Tethered towing using open-loop input-shaping and discrete thrust levels

Asteroid retrieval, satellite servicing, and debris removal concepts often rely on a thrusting vehicle to redirect and steer a passive object. One effective way to tow the object is through a tether. This study employs a discretized tether model attached to six degree-of-freedom end bodies. To reduce the risk of a post-burn collision between the end bodies, discrete thrust input shaping profiles are considered including a Posicast input and a bang-off-bang thrust profile. These input shaping techniques attain desirable collision avoidance performance by inducing a tumbling or gravity gradient motion of the tethered formation. Their performance is compared to an earlier frequency notched thruster profile.     

Planetary protection on international waters: An onboard protocol for capsule retrieval and biosafety control in sample return mission

Planetary protection has been recognized as one of the most important issues in sample return missions that may host certain living forms and biotic signatures in a returned sample. This paper proposes an initiative of sample capsule retrieval and onboard biosafety protocol in international waters for future biological and organic constituent missions to bring samples from possible habitable bodies in the solar system. We suggest the advantages of international waters being outside of national jurisdiction and active regions of human and traffic affairs on the condition that we accept the Outer Space Treaty. The scheme of onboard biological quarantine definitely reduces the potential risk of back-contamination of extraterrestrial materials to the Earth.     

Short-arc tracklet association for geostationary objects

Measurement association and initial orbit determination is a fundamental task when building up a database of space objects. This paper proposes an efficient and robust method to determine the orbit using the available information of two tracklets, i.e. their line-of-sights and their derivatives. The approach works with a boundary-value formulation to represent hypothesized orbital states and uses an optimization scheme to find the best fitting orbits. The method is assessed and compared to an initial-value formulation using a measurement set taken by the Zimmerwald Small Aperture Robotic Telescope of the Astronomical Institute at the University of Bern. False associations of closely spaced objects on similar orbits cannot be completely eliminated due to the short duration of the measurement arcs. However, the presented approach uses the available information optimally and the overall association performance and robustness is very promising. The boundary-value optimization takes only around 2% of computational time when compared to optimization approaches using an initial-value formulation. The full potential of the method in terms of run-time is additionally illustrated by comparing it to other published association methods.     

The ionosphere and the Latin America VLF Network Mexico (LAVNet-Mex) station

In order to detect and study the ionospheric response to solar flares (transient high energy solar radiation), we have constructed a radio receiver station at Mexico City, which is part of the “Latin American Very low frequency Network” (LAVNet-Mex). This station extends to the northern hemisphere the so called “South American VLF Network”.     

First results of operational ionospheric dynamics prediction for the Brazilian Space Weather program

It is shown the development and preliminary results of operational ionosphere dynamics prediction system for the Brazilian Space Weather program. The system is based on the Sheffield University Plasmasphere–Ionosphere Model (SUPIM), a physics-based model computer code describing the distribution of ionization within the Earth mid to equatorial latitude ionosphere and plasmasphere, during geomagnetically quiet periods. The model outputs are given in a 2-dimensional plane aligned with Earth magnetic field lines, with fixed magnetic longitude coordinate. The code was adapted to provide the output in geographical coordinates. It was made referring to the Earth’s magnetic field as an eccentric dipole, using the approximation based on International Geomagnetic Reference Field (IGRF-11). During the system operation, several simulation runs are performed at different longitudes. The original code would not be able to run all simulations serially in reasonable time. So, a parallel version for the code was developed for enhancing the performance. After preliminary tests, it was frequently observed code instability, when negative ion temperatures or concentrations prevented the code from continuing its processing. After a detailed analysis, it was verified that most of these problems occurred due to concentration estimation of simulation points located at high altitudes, typically over 4000 km of altitude. In order to force convergence, an artificial exponential decay for ion–neutral collisional frequency was used above mentioned altitudes. This approach shown no significant difference from original code output, but improved substantially the code stability. In order to make operational system even more stable, the initial altitude and initial ion concentration values used on exponential decay equation are changed when convergence is not achieved, within pre-defined values. When all code runs end, the longitude of every point is then compared with its original reference station longitude, and differences are compensated by changing the simulation point time slot, in a temporal adjustment optimization. Then, an approximate neighbor searching technique was developed to obtain the ion concentration values in a regularly spaced grid, using inverse distance weighting (IDW) interpolation. A 3D grid containing ion and electron concentrations is generated for every hour of simulated day. Its spatial resolution is 1° of latitude per 1° of longitude per 10 km of altitude. The vertical total electron content (VTEC) is calculated from the grid, and plotted in a geographic map. An important feature that was implemented in the system is the capacity of combining observational data and simulation outputs to obtain more appropriate initial conditions to the ionosphere prediction. Newtonian relaxation method was used for this data assimilation process, where ionosonde data from four different locations in South America was used to improve the system accuracy. The whole process runs every day and predicts the VTEC values for South America region with almost 24 h ahead.     

