The Space Congress® Proceedings 1980 (17th) A New Era In Technology

Apr 1st, 8:00 AM

A Review of the Canadian Space Program

J. D. MacNaughton Vice-President and General Manager, RMS Division, Spar Aerospace Limited

Follow this and additional works at: https://commons.erau.edu/space-congress-proceedings

Scholarly Commons Citation MacNaughton, J. D., "A Review of the Canadian Space Program" (1980). The Space Congress® Proceedings. 4. https://commons.erau.edu/space-congress-proceedings/proceedings-1980-17th/session-5/4

This Event is brought to you for free and open access by the Conferences at Scholarly Commons. It has been accepted for inclusion in The Space Congress® Proceedings by an authorized administrator of Scholarly Commons. For more information, please contact [email protected]. A REVIEW OF CANADIAN SPACE ACTIVITIES

J.D. MacNaughton Vice-President and General Manager RMS Division Spar Aerospace Limited Toronto, Ontario Canada

ABSTRACT The need to communicate efficiently as a This paper reviews the history of Canadian means towards resource development has been a activities in space from the early Alouette I prime motivator in Canadian development. satellite to Canada's present involvement in From the earliest times, therefore Canada has the Space Shuttle Remote Manipulator System been at the forefront of communication (SRMS) program. The SRMS program is being research and development. In 1846, Canada's executed by Spar Aerospace Limited* through, first electric commercial telegraph system an international agreement between the was introduced between Toronto and Niagara, a National Aeronautics and Space Administration distance of 37 miles to be followed some (NASA) and the National Research Council of 28 years later by Graham Bell who on a Canada (NRCC). journey between Boston and his home in Brampton, Ontario, prepared the first As the first flight SRMS reaches completion diagrams and notes for his invention of the at Spar, the program is reviewed. The SRMS telephone. is described in terms of its subsystems, its of control and performance requirements From such a beginning, Canada has developed a and the current status of the hardware is world class space industry and a satellite examined. Delivery to NASA JSC of the first and ground station communications system that flight system is scheduled in 1980. is one'of the most advanced and efficient in the world. In conclusion, the paper highlights the benefits which accrue from international In 1962, Canada became the third country in cooperation at the industrial level in space the world, to place a satellite in. orbit. programs and. makes a case for the continuance Since that time, it has been Canadian govern­ of such arrangements. ment policy to engage in international spa.ce projects and for Canadian industry to play 1 a vital vole in the space programs of the INTRODUCTION world* That first Canadian launch has been followed by a further eight satellites and In a country whose size and population dis­ our industry has participated in many inter­ tribution makes communication land lines national space programs. prohibitively expensive and who until 1951 had accurately only 1 million of Its CANADIAN ACTIVITIES IN 3*8 million squares miles, Canada is an ideal country to use satellites for survey and From the earliest days of Canada's involve­ communication* ment in space, the country has advanced in both space and earth sector 1 systems. The has a population of 23,5 million, design and construction of earth stations nearly 901 of whom reside within a handfuli as an evolutionary extension of RCA's of southern cities in a corridor experience in microwave technology, 200 miles wide and 3,700 miles long* The coupl ed with its experti se i n cassegrainian of the population ire'"widely mi crowave-optics antenna As scattered throughout an which early as 1959, from the U.S. border in employing this type of antenna feed: 3,000 miles to the Arctic* on in the Desert.

5-24 To improve long distance radio communica­ communications satellite with the launch of tions, Canada initiated development in 1955 ANIK AI. The satellite operates in the of a family of sounding rockets called BLACK 4/6 GHz band and provides twelve radio BRANT to measure the characteristics of the frequency channels. ionosphere. Communication with ANIK is accomplished by a ALQUETTE As a natural extension to this network of 35 ground stations which includes work, a Canadian satellite program of top 3 tracking stations and transportable earth side ionospheric research started in 1962 stations called ANIKOM,these have been with the launch of ALOUETTE I. This developed for remote locations. ANIKOM have satellite manufactured in Canada, sounded and antennas as small as 1 m diameter, are light­ mapped the ionosphere using radio waves. The weight and they can be moved by aircraft, information collected contributed the first train or truck and assembled in a few hours. global information about the upper region of the ionosphere. The sounding equipment developed included four Canadian designed and The primary structure and the entire elec­ built STEM devices which formed the long tronics payload of ANIK A was manufactured in sounding dipole antennas. Canada. The structure was manufactured by Spar Aerospace Limited and the electronics by The STEM (Storable Tubular Extendible Member) Northern Electric (now Spar Aerospace) under is essentially a thin tape which assumes a contract to the Hughes Aircraft Company; the tubular shape of high strength when prime contractor to TELESAT Canada. The extended. It Is stored coiled on a drum. completion of this design led to similar This Canadian invention has become an impor­ contract arrangements for some 15 additional tant multipurpose space mechanism and has satellites that are derivatives of the Anik subsequently been used on many space system. In the ANIK A series, three vehicles. satellites were launched. At a time when most satellites had a design life of only a few months, ALOUETTE had a HERMES In January 1976, Canada's eighth design life of one year, but exceeding expec­ satellite, and the world 1 s most powerful tations, the satellite continued to send back communications satellite HERMES was useful information for almost eleven. Three launched. Originally called the Communica­ years after the launch of ALOUETTE I, it was tions Technology Satellite, HERMES was the joined on-orbit by ALOUETTE II. culmination of a five year program that had begun with the signing of a Memorandum of ISIS Following the success of ALOUETTE, an Understanding (MOD) in April 1971 between the agreement was reached whereby Canada should Ca nad i a n Depa rtraent of Communicat1ons {DOC) design and build and the U.S. launch a series and NASA. Industrial contracts for the of International Satellites for Ionospheric program were signed one year later in March Study (ISIS). The primary objective of the 1972. A f u rt h e r a g r eeme n t was re ached, i n program was the comprehensive measurement of 1972 between DOC and the European Space the ionosphere over a range of heights and Research Organization (ESRO) now ESA. Under latitudes. ISIS I was launched in 1969 and this agreement, ESA contracted to provide the 1971 saw the launch of ISIS II with all of solar a r r ay blank et for t'h e s ate 11 i t e • The the program objectives being achieved. blanket was manufactured by AEG-Telefunken. EARTH STATIONS In concert with these activities, In 1963, RCA built Canada's first The program blended several high technology 4/6 GHz satellite ground station at Mill elements including three unique subsystems. Village, Nova Scotia. This became the Two were developed in Canada; these being the eastern terminal for Canadian overseas 1ightweight* extendible, f1exible substrate satellite communication via the INTELSAT solar array system, and the 3 axis stabiliza- system. The station was built for Teleglobe t i on system whi ch mai ntained the antenna Canada., a Crown corporation. Teleglobe earth pointing., whilst the solar arrays furthered the Canadian earth station tracked the sun. This was the first 3 axis capability .by establishing three more earth stabi1i zat i on system i n a geosynchronous stations; Mill Village II in 1969, Lake communication satellite with flexible arrays* Cowichan, in 1971 and a station in the Laurentlans currently being commissioned. 'The USA provided the travelling tube AN IK In 1969, the Canadian Government incor­ amplifier, which had an efficiency greater porated TELESAT to operate a commercial than 50% and gave a saturated power output of system of satellite communication to cover 200 watts. In addition, the U.S. contribu­ Canada. As a result, 1972 marked the western tion included the Thor-Delta launch vehicle; wor1d's f i rst domest i c geo sy nc h ro n ou s the test and launch preparation and launch.

