Canadian Aeronautics and Space Institute L'Institut aeronautique et spatial du Canada Proceedings of the Seventh CASI Conference on Astronautics "Canada in Space: A Coming of Age and New Horizons" held at The Westin Hotel Ottawa, Canada November 5-6, 1992 Technical Program Chairman: Darin P.W. Graham Thomson-CFS Systems Canada Proceedings Chairman: Eric White UB/TIB Hannover 89 Canadian Space Agency 112 380 263 TABLE OF CONTENTS KEYNOTE ADDRESS Canada in Space: A Coming of Age and New Horizons 1 Dr. Roland Dore, President, Canadian Space Agency PLENARY RAD ARSAT and Beyond 2 J.L. McNally, Canadian Space Agency LUNCHEON SPEAKER The Changing Nature of Spacecraft Operations: from the Vikings of the 70's to the Great Observatories of the 90's and Beyond 5 K.W. Ledbetter, Office of Space Science and Applications, NASA Access to Space Chair: R. McCullough, KlasTek Ltd Small Satellites: Opportunities for the Canadian Space Program 6 V. A. Wehrle, R.D. Hendry, Canadian Space Agency; B. Payne, Bristol Aerospace Ltd Canadian Utilization of Space Station Freedom 13 J. Faulkner, H. Gindl, Canadian Space Agency Black Brant System Upgrades 23 A. Reinhardt, R. Rob, Bristol Aerospace Ltd Materials and Structures Chair. J. Anderson, Oerlikon Aerospace Stable Silicon-Oxygen-Network Coatings as a Viable Tool for Protection of Materials in Space 32 S.N. Kumar, J. Worsfold, National Research Council of Canada T.R. Dickson, A. Pant, R.R. Sood, Ceramics Kingston Ceramiques Inc. Suggestions for Coating Systems to Increase the Useful Life Expectancy of Particular Exposed Spacecraft Components in Low Earth Orbit 34 M.G. Blum, FRE Group, A. Singh, AECL Structural Analysis of Radarsat SAPA Antenna Using Finite Element Methods 35 S. Bain, CAL Corp. 7th CASI Conference on Astronautics, November 5-6.1992, Ottawa, Canada Assessment of the Condition of Aviation Structures Through Integrated Statistical Processing of NDE Signals 36 P. A. Dickstein, Tel Aviv; H. Leibovitch, S. Girshowich, Y. Steinberg, G. Aloni, Israel Aircraft Industries IML-1 Chairs: A. Mortimer & L. Tomi, Canadian Astronaut Program Demising Behaviour of Immiscible Aqueous Two Phase Mixtures in Reduced Gravity 45 D.E. Brooks, J. Janzen, R. Norris-Jones, R. Muelchen, J.F. Boyce, UBC Back Pain in Astronauts - Preliminary Results of an Experiment Conducted on IML-1 in January 1992 53 P.C. Wing, I.K.Y. Tsang, F.A. Gagnon, L.E. Susak, R. Gagnon Department of Othopaedic Surgery, University Hospital - Shaughnessy Site Evaluation of An Experimental Antigravity Suit For Astronauts 54 P. J. Sullivan, R. Thirsk, R. Bondar, Canadian Space Agency L. Goodman, K. Ackles, M. Pecaric, Defence & Civil Inst. of Environmental Medicine M. Kassam, R. Aaslid, P. Dunphy, F. Stein, CATE-Ryerson Polytechnical Institute Venous Compliance and Fluid Shift Measurements on Spacelab IML-1 59 D. Leiski, R. Thirsk, Canadian Space Agency; J. Charles, NASA B. Bennett, KRUG Life Science Energy and Body Composition Changes During IML-1 65 H. Parsons, R. Preshaw, R. Krouse, J. Thirsk, University of Calgary Spontaneous and Positional Nystagmus In and Out of Weightlessness 67 J. A. McClure, London Ear Clinic Effects of Long-Term Weightlessness on Roll Circularvection 68 D.G.D. Watt, McGill University; J.P. Landolt, D.C.I.E.M.; L.R. Young, M.I.T. Planetary Exploration Chairs: F. Vigneron, Canadian Space Agency; B. Vachon, DND Robotic