sub-structures are obtained which are then assembled. The non-working constraint forces are eliminated to obtain the equations governing the constrained dynamics of the entire system. For vibration control, the singular perturbation method is employed to construct two reduced-order models, for quasi-static motion and for modal co-ordinates, respectively. Computed torque with PD control is applied to maintain the quasi-static motion, while an optimal LQR method is used for vibration control. Typical simulation results are presented for the planar case.     

Electrostatic Instability and Plasma Irregularities in the Topside Ionosphere above the South-Atlantic Geomagnetic Anomaly

The data of measuring the plasma density in the topside ionosphere for the South-Atlantic geomagnetic anomaly region are presented. It is shown that irregular plasma structures with a wide spectrum of irregularity scale (including large-scale structures with a dimension of order of some hundred kilometers) can be generated in the fields of electrostatic turbulence in inhomogeneous plasma.     

Convective Motions in Near-Critical Fluids under Real Zero-Gravity Conditions

The results of processing and interpreting the data of joint Russian–French experiments for studying the heat and mass transfer in near-critical fluids are presented. The experiments were carried out with the ALICE-1 instrument during an orbital flight of the Mirstation from September 30 to October 2, 1995 [1]. For such fluids with a point-like source of heat, when they are placed in the field of uncontrolled inertial accelerations of the spacecraft, the influence of thermovibrational and thermogravitational mechanisms of convection on the propagation of the region of optical irregularity is investigated. It is shown that, near the thermodynamic critical point, local heating of the medium leads to generation of either intense thermogravitational convection or averaged vibroconvective flow, depending on the frequency of variations of the microaccelerations. The structure and characteristics of discovered motions are studied. The results of numerical simulations are presented that confirm the conclusion about a possibility of generation of an averaged convective flow of a vibrational type by the high-frequency component of microaccelerations.     

Vibration and pulsation processes in feed systems of liquid rocket engines

Pulsation and vibration process in high speed centrifugal pumps and feed lines were investigated. Linear and quadratic relations between pulsation parameters and main factors were obtained. The investigation of turbopump low frequency oscillations showed that the intensity of pulsations is proportional to the pump specific linear size. Linear mathematic models with lumped parameters fairly well demonstrate the vibration influence on low frequency flow pressure vibrations in pumps and feed lines. It is shown that, in some conditions, the pressure oscillation amplitude distribution by the vibrating feed lines length may be characterized by the presence of a node in an intermediate section. A one-dimensional mathematic model based on wave equations proved to be suitable for calculations of vibration and pulsation parameters within a wide frequency range.     

Diuretic as a means for rapid adaptation to weightlessness

In a number of flights, cosmonauts and astronauts have experienced aggravation of their health status and general condition in the initial hours and days in a weightless environment. One of the trigger mechanisms for the onset of these unfavourable conditions at the start of space flight is a redistribution of body fluids and a blood shift towards the head. To ensure controlled hypohydration as a countermeasure to the deleterious effects of 0-g and to investigate the feasibility to control adaptation, six cosmonauts were administered lasix once a day during the first 3 days of a mission. All data of the experiment (correction test, questionnaire, hematocrit) were recorded on a special form in the logbook and transmitted to the control centre for processing. Results showed that the diuretic weakened the sensation of discomfort and improved the cosmonauts' general condition. Objective indices of the correction test indicate an increased work ability of cosmonauts. After hypohydration, circulating plasma volumes in the group were reduced by 6.8 + 1.0% on average.     

Tether Satellite System Collision Study

A study was performed to determine the probability of collision with resident space objects and untrackable debris for the tether component of the Tethered Satellite System (TSS) after it broke away from the Space Shuttle orbiter (mission STS-75) in February 1996. Both an analytical and a numerical approach were used in this study, and the results obtained with these two methods were found to be in good agreement. These results show that the deployed tether is expected to have been impacted by several particles 0.1mm or larger in size. The probability of collision with objects 10cm in size or larger was on the order of 10^–3 per month. Since the severed tether reentered within one month after deployment, the collision hazard to other objects while in orbit was small. The analytical methods used in this study are useful for tether collision evaluations in general.