International Space Station Increment-2 Quick Look Report · 2013-08-30 · NASA / TM---2002-211200...

NASA / TM--2002-211200

International Space Station Increment-2

Quick Look Report

Kenol Jules

Glenn Research Center, Cleveland, Ohio

Kenneth Hrovat and Eric Kelly

Zin Technologies, Inc., Brook i_ark, Ohio

January 2002

https://ntrs.nasa.gov/search.jsp?R=20020038584 2020-04-05T15:18:21+00:00Z

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NASA / TM---2002-211200

International Space Station Increment-2

Quick Look Report

Kenol Jules

Glenn Research Center, Cleveland, Ohio

Kenneth Hrovat and Eric Kelly

Zin Technologies, Inc., Brook Park, Ohio

National Aeronautics and

Space Administration

Glenn Research Center

January 2002

Acknowledgments

The authors would like to acknowledge a number of people who contributed significantly to this report. Withouttheir contributions, this report would have not been possible. Significant contribution was made in the area of

software development, which enables both MAMS and SAMS to acquire acceleration data aboard the ISS, processed,

analyzed and displayed the data on the web as well as systems troubleshooting, by Nissim Lugasy, Ted Wright,and Gene Liberman. We would like to acknowledge the development efforts of the SAMS-II team and the MAMS

project team/Canopus, Inc. Many thanks go to Timothy Reckart, who contributed a lot of time and effort to the

formatting and all the graphics work for this report. Acknowledgment goes also to Kevin McPherson, Richard

DeLombard, Carlos Grodsinsky_ and Emily S. Nelson for their technical review, comments and suggestions. Finally)

we would like to acknowledge the PIMS' maestro, Kevin McPherson, who brings it all together magically!

Dedication

The PIMS project dedicates this report to the memory of William O. Wagar, the MAMS accelerometer projectmanager, who passed away recently.

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PIMS ISS Increment-2 Quick Look Report: May to June 2001

Table of Contents

Table of Contents .......................................................................................................... iii

List of Tables ................................................................................................................ iv

List of Figures ............................................................................................................... iv

1. Introduction ............................................................................................................. 1

2. International Space Station ....................................................................................... 2

2.1 Configuration at Assembly Complete ................................................................. 2

2.2 ISS Analysis Coordinate System ........................................................................ 3

2.3 ISS Flight Attitude at Assembly Complete ......................................................... 3

2.4 United States Laboratory Module (Destiny) Coordinate System ......................... 43. ISS Increment-2 ....................................................................................................... 4

3.1 Increment-2 Configuration ................................................................................. 4

3.2 Increment-2 Coordinate Systems., ...................................................................... 4

3.3 Increment-2 Overall Attitude .............................................................................. 4

3.4 Increment-2 Crew Members ............................................................................... 5

4. Accelerometer Systems' Description and Locations ................................................. 5

4.1 Microgravity Acceleration Measurement System (MAMS) ................................ 5

4.2 MAMS Coordinate Systems ............................................................................... 6

4.3 Space Acceleration Measurement System ........................................................... 6

4.4 SAMS Coordinate Systems ................................................................................ 7

5. ISS Increment-2 Facilities Supported by PIMS ......................................................... 7

6. ISS Increment-2 Experiments Supported by PIMS ................................................... 8

7. Data Analysis Techniques and Processing ................................................................ 9

7.1 Quasi-steady Regime .......................................................................................... 9

7.1.1 Trimmean Filter ........................................................................................... 9

7.1.20SS Bias Measurements .............................................................................. 9

7.1.3 Quasi-steady Plot Types .............................................................................. 10

7.1.3.10SS Trimmed Mean Acceleration versus Time ..................................... 10

7.1.3.2 QTH ..................................................................................................... 10

7.2 Vibratory Regime ............................................................................................... 10

7.2.1 Interval Statistics ......................................................................................... 11

7.2.1.1 Interval Average ................................................................................... 11

7.2.1.2 Interval Root-Mean-Square ................................................................... 11

7.2.1.3 Interval Minimum/Maximum ................................................................ 12

7.2.2 Power Spectral Density ................................................................................ 12

7.2.2.1 Power Spectral Density Versus Time (Spectrogram) ............................. 12

7.2.2.2 RMS Acceleration Versus One-Third Octave Frequency Bands ............ 12

7.2.2.3 Cumulative RMS Acceleration Versus Frequency ................................. 13

8. ISS Increment-2 Reduced Gravity Environment Description .................................... 13

8.1 Quasi-steady Microgravity Environment ............................................................ 13

8.1.1 XVV Torque Equilibrium Attitude .............................................................. 13

8.1.2 XPOP (X-Axis Perpendicular to Orbital Plane) Inertial Flight Attitude ........ 148.1.3 Docking and Undocking Events ................................................................... 14

NASA/TM--2002-211200 iii


8.2 Vibratory Microgravity Environment ................................................................. 15

8.2.1 Vehicle Operations ...................................................................................... 16

8.2.1.1 Air Conditioner/Dehumidifier ............................................................... 16

8.2.1.2 Progress Vehicle Docking ..................................................................... 16

8.2.1.3 Structural Modes ................................................................................... 17

8.2.1.4 Vehicle Vibratory Requirements ........................................................... 18

8.2.2 Experiment Operations ................................................................................ 18

8.2.2.1 EXPPCS Sample Mix ........................................................................... 19

8.2 3 Crew Activity• " ................................................... ° ......................................... 20

9 Unknown Disturbances• ° ........................................................................................... 20

10. Summary of Findings ............................................................................................. 20

Appendix A. References ......................................... ...................................................... 51

Appendix B. On-line Access to PIMS Acceleration Data Archive ................................. 53

On-Line Access To PIMS Acceleration Data Archive ............................................... 53

Appendix C. Some Useful Acceleration Data and Microgravity Related URLs ............. 55Appendix D. Acronym list and definition ............................................. , ........................ 57

List of Tables

Table 2.1-1 ISS Dimensions at Assembly Complete ..................................................... 3

Table 4.2-1 MAMS-OSS Coordinate System ............................................................... 6

Table 4.2-2 MAMS-HiRAP Coordinate System ........................................................... 6

Table 4.4-1 SAMS SE F06 Coordinate System ............................................................ 7

Table 6-1 Increment-2 Payloads ................................................................................ 8

Table 7.1-1 MAMS-OSS Power On/Off Cycles ........................................................... 9

Table 7.2-1 MAMS-HiRAP Power On/Off Cycles ....................................................... 11

Table 8.2-1 ISS Increment-2 Disturbers ....................................................................... 15

Table 8.2.1.3-1 Target Modes for ISS Assembly Complete Configuration .................... 17Table 10-1 Summary of Findings ................................................................................ 21

List of Figures

Figure 2.1-1 International Space Station at Assembly Complete ................................... 22

Figure 2.2-1 Space Station Analysis Coordinate System ............................................... 23

Figure 2.3-1 ISS XVV Flight Attitude .......................................................................... 23

Figure 2.4-1 United States Laboratory Module (Destiny) Coordinate System ............... 24Figure 3.1-1 ISS Increment-2 Configuration ................................................................. 25

Figure 3.2-1 6A Configuration Coordinate Systems ..................................................... 26

Figure 3.3-1 ISS in the XPOP Inertial Flight Attitude ................................................... 27

Figure 5-1 EXPRESS Rack 1 6A On-Orbit Configuration ......................................... 28

Figure 5-2 EXPRESS Rack 2 6A/7A On-Orbit Configuration ............... •.................... 28

Figure 8.1.1-1 Torque Equilibrium Attitude ................................................................. 29

Figure 8.1.1-2 Crew Active Periods During TEA ......................................................... 30

Figure 8.1.1-3 Crew Sleep Periods for TEA ................................................................. 30

Figure 8.1.2-1 XPOP Attitude ...................................................................................... 31

NASA/TM--2002-211200 iv


Figure 8.1.2-2 XPOP Attitude Profile for Crew Sleep Periods ...................................... 32

Figure 8.1.3-1 Undocking of Soyuz TM-31 .................................................................. 33

Figure 8.1.3-2 Progress Docking .................................................................................. 34

Figure 8.2.1.1-1 Color Spectrogram Showing SKV- 1 Air Conditioner/Dehumidifier Turn

Off. ..................................................................................................... 35

Figure 8.2.1.1-2 PSDs Showing SKV- 1 Air Conditioner/Dehumidifier On ................... 36

Figure 8.2.1.1-3 PSDs Showing SKV- 1 Air Conditioner/Dehumidifier Off .................. 37

Figure 8.2.1.2-1 Acceleration Vector Magnitude Time History for Progress VehicleDocking ............................................................................................. 38

Figure 8.2.1.2-2 Color Spectrogram for Progress Vehicle Docking .............................. 39

Figure 8.2.1.3-1 8-Hour Color Spectrogram Below 2 Hz of MAMS-HiRAP ................ 40

Figure 8.2.1.3-2 8-Hour Spectral Averaged PSD Below 2 Hz of MAMS-HiRAP ......... 41

Figure 8.2.1.4-1 RMS Acceleration vs. One-Third Octave Frequency Bands for SAMS

F06 Data (6A configuration) .............................................................. 42

Figure 8.2.2.1-1 Spectrogram of EXPPCS Sample Mix Operation. 43

Figure 8.2.2.1-2 Interval Minimum/Maximum of EXPPCS Sample Mix Operation ...... 44

Figure 8.2.2.1-3 PSDs of EXPPCS Sample Mix Operation ........................................... 45

Figure 8.2.2.1-4 PSDs Without EXPPCS Sample Mix Operation ................................. 46

Figure 8.2.2.1-5 Cumulative RMS Acceleration vs. Frequency of EXPPCS Sample Mix

Operation ........................................................................................... 47

Figure 8.2.2.1-6 Cumulative RMS Acceleration vs. Frequency Without EXPPCS SampleMix Operation .................................................................................... 48

Figure 8.2.3-1 Spectral Comparison of Crew Activity ............................................... 49

Figure Appendix B-1 On-Line Data Access Flow Chart ............................................... 53

Figure Appendix B-2 Screenshot of Sample PAD File Listing ..................................... 54

NASA/TM--2002-211200 v


1. Introduction

The NASA Physical Science Division (PSD) sponsors science experiments on various

reduced-gravity carriers/platforms and facilities such as the Space Transportation System

(STS), parabolic aircraft, sounding rockets, drop towers and the International Space

Station (ISS). To provide support for the science experiments, which require acceleration

data measurement on the ISS, the PSD sponsors two microgravity accelerometer systems,

the Space Acceleration Measurement System (SAMS) and the Microgravity Acceleration

Measurement System (MAMS). SAMS measures vibratory acceleration data in the rangeof 0.01 to 300 Hz for payloads requiring such measurement. MAMS consists of two

sensors. MAMS-OARE Sensor Subsystem (OSS), a low frequency range sensor (up to 1

Hz), is used to characterize the quasi-steady environment for payloads and vehicle (ISS)

and MAMS-High Resolution Accelerometer Package (HiRAP) is used to characterize the

ISS vibratory environment from 0.01 Hz to 100 Hz. Both accelerometer systems were

flown to the ISS on STS-100, which was launched April 19, 2001, from the Kennedy

Space Center (KSC).

The residual acceleration environment of an orbiting spacecraft in a low earth orbit is a

very complex phenomenon [ 1]. Many factors, such as experiment operation, life-support

systems, equipment operation, crew activities, aerodynamic drag, gravity gradient,

rotational effects as well as the vehicle structural resonance frequencies (structural

modes) contribute to form the overall reduced gravity environment. Weightlessness is anideal state which cannot be achieved in practice because of the various sources of

acceleration present in an orbiting spacecraft. As a result, the environment in which

experiments are conducted is not zero gravity; therefore, experiments can be affected by

the residual acceleration because of their dependency on acceleration magnitude,

frequency, orientation and duration. Therefore, experimenters must know what the

environment was when their experiments were performed in order to analyze and

correctly interpret the result of their experimental data. In a terrestrial laboratory,

researchers are expected to know and record certain parameters such as pressure,

temperature, humidity level and so on in their laboratory prior to and possibly throughout

their experiment. The same holds true in space, except that acceleration effects emergeas an important consideration.