§-25 Spar Aerospace Limited was responsible for (DDT&E) and Follow-On Production (FOP) of the the design, development, fabrication and Shuttle Remote Manipulator System (SRMS). testing of the spacecraft structure and For the DDT&E program, funding is provided by executed the overall configuration design, the Canadian Government. The DDT&E program mechanical subsystems design and the design requires Canada to build three complete and manufacture of the solar array and systems plus associated Ground Support Equip­ thermal control systems. As well, RCA Canada ment (GSE). For the FOP program, NASA is (now Spar Aerospace) supplied the electronics procuring from Canadian Industry, additional payload including antenna, telemetry, RMS's to fulfill the space shuttle production tracking, command, power conditioning and requirements, initially this involves the transponders. The transponders have four delivery of three systems. 85 MHz pass bands, two for receiving in the 14 GHz region and two for transmitting in the The Remote Manipulator System (RMS) is the 12 GHz region. An essential part of the CIS anthropomorphi c, man-machi ne, payl oad system was the ground stations which RCA handling system of the Space Transportation built. In all eighteen terminals, ten with System. The system's requirements are for a 3 ft. diameter dish antenna and eight with manipulator capability to deploy payloads 8 ft. diameter dish antenna were supplied. from the orbiter cargo bay, retrieve them from orbit and return them to the cargo bay HERMES is considered to be the forerunner of for refurbishment or earth return. a generation of direct broadcast satellites that will be used to beam signals directly to Typical baseline payloads are the Space home receivers. The satellite conducted Telescope, the Inertia!- Upper Stage, and the communications experiments with the U.S. and Long Duration Exposure Facility. However, Canada, sharing experiment time equally. The the RMS is capable of supporting many other Canadian experiments were aimed at iden­ space activities including spacecraft tifying and solving the country's communica­ construction, inspection and repair, orbiter tions needs for the 1980's. Other experi­ inspection, astronaut EVA activities and ments included telemedicine, community inter­ rescue operations (Figure 1). action, government administration, radio wave propogation and evaluation of satellite earth The SRMS program had its genesis in 1969 with terminals. NASA's offer to the Canadian Government to "join the shuttle program". In 1970/71, the The satellite performed so well during its concept that RMS could form the element for scheduled two years life that additional Canada's participation in the shuttle program third and fourth years of experiments were came independently to two companies; Spar possible, doubling its life span. At the Aerospace Limited and Dilworth,. Secord, request of the Australian government, HERMES Meagher Associates Ltd. Circumstances was stationed over that country and used in a brought the companies together in a teaming variety of tests and demonstrations including situation in 1971 and NASA's interest in rain attenuation tests during 1979. When cooperating with Canada in this area was HERMES finally ceased functioning in December obtained at an unofficial level. 1974 saw 1979, the program was hailed as a magnificent the forming of a Canadian Industrial team achievement. with the addition of CAE Electronics Ltd. and RCA Canada Ltd. (now Spar Aerospace) both of ANIK B Canada's ninth satellite, ANIK B was Montreal. Later that year, this consortium launched by a Delta vehicle in 1978 and was placed under contract to NRCC to initiate became Canada's fifth geosynchronous communi­ preliminary work. A rigorous source selec­ cations satellite on-orbit. The satellite tion process ensued with NASA concluding that has a multipurpose payload providing twelve Canada could successfully build this mission color T.V. channels in the 4/6 GHz band plus critical man-in-the-loop system. With these four channels which operate in the 12/14 GHz essential ingredients in place, formal band. The 12/14 GHz capability allows ANIK B negotiations with NASA started in May 1974, to transmit and receive from crowded city leading to the signing of the MOU in July areas with antennas placed on the roofs of 1975. buildings. This has a distinct advantage over the 4/6 GHz channel broadcasting which The SRMS development program has been can interfere with existing ground-based conducted by Canadian engineers and tech­ communications, requiring the ground stations nologists without technology transfer from to be located some distance from city other countries. The result of this is that centres. a world class capability now exists in Canada for remote manipulator systems. This SHUTTLE RMS In accordance with a Memorandum includes a unique simulation facility capable of Understanding (MOU), NASA and NRCC are of very accurate real-time simulation of conducting a cooperative program for the remote manipulator systems and payload Design Development, Test and Evaluation handling tasks*

