ADVANCES IN SPACECRAFT TECHNOLOGIES Edited by Jason Hall Advances in Spacecraft Technologies Edited by Jason Hall Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Jelena Marusic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright Fernando Rodrigues, 2010. Used under license from Shutterstock.com First published February, 2011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Advances in Spacecraft Technologies, Edited by Jason Hall p. cm. ISBN 978-953-307-551-8 free online editions of InTech Books and Journals can be found at www.intechopen.com Part 1 Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Preface IX Innovative Hardware Technologies 1 Hardware-In-the Loop Simulation System Construction for Spacecraft On-orbit Docking Dynamics, Ideas, Procedural and Validation 3 Tongli Chang Solar Sailing: Applications and Technology Advancement 35 Malcolm Macdonald Measurements and Characterization of Ultra Wideband Propagation within Spacecrafts- Proposal of Wireless Transmission for Replacing Wired Interface Buses 61 Akihisa Matsubara, Atsushi Tomiki, Tomoaki Toda and Takehiko Kobayashi Lubrication of Attitude Control Systems 75 Sathyan Krishnan, Sang-Heon Lee Hung-Yao Hsu and Gopinath Konchady Development of Optoelectronic Sensors and Transceivers for Spacecraft Applications 99 José M. Sánchez-Pena, Carlos Marcos, Alberto Carrasco, Ricardo Vergaz and Ramón Zaera Solar Electric Propulsion Subsystem Architecture for an All Electric Spacecraft 123 Michele Coletti, Angelo Grubisic, Cheryl Collingwood and Stephen Gabriel Green Propellants Based on Ammonium Dinitramide (ADN) 139 Anders Larsson and Niklas Wingborg Contents Contents VI Use of Space Thermal Factors by Spacecraft 157 N. Semena The Mechanics Analysis of Desquamation for Thermal Protection System (TPS) Tiles of Spacecraft 175 Zhang Taihua, Meng Xianhong and Zhang Xing Cutting Edge State Estimation Techniques 195 Unscented Kalman Filtering for Hybrid Estimation of Spacecraft Attitude Dynamics and Rate Sensor Alignment 197 Hyun-Sam Myung, Ki-Kyuk Yong and Hyochoong Bang Fault-Tolerant Attitude Estimation for Satellite using Federated Unscented Kalman Filter 213 Jonghee Bae, Seungho Yoon, and Youdan Kim Nonlinear Electrodynamics: Alternative Field Theory for Featuring Photon Propagation Over Weak Background Electromagnetic Fields and what Earth Receivers Read off Radio Signals from Interplanetary Spacecraft Transponders 233 Herman J. Mosquera Cuesta Detection and Estimation of Satellite Attitude Jitter Using Remote Sensing Imagery 257 Akira Iwasaki Gas-Kinetic Unified Algorithm for Re-Entering Complex Flows Covering Various Flow Regimes by Solving Boltzmann Model Equation 273 Zhi-Hui Li Aerodynamic Disturbance Force and Torque Estimation For Spacecraft and Simple Shapes Using Finite Plate Elements – Part I: Drag Coefficient 333 Charles Reynerson State Feature Extraction and Relative Navigation Algorithms for Spacecraft 353 Kezhao Li, Qin Zhang and Jianping Yuan Novel Control Methods 383 Inertia-Independent Generalized Dynamic Inversion Control of Spacecraft Attitude Maneuvers 385 Abdulrahman Bajodah Chapter 8 Chapter 9 Part 2 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 Chapter 16 Part 3 Chapter 17 Contents VII Tracking Control of Spacecraft by Dynamic Output Feedback - Passivity- Based Approach - 405 Yuichi Ikeda, Takashi Kida and Tomoyuki Nagashio Linear Differential Games and High Precision Attitude Stabilization of Spacecrafts With Large Flexible Elements 423 Georgi V. Smirnov, Anna D. Guerman and Susana Dias Advanced Attitude and Position MIMO Robust Control Strategies for Telescope-Type Spacecraft with Large Flexible Appendages 443 Mario Garcia-Sanz, Irene Eguinoa and Marta Barreras Fuzzy Attitude Control of Flexible Multi-Body Spacecraft 471 Siliang Yang and Jianli Qin Applications of Optimal Trajectory Planning and Invariant Manifold Based Control for Robotic Systems in Space 497 Ka Wai Lee, Hirohisa Kojima and Pavel M. Trivailo Optimal Control Techniques for Spacecraft Attitude Maneuvers 523 Shifeng Zhang, Shan Qian and Lijun Zhang Modeling and Control of Space Vehicles with Fuel Slosh Dynamics 549 Mahmut Reyhanoglu Synchronization of Target Tracking Cascaded Leader-Follower Spacecraft Formation 563 Rune Schlanbusch and Per Johan Nicklasson Rendezvous Between Two Active Spacecraft with Continuous Low Thrust 585 Yechiel Crispin and Dongeun Seo Chapter 18 Chapter 19 Chapter 20 Chapter 21 Chapter 22 Chapter 23 Chapter 24 Chapter 25 Chapter 26 Pref ac e The development and launch of the fi rst artifi cial satellite Sputnik more than fi ve de- cades ago, propelled both the scientifi c and engineering communities to new heights as they worked together to develop novel solutions to the challenges of spacecra sys- tem design. This symbiotic relationship has brought signifi cant technological advances that have enabled the design of systems that can withstand the rigors of space without signifi cant maintenance while continuing to provide valuable space-based services such as telecommunication, television and radio broadcasting, weather forecasting, navigation assistance and natural disaster assistance. Most recently, these advances have led to the design and launch of spacecra systems that are autonomous in nature, such as the Progress and the Automated Transfer Vehicle, which rely on precise sen- sors and actuators as well as accurate and timely state estimation and control to eff ect safe proximity navigation and docking operations with li le or no human interaction. With its 26 chapters divided into three sections, this book brings together critical con- tributions from renowned international researchers to provide an outstanding survey of recent advances in spacecra technologies that can be used to design the next gen- eration of spacecra . The book is divided into three sections that are focused on the key aspects of space- cra design. The fi rst section is composed of nine chapters that focus on innovative hardware technologies. Chapter 1 presents a Hardware-In-the-Loop system design for development and validation of on-orbit docking requirements. This unique simula- tor provides realistic on-orbit working conditions for a proposed docking mechanism. Chapter 2 surveys the state of solar sail technologies. Through an excellent review of past and current solar sail programs, the missions where solar sail structures may prove most useful are succinctly analyzed. Chapter 3 deals with the measurement and characterization of radio propagation with a goal of replacing certain portions of the wired onboard bus with wireless technology. By substituting a wireless bus for the traditional wired, several advantages have the potential to be realized to include re- duction in overall spacecra weight, more fl exibility in spacecra design and more reliable connections. In Chapter 4, the key fundamentals regarding the lubrication re- quirements of today’s a itude control systems are studied. Chapter 5 presents several optoelectrical sensor and transceiver applications to enable more precise measurement of projectile velocities and optimize free space optical communications systems. A so- lar electric propulsion subsystem is analyzed in Chapter 6 with the goal of designing an all electric spacecra . All electric designs have the unique benefi ts of eliminating the requirements for working with the traditional highly caustic propellants used in main and a itude control propulsion systems while additionally reducing the control X Preface complexities levied by propellant slosh. Chapter 7 presents a green propellant solution for traditional propulsion systems that is based on Ammonium Dinitramide (ADN). Current propellants, such as Ammonium Perclorate and Hydrazine, have excellent performance qualities but are both highly toxic and thus require special handling while ADN has the ability to provide nearly the same performance without the in- herent operational limitations. In Chapter 8, a thermal control subsystem is presented that is both capable of being used to determine the orientation of the spacecra but is also independent of the other subsystems and variation of thermal factors due to the space environment. Chapter 9 closes out this fi rst section by considering the problem of Thermal Protection System (TPS) tiles becoming debonded from spacecra , potentially causing catastrophic failure as in the case of the Space Shu le Columbia in 2003. The second section of the book is composed of seven chapters that center on cu ing- edge state estimation techniques. Chapter 10 begins the section by defi ning an Un- scented Kalman Filter (UKF) methodology to estimate the a itude dynamics and align rate sensors. In framing the benefi ts of the UKF based fi ltering algorithm, which is designed to approximate the nonlinear dynamics to the second order, a simulation based comparison is made to a typical fi rst-order approximating Extended Kalman Filter. Chapter 11 presents a fault-tolerant state estimation technique by using a feder- ated UKF. By employing a federated UKF, which is based on a decentralized KF, several advantages that include consideration of increased data and simpler fault detection and isolation can be gained. In Chapter 12, an analysis of the nonlinear electrody- namic eff ects on interplanetary spacecra is presented. In this analysis, an alternative fi eld theory is formulated to help explain anomalous measurements on interplanetary spacecra . Chapter 13 studies the use of satellite imagery to provide feedback based detection and estimation for an imaging spacecra ’s a itude ji er. By adding an ad- ditional image sensor on the focal plane, the anomalous disturbances caused by vibra- tion originating from such mechanical devices as tracking solar arrays, reaction wheels and high gain antennas can be more accurately measured and subsequently, a more precise state can be determined. In Chapter 14, the complex gas dynamic fl ow issues surrounding atmospheric re-entry and its subsequent eff ect on proper state estima- tion are addressed and a solution is presented by means of the Bolzman equation. In Chapter 15, a unique method of estimating the aerodynamic force and torque on low earth orbiting spacecra by means of fi nite plate elements is presented. Through this method, a more accurate prediction of the drag coeffi cient for an orbiting spacecra can be gained with the goal of producing a higher fi delity state estimation. Chapter 16 closes out the second section by presenting a shape and state feature based algorithm that is based on Mathematical Morphology (MM) to more accurately estimate the state of an orbiting spacecra . MM, which is an emerging discipline focused on imaging analysis and processing, possesses several inherent advantages such as its ability to conduct fast and parallel processing while being simple and easy to operate and thus makes it desirable for automation and intelligence object detection. The fi nal section contains ten chapters that present a series of novel control methods for spacecra orbit and a itude control. Chapter 17 begins this section by presenting a unique and highly promising methodology to provide three-axis stabilization using dynamic inversion. By inverting the desired a itude error dynamics for the control variables that realize the a itude dynamics instead of the inverting the mathemati- cal model, a global transformation is directly gained without the issues arriving from [...]... with the nonlinear docking mechanism model dB 10 0 50 b 0 -50 a Φ , deg -10 0 500 250 b 0 -250 a -500 0 10 10 1 10 2 Frequency, 10 3 10 4 10 4 rad/s Fig 23 Bode diagram of simulation/hardware interface dB 10 0 0 b -10 0 a -200 Φ, deg -300 0 -18 0 b -360 a -540 -720 10 0 10 1 10 Frequency, 2 10 3 rad/s Fig 24 Bode diagram of HIL simulation system Symbol Nomenclature Value K C Rigidity of docking mechanism... defining parameters of docking mechanism, re-emerging troubles of actual spacecraft docking to help finding solution, checking the initial docking conditions of spacecraft docking process, testing the action and counteraction of spacecraft docking process, and so on As a large-scale experimental equipment, the HIL simulation system for spacecraft on-orbit docking dynamics should meet the following... 