The NASA Glenn Research Center (GRC) Principal Investigator Microgravity Services

(PIMS) project has the responsibility for processing and archiving acceleration

measurementS, analyzing these measurements, characterizing the reduced gravity

environment in which the measurements were taken, and providing expertise in reduced

gravity environment assessment for a variety of carriers/platforms and facilities, such as

the Space Shuttle, parabolic aircraft, sounding rockets, drop towers and the ISS in support

of the NASA's PSD Principal Investigators (PIs). The PIMS project supports PIs from

various science disciplines such as biotechnology, combustion science, fluid physics,

material science and fundamental physics. The PIMS project is funded by the NASA

Headquarters and is part of the NASA Glenn Research Center's Microgravity

Measurement and Analysis Project (MMAP), which integrates the analysis and

interpretation component of PIMS with the various NASA sponsored acceleration

NASA/TM_2002-211200 1


measurement systems. For the ISS, these acceleration measurement systems include

SAMS and MAMS. The PIMS project is responsible for receiving, processing,

displaying, distributing, and archiving the acceleration data for SAMS and MAMS duringISS operations. This report presents a quick look at the acceleration data collected

mainly by the MAMS sensors during the period of May 3 rd to June 8 th. The acceleration

data reported in this report for MAMS-OSS covers the following time periods: May 3 rd to

May 11 th May 21 st to May 27th; May 28 th to June 9 th. The activation times for MAMS-

HiRAP were the following" May 1 lth May 22 nd to May 23rd; May 29 th to June 6 th and

June 7 th to June 8 th [2]. However, this report is by no means a comprehensive

examination of all the relevant activities which occurred during the time periods

mentioned above, since the intent here is to provide a quick look at the acceleration data

collected by MAMS' sensors to the microgravity community. The upcoming ISS

Increment-2 report, which will be published approximately 30 days following theconclusion of Increment-2, will cover both MAMS and SAMS.

2. International Space Station

2.1 Configuration at Assembly Complete

The ISS represents a global partnership of 16 nations. This project is an engineering,

scientific and technological marvel ushering in a new era of human space exploration.

Assembly of the ISS began in late 1998 [3] and will continue until completion sometime

around the year 2004. During its assembly and over its nominal 10-year lifetime, the ISSwill serve as an orbital platform for the United States and its International Partners to

make advances in microgravity, space, life, and earth sciences, as well as in engineering

research and technology development. The completed space station will have six fully

equipped laboratories, nearly 40 payload racks [4] or experiment storage facilities, and

more than 15 external payload locations for conducting experiments in the vacuum of

space. The six main laboratories, which will house research facilities, are" Destiny (US),

the Centrifuge Accommodations Module (CAM-US), Columbus (ESA), Kibo (NASDA)

and two Russian Research Modules (yet to be named). The pressurized living and

working space aboard the completed ISS will be approximately 43,000 ft 3 [5] (table 2.1-

1). Its giant solar arrays will generate the electricity needed. An initial crew of three,

increasing to seven when assembly is complete (figure 2.1-1), is living aboard the ISS.

The space station represents a quantum leap in our ability to conduct research on orbit

and explore basic questions in a variety of disciplines [5] such as biomedical,

fundamental biology, biotechnology, fluid physics, advanced human support technology,

material science, combustion science, fundamental physics, earth science and spacescience.

NASA/TM_2002-211200 2


TABLE 2.1-1 ISS DIMENSIONS AT ASSEMBLY COMPLETE

Wingspan Width

Length

Mass (weight)

Operating AltitudeInclination

Atmosphere insidePressurized Volume

Crew Size

356 feet (108.5 m)

290 feet (88.4 m)

About 1 million pounds (453,592 kg)

220 nautical miles average (407 km)

51.6 degrees to the Equator

14.7 psi (101.36 kilopascals)

43,000 ft 3 (1,218 m 3) in 6 laboratories

3, increasing to 7

2.2 ISS Analysis Coordinate System

PIMS will report acceleration data to the microgravity scientific community using the ISS

analysis coordinate system or in the specific sensor's coordinate system. The ISS

analysis system [6] is derived using the Local Vertical Local Horizontal (LVLH) flight

orientation. When defining the relationship between this coordinate system and another,

the Euler angle sequence to be used is a yaw, pitch, roll sequence around the ZA, YA, and

XA axes, respectively (figure 2.2-1). The origin is located at the geometric center of

Integrated Truss Segment (ITS) SO and is coincident with the SO Coordinate frame. The

X-axis is parallel to the longitudinal axis of the module cluster. The positive X-axis is in

the forward (flight) direction. The Y-axis is identical with the SO axis. The nominal

alpha joint rotational axis is parallel with YA. The positive Y-axis is in the starboard

direction. The positive Z-axis is in the direction of nadir and completes the right-handed

Cartesian system (RHCS). L, M, N are moments about XA, YA and ZA axes, respectfully;

p, q, r are body rates about XA, YA and ZA axes; 15, dl, i are angular body acceleration

about XA, YA and ZA axes. This analysis coordinate system will be used by PIMS in its

analysis and reporting of the acceleration data measured on ISS.

2.3 ISS Flight Attitude at Assembly Complete

The basic flight attitude [7] for ISS is called XVV Z Nadir TEA, or XVV TEA for short.

XVV Z Nadir (XVV for short) stands for X body axis toward the velocity vector, Z body

axis toward Nadir/down, and TEA is for torque equilibrium attitude. The ISS vehicle

design is optimized for the XVV attitude (figure 2.3-1). That attitude places the most

modules in the microgravity volume, supports altitude reboosts, service vehicle dockings,

and minimizes aerodynamic drag. The ISS is designed to tolerate deviations from perfect

XVV Z Nadir of +/- 15 degrees in each axis. This envelope was expanded to -20 degreesin pitch.

NASA/TM_2002-211200 3


2.4 United States Laboratory Module (Destiny) Coordinate System

The US Laboratory module makes use of the right-handed Cartesian [6] coordinate

system, body-fixed to the pressurized module. The origin is located forward of the

pressurized module such that the center of the bases of the aft trunnions have XLAB

components nominally equal to 1000 inches. The X,axis is perpendicular to the nominal

aft Common Berthing Mechanism (CBM) interface plane and pierces the geometric

center of the array of mating bolts at the aft end of the pressurized module. The positive

X-axis is toward the pressurized module from the origin. The Y-axis completes the right-

handed Cartesian system (RHCS). The Z-axis is parallel to the perpendicular line from

the X-axis to the center base of the keel pin base, and positive in the opposite direction asshown in figure 2.4-1.

3. ISS Increment-2

3.1 Increment-2 Configuration

An increment should average about 4 months and is determined by crew rotations and

flights to/from ISS. Each increment has a theme that focuses on the primary science or

activities to be performed. This Increment is called Increment-2 or Expedition Two and

its theme is: Radiation [8]. The 3-member crew for Increment-2 mission was launched to

ISS on February 2001 on STS-102 from Kennedy Space Center. This Increment has four

modules on-orbit [9]" Unity (Node), Zarya (Functional Cargo Block), Zvezda (ServiceModule) and Destiny, figure 3.1-1.

3.2 Increment-2 Coordinate Systems

The coordinate systems [10] shown in Figure 3.2-1 were used in performing the data

analysis presented in this report. Figure 3.2-1 shows MAMS-OSS, MAMS-HiRAP and

SAMS F06 positive acceleration axes alignment relative to ISS analysis coordinate

system. However, the origin of the coordinate systems shown is not exactly at the

location shown (except for the ISS analysis coordinate system). They are shown here for

relative alignment only, not their origin. For their location relative to ISS analysis

coordinate system, the reader should refer to Tables 4.2-1, 4.2-2 and 4.4-1. In Figure 3.2-

1, XYZA refers to the ISS analysis coordinate system, XYZH refers to MAMS-HiRAP

coordinate system, XYZoss refers to MAMS-OSS coordinate system and XYZF06 is The

SAMS F06 alignment currently located on the PCS experiment. Figure 3.2-1 is

applicable only to the Increment-2 configuration (6A configuration).

3.3 Increment-2 Overall Attitude

During the assembly stages (stages 2A through 12A.1), ISS will not be capable of

generating enough power to sustain the required electrical loads in the XVV flight

NASA/TM_2002-211200 4


attitude at mid-to-high solar beta angles because these vehicle configurations have only a

single solar array gimbal axis, which is aligned so that it only perfectly tracks the Sun

when the solar beta angle is near zero. Therefore, ISS is designed to accommodate a

second basic flight orientation for these increments. This attitude is referred to as XPOP,

which stands for X principal axis perpendicular to the orbit plane, Z Nadir at orbital

noon. The XPOP flight attitude [7] sets up geometry between the ISS and the Sun so that

the Sun stays close to the ISS/XZ body axis plane. This allows all the solar arrays to

track the Sun regardless of the solar beta angle. XPOP also places the dominant inertia

axis in the local horizontal to minimize gravity gradient torques and allow Control

Moment Gyro (CMG) non-propulsive attitude control.

3.4 Increment-2 Crew Members

During Increment-2 (Expedition Two) the crew will work with 18 different experiments.

The Increment-2 is designed to characterize the space station environment by measuring

effects such as radiation exposure and vibration, which could impact humans and

experiments on the station. Other research includes studies of the human body in space,

observations of the earth, crystal growth and plant growth in space [ 11 ]. Increment-2 has

two astronauts and one cosmonaut. The commander is cosmonaut Yuri Usachev; Flight

Engineer 1 is James Voss and Susan Helms as Flight Engineer 2. The crew was launched

to the ISS on March 8, 2001 aboard the Space Shuttle Discovery STS-102 and will returnno earlier than (NET) August 22 th, 2001.

4. Accelerometer Systems' Description and Locations

One of the major goals of ISS is to provide a quiescent reduced gravity environment to

perform fundamental scientific research. However, small disturbances aboard the Space

Station impact the overall environment in which experiments are being performed. Such

small disturbances need to be measured in order to assess their potential impact on the

experiments. Two accelerometer systems developed by NASA's Glenn Research Center

in Cleveland, Ohio, are being used aboard the station to acquire such measurements.

These two systems were flown to ISS on April 19, 2001 aboard the space shuttle flightSTS-100.

4.1 Microgravity Acceleration Measurement System (MAMS)

MAMS measures acceleration caused by aerodynamic drag created as the space stationorbits the earth. It also measures accelerations created as the vehicle rotates and vents

water. MAMS consists of two sensors. MAMS-OSS, a low frequency range sensor (up

to 1 Hz), is used to characterize the quasi-steady environment for payloads and the

vehicle itself. MAMS-HiRAP [ 12], is used to characterize the ISS vibratory environment

up to 100 Hz. For Increment-2, MAMS is located in a double middeck locker, in the US

NASA/TM--2002-211200 5


laboratory Module (Destiny) in the EXpedite the PRocessing of Experiments to the SpaceStation (EXPRESS) Rack 1 (figure 5.-1).

4.2 MAMS Coordinate Systems

MAMS is located in middeck lockers 3 and 4 of EXPRESS Rack 1 (6A configuration), in

overhead bay 2 of the US Laboratory Module (LAB 102). In the OSS coordinate system

(Xoss, Yoss, Zoss), +Xoss is aligned with +XA, +Yoss is in the direction of +ZA, and

+Zoss is in the direction of-YA. The origin is located at the center of gravity of the OSS

proof mass. Table 4.2-1 gives the orientation and location of the OSS coordinate systemwith respect to Space Station Analysis coordinate system.

TABLE 4.2-1 MAMS-OSS COORDINATE SYSTEM

Orientation (degrees)Roll Pitch Yaw

90 0 0

Location (inches)

XA YA ZA

135.28 -10.68 132.12

Unit Vectors in Space Station AnalysisCoordinates

i

Axes XA YA ZA

Xoss 1 0 0

Yoss 0 0 1

Zoss 0 -1 0

The HiRAP coordinate system (Xu, YH, ZH) origin is defined as the geometric center of

the three accelerometer input axes. In the HiRAP coordinate system, +XH is aligned with

+XA, +Yu is in the direction of-YA, and +ZH is in the direction of-ZA. Table 4.2-2 gives

the orientation and location of the HiRAP coordinate system with respect to SpaceStation Analysis coordinate system.

TABLE 4.2-2 MAMS-HIRAP COORDINATE SYSTEM

Orientation (degrees)

Roll Pitch Yaw

180 0 0

Location (inches)

XA YA ZA

138.68 -16.18 142.35


Axes XA YA ZA

XH 1 0 0

YH 0 -1 0

ZH 0 0 -1

4.3 Space Acceleration Measurement System

SAMS measures accelerations caused by vehicle, crew and equipment disturbances"

SAMS measures the vibratory/transient accelerations, which occur in the frequency range

of 0.01 to 300 Hz. For Increment-2, there are five SAMS sensors along with experimentslocated in the EXPRESS Racks 1 and 2. The sensors measure the accelerations

NASA/TM_2002-211200 6

PIMS ISS Increment-2 Quick Look Report" May to June 2001

electronically and transmit the measurements to the Interim Control Unit (ICU) located inan EXPRESS Rack drawer. Data is collected from all the sensors and downlinked to

Glenn Research Center's Telescience Support Center (TSC). The PIMS project

processes, analyzes and then displays the data on the PIMS' Web site for ready access by

the microgravity scientific community.

