Orbital Express AVGS Validation and Calibration for Automated Rendezvous
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Thesis Submitted to Florida Institute of Technology in Partial Fulfllment of the Requirements for the Degree Of
Dynamics of Spacecraft Orbital Refueling by Casey Clark Bachelor of Aerospace Engineering Mechanical & Aerospace Engineering College of Engineering 2016 A thesis submitted to Florida Institute of Technology in partial fulfllment of the requirements for the degree of Master of Science in Aerospace Engineering Melbourne, Florida July, 2018 ⃝c Copyright 2018 Casey Clark All Rights Reserved The author grants permission to make single copies. We the undersigned committee hereby approve the attached thesis Dynamics of Spacecraft Orbital Refueling by Casey Clark Dr. Tiauw Go, Sc.D. Associate Professor. Mechanical & Aerospace Engineering Committee Chair Dr. Jay Kovats, Ph.D. Associate Professor Mathematics Outside Committee Member Dr. Markus Wilde, Ph.D. Assistant Professor Mechanical & Aerospace Engineering Committee Member Dr. Hamid Hefazi, Ph.D. Professor and Department Head Mechanical & Aerospace Engineering ABSTRACT Title: Dynamics of Spacecraft Orbital Refueling Author: Casey Clark Major Advisor: Dr. Tiauw Go, Sc.D. A quantitative collation of relevant parameters for successfully completed exper- imental on-orbit fuid transfers and anticipated orbital refueling future missions is performed. The dynamics of connected satellites sustaining fuel transfer are derived by treating the connected spacecraft as a rigid body and including an in- ternal mass fow rate. An orbital refueling results in a time-varying local center of mass related to the connected spacecraft. This is accounted for by incorporating a constant mass fow rate in the inertia tensor. Simulations of the equations of motion are performed using the values of the parameters of authentic missions in an endeavor to provide conclusions regarding the efect of an internal mass transfer on the attitude of refueling spacecraft. -
Orbital Fueling Architectures Leveraging Commercial Launch Vehicles for More Affordable Human Exploration
ORBITAL FUELING ARCHITECTURES LEVERAGING COMMERCIAL LAUNCH VEHICLES FOR MORE AFFORDABLE HUMAN EXPLORATION by DANIEL J TIFFIN Submitted in partial fulfillment of the requirements for the degree of: Master of Science Department of Mechanical and Aerospace Engineering CASE WESTERN RESERVE UNIVERSITY January, 2020 CASE WESTERN RESERVE UNIVERSITY SCHOOL OF GRADUATE STUDIES We hereby approve the thesis of DANIEL JOSEPH TIFFIN Candidate for the degree of Master of Science*. Committee Chair Paul Barnhart, PhD Committee Member Sunniva Collins, PhD Committee Member Yasuhiro Kamotani, PhD Date of Defense 21 November, 2019 *We also certify that written approval has been obtained for any proprietary material contained therein. 2 Table of Contents List of Tables................................................................................................................... 5 List of Figures ................................................................................................................. 6 List of Abbreviations ....................................................................................................... 8 1. Introduction and Background.................................................................................. 14 1.1 Human Exploration Campaigns ....................................................................... 21 1.1.1. Previous Mars Architectures ..................................................................... 21 1.1.2. Latest Mars Architecture ......................................................................... -
Next Generation Advanced Video Guidance Sensor: Low Risk Rendezvous and Docking Sensor
Next Generation Advanced Video Guidance Sensor: Low Risk Rendezvous and Docking Sensor Jimmy Lee1 and Connie Carrington2 NASA Marshall Space Flight Center, Huntsville, AL, 35812 Susan Spencer3 NASA Marshall Space Flight Center, Huntsville, AL, 35812 and Thomas Bryan, Ricky T. Howard, Jimmie Johnson4 NASA Marshall Space Flight Center, Huntsville, AL, 35812 The Next Generation Advanced Video Guidance Sensor (NGAVGS) is being built and tested at MSFC. This paper provides an overview of current work on the NGAVGS, a summary of the video guidance heritage, and the AVGS performance on the Orbital Express mission. This paper also provides a discussion of applications to ISS cargo delivery vehicles, CEV, and future lunar applications. I. Introduction