5-26 The space programs discussed so far consti­ SRMS SYSTEM DESCRIPTION tute the principal activities in Canada's space program. However, Canadian Industry The SRMS comprises 3 major elements; a has participated in many international 6 degree-of-freedom, 50 ft. long arm attached programs. Over 500 STEM devices have been to the port longeron of the shuttle orbiter flown on a wide variety of satellites cargo bay, a display and control system and including UK4, ISS, EXPLORER, DODGE, OGO, the payload interface, (Figure 2). Control ATS, IMP and EOLE, where they were used as of the arm is effected by the use of hand antennas, gravity gradient booms and solar controllers, a dedicated RMS display and panel actuators. control panel and CRT monitors located in the orbiter crew compartment. This is augmented by the orbiter CCTV monitors, and General MERCURY Canada's flight experience on manned Purpose Computer (GPC). programs started in 1962 with the MERCURY program where Spar Aerospace designed and The operator has direct vision of the RMS and supplied the high-frequency antennas used for payload through four windows, two located on orbital communication. The booms were STEM the cargo bay aft bulkhead and two located devices 15 feet in length x 0.5 inches overhead. The operator monitors RMS and pay- diameter. These were incorporated in pairs load activity on TV monitors located adjacent in the retropack to form a 30 foot tip-to-tip to his control panel. These receive signals dipole. from the RMS wrist mounted camera and from cameras variously located in the cargo bay. GEMINI Spar has formed a close association The standard payload interface of the RMS is with the U.S. manned space program and parti­ the "snare" End Effector attached to the cipated in the developmental programs of wrist at the tip of the arm. This interfaces GEMINI. The principal system supplied was with a grapple fixture mounted to the the HF orbital and the recovery antennas, payload. used to locate the spacecraft after splash­ down. Other systems included docking booms The arm is capable of deploying on-orbit a and astronaut grappling tools, the AGENA's 60 ft. long 15 ft. diameter payload with a transponder boom on the rendezous flights, maximum mass of 65,000 Ib. The system can magnetometer booms, altitude sensing devices retrieve a payload of the same dimensions and and the UHF quarter wave antennas. has the capability for contingency retrieval of the same mass, however, retrieval of 32,000 Ib. payload is baseline. With a APOLLO During the last three APOLLO 32,000 Ib. payload, the maximum tip velocity missions, the "J missions", Spar provided of the arm is 0.2 ft/sec, while the unloaded several antenna and deployment devices. For arm tip speed is 2.0 ft/sec. The arm can Apollo 15 and 16, part of Canada's contribu­ release payloads with an attitude error of tion were two booms that extended 25 feet, less than +5 degrees and finches positional one of which deployed a mass spectrometer; tolerance relative to the orbiter. Linear the other deployed a gamma ray spectrometer. tip off motions of less than 0.1 ft/sec, and These conducted mapping of the radioactive angular tip off rates less than 0.015 sources on the surface of the moon. degree/sec, relative to the orbiter are base­ line features. For payload capture, the RMS control system One of the prime experiments for Apollo 17 is designed so that the operator can place was the Lunar Sounder experiment. The the End Effector's longitudinal axis within a combined HF and VHF rigid yaggi antenna array circle of uncertainty of H.5 inches. which pivoted into position from the rear of the Service Module was supplied by Spar and The End Effector is capable of reacting up to permitted probing of the moon's surface and 230 ft.lb. torque and can apply a force at subsurface to a depth of 1.0 kilometer for a the End Effector, tangential to the arm of survey of physical properties including between 15 Ib. and 80 Ib. depending on arm rnascons (mass concentrations). geometry. The system is designed for a 10 year, 100 mission life. SKYLAB Spar developed a proof of principle The RMS is comprised of four major model of an actuation device for the transfer subsystems: of film packs between the APOLLO telescope mount and the workshop of SKYLAB. Extensive o MECHANICAL ARM SUBSYSTEM, neutral bouancy tests concluded with the o DISPLAY AND CONTROL SUBSYSTEM, endorsement of the unit as a means of film o ELECTRICAL SUBSYSTEM, transfer. o SOFTWARE SUBSYSTEM.

5-27 MECHANICAL ARM SUBSYSTEM The Mechanical Arm fixture is ^U.015 degrees and jHD.l inches in subsystem consists of the MANIPULATOR ARM, the X,Y and Z axes. Electrical connection the PAYLOAD INTERFACE, the THERMAL PROTECTION between the End Effector and payload may be SYSTEM, and the CCTV AND LIGHTING ASSEMBLY. made after rigidization to provide dedicated hardwired connection for power and data. The general configuration of the MANIPULATOR ARM is shown in Figure 3. The manipulator is a 6 degree-of-freedom arm comprising six The RMS poses a unique problem in THERMAL electro-mechanical rotary joints connected by PROTECTION as the system is of highly structural members. variable geometry. It is used in a variety of operational sequences and the thermal The sequence of joints starting from the environment alternates from sun facing to sun orbiter interface are, shoulder yaw, shoulder shielded. The factors that primarily affect pitch, elbow pitch, wrist pitch, wrist yaw the temperature and consequently, the on- and wrist roll. The arm booms are made of orbit operating time of the arm are solar graphite/epoxy thin-walled tubular sections flux, steady state temperature prior to with internal stabilization rings. A 21 ft. operation, power dissipation during operation arm boom connects the shoulder joint to the and the thermal inertia of the system. The elbow joint. A second arm boom 23 ft. long RMS thermal control maintains all of the attaches to the elbow joint and terminates at elements of the RMS in operation within their the wrist pitch joint, a further 6 ft. temperature limits essentially by passive segment terminates at the wrist roll joint. thermal control, using insulating blankets. The End Effector is bolted onto this section. White paint is also selectively used to ensure acceptable cool down rates and to The space environment and weight considera­ minimize solar absorption from areas that tions favoured the selection of an electro­ cannot be insulated. However, the system is mechanical drive system, the joint design supplemented by electrical resistance heaters being modular to minimize repair time and to maintain minimum temperature levels under inventory costs. Housed within the joint non-operating cold case environment condi­ structure, each joint contains a brushless dc tions. Insulating blankets are used mainly servo-motor and gearbox. The drive systems to minimize both the magnitude and specular are similar for all joints with the gear content of the solar energy reflected from trains designed with forward and backdrive the surface of the arm. The blankets cover capability. the entire exterior of the arm, other than the white painted areas. Each blanket is The standard RMS/PAYLOAD INTERFACE is the multilayer and consists of layers of single snare type End Effector which mates with a and double goldized Kapton which are grapple fixture attached to the payload. The separated by dacron scrim cloth. The outer grapple fixture carries a target for visual layer of the blanket is a teflon coated, Beta alignment. Using direct vision and the wrist fibreglass fabric. All of the metallized camera, the operator manoeuvres the arm to layers are grounded by flying leads to the align the End Effector with the payload arm structure, to which the blanket itself is grapple target. affixed by velcro tape. The End Effector and arm control system allow capture of a payload which has an initial angular misalignment with the grapple fixture On-orbit temperature monitoring is accom­ of up to 15° in all axes, orthogonal plished by sensors located in the thermally misalignment can be up to +2 inches in the X most critical components. The data thus axis and +4 inches the Y and Z axes. Three obtained is multiplexed to the on-board guide ramp cams on the grapple fixture mate computer where absolute temperatures are with the compatible key ways in the End compared against the specified allowable Effector and take out any misalignment during levels. The operator is alerted via the the capture sequence. At this time, joint display and control panel for any over motors implement zero current to allow the temperature conditions and the corrective arm to reconfigure for this misalignment. action to reposition the manipulator arm or to switch the power off, is taken. Capture of the payload is achieved by three "snare" wires which are mounted to a retract­ able carriage within the End Effector closing The orbiter/RMS CLOSED CIRCUIT TELEVISION around the shaft on the grapple fixture and (CCTV) system consists of television cameras forming a soft dock (Figure 4 shows the and lights located on the RMS and in the grappling sequence). The snare wires are Orbiter cargo bay which give black and white then retracted into the End Effector to pictures. The capability exists to transmit rigidize the interface. The final allowable these pictures to the ground. The RMS misalignment between end effector and grapple contains as baseline, one light and camera