4.4 SAMS Coordinate Systems

For the time span covered in this report, only one SAMS SE head was activated, F06.

This SE was mounted (6A configuration) on the front panel of the EXPPCS test section

on EXPRESS Rack 2, in overhead bay 1 of the US Laboratory Module (LAB 101). The

F06 coordinate system (Xv06, YF06, ZF06) was oriented so that the +XF06 axis was aligned

with -ZA, +YF06 in the direction of-YA, and +ZF06 in the direction of-XA. The origin is

defined as the triaxial center point of the three accelerometers that comprise the head.

Table 4.4-1 summarizes the F06 coordinate system information.

TABLE 4.4-1 SAMS SE F06 COORDINATE SYSTEM

Orientation (degrees)Roll Pitch

180 90

Location (inches)

XA

179.90

Yaw

YA ZA

-6.44 145.55


Axes XA YA ZA

XF06 0 0 -1

YF06 0 -1 0

ZF06 -1 0 0

5. ISS Increment-2 Facilities Supported by PIMS

During Increment-2, the following facilities will be activated: the Human Research

facility, two EXPRESS Racks, one of which equipped with the Active Rack Isolation

System (ARIS) and the Payload Equipment Restraint System. Over the life of the Space

Station, these facilities will support a wide range of experiments [11 ]. During Increment-2, the PIMS project is supporting EXPRESS Racks 1 and 2.

The EXPRESS Rack [ 13] is a standardized payload rack system that transports, stores

and supports experiments aboard the International Space Station. The EXPRESS Rack

system supports science payloads in several disciplines, including biology, chemistry,physics, ecology and medicine. The EXPRESS Rack with its standardized hardware

interfaces enables quick, simple integration of multiple payloads aboard the station. Each

EXPRESS Rack is housed in an International Standard Payload Rack- a refrigerator-sizecontainer that acts as the EXPRESS Rack's exterior shell-- and can be divided into

segments. The first two EXPRESS Racks [14] have eight middeck locker locations and

two drawer locations each (figures 5.-1, 5.-2).

NASA/TM_2002-211200 7


6. ISS Increment-2 Experiments Supported by PIMS

During this increment, the PIMS project supports the following experiments, which

require acceleration data measurement to assess the impact of the ISS reduced gravityenvironment on the science" Active Rack Isolation System ISS Characterization

Experiment (ARIS-ICE), Protein Crystal Growth-Biotechnology Ambient Generic (PCG-

BA) and Experiment of Physics of Colloids in Space (EXPPCS). Table 6.-1 [l 5] shows

the experiments that were performed (or are being performed) by the Increment-2 crew.

TABLE 6-1 INCREMENT-2 PAYLOADS

Facility/Experiment Mission informationActive Rack Isolation System Mission 6A STS-100

Express Racks 1 & 2

Human Research FacilityPayload Equipment RestraintSystem

Advanced Astroculture(ADVASC)

Bonner Ball Neutron DetectorRadiation

Commercial Genetic

Bioprocessing Apparatus(CGBA)Commercial Protein Crystal

Growth--High Density (CPCG-H)Crew Earth Observation

Dosimetric Mapping (DOSMAP)

Earth Knowledge Acquired byMiddle Schools (EarthKAM)

H-Reflex

Interactions

ARIS-ISS Characterization

Experiment (ARIS-ICE)

Microg ravity Acceleration

Measurement System (MAMS)Phantom Torso

Physics of Colloids in Space(EXPPCS)

Protein CrystalGrowth--Biotechnology AmbientGeneric (PCG-BAG)

Protein Crystal Growth--SingleLocker Thermal Enclosure

System (PCG-STES)Space Acceleration

Measurement System II (SAMS-II)Sub-regional Assessment ofBone Loss in Axial Skeleton(Sub-regional Bone

Mission 6A STS-100

Mission 5A. 1 STS-102Mission 5A. 1 STS-102

Mission 6A STS-100

Mission 5A. 1 STS-102

Mission 6A STS-100

Mission 6A STS-100

Mission 4A STS-97


Mission 5A STS-98

Mission 5A.1 STS-102


Mission 6A STS-100

Mission 6A STS-100

Mission 6A STS-100

Mission 6A STS-100

Mission 7A STS-104

Mission 6A STS-100and 7A STS-104

Mission 6A STS-100

Mission 5A.1 STS-102

Duration

15 years

15 years15 years

15 years

3 months (return onMission STS-105,

7A.1)8 months

3 months (return onMission STS-105,

7A.1)3 months (return onmission STS-105,

7A.1)15 years

4 months

15 years

4 months (assignedfor Exp. 2-4)

2 years, 4 monthsassigned to Exp. 2-6)

7 months (?)Mission UF1, STS-

105)15 years

3 months (return onmission STS-105,

7A.1)1 year (return onmission UF2 STS-

111)

2 months (return onmission STS-105,

7A.1)2 months (return onmission STS-105,

7A.1)15 years

2 years, 4 months

(assigned to Exp. 2-6)

Location on ISS Research Area

Express Rack 2Destiny module

Destiny moduleDestiny moduleDestiny module


Destiny module



Destiny and Zvezdamodules

Destiny module

Destiny modulewindow

Human Research

Facility Rack Destinymodule

Human Research

Facility Rack Destinymodule

Active Rack Isolation

System

Express Rack 1

Destiny moduleDestiny module


Destiny modulestowage space


Destiny module

N/A--Preflight andpost-flight datacollection only

MultidisciplinaryHuman Life sciences

Space ProductDevelopment CommercialbiotechnologyHuman Life Sciences --Radiation

Space ProductDevelopment

BiotechnologySpace ProductDevelopment--ProteincrystallizationSpace Flight UtilizationEarth observationHuman Life Sciences --Radiation

Space FlightUtilization--Earthobservation and outreach

Human Life Sciences---Neurovestibular

Human Life Sciences--

Psychosocial

Space Flight UtilizationEarth Observation andOutreach

Physical Sciences--Environmental

Human Life Sciences--Radiation

Physical Sciences--Fluidsscience

PhysicalSciences--Protein

crystallizationPhysicalSciences--Protein

crystallizationPhysical Sciences--Environmental

Human Life

Sciences--Bone andmuscle

NASA/TM_2002-211200 8


7. Data Analysis Techniques and Processing

This section briefly describes some assumptions, considerations, and procedures used to

analyze the acceleration measurements made by the two sensors collectively known asMAMS.

7.1 Quasi-steady Regime

MAMS-OSS data is collected at 10 samples per second, bandpass filtered with a cutoff

frequency of 1 Hz and sent to ground support equipment (GSE) for further processingand storage. PIMS is currently storing the OSS data as raw acceleration files and also

trimmean filtered data that are compensated for bias. At the time of this report, PIMS has

collected approximately 26 days of raw OSS data, from three power on events. There are

numerous gaps in the data, due to data transfer and other problems that come along with

being a payload during early ISS operations. Table 7.1-1 shows the power on/off timesfor the MAMS-OSS sensor.

TABLE 7.1-1 MAMS-OSS POWER ON/OFF CYCLES

Power On (GMT)

May 03, 2001 123/15:58:24

May 21, 2001 141/07:35:22

May 28, 2001 148/13:53:08

Power Off (GMT)

May 11,2001 131 / 16:08:26

May 27, 2001 147/11:05:40

June 09, 2001 160/13:54:11

7.1.1 Trimmean Filter

The OSS data is processed with an adaptive trimmean filter to provide an estimate of the

quasi-steady acceleration signal by rejecting higher magnitude transients such as thruster

firings, crew activity, etc. The trimmean filter algorithm used by the MAMS GSE

operates on a sliding window of 480 samples, every 16 seconds. The filtering procedure

sorts the data by magnitude, calculates the deviation from a normal distribution, and trims

an adaptively determined amount from the tails of the data. The quasi-steady

acceleration level is computed to be the arithmetic mean of the trimmed set. Further

information concerning the trimmean filter can be found in [ 16-18].

7.1.20SS Bias Measurements

One of the initial goals during Increment 2 operations for MAMS is the characterization

of the OSS sensor bias. In the past, MAMS predecessor, the Orbital Acceleration

Research Experiment (OARE), showed a significant initial transient in the bias

measurements that would take one to two days to settle out. This phenomenon was not

NASA/TM_2002-211200 9


observed in the MAMS-OSS data, most probably due to the 14-day interval between

launch date and MAMS activation. At power up, the MAMS instrument takes roughly

4-6 hours to reach the nominal operating temperature of 40°C, at which point, the bias

values can be considered constant. However, there is a bias temperature dependency,

seen only during these first 6 hours following a MAMS power on event. We are unable

to characterize this temperature dependency at this time, due to an insufficient amount of

bias points collected during the initial temperature turn on transient. For this reason,

PIMS is recommending that users avoid OSS data within the first 12 hours after a MAMS

power on event. When MAMS-OSS support is requested, this 12-hour "'settling" timemust be taken into consideration. A detailed look at the OSS bias calculations will be

included in a later report.

7.1.3 Quasi-steady Plot Types

The two types of plots used in analysis of quasi-steady data are acceleration versus time

and the quasi-steady three-dimensional histogram (QTH). Both of these plot types usetrimmean filtered OSS data.

7.1.3.10SS Trimmed Mean Acceleration versus Time

These are single or three axes plots of acceleration in units of g g versus time. These

plots give the best accounting of the quasi-steady acceleration vector as a function oftime.

7.1.3.2 QTH

This type of analysis results in three orthogonal views of the quasi-steady vector. The

time series is analyzed using a two-dimensional histogram method where the percentage

of time the acceleration vector falls within a two-dimensional bin is plotted as a color.

Areas showing colors toward the red end of the spectrum indicate a higher number of

occurrences. Conversely, areas showing colors towards the blue end are indicative of a

lower percentage, with no occurrences being shown as white. This plot provides a

summary of the quasi-steady vector during the total time period considered. Exact timingof an acceleration event is lost in this type of plot.

7.2 Vibratory Regime

The frequency response of the accelerometer systems used to collect vibratory data may

extend below 0.01 Hz down to DC, but those instruments are not optimized for making

quasi-steady or DC measurements. The MAMS-OSS instrument is specialized for this

NASA/TM--2002-211200 10


purpose. Therefore, unless otherwise noted, it is assumed that the vibratory data have

been demeaned for plots and analyses of vibratory data. That is, for the time interval

under consideration, the average value is calculated and then subtracted off of each data

point on a per axis basis. Table 7.2.-1 shows the power on/off cycles for MAMS-HiRAP

for the time span analyzed in this quick look report.

TABLE 7.2-1 MAMS-HIRAP POWER ON/OFF CYCLES

Power On (GMT)

May 11, 2001 131/01:24:08

May 22, 2001 142/18:39:13

May 29, 2001 149/22:52:28

May 31, 2001 151/21:08:14

June 07, 2001 158/19:36:29

Power Off (GMT)

May 11,2001 131/03:33:21

May 23, 2001 143/17:37:53

May 31, 2001 151/14:03:43

June 06, 2001 157/21:44:40

June 08, 2001 159/20:05:27

7.2.1 Interval Statistics

A plot of acceleration interval statistics in units of g versus time gives some measure of

acceleration fluctuations as a function of time. This display type allows relatively long

periods to be displayed on a single plot. There are three such interval statistic plots that

are employed for this and other reasons as described below" (1) interval average, (2)interval root-mean-square, or (3) interval minimum/maximum.

7.2.1.1 Interval Average

Interval average plots show net accelerations which last for a number of seconds equal to

or greater than the interval parameter used. Short duration, high amplitude accelerations

can also be detected with this type of plot, however, the exact timing and magnitude of

specific acceleration events cannot be extracted. This type of display is useful for

identifying overall effects of extended thruster firings and other activities that tend to

cause the mean acceleration levels to shift. This display type is rarely used for vibratorydata.

7.2.1.2 Interval Root-Mean-Square

Interval root-mean-square (RMS) plots show oscillatory content in the acceleration data.