ELATIVE navigation sensors are an enabling technology for exploration vehicles such as the National R Aeronautics and Space Administration’s (NASA’s) Crew Exploration Vehicle (CEV), cargo vehicles for logistics delivery to the International Space Station (ISS), and lunar landers. Additional applications are lunar sample return missions, satellite servicing, and future on-orbit assembly of space structures. The Next Generation Advanced Video Guidance Sensor (NGAVGS) is a third generation relative navigation sensor that incorporates the basic functions developed and flight proven in the Advanced Video Guidance Sensor (AVGS). The AVGS was the primary proximity operations and docking sensor in the first autonomous docking in the history of the U.S. space program, which was accomplished on May 5, 2007 during the Orbital Express (OE) mission. However, the AVGS hardware cannot be reproduced due to parts obsolescence, which has provided Marshall Space Flight Center (MSFC) an opportunity to replace an obsolete imager and processor with radiation tolerant parts, and to address critical CEV and ISS cargo vehicle relative navigation sensor requirements. -
A Summary of the Rendezvous, Proximity Operations, Docking, And
NASA/TM-2011-217088 NESC-RP-10-00628 A Summary of the Rendezvous, Proximity Operations, Docking, and Undocking (RPODU) Lessons Learned from the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) Demonstration System Mission Cornelius J. Dennehy/NESC Langley Research Center, Hampton, Virginia J. Russell Carpenter Goddard Space Flight Center, Greenbelt, Maryland April 2011 NASA STI Program . in Profile Since its founding, NASA has been dedicated to • CONFERENCE PUBLICATION. Collected the advancement of aeronautics and space science. papers from scientific and technical The NASA scientific and technical information (STI) conferences, symposia, seminars, or other program plays a key part in helping NASA maintain meetings sponsored or co-sponsored by NASA. this important role. • SPECIAL PUBLICATION. Scientific, The NASA STI program operates under the technical, or historical information from NASA auspices of the Agency Chief Information Officer. It programs, projects, and missions, often collects, organizes, provides for archiving, and concerned with subjects having substantial disseminates NASA’s STI. The NASA STI program public interest. provides access to the NASA Aeronautics and Space Database and its public interface, the NASA Technical • TECHNICAL TRANSLATION. English- Report Server, thus providing one of the largest language translations of foreign scientific and collections of aeronautical and space science STI in technical material pertinent to NASA’s mission. the world. Results are published in both non-NASA channels and by NASA in the NASA STI Report Specialized services also include creating custom Series, which includes the following report types: thesauri, building customized databases, and organizing and publishing research results. • TECHNICAL PUBLICATION. Reports of completed research or a major significant phase For more information about the NASA STI of research that present the results of NASA program, see the following: programs and include extensive data or theoretical analysis. -
Getting in Your Space: Learning from Past Rendezvous and Proximity Operations
CENTER FOR SPACE POLICY AND STRATEGY MAY 2018 GETTING IN YOUR SPACE: LEARNING FROM PAST RENDEZVOUS AND PROXIMITY OPERATIONS REBECCA REESMAN, ANDREW ROGers THE AEROSPACE CORPORATION © 2018 The Aerospace Corporation. All trademarks, service marks, and trade names contained herein are the property of their respective owners. Approved for public release; distribution unlimited. OTR201800593 REBECCA REESMAN Dr. Rebecca Reesman is a member of the technical staff in The Aerospace Corporation’s Performance Modeling and Analysis Department, where she supports government customers in the national security community. Before joining Aerospace in 2017, she was an American Institute of Physics Congressional Fellow handling space, cybersecurity, and other technical issues for a member of Congress. Prior to the fellowship, she was a research scientist at the Center for Naval Analysis, providing technical and analytical support to the Department of Defense, with particular focus on developing and executing wargames. Reesman received her Ph.D. in physics from the Ohio State University and a bachelor’s degree from Carnegie Mellon University. ANDREW ROGERS Dr. Andrew Rogers is a member of the technical staff in The Aerospace Corporation’s Mission Analysis and Operations Department. His expertise is in relative motion astrodynamics, control theory, and space mission design. Rogers supports government customers in the areas of concept- of-operations development, orbital analysis, and small satellite technology development. Prior to joining Aerospace in 2016, Rogers received his Ph.D. in aerospace engineering and a bachelor of science in mechanical engineering from Virginia Polytechnic Institute and State University. CONTRIBUTORS The authors would like to acknowledge contributions from Greg Richardson, Josh Davis, Jose Guzman, George Pollock, Karen L. -