5-28 located on the wrist for payload capture. An system. To minimize weight, subsystem option exists for a second CCTV and light complexity and to retain flexibility, the assembly and a pan and tilt unit to assist in MCIU utilizes microprocessor and bi-direc­ payload stowage. This is mounted to the tional serial digital data buses across the elbow. various RMS interfaces.

The cargo bay has locations for six lights Modes of Control As with all manned space outside the payload envelope and eight camera activities, crew safety is an overriding locations. This includes two camera factor in system design. The RMS modes of locations on each of the forward and aft control recognize this and implement a double bulkheads and four on the keel. These input back-up system to the primary modes of to the two split-screen monitors in the crew operation; both bypass the primary chain of station. Facilities exist within the cargo command through the GPC and utilize hardwired bay to connect a color television camera for commands to the joint drive systems. The RMS use by an astronaut in EVA. can be controlled in any one of the following modes: DISPLAY AND CONTROL SUBSYSTEM. The dedicated o Manual Augmented, RMS display and control system in conjunction o Automatic - commanded auto sequence, with the orbiter CRT monitors and keyboard - preprogrammed auto sequence, input to the GPC, provide the interface o Single joint drive, between the operator and the manipulator o Direct drive, system. This system provides the necessary o Back-up drive channels. information to operate the RMS during check­ out and on-orbit operations including, selec­ MANUAL AUGMENTED MODE, this is the normal tion of primary control modes, safing, brakes mode of operation with the operator in the on/off, End Effector control, and back-up control loop. The operator commands channel drive modes. rotational and translational velocities by use of the hand controllers. These are resolved into the corresponding joint rate DISPLAY. The RMS display system monitors and commands based on the resolved rate algorithm annunciates the system's mode and health, by in the RMS software and fed to the joint audio warning and by the use of two CCTY servos via the MCIU. This produces a motion monitors with split screen capability. that is speed and vectorially proportional to Extensive Built-in Test Equipment (BITE) the deflection of the control stick and circuits perform self testing functions which allows end point control. are displayed. AUTOMATIC MODES, there are two types of auto­ CONTROL. The majority of RMS operations matic control; COMMANDED AUTO SEQUENCE and require man-in-the-loop control. For this PREPROGRAMMED AUTO SEQUENCE. The operator reason, control of the RMS has been made COMMANDED AUTO SEQUENCE drives the arm along "instinctive". This enables the operator to a "straight line" trajectory from the initial consider only the end point coordinates to the final position by inputting the required of the End Effector/Payload, rather required data to the GPC through the key­ than controlling the joints serially to board. The RMS software checks final coordi­ achieve the position. Primary control nates and orientation for reachability prior commands are implemented by two 3 degree-of- to execution of the trajectory. The freedom hand controllers. The left hand PREPROGRAMMED AUTO SEQUENCE trajectories are controller permits the operator to command composed of straight line elements stored in the three translational velocity components the GPC. The operator can select the of the End Effector. The right hand required trajectory from the D&C panel. Any controller allows the command of the three of the end points of the straight line rotational velocity components of the End elements can be selected as a pause point Effector, rate selection functions are where the arm can stop until the operator provided by thumb and finger switches built requests it to complete the trajectory. into the handle. Secondary control is by switches on the D&C panel. Commands from the controller are routed through the Manipulator SINGLE JOINT DRIVE, this enables the operator Controller Interface Unit (MCIU). This is to control the arm on a joint-by-joint basis the main interface between the orbiter GPC, with full GPC support. The operator selects the control and display panel, the electrical the desired joint and commands it via the D&C subsystem and the End Effector. The MCIU panel. The software via the MCIU supplies collects all the data, reformats it and the rate demands to the selected joint. The transmits it to the appropriate part of the remaining joints maintain hold position.

5-29 DIRECT DRIVE MODE, this is the first contin­ Typical parameters might be payload transla- gency mode of operation and contains display tional and rotational velocities, maximum support but the control bypasses the MCIU, joint angle rates and payload mass the GPC and the data buses and gives a hard­ properties. wired command to the joint motor drive. The control inputs are from the D&C panel, driving a single joint. The other joints are RMS UPDATE de-activated and held with brakes. DDT&E PROGRAM Two major milestones of the BACK-UP DRIVE CHANNEL, the second contingency DDT&E program have been completed; the drive mode is used when no prime drive Preliminary Design Review held in the fall of channel modes are available. It bypasses the 1976 and the Critical Design Review held in MCIU, GPC, prime channel electronics, power July 1978. Currently, we plan to be "on supply and data bus. The mode allows joint- dock" at JSC with the first flight system by-joint control of the arm from a dedicated about six months from now. The GSE and section of the D&C panel. engineering model are complete and the qualification and flight hardware are in the The END EFFECTOR prime control mode for pay- final stages of integration and verification load capture and release is via the D&C testing. The SRMS verification activities panel, and the system incorporates a back-up have included analysis, real time and non- payload release function in series with the real time simulation, inspection, design prime channel. reviews and development, qualification and acceptance testing and they have demonstrated ELECTRICAL SUBSYSTEM The electrical that the system meets the design and perfor­ subsystem controls the electrical power to mance requirements. the arm joints and End Effector in response to control commands. It also relays status information to the D&C panel and GPC and SYSTEM TESTING In 1977, Spar built a serves a self testing and verification 100 ft. long by 75 ft. wide, high bay 100,000 function for critical control signals. The class clean room INTEGRATION AND TEST area. subsystem consists of the MCIU and the Arm This area contains a level flat floor which Based Electronics (ABE). The ABE are mounted allows the manipulator arm to be manoeuvred adjacent to the joints in the electronics on an air bearing test rig (Figure 5). housing. The ABE is comprised of 5 elec­ tronics units; these being the Servo Power Use of the rig allows system tests to be Amplifiers for servo rate control, Signal conducted under room temperature conditions, Conditioning Units to precondition the output as a demonstration of the capability of the of the tachometer, and an End Effector arm to meet performance requirements. Electronis Unit to control and monitor the Parameters such as rate control, positional End Effector. Joint Power Conditioners are accuracy, acceleration characteristics and used to regulate the voltage and provide response to hand controller inputs being primary and secondary voltages. A Back-Up evaluated. The test set-up also acts to Drive Amplifier is incorporated; the main confirm the analytical data of the real and function of which is to provide drive to any non-real time simulations. one joint in the event of failure. SOFTWARE SUBSYSTEM The RMS software which is The test rig supports the arm in a manner used for all primary control modes translates that imposes the least risk of introducing operator commands into servo commands for extraneous or uncontrolled loading of the controlling the arm. Operator commands are joints, and simulates zero g in one plane (2 transferred from the control station to the axes) by supporting the arm on air bearing MCIU and then the GPC and RMS software. The pads. By so doing, the rig helps to overcome software controls and monitors the arm for the major constraint of zero g system testing the following functions: in a one g environment. Arm movement is initiated from the arm joints. The shoulder is rigidly fixed to the floor and control is o Operation initialization, via an MCIU, D&C panel and associated hand o Control, controllers working in conjunction with a o Signal conditioning, computer system simulating the orbiter GPC. o Coordinate transformation, o System health monitoring, The test rig will be used for system level o Singularity warnings. acceptance tests of the flight model. The qualification hardware does not undergo this RMS software parameters may be changed to system test , and after certification support each mission by changing the mission testing, will remain in readiness and stored specific data, prior to the mission. for future disposition.