For the period of time considered, this quantity gives a measure of the variance of the

acceleration signal. This data representation is useful for identifying gross changes inacceleration levels usually caused by the initiation or cessation of activities such as crew

exercise or equipment operations.

NASA/TM_2002-211200 11


7.2.1.3 Interval Minimum/Maximum

An interval minimum/maximum plot shows the peak-to-peak variations of the

acceleration data. For each interval, this plot type shows both the minimum and

maximum values, and thereby shows the acceleration data envelope. This type of displayis another way to track gross changes in acceleration.

7.2.2 Power Spectral Density

The power spectral density (PSD) is computed from the Fourier transform of an

acceleration time series and gives an estimate of the distribution of power with respect to

frequency in the acceleration signal. It is expressed in units of gZ/Hz. The method used

for computation of the PSD is consistent with Parseval's theorem, which states that the

RMS value of a time series signal is equal to the square root of the integral of the PSD

across the frequency band represented by the original signal.

7.2.2.1 Power Spectral Density Versus Time (Spectrogram)

Spectrograms provide a road map of how acceleration signals vary with respect to both

time and frequency. To produce a spectrogram, PSDs are computed for successive

intervals of time. The PSDs are oriented vertically on a page such that frequency

increases from bottom to top. PSDs from successive time slices are aligned horizontally

across the page such that time increases from left to right. Each time-frequency bin is

imaged as a color corresponding to the base 10 logarithm of the PSD magnitude at that

time and frequency. Spectrograms are particularly useful for identifying structure and

boundaries in time and frequency over relatively long periods of time.

7.2.2.2 RMS Acceleration Versus One-Third Octave Frequency Bands

This type of plot quantifies the spectral content in proportional bandwidth frequency

bands for a given time interval of interest (nominally 100 seconds). The (nearly) one-

third octave bands are those defined by the International Space Station microgravity

requirements; see Table 4 [ 19]. The results of this analysis are typically plotted along

with a bold stair step curve representing the International Space Station combined

vibratory limits in order to compare the acceleration environment to these prescribed

limits. These plots are not particularly useful for isolating the source of a disturbance fora band that exceeds the desired limits.

NASA/TM--2002-211200 12

PIMS ISS Increment-2 Quick Look Report- May to June 2001

7.2.2.3 Cumulative RMS Acceleration Versus Frequency

A plot of cumulative RMS acceleration versus frequency quantifies, in cumulative

fashion, the contributions of spectral components to the overall measured RMS

acceleration level for the time frame of interest. This plot is also derived from the PSD

using Parseval's theorem. It quantitatively highlights key spectral regions - steep slopes

indicate strong narrowband disturbances that contribute significantly to the acceleration

environment, while shallow slopes indicate relatively quiet portions of the spectrum.

8. ISS Increment-2 Reduced Gravity Environment Description

8.1 Quasi-steady Microgravity Environment

The quasi-steady regime is comprised of accelerations with frequency content below 0.01

Hz and magnitudes expected to be on the order of 2 g g or less. These low-frequency

accelerations are associated with phenomena related to the orbital rate, primarily

aerodynamic drag. Depending on various conditions and location relative to the vehicle's

center of mass, however, gravity gradient and rotational effects may dominate in this

regime. A final source of acceleration to consider in this regime is venting of air or water

from the spacecraft. This action results in a nearly constant, low-level propulsive force.

The different quasi-steady environment characteristics seen on the ISS for the 6A

configuration are primarily related to altitude and attitude of the station. Variation in

atmospheric density with time and altitude contribute to the differences in the

aerodynamic drag component. Different attitudes will affect the drag component due to

the variation of the frontal cross-sectional area of the station with respect to the velocity

vector. This section of this quick look report analyzes the effects of different station

attitudes and crew activity on the quasi-steady acceleration environment. Also, the

docking of the Russian Progress vehicle and the undocking of the Soyuz TM-31 areexamined.

8.1.1 XVV Torque Equilibrium Attitude

Torque Equilibrium Attitude (TEA) is an attitude that balances the vehicle's gravity

gradient and aerodynamic drag torques. This is the attitude that will be flown during

microgravity mode to support research. However, TEA will vary with station

configuration because of change in mass and aerodynamic properties. For the period

covered in this report, the TEA attitude was nominally YPR = (350.0, 350.7, 0.0) relative

to the LVLH coordinate system. Figure 8.1.1-1 shows a plot of trimmean-filtered datataken during a crew sleep period while the station was in TEA.

The low-amplitude, low-frequency component of the quasi-steady profile is more readilyapparent during crew sleep periods because disturbances associated with basic crew

activity tend to mask this low-level signal. The QTH plots shown in Figures 8.1.1-2 and

NASA/TM--2002-211200 13


8.1.1-3 give a good comparison between the noise levels of crew active and crew sleep

periods. Figure 8.1.1-2 is a 26.5-hour compilation of crew active periods when thevehicle was in TEA.

A similar QTH plot for 27.5 hours of crew sleep can be seen in figure 8.1.1-3. The quasi-

steady vector shows much less variation, as indicated by the distribution among the bins,

for crew sleep than for crew active periods. In order to aid in comparison, a red box was

drawn in figure 8.1.1-2 that indicates the extents of the plot in figure 8.1.1-3.

8.1.2 XPOP (X-Axis Perpendicular to Orbital Plane) Inertial Flight Attitude

XPOP is a sun-tracking, quasi-inertial flight attitude used for power generation. In this

attitude, the vehicle's XA axis is maintained perpendicular to the direction of flight, while

the YA and ZA axes are alternately subjected to the drag vector as the vehicle completes

an orbit. The time series plot for XPOP attitude in figure 8.1.2-1 illustrates this nicely,

showing a fairly constant X-axis acceleration component near 2gg, compared to the Y

and Z axes, which show a more pronounced cyclical drag profile. The cyclical variation

at 45 minutes intervals is due to the twice-per-orbit variation of frontal area in the XPOPattitude.

Figure 8.1.2-2 is a QTH plot of crew sleep periods during XPOP attitude showing thecharacteristic "ring" profile in the YZ plane that was evident in OARE data when theshuttle was in similar solar inertial attitudes.

8.1.3 Docking and Undocking Events

In terms of the quasi-steady environment, the actual docking event is less of an impact

than the attitude adjustments in preparation for the event. The first undocking event

captured in MAMS-OSS data, was the Soyuz TM-31 undocking at GMT 126/02"20:49.

Referring to figure 8.1.3-1, at GMT 126/00" 19:58 (1.3 hours in the plot) the station began

an attitude maneuver to change from +XVV/+ZLV to -XVV/+ZLV, which was a yaw of

180 degrees about the ZA axis. This maneuvers is seen as an offset between 10-15 lag inthe Xoss axis, and to a lesser extent the Y and Z axes. The return to +XVV/+ZLV is also

evident 2 hours later. Close inspection indicates an upward shift in all three axes of the

quasi-steady vector for the period when the station was at -XVV/+ZLV.

For Figure 8.1.3-2, the Progress docking at GMT 143/00:24 was preceded by an attitude

change from TEA to the docking attitude at approximately GMT 142/22:10. The docking

attitude was a YPR- (231, 14.7, 54), relative to the J2000 coordinate system (inertial

coordinate system). In this orientation, the XA axis is close to alignment with the orbital

plane. A profile similar to that found in the Y and Z axes during XPOP can be seen inthe X-axis in figure 8.1.3-2.

NASA/TM--2002-211200 14


8.2 Vibratory Microgravity Environment

The vibratory regime is comprised of the acceleration spectrum above 0.01 Hz, with

magnitudes expected to vary greatly depending on the nature of the disturbance source

and on the transmissibility from the source to the location of the measurement device.

These higher frequency accelerations are associated with vehicle systems, experiment-

related equipment, and crew activity. Table 8.2-1 shows a list of the Increment-2

disturbers [9] for 6A configuration.

TABLE 8.2-1 ISS INCREMENT-2 DISTURBERS

P6 Truss Segment

Service Module

Node 1

US Lab

Z1 Segment

Transient Disturbances

• Stick slip

• Beta gimbal

• Ergometer (unisolated)• High- Gain Antenna

• Fans (VS, TCS, Hygiene)

• TCS compressor

• Treadmill (isolated)

• Solar arrays

• Pumps (TCS, WSS, Hygiene)

• Interim Resistive Exercise Device (IRED)

• Fans (CCAV, IMV)

• Ergometer (isolated)

• Fans (AAAs, IMV, THC)

• Pumps (CDRA, MCA, water separator)• Ku-band antenna• CMG

• P6 beta gimbal

• SM High-Gain Antenna

• SM Solar array• Node 1 IRED

• Crew push-off/landing

For the vibratory regime, this quick look report examines the impact of some of thesedisturbers. In section 8.2.2, the SKV-1 air conditioner/dehumidifier is identified and

partially characterized. This piece of equipment is part of the vehicle's environmental

control system. Section 8.2.3 discusses the impact of docking a Progress vehicle to the

aft end of the Service Module. Section 8.2.4 points out apparent structural modes below

2 Hz, gleaned from acceleration spectra computed over more than 9 days starting in late

May 2001. Section 8.2.5 compares a snapshot of acceleration measurements to the ISS

vehicle vibratory requirements. Note that this comparison does not consider all of the

stipulations specified in [ 19]. Section 8.2.6 highlights the tremendous impact that the

EXPPCS sample mix equipment can have on the vibratory environment, while section

8.2.7 compares a couple of periods of crew activity.

NASA/TM--2002-211200 15


8.2.1 Vehicle Operations

There are a number of ISS modes of operation, such as Standard, Reboost, Microgravity,and so on [3]. Depending on the objectives for a given mode, a different combination of

vehicle systems are expected to be operating for at least part of the time. One such

system is the Environmental Control and Life Support System (ECLSS), which has a

number of components. For this quick look report, we identify one such component, theSKV- 1 air conditioner/dehumidifier.

8.2.1.1 Air Conditioner/Dehumidifier

The PIMS TSC console logbook has an entry for SKV-1 air conditioner/dehumidifier

turn off at GMT 08-June-2001, 09:42" 12 in preparation for an EVA. This air conditioner

is located in the FGB module and is part of the ECLSS. As first witnessed on a PIMS

real-time display at the TSC (see Figure 8.2.1.1-1), the SKV-1 turned off just beforeGMT 08-June-2001, 09:42:00.

This is evident by the abrupt cessation of the horizontal yellow streak at that time. The

PSDs shown in figure 8.2.1.1-2 were computed from HiRAP data not long before the

turn-off time. These show that this air conditioner operates at a fundamental frequency

of about 23.5 Hz. The spectral peak at this frequency seen on all three orthogonal sensor

axes vanished when the SKV-1 was mined off as shown in figure 8.2.1.1-3. Further

characterization of this disturbance source will seek to quantify the impact of thisdisturbance on the vibratory environment.

8.2.1.2 Progress Vehicle Docking

Mission ISS-4P used a Progress-M1 spacecraft (Progress M1-255) to deliver logistics and

supplies to the ISS. This mission launched on 20 May 2001 from the Baikonur

Cosmodrome in Kazakhstan, and docked at the aft docking port of the Service Module.

After remaining docked for over two months, the Progress-M 1 will be loaded with items

to be disposed, undocked from the ISS, and commanded to perform a destructive reentryinto the Earth's atmosphere.

The PIMS TSC console logbook indicates that the Progress vehicle docked at GMT

143/00:24"00, as noted from a call on the JSC Flight Director voice loop. The exact

event within the docking procedure was not specified in this call, however, a large

impulsive event was registered by the MAMS-HiRAP at about GMT 143/00:24:20 as

seen in figure 8.2.1.2-1.

NASA/TM_2002-211200 16


The 20-second timing discrepancy between the acceleration measurement and the time

recorded from the voice loop call may stem from a number of factors" preciseness of

voice loop call, actual stage in docking event called on voice loop, and MAMS-HiRAP

timing may not be synchronized with other external sources. Regardless, the peak

acceleration amplitude recorded by the MAMS-HiRAP during this docking event wasapproximately 13 mg.

The color spectrogram of figure 8.2.1.2-2 shows the impulsive docking at just before the

10-minute mark, then for the next several minutes some as-yet-to-be-identified events

occur presumably to secure the vehicles for subsequent hatch opening.

