Kibo HANDBOOK
September 2007
Japan Aerospace Exploration Agency (JAXA)
Human Space Systems and Utilization Program Group
Kibo HANDBOOK
Contents
1.
Background on Development of Kibo ............................................ 1-1
1.1
Summary ........................................................................................................................... 1-2
1.2
International Space Station (ISS) Program ........................................................................ 1-2
1.2.1
Outline ......................................................................................................................... 1-2
1.3
Background of Kibo Development...................................................................................... 1-4
2.
Kibo Elements................................................................................... 2-1
2.1
Kibo Elements.................................................................................................................... 2-2
2.1.1
Pressurized Module (PM) ............................................................................................ 2-3
2.1.2
Experiment Logistics Module - Pressurized Section (ELM-PS) ................................... 2-4
2.1.3
Exposed Facility (EF) .................................................................................................. 2-5
2.1.4
Experiment Logistics Module - Exposed Section (ELM-ES) ........................................ 2-6
2.1.5
JEM Remote Manipulator System (JEMRMS)............................................................. 2-7
2.1.6
Inter-orbit Communication System (ICS) ..................................................................... 2-8
3.
Kibo Specifications .......................................................................... 3-1
3.1
Specifications of Kibo Components.................................................................................... 3-2
3.2
Kibo Operation Mode ......................................................................................................... 3-4
4.
Kibo System Components ............................................................... 4-1
4.1
Pressurized Module (PM) .................................................................................................. 4-2
4.1.1
Brief Summary............................................................................................................. 4-2
4.1.2
Layout ......................................................................................................................... 4-3
4.1.3
System Components of PM......................................................................................... 4-6
4.2
Experiment Logistics Module- Pressurized Section (ELM-PS) ........................................ 4-12
4.2.1
Brief Summary........................................................................................................... 4-12
4.2.2
Layout ....................................................................................................................... 4-13
4.2.3
System Components of ELM-PS............................................................................... 4-14
4.3
Exposed Facility............................................................................................................... 4-17
4.3.1
Brief Summary........................................................................................................... 4-17
4.3.2
Layout ....................................................................................................................... 4-19
4.3.3
System Components of EF........................................................................................ 4-21
4.4
Experiment Logistic Module-Exposed Section (ELM-ES) ................................................ 4-24
4.4.1
Brief summary ........................................................................................................... 4-24
4.4.2
Layout ....................................................................................................................... 4-26
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4.4.3
System Components of ELM-ES............................................................................... 4-27
4.5
Japanese Experiment Module Remote Manipulator System (JEMRMS) ......................... 4-29
4.5.1
Brief Summary........................................................................................................... 4-29
4.5.2
Layout ....................................................................................................................... 4-31
4.5.3
System Components of JEMRMS ............................................................................. 4-32
4.6
Inter orbit Communication System (ICS).......................................................................... 4-34
4.6.1
Brief Summary........................................................................................................... 4-34
4.6.2
Layout ....................................................................................................................... 4-35
4.6.3
System Components of ICS ...................................................................................... 4-36
5.
Kibo Operations................................................................................ 5-1
5.1
Launch and Flight Plan ...................................................................................................... 5-2
5.2
Kibo Assembly Sequence .................................................................................................. 5-3
5.2.1
1J/A Flight.................................................................................................................... 5-3
5.2.2
1J Flight....................................................................................................................... 5-6
5.2.3
2J/A Flight.................................................................................................................. 5-10
5.3
Kibo Operations Control................................................................................................... 5-13
5.3.1
Orbital Interface (between the ground to/from Kibo).................................................. 5-17
5.3.2
Ground Interface (between TKSC and NASA Mission Control Centers) ................... 5-18
6.
Kibo Utilization ................................................................................. 6-1
6.1
Summary ........................................................................................................................... 6-2
6.2
Environment....................................................................................................................... 6-2
6.2.1
Microgravity ................................................................................................................. 6-2
6.2.2
Line of Sight and field of view from the ISS ................................................................. 6-2
6.2.3
Background Atmosphere ............................................................................................. 6-3
6.2.4
Space Radiation .......................................................................................................... 6-4
6.2.5
Thermal Environment .................................................................................................. 6-4
6.2.6
Micrometeoroid and Space Debris .............................................................................. 6-4
6.3
Experiment Payloads ......................................................................................................... 6-5
6.3.1
Experiment Payloads for Kibo’s Pressurized Module (PM) ......................................... 6-5
6.3.2
Exposed Facility (EF) Experiment Payloads.............................................................. 6-15
6.4
Utilization Plan ................................................................................................................. 6-21
6.4.1
Overall Schedule ....................................................................................................... 6-21
6.4.2
Utilization Fields ........................................................................................................ 6-22
6.4.3
Experiment Themes .................................................................................................. 6-23
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6.4.4
Utilization Plan........................................................................................................... 6-27
7.