5-30 For the flight system acceptance test the The VERIFICATION PROGRAM uses both real and flight MCIU D&C panel and hand controllers non-real time simulation. Spar uses a non- will be used. These will be connected after real time FORTRAN program ASAD (All Singing the manipulator arm has been integrated and All Dancing) to simulate in NRT the dynamics mounted on the air bearing rig. The use of of the SRMS by using five basic modules, ARM the system test set-up has validated the SRMS DYNAMICS, JOINT SERVO and GEARBOX, ARM design and demonstrably increases the CONTROL ALGORITHM, ORBITER ACS and DISPLAY. confidence in the system for on-orbit perfor­ ASAD is a detailed ORBITER/RMS/PAYLOAD model mance. which incorporates up to thirty selectable flexible modes and addresses the detailed System level Electromagnetic Compatibility design, development and performance verifica­ (EMC) tests are conducted on the completed tion issues of the SRMS in QUANTITATIVE FLIGHT MANIPULATOR ARM after integration of terms (such as magnitude of variables e.g. the ABE, EEEU and CCTV system. For these speed). The NRT simulation program provided tests, the elbow/lower arm boom interface is complete information regarding the systems disconnected to allow the simultaneous motion modes of operation such as deployment and of the 6 joints. Via the software, the joint retrieval of payloads, singularity management commands are set to implement zero rate and auto mode trajectories, and arm positioning by inputting RF signals, conducted suscep­ capability. These simulations have demon­ tibility tests are carried out. strated that the system as designed, is stable and meets the performance requirements. The ENGINEERING MODEL ARM has undergone extensive conducted emission and suscep­ tibility tests at the system level, as well as radiated susceptibility tests on the For conducting the real time simulation, Spar assembly of the Shoulder, Upper Arm Boom and used the facility SIMFAC which is based on Elbow. ASAD and is suitably restructured to permit real-time processing. SIMFAC addresses the Qualification level tests on the QUALIFICA­ man-in-the-loop QUALITATIVE elements of the TION SHOULDER have included radiated suscep­ system, such as operational capabilities. tibility, conducted susceptibility, conducted The SIMFAC orbiter complex, with part of the emission and radiated emission tests. simulation subsystem in the background is shown in Figure 6a. Radiated Susceptibility Characterization tests are scheduled for the QUALIFICATION WRIST in the July/August time frame. These will determine the arm RF threshold levels. In SIMFAC, the operator is totally enclosed in a replica of the orbiter RMS control station (Figure 6b) where operator commands ENGINEERING MODEL In 1978, the ENGINEERING are generated through hand controllers and MODEL was integrated and has since been used the D&C panel. The simulator generates four on the test rig for system level performance views in real time depicting the outline of evaluation. The engineering model is equiva­ the orbiter cargo bay, payload and mani­ lent in fit form and function to the flight pulator arm on vector-type CRT monitors and qualification units and in many areas, (Figure 6c). These views are created from an has undergone qualification level testing. internal data base that defines the shape of the payload structure and manipulator arm as Development of this model has required the seen from the orbiter windows. testing of materials and processes where documented evidence of prior space applica­ tion did not exist, such as the carbon Both real and non-real time simulation is composite material for the arm booms, the dry required to support the program up to the film lubricant and the joint brake material. delivery of the flight system and later to support the early STS flights. There have SIMULATION In the one g environment of earth t been three critical simulation milestones to accurate analysis, modelling and simulation date. Phase III which supported the SRMS CDR are the principal means of performance concluded in 1978 and used RT and NRT simula­ evaluation and system verification for tions. The RT activity simulated payload systems, such as the RMS, which are required deployment and retrieval and acted as a to operate in a zero g environment. training tool for SRMS operators. It Consequently, an extensive simulation program confirmed many operating procedures and has been carried out for verification of the allowed an evaluation of the D&C functions overall SRMS system performance and also to of the system. Phase III also demonstrated permit the development of crew operating live simulations successfully and displayed procedures. the high performance of the system.

