International Space Station Increment-2 Quick Look Report ... · PIMS ISS Increment-2 Quick Look...

Principal Investigator Microgravity Services (PIMS)

International Space Station Increment-2Quick Look Report

May to June 2001

Microgravity Measurement and Analysis Program

Glenn Research Center

Kenol JulesGlenn Research Center, Cleveland, Ohio

Kenneth HrovatZIN Technologies, Inc.

Eric KellyZIN Technologies, Inc.

National Aeronautics and Space AdministrationGlenn Research CenterCleveland, Ohio

TM-211200

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

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Table of Contents

Table of Contents............................................................................................................ 2List of Tables .................................................................................................................. 3List of Figures................................................................................................................. 3Acknowledgements......................................................................................................... 5Dedication ...................................................................................................................... 5Abstract .......................................................................................................................... 61. Introduction ............................................................................................................... 72. International Space Station......................................................................................... 8

2.1 Configuration at Assembly Complete ................................................................... 82.2 ISS Analysis Coordinate System .......................................................................... 92.3 ISS Flight Attitude at Assembly Complete ........................................................... 92.4 United States Laboratory Module (Destiny) Coordinate System ......................... 10

3. ISS Increment-2 ....................................................................................................... 103.1 Increment-2 Configuration ................................................................................. 103.2 Increment-2 Coordinate Systems ........................................................................ 103.3 Increment-2 Overall Attitude.............................................................................. 103.4 Increment-2 Crew Members ............................................................................... 11

4. Accelerometer Systems’ Description and Locations ................................................. 114.1 Microgravity Acceleration Measurement System (MAMS) ................................ 114.2 MAMS Coordinate Systems ............................................................................... 124.3 Space Acceleration Measurement System........................................................... 124.4 SAMS Coordinate Systems ................................................................................ 13

5. ISS Increment-2 Facilities Supported by PIMS......................................................... 136. ISS Increment-2 Experiments Supported by PIMS ................................................... 147. Data Analysis Techniques and Processing ................................................................ 15

7.1 Quasi-steady Regime.......................................................................................... 157.1.1 Trimmean Filter........................................................................................... 157.1.2 OSS Bias Measurements.............................................................................. 157.1.3 Quasi-steady Plot Types .............................................................................. 16

7.1.3.1 OSS Trimmed Mean Acceleration versus Time..................................... 167.1.3.2 QTH ..................................................................................................... 16

7.2 Vibratory Regime............................................................................................... 167.2.1 Interval Statistics ......................................................................................... 17

7.2.1.1 Interval Average ................................................................................... 177.2.1.2 Interval Root-Mean-Square................................................................... 177.2.1.3 Interval Minimum/Maximum................................................................ 18

7.2.2 Power Spectral Density................................................................................ 187.2.2.1 Power Spectral Density Versus Time (Spectrogram) ............................. 187.2.2.2 RMS Acceleration Versus One-Third Octave Frequency Bands ............ 187.2.2.3 Cumulative RMS Acceleration Versus Frequency................................. 19

8. ISS Increment-2 Reduced Gravity Environment Description .................................... 198.1 Quasi-steady Microgravity Environment ............................................................ 19

8.1.1 XVV Torque Equilibrium Attitude .............................................................. 198.1.2 XPOP (X-Axis Perpendicular to Orbital Plane) Inertial Flight Attitude........ 208.1.3 Docking and Undocking Events................................................................... 20


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8.2 Vibratory Microgravity Environment ................................................................. 218.2.1 Vehicle Operations ...................................................................................... 22

8.2.1.1 Air Conditioner/Dehumidifier ............................................................... 228.2.1.2 Progress Vehicle Docking..................................................................... 228.2.1.3 Structural Modes................................................................................... 238.2.1.4 Vehicle Vibratory Requirements ........................................................... 24

8.2.2 Experiment Operations ................................................................................ 248.2.2.1 EXPPCS Sample Mix ........................................................................... 25

8.2.3 Crew Activity .............................................................................................. 269. Unknown Disturbances ............................................................................................ 2610. Summary of Findings ............................................................................................. 26Appendix A. References ............................................................................................... 56Appendix B. On-line Access to PIMS Acceleration Data Archive ................................. 58

On-Line Access To PIMS Acceleration Data Archive ............................................... 58Appendix C. Some Useful Acceleration Data and Microgravity Related URLs ............. 60Appendix D. Acronym list and definition...................................................................... 61

List of Tables

Table 2.1-1 ISS Dimensions at Assembly Complete....................................................... 9Table 4.2-1 MAMS-OSS Coordinate System ............................................................... 12Table 4.2-2 MAMS-HiRAP Coordinate System........................................................... 12Table 4.4-1 SAMS SE F06 Coordinate System ............................................................ 13Table 6-1 Increment-2 Payloads ................................................................................ 14Table 7.1-1 MAMS-OSS Power On/Off Cycles ........................................................... 15Table 7.2-1 MAMS-HiRAP Power On/Off Cycles ....................................................... 17Table 8.2-1 ISS Increment-2 Disturbers ....................................................................... 21Table 8.2.1.3-1 Target Modes for ISS Assembly Complete Configuration.................... 23Table 10-1 Summary of Findings ................................................................................ 27

List of Figures

Figure 2.1-1 International Space Station at Assembly Complete................................... 28Figure 2.2-1 Space Station Analysis Coordinate System............................................... 29Figure 2.3-1 ISS XVV Flight Attitude.......................................................................... 29Figure 2.4-1 United States Laboratory Module (Destiny) Coordinate System............... 30Figure 3.1-1 ISS Increment-2 Configuration................................................................. 31Figure 3.2-1 6A Configuration Coordinate Systems ..................................................... 32Figure 3.3-1 ISS in the XPOP Inertial Flight Attitude................................................... 33Figure 5-1 EXPRESS Rack 1 6A On-Orbit Configuration......................................... 34Figure 5-2 EXPRESS Rack 2 6A/7A On-Orbit Configuration ................................... 34Figure 8.1.1-1 Torque Equilibrium Attitude ................................................................. 35Figure 8.1.1-2 Crew Active Periods During TEA ......................................................... 36Figure 8.1.1-3 Crew Sleep Periods for TEA ................................................................. 36Figure 8.1.2-1 XPOP Attitude ...................................................................................... 37


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Figure 8.1.2-2 XPOP Attitude Profile for Crew Sleep Periods ...................................... 38Figure 8.1.3-1 Undocking of Soyuz TM-31.................................................................. 39Figure 8.1.3-2 Progress Docking .................................................................................. 40Figure 8.2.1.1-1 Color Spectrogram Showing SKV-1 Air Conditioner/Dehumidifier Turn

Off Off...................................................................................................... 41Figure 8.2.1.1-2 PSDs Showing SKV-1 Air Conditioner/Dehumidifier On................... 42Figure 8.2.1.1-3 PSDs Showing SKV-1 Air Conditioner/Dehumidifier Off .................. 43Figure 8.2.1.2-1 Acceleration Vector Magnitude Time History for Progress Vehicle

Docking Docking ............................................................................................. 44Figure 8.2.1.2-2 Color Spectrogram for Progress Vehicle Docking .............................. 45Figure 8.2.1.3-1 8-Hour Color Spectrogram Below 2 Hz of MAMS-HiRAP ................ 46Figure 8.2.1.3-2 8-Hour Spectral Averaged PSD Below 2 Hz of MAMS-HiRAP ......... 47Figure 8.2.1.4-1 RMS Acceleration vs. One-Third Octave Frequency Bands for SAMS

F06 Data F06 Data (6A configuration) .............................................................. 48Figure 8.2.2.1-1 Spectrogram of EXPPCS Sample Mix Operation................................ 49Figure 8.2.2.1-2 Interval Minimum/Maximum of EXPPCS Sample Mix Operation...... 50Figure 8.2.2.1-3 PSDs of EXPPCS Sample Mix Operation........................................... 51Figure 8.2.2.1-4 PSDs Without EXPPCS Sample Mix Operation ................................. 52Figure 8.2.2.1-5 Cumulative RMS Acceleration vs. Frequency of EXPPCS Sample Mix

Operation Operation ........................................................................................... 53Figure 8.2.2.1-6 Cumulative RMS Acceleration vs. Frequency Without EXPPCS Sample

Mix Mix Operation .................................................................................... 54Figure 8.2.3-1 Spectral Comparison of Crew Activity ............................................... 55Figure Appendix B-1 On-Line Data Access Flow Chart ............................................... 58Figure Appendix B-2 Screenshot of Sample PAD File Listing ..................................... 59


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Acknowledgements

The authors would like to acknowledge a number of people who contributed significantto this report. Without their contribution, this report would have not been possible.Significant contribution was made in the area of software development, which enablesboth MAMS and SAMS to acquire acceleration data aboard the ISS, processed, analyzedand 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 developmentefforts of the SAMS-II team and the MAMS project team/Canopus Inc. Many thanks goto Timothy Reckart, who contributed a lot of time and effort to the formatting and all thegraphics work for this report. Acknowledgement goes also to Kevin McPherson, RichardDeLombard, 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 MAMSaccelerometer project manager, who passed away recently.