Gavimetric Surveys on Mars 77 A. Hugill, H.O. Seigel, Scintrex Ltd; J. Pilon, Geological Survey of Canada Issues in Contact Motion Control for Wheeled Mobile Robots 85 D.S. Necsulescu, B. Kim, University of Ottawa; H. Reynaud, Canadian Space Agency 7th CASI Conference on Astronautics, November 5-6,1992, Ottawa, Canada In-Space Robotics Assembly and Operations for AH Phases of a Nuclear Mars Transfer System 94 H.G. Kleinberg, Spar Aerospace Ltd Satellite Communications and Systems Chairs: E. Bertenyi, Telesat Canada A. Maclatchy, Canadian Space Agency Superconducting Microwave Devices for Satellite Payloads 95 R. R. Mansour, J. Olney, C. Kudsia, COM DEV Ltd A Standard Switching Platform for Advanced Geosynchronous Satellite Systems 105 P.J. Garland, Spar Aerospace Ltd A 60 GHz Proof-of-Concept Intersatellite Communications Link for Wide Area Surveillance 106 A.B. Bell, Spar Aerospace Ltd; J. Bhagwan, COM DEV Ltd; G.A. Morin, DREO The Space-Based Radar Simulation Laboratory 116 S. Richard, I.M. Denny, M. Gregoire, S.Y. Maskell, W.R. McPherson, B.C. Eatock, Defence Research Establishment Ottawa; M. Gibb, Aastra Aerospace Automation and Robotics 1 Chairs: D. Staley, Carleton University D.P.W. Graham, Thompson-CFS Ground-Based Control of the MSS 126 E. Jackson, International Submarine Engineering Ltd Preliminary Development of a Trajectory Planning and Object Avoidance System for Kinematically Redundant Manipulators 127 C. Tessier, J.N. Brodkin, A.J. Robins, Bombardier Inc., Canadair Group C.A. Balafoutis, Z. Lin, R.V. Patel, Concordia University Trajectory Planning and Obstacle Avoidance for the STEAR/ISE SPDM Testbed Manipulator 137 O. Williams, E. Jackson, Z. Lin, International Submarine Engineering Ltd V. Hayward, McGill Research Centre for Intelligent Machines K. Gupta, Simon Fraser University, G. Dinardo, Canadian Space Agency Robot Path Planning Critical Evaluation by Expert Choice Sensitivity Analysis 147 S. Kalaycioglu, Canadian Space Agency; R.V. Mayorga, University of Waterloo D.S. Necsulescu, University of Ottawa; A.K.C. Wong, University of Waterloo 7th CASI Conference on Astronautics, November 5-6,1992, Ottawa, Canada Automated Path and Trajectory Planning for Space Robotic Manipulators and Mobile Robots 157 C.S. Sallaberger, G.M.T. D*Eleuterio, Univ. of Toronto Institute for Aerospace Studies Parametric Control of Point-to-Point Robotic Arm Movements Using Artificial Neural Networks 167 J. Lipitkas, O. Bock, Institute for Space and Terrestrial Science; G.M.T. DTEleuterio, University of Toronto Institute for Aerospace Studies; J.J. Grodski, DCIEM Active Control of Interference in CMAC/MOVE Neural Networks for Robotic Applications 174 P.F. McGuire, M. Lang, G.M.T. DEleuterio, UTIAS The Efficiency of the MOVE Artificial Neural Network Architecture on a Multi-Transputer Platform 184 G.D.M. DiNardo, D.P.W. Graham, Canadian Space Agency Space Radar Chair. B. Eatock, DREO Fiber Optic Feed Networks for Phased Array Antenna Systems in Space 194 J. Gazdewich, L.R.B. Patterson, MPB Technologies Inc. The Canadian Space-Based Radar Signal Processing Demonstrator - Objectives and Design Considerations 195 P. Scarlett, Ratheon Canada Ltd.,P. Lee, MacDonald Dettwiler; B. Eatock, DREO Ferrite Phase Shifter Technology for Beam Control of the RAD ARSAT SAR Antenna 205 D. Sutherland, H.G. McDonald, G. Wray, COM DEV Ltd Performance of