H-II Transfer Vehicle (HTV) Overview .............................................. 7-1
7.1
Summary ........................................................................................................................... 7-2
7.1.1
HTV Components ........................................................................................................ 7-3
7.2
HTV Operations ................................................................................................................. 7-7
7.2.1
Launch ........................................................................................................................ 7-8
7.2.2
Rendezvous ................................................................................................................ 7-9
7.2.3
Berthing with the ISS (Proximity Operation Phase) ................................................... 7-10
7.2.4
Operations while berthed to the ISS.......................................................................... 7-12
7.2.5
Departure from the ISS and Reentry ......................................................................... 7-14
Appendix
Acronyms and Abbreviations
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1. Background on Development of Kibo
1-1
1. Background on Development of Kibo
1-2
1.1 Summary
The International Space Station (ISS) is “the first borderless world
“
mankind has ever had in history. The
United States of America (US), Japan, Canada, European countries and Russia are participating in this ISS
program. These partners have been collaboratively promoting the construction, assembly, and utilization of the
ISS. This type of collaboration, which utilizes the state-of-the-art technologies from many different countries
for constructing a single facility, has never been done before. The ISS, in many ways, is truly a symbol of
global cooperation and peace, as well as an important research facility to provide a major breakthrough in the
world’s space development endeavors.
The conceptual design of the space station’s drawing was initiated in 1982. The first ISS component, the
Zarya Module, was launched in 1998 overcoming numerous obstacles through the international cooperation of
the ISS partner countries. The ISS construction was once suspended due to the Space Shuttle Columbia
accident in 2003. However, from 2006, the ISS construction has resumed with the target completion year set at
2010.
This chapter describes the background and the surrounding issues related to the development of Kibo from
the perspectives of cross-border collaboration and Japan’s domestic activities.
1.2
International Space Station (ISS) Program
1.2.1 Outline
The International Space Station (ISS) is a manned research facility flying about 400 km above the earth.
While the ISS orbits the earth at a rate of 90 minutes per orbit, earth observation, astronomical observations
and scientific experiments are conducted on-board.
The primary objectives of the ISS are to provide a facility for conducting long-term experiments and
researches by using the environment unique to space, to promote science and technology by utilizing the results
from these experiments and researches, and to contribute to the betterment of mankind and a means for
commercial development.
For the assembly and construction of the ISS, the US space shuttles and Russia’s Proton and Soyuz launch
vehicles are used for transporting the ISS components, one segment after another, more than 40 launches
projected to assemble the ISS. The US, Japan, Canada, Russia and 11 of the 17 member countries of the
European Space Agency (ESA), including Italy, Denmark, Norway, Belgium, Netherlands, France, Spain,
Germany, Swedish, Switzerland and the United Kingdom (UK), are participating in this international
collaborative program, as ISS partner countries. Japan contributes to the ISS program through the
development and utilization of Kibo.
Figure 1.2.1-1shows an overview of the ISS. Table 1.2.1-1 shows the ISS specifications.
Kibo HANDBOOK
Figure 1.2.1-1 ISS Overview
Table 1.2.1-1 ISS Specifications
Items Specifications
Size
108.5 m x 72.8 m (Size is equivalent to an American football field)
Mass (Weight)
420 t
Power Generation
110 kW
Experiment Modules: 5
(includes: US 1 (Destiny), Japan 1 (Kibo), ESA 1 (Columbus), Russia 2
(RM, MLM))
Number of pressurized modules
Habitation Modules: 1
(Russia 1 (Zvezda))
External Research
Accommodations
10 on the ISS truss
10 on Kibo’s Exposed Facility (EF)
4 on Columbus
Number of crew (capacity)
6 (2 to 3 during the construction/assembly phase)
Orbit
Circular Orbit (Altitude 330 to 480 km)
Inclination 51.6 degree
Transportation system/launch
vehicle
Assembly flight: Space Shuttle (US), Soyuz launch vehicle / Proton
launch vehicle (Russia)
Logistics flight: Space Shuttles (US), Soyuz launch vehicle (Russia),
Ariane launch vehicle (ESA), H-IIB launch vehicle (Japan)
1-3
1. Background on Development of Kibo
1-4
1.3
Background of Kibo Development
In June 1982, the government of Japan was requested from NASA to participate in the Space Station
Program. In response to this request, a technical study led by the National Space Development Agency of
Japan (NASDA) was initiated to establish the basic framework for Japan’s participation in the Space Station
Program. In August 1982, the Space Station Program Task Force was formed under the auspices of the Space
Development Committee. Deliberations on Japan’s participation in the Space Station Program Framework were
started.