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Abstract

The objective of this quick look report is to disseminate the International Space StationIncrement-2 reduced gravity environment preliminary analysis in a timely manner to themicrogravity scientific community. This report is a quick look at the processedacceleration data collected by the Microgravity Acceleration Measurement System duringthe period of May 3rd to June 8th, 2001. The report is by no means an exhaustiveexamination of all the relevant activities, which occurred during the time span mentionedabove for two reasons. First, the time span being considered in this report is rather shortsince the Microgravity Acceleration Measurement System was not active throughout thetime span being considered to allow a detailed characterization. Second, as the name ofthe report implied, it is a quick look at the acceleration data. Consequently, a morecomprehensive report, the International Space Station Increment-2 report, will bepublished following the conclusion of the Increment-2 tour of duty.

The National Aeronautics and Space Administration sponsors the MicrogravityAcceleration Measurement System and the Space Acceleration Microgravity System tosupport microgravity science experiments, which require microgravity accelerationmeasurements. On April 19, 2001, both the Microgravity Acceleration MeasurementSystem and the 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 insupport of science experiments requiring quasi-steady acceleration data measurements,while the Space Acceleration Measurement System unit was flown to supportexperiments requiring vibratory acceleration data measurement. Both accelerationsystems are also used in support of the vehicle microgravity requirements verification.

The International Space Station reduced gravity environment analysis presented in thisreport uses mostly the Microgravity Acceleration Measurement System acceleration datameasurements (the increment-2 report will cover both systems). The MicrogravityAcceleration Measurement System has two sensors. The Microgravity AccelerationMeasurement System Orbital Acceleration Research Experiment Sensor Subsystem,which is a low frequency range sensor (up to 1 Hz), is used to characterize the quasi-steady environment for payloads and vehicle. The Microgravity AccelerationMeasurement System High Resolution Acceleration Package is used to characterize theISS vibratory environment up to 100 Hz. This quick look report presents some selectedquasi-steady and vibratory activities recorded by the Microgravity AccelerationMeasurement System during the ongoing ISS Increment-2 tour of duty.


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1. Introduction

The NASA Physical Science Division (PSD) sponsors science experiments on variousreduced-gravity carriers/platforms and facilities such as the Space Transportation System(STS), parabolic aircraft, sounding rockets, drop towers and the International SpaceStation (ISS). To provide support for the science experiments, which require accelerationdata measurement on the ISS, the PSD sponsors two microgravity accelerometer systems,the Space Acceleration Measurement System (SAMS) and the Microgravity AccelerationMeasurement System (MAMS). SAMS measures vibratory acceleration data in the rangeof 0.01 to 300 Hz for payloads requiring such measurement. MAMS consists of twosensors. MAMS-OARE Sensor Subsystem (OSS), a low frequency range sensor (up to 1Hz), is used to characterize the quasi-steady environment for payloads and vehicle (ISS)and MAMS-High Resolution Accelerometer Package (HiRAP) is used to characterize theISS vibratory environment from 0.01 Hz to 100 Hz. Both accelerometer systems wereflown to the ISS on STS-100, which was launched April 19, 2001, from the KennedySpace Center (KSC).

The residual acceleration environment of an orbiting spacecraft in a low earth orbit is avery complex phenomenon [1]. Many factors, such as experiment operation, life-supportsystems, equipment operation, crew activities, aerodynamic drag, gravity gradient,rotational effects as well as the vehicle structural resonance frequencies (structuralmodes) contribute to form the overall reduced gravity environment. Weightlessness is anideal state which cannot be achieved in practice because of the various sources ofacceleration present in an orbiting spacecraft. As a result, the environment in whichexperiments are conducted is not zero gravity; therefore, experiments can be affected bythe residual acceleration because of their dependency on acceleration magnitude,frequency, orientation and duration. Therefore, experimenters must know what theenvironment was when their experiments were performed in order to analyze andcorrectly 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 throughouttheir 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 accelerationmeasurements, analyzing these measurements, characterizing the reduced gravityenvironment in which the measurements were taken, and providing expertise in reducedgravity environment assessment for a variety of carriers/platforms and facilities, such asthe Space Shuttle, parabolic aircraft, sounding rockets, drop towers and the ISS in supportof the NASA's PSD Principal Investigators (PIs). The PIMS project supports PIs fromvarious science disciplines such as biotechnology, combustion science, fluid physics,material science and fundamental physics. The PIMS project is funded by the NASAHeadquarters and is part of the NASA Glenn Research Center's MicrogravityMeasurement and Analysis Project (MMAP), which integrates the analysis andinterpretation component of PIMS with the various NASA sponsored acceleration


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measurement systems. For the ISS, these acceleration measurement systems includeSAMS 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 collectedmainly by the MAMS sensors during the period of May 3rd to June 8th. The accelerationdata reported in this report for MAMS-OSS covers the following time periods: May 3rd toMay 11th; May 21st to May 27th; May 28th to June 9th. The activation times for MAMS-HiRAP were the following: May 11th; May 22nd to May 23rd; May 29th to June 6th andJune 7th to June 8th [2]. However, this report is by no means a comprehensiveexamination of all the relevant activities which occurred during the time periodsmentioned above, since the intent here is to provide a quick look at the acceleration datacollected by MAMS’ sensors to the microgravity community. The upcoming ISSIncrement-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 sometimearound 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 tomake advances in microgravity, space, life, and earth sciences, as well as in engineeringresearch and technology development. The completed space station will have six fullyequipped laboratories, nearly 40 payload racks [4] or experiment storage facilities, andmore than 15 external payload locations for conducting experiments in the vacuum ofspace. 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 andworking space aboard the completed ISS will be approximately 43,000 ft3 [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 orbitand 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.


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TABLE 2.1-1 ISS DIMENSIONS AT ASSEMBLY COMPLETE

Wingspan Width 356 feet (108.5 m)Length 290 feet (88.4 m)Mass (weight) About 1 million pounds (453,592 kg)Operating Altitude 220 nautical miles average (407 km)Inclination 51.6 degrees to the EquatorAtmosphere inside 14.7 psi (101.36 kilopascals)Pressurized Volume 43,000 ft3 (1,218 m3) in 6 laboratoriesCrew Size 3, increasing to 7

2.2 ISS Analysis Coordinate System

PIMS will report acceleration data to the microgravity scientific community using the ISSanalysis coordinate system or in the specific sensor’s coordinate system. The ISSanalysis system [6] is derived using the Local Vertical Local Horizontal (LVLH) flightorientation. 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, andXA axes, respectively (figure 2.2-1). The origin is located at the geometric center ofIntegrated Truss Segment (ITS) S0 and is coincident with the S0 Coordinate frame. TheX-axis is parallel to the longitudinal axis of the module cluster. The positive X-axis is inthe forward (flight) direction. The Y-axis is identical with the S0 axis. The nominalalpha joint rotational axis is parallel with YA. The positive Y-axis is in the starboarddirection. The positive Z-axis is in the direction of nadir and completes the right-handedCartesian 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; ˙ ˙ ˙p, q, r are angular body accelerationabout XA, YA and ZA axes. This analysis coordinate system will be used by PIMS in itsanalysis 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 bodyaxis toward Nadir/down, and TEA is for torque equilibrium attitude. The ISS vehicledesign is optimized for the XVV attitude (figure 2.3-1). That attitude places the mostmodules in the microgravity volume, supports altitude reboosts, service vehicle dockings,and minimizes aerodynamic drag. The ISS is designed to tolerate deviations from perfectXVV Z Nadir of +/- 15 degrees in each axis. This envelope was expanded to -20 degreesin pitch.


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2.4 United States Laboratory Module (Destiny) Coordinate System

The US Laboratory module makes use of the right-handed Cartesian [6] coordinatesystem, body-fixed to the pressurized module. The origin is located forward of thepressurized 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 nominalaft Common Berthing Mechanism (CBM) interface plane and pierces the geometriccenter of the array of mating bolts at the aft end of the pressurized module. The positiveX-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 fromthe 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 andflights to/from ISS. Each increment has a theme that focuses on the primary science oractivities to be performed. This Increment is called Increment-2 or Expedition Two andits theme is: Radiation [8]. The 3-member crew for Increment-2 mission was launched toISS on February 2001 on STS-102 from Kennedy Space Center. This Increment has fourmodules 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 dataanalysis presented in this report. Figure 3.2-1 shows MAMS-OSS, MAMS-HiRAP andSAMS F06 positive acceleration axes alignment relative to ISS analysis coordinatesystem. However, the origin of the coordinate systems shown is not exactly at thelocation shown (except for the ISS analysis coordinate system). They are shown here forrelative alignment only, not their origin. For their location relative to ISS analysiscoordinate 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-HiRAPcoordinate system, XYZOSS refers to MAMS-OSS coordinate system and XYZF06 is TheSAMS F06 alignment currently located on the PCS experiment. Figure 3.2-1 isapplicable 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 ofgenerating enough power to sustain the required electrical loads in the XVV flight


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attitude at mid-to-high solar beta angles because these vehicle configurations have only asingle solar array gimbal axis, which is aligned so that it only perfectly tracks the Sunwhen the solar beta angle is near zero. Therefore, ISS is designed to accommodate asecond 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 orbitalnoon. The XPOP flight attitude [7] sets up geometry between the ISS and the Sun so thatthe Sun stays close to the ISS/XZ body axis plane. This allows all the solar arrays totrack the Sun regardless of the solar beta angle. XPOP also places the dominant inertiaaxis in the local horizontal to minimize gravity gradient torques and allow ControlMoment 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 measuringeffects such as radiation exposure and vibration, which could impact humans andexperiments 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 hastwo astronauts and one cosmonaut. The commander is cosmonaut Yuri Usachev; FlightEngineer 1 is James Voss and Susan Helms as Flight Engineer 2. The crew was launchedto the ISS on March 8, 2001 aboard the Space Shuttle Discovery STS-102 and will returnno earlier than (NET) August 22th, 2001.