Fostering Sustainable Satellite Servicing Orbital Express Program
APPROVED FOR PUBLIC RELEASE – DISTRIBUTION UNLIMITED ASTRO / NEXTSat Self-Portrait Fostering Sustainable Satellite Servicing Orbital Express Program Summary June 26, 2012 Manny Leinz Director, Autonomous Space Capabilities Boeing Phantom Works (714) 896-1648 [email protected] ASTRO Image of NEXTSat Over Crete APPROVED FOR PUBLIC RELEASE – DISTRIBUTION UNLIMITED Copyright © 2012 Boeing. All rights reserved. APPROVED FOR PUBLIC RELEASE – DISTRIBUTION UNLIMITED Orbital Express Demonstration System Overview Orbital Express (OE) was a DARPA program demonstrated the technical feasibility, operational utility, and cost effectiveness of autonomous techniques for on-orbit satellite servicing • Phase 1 Concept study (2000-2001) • Phase 2 Advanced Technology Flight Demonstration (1/2002 – 7/2007) Specific objectives were to develop and demonstrate on orbit: • A nonproprietary satellite servicing interface specification • Orbit propellant transfer between a depot/serviceable satellite and a servicing satellite • Component transfer and verified operation of the component • Autonomous rendezvous, proximity operations, and capture On-Orbit demonstration of technologies was required to reduce risk of autonomous on-orbit satellite servicing • Perform autonomous fuel transfer in a zero-g environment • Perform autonomous Orbital Replacement Unit (ORU) transfer • Component replacement (Battery and Computer) • Perform autonomous rendezvous and capture of a client satellite • Direct Capture, Free-Flyer Capture / Berth Copyright © 2006 Boeing. All -
Docking System Mechanism Utilized on Orbital Express Program
Docking System Mechanism Utilized on Orbital Express Program Scott Christiansen* and Troy Nilson* Abstract Autonomous docking operations are a critical aspect of unmanned satellite servicing missions. Tender spacecraft must be able to approach the client spacecraft, maneuver into position, and then attach to facilitate the transfer of fuel, power, replacement parts, etc. The philosophical approach to the docking system design is intimately linked to the overall servicing mission. The docking system functionality must be compatible with the maneuvering capabilities of both of the spacecraft involved. This paper describes significant features and functionality of the docking system that was eventually chosen for the Orbital Express (OE) mission. Key analysis efforts, which included extensive dynamic modeling, are also described. Zero-g simulation tests were performed to validate the dynamic analyses. The docking system was flown and operated on the Orbital Express mission. The system performed as intended and has contributed to demonstrating the feasibility of autonomous docking and un-docking of independent spacecraft. Introduction Once on orbit, typical spacecraft have limited lives. The harsh environment and lack of access make any type of external support or maintenance nearly impossible. Anything from simply running out of fuel to failure of a significant component can end the life of an otherwise useful spacecraft. If some type of servicing capability were possible, flight operators could potentially get more out of their flight systems. While limited servicing capability has been available through the Space Transportation System, or Shuttle, high cost has limited its use to very expensive systems within the Shuttle’s orbital reach, notably the Hubble Space Telescope. -
US Commercial Space Transportation Developments and Concepts