In April 1985, the "Basic Framework for Participating in the Space Station Program" was established based
on the results from the studies conducted by the Space Development Committee's Space Station Taskforce.
Japan’s participation in the Space Station Program was then officially announced. In the "Basic Framework
for Participating in the Space Station Program", the significance of Japan’s participation in the program was
described. The following is a summary of the framework.
(1) High
Technology
Acquisition
The space station is expected to actively and extensively use advanced technologies. This will ultimately
lead to acquiring techniques for supporting manned space flight and the developing leading edge space
technologies while this large construction project in space is ongoing. The space station will also lead to the
promotion and development of advanced technologies in several fields including robotics, computers, and
communications. In addition, significant improvements in advanced technology standards are anticipated.
(2) Promotion of Science and Technology for the Next Generation, and Expansion of Space
Activity Scope
The space station has the capability to 1) extend the amount of time that humans can spend in space, 2)
accommodate many crew members, and 3) increase power supply and crew time. This capability would
enable extensive scientific observations or conducting larger experiments in space. It would also increase the
opportunity for new scientific findings and promote the development of new technologies. In addition, the
space station has the capability of being an outpost for on-orbit space activities, or could be a base station for
supporting manned explorations to the moon and other planets. These capabilities will lead to expanding the
scope of human activities in space.
(3) International
Contribution
Japan is expected to fulfill Japan’s share of international responsibility by contributing to the world’s space
development through the technologies fostered by Japan’s own independent developments or by utilizing the
space shuttles. Through collaboration and participation in the Space Station Program, the relationship
between the US and Japan can be maintained or enhanced. In addition, Japan’s technology will be enhanced
by keeping pace with the world’s space development. Specifically, Japan will be able to internationally
Kibo HANDBOOK
contribute to the advanced technology fields, including electronics, optical communication and robotics, which
are technological strengths of Japan.
(4) Promotion of Practical Application of Space Environment Utilization
Recently, experiments using the space environment, including the development of materials and the
production of medicines, are being promoted. The utilization of the space environment has received a
significant amount of attention. The Space Station Program will advance space environment utilization.
Space utilization is generally targeted for commercial activities. Expansion of commercial activities in space
is a goal for many countries, including the United States.
With the aim of achieving the above objectives, Kibo has been developed as Japan’s first manned spacecraft.
Table 1.3-1 shows the background of Kibo development.
Table 1.3-1 Background of Kibo Development (1/2)
Timeline Activities
April, 1984
In response to US President Reagan’s request, NASDA and the commissioned
companies began studies on Japan’s participation in the Space Station Program
May, 1985
The government of Japan signed a Memorandum of Understanding (MOU) with
NASA that pertained to Japan’s participation in the space station’s preliminary
design. The preliminary design was continued for two years thereafter.
Policy-related discussions with NASA were conducted under the auspices of
Japan’s Science and Technological Agency (STA). Technical and
engineering-related discussions with NASA were conducted under the auspices of
NASDA.
March, 1987
Completion of the space station’s preliminary design.
March, 1989
A MOU was signed between NASA and the government of Japan.
June, 1989
Japan’s Diet (Japan’s legislature) approved the Inter-Governmental Agreement
(IGA) that covered the detailed design, development, operation and utilization of a
regularly manned civil space station, and included the US government, European
countries that are members of the ESA, the government of Japan and Canada’s
government. Japan officially started the full-scale development of the Japanese
Experiment Module for the Space Station Program.
January, 1990
Japan initiated basic designs of Kibo’s systems and components.
March, 1990
The “Tokyo Agreement” was executed to establish standardization requirements for
the International Standard Payload Rack (ISPR) for use with the ISS modules. The
standardizing requirements for the ISPR had been discussed amongst NASA, ESA
and NASDA, as part of their trilateral cooperation. The standardizing requirements
stipulated and defined the system interfaces, including the rack structure envelope,
attachment mechanisms to the ISS modules, power, cooling, data, and video
interfaces.
March, 1994
Design of a newly reconfigured space station, also renamed as the “International
Space Station (ISS)”, was approved. During the reconfiguration and review, the
interfaces between Kibo and the ISS were revised. The control documents related
to Kibo’s launch, operations and development were also reviewed.
March, 1994
Development of the Kibo Flight Model (PFM) was initiated.