4. Accelerometer Systems’ Description and Locations

One of the major goals of ISS is to provide a quiescent reduced gravity environment toperform fundamental scientific research. However, small disturbances aboard the SpaceStation impact the overall environment in which experiments are being performed. Suchsmall disturbances need to be measured in order to assess their potential impact on theexperiments. Two accelerometer systems developed by NASA's Glenn Research Centerin 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 ventswater. MAMS consists of two sensors. MAMS-OSS, a low frequency range sensor (upto 1 Hz), is used to characterize the quasi-steady environment for payloads and thevehicle itself. MAMS-HiRAP [12], is used to characterize the ISS vibratory environmentup to 100 Hz. For Increment-2, MAMS is located in a double middeck locker, in the US


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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), inoverhead bay 2 of the US Laboratory Module (LAB1O2). 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 OSSproof 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

Unit Vectors in Space Station AnalysisCoordinates

90 0 0 Axes XA YA ZA

Location (inches) XOSS 1 0 0XA YA ZA YOSS 0 0 1135.28 -10.68 132.12 ZOSS 0 -1 0

The HiRAP coordinate system (XH, YH, ZH) origin is defined as the geometric center ofthe three accelerometer input axes. In the HiRAP coordinate system, +XH is aligned with+XA, +YH is in the direction of -YA, and +ZH is in the direction of -ZA. Table 4.2-2 givesthe orientation and location of the HiRAP coordinate system with respect to SpaceStation Analysis coordinate system.

TABLE 4.2-2 MAMS-HIRAP COORDINATE SYSTEM




Location (inches) XH 1 0 0XA YA ZA YH 0 -1 0138.68 -16.18 142.35 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 rangeof 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


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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 toGlenn Research Center's Telescience Support Center (TSC). The PIMS projectprocesses, analyzes and then displays the data on the PIMS’ Web site for ready access bythe 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 sectionon EXPRESS Rack 2, in overhead bay 1 of the US Laboratory Module (LAB1O1). TheF06 coordinate system (XF06, YF06, ZF06) was oriented so that the +XF06 axis was alignedwith -ZA, +YF06 in the direction of -YA, and +ZF06 in the direction of -XA. The origin isdefined as the triaxial center point of the three accelerometers that comprise the head.Table 4.4-1summarizes the F06 coordinate system information.

TABLE 4.4-1 SAMS SE F06 COORDINATE SYSTEM




Location (inches) XF06 0 0 -1XA YA ZA YF06 0 -1 0179.90 -6.44 145.55 ZF06 -1 0 0

5. ISS Increment-2 Facilities Supported by PIMS

During Increment-2, the following facilities will be activated: the Human Researchfacility, two EXPRESS Racks, one of which equipped with the Active Rack IsolationSystem (ARIS) and the Payload Equipment Restraint System. Over the life of the SpaceStation, 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, storesand supports experiments aboard the International Space Station. The EXPRESS Racksystem supports science payloads in several disciplines, including biology, chemistry,physics, ecology and medicine. The EXPRESS Rack with its standardized hardwareinterfaces enables quick, simple integration of multiple payloads aboard the station. EachEXPRESS 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 intosegments. The first two EXPRESS Racks [14] have eight middeck locker locations andtwo drawer locations each (figures 5.-1, 5.-2).


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6. ISS Increment-2 Experiments Supported by PIMS

During this increment, the PIMS project supports the following experiments, whichrequire acceleration data measurement to assess the impact of the ISS reduced gravityenvironment on the science: Active Rack Isolation System ISS CharacterizationExperiment (ARIS-ICE), Protein Crystal Growth-Biotechnology Ambient Generic (PCG-BA) and Experiment of Physics of Colloids in Space (EXPPCS). Table 6.-1 [15] showsthe experiments that were performed (or are being performed) by the Increment-2 crew.

TABLE 6-1 INCREMENT-2 PAYLOADS

Facility/Experiment Mission information Duration Location on ISS Research AreaActive Rack Isolation System Mission 6A STS-100 15 years Express Rack 2

Destiny moduleExpress Racks 1 & 2 Mission 6A STS-100 15 years Destiny module MultidisciplinaryHuman Research Facility Mission 5A.1 STS-102 15 years Destiny module Human Life sciencesPayload Equipment RestraintSystem

Mission 5A.1 STS-102 15 years Destiny module

Advanced Astroculture(ADVASC)

Mission 6A STS-100 3 months (return onMission STS-105,7A.1)

Express Rack 1Destiny module

Space ProductDevelopment Commercialbiotechnology

Bonner Ball Neutron DetectorRadiation

Mission 5A.1 STS-102 8 months Destiny module Human Life Sciences --Radiation

Commercial GeneticBioprocessing Apparatus(CGBA)

Mission 6A STS-100 3 months (return onMission STS-105,7A.1)


Space ProductDevelopmentBiotechnology

Commercial Protein CrystalGrowth—High Density (CPCG-H)

Mission 6A STS-100 3 months (return onmission STS-105,7A.1)


Space ProductDevelopment--Proteincrystallization

Crew Earth Observation Mission 4A STS-97 15 years Destiny and Zvezdamodules

Space Flight UtilizationEarth observation

Dosimetric Mapping (DOSMAP) Mission 5A.1 STS-102 4 months Destiny module Human Life Sciences --Radiation

Earth Knowledge Acquired byMiddle Schools (EarthKAM)

Mission 5A STS-98 15 years Destiny modulewindow

Space FlightUtilization—Earthobservation and outreach

H-Reflex Mission 5A.1 STS-102 4 months (assignedfor Exp. 2-4)

Human ResearchFacility Rack Destinymodule

Human Life Sciences---Neurovestibular

Interactions Mission 5A.1 STS-102 2 years, 4 monthsassigned to Exp. 2-6)

Human ResearchFacility Rack Destinymodule

Human Life Sciences--Psychosocial

ARIS-ISS Characterization Mission 6A STS-100 7 months (?) Active Rack Isolation Space Flight UtilizationExperiment (ARIS-ICE) Mission UF1, STS-

105)System Earth Observation and

OutreachMicrogravity AccelerationMeasurement System (MAMS)

Mission 6A STS-100 15 years Express Rack 1Destiny module

Physical Sciences--Environmental

Phantom Torso Mission 6A STS-100 3 months (return onmission STS-105,7A.1)

Destiny module Human Life Sciences--Radiation

Physics of Colloids in Space(EXPPCS)

Mission 6A STS-100 1 year (return onmission UF2 STS-111)


Physical Sciences—Fluidsscience

Protein CrystalGrowth—Biotechnology AmbientGeneric (PCG-BAG)

Mission 7A STS-104 2 months (return onmission STS-105,7A.1)

Destiny modulestowage space

PhysicalSciences—Proteincrystallization

Protein Crystal Growth—SingleLocker Thermal EnclosureSystem (PCG-STES)

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

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


PhysicalSciences—Proteincrystallization

Space AccelerationMeasurement System II (SAMS-II)

Mission 6A STS-100 15 years Destiny module Physical Sciences--Environmental

Sub-regional Assessment ofBone Loss in Axial Skeleton(Sub-regional Bone

Mission 5A.1 STS-102 2 years, 4 months(assigned to Exp. 2-6)

N/A—Preflight andpost-flight datacollection only

Human LifeSciences—Bone andmuscle


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7. Data Analysis Techniques and Processing

This section briefly describes some assumptions, considerations, and procedures used toanalyze 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 cutofffrequency 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 alsotrimmean filtered data that are compensated for bias. At the time of this report, PIMS hascollected approximately 26 days of raw OSS data, from three power on events. There arenumerous gaps in the data, due to data transfer and other problems that come along withbeing 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) Power Off (GMT)May 03, 2001 123/15:58:24 May 11, 2001 131/16:08:26May 21, 2001 141/07:35:22 May 27, 2001 147/11:05:40May 28, 2001 148/13:53:08 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 thequasi-steady acceleration signal by rejecting higher magnitude transients such as thrusterfirings, crew activity, etc. The trimmean filter algorithm used by the MAMS GSEoperates on a sliding window of 480 samples, every 16 seconds. The filtering proceduresorts the data by magnitude, calculates the deviation from a normal distribution, and trimsan adaptively determined amount from the tails of the data. The quasi-steadyacceleration level is computed to be the arithmetic mean of the trimmed set. Furtherinformation concerning the trimmean filter can be found in [16-18].

7.1.2 OSS Bias Measurements

One of the initial goals during Increment 2 operations for MAMS is the characterizationof the OSS sensor bias. In the past, MAMS predecessor, the Orbital AccelerationResearch Experiment (OARE), showed a significant initial transient in the biasmeasurements that would take one to two days to settle out. This phenomenon was not


16

observed in the MAMS-OSS data, most probably due to the 14-day interval betweenlaunch date and MAMS activation. At power up, the MAMS instrument takes roughly4-6 hours to reach the nominal operating temperature of 40˚C, at which point, the biasvalues 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 unableto characterize this temperature dependency at this time, due to an insufficient amount ofbias 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 MAMSpower 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 beincluded 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 timeand the quasi-steady three-dimensional histogram (QTH). Both of these plot types usetrimmean filtered OSS data.