5-31 Phase IV RT and NRT simulations supported o Investigation of malfunction and post disposition of RID's raised at the CDR and malfunction operation, served to update the model elements based on o Evaluation of system health check, hardware tests. In addition, this phase o Identification of potential product continued work on normal and malfunction improvements, operating procedures and successfully showed o Refinement to operating techniques and system performance in various degraded modes. procedures. Phase V simulations began in October 1979 using SIMFAC and ASAD. The major objective Each operator completed 27 runs of 9 task of the simulation was to support the formal types, using payloads of typical size and SRMS verification, with ASAD addressing the mass. The data runs required the operators system's detailed quantitative requirements to track and capture free flying payloads. and SIMFAC primarily addressing the qualita­ One operator performed an additional seven tive man- in-the-loop requirements. runs designed to test arm rate accuracies and singularity handling. Unknown to the Throughout the DDT&E program, on-going work operator, eight malfunctions were inserted in has validated and reconfirmed the validation the simulation at predetermined points; each of both SIMFAC and ASAD. This activity malfunction being representative of a required updating the format and interaction particular class of criticality 1 failure protocol to conform to the current flight (possible loss of crew) and included unannun- baseline, ASAD validation has included the ciated joint and arm runaways, and tachometer use of analysis, comparison with test and position encoder failure. Post malfunc­ results, development hardware and non-real tion runs demonstrated that the contingency time simulation programs. The NRT simulation modes of control could be successfully used included the use of such programs as to place the arm/pay! oad in a safe STARDYNE, NASTRAN, Spar programs such as configuration. SPARMS and ONEJNT and also confirmatory checks with other independent simulation programs such as the NASA, SES (Shuttle The real and non-real time verification Engineering Simulator) and PDRSS (Payload simulations were completed In November 1979 Deployment and Retrieval Simulation System). and concluded with the complete endorsement The NRT verification simulation runs included of the remote manipulator system. payload deployment, retrieval, berthing, velocity limiting, stopping, torque capability and singularity handling tasks for SRMS INTEGRATION AND TEST Consistent with a variety of payload, size mass and control VERIFICATION, INTEGRATION and MAINTAINABILITY modes* requirements, the SRMS is composed of a hier­ archy of subassemblies* This allows the The run data, was recorded in printout and Integration and Test (I4T) of the system on a plot form and where appropriate, operator building block basis. The arm contains eight observations* top level subassemblles, LINE REPLACEABLE UNITS (LRU's); these being the MCIU, ASAD: is the principal non-real time program: ROTATIONAL HAND CONTROLLER, TRANSLATIONS for the shuttle RMS and is used to validate HAND CONTROLLER, CCTV and LIGHT BRACKETS, D&C SIMFAC with respect to flexible dynamics, PANEL,. MECHANICAL ARM: ASSEMBLY, STANDARD END control modes and operations in the neigh- EFFECTOR and the ARM THERMAL PROTECTION KIT. of arm. singularities. This ensures Of these LRU's, the mechanical arm assembly, that SIMFAC can adequately perform it's end effector, arm thermal protection and CCTV primary function: which is that of providing and light brackets are composed of lower an accurate visual representation of the arm level SRU's (SHOP REPLACEABLE UNIT). performance and behaviour to an operator such Acceptance tests are conducted on the Flight that the operator reactions to these displays. System at both LRU and SRU level. In terras of control, will be realistic. A status review of the major LRU and SRU for The simulation verification was the qualification and flight units follows. by four operators, three of whom astronauts and required the system to A major common component is the motor a number of Flight Operations module* This element is the nucleus of the Directorate requirements which included: joint drive system and has undergone exten­ sive testing which consisted of environmental testing plus, torque, stlctlon, friction* o Evaluation of critical, ity for some il set ri cal 1 nterf ace compat i bi 1 ity». classes of malfunction, continuity. Testing has shown: that this unit o ifIcation of hardware/software performs in accordance with the interface problems, requirements.

§•3! • Assembly of the mechanical arm will commence The GSE is complete and will be used for with the integration of the shoulder and integration during June through to September. upper arm boom during the second week of . Ma^ The qualification booms and two sets of FOP The Follow-On Production (FOP) program flight booms are complete and are awaiting is a natural outgrowth of the DOT&E program integration. The flight booms have the and uses the same industrial team and wiring harnesses and velcro thermal blanket suppliers. A letter contract was signed attachments in place and are presently In the between NASA JSC, the Canadian Commercial I&T area at Spar. Corporation and Spar effective May 1, 1979, and a definitive contract agreement for the The FLIGHT SHOULDER will complete acceptance FOP program was reached in January 1980 and vibration and thermal testing during the the contract signed in early April 1980. first week in May. The QUALIFICATION SHOULDER is scheduled to complete it's The program as currently contracted will be structural load tests and instrument and of some five years duration and is on set-up checkouts at the same time . having schedule. It embraces the supply of three - completed vibration, thermal vacuum and complete flight systems currently projected humidity testing* for delivery in May 1982, November 1983 and November 1984 and an Integrated Logistics Following integration of the flight shoulder Support (ILS) program. The three manipulator and upper boom.., the ELBOW JOINT is inte­ systems to be supplied are currently base- grated, the latter having completed it's lined to the first flight system for the acceptance testing on schedule in mid- DDT&E program. February* There is no qua! elbow joint as the flight unit was qualified by similarity The ILS program encompasses PRODUCT SUPPORT, to the shoulder. GROUND SUPPORT EQUIPMENT, TECHNICAL .MANUALS and SPARES PROVISIONING conferences. The ILS The FLIGHT WRIST is next to -be integrated, program covers the period from May 1979 to the acceptance testing of which will be December 1984* completed by the second week in May. The f 1 i ght wri s t has successf u 1 ly : u ndergone vibration and thermal testing and the unit PRODUCT SUPPORT activity will 'be in response will enter integration this month. The to task orders initiated by NASA and carried QUALIFICATION WRIST entered test during March out at Spar Canada* Typically, the studies for vibration shock and thermal vacuum test would be special design and trade-off and will complete testing during the third studies, analysis and simulation tasks aimed week in June. at product improvement. Both the QUALIFICATION and FLIGHT END Spar will be providing OPERATIONAL FLIGHT EFFECTOR are in the final stages of SUPPORT at NASA JSC. The assignments cover assembly.. The flight end effector will enter such areas as mission support, establishment thermal vacuum and vibration acceptance of operational and malfunction procedures and testing in June and will be ready for inte­ support of spacecraft and other hardware gration on schedule in July. The qualifica­ reviews. tion end effector will undergo an extensive test sequence of some four months duration including humidity, vibration, thermal vacuum SPARES PROVISIONING lists will be compiled and endurance testing. This will be for the first Spares Provisioning Conference completed in September. scheduled for the last quarter of 1980. The list will contain candidate spares for both The thermal protection blankets for the the SRMS and associated GSE identified over system are complete and where they are not the initial first five year period of orbiter integrated as part of the joint assembly, operation at JSC and the Vandenberg Air Force they will form the last part of the system Base (VAFB). integration. The MCIU, Rotational Hand Controller (RHC), TECHNICAL MANUALS will be supplied to cover Translational Hand Controller (THC) and the the .maintenance procedures to an intermediate DSC panel completed acceptance testing during depot level covering the exchange of joints, April and will be integrated by the end of end effector and arm booms* Also covered June. will be depot repair and overhaul of Spar supplied LRU's and SRU's. The manuals are The . CCTV camera and flood Tight were scheduled for delivery in the first quarter delivered to Spar during the last week of of 1983. GROUND SUPPORT EQUIPMENT (GSE) March in readiness for the CCTV system adequate to support the FOP program is being integration and during July. provided and includes such items as joint and