8.2.1.3 Structural Modes

As opportunities arise, directional and precise frequency correlation between

measurements and mathematical models will be undertaken. However, for the purpose ofthis quick look report we will touch on apparent structural modes gleaned from MAMS-

HiRAP data recorded on GMT June 8, 2001. The major structural components during

Stage 6A are: the Soyuz, Service Module, FGB, Progress M, Z1 Truss, Node 1, PMA-1,

PMA-2, PMA-3, P6 segment (Long Spacer and IEA), US PV arrays, TCS radiators, Lab,

MPLM, SpaceLab Pallet, and SSRMS. Most of these components are shown mated infigures 3.1-1, 3.2-1.

As cited in [20], key structural mode shapes of the ISS "backbone" are characterized byindividual pressurized modules acting as rigid bodies connected at flexible interfaces.

The "backbone" of the ISS is formed by the line of modules connected along the XA-axis,

which points in the general flight velocity vector direction for the Assembly Complete

configuration. Also, from [20], some target modes selected for analysis are shown inTable 8.2.1.3-1.

TABLE 8.2.1.3-1 TARGET MODES FOR ISS ASSEMBLY COMPLETE CONFIGURATION

Target Mode #

297Frequency (Hz)0.44141

427 0.90176

454 1.01158

Limited computational resources prohibit computation of acceleration spectra with the

resolution shown in the table above. To achieve the frequency resolution shown would

require operating on over a day's worth of contiguous vibratory data. Direct comparison

to predicted data is provisionary since the acceleration data currently available were

collected in the Stage 6A configuration, and not in the Assembly Complete configuration.

However, for the purpose of this quick look report, these target modes were used in lieu

of mathematical model structural frequencies for the Stage 6A configuration. The color

spectrogram of Figure 8.2.1.3-1 spans 8 hours starting at GMT 08-June-2001, 08"00"00.

NASA/TM--2002-211200 17


It shows the acceleration spectra below 2 Hz in an effort to capture low frequency

structural modes. The horizontal yellow or red streaks that span the duration of the

spectrogram point to what appear to be vehicle structural modes. The exact nature of

these is beyond the scope of this document, but the spectral peaks at about 0.4 and 1 Hz

are close to the first two target mode values of Table 8.2.1.3-1. Spectral averaging of the

constituent PSDs that comprise this spectrogram yields the blue trace of Figure 8.2.1.3-2.

The black trace in the figure represents a non-averaged, snapshot PSD for comparison.

Note from this figure that the averaged PSD shows spectral peaks at about 0.40, 0.56, and

0.93 Hz. Also, the averaged PSD shows that near 1.3 Hz there are at least 2 closely

spaced spectral peaks and possibly another pair at about 1.8 Hz. Further analyses and

correlations will be undertaken to study, characterize, and quantify these low frequencydynamics, particularly as the ISS is assembled.

8.2.1.4 Vehicle Vibratory Requirements

The current configuration of the ISS and sensor mounting locations do not meet the

specifications called out in [ 19]"

The vibratory acceleration limits apply at the structural mounting interfaces to theinternal user payload locations. In the case of the ISPR, this points to thestructural interfaces between the rack and the payload, on the payload side ofthe interfaces. If an intermediate structure were incorporated into the designbetween the user payload and the ISPR, e.g. an active rack isolation system, thespecification shaft apply at the user payload side of its interface with such asystem.

... but that notwithstanding, measurements collected by SAMS RTS F06 were processedfor comparison to the ISS system combined vibratory acceleration limits and the results

are shown in Figure 8.2.1.4-1. It must be pointed out that the ISS requirement curve is

only valid for assembly complete, ISS microgravity mode operations and with the ARIS

Rack on. The data that are being compared here with the ISS requirement were not

collected under the conditions mentioned above and are shown here only to illustrate how

close the ISS microgravity environment is to the requirement at assembly complete. The

reader should be careful in drawing any conclusion when looking at these two curves (6A

configuration vs. ISS requirement at assembly complete).

8.2.2 Experiment Operations

Microgravity experiment procedures typically employ mechanical equipment to prepare,

conduct, analyze, diagnose, or preserve some aspect of the investigation. The forces

produced by the moving parts of such equipment are transmitted in varying degrees to the

spacecraft structure depending on the operating characteristics and on any mechanismsfor vibration isolation.

NASA/TM--2002-211200 18


8.2.2.1 EXPPCS Sample Mix

The EXPPCS is located in ER 2. It has a number of moving parts, but the sample mixer

is of particular interest from an acceleration environment perspective. In order to

eliminate sedimentation and to produce uniform distribution, the initial EXPPCS

procedures call for mixing each colloidal sample for a period of approximately one hour.

The color spectrogram shown in Figure 8.2.2.1-1 shows an example of the sample mixer

in operation starting at about GMT 04-June-2001, 22"20:40 and lasting for over an hour

with a 50% duty cycle.

This spectrogram was computed from SAMS RTS F06 measurements and shows the

acceleration spectrum as a function of time. The sensor head was located within about

1_/2 feet of the mixer on the front-panel of the EXPPCS test section and expectedly

registered extreme acceleration levels. The period shown starts at GMT 04-June-2001,

22"10:00 and covers an 80-minute span. The red vertical streaks mark portions of the

duty cycle when the mixer was active. For improved temporal resolution and a more

precise accounting of the measured accelerations, the interval minimum/maximum time

history of Figure 8.2.2.1-2 was examined.

This figure clearly shows the large accelerations that occur while the mixer is preparing a

sample cell for an operational run. The acceleration vector magnitudes detected by this

sensor were nominally about 150 mg with peak values routinely in excess of 200 mg. As

indicated by the time axis tick marks, this mixer has a 50% duty cycle with 30-second

duration. For improved frequency resolution and a more precise accounting of the

spectral content during sample mix operations, the PSDs of Figure 8.2.2.1-3 werecomputed.

From close inspection of this figure, we conjecture that the fundamental frequency of this

disturbance was 12 Hz and with significant 2 nd through 16 th harmonics within the

passband of this sensor. The 9 th harmonic at 108 Hz was the most pronounced

component and was aligned primarily with the sensor's YZ-plane. In strong contrast to

this, the acceleration spectra during a 25-second span when the sample mix operation was

off are seen in the PSDs of Figure 8.2.2.1-4.

Closer examination by means of the cumulative RMS acceleration versus frequency plot

of Figure 8.2.2.1-5, serves to quantify this disturbance as a function of frequency.

During this 25-second period while the mixer was on, the overall RMS acceleration was

slightly more than 80 mg_s for the frequency range from 0.06 to 200 Hz. For this same

range, but during a 25-second span while the mixer was off, the cumulative RMS

acceleration versus frequency plot of Figure 8.2.2.1-6 yields an overall RMS acceleration

value more than an order of magnitude smaller at about 1.7 mgl_s.

NASA/TM--2002-211200 19


8.2.3 Crew Activity

Experimental setups, equipment transfer or stowage, exercise, and simple locomotion all

contribute to the category of disturbance called crew activity. These actions give rise to

reactive forces, which are manifested as acceleration disturbances transferred through thevehicle's structure. In-depth analyses will seek to correlate acceleration effects with

periods of crew inactivity, like sleep and Public Affairs Office (PAO) events. These

PAO events are typically question-and-answer or demonstration periods with all or some

of the crew gathered in one area. This has a quieting effect on the microgravity

environment because crew activity is reduced from nominal conditions, that is, the crew

is less likely to impart push-off and impact transients on the vehicle's structure. In

addition, crew conferences and briefings may be examined and should result in a similar

quieting. Exactly how much of a quieting effect these periods have remains to be

analyzed, but for quick look analysis purposes, we consider a short period not long before

the crew wakes with a period that starts soon after as shown in Figure 8.2.3-1.

This plot was derived from HiRAP measurements and shows a spectral comparison of

two 4-minute periods. The black trace is the PSD for a time slice starting at GMT 03-

June-2001, 08:40:00, which was near the end of a sleep period. The red trace is the PSD

for a time slice starting at GMT 03-June-2001, 08:48"00, which was not long after the

crew woke. This brief wake period does not encompass the full gamut of crew activity,

but does serve to show how the crew impacts the low-frequency portion of the vibratory

acceleration spectrum, particularly below about 6 Hz. Using Parseval's theorem, we can

quantify the difference in this frequency range in terms of the RMS acceleration for the

frequency band from 0.06 to 6 Hz. The RMS acceleration level in this range rose from

about 9 g gRMs during the sleep period to about 40 g gRMSjust after the crew woke up.

9. Unknown Disturbances

Since the PIMS project is at an early stage of characterization of the ISS reduced gravity

environment, many of the disturbances recorded by either MAMS or SAMS are yet to be

identified. Disturbance identification is a very challenging task. It will be an ongoing

process as the ISS is being built from increment to increment. PIMS will start using the

Mission Evaluation Workstation System (MEWS) along with our console log and

timeline info in order to identify the disturbances presented in the spectrograms and PSD

plots in this report. The ISS Increment-2 report, which will follow this quick look report,

will focus on providing the microgravity scientific environment a more rigorouscharacterization of the environment for the ISS Increment-2.

10. Summary of Findings

Table 10.-1 is a summary of the various disturbances recorded by MAMS and SAMS that

PIMS project analysts have briefly analyzed thus far for the period of May 3 rd to June 8 th.

Note that, MAMS and SAMS were not continuously active during the time span

NASA/TM_2002-211200 20


mentioned above. In the upcoming Increment-2 report, many of the disturbances listed

below as unknown will be identified using the MEWS system, along with PIMS console

logbook and previously performed simulations and prediction analyzes.

TABLE 10-1 SUMMARY OF FINDINGS

Frequency (Hz)Below 5

Below 6

10.37

12, follows by 2 nd and

up to 16 th harmonics20.5

23.4

26.36

49.1

57.6

61.40

67.7

69.9

75.1

85.3

94.8

Observations

ISS Increment-2 Structural modes (there appears to be 7noticeable structural modes)

Crew activity is noticeable

Tightly controlled in frequency, source unknown

EXPPCS experiment operation

Broadband disturbance, source unknown

SKV- 1 Air Conditioner/Dehumidifier







Broadband disturbance, suspect this life-support equipment


Strong spectral component, suspect this is life-support

equipment

NASA/TM--2002-211200 21

Z>

>

I_.)

t_J

t_

Science PowerPlaUbml

U)ocUnoComp.,1,.o.t_M- \ Z,,,y,,Con,.o,.odul.(O'w")

Unlvman Docking Modulo_

Modulo __

Pressurized Mating Adapter I

P6 Trues

Solar Alpha SegmentRotmy Joint

Photovoltalc

Anays

Pressurized

Mating Adapter 3

Research _ . . Themml _ P3 Trees

Modulo uocmno ann _1 Control Panels _i_Segmont P5 Tin-- Port Photovoltalc

,3TruesPallatExpress__'""_ "'_ _ _ _ _ __

.Tr..

81 Truss Ity (Node 1)_Z1 Truss Segment P4 Truss._1110 " __ _ mnmrug xr-_omnlooauon ModulO

Seo m c ]i!ii!i!i!]i_!iiStarboard _ segm°_s4 Tm//ss _ _pola _ _ Klbo (Hope) JEM Experiment Logistics Modula_Pressurlzed Section

;iii_:_i!iiiiiii_iii..... S nt AJrlock iiiiii_!iiii8_n_ _"- / _ .... _iii _ _ _ _Klbo (Hope) JEM Remote Manipulator System

Solar Alpha If __ _i_ _,

Rotaly Joint _ Noa_DesUny _ _ _'_ Klbo (Hope, JEM Expedment LoglstJcs Modula_Exposed Sectlo n

Crew Return _ \ K!...........Vehicle _ _ be (Hope) JEM Pressurized Modulo

__ ModUlaEum,_peanLab _ _ PreesurlzodMatlngAdapter2

Columbus Orbltal Facility _ Multi-Purpose Loglstlcs Modulo

=

=i

I,W,

@

@

==

Figure 2.1-1 International Space Station at Assembly Complete


+ ROLL+ PITCH L

M X R p

q Y.

r

; 100.00 m

,.