7.1.3.1 OSS Trimmed Mean Acceleration versus Time

These are single or three axes plots of acceleration in units of µg versus time. Theseplots 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. Thetime series is analyzed using a two-dimensional histogram method where the percentageof 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 ofoccurrences. Conversely, areas showing colors towards the blue end are indicative of alower percentage, with no occurrences being shown as white. This plot provides asummary 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 mayextend below 0.01 Hz down to DC, but those instruments are not optimized for makingquasi-steady or DC measurements. The MAMS-OSS instrument is specialized for this


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purpose. Therefore, unless otherwise noted, it is assumed that the vibratory data havebeen demeaned for plots and analyses of vibratory data. That is, for the time intervalunder consideration, the average value is calculated and then subtracted off of each datapoint on a per axis basis. Table 7.2.-1 shows the power on/off cycles for MAMS-HiRAPfor the time span analyzed in this quick look report.

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

Power On (GMT) Power Off (GMT)May 11, 2001 131/01:24:08 May 11, 2001 131/03:33:21May 22, 2001 142/18:39:13 May 23, 2001 143/17:37:53May 29, 2001 149/22:52:28 May 31, 2001 151/14:03:43May 31, 2001 151/21:08:14 June 06, 2001 157/21:44:40June 07, 2001 158/19:36:29 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 ofacceleration fluctuations as a function of time. This display type allows relatively longperiods to be displayed on a single plot. There are three such interval statistic plots thatare 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 toor greater than the interval parameter used. Short duration, high amplitude accelerationscan also be detected with this type of plot, however, the exact timing and magnitude ofspecific acceleration events cannot be extracted. This type of display is useful foridentifying overall effects of extended thruster firings and other activities that tend tocause 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 theacceleration signal. This data representation is useful for identifying gross changes inacceleration levels usually caused by the initiation or cessation of activities such as crewexercise or equipment operations.


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7.2.1.3 Interval Minimum/Maximum

An interval minimum/maximum plot shows the peak-to-peak variations of theacceleration data. For each interval, this plot type shows both the minimum andmaximum 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 anacceleration time series and gives an estimate of the distribution of power with respect tofrequency in the acceleration signal. It is expressed in units of g2/Hz. The method usedfor computation of the PSD is consistent with Parseval’s theorem, which states that theRMS value of a time series signal is equal to the square root of the integral of the PSDacross 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 bothtime and frequency. To produce a spectrogram, PSDs are computed for successiveintervals of time. The PSDs are oriented vertically on a page such that frequencyincreases from bottom to top. PSDs from successive time slices are aligned horizontallyacross the page such that time increases from left to right. Each time-frequency bin isimaged as a color corresponding to the base 10 logarithm of the PSD magnitude at thattime and frequency. Spectrograms are particularly useful for identifying structure andboundaries 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 frequencybands for a given time interval of interest (nominally 100 seconds). The (nearly) one-third octave bands are those defined by the International Space Station microgravityrequirements; see Table 4 [19]. The results of this analysis are typically plotted alongwith a bold stair step curve representing the International Space Station combinedvibratory limits in order to compare the acceleration environment to these prescribedlimits. These plots are not particularly useful for isolating the source of a disturbance fora band that exceeds the desired limits.


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7.2.2.3 Cumulative RMS Acceleration Versus Frequency

A plot of cumulative RMS acceleration versus frequency quantifies, in cumulativefashion, the contributions of spectral components to the overall measured RMSacceleration level for the time frame of interest. This plot is also derived from the PSDusing Parseval’s theorem. It quantitatively highlights key spectral regions - steep slopesindicate strong narrowband disturbances that contribute significantly to the accelerationenvironment, 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 0.01Hz and magnitudes expected to be on the order of 2 µg or less. These low-frequencyaccelerations are associated with phenomena related to the orbital rate, primarilyaerodynamic drag. Depending on various conditions and location relative to the vehicle'scenter of mass, however, gravity gradient and rotational effects may dominate in thisregime. A final source of acceleration to consider in this regime is venting of air or waterfrom 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 6Aconfiguration are primarily related to altitude and attitude of the station. Variation inatmospheric density with time and altitude contribute to the differences in theaerodynamic drag component. Different attitudes will affect the drag component due tothe variation of the frontal cross-sectional area of the station with respect to the velocityvector. This section of this quick look report analyzes the effects of different stationattitudes and crew activity on the quasi-steady acceleration environment. Also, thedocking 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 gravitygradient and aerodynamic drag torques. This is the attitude that will be flown duringmicrogravity mode to support research. However, TEA will vary with stationconfiguration because of change in mass and aerodynamic properties. For the periodcovered in this report, the TEA attitude was nominally YPR = (350.0, 350.7, 0.0) relativeto 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 crewactivity tend to mask this low-level signal. The QTH plots shown in Figures 8.1.1-2 and


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8.1.1-3 give a good comparison between the noise levels of crew active and crew sleepperiods. 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 wasdrawn 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 thisattitude, the vehicle's XA axis is maintained perpendicular to the direction of flight, whilethe YA and ZA axes are alternately subjected to the drag vector as the vehicle completesan 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 2µg, compared to the Yand Z axes, which show a more pronounced cyclical drag profile. The cyclical variationat 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 impactthan the attitude adjustments in preparation for the event. The first undocking eventcaptured 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 beganan attitude maneuver to change from +XVV/+ZLV to -XVV/+ZLV, which was a yaw of180 degrees about the ZA axis. This maneuvers is seen as an offset between 10-15 µg inthe XOSS axis, and to a lesser extent the Y and Z axes. The return to +XVV/+ZLV is alsoevident 2 hours later. Close inspection indicates an upward shift in all three axes of thequasi-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 attitudechange from TEA to the docking attitude at approximately GMT 142/22:10. The dockingattitude was a YPR = (231, 14.7, 54), relative to the J2000 coordinate system (inertialcoordinate system). In this orientation, the XA axis is close to alignment with the orbitalplane. 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.


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8.2 Vibratory Microgravity Environment

The vibratory regime is comprised of the acceleration spectrum above 0.01 Hz, withmagnitudes expected to vary greatly depending on the nature of the disturbance sourceand 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-2disturbers [9] for 6A configuration.

TABLE 8.2-1 ISS INCREMENT-2 DISTURBERS

P6 Truss Segment • Stick slip• Beta gimbal

Service Module • Ergometer (unisolated)• High- Gain Antenna• Fans (VS, TCS, Hygiene)• TCS compressor• Treadmill (isolated)• Solar arrays• Pumps (TCS, WSS, Hygiene)

Node 1 • Interim Resistive Exercise Device (IRED)• Fans (CCAV, IMV)

US Lab • Ergometer (isolated)• Fans (AAAs, IMV, THC)• Pumps (CDRA, MCA, water separator)

Z1 Segment • Ku-band antenna• CMG

Transient Disturbances • 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 andpartially characterized. This piece of equipment is part of the vehicle's environmentalcontrol system. Section 8.2.3 discusses the impact of docking a Progress vehicle to theaft end of the Service Module. Section 8.2.4 points out apparent structural modes below2 Hz, gleaned from acceleration spectra computed over more than 9 days starting in lateMay 2001. Section 8.2.5 compares a snapshot of acceleration measurements to the ISSvehicle vibratory requirements. Note that this comparison does not consider all of thestipulations specified in [19]. Section 8.2.6 highlights the tremendous impact that theEXPPCS sample mix equipment can have on the vibratory environment, while section8.2.7 compares a couple of periods of crew activity.


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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 ofvehicle systems are expected to be operating for at least part of the time. One suchsystem is the Environmental Control and Life Support System (ECLSS), which has anumber 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/dehumidifierturn off at GMT 08-June-2001, 09:42:12 in preparation for an EVA. This air conditioneris located in the FGB module and is part of the ECLSS. As first witnessed on a PIMSreal-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. ThePSDs shown in figure 8.2.1.1-2 were computed from HiRAP data not long before theturn-off time. These show that this air conditioner operates at a fundamental frequencyof about 23.5 Hz. The spectral peak at this frequency seen on all three orthogonal sensoraxes vanished when the SKV-1 was turned off as shown in figure 8.2.1.1-3. Furthercharacterization 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 andsupplies to the ISS. This mission launched on 20 May 2001 from the BaikonurCosmodrome in Kazakhstan, and docked at the aft docking port of the Service Module.After remaining docked for over two months, the Progress-M1 will be loaded with itemsto 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 GMT143/00:24:00, as noted from a call on the JSC Flight Director voice loop. The exactevent within the docking procedure was not specified in this call, however, a largeimpulsive event was registered by the MAMS-HiRAP at about GMT 143/00:24:20 asseen in figure 8.2.1.2-1.


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The 20-second timing discrepancy between the acceleration measurement and the timerecorded from the voice loop call may stem from a number of factors: preciseness ofvoice loop call, actual stage in docking event called on voice loop, and MAMS-HiRAPtiming may not be synchronized with other external sources. Regardless, the peakacceleration 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 the10-minute mark, then for the next several minutes some as-yet-to-be-identified eventsoccur presumably to secure the vehicles for subsequent hatch opening.

8.2.1.3 Structural Modes

As opportunities arise, directional and precise frequency correlation betweenmeasurements 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 duringStage 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 Completeconfiguration. 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 # Frequency (Hz)297 0.44141427 0.90176454 1.01158

Limited computational resources prohibit computation of acceleration spectra with theresolution shown in the table above. To achieve the frequency resolution shown wouldrequire operating on over a day's worth of contiguous vibratory data. Direct comparisonto predicted data is provisionary since the acceleration data currently available werecollected 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 lieuof mathematical model structural frequencies for the Stage 6A configuration. The colorspectrogram of Figure 8.2.1.3-1 spans 8 hours starting at GMT 08-June-2001, 08:00:00.


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It shows the acceleration spectra below 2 Hz in an effort to capture low frequencystructural modes. The horizontal yellow or red streaks that span the duration of thespectrogram point to what appear to be vehicle structural modes. The exact nature ofthese is beyond the scope of this document, but the spectral peaks at about 0.4 and 1 Hzare close to the first two target mode values of Table 8.2.1.3-1. Spectral averaging of theconstituent 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, and0.93 Hz. Also, the averaged PSD shows that near 1.3 Hz there are at least 2 closelyspaced spectral peaks and possibly another pair at about 1.8 Hz. Further analyses andcorrelations 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 thespecifications 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 shall 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 resultsare shown in Figure 8.2.1.4-1. It must be pointed out that the ISS requirement curve isonly valid for assembly complete, ISS microgravity mode operations and with the ARISRack on. The data that are being compared here with the ISS requirement were notcollected under the conditions mentioned above and are shown here only to illustrate howclose the ISS microgravity environment is to the requirement at assembly complete. Thereader should be careful in drawing any conclusion when looking at these two curves (6Aconfiguration 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 forcesproduced by the moving parts of such equipment are transmitted in varying degrees to thespacecraft structure depending on the operating characteristics and on any mechanismsfor vibration isolation.


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8.2.2.1 EXPPCS Sample Mix

The EXPPCS is located in ER 2. It has a number of moving parts, but the sample mixeris of particular interest from an acceleration environment perspective. In order toeliminate sedimentation and to produce uniform distribution, the initial EXPPCSprocedures 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 mixerin operation starting at about GMT 04-June-2001, 22:20:40 and lasting for over an hourwith a 50% duty cycle.

This spectrogram was computed from SAMS RTS F06 measurements and shows theacceleration spectrum as a function of time. The sensor head was located within about11/2 feet of the mixer on the front-panel of the EXPPCS test section and expectedlyregistered 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 theduty cycle when the mixer was active. For improved temporal resolution and a moreprecise accounting of the measured accelerations, the interval minimum/maximum timehistory of Figure 8.2.2.1-2 was examined.

This figure clearly shows the large accelerations that occur while the mixer is preparing asample cell for an operational run. The acceleration vector magnitudes detected by thissensor were nominally about 150 mg with peak values routinely in excess of 200 mg. Asindicated by the time axis tick marks, this mixer has a 50% duty cycle with 30-secondduration. For improved frequency resolution and a more precise accounting of thespectral 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 thisdisturbance was 12 Hz and with significant 2nd through 16th harmonics within thepassband of this sensor. The 9th harmonic at 108 Hz was the most pronouncedcomponent and was aligned primarily with the sensor’s YZ-plane. In strong contrast tothis, the acceleration spectra during a 25-second span when the sample mix operation wasoff are seen in the PSDs of Figure 8.2.2.1-4.

Closer examination by means of the cumulative RMS acceleration versus frequency plotof 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 wasslightly more than 80 mgRMS for the frequency range from 0.06 to 200 Hz. For this samerange, but during a 25-second span while the mixer was off, the cumulative RMSacceleration versus frequency plot of Figure 8.2.2.1-6 yields an overall RMS accelerationvalue more than an order of magnitude smaller at about 1.7 mgRMS.


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8.2.3 Crew Activity

Experimental setups, equipment transfer or stowage, exercise, and simple locomotion allcontribute to the category of disturbance called crew activity. These actions give rise toreactive forces, which are manifested as acceleration disturbances transferred through thevehicle's structure. In-depth analyses will seek to correlate acceleration effects withperiods of crew inactivity, like sleep and Public Affairs Office (PAO) events. ThesePAO events are typically question-and-answer or demonstration periods with all or someof the crew gathered in one area. This has a quieting effect on the microgravityenvironment because crew activity is reduced from nominal conditions, that is, the crewis less likely to impart push-off and impact transients on the vehicle's structure. Inaddition, crew conferences and briefings may be examined and should result in a similarquieting. Exactly how much of a quieting effect these periods have remains to beanalyzed, but for quick look analysis purposes, we consider a short period not long beforethe 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 oftwo 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 PSDfor a time slice starting at GMT 03-June-2001, 08:48:00, which was not long after thecrew 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 vibratoryacceleration spectrum, particularly below about 6 Hz. Using Parseval's theorem, we canquantify the difference in this frequency range in terms of the RMS acceleration for thefrequency band from 0.06 to 6 Hz. The RMS acceleration level in this range rose fromabout 9 µgRMS during the sleep period to about 40 µgRMS just after the crew woke up.

9. Unknown Disturbances

Since the PIMS project is at an early stage of characterization of the ISS reduced gravityenvironment, many of the disturbances recorded by either MAMS or SAMS are yet to beidentified. Disturbance identification is a very challenging task. It will be an ongoingprocess as the ISS is being built from increment to increment. PIMS will start using theMission Evaluation Workstation System (MEWS) along with our console log andtimeline info in order to identify the disturbances presented in the spectrograms and PSDplots 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 thatPIMS project analysts have briefly analyzed thus far for the period of May 3rd to June 8th.Note that, MAMS and SAMS were not continuously active during the time span


27

mentioned above. In the upcoming Increment-2 report, many of the disturbances listedbelow as unknown will be identified using the MEWS system, along with PIMS consolelogbook and previously performed simulations and prediction analyzes.

TABLE 10-1 SUMMARY OF FINDINGS

Frequency (Hz) ObservationsBelow 5 ISS Increment-2 Structural modes (there appears to be 7

noticeable structural modes)Below 6 Crew activity is noticeable

10.37 Tightly controlled in frequency, source unknown12, follows by 2nd andup to 16th harmonics

EXPPCS experiment operation

20.5 Broadband disturbance, source unknown23.4 SKV-1 Air Conditioner/Dehumidifier26.36 Broadband disturbance, source unknown49.1 Tightly controlled in frequency, source unknown57.6 Tightly controlled in frequency, source unknown61.40 Broadband disturbance, source unknown67.7 Tightly controlled in frequency, source unknown69.9 Tightly controlled in frequency, source unknown75.1 Broadband disturbance, suspect this life-support equipment85.3 Tightly controlled in frequency, source unknown94.8 Strong spectral component, suspect this is life-support

equipment


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pe)

JE

M E

xper

imen

t L

og

isti

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od

ule

--E

xpo

sed

Sec

tio

n

Kib

o (

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pe)

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M E

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Fac

ility

Kib

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pe)

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M P

ress

uri

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Mo

du

le

Pre

ssu

rize

d M

atin

g A

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ter

2

Mu

lti-

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og

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ule

Th

erm

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on

tro

l Pan

els

S0

Tru

ssS

egm

ent

Mo

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Ser

vici

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Sys

tem

Do

ckin

g a

nd

Sto

wag

e M

od

ule S

1 T

russ

Seg

men

t

U.S

. Lab

Des

tin

y

Hab

itat

ion

Mo

du

le

Figure 2.1-1 International Space Station at Assembly Complete Fig

ure

2.1

-1 I

nte

rnat

ion

al S

pac

e S

tati

on

at

Ass

emb

ly C

om

ple

te


29

Figure 2.2-1 Space Station Analysis Coordinate System

Figure 2.3-1 ISS XVV Flight Attitude


30

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


31

P6

S-B

and

F ASP

So

yuz

TM

#1

Pro

gre

ssM

1

Orb

iter

do

cks

Her

e (t

ail d

ow

n)

PM

A3

PM

A1

AF

TF

WD

PO

RT

STB

D

NA

DIR

ZE

NIT

H

NO

DE

1

PM

A2

SS

RM

S

ZZ

1N

A F

P S

CM

Gs

(4)

Ku-

Ban

d

Ser

vice

Mo

du

leF

A

NZ

U.S

. LA

B

ZE

NIT

H

NA

DIR

FG

BF

A

N

LE

GE

ND

Rem

ote

ly a

ctu

ated

mec

han

ism

s

EV

A o

per

ated

mec

han

ism

s

Art

icu

lati

ng/

Dep

loya

ble

mec

han

ism

s

Act

ive

Pas

sive

Aft

A

Fo

rwar

dF

ZE

NIT

HZ

NA

DIR

Po

rt

Sta

rbo

ard

N P S

Figure 3.1-1 ISS Increment-2 Configuration Fig

ure

3.1

-1 I

SS

Incr

emen

t-2

Co

nfi

gu

rati

on


32

DAT

UM

PO

INT

(0,

0,0)

AT C

EN

TE

R O

F S

O IT

A+

ZA +Ya

w

+Y

A

+P

itch

+R

oll

+X

A

-ZH

+Y

OS

S

-YH

-ZO

SS

-XF

06

+X

H

+X

OS

S

-YF

06

-ZF

06X

YZ

OS

S =

MA

MS

-OS

S a

xis

XY

ZH =

MA

MS

-HiR

AP

axi

sX

YZ

F06

= S

AM

S F

06 a

xis

XY

ZA =

ISS

Ana

lysi

s co

ordi

nate

Not

e: T

he IS

S is

sho

wn

here

ups

ide

- do

wn

LEG

EN

D

Figure 3.2-1 6A Configuration Coordinate Systems

Fig

ure

3.2

-1 6

A C

on

fig

ura

tio

n C

oo

rdin

ate

Sys

tem

s


33

Orb

ital N

oon

Orb

ital M

idni

ght

β

Z

Iner

tial A

ttitu

de W

ith T

he X

Pri

ncip

al A

xis

Perp

endi

cula

r to

Orb

it Pl

ane,

Z N

adir

At N

oon

+Z

Bod

y A

xis

Is D

own/

Nad

ir A

t Orb

ital N

oon

+X

Bod

y A

xis

Opp

osite

Sun

Sid

e O

f Orb

it P

lane

(+β

= +

90 Y

aw, -

β =

−90

Yaw

,

For

Yaw

, Pitc

h, R

oll L

VLH

Eul

er S

eque

nce)

Sun Pos

itive

Sol

ar B

eta

Ang

le S

how

n

Y

X

(90º

Bef

ore

Orb

ital N

oon)

(90º

Afte

r O

rbita

l Noo

n)

Figure 3.3-1 ISS in the XPOP Inertial Flight Attitude

Fig

ure

3.3

-1 I

SS

in t

he

XP

OP

Iner

tial

Flig

ht

Att

itu

de


34

CG

BA

SA

MS

-II R

TS

MA

MS

AD

VA

SC

CO

MM

ER

CIA

L P

RO

TE

IN C

RY

STA

L G

RO

WT

H-

HIG

H D

EN

SIT

Y P

RO

TE

IN C

RY

STA

L G

RO

WT

H(C

PC

G-H

)

PC

G-F

1003

2-1

HA

ZA

RD

OU

S

HA

ZA

RD

OU

S

MATERIAL

MATERIAL

LCD

21

34

HA

ZA

RD

OU

S

HA

ZA

RD

OU

S

MATERIAL

MATERIAL

HA

ZA

RD

OU

S

HA

ZA

RD

OU

S

MATERIAL

MATERIAL

WA

ST

E G

AS

SA

MS

-SE

(12

1F04

)

SA

MS

-SE

(12

1F02

)

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

AR

IS-I

CE

CO

NT

RO

LLE

R

EX

P P

CS

AV

ION

ICS

SE

CT

ION

AR

IS-I

CE

SH

AK

ER

SA

MS

-II

ICU

AR

IS-I

CE

PO

P

EX

P P

CS

TE

ST

SE

CT

ION

SA

MS

-SE

(12

1F05

)

SA

MS

-SE

(12

1F06

)

SA

MS

-SE

(12

1F04

)

SA

MS

-SE

(12

1F03

)

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

Fig

ure

5-1

EX

PR

ES

S R

ack

1 6A

On

-Orb

it C

on

fig

ura

tio

nF

igu

re 5

-2 E

XP

RE

SS

Rac

k 2

6A/7

A O

n-O

rbit

Co

nfi

gu

rati

on


35

0 1 2 3 4 5 6 72

1.5

1

0.5

0

0.5

1

1.5

2

ZA

xis

Acc

eler

atio

n (

µg)

RM

S =

0.8

008

µgO

rigi

nal M

ean

= 0

.789

9 µg

Time (hours)from: t:\pub\, $Name: pop1_06132001 $, 19Jun2001,14:59:02.210

2

1.5

1

0.5

0

0.5

1

1.5

2

YA

xis

Acc

eler

atio

n (

µg)

RM

S =

1.0

939

µgO

rigi

nal M

ean

= 1

.086

5 µg

2

1.5

1

0.5

0

0.5

1

1.5

2

XA

xis

Acc

eler

atio

n (

µg)

RM

S =

0.2

557

µgO

rigi

nal M

ean

= 0

.247

7 µg

Start GMT 10May2001,23:15:14.705

Torque Equilibrium Attitude (+XVV/+ZLV)oss[90.0 0.0 0.0]

Increment: 2, Flight: 6A0.0625 sa/sec (0.0 Hz)mams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]

Figure 8.1.1-1 Torque Equilibrium Attitude


36

Compilation of Torque Equilibrium Attitude Profiles During Crew Awake Periodsoss[90.0 0.0 0.0]

Increment: 2, Flight: 6A

Time Span = 26.49330.0625 sa/secmams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]

Centroid: Xct = 0.244 ( µg) Yct = 1.170 ( µg) Zct = +0.629 (µg)

from: t:\pub\, $Name: $, 20Jun2001,12:29:34.360

Per

cent

age

of T

ime

0

0.1

0.2

0.3

0.4

XAxis Accel. ( µg)

ZA

xis

Acc

el. (

µg)

4 2 0 2 44

3

2

1

0

1

2

3

4

YAxis Accel. ( µg)

ZA

xis

Acc

el. (

µg)

4 2 0 2 44

3

2

1

0

1

2

3

4

XAxis Accel. ( µg)

YA

xis

Acc

el. (

µg)

4 2 0 2 44

3

2

1

0

1

2

3

4

Figure 8.1.1-2 Crew Active Periods During TEA

Compilation of Torque Equilibrium Attitude Profiles During Crew Sleep Periodsoss[90.0 0.0 0.0]


Time Span = 27.48000.0625 sa/secmams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]


Centroid: Xct = 0.319 ( µg) Yct = 1.009 ( µg) Zct = +0.700 (µg)

Perc

enta

ge o

f T

ime

0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

XAxis Accel. ( µg)

ZA

xis

Acc

el. (

µg)

2 1 0 1 22

1.5

1

0.5

0

0.5

1

1.5

2

YAxis Accel. ( µg)

ZA

xis

Acc

el. (

µg)

2 1 0 1 22

1.5

1

0.5

0

0.5

1

1.5

2

XAxis Accel. ( µg)

YA

xis

Acc

el. (

µg)

2 1 0 1 22

1.5

1

0.5

0

0.5

1

1.5

2

Figure 8.1.1-3 Crew Sleep Periods for TEA


37

0 1 2 3 4 5 6 7 8 94

3

2

1

0

1

2

3

4

ZA

xis

Acc

eler

atio

n (

µg)

RM

S =

0.4

940

µgO

rigi

nal M

ean

= 0

.164

8 µg

Time (hours)from: t:\pub\, $Name: $, 20Jun2001,13:25:12.130

4

3

2

1

0

1

2

3

4

YA

xis

Acc

eler

atio

n (

µg)

RM

S =

0.4

882

µgO

rigi

nal M

ean

= 0

.158

0 µg

4

3

2

1

0

1

2

3

4

XA

xis

Acc

eler

atio

n (

µg)

RM

S =

2.0

055

µgO

rigi

nal M

ean

= 2

.002

4 µg

Start GMT 25May2001,00:15:07.965

XPOP Inertial Flight Attitude

oss[90.0 0.0 0.0]


0.0625 sa/sec (0.0 Hz)

mams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]

Figure 8.1.2-1 XPOP Attitude


38

Compilation of XPOP Attitude Profiles During Crew Sleep Periods oss[90.0 0.0 0.0]Increment: 2, Flight: 6A

Time Span = 31.2756 hours0.0625 sa/secmams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]


Centroid: Xct = +2.027 (µg) Yct = 0.293 ( µg) Zct = +0.524 (µg)

Perc

enta

ge o

f T

ime

0

0.1

0.2

0.3

0.4

0.5

XAxis Accel. ( µg)

ZA

xis

Acc

el. (

µg)

4 2 0 2 44

3

2

1

0

1

2

3

4

YAxis Accel. ( µg)

ZA

xis

Acc

el. (

µg)

4 2 0 2 44

3

2

1

0

1

2

3

4

XAxis Accel. ( µg)

YA

xis

Acc

el. (

µg)

4 2 0 2 44

3

2

1

0

1

2

3

4

Figure 8.1.2-2 XPOP Attitude Profile for Crew Sleep Periods


39

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 525

20

15

10

5

0

5

10

15

20

25

ZA

xis

Acc

eler

atio

n (

µg)

RM

S =

3.0

752

µgO

rigi

nal M

ean

= 1

.730

0 µg


25

20

15

10

5

0

5

10

15

20

25

YA

xis

Acc

eler

atio

n (

µg)

RM

S =

2.8

800

µgO

rigi

nal M

ean

= 0

.986

5 µg

25

20

15

10

5

0

5

10

15

20

25

XA

xis

Acc

eler

atio

n (

µg)

RM

S =

4.8

360

µgO

rigi

nal M

ean

= 1

.919

5 µg

Start GMT 05May2001,23:00:00.805

Attitude Change During Soyuz TM31 Undocking

oss[90.0 0.0 0.0]Increment: 2, Flight: 6A

0.0625 sa/sec (0.0 Hz)mams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]

+XVV / +ZLV +XVV / +ZLV XVV / +ZLV

Figure 8.1.3-1 Undocking of Soyuz TM-31


40

0 1 2 3 4 5 6 7 815

10

5

0

5

10

15

ZA

xis

Acc

eler

atio

n (

µg)

RM

S =

2.6

639

µgO

rigi

nal M

ean

= 1

.173

4 µg


15

10

5

0

5

10

15

YA

xis

Acc

eler

atio

n (

µg)

RM

S =

1.9

131

µgO

rigi

nal M

ean

= 0

.830

6 µg

15

10

5

0

5

10

15

XA

xis

Acc

eler

atio

n (

µg)

RM

S =

2.3

235

µgO

rigi

nal M

ean

= 0

.864

4 µg

Start GMT 22May2001,20:00:05.398

Progress Docking

oss[90.0 0.0 0.0]


0.0625 sa/sec

mams, ossbtmf at LAB1O2, ER1, Lockers 3,4:[135.28 10.68 132.12]

Docking Attitude

Figure 8.1.3-2 Progress Docking


41

1211109876

Σ PSD Magnitude [log 10(g2/Hz)]

hh:m

m

Frequency (Hz)

Star

t GM

T 0

8Jun

2001

,09:

25:0

0.00

1 from

: /r/

tscc

rusa

der/

sdds

/pub

/pad

/, $N

ame:

pop

1_06

1320

01 $

, 16A

ug20

01,1

4:21

:34.