2007e), the docking dynamics model of spacecraft body is gained, it can be describe with Figure 5 R 1 stands for the direction cosine matrix of frame e1(O1X1YZ1) to frame e(OXYZ) , R 2 is the 1 direction cosine matrix of frame e2 (O2X2Y2Z2 ) to frame e(OXYZ) , R 21 is the direction cosine matrix of frame e2 (O2X2Y2Z2 ) to frame e1(O1X1YZ1) And some symbols are defined as: 1 Δ bd ( )= dt • Δ rd ( ) , ( )=... testing threepoints handles-latch docking mechanism (Lange & Martin, 2002) The HIL simulation for spacecraft on-orbit docking is a attractive and promising research field Lim et al (19 89) modeled and simulated the Stewart platform of DDTS They pointed 4 Advances in Spacecraft Technologies out the inertia matrix has tendency to decouple when the mass of the legs increasing, for purpose of increasing... reference frames are shown in Figure 2 The position and pose of spacecraft is defined in Figure 3 Euler angles are defined in Figure 4 6 Advances in Spacecraft Technologies Spacecraft bodies Docking mechnism Fig 1 Segmentation of simulated system Fig 2 On-orbit docking spacecraft bodies Z X ψ ϕ θ Y Fig 3 Definition of position and pose Z′ Z ′′′ X ϕ X′ θ θ ψ X ′′ O ψ Y Fig 4 Definition of Euler angle Z... Viscous damping coefficient of docking mechanism 10 00000N/m 0 N/(m·s -1) Table 3 Parameters for single DOF linear docking mechanism 7 System construction procedure to HIL simulation for multi-degree-offreedom spacecraft on-orbit docking dynamics 7 .1 Actual HIL simulation system for spacecraft on-orbit docking dynamics Since the simulated system is segmented in two parts, and they all take part into the... (Guan, 20 01) So it is difficult to describe the actual docking mechanism with the mathematical model, or it will abate the credence of the simulation Thus, it is proper to use the physical model of docking mechanism, especially use full scale to docking/berthing hardware as the physical model participating in the simulation 10 Advances in Spacecraft Technologies Torque, Nm 10 00 0 -10 00 -0 .1 -0.05 0... − sin(ϕi ) / cos(θ i ) ⎞ ⎛ ωix ⎞ ⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟⎜ sin(ϕi ) cos(ϕi ) ⎜ θi ⎟ = ⎜ 0 ⎟ ⎜ ωiy ⎟ = N ⎜ ωiy ⎟ ⎜ ⎟ ⎜ ϕ ⎟ ⎜ 1 − cos(ϕ )tg(θ ) sin(ϕi )tg(θ i ) ⎟ ⎜ ωiz ⎟ i i ⎠⎝ ⎝ i⎠ ⎝ ⎠ ⎝ ωiz ⎠ (2) The force F3 and torque M 3 come from active docking mechanism to the chaser vehicle are defined in e3(O3X3Y Z3) , the other equivalent force F1 and torque M1 acting on chaser vehicle 3 are defined in e1(O1X1YZ1) ... 1. 27mm and ±0 .10 degrees • Motion range of ±5 degrees for roll, pitch, and yaw; ±0 .15 m for translation in the horizontal plane; and 0.61m for vertical travel • Payload weight of 11 35kg 3.2 Segmentation of simulated system Since the hard wares under test in the HIL simulation system are docking mechanisms, then the spacecraft on-orbit docking system can be segmented into two parts, shown in Figure 1. .. direction The capturing and the impact absorbing are two main successive on-orbit docking phases for the on-ground HIL simulation (Peng et al., 19 92) During the impact-absorbing phase, the docking mechanism shows strong coupling and nonlinearity and its parameters vary in large scale During the capturing phase, the active docking mechanism on the chase vehicle collisions with the passive docking mechanism . ADVANCES IN SPACECRAFT TECHNOLOGIES Edited by Jason Hall Advances in Spacecraft Technologies Edited by Jason Hall Published by InTech Janeza Trdine 9, 510 00 Rijeka, Croatia Copyright © 2 011 . February, 2 011 Printed in India A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Advances in Spacecraft Technologies, . active docking mechanism to the chaser vehicle are defined in )ZYXO( 33333 e , the other equivalent force 1 F and torque 1 M acting on chaser vehicle are defined in )ZYXO( 11 111 e . The control