5-33 boom shipping containers, strongbacks, to be increasingly valuable for crop inven­ handling dolleys and electrical checkout tory, forest, wildlife and water resource equipment. The 6SE is scheduled to be in management, land use mapping, ice reconais- place at VAFB In time for the delivery of the sance and mineral and petroleum exploration. second FOP RMS flight system in 1983. LANDSAT D will be launched by NASA in 1981 and will use the upgraded Canadian data FUTURE CANADIAN PROGRAMS reception and processing earth stations facilities at Price Albert, Saskatoon and Following on the success of the ANIK B Shoe Cove, Newfoundland, to provide better satellite and the SRMS, Canada is now moving colour and spatial resolution and improved forward with a balanced space program on a identification of the earth's surface. Data number of fronts. These programs can be from LANDSAT is received in Canada under broadly categorized into R&D INTENSIVE and terms of the Canada-USA Earth Resources OPERATIONS ORIENTED. The former including Surveys (ERTS/LANDSAT) Agreement. both ground and spaceborne studies/experi­ ments in Remote Sensing, Space Science and The U.S. SEASAT program uses satellites to Communications, the latter covering remote monitor the oceans and to provide sensing operations such as receiving data continuously updated reports on weather and from Landsat satellites and communications sea conditions. Participation in this operations such as ANIK. program is part of a Canadian project SURSAT which is a program aimed at defining the COMMUNICATION Since the establishment of feasibility of using satellites to assist In TELESAT in 1969, four Canadian communications surveillance and forecast needs for the satellites have been placed in orbit and a 1980-2000 time frame. further launch, ANIK Cl (TELESAT E) is planned during 1982. For all of these, it was necessary for Canada to rely on a U.S. ESA Canada entered into -an Agreement of prime contractor. Cooperation with the European Space Agency (ESA) in December 1978 allowing for partici­ However, the next Canadian communication pation in the basic ESA program and other satellite to be launched, ANIK Dl (TELESAT F optional applications programs on a case-by- on STS-11) in November 1982, will be built in case basis. In the latter area, the Canadian Canada with Spar Aerospace as the prime Government has allocated funds for participa­ contractor* For this and future satellites, tion in the project definition studies on two the David Florida Laboratory in Ottawa is projects; L-SAT and PERSSP. L-SAT is a being upgraded as the integration, assembly demonstration satellite carrying a tele­ and environmental test facility. communications payload and is expected to be launched In late 1983. Canadian particl- ANIK C will form the backbone of east-west pati on i s expected to i nclu de s pacecraft telecommunication in Canada during the platform subsystems and/or payload elements. 1980's. It will replace the ANIK A satellites which will be nearing the end of Canada's contribution to the PERSSP their life span. ANIK Dl will be followed by (Preparatory European Remote Senslng ANIK C2, (TELESAT G on STS-17) in March 1983 Satellite Program'- is expected to involve work and ANIK D2, (TELESAT H) in the first quarter on the development, of technology related to of 1985. Synthetic Aperature Radar (SAR). Canada's proposed MUSAT Multipurpose Satel­ SPACE SCIENCE A new cooperative SPACE lite program is both R&D and operations- SCIENCE PROGRAM has been negotiated with oriented. Initially it is a study which NASA. It's objectives are to sustain and could lead to the construction of a satellite improve Canadian research competence In space during the 1981/84 time period. The satel­ science and provide knowledge on which to lite would be built in Canada and provide base future space programs. The program will "press-to-talk." voi ce communi cati on with cons i st of three separate contr1buti ons to ships, aircraft and field parties 1n the the Shuttle/Spacelab missions and two ground Canadian north. Baseline for the ground based observational systems in support of a stations is that they will be small, NASA sturdy of the origin of plasma in the economical and easy to operate.. The total earth * s nelghborhood* system will offer' a flexibility and cost efficiency not attainable by other means. Additional space ventures for Canada In the next five years include a series of studies RE»PTE_J5ENSING/.hlE.TEpRQLOGICAL Involvement 1n for an operational Direct Broadcast Satellite two major remote sensing programs is planned (DBS) system that would increase the coverage for the period 1980-1985; these being LANDSAT and the number of television and voice and SEASAT. LANDSAT is primarily an channels available to remote areas of oral-ortented program that 1 s prov1ng Canada. As well, Canadian Industry hopes to

S-34 participate in selected international Since 1972, space receiving stations have programs such as the Australian DBS system been operated on Canadian soil to retrieve and earth stations, the European NORDSAT data from the U.S. LANDSAT remote sensing broadcast system, and possibly French and satellites for use by federal and provincial German domestic systems. governments and the private sector in monitoring and managing the resources, crops Looking further into the future, Canada may and environment. consider a successor to the HERMES communica­ tions technology satellite. Such a satellite During 1979, Canada's involvement in inter­ with direct broadcast capability, launched as national programs counted LANDSAT, SEAS AT, part of an international program (possibly ISIS, ESA programs, ANIK B, SARSAT, SRMS, Canada/USA) could be used to demonstrate the ANIKS C AND D amongst its ventures. potential of satellite communication to developing nations and thereby enable them to Canada has recently joined with the U.S.A. develop their operational requirements for a and France in a Search and Rescue Satellites domestic system. Further programs of program SARSAT to test and demonstrate the research and development will be embarked use of satellites to detect and locate air­ upon to enable the improved use of meteoro­ craft and marine disasters. The experiment logical data and further the knowledge of the will be carried aboard three U.S. weather composition and characteristics of the upper satellites. The 15 month evaluation is atmosphere. scheduled to begin with the first launch in 1982. The USSR is also participating in THE BENEFITS OF INTERNATIONAL COOPERATION SARSAT with Japan pressing to participate. Most countries now recognize that space is Amongst the gains of international coopera­ here to stay particularly in the area of tion is the contribution that is made to the communications and earth observation. Indeed world's scientific and demographic knowledge many large countries such as India, island and the subsequent economic and social nations such as Indonesia and the Phil 11pines dividends that accrue. Also the achievement and undeveloped nations are moving directly of national aims such as sovereignty, inter­ from regional networks to satellite communi­ national recognition, employment for under­ cations bypassing the expensive and developed areas, resource exploration and i nf1exi ble terrestrial mi crowave feed or management, education and community health landline systems. programs can be realistically advanced by the use of spaceborne systems. These countries have found that for future development and economic needs, it is a Canada's participation in international necessity to become involved in a global satellite programs has demonstrated that space program. The cost and complexity of peoples of many nationalities can work such programs, however, is so large that it together towards common objectives and in so necessitates i nternati onal cooperat ion at doing, promote understanding on a man-to-man both the financial and technical levels. basis that helps to withdraw the barriers Canada's Space Program shows a history of causing isolation between nations. such international cooperation. Advanced -social and economic entities such as In 1964, Canada joined ten other nations in Canada, U.S.A, USSR need to maintain their the fi rst agreement for an 1nternat i onal standards and economic position relative to communications system empl oyi ng satel1ite other nations in order to satisfy the aspira­ technology (INTELSAT). The organization, was tions of their population. Space programs at created to own and operate a global commer­ a price the countries can afford helps to cial communications network using satellites maintain such standards and provides a means positioned over the Atlantic, Pacific and/ to enhance their high technology needs. Indian Oceans. INTELSAT now has 101 member nations, 163 earth stations in 88 countries Man's imagination and spirit of adventure and some 25 satellites launched. have always caused him to reach out for the unattainable. Space travel itself, once the Since 1963, Canada and the U.S. have symbol of the unattainable is now being cooperated in meteorological programs whereby conquered and man's inquiring mind is causing Canada has acquired cloud pictures and other him to search further afield to achieve new data from U.S. satellites, using its own goals* earth stations. Many other nations partici­ pate in such programs and along with the The "space age" which may have started as a Worl d Heteorological Organlzati on provide race or competition between nations is now data acqu1s11 i on, coronunicati ons' and becoming a cooperative effort with many processing' networks which allow a truly nations sharing the program costs and know­ global system for meteorological information. ledge gained. s-as The benefit to mankind of inventive space REFERENCES activities are legion and range from the use of solar energy, the better control of earth resources and environmental pollution, to Space Manipulators Present Capabl11 ty seeking knowledge of the earth's formation arid Future Potential., J.D. Graham, and ultimately perhaps, to a greater under­ Dr. R. Ravlndran, Dr. K. Knapp, May standing of the evolution of the universe 1979, AIM/NASA Conference on Advanced itself. Technology for Future Space programs, Hampton, Virginia. International Cooperation in world space programs provide stimulating and challenging opportunities for future scientists and The Thermal Design, Analysis and Testing engineers, and from such endeavors, the of the SRKS, A.M. Gray, A.S. Jones, industrial and national teaming can go beyond A. Kong, June 1979, AIAA 14th the immediate project and further objectives Thermophy si c s Conference 9 Or!ando , in other areas of world concern. Florida. ACKNOWLEDGEMENTS The Canadian Space Program 'five-Year The author wishes to thank Spar Aerospace P1 an (80/81-84/85) D1scusslon paper Limited for permission to present and publish published by Department of this paper and the staff of Spar for Communications, Government of Canada, assisting in it's preparation. January 1980.

1-3S Fig.1 TYPICAL RMS USES PAYLOAD DEPLOYMENT AND RETRIEVAL 7 - G - 266

SOLAR ARRAY DEPLOYMENT

ORBITER ENVIRONMENT MAPPING & INSPECTION

ON-ORBIT SATELLITE & PLATFORM - CONSTRUCTION - SERVICING - ASTRONAUT EVA

5-37 Fig.2 SHUTTLE RMS 7 - G - 256

BULKHEAD CREW COMPARTMENT

WRIST CCTV & LIGHTS END EFFECTOR

\ ELBOW CCTV \ ON PAN & THERMAL \ TILT UNIT PROTECTION! KIT \ \

6-38 WRIST

END

MPM

ORBITER

LONGERON

-

—

STANDARD

JOINT

1

ROI

JOINT

WRIST

ARM

PITCH

WRIST

ARM

LOWER

ARRANGEMENT

MPM

.

JOINT

PITCH

ROLL

WRIST

MECHANICAL

GENERAL

Fig.3

ft CLOSED

(SNARED)

SHAFT

FULLY

WIRES

CLOSED

SHAFT

RING

MODE

PAYLOAD.

WHEN

FIXTURE

THE WIRES

NUT

&

INTERFACE.

GRAPPLE CONTACT END

&

AGAINST

OF

SHAFT THE

STORED.

EFFECTOR

SCREW FULL

OF

POSITION

GRAPPLE

WIRES

FORWARD

CAPTURING

FORCES

END

ROTATED

& ON CENTERING

IN

INTO

BALL

WIRES

FIXTURE

MOUTH

PULLS AND

OF

SNARED"

CAPTURED

RIGIDIZING

RING

EFFECTOR.

ORIENTATION

PLATE

CAM

WITH ENTERS POSITION. END GRAPPLE

KEYED

OPERATION FIXTURE SHAFT

EFFECTOR ASSEMBLIES

&

CAPTURE

MODE

TO

PLANE

RING

MODE

ROTATE

TO

WIRES

FIXTURE.

TO

ON

EFFECTOR

INTERFACE

END

BEGINS

GRAPPLE STARTING CLOSE

EFFECTOR

PRE-CAPTURE

RIGIDIZED

END

SHAF

RING

RIGIDIZE SEQUENCE

RMS

FIXTURE

RING

ROTATING

PAYLOAD GRAPPLE

INNER

OUTER

Fig.4

END

SHAFT

OF

FIXTURE

FIXTURE

MOUTH

STORED

EFFECTOR

WIRES

END

GRAPPLE

INSIDE

GRAPPLE

EFFECTOR. Fig.5 ENGINEERING MODEL ARM ON AIR BEARING TEST RIG

7 - G - 256

SPAR i&T AREA 100,000 CLASS CLEAN ROOM

5-41 Fig.6 SIMFAC SIMULATOR

a SHUTTLE ORBITER OPERATOR COMPLEX

b OPERATOR COMPLEX INTERIOR c SCENE GENERATION MONITOR CONFIGURED AS THE AFT FLIGHT DECK OF THE NASA SHUTTLE ORBITER

5-42