Federal Aviation Administration 2008 U.S. Commercial Space Transportation Developments and Concepts: Vehicles, Technologies, and Spaceports January 2008 HQ-08368.INDD 2008 U.S. Commercial Space Transportation Developments and Concepts About FAA/AST About the Office of Commercial Space Transportation The Federal Aviation Administration’s Office of Commercial Space Transportation (FAA/AST) licenses and regulates U.S. commercial space launch and reentry activity, as well as the operation of non-federal launch and reentry sites, as authorized by Executive Order 12465 and Title 49 United States Code, Subtitle IX, Chapter 701 (formerly the Commercial Space Launch Act). FAA/AST’s mission is to ensure public health and safety and the safety of property while protecting the national security and foreign policy interests of the United States during commercial launch and reentry operations. In addition, FAA/AST is directed to encourage, facilitate, and promote commercial space launches and reentries. Additional information concerning commercial space transportation can be found on FAA/AST’s web site at http://www.faa.gov/about/office_org/headquarters_offices/ast/. Federal Aviation Administration Office of Commercial Space Transportation i About FAA/AST 2008 U.S. Commercial Space Transportation Developments and Concepts NOTICE Use of trade names or names of manufacturers in this document does not constitute an official endorsement of such products or manufacturers, either expressed or implied, by the Federal Aviation Administration. ii Federal Aviation Administration Office of Commercial Space Transportation 2008 U.S. Commercial Space Transportation Developments and Concepts Contents Table of Contents Introduction . .1 Space Competitions . .1 Expendable Launch Vehicle Industry . .2 Reusable Launch Vehicle Industry . -
Autonomous Satellite Servicing Using the Orbital Express Demonstration Manipulator System
Autonomous Satellite Servicing Using the Orbital Express Demonstration Manipulator System Andrew Ogilvie, Justin Allport, Michael Hannah, John Lymer MDA, 9445 Airport Road, Brampton, Ontario, Canada L6S 4J3 {andrew.ogilvie, justin.allport, michael.hannah, john.lymer}@mdacorporation.com DARPA Distribution Statement: Approved for Public Release, Distribution Unlimited Abstract client satellite provided by Ball Aerospace. A composite arm camera photo of the ASTRO/NextSat The Orbital Express Demonstration System (OEDS) stack on-orbit is illustrated by Figure 1. flight test, flown from March to July 2007, achieved all Using a robotic arm on-orbit, the Orbital Express of its mission objectives, demonstrating a suite of mission demonstrated autonomous capture of a fully capabilities required to autonomously service satellites unconstrained free-flying client satellite, autonomous on-orbit. Demonstrations were performed at varying transfer of a functional battery ORU between two levels of autonomy, from operations with pause points spacecraft, and autonomous transfer of a functional where approval from ground was required to continue, computer ORU. These operations were executed as to fully autonomous operations where only a single part of mission scenarios that demonstrated complete command was sent to initiate the test scenario. The sequences of autonomous rendezvous, capture, Orbital Express Demonstration Manipulator System berthing and ORU transfer. (OEDMS), mounted on the ASTRO spacecraft (chaser), To support on-orbit commissioning of the satellites, was used to service the NextSat spacecraft (client the arm grappled NextSat (held de-rigidized by the satellite). The OEDMS played a critical part in ASTRO capture system) and positioned it to allow for achieving two key goals of the OEDS flight test: the ejection of flight support equipment. -
Simple, Robust Cryogenic Propellant Depot for Near Term Applications IEEE 2011-1044
Simple, Robust Cryogenic Propellant Depot for Near Term Applications IEEE 2011-1044 Christopher McLean Brian Pitchford Ball Aerospace & Technologies Corp. Special Aerospace Services 1600 Commerce Street 1285 Little Oak Circle Boulder, CO 80301 Titusville, FL 32780 303-939-7133 303-888-2181 [email protected] [email protected] Shuvo Mustafi Mark Wollen NASA GSFC Innovative Engineering Solutions Mail Code: 552 26200 Adams Avenue Cryogenics and Fluids Branch Murrieta, CA 92562 Greenbelt, MD 20771 858-212-4475 301-286-7436 [email protected] [email protected] Jeff Schmidt Laurie Walls Ball Aerospace & Technologies Corp. Launch Services Program 1600 Commerce Street VA-H3 Boulder, CO 80301 NASA Kennedy Space Center, FL 32899 303-939-5703 321-867-1968 [email protected] [email protected] Abstract 1— The ability to refuel cryogenic propulsion features, technologies and concept of operations are stages on-orbit provides an innovative paradigm shift for described. space transportation supporting National Aeronautics and Space Administration’s (NASA) Exploration program as well as deep space robotic, national security and commercial TABLE OF CONTENTS missions. Refueling enables large beyond low Earth orbit ACRONYMS .......................................................................... 2 (LEO) missions without requiring super heavy lift vehicles 1. INTRODUCTION ................................................................ 3 that must continuously grow to support increasing mission 2. DEMONSTRATED STATE -OF -THE -ART IN CRYOGENIC demands as America’s exploration transitions from early SPACE SYSTEMS ................................................................... 3 Lagrange point missions to near Earth objects (NEO), the 3. EXPLORATION MISSIONS AND SYSTEMS BENEFITTING lunar surface and eventually Mars. Earth-to-orbit launch can FROM CRYOGENIC TECHNOLOGIES ................................... 4 be optimized to provide competitive, cost-effective solutions ,, 4. -
Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons
Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons Robin M. Pinson,1 Richard T. Howard2 and Andrew F. Heaton3 NASA Marshall Space Flight Center, MSFC, AL, 35812 Orbital Express (OE) was a successful mission demonstrating automated rendezvous and docking. The 2007 mission consisted of two spacecraft, the Autonomous Space Transport Robotic Operations (ASTRO) and the Next Generation Serviceable Satellite (NEXTSat) that were designed to work together and test a variety of service operations in orbit. The Advanced Video Guidance Sensor, AVGS, was included as one of the primary proximity navigation sensors on board the ASTRO. The AVGS was one of four sensors that provided relative position and attitude between the two vehicles. Marshall Space Flight Center was responsible for the AVGS software and testing (especially the extensive ground testing), flight operations support, and analyzing the flight data. This paper briefly describes the historical mission, the data taken on-orbit, the ground testing that occurred, and finally comparisons between flight data and ground test data for two different flight regimes. I. Introduction HE Orbital Express (OE) mission launched on March 8, 2007 was a historical mission. On May 5, 2007 OE T performed the first autonomous rendezvous and capture by a United States spacecraft. The OE mission consisted of a pair of spacecraft outfitted with the hardware and software necessary to demonstrate the technical feasibility of on-orbit satellite servicing. The different operations performed during the OE mission were completely automated, and when possible autonomous, and consisted of spacecraft rendezvous, spacecraft proximity operations, spacecraft docking, spacecraft free-flyer capture, fluid transfers, and Orbital Replacement Unit (ORU) transfers. -
ASPEN for Orbital Express
Articles Leveraging Multiple Artificial Intelligence Techniques to Improve the Responsiveness in Operations Planning: ASPEN for Orbital Express Russell Knight, Caroline Chouinard, Grailing Jones, Daniel Tran n The challenging timeline for DARPA’s Orbital Express mission demanded a flexible, responsive, and (above all) safe approach to mission planning. Mission planning for space is challenging because of the mixture of goals and constraints. Every space mission tries to squeeze all of the capacity possible out of the spacecraft. For Orbital Express, this means per- forming as many experiments as possible, while still keeping the spacecraft safe. Keeping the spacecraft safe can be very challenging because we need to maintain the correct thermal environment (or batteries might freeze), we need to avoid pointing cameras and sensitive sensors at the sun, we need to keep the spacecraft batteries charged, and we need to keep the two spacecraft from colliding ... made more difficult as only one of the spacecraft had thrusters. Because the mission was a technology demonstration, pertinent planning information was learned during actual mission execution. For example, we didn’t know for certain how long it would take to transfer propellant from one spacecraft to the other, although this was a primary mission goal. The only way to find out was to perform the task and monitor how long it actually took. This information led to amendments to procedures, which led to changes in the mission plan. In general, we used the ASPEN planner scheduler to generate and validate the mission plans. ASPEN is a planning system that allows us to enter all of the spacecraft constraints, the resources, the communications windows, and our objectives.