220

SKV

1 A

ir C

ondi

tione

r/D

ehum

idif

ier

Tur

n O

ffSp

an =

29.

90 m

inut

esH

anni

ng, k

= 4

39Su

mIn

crem

ent:

2, F

light

: 6A

Tem

p. R

es. =

4.0

96 s

ec, N

o =

0∆f

= 0

.244

Hz,

Nff

t = 4

096

1000

.0 s

a/se

c (1

00.0

0 H

z)m

ams,

hir

ap a

t LA

B1O

2, E

R1,

Loc

kers

3,4

:[13

8.68

16.

18 1

42.3

5]

09:2

509

:27

09:3

009

:33

09:3

609

:39

09:4

209

:45

09:4

809

:50

09:5

30102030405060708090100

EV

A S

KV

1 A

ir C

ondi

tione

r/D

ehum

idif

ier

Tur

ned

Off

Figure 8.2.1.1-1 Color Spectrogram Showing SKV-1 Air Conditioner/DehumidifierTurn Off F

igu

re 8

.2.1

.1-1

Co

lor

Sp

ectr

og

ram

Sh

ow

ing

SK

V-1

Air

Co

nd

itio

ner

/Deh

um

idif

ier

Tu

rn O

ff


42

0 5 10 15 20 25 3010

14

1012

1010

108

106

ZA

xis

PSD

(g

2 /Hz)

Frequency (Hz)from: t:\pub\pad\, $Name: pop1_06132001 $, 20Jun2001,07:08:00.625

1014

1012

1010

108

106

YA

xis

PSD

(g

2 /Hz)

1014

1012

1010

108

106

XA

xis

PSD

(g

2 /Hz)

Start GMT 08Jun2001,09:38:00.001

SKV1 Air Conditioner/Dehumidifier ONSpan = 180.00 sec.

Hanning, k = 9

hirap[180.0 0.0 0.0]


P = 43.8%, No = 14364∆f = 0.031 Hz, Nfft = 32768

1000.0 sa/sec (100.00 Hz)

mams, hirap at LAB1O2, ER1, Lockers 3,4:[138.68 16.18 142.35]

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


43

0 5 10 15 20 25 3010

14

1012

1010

108

106

ZA

xis

PSD

(g

2 /Hz)


1014

1012

1010

108

106

YA

xis

PSD

(g

2 /Hz)

1014

1012

1010

108

106

XA

xis

PSD

(g

2 /Hz)

Start GMT 08Jun2001,09:42:00.000

SKV1 Air Conditioner/Dehumidifier OFFSpan = 180.00 sec.

Hanning, k = 9

hirap[180.0 0.0 0.0]


P = 43.8%, No = 14364∆f = 0.031 Hz, Nfft = 32768

1000.0 sa/sec (100.00 Hz)

mams, hirap at LAB1O2, ER1, Lockers 3,4:[138.68 16.18 142.35]

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


44

02

46

810

1214

1618

20051015 Acceleration Vector Magnitude (mg)

RMS = 3.3852 mgMean = 3.1384 mg

Tim

e (s

econ

ds)

from

: /r/

sdds

/pim

s/pu

b/pa

d/, $

Nam

e: p

opbe

ta_0

6072

001

$, 0

7Jun

2001

,10:

12:2

7.86

7

Star

t GM

T 2

3May

2001

,00:

24:1

3.00

1Pr

ogre

ss V

ehic

le D

ocki

ng to

Aft

of

Serv

ice

Mod

ule

Vec

tor

Mag

nitu

deIn

crem

ent:

2, F

light

: 6A

1000

.0 s

a/se

c (1

00.0

0 H

z)m

ams,

hir

ap a

t LA

B1O

2, E

R1,

Loc

kers

3,4

:[13

8.68

16.

18 1

42.3

5]

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

Fig

ure

8.2

.1.2

-1 A

ccel

erat

ion

Vec

tor

Mag

nit

ud

e T

ime

His

tory

fo

r P

rog

ress

Veh

icle

Do

ckin

g


45

1211109876


Tim

e (m

inut

es)

Frequency (Hz)

Star

t GM

T 2

3May

2001

,00:

15:0

0

from

: t:\p

ub\p

ad\,

$Nam

e: p

op1_

0613

2001

$, 2

8Jun

2001

,09:

27:4

0.40

3

Prog

ress

Veh

icle

Doc

king

Span

= 5

9.81

min

utes

Han

ning

, k =

872

Sum

Incr

emen

t: 2,

Flig

ht: 6

A

Tem

p. R

es. =

4.0

96 s

ec, N

o =

409

6∆f

= 0

.122

Hz,

Nff

t = 8

192

1000

.0 s

a/se

c (1

00.0

0 H

z)m

ams,

hir

ap a

t LA

B1O

2, E

R1,

Loc

kers

3,4

:[13

8.68

16.

18 1

42.3

5]

010

2030

4050

600102030405060708090100

Figure 8.2.1.2-2 Color Spectrogram for Progress Vehicle Docking

Fig

ure

8.2

.1.2

-2 C

olo

r S

pec

tro

gra

m f

or

Pro

gre

ss V

ehic

le D

ock

ing


46

1211109876


hh:m

m

Frequency (Hz)

Star

t GM

T 0

8Jun

2001

,08:

00:0

0

from

: /r/

sdds

/pim

s/pu

b/pa

d/, $

Nam

e: p

op1_

0613

2001

$, 2

0Jun

2001

,08:

57:4

3.65

0

HiR

AP

Span

= 7

.96

hour

sH

anni

ng, k

= 2

16Su

mIn

crem

ent:

2, F

light

: 6A

Tem

p. R

es. =

131

.072

sec

, No

= 0

∆f =

0.0

08 H

z, N

fft =

131

072

1000

.0 s

a/se

c (1

00.0

0 H

z)m

ams,

hir

ap a

t LA

B1O

2, E

R1,

Loc

kers

3,4

:[13

8.68

16.

18 1

42.3

5]

08:0

009

:00

10:0

011

:00

12:0

013

:00

14:0

015

:00

16:0

00

0.2

0.4

0.6

0.81

1.2

1.4

1.6

1.82

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

ure

8.2

.1.3

-1 8

-Ho

ur

Co

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Sp

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Figure 8.2.1.4-1 RMS Acceleration vs. One-Third Octave Frequency Bands forSAMS F06 Data (6A configuration)

Fig

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MS

Acc

eler

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131211109876543


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Frequency (Hz)

GM

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22:1

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023

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020406080100

120

140

160

180

200

Figure 8.2.2.1-1 Spectrogram of EXPPCS Sample Mix Operation Fig

ure

8.2

.2.1

-1 S

pec

tro

gra

m o

f E

XP

PC

S S

amp

le M

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n)


50

0 30 60 90 120 150 180 210 240 270 300200

150

100

50

0

50

100

150

200

ZA

xis

Acc

eler

atio

n (m

g)

Time (seconds)from: t:\pub\pad\, $Name: popbeta_06072001 $, 12Jun2001,12:19:31.609

200

150

100

50

0

50

100

150

200

YA

xis

Acc

eler

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n (m

g)

200

150

100

50

0

50

100

150

200

XA

xis

Acc

eler

atio

n (m

g)

Start GMT 04Jun2001,22:20:10.873

30Second Duty Cycle of EXPPCS Sample Mix OperationsSize: 0.25, Step: 0.25 sec.

Interval Minmax

121f06[180.0 90.0 0.0]


500.0 sa/sec (200.00 Hz)

sams2, 121f06 at LAB1O1, ER2, PCS Test Section:[179.90 6.44 145.55]

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


51

0 20 40 60 80 100 120 140 160 180 20010

15

1010

105

ZA

xis

PSD

(g

2 /Hz)


1015

1010

105

YA

xis

PSD

(g

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1015

1010

105

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Start GMT 04Jun2001,22:39:42.000

EXPPCS Sample Mix OnSpan = 25.00 sec.

Hanning, k = 2121f06[180.0 90.0 0.0]Increment: 2, Flight: 6A

P = 47.4%, No = 3884∆f = 0.061 Hz, Nfft = 8192

500.0 sa/sec (200.00 Hz)sams2, 121f06 at LAB1O1, ER2, PCS Test Section:[179.90 6.44 145.55]

Figure 8.2.2.1-3 PSDs of EXPPCS Sample Mix Operation


52

0 20 40 60 80 100 120 140 160 180 20010

15

1010

105

ZA

xis

PSD

(g

2 /Hz)


1015

1010

105

YA

xis

PSD

(g

2 /Hz)

1015

1010

105

XA

xis

PSD

(g

2 /Hz)

Start GMT 04Jun2001,22:40:14.000

EXPPCS Sample Mix OffSpan = 25.00 sec.