the RADARSAT SAR Antenna 211 G. Bush, Spar Aerospace Ltd, D.G. Zimcik, Canadian Space Agency Space Science and Education Chair: P. Kumar, Canadian Astronaut Program Queen's University Activity Using CSARI, STS 47 and CANEX 2 - A Review 213 R.W. Smith, Queen's University Motor Performance in Changed Gravity 214 0. Bock, I.P. Howard, K. Money, K.E. Arnold, Institute for Space and Terrestrial Science 7th CASI Conference on Astronautics, November 5-6,1992, Ottawa, Canada Elementary School Children Launch Space Station CSS Explorer 215 I, Benning, R. Waldron, J. Luciuk, Sask. Board of Public Education; M. Strankay, Sask. Inst. of Applied Science & Technology; W.S.C. Brooks, University of Saskatchewan Starting an Aerospace Project at School, in Our Own Area 225 C. Dignard, Amateur Research and Development Aerospace Agency Policy and Commercialization Chair: J. McNally, RADARSAT Manned Space Programs - Maximizing the Benefits to Canada 226 B.C. Bourne, Spar Aerospace Ltd The Legality of the Military Uses of Outer Space by the Canadian Forces/ La legalite de 1'utilisation militaire de l'espace par les Forces Canadiennes 227 L. Haeck, College Militaire Royal de Saint-Jean Canada's RADARSAT Satellite Program and RADARSAT International 237 R.E. Tack, Radarsat International Inc. Multinational Space Power Consortium 247 D. Lewis, S. Talon, D. St. Pierre, M. Paraschivoiu, CAISU Automation and Robotics 2 Chairs: J. Beck, Canadian Space Agency R. Ravindran, Spar Aerospace Implementation of a Collision Detection Algorithm for Robotic Manipulators 248 L. Mclntyre, M. Nahon, University of Victoria Delayed Force Feedback in the Digital Implementation of Space Teleoperators... 257 G.M.H. Leung, B.A. Francis, University of Toronto A Robust Approach for the Path Planning of Redundant Manipulators for Space Operations 267 R.V. Mayorga, K.S. Ma, A.K.C. Wong, University of Waterloo Robotics Evaluation and Characterization (REACH) of the Space Station Remote Manipulator System 277 W.B. Graham, R.K. Singhal, M.E. Stieber, CSA; A. Fahim, University of Ottawa Advanced Operator Interface for Supervised-Autonomous Operation of Space Robots 288 G. Immega, Kinetic Sciences Inc. 7th CASI Conference on Astronautics, November 5-6,1992, Ottawa, Canada Multi-Sensor System for a Teleautonomous Mobile Robot 298 W.S. McMath, S.K. Yeung, Canadian Space Agency; E.M. Petriu, University of Ottawa Adaptive Hybrid Force/Position Control for the Space Station Freedom Robotic Operations 308 S. Kalaycioglu, Canadian Space Agency; A. Brown, Thomson-CSF Systems Canada Inc. Earth Observation Chair: J. Horasby, Radarsat International Ltd R.Holdway,COMDEV Innovative Signal Processing for the MIPAS Instument 318 D. Beresford, C. Doyle, COM DEV Ltd A Solid State Microwave Noise Standard for the Calibration of NASA Scatterometer 320 D. Henry, R. Tong, D. Huber, COM DEV Ltd The Design of a Small Satellite Sensor for Forestry 327 M.-J. Montpetit, Spar Aerospace Ltd; D. Gratton, D. Marceau, INRS-eau N. O'Neill, Universite de Sherbrooke (CARTEL) EESIFrom an International Perspective 334 H. Zwick, MacDonald Dettwiler & Associates; S. Parashar, Canadian Space Agency D. Thompson, Intera Information Technologies; E. Epp, SED Systems Inc.; G. Tyc, Bristol Aerospace Ltd Recent Developments in Groundbased Optical Imagers 343 E.P. King, G. Garbe, D. Steele, L. Cogger, University of Calgary S.K.