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.     

The results of flight tests of an attitude control system for the Chibis-M microsatellite

The attitude control system of the Chibis-M microsatellite is described. Results of flight experiments on damping the initial angular velocity (made using magnetorquers) are considered, as well as stabilization in the orbital referece frame, and orientation of solar arrays toward the Sun using reaction wheels. The operation of algorithms of satellite attitude determination on sunlit and shadow segments of the orbit is also under study. The general logic of operation of the attitude control system in automatic mode is presented and discussed.     

Crew autonomy for deep space exploration: Lessons from the Antarctic Search for Meteorites

Future piloted missions to explore asteroids, Mars, and other targets beyond the Moon will experience strict limitations on communication between vehicles in space and control centers on Earth. These limitations will require crews to operate with greater autonomy than any past space mission has demonstrated. The Antarctic Search for Meteorites (ANSMET) project, which regularly sends small teams of researchers to remote parts of the southern continent, resembles a space mission in many ways but does not rely upon a control center. It provides a useful crew autonomy model for planners of future deep space exploration missions. In contrast to current space missions, ANSMET gives the crew the authority to adjust competing work priorities, task assignments, and daily schedules; allows the crew to be the primary monitor of mission progress; demands greater crew accountability for operational errors; requires the crew to make the most of limited communication bandwidth; adopts systems designed for simple operation and failure recovery; and grants the crew a leading role in the selection and stowage of their equipment.     

High velocity impact characterization of Al alloys for oblique impacts

This paper describes the experimental and computational analyses of a high velocity aluminum projectile impact on an Al6061-T6 spacecraft inner wall at different oblique angles. Al2017-T4 spherical projectiles of 5.56 mm in diameter and 0.25 g in weight were chosen within the velocity range of 1000±200 m/s due to the limitation of the light gas gun. The energy absorbed was calculated by measuring the velocities before and after impact on the inner wall. The energy absorbed by the wall and the remaining energy carried by the projectile helped to estimate the severity of further damage to inner components. Afterwards, validation was done by using the commercially available software LS-DYNA with a dedicated SPH. On average, a 10% energy absorption difference between experimentation and simulation was found. By using C-SCAN, the damage area proportion of the total inner wall to impact penetration hole area was found to be on average 6%, 26% and 53% greater than the projectile cross sectional area for the oblique angle impacts of 30°, 45°, and 60°, respectively. These findings helped to understand the relationship between the oblique impact event and the damage area on a spacecraft inner wall along with space debris cloud propagation and comparison with experimental results using LS-DYNA.     

Analysis and pre-development of an imaging spectrometer for in-situ cometary soil analysis on-board the esa rosetta mission

The CIVA-M instrument, a highly integrated infrared/visible microscope for the Rosetta mission (ESA — 2003) is presented. It will enable scientists to study in great detail the composition of the Wirtanen Comet: minerals, organic compounds and ices. A monochromator will illuminate a cometary sample, drilled from the comet sub-surface (≈40cm). An infrared detector will give an image of the sample for each wavelength, from 1 to 4μm with a spectral resolution of 6nm and a spatial resolution of 50 μm. In order to analyze accurately spectra a signal to noise ratio of 50 is needed (for ALBEDO = 0.04). We will use a 128×128 elements photovoltaic mercury cadmium telluride bi-dimensional array working at intermediate temperature (110K to 150K), from the French company SOFRADIR. At such relatively high temperature the critical parameter is the dark current: it limits the exposure time, preventing a high signal to noise ratio. I am in charge of the electronic board, which is the interface between the detector and the on-board processor. Some preliminary results obtained with this board, on a test detector, are then discussed.     

Autonomous navigation and guidance system for low thrust driven deep space missions

Presented herein is a concept of an Autonomous Navigation & Guidance System for electrically propelled deep space missions, including hardware configuration, algorithms for autonomous navigation and guidance, and estimates of potential guidance precision and mass consumption. This concept is actually a unified Navigation, Guidance and Attitude Control system. The unification is imposed by strong coupling between the orbital motion and the spacecraft attitude characteristic of low thrust space flights. The sensor set of the system consists of an optical instrument (Coupled Sun Star Tracker), and a block of four vector accelerometers. The propulsion subsystem is a set of nearly parallel Hall thrusters rigidly attached to the spacecraft body. The final stage of data processing is combining the thrust and torque programs and generating power and mass rate shares for every thruster. An end-to-end computer simulation provides guidance accuracy estimates versus the navigation data precision, flight time and available maximum thrust. Terminal guidance errors of a few tens of km in position and a few tens of cm/s in velocities are predicted under plausible assumptions on system parameters. Mass expenditures for the control are typically below one percent of total fuel mass budget.     

Erratum to: Determination of the Probability of Collision of Near-Earth Space Objects Taking into Account Form and Orientation

Cosmic Research - An Erratum to this paper has been published: https://doi.org/10.1134/S0010952521120030     

Space–Time Structure of Energetic Electron Precipitations according to the Data of Balloon Observations and Polar Satellite Measurements on February 1–6, 2015

Cosmic Research - The results of an analysis of the space–time characteristics and dynamics of precipitations of magnetospheric electrons with energies in the range from 0.1 to 0.7 MeV are...     

Erratum to: Postvolcanic Aerosols: Measurements of Altitude and Particle Sizes with Twilight-Sky Polarimetry

Cosmic Research - An Erratum to this paper has been published: https://doi.org/10.1134/S0010952521110010