X A

Figure 2.2-1 Space Station Analysis Coordinate System

Velocity Vector(Flight Direction) _

_'

Na_

(Down)

Figure 2.3-1 ISS XVV Flight Attitude

NASA/TM_2002-211200 23


XLAB

XLA8

_.__4.2 I"-fi

ik/R E V

, 1000,0

YLAB

Figure 2.4-1 United States Laboratory Module (Destiny) Coordinate System

NASA/TM_2002-211200 24

Z>

Ix.)

t_

Service F A _FGBModule , "

Figure 3.1-1 ISS Increment-2 Configuration

PORT

AFT FWD

NODE 1

NADIR ZENITH

S'rBD

A

ZlF

ZENITH

U.S. LAB

NADIR

Ku-Band

S-Band

Orbiter docks

Here (tail down)

LEGEND

Remotely actuated mechanisms

EVA operated mechanismsArticulating/Deployable mechanisms

BB Active

[-"1 Passive

A Aft

F Forward

Z ZENITH

N NADIR

P Port

S Starboard

=

=

t_

ee

=

b_

:Z>r.y3

i,o

_b

to

LEGEND

XYZoss = MAMS-OSS axis

XYZH MAMS-HiRAP axis

XYZF06 = SAMS F06 axis

XYZA = ISS Analysis coordinate

Note: The ISS is shown here upside - down

Figure 3.2-1 6A Configuration Coordinate Systems

-XF06

+Yoss

-ZH

+ZA

+Yaw

DATUM POINT (0,0,0)AT CENTER OF SO ITA

-YF06

-Zoss

-YH

+YA

+Pitch

+Roll

-ZF06

+Xoss

+XH

+XA

r_

=

t_=I,'F

,o

OO

O

e.

O

t_

Z>

bJ

tb

bJ

'-,.!

Inertial Attitude With The X Principal Axis Perpendicular to Orbit Plane, Z Nadir At Noon

Sun

+ Z Body Axis Is Down�Nadir At Orbital NoonOrbital Noon +X Body Axis Opposite Sun Side Of Orbit Plane

(+ _ = + 90 Yaw, -_ = -90 Yaw,

x For Yaw, Pitch, Roll L VLH Euler Sequence)

-- --

(90-0Before Orbital Noon)

t_

t_

=I,mo

OO

O

ee

O

==

OrbitalMidnight

Figure 3.3-1 ISS in the XPOP Inertial Flight Attitude

>

oo

oo

oo

SAMS-SE (121 F06) __

\\,\

\

\

EXP PCS

RAC_ TEST

SECTION

-i

MICRO-GRAVITY

BARRIER POST

ORAWER- I

o

ARIS-ICE

J CONTROLLER

EXP PCS

AVIONICS

SECTION

ARIS-ICE

SHAKER

SAMS-SE (121F03)

SAMS-SE (121F04)

I..me

OO

O

e-Fee

O

c.,

Figure 5-2 EXPRESS Rack 2 6A/7A On-Orbit Configuration Figure 5-1 EXPRESS Rack 1 6A On-Orbit Configuration


mares, ossbtmf at LAB 1 02, ER1, Lockers 3,4:[135.28 -1 0.68 132.12]

0.0625 sa/sec (0.0 Hz)

Torque Equilibrium Attitude (+XVV/+ZLV)

Increment: 2, Flight: 6A

oss[90.0 0.0 0.0]

1.5-

._ 0.5-

8 0-

<•_ -0.5 -

<,-1-

-1.5 -

-2

2

1.5-

Start GMT 10-May-2001,23:15:14.705I I I I I

I I I I I I

I I I I I I

:::L

._ 0.5-

o-<

•_ -0.5 -

-1.5 J--2 I I I I I I

2

1.5-

:3.

._ 0.5-

0-

_3

<._ -o.5 -

-1-

-1.5 -

I I f I I

-2 I I I I I

0 1 2 3 4 5

Time (hours)

el)- =t.

p...

_ _r-- 1¢3

t-q

o_

e/j- =.

tt3

I =k

_ _=_

"_r_

8_

::1.

_x

H :=.

o

_°,_,_5

6 7fr_m tApub\ _$Nanle:popl..06-13--20015.19Jtm-2001.14:SR02.210

Figure 8.1.1-1 Torque Equilibrium Attitude

NASA/TM_2002-211200 29



oss[90.0 0.00,0l

4

Figure 8.1.1-2 Crew Active Periods During TEA

mares, ossbtmf at LAB 1O2. ERI. Lockers 3,4:[135.28 -10.68 132.1210.0625 sa/sec

Time Span = 27.4800 Compilation of Torque Equilibrium Attitude Profiles During Crew Sleep Periods2

1.5

=L

"-" 0.5

g: 0 ................

._ -0.5

-1

-1.5

-2

-2 -1 0 1

X-Axis Accel. (p.g)2

1.5

,,-, 1e,o

"" 0.5

•q: 0 ...................................

<l -0.5

-1

-1.5

-2

-2 -; o iX-Axis Accel. (lag)

Increment: 2, Hight: 6A

oss[90.O 0.0 0.0]

1.5

:=I.

"-" 0.5

< 0

-0.5

-1

-1.5

-2 -1 0 1

Centroid: Y-Axis Accel. (lag)

Xct = -0.319 (lag)

Yct= -1.009 (Mg)

Zct = +0.700 (btg)

0.35

0.3

0.25 __

0.2

0.15 "E

0.1 _'

0.05

Figure 8.1.1-3 Crew Sleep Periods for TEA

NASA/TM_2002-211200 30


mams, ossbtmf at LAB 1O2, ER I, Lockers 3,4:[135.28 -10.68 132.12]

0.0625 sa/sec (0.0 Hz)

XPOP Inertial Flight Attitude


oss[90.0 0.0 0.0]

4

3-

_2.__ 1-

"_ 0-

<

•_ -1 -<

I

X-2-

--3 --

Start GMT 25-May-2001,00:15:07.965I I I I I I I I

--4 I I I I I I I I

4' I I I I I I I I

•_ -1<_-2

-3

--4 I I I I I I I I

4

3-

I I I I I I I I

"_ 2-

©0-

<•- -1 -<

IN-2-

-3 -

-4I I I I I I I

0 1 2 3 4 5 6 7

Time (hours)

:I.

t",4o

II ::Ltt3

O6

ca)- :=I.

tt%

oc

_c5

"Uo_

Figure 8.1.2-1 XPOP Attitude

NASA/TM--2002-211200 31


roams, ossbtmf at LAB 102, ERI, Lockers 3A:[135.28 -10.68 132.12]0.0625 sa/sec

Time Span = 31.2756 hours Compilation of XPOP Attitude Profiles During Crew Sleep Periods

4 ' ' 4

2

< 0

<-1

-2

-3

2:?_

< 0

<-1I

>.-2

-3

-2 0 2

X-Axis Accel. (gg)i i4

Increment: ,,'_ Flight: 6A

oss[90.O 0.0 0,0]

-2 0 2

X-Axis Accel. (l.tg)

3

2

"7. 1

,< 0 ......................

x<-1

I

N_ 2

-3

-4-4 -2 0 2

Y-Axis Accel. (lag)Centroid:

Xct = +2.027 (lag)

Yct = -0.293 (lag)

Zct = +0.524 (lag)

0.5

0.4

q-,0.3 o

_De,0

0.2

0.1

Figure 8.1.2-2 XPOP Attitude Profile for Crew Sleep Periods

NASA/TM--2002-211200 32


mares, ossbtmf at LAB i02, ER1, Lockers 3,4:[135.28 -10.68 132.12]

0.0625 sa/sec (0.0 Hz)

Attitude Change During Soyuz TM-31 Undocking


oss[90.0 0.0 0.0]

25

20-

15-

10-

",= 5-

0-

< -5-.,..,X

<_ -10-x

-15 -

-20 -

-25

25

20-

15-

_ lO-

©

"_ 5-

"_ 0

_ -5-x

-10 ->,

-15 -

-20 -

-25

I I IStart GMT 05-May-2001,23:00:00.805

I I I I

+XVV / +ZLV

I I I l

I I I I

-XVV / +ZLV +XVV / +ZLV

I I I I

I I I I

--,_..._,_,.+¢u¢_+

I I l I I I I I I

I I I I I I I I I

I I I I I I I

0.5 l 1.5 2 2.5 3 3.5

Time (hours)

I I

4 4.5

- :=I.

tt3

_5

ea_- =l.

tt3

- :I.

_e,i

-_r_

- =1.

o3- [....

- II :I.

- O

5from:t:'_r_Jb_,t+Name:5, 21-Jun-21_'Jl.15:22:4tA30

Figure 8.1.3-1 Undocking of Soyuz TM-31

NASA/TM_2002-211200 33


mams, ossbtmf at LABIO2, ERI, Lockers 3,4:[135.28 -10.68 132.12]

0.0625 sa/sec

Progress Docking


oss[90.0 0.0 0.0]

10-

= 5-

v_._D

"_ 0-_9

<

._ -5-I

-10 -

-15

15

10

_3

._ 5

_-5

-10 J-15 i I

Start GMT 22-May-2001,20:00:05.398I I I I I

Docking Attitude

jl,, I

I I I I

I I I I

15 .... J i

-10-15 I I

0 1 2

I I

I I

I I

3 4

I

I

Time (hours)

I I

I I

I t

I I I

II =.

eq

eq.- cq

_= sl

o_

=I.

_7,

I I I

I I

6 7 8

O3r---

II -'_

o_

Figure 8.1.3-2 Progress Docking

NASA/TM--2002-211200 34

Z>

d.,

mams, hirap at LAB102 ERI Lockers 3,4:[138.68 -16.18 142.35]1000.0 sa/sec (100.00 Hz) 'Af = 0.244 Hz, Nfft = 4096Temp. Res. = 4.096 sec, No = 0 SKV- 1 Air Conditioner/Dehumidifier Turn Off

Start GMT 08-Jun-2001,09:25:00.001100

Increment: 2, Flight: 6ASum

Harming, k = 439Span = 29.90 minutes

90

80 -7

-8

-9

-10

-11

09:33 09:36 09:39 09:45 09:48 09:50 09:53hh:m] .o,,, Irltsccrusaderlsdd_publpadl. SName: pop l 06-13-2001 $. 16-Aug-2001.14:21:34.220

7O

6ON

= 50

m 40

3o

20

10

0

09:25 09:27 09:30

EVA SKV-1 Air Conditioner/Dehumidifier Turned Off

=

t_=

!

_mle

OO

O

ee

,.<

O

==

Figure 8.2.1.1-1 Color Spectrogram Showing SKV-1 Air Conditioner/Dehumidifier Turn Off


mares, hirap at LAB1 O2, ERI, Lockers 3,4:[138.68 -16.18 142.35]

1000.0 sa/sec (100.00 Hz)

Af = 0.031 Hz, Nfft = 32768 SKV-1 Air Conditioner/Dehumidifier ON

P=43.8%. No= 14364


hirap[180.0 0.0 0.0]

Hanning. k = 9

Span = 180.00 sec.

Start GMT 08-Jun-2001,09:38:00.00110 -6 I I I I I

,_, 10 -8

,-,7"

10 -lO

ix

10 -12

10 -14

I I I I I

I I I I I

I I I I I

I I I I I

5 I0 15 20 25 30Frequency (Hz) ........'_'"_......................................

Figure 8.2.1.1-2 PSDs Showing SKV-1 Air Conditioner/Dehumidifier On

NASA/TM--2002-211200 36


mares, hirap at LAB I O2, ERI. Lockers. 3,4:[ {38.68 -16. t 8 142.35J

1000.0 saYsec (I 00,00 Hz)

•Af= 0.031 Hz, Nfft = 3276S SKV- 1 Air Conditioner/Dehumidifier OFF

p=43,8%, No= 1436<4

hlcrement: 2, Flight: 6A

hirap[180.0 0.0 0.0]

Hanning, k = 9

Spaa = 180.00 sec.

Stm't GMT 08-Jun-2001,09:42:00.00010 -_ , ) , ,- •

I

10-_...-,

10 -jo

10.12

10 -j4I [ I I

10 6 I { I { I

10 -s i

_, 0-1o_=

<,

10 -j2

10 -14 !

I ) { I

10 -6 J ) ' ) _

10-s

e..q

r,, i0_,o

10 -12

1() "l'l , ,{ { }

0 5 10 15 20 25 30

Frequency (Hz) ........"..................................................................