Development of in-situ Space Debris Detector

Due to high relative velocities, collisions of spacecraft in orbit with Space Debris (SD) or Micrometeoroids (MM) can lead to payload degradation, anomalies as well as failures in spacecraft operation, or even loss of mission. Flux models and impact risk assessment tools, such as MASTER (Meteoroid and Space Debris Terrestrial Environment Reference) or ORDEM (Orbital Debris Engineering Model), and ESABASE2 or BUMPER II are used to analyse mission risk associated with these hazards. Validation of flux models is based on measured data. Currently, as most of the SD and MM objects are too small (millimeter down to micron sized) for ground-based observations (e.g. radar, optical), the only available data for model validation is based upon retrieved hardware investigations e.g. Long Duration Exposure Facility (LDEF), Hubble Space Telescope (HST), European Retrievable Carrier (EURECA). Since existing data sets are insufficient, further in-situ experimental investigation of the SD and MM populations are required. This paper provides an overview and assessment of existing and planned SD and MM impact detectors. The detection area of the described detectors is too small to adequately provide the missing data sets. Therefore an innovative detection concept is proposed that utilises existing spacecraft components for detection purposes. In general, solar panels of a spacecraft provide a large area that can be utilised for in-situ impact detection. By using this method on several spacecraft in different orbits the detection area can be increased significantly and allow the detection of SD and MM objects with diameters as low as 100 μm. The design of the detector is based on damage equations from HST and EURECA solar panels. An extensive investigation of those panels was performed by ESA and is summarized within this paper. Furthermore, an estimate of the expected sensitivity of the patented detector concept as well as examples for its implementation into large and small spacecraft are presented.     

Assessing and minimizing collisions in satellite mega-constellations

We aim to provide satellite operators and researchers with an efficient means for evaluating and mitigating collision risk during the design process of mega-constellations. We first introduce a novel algorithm for conjunction prediction that relies on large-scale numerical simulations and uses a sequence of filters to greatly reduce its computational expense. We then use this brute-force algorithm to establish baselines of endogenous (intra-constellation), or self-induced, conjunction events for the FCC-reported designs of the OneWeb LEO and SpaceX Starlink mega-constellations. We demonstrate how these deterministic results can be used to validate more computationally efficient, stochastic techniques for close-encounter prediction by adopting a new probabilistic approach from Solar-System dynamics as a simple test case. Finally, we show how our methodology can be applied during the design phase of large constellations by investigating Minimum Space Occupancy (MiSO) orbits, a generalization of classical frozen orbits that holistically account for the perturbed-Keplerian dynamics of the Earth-satellite-Moon-Sun system. The results indicate that the adoption of MiSO orbital configurations of the proposed mega-constellations can significantly reduce the risk of endogenous collisions with nearly indistinguishable adjustments to the nominal orbital elements of the constellation satellites.     

Three-line structured light vision system for non-cooperative satellites in proximity operations

Adapter ring is a commonly used component in non-cooperative satellites, which has high strength and is suitable to be recognized and grasped by the space manipulator. During proximity operations, this circle feature may be occluded by the robot arm or limited field of view. Moreover, the captured images may be underexposed when there is not enough illumination. To address these problems, this paper presents a structured light vision system with three line lasers and a monocular camera. The lasers project lines onto the surface of the satellite, and six break points are formed along both sides of the adapter ring. A closed-form solution for real-time pose estimation is given using these break points. Then, a virtual structured light platform is constructed to simulate synthetic images of the target satellite. Compared with the predefined camera parameters and relative positions, the proposed method is demonstrated to be more effective, especially at a close distance. Besides, a physical space verification system is set up to prove the effectiveness and robustness of our method under different light conditions. Experimental results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.     

Postcapture stabilization of space robots considering actuator failures with bounded torques

Space robotics is regarded as one of the most impressing approaches for space debris removal missions. Due to the residual momentum of debris, it is essential to stabilize the base rapidly after capture. This paper presents a novel control strategy for stabilization of a space robot in postcapture considering actuator failures and bounded torques. In the control strategy, the motion of the manipulator is not regarded as a disturbance to the base; in contrast, it is utilized to compensate for the limitation of the control torques by means of an inverse dynamical model of the system. Different scenarios where actuators are external mechanisms or momentum exchange devices have been carried out, and for actuator failures, both single- and two-actuator failures have been considered. Regarding to the performance of actuators, control torques are bounded. In cases that either single or two actuators have failed, the base can be stabilized kinematically when actuators are external mechanisms, but can only be stabilized dynamically when only momentum exchange devices are used. Finally, a space robot with a seven-degree-of-freedom manipulator in postcapture is studied to verify the validity and feasibility of the proposed control scheme. Simulation results show that the whole system can be stabilized rapidly.