Reconfigurable Spacecraft as Kinematic Mechanisms Based on Flux-Pinning Interactions

摘要

THE challenges of the space environment require that spacecraftnexhibit a high degree of mission assurance, which often takesnthe form of autonomous fault tolerance [1,2]. However, thentechnology for spacecraft repair and reconfiguration missions has notnyet matured to the point where autonomous operations are alsonrobust. Many completed and envisioned spacecraft reconfigurationnor repair techniques involve substantial human-in-the-loop activity,nincluding Advanced X-Ray Astrophysics Facility servicingnactivities and Hubble Space Telescope repair and expansionnmissions [3]. Another example is the construction of the InternationalnSpace Station, which astronauts have assembled and reconfigurednpiecemeal during many hours of extravehicular activity. Fullynautonomous repair and reconfiguration tasks have been achievednonly recently, such as on the Orbital Express mission [4], withnextensive sensing and active control solutions [5]. We propose tondepart significantly from traditional approaches to reconfiguration byntreating modular, reconfigurable spacecraft as kinematic mechanisms.nThis proposal addresses the need for robust reconfigurationntechniques in space without treating the problem of reconfigurationnas one of docking or formation flight. In so doing, its approachnincorporates passively stable physics, involving little to no activencontrol at the level of the interface between modules and focusing onnarchitectural control of the system start and end states.