Figure 8.2.1.1-3 PSDs Showing SKV-1 Air Conditioner/Dehumidifier Off

NASA/TM--2002-211200 37

8_ 00_ I [ _-g00_I_I/VSVN

"TIml

(I2C

¢D

k___x

k)|

Oo(1)l

ii

o

<

o

o

ml

C

-tl,

3

-rmt

o

O¢12

ml

(1)

<¢D

mm

Om

Oo

m,

(I2

Mean = 3.1384 mg

RMS = 3.3852 mg

Acceleration Vector Magnitude (mg)

t

IOOZ _unl_ ol _uIN :laodo_I _Ioo_I _I:_!n_) Z-luomoa:)uI SSI SINId

Z>

It,o

t,o

L,i....a

)...a

t,,o

mams, hirap at LAB102, ERI, Lockers 3,4:[138.68 -16.18 142.35]1000.0 sa/sec (100.00 Hz)

Af= 0.122 Hz, Nfft = 8192

Temp. Res. = 4.096 sec, No = 4096 Progress Vehicle DockingStart GMT 23-May-2001,00:15:00

100

90

80

70

60N

¢J= 50

40

30

20

10

0 10 20 30 40

Time (minutes)

Figure 8.2.1.2-2 Color Spectrogram for Progress Vehicle Docking


Harming, k = 872Span = 59.81 minutes

-6

-7

-8

-9

-10

-11

50 60

tionl: l:kpuh_pad\, SName: popl_(_-13-2001 S, 28.Jon-21)O1,09:27:4f).4fB

-12

ra¢_

==t_

t_

t_==t=..F

t_

OO

t_

O

e=Fee

1=

O

=lt_

Z>ra_

I,,o

t_

I,,O

O cj

roams, hirap at LABIO2, ERI, Lockers 3,4:[138.68 -I 6.18 142.35]1000.0 sa/sec (I 00.00 Hz)

Af = 0.008 Hz, Nfft = 131072Temp. Res. = 131.072 sec, No = 0 HiRAP

Start GMT 08-Jun-2001,08:00:002

1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0

08:00 09:00 10:00 11:00 12:00 13:00hh:mm


Hanning, k = 216

Span = 7.96 hours

14:00 15:00 16:00

from:/r/._ld._/pimrJl'ilh/p_d/, SN.'qlle: pt-lpl_O6-13-2flOI 5, 20-Jun-"2flfll,OS:57:43./_._ff)

Figure 8.2.1.3-1 8-Hour Color Spectrogram Below 2 Hz of MAMS-HiRAP

I_=le

OOm-

O

e-Feo

O


'-7t--4"7

O

z

13.<=l

.¢-|

<

ON

"v-

O1

ffi

13.

L_

><l

0'T'd_

L_

=l

NASA/TM_2002-211200 41

Z>r._

t,o

I,,J

L,

I=-.a

t,o

to

sams2, 121 f06 at LABIO1, ER2, PCS Test Section:[179.90 -6.44 145.55]1000.0 sa/sec (400.00 Hz)

Af = 0.010 Hz, Nfft = 100999Mode: 100sec

r./3Z_

10 -4-.,.._

©

<r_

10 -s _

10 .6 _

I i i I i i i i I i i

SAMS 121f06

Start GMT 07-Jun-2001,17:58:19.001s , , , , ,I i ' ' ' ' , , il


Harming, k = 1

Span = 101.00 sec.

i i i , | i I ,I I

"l

=i

ba

=Imlo

00

0

el

o

==

ba

10 .2 10 -I 10 ° 101

One-Third Octave Frequency Bands (Hz)

10 2frnln: I:_pllb_pa(l\, 5Nanle: p(}pl_(k'_-13-2001 5, _)-Jull-_101,11:42:45.125

Figure 8.2.1.4-1 RMS Acceleration vs. One-Third Octave Frequency Bands for SAMS F06 Data (6Aconfiguration)

Z>

to

bo

g_i..,.a

to

4_

sams2, 121f06 at LABIO1, ER2, PCS Test Section:[179.90 -6.44 145.55]500.0 sa/sec (200.00 Hz)

Af = 0.122 Hz, Nfft = 4096Temp. Res. = 4.096 see, No = 2048 EXPPCS Sample Mix Operations

GMT 04-Jun-2001,22:10:00.0012OO

180

160

140

120N

= 100<D

80

60

40

20


Sum

Hanning, k = 1160

Span = 1.33 hours

t_

t_

OO

ee

e,,,k.O

l',a

0

22:10 22:25 22:40 22:55hh:mm

23"10 23:25

from:/r/.sdds/pints/pub/pad/, 3 Name: popbeta_06-07-2001 $, 1 I-Jun-2001,07:59:. 24.240

Figure 8.2.2.1-1 Spectrogram of EXPPCS Sample Mix Operation (6A configuration)


sams2,121f06 at LAB101, ER2, PCS Test Section:J179.90 -6.44 145.55]

500.0 sa/sec (200.00 Hz)

30-Second Duty Cycle of EXPPCS Sample Mix Operations


121R)6[180.0 90.0 0.0]

Interval Minmax

Size: 0.25, Step: 0.25 sec.

200

150 -

-150 -

-200

2°°i150

"_ 100-

50-.,,

"_ 0-¢o

<-50 -

<>- -100 -

200.

150 -

_, lOO-e_o

g.__ 50 -

_ O-

<_ -50 -X<

iN -100 -

-150 -

Start GMT 04-Jun-2001,22:20:10.873I I I I I I I I I I

I I I I I I I I I I

I I I I I I I I I I

I I I I I I I I

I I II II I I

-200I I I I I I I I I 1

0 30 60 90 120 150 180 210 240 270 300

Time (seconds)

Figure 8.2.2.1-2 Interval Minimum/Maximum of EXPPCS Sample Mix Operation

NASA/TM_2002-211200 44


sams2,121f06 at LAB ! O 1, EI,L2, PCS Test Section: [179.90 -6.44 145.55 ]

500.0 s_'sec (200.00 Hz)

At'= 0.061 Hz, Nfft = 8192

P = 47.4%, No = 3884

EXPPCS Sample Mix On


1211061180.0 90.0 0.0]

Hanning, k = 2

Span = 25.00 sec.

10 .5

¢q

_< 10-1o

x

10 -15 .

I IStart GMT 04-Jun-2001,22:39:42.000

I I I I I I I

10 -5

:z:

¢,._

-lo< 10

c>.,

..... ] .. I ..... ! ............. l ! I I I .

l ............ i ........... I I _ i i........... i ........

_. 10-5

.,._.,

× o-JO<1

tO-J5

0

t I I I I I I I I

i I I 0 I I I I !20 40 60 8 100 120 140 160 180 200

Frequency (Hz) ..........;'......................................................

Figure 8.2.2.1-3 PSDs of EXPPCS Sample Mix Operation

NASA/TM_2002-211200 45


sams2,121f06 at LABIOI, ER2, PCS Test Section:[179.90 -6.44 145.55]

500.0 sa/sec (201-).00 Hz)

Af = 0.061 I-Iz, Nfft = 8192

P = 47.4%, No = 388,-t.

EXPPCS Sample Mix Off


121f06[180.0 90.0 0.0]

Hanning, k = 2

Span = 25.00 sec.

_. 10 .5

...,.,t.-..1

..,.,..

.._ 10 -1°

N

10 -15

Start GMT 04-Jun-2001,22:40:14.000.............. _ .... _. _ j..... _ I _ _ ............... _.........

c"-i

._ 1()-j°

10-15 i

._.. 10 -5'.r,

c-q

_10 -l°

i ........... i ...... i ...... I .......... f i I i ........

J I J.......... J I I I ...... I ..........

I I I 1 i ! I I !

0 20 40 60 80 100 120 140 160 180 200

Frequency (Hz) ........"_"_:................".....................................

Figure 8.2.2.1-4 PSDs Without EXPPCS Sample Mix Operation

NASA/TM_2002-211200 46

Z>

>

It',3

1",3

t_

1",3

.i:a",-3

sams2, 121 f06 at LAB 101., ER2, PCS Test Section:J179.90 -6.44 145,55]500.0 s'a/sec (200.00 l-lz)

Af= 0.061 Hz, Nfft= 8192

0.12

0.08 -

lz¢

ra_

0.06-• P-,,t

0.04 -

0.02 -

I I I

EXPPCS Sample Mix On

Start GMT 04-Jun-20011,22:39:42.000I ! t I I I


H_mning, k = 2Sp_m = 25.00 sec.

0 _ .-----_I i I I

0 20 40 60 80I ! I

1O0 120 140

Frequency (ttz)

I I -

160 180 200

fr(_m: _?_.ub'_padL _N:unc: popl ..(_b- E4-2_XI 5",22-.hu_-2t X._I,[2-_X:53.911

ra_

ra¢_

t_

!

_o

O

O

oe

Figure 8.2.2.1-5 Cumulative RMS Acceleration vs. Frequency of EXPPCS Sample Mix Operation

Z>rae_

>,.-]

ft,_

tb

i.--a

4_

sams2, 12 tf06 at LAB 1O1, ER2, PCS Tesl Section:l t79.90 -6.44 1_45.551500.0 sa&ec (200.00 Hz)

Af = 0.061 Hz, Nfft = 8192

1.8

1.4-

1.2 -

Ct7/

rm 1-

>

0.8-

(.)

0.6-

0°4--

x 10 .3

I I I

_../

0 S_

I I

0 20 40 60

EXPPCS Sample Mix Off

Start GMT 04-Jun-2001,22:40:14.000I I I

YJ

/-

Increment: 2, Flio_t: 6ASum

ltanning, k = 2

Span = 25.00 sec.

I I I I I I --

80 100 120 140 160 180 200

Frequency (tlz) ,.........,_,,,,_......_......,,o,.,.........___,,_.,.,_,,,,,._._,,.,_...._,....,

Figure 8.2.2.1-6 Cumulative RMS Acceleration vs. Frequency Without EXPPCS Sample Mix Operation

i

i_=lof_

;=

le

tJ


I l l , i i i i i II i i I I I I I

CO

I,,,

O.O

iI

>ii

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I,,,

o

O

CO

iiL_

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¢Jl

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¢JtDe_

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im

ll

NASA/TM_2002-211200 49


Appendix A. References

1. Hamacher, H., Fluid Sciences and Materials Science in Space, Springer-Verlag,1987.

2. PIMS TSC On-console Logbook, May 2001.

3. International Space Station User's Guide Release 2.0, NASA.

. Expedition Two (Press Kit)" Open for Business- Shuttle Press kit March 6,2001.0219

5. The International Space Station Fact Book, NASA, October 2000.

6. International Space Station Coordinate Systems, SSP-30219, Revision E.

° International Space Station Flight Attitudes, D-684-10198-06 DCN-002,December 1, 1999.

, International Space Station Research Plan_Office of Biological and PhysicalResearch, NASA, August 2000.

° Steelman, April., "Flight 6A Microgravity Analysis", Microgravity AIT, August1999.

10. On-Orbit Vehicle Configuration Data Book for Mission 6A, Shuttle-ISS NSTS-

37324-6A, Rev. 001, NASA, March 01.

11. Expedition Two Overview Fact Sheet, NASA, March 2001.

12. Microgravity Environment Interpretation Tutorial (MEIT), NASA Glenn

Research Center, March 2001.

13. EXPRESS RACKS 1 and 2 Fact Sheet, NASA, February 2001.

14. EXPRESS Rack, Flight 6A On-Orbit Configuration, Teledyne BrownEngineering DL 5221003, Nov. 99.

15. Expedition Two Fact Sheets" Expedition Two Payload Overview, NASA, March2001.

16. Canopus Systems, Inc., OARE Technical Report 149, STS-78 (LMS-1) Final

Report, CSI-9604, September 1996.

17. Canopus Systems, Inc., OARE Technical Report 151, STS-94 (MSL- 1) FinalReport, CSI-9704, August 1997.

NASA/TM--2002-211200 51


18. Hogg, Robert V., "Adaptive Robust Procedures" A Partial Review and Some

Suggestions for Future Applications and Theory", Joumal of the American

Statistical Association, Vol. 69, December 1974.

19. Microgravity Analysis Integration Team, "Microgravity Control Plan (Revision

B)", Report No" SSP-50036 B, the Boeing Company, Houston, TX, NASA

Contract No. NAS 15-1000 (DRIVE- 16), February 1999.

20. Bartkowicz, T., "Integrated Loads and Dynamics Verification Plan (Revision A)",Report No" D684-10288-01, The Boeing Company, Houston, TX, NASA

Contract No., NAS 15-10000, August 1998.

21. Software Requirements for Processing Microgravity Acceleration Data from the

International Space Station, PIMS-ISS-001, May 2000.

