Critical Design Review – Page 1

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 2

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 3

University of Maryland

ENAE 484 Spring 2003

Configuration 1: Configuration 5:•One Pod•No Escape

•Two Pods•Bailout Systems

Configuration 2: Configuration 6:• Two Pods• No Escape

• Two Pods• Propulsion

Bailout Systems

Configuration 3: Configuration 7:•One Pod•Bailout System

• Two Pods• Propulsion /

Bailout Systems

Configuration 4: Configuration 8:• One Pod• Propulsion

Bailout System

• Three Pods• Bailout Systems

Critical Design Review – Page 4

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 5

University of Maryland

ENAE 484 Spring 2003

0.17m

0.68m 0.68m

shoulder rollshoulder pitchelbow roll

wrist pitchwrist yawtool drive roll

elbow pitchwrist roll

Critical Design Review – Page 6

University of Maryland

ENAE 484 Spring 2003

Bare Bolt Drive

Parallel Jaw Mechanism

Microconicalhttp://rtsx.ssl.umd.edu

Critical Design Review – Page 7

University of Maryland

ENAE 484 Spring 2003

0.17m

1.36m 1.36m

shoulder rollshoulder pitchelbow roll

wrist pitch

elbow pitchwrist roll

Critical Design Review – Page 8

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 9

University of Maryland

ENAE 484 Spring 2003

1

2,3

4,5

67,8

Critical Design Review – Page 10

University of Maryland

ENAE 484 Spring 2003

12

13

11

10

9

14

Critical Design Review – Page 11

University of Maryland

ENAE 484 Spring 2003

Grapple Arm

221920 21

Task Arm

1615 17

18

Critical Design Review – Page 12

University of Maryland

ENAE 484 Spring 2003

23 24

25

26, 27, 28

Not Shown

Critical Design Review – Page 13

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 14

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 15

University of Maryland

ENAE 484 Spring 2003

Operation:• Laser diodes illuminate

retro-reflectors mounted on the target

• CMOS camera detects reflected beams from target

• DSP translates video information and converts it into relative position and attitude measurements

• SBC sends information to Guidance, Navigation, and Control (GN&C) system

Retro-Reflector Clusters

Active Sensor

Passive Target

Critical Design Review – Page 16

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 17

University of Maryland

ENAE 484 Spring 2003

Sensor Data

Omni

Video System

Crew Interface - Hand Controllers - Switches - Voice

GimbaledKa-Band

Flight computers

PowerAmplifierFDC

C

FDCC

FDCC

Video Displays AntennaSwitch

Diplexer

Transponder

Low NoiseAmplifier

Avionics

Critical Design Review – Page 18

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 19

University of Maryland

ENAE 484 Spring 2003

Component Mass (kg) Power (W) Maturity

CompactPCI Box - 6U Chassis 15 N/A Estimated

FDCC Single-Board Computers (3) 1.647 20.4 Measured

Solid State Recorder Card (2) 1.84 12 Measured

IEEE 1394 Data Bus Card (2) 1.84 10 Measured

Video Display Graphics Card (2) 2 10 Measured

Open CompactPCI Card Slot (5) 5 30 Estimated

Crew Interface Display - 15" (2) 14.6 52 Measured

Keyboard and Hand Controllers (2) 5.35 1 Estimated

Heads-Up-Display Electronics 2 5 Estimated

Crew Interface Switches 6.3 1 Estimated

Internal and External Cameras 1.5 9 Measured

Camera Gimbals 10 30 Measured

Power Distribution Unit (3) 30 15 Estimated

Wiring Harness 50 N/A Calculated

Total 191 295

Avionics

Critical Design Review – Page 20

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 21

University of Maryland

ENAE 484 Spring 2003

Catalyst Bed Heaters

Valve Heaters Line Heaters

(T16)

(T14)

(T15)

(T13)

(T8)

(T6)

(T7)

(T5)

(T4)

(T2)

(T3)

(T1)

(T12)

(T10)

(T11)

(T9)

Bottom Left Panel

Bottom Right Panel

TopLeft Panel

TopRight Panel

Fill and Drain ValveFlow Control Valve Normally ClosedFlow Control Valve Normally OpenFilterThrust Chamber Valve (TCV)Valve Branch AValve Branch BHeaterPressureTemperatureThrusterIsolation Valve

(P)(T)

GN2GN2

(P)

(T) (T)

(P)

1A 4A

3A6A

6B

4B1B

3B

25

N2H4N2H4

(P)(T)

(T)

(P)

Critical Design Review – Page 22

University of Maryland

ENAE 484 Spring 2003

(T16)

(T14)

(T15)

(T13)

(T8)

(T6)

(T7)

(T5)

(T4)

(T2)

(T3)

(T1)

(T12)

(T10)

(T11)

(T9)

Bottom Left Panel

Bottom Right Panel

TopLeft Panel

TopRight Panel

1A 4A

3A 6A 6B

4B1B

3B

2

5

N2N2

(P) (T

)(T)

(P)Fill and Drain ValveFlow Control Valve Normally ClosedFlow Control Valve Normally OpenFilterThrust Chamber Valve (TCV)Valve Branch AValve Branch BHeaterPressureTemperatureThrusterIsolation ValvePressure RegulatorRelief Valve

(P)(T)

R1 R2 R3 R4

Critical Design Review – Page 23

University of Maryland

ENAE 484 Spring 2003

Critical Design Review – Page 24

University of Maryland

ENAE 484 Spring 2003

Critical Design ReviewMay 3, 2003