Hanning, k = 2

121f06[180.0 90.0 0.0]


P = 47.4%, No = 3884∆f = 0.061 Hz, Nfft = 8192

500.0 sa/sec (200.00 Hz)

sams2, 121f06 at LAB1O1, ER2, PCS Test Section:[179.90 6.44 145.55]

Figure 8.2.2.1-4 PSDs Without EXPPCS Sample Mix Operation


53

020

4060

8010

012

014

016

018

020

00

0.02

0.04

0.06

0.080.1

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Σ Cumulative RMS (g RMS )

Freq

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911

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4Jun

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39:4

2.00

0E

XPP

CS

Sam

ple

Mix

On

Span

= 2

5.00

sec

.H

anni

ng, k

= 2

Sum

Incr

emen

t: 2,

Flig

ht: 6

A

∆f =

0.0

61 H

z, N

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819

250

0.0

sa/s

ec (

200.

00 H

z)sa

ms2

, 121

f06

at L

AB

1O1,

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2, P

CS

Test

Sec

tion:

[179

.90

6.44

145

.55]

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

Fig

ure

8.2

.2.1

-5 C

um

ula

tive

RM

S A

ccel

erat

ion

vs.

Fre

qu

ency

of

EX

PP

CS

Sam

ple

Mix

Op

erat

ion


54

020

4060

8010

012

014

016

018

020

00

0.2

0.4

0.6

0.81

1.2

1.4

1.6

1.8

x 10

3

Σ Cumulative RMS (g RMS )

Freq

uenc

y (H

z)fr

om: t

:\pub

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, 22J

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4:49

:51.

161

Star

t GM

T 0

4Jun

2001

,22:

40:1

4.00

0E

XPP

CS

Sam

ple

Mix

Off

Span

= 2

5.00

sec

.H

anni

ng, k

= 2

Sum

Incr

emen

t: 2,

Flig

ht: 6

A

∆f =

0.0

61 H

z, N

fft =

819

250

0.0

sa/s

ec (

200.

00 H

z)sa

ms2

, 121

f06

at L

AB

1O1,

ER

2, P

CS

Test

Sec

tion:

[179

.90

6.44

145

.55]

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

Fig

ure

8.2

.2.1

-6 C

um

ula

tive

RM

S A

ccel

erat

ion

vs.

Fre

qu

ency

Wit

ho

ut

EX

PP

CS

Sam

ple

Mix

Op

erat

ion


55

02

46

810

1214

1618

2010

13

1012

1011

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109

108

Σ PSD (g2/Hz)

Freq

uenc

y (H

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om: t

:\pub

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005

Star

t GM

T S

leep

(bl

ack)

: 03J

un20

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8:40

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000,

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e (r

ed):

03J

un20

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8:48

:00.

001

Cre

w A

ctiv

ity C

ompa

riso

nSp

an =

240

.00

sec.

Han

ning

, k =

26

Sum

Incr

emen

t: 2,

Flig

ht: 6

A

P =

45.

3%,

No

= 7

430

∆f =

0.0

61 H

z, N

fft =

163

8410

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sa/

sec

(100

.00

Hz)

mam

s, h

irap

at L

AB

1O2,

ER

1, L

ocke

rs 3

,4:[

138.

68 1

6.18

142

.35]

Figure 8.2.3-1 Spectral Comparison of Crew Activity Fig

ure

8.2

.3-1

Sp

ectr

al C

om

par

iso

n o

f C

rew

Act

ivit

y O

per

atio

n


56

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.

4. 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.

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

8. International Space Station Research Plan—Office of Biological and PhysicalResearch, NASA, August 2000.

9. 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 GlennResearch 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) FinalReport, CSI-9604, September 1996.

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


57

18. Hogg, Robert V., “Adaptive Robust Procedures: A Partial Review and SomeSuggestions for Future Applications and Theory”, Journal of the AmericanStatistical Association, Vol. 69, December 1974.

19. Microgravity Analysis Integration Team, “Microgravity Control Plan (RevisionB)”, Report No: SSP-50036 B, the Boeing Company, Houston, TX, NASAContract No. NAS15-1000 (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, NASAContract No., NAS15-10000, August 1998.

21. Software Requirements for Processing Microgravity Acceleration Data from theInternational Space Station, PIMS-ISS-001, May 2000.


58

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 overthe Internet via FTP from a NASA GRC file server. The flow chart shown in FigureAppendix B-1 diagrams a procedure that can be used to download data files of interest:

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

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

navigate to desiredyear/month/day path

change directory to desiredMeasurmentSystem_DataType_SensorID[DataQualifier]

start

client typeURL

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

(browser)

establishconnection

contact [email protected] following information:

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

change directoryto pad

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

StartTime-StopTime.SensorID[DataQualifier]where Start/Stop Times are

underscore-delimited GMT fields:YYYY_MM_DD_hh_mm_ss.sss

year_month_day_hour_minute_second

received all data filesof interest

done

failed

successful

no

yes

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


59

A fictitious file listing is shown in Figure Appendix B-2 depicting the PIMS AccelerationData (PAD) file system hierarchy.

Figure Appendix B-2 Screenshot of Sample PAD File Listing

For the directory highlighted on the left of this sample listing, the measurement system issams2 and the sensor identifier is 121f01 . On the right, there is a partial listing of theacceleration 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 elec-tronic mail message to [email protected]. Please describe the nature of the diffi-culty, and give a description of the hardware and software you are using to access the fileserver, including the domain name and/or IP address from which you are connecting.


60

Appendix C. Some Useful Acceleration Data and Microgravity Related URLs

Below is a list of some URLs that the microgravity scientific community might find veryuseful. They are all microgravity related. NASA does not endorse or cannot be held liablefor the information contained on any site, which is not NASA's. The PIMS Projectprovides 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/6712/PCS.htm

2. For more information on EXPRESS RACK go to:http://liftoff.msfc.nasa.gov/Shuttle/msl/science/express.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://www1.msfc.nasa.gov/NEWSROOM/background/facts/exp2fact.html

5. For more information on Microgravity Acceleration Measurement go to:http://microgravity.grc.nasa.gov/MSD/MSD_htmls/mmap.html

6. For more information on MAMS-OSS, MAMS-HiRAP and SAMS go to:http://tsccrusader.grc.nasa.gov/pims

7. For information on MAMS, SAMS data request go to:http://tsccrusader.grc.nasa.gov/pims/html/RequestDataPlots.html

8. For information on upcoming Microgravity Environment Interpretation Tutorial(MEIT) go to:http://www.grc.nasa.gov/WWW/MMAP/PIMS/MEIT/meitmain.html

9. For information on upcoming Microgravity Meeting Group (MGMG) go to:http://www.grc.nasa.gov/WWW/MMAP/PIMS/MGMG/MGMG_main.html

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


61

Appendix D. Acronym list and definition

Acronyms used in this Quick Look Report are listed below. A more extensive list ofNASA ISS-related acronyms can be found through the Internet at:

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

ACRONYM DEFINITION

AAA Avionics Air AssemblyAOS Acquisition of SignalARIS Active Rack Isolation SystemARIS-ICE ARIS ISS Characterization ExperimentCBM Common Berthing MechanismCDRA Carbon Dioxide Removal AssemblyCMG Control Moment GyroCPCG-H Commercial Protein Crystal Growth-High DensityECLSS Environmental Control and Life Support SystemER 1/2 EXPRESS Rack 1 or 2ESA European Space AgencyEVA Extravehicular ActivityEXPPCS Experiment of Physics of Colloids in SpaceEXPRESS Expedite the Processing of Experiments to the Space StationFGB Functional Cargo Block (Russian translation: Functionalui

Germatischeskii Block)g Gravity (9.81 m/s2 )GMT Greenwich Mean TimeGRC Glenn Research CenterGSE Ground Support EquipmentHiRAP High Resolution Accelerometer PackageHz HertzICU Interim Control UnitIMV Intermediate Ventilation SystemISS International Space StationJSC NASA Johnson Space CenterKSC Kennedy Space CenterLAB U. S. Laboratory ModuleLOS Loss of SignalLVLH Local Vertical Local HorizontalMAMS Microgravity Acceleration Measurement SystemMCA Major Constituent AnalyzerMEWS Mission Evaluation Workstation SystemMMAP Microgravity Measurement and Analysis ProjectMPLM Mini Pressurized Logistics Module or Multipurpose Logistics ModuleMSFC Marshall Space Flight CenterNASA National Aeronautics and Space AdministrationNASDA National Space Development Agency of JapanOARE Orbital Acceleration Research ExperimentOSS OARE Sensor SubsystemPAD PIMS Acceleration Data


62

PAO Public Affairs OfficePDSS Payload Data Services SystemPI Principal InvestigatorPIMS Principal Investigator Microgravity ServicesPMA Pressurized Mating AdapterPSD Power Spectral DensityPV PhotovoltaicQTH Quasi-steady Three-Dimensional HistogramRMS Root-Mean-SquareRSS Root-Sum-SquareRTS Remote Triaxial SensorSAMS Space Acceleration Measurement SystemSE Sensor EnclosureSO Starboard Truss Segment 0SSRMS Space Station Remote Manipulator SystemSTS Space Transportation SystemTCS Temperature Control SystemTEA Torque Equilibrium AttitudeTHC Temperature/Humidity Control SystemTMF Trimmean FilterTSC Telescience Support CenterVS Vacuum SystemXPOP X Principal Axis Perpendicular to the Orbit PlaneXVV X body axis toward the Velocity Vectorµg Microgravity (10E-6 g)WSS Water Separator SystemWWW World Wide Web

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