NASA/TM_2002-211200 52


Appendix B. On-line Access to PIMS Acceleration Data Archive

On-Line Access To PIMS Acceleration Data Archive

Acceleration data measured by the MAMS and the SAMS on the ISS are available over

the Internet via FTP from a NASA GRC file server. The flow chart shown in FigureAppendix B-I diagrams a procedure that can be used to download data files of interest:

contact [email protected] following information:

IP Address, e-mail address,client type, & machine name

URL

ftp://tsccrusader.grc.nasa.gov/

Host Name: tsccrusader.grc.nasa.govHost Type: UNIX

User ID: anonymousPassword:<<your e-mail address>>

"91--failed

successful

Vchange directory

to pad

]

navigate to desired /yearlmonthlday path/

change directory to desired

MeasurmentSystem_DataType_SensorlD[DataQualifier]

download data & header file pairs for time frame ofinterest using GMT time name convention:

StartTime-StopTime.SensorlD[DataQualifier]where Start/Stop "13mesare

underscore-delimited GMT fields:YYYY_MM_DD hh mm_ss.sss

year_month_day_hourminute_second

yes

V

Figure Appendix B-1 On-Line Data Access Flow Chart

NASA/TM--2002-211200 53


A fictitious file listing is shown in Figure Appendix B-2 depicting the PIMS Acceleration

Data (PAD) file system hierarchy.

pad_,gear200O_,monthO2_,dayO3ksams2_aceeL121 [01

r_] 2000-02_03_10_32_45.549.2000 02 0310-_42_45.558.1211:01

2000_ 02_ 03_ 10- 32_ 45.54§-2000.._ 02_ 03_ 10-- 42_ 45.558.1211:01. header

.... r_] 2000-02_03-10-42_45.562+2000 02 03 10-,52_45.570.1211:01

_.._ _Mea_:urementSy_:tern_DataType..Sen:_orlD[DataQualit:ier] " _ 2000.._02_03_10_42_45.562+2000 02 03 10_52_45.570.121[01.header

_.-_ b_rad_.radgs:e r_2000 02 03 10 52_45.574+2000 02 03 10 55 43.057.1211:01

'_ I_ 2000 02 03 10-.52-45.574+2000 02 03 10 55 43.057.121f01.header

r_] 2000_02_03_11_05_34.589.2000 02 03 11 15 34.581.1211:01

_2000 02 03 11_05_34.589.2000 02 03 11 15 34.581.1211:01.header

2000-,02_03_11_15_34.601+2000 02 03 11 24 17.091.1211:01

/ _ 2000_02_03_11_15_34.601 +2000 02 03 11_24_17.091.1211:01 .header

::_*' [_2000_02-03_11_24_17.112-2000. 02 03.11 34.17.104.1211:01

_ 31qciN £9 t33 11 3.1 17113.3FINN NO I33 11 3.1 171,"1A 131fN11,-,_,=,,.-I_,,

586KB

1KB

586KB

1KB

174KB

1KB

586KB

1KB

511KB

1KB

586KB

11(1_

Figure Appendix B-2 Screenshot of Sample PAD File Listing

For the directory highlighted on the left of this sample listing, the measurement system is

"sams2" and the sensor identifier is "121f01". On the fight, there is a partial listing of the

acceleration header and data files available for this sensor collected on the day indicated

(day 3). These files are named according to the PIMS-ISS-001 document [21 ].

If you encounter difficulty in accessing the data using this procedure, then send an

electronic mail message to [email protected]. Please describe the nature of the

difficulty, and give a description of the hardware and software you are using to access the

file server, including the domain name and/or IP address from which you are connecting.

NASA/TM_2002-211200 54


Appendix C. Some Useful Acceleration Data and Microgravity Related URLs

Below is a list of some URLs that the microgravity scientific community might find very

useful. They are all microgravity related. NASA does not endorse or cannot be held liable

for the information contained on any site, which is not NASA's. The PIMS Project

provides this listing only as a service to the microgravity community.

1. For more information on the EXPPCS experiment go to"

http ://microgravity. grc.nasa, gov/6 712/PC S.htm

. For more information on EXPRESS RACK go to"

http"//li fto ff. ms fc. nasa. gov/Shuttle/ms 1/sci enc e/expre s s. html

3. For more information on ARIS-ICE go to" http://www.scipoc.msfc.nasa.gov

4. For more information on Expedition Two go to"

http ://www 1.msfc.nasa. gov/NEWSROOM/background/facts/exp2 fact.html

, For more information on Microgravity Acceleration Measurement go to:

http ://mi cro gravity, grc .nasa. g ov/MS D/M SD_html s/mmap, html

o For more information on MAMS-OSS, MAMS-HiRAP and SAMS go to"

http://ts c crus ader. grc .nasa. g ov/p ims

7. For information on MAMS, SAMS data request go to:

http ://tsccrusader.grc.nasa. gov/pims/html/RequestDataPlots.html

. For information on upcoming Microgravity Environment Interpretation Tutorial

(MEIT) go to:

http://www, grc.nasa, gov/WWW/MMAP/PIMS/MEIT/meitmain.html

. For information on upcoming Microgravity Meeting Group (MGMG) go to"

http ://www.grc.nasa.gov/WWW/MMAP/PIMS/MGMG/MGMG_main.htm l

10. For information on SAMS go to"

http://microgravity.grc.nasa.gov/MSD/MSD_htmls/sams.html

11. For information on MAMS go to"

http://microgravity.grc.nasa.gov/MSD/MSD_htmls/mams.html

NASA/TM--2002-211200 55


Appendix D. Acronym list and definition

Acronyms used in this Quick Look Report are listed below. A more extensive list of

NASA ISS-related acronyms can be found through the Intemet at:

http ://spaceflight.nasa. gov/station/reference/index.html

ACRONYM DEFINITION

AAA

AOS

ARISARIS-ICE

CBM

CDRACMG

CPCG-HECLSS

ER 1/2

ESAEVA

EXPPCS

EXPRESSFGB

gGMT

GRCGSE

HiRAP

HzICU

IMVISS

JSC

KSCLAB

LOS

LVLHMAMS

MCA

MEWSMMAP

MPLMMSFC

NASANASDA

OARE

OSSPAD

Avionics Air Assembly

Acquisition of Signal

Active Rack Isolation SystemARIS ISS Characterization ExperimentCommon Berthing Mechanism

Carbon Dioxide Removal AssemblyControlMoment Gyro

Commercial Protein Crystal Growth-High Density

Environmental Control and Life Support SystemEXPRESS Rack 1 or 2

European Space Agency

Extravehicular Activity

Experiment of Physics of Colloids in Space

Expedite the Processing of Experiments to the Space StationFunctional Cargo Block (Russian translation: FunctionaluiGermatischeskii Block)Gravity (9.81 m/s 2 )Greenwich Mean Time

Glenn Research Center

Ground Support Equipment

High Resolution Accelerometer PackageHertz

Interim Control Unit

Intermediate Ventilation SystemInternational Space Station

NASA Johnson Space CenterKennedy Space Center

U. S. Laboratory ModuleLoss of SignalLocal Vertical Local Horizontal

Microgravity Acceleration Measurement System

Major Constituent AnalyzerMission Evaluation Workstation System

Microgravity Measurement and Analysis Project

Mini Pressurized Logistics Module or Multipurpose Logistics ModuleMarshall Space Flight Center

National Aeronautics and Space AdministrationNational Space Development Agency of Japan

Orbital Acceleration Research ExperimentOARE Sensor SubsystemPIMS Acceleration Data

NASA/TMm2002-211200 57


PAOPDSS

PI

PIMS

PMAPSD

PV

QTHRMS

RSSRTS

SAMSSE

SO

SSRMSSTS

TCS

TEATHC

TMF

TSCVS

XPOP

XVV

btgWSSWWW

Public Affairs Office

Payload Data Services SystemPrincipal Investigator

Principal Investigator Microgravity ServicesPressurized Mating AdapterPower Spectral DensityPhotovoltaic

Quasi-steady Three-Dimensional HistogramRoot-Mean-Square

Root-Sum-SquareRemote Triaxial Sensor

Space Acceleration Measurement SystemSensor Enclosure

Starboard Truss Segment 0

Space Station Remote Manipulator SystemSpace Transportation System

Temperature Control SystemTorque Equilibrium Attitude

Temperature/Humidity Control SystemTrimmean Filter

Telescience Support CenterVacuum System

X Principal Axis Perpendicular to the Orbit PlaneX body axis toward the Velocity Vector

Microgravity (10E -6 g)

Water Separator SystemWorld Wide Web

NASA/TM_2002-211200 58

REPORT DOCUMENTATION PAGE FormApprovedOMB No. 0704-0188

Public reporting burden for this collection of infoimation is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources,gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of thiscollection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 JeffersonDavis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington, DC 20503.

1. AGENCY USE ONLY (Leave blank) 12. REPORT DA_

I November 2001

4. TITLE AND SUBTITLE

International Space Station Increment-2 Quick Look Report

6. AUTHOR(S)

Kenol Jules, Kenneth Hrovat, and Eric Kelly

7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES)

National Aeronautics and Space Administration

John H. Glenn Research Center at Lewis Field

Cleveland, Ohio 44135-3191

9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES)

National Aeronautics and Space Administration

Washington, DC 20546-0001

11. SUPPLEMENTARY NOTES

3. REPORT TYPE AND DATES COVEREDTechnical Memorandum

5. FUNDING NUMBERS

WU-398-95-0G-00

8. PERFORMING ORGANIZATIONREPORT NUMBER

E-13040

10. SPONSORING/MONITORING

AGENCY REPORT NUMBER

NASA TMm2001-211200

Kenol Jules, NASA Glenn Research Center, and Kenneth Hrovat and Eric Kelly, Zin Technologies, Inc.,

3000 Aerospace Parkway, Brook Park, Ohio 44142. Responsible person, Kenol Jules, organization code 6727,216-977-7016.

12a. DISTRIBUTION/AVAILABILITY STATEMENT 12b. DISTRIBUTION CODE

Unclassified- Unlimited

Subject Categories: 19 and 35 Distribution: Nonstandard

Available electronically at ht_://gltrs.gxc.nasa.gov/GLTRS

This publication is available from the NASA Center for AeroSpace Information, 301-621-0390.

13. ABSTRACT (Maximum 200 words)

The objective of this quick look report is to disseminate the International Space Station Increment-2 reduced gravity environment preliminary analysis in

a timely manner to the microgravity scientific community. This report is a quick look at the processed acceleration data collected by the MicrogravityAcceleration Measurement System during the period of May 3 to June 8, 2001. The report is by no means an exhaustive examination of all the relevant

activities, which occurred during the time span mentioned above for two reasons. First, the time span being considered in this report is rather short sincethe Microgravity Acceleration Measurement System was not active throughout the time span being considered to allow a detailed characterization.

Second, as the name of the report implied, it is a quick look at the acceleration data. Consequently, a more comprehensive report, the International SpaceStation Increment-2 report, will be published following the conclusion of the Increment-2 tour of duty. The National Aeronautics and Space Administra-tion sponsors the Microgravity Acceleration Measurement System and the Space Acceleration Microgravity System to support microgravity science

experiments, which require microgravity acceleration measurements. On April 19, 2001, both the Microgravity Acceleration Measurement System andthe Space Acceleration Measurement System units were launched on STS-100 from the Kennedy Space Center for installation on the International

Space Station. The Microgravity Acceleration Measurement System unit was flown to the station in support of science experiments requiring quasi-

steady acceleration data measurements, while the Space Acceleration Measurement System unit was flown to support experiments requiring vibratoryacceleration data measurement. Both acceleration systems are also used in support of the vehicle microgravity requirements verification. The Interna-

tional Space Station reduced gravity environment analysis presented in this report uses mostly the Microgravity Acceleration Measurement System

acceleration data measurements (the Increment-2 report will cover both systems). The Microgravity Acceleration Measurement System has two sensors.

The Microgravity Acceleration Measurement System Orbital Acceleration Research Experiment Sensor Subsystem, which is a low frequency rangesensor (up to 1 Hz), is used to characterize the quasi-steady environment for payloads and vehicle. The Microgravity Acceleration Measurement SystemHigh Resolution Acceleration Package is used to characterize the ISS vibratory environment up to 100 Hz. This quick look report presents some selected

quasi-steady and vibratory activities recorded by the Microgravity Acceleration Measurement System during the ongoing ISS Increment-2 tour of duty.

14. SUBJECT TERMS 15. NUMBER OF PAGES

Microgravity; International Space Station; SAMS; MAMS; Acceleration data measurement

17. SECURITY CLASSIFICATIONOF REPORT

Unclassified

NSN 7540-01-280-5500

18. SECURITY CLASSIFICATIONOF THIS PAGE

Unclassified

19. SECURITY CLASSIFICATIONOF ABSTRACT

Unclassified

6516. PRICE CODE

20. LIMITATION OF ABSTRACT

Standard Form 298 (Rev. 2-89)

Prescribed by ANSi Std. Z39-18298-102

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