Yasufumi Wakabayashi

Satellite capturing strategy using agile Orbital Servicing Vehicle, Hyper-OSV

To realize practical orbital servicing missions in the 21/sup st/ century, we have developed a new system concept for an orbital servicing vehicle named Hyper-OSV (Orbital Servicing Vehicle), which has higher speed manipulation capability and larger operation area than OSVs that were proposed in the 1990s. The main feature of Hyper-OSV (HOSV) is the separation of the operation function and the long-term in-orbit surviving functions such as a solar panel and a large communication antenna. This releases HOSV from attitude restrictions and flexible dynamics and provides a large operation area. The second feature of HOSV is the reconfigurable function that allows HOSV to perform various orbital servicing missions. One of the most difficult missions of HOSV is the noncooperative satellite capture. Separation of the operation function and the long-term in-orbit survival functions gives HOSV an agile working ability. Thus, we have proposed a satellite capturing strategy using an agile orbital servicing vehicle like HOSV and have been conducting its feasibility study. This paper outlines Hyper-OSV first, and then presents the satellite capturing strategy using an agile orbital servicing vehicle and feasibility studies of the satellite capturing.

Robot-aided remote inspection experiment on STS-85

The results are presented for the robot-aided spacecraft inspection experiments using a flaw detection algorithm called multi-images overcast (MIO), which were conducted as an extension of NASDAs Manipulator Flight Demonstration mission installed on space shuttle mission STS-85. These experiments are the first step towards research and development of the Orbital Maintenance System to support space systems by inspecting satellites, deorbiting useless satellites, and repairing satellites in orbit to utilize space systems effectively and reliably.

PERFORMANCE OF JAPANESE ROBOTIC ARMS OF THE INTERNATIONAL SPACE STATION

Abstract Two types of Japanese robot arms will be used for the Japanese Experiment Module of the International Space Station. Main Arm, the larger one, carries payloads installed on the exposed area. Small Fine Arm, the smaller one, is attached to the tip of Main Arm when it is used, and handles small-sized on-orbit payloads. Causes identified as aggravating factor of performance include backlash of gears, resonance of arms, and visual measurement error. The results of qualifying tests of these robotic arms show the validity of their design. This paper presents the performance of the robotic arms derived from the test results.

PYROELECTRIC INFRARED DETECTOR FOR PRECISION EARTH SENSOR

New IR detectors with twin elements were developed for precision earth sensors of satellites. Two sorts of pyroelectric elements, ceramics and sputtered films, were studied. Each element is mounted on an immersion lens. Minimum random error of attitude measurement is much smaller ( 0.012°) than that ( 0.06°) of our preceding type.

Reconfigurable Space Manipulator for In-orbit Servicing

Recently the construction of the International Space Station (ISS) has begun and the Space Shuttle Remote Manipulator System (SRMS) and the Space Station Remote Manipulator System (SSRMS) are used for the construction. These manipulators are operated by onboard crews and accomplish the tasks that cannot be done by human hands, such as the transportation of the large and heavy objects. Although these manipulators are useful for these kinds of tasks, there are plenty of needs to use more advanced manipulator systems for in-orbit servicing applications such as unmanned orbital service robots and Extra Vehicular Activity (EVA) support robots. There are also a lot of challenging technologies to realize such applications effectively. Thus we have been doing research on technologies for the next generation in-orbit servicing robot systems. The Reconfigurable Space Manipulator (RSM) is the one of the results from our research. The manipulator is designed to apply for various space applications. This paper presents the task analysis results for the next generation in-orbit servicing robots, the system concept of the Reconfigurable Space Manipulator and some system design results for the manipulator.

Research And Development Of Precision Earth Sensor

This paper describes the research and development results of the precision horizon-crossing indicator for synchronous orbit (PHIS) suitable for the attitude control of a three-axis stabilized satellite operating at transfer and geosynchronous altitude. The bread-board model (BBM) for Engineering Test Satellite-VI(ETS-VI) to be launched in Summer 1992 by NASDA JAPAN was designed, fabricated and evaluated. The evaluation test results of PHIS/BBM show the excellent earth-pointing performance with respect to its on-orbit operation. And also the environmental and reliability tests have been successfully done for the sensor critical component parts. It is believed that this earth sensor will be one of the most relible and high-accuracy instrument after the 1990s.

Control Aspect of Japanese Experiment Module Remote Manipulator System

Abstract The Japanese Experiment Module Remote Manipulator System is a robot system for practical use in a manned space system, the International Space Station. It is a macro-micro system of two serial 6-dof manipulators in outside the vehicle and controlled via an operation console in inside the vehicle. Numerous networked computer systems with hierarchical software play important roles supporting its management, human interface and motion control in preprogrammed and manual operations. This paper presents its system features as a highly reliable remote space robot focusing on its telematics aspect and the tele-operation capability from the ground that NASDA has been studying.

Compact laser rangefinder for space applications

The 3D shape measurement and recognition of surroundings are expected for advanced space robot missions, such as on-orbit inspections, autonomous navigation of robots, and so on. We have been studying small size scanning laser range finders for space applications for years, and have just developed a new compact model for small on-orbit robots and small rovers. In this paper, its design and test results are described, comparing them with our previous model, which have been used for research test of autonomous rover navigation these years.

Study of Capture and Berthing Experiment of ETS-VII

Abstract The rendezvous docking (RVD) and the space robot technologies are essential for future space activities such as supply, exchange and retrieve of equipment in space. Especially the capture berthing technology is a highly advanced and challenging one. Logistic support of the international space station and in-orbit satellite servicing are the driving mission that should be achieved in early 2000s. Therefore NASDA was to launch an engineering test satellite named ETS-VII in November 1997 to perfonn the rendezvous docking and the space robot technology experiments and also aim to execute the capture berthing experiment. ETS-VII consists of a chaser satellite and a target satellite whose weight are 2. 5t and 0.4t respectively.