1-5
1. Background on Development of Kibo
1-6
Table 1.3-1 Background of Kibo Development (2/2)
Timeline Activities
July, 1996
Development of Kibo’s Inter-orbit Communication System (ICS), which will be
used for communications between Kibo and the Data Relay Test Satellite (DRTS),
also known as “Kodama”, was decided, based on the consensus to utilize the
DRTS.
April, 1999
The name of the Japanese Experiment Module was domestically solicited and,
“Kibo” was selected from the numerous names that were submitted.
May, 2000
Kibo’s Experiment Logistics Module-Pressurized Section (ELM-PS) arrived at
Tsukuba Space Center (TKSC). A series of tests on the ELM-PS systems were
initiated.
November, 2000
Kibo’s Exposed Facility (EF) was shipped from the prime contractor to TKSC. A
series of tests on the EF systems were initiated.
December, 2000
Kibo’s Experiment Logistic Module-Exposed Section (ELM-ES) was shipped from
the prime contractor to TKSC. A series of tests on the ELM-ES systems were
initiated.
September, 2001
After completing a series of system tests, Kibo’s Pressurized Module (PM) was
shipped from the prime contractor to TKSC.
October, 2001
Kibo’s total system test was conducted from October 2001 to May 2002.
April, 2003
At the NASA-NASDA PM Pre-shipment Review meeting held on April 7th, the
PM was verified as satisfying the requirements for transferring to the US. On April
22nd, the PM departed on a river barge from Tsuchiura New Harbor to Yokohama
Harbor.
May, 2003
The PM departed on an ocean vessel from Yokohama Harbor to NASA’s Kennedy
Space Center (KSC). The PM arrived at Port Canaveral, which is adjacent to the
KSC on May 30th.
August, 2003
At KSC, the PM went through the Multi-Element Integrated Test-III (MEIT-III),
which is a test that verifies the system functionality and interface compatibility
between the PM and the connection module, Node 2.
September, 2003
From September 2003 to March 2004, a series of tests on the PM were conducted,
including the functionality verification tests, the Flight Crew Interface Test (FCIT),
leak tests and a series of checkouts and inspections prior to classifying the PM as,
“in loading process”. One year prior to launch is set as the “functionality
maintenance period”. During this period, various tasks are scheduled that’s targeted
to the loading of the PM on to the space shuttle.
January, 2007
On January 12th, Kibo’s robotic arm, Japanese Experiment Module Remote
Manipulator System (JEMRMS) was shipped via air transport, from TKSC to KSC.
On January 26th, Kibo’s ELM-PS was shipped from TKSC. The ELM-PS was
shipped via river barge from Tsuchiura New Harbor to Yokohama Harbor.
February, 2007
On February 7th, the ELM-PS departed on an ocean vessel from Yokohama Harbor
to KSC. The ELM-PS arrived at Port Canaveral, which is adjacent to KSC on
March 12th.
Kibo HANDBOOK
2. Kibo Elements
2-1
2. Kibo Elements
Elements
2-2
2-2
2.1 Kibo
Elements
2.1 Kibo
Elements
The Japanese Experiment Module (JEM), also known as Kibo, consists of six components: two experiment
facilities of the Pressurized Module (PM) and the Exposed Facility (EF), a Logistics Module that is attached to
each of the PM and EF, a Remote Manipulator System(RMS), and an Inter-Orbit Communication System(ICS).
Figure 2.1-1 shows an overview of the assembled Kibo structure.
The Japanese Experiment Module (JEM), also known as Kibo, consists of six components: two experiment
facilities of the Pressurized Module (PM) and the Exposed Facility (EF), a Logistics Module that is attached to
each of the PM and EF, a Remote Manipulator System(RMS), and an Inter-Orbit Communication System(ICS).
Figure 2.1-1 shows an overview of the assembled Kibo structure.
Air, electrical power, heat and communications, which are essential for Kibo’s operation, will be supplied
from the International Space Station (ISS).
Air, electrical power, heat and communications, which are essential for Kibo’s operation, will be supplied
from the International Space Station (ISS).
Inside the space shuttle cargo bay, electrical power is provided to the Kibo’s elements from the Space Shuttle
to prevent the coolant water lines from freezing, and to maintain optimal temperatures within the critical
components prior to final attachment to the ISS.
Inside the space shuttle cargo bay, electrical power is provided to the Kibo’s elements from the Space Shuttle
to prevent the coolant water lines from freezing, and to maintain optimal temperatures within the critical
components prior to final attachment to the ISS.
Experiment Logistics Module-Pressurized Section
(ELM-PS)
Pressurized Module (PM)
Inter-orbit Communication System (ICS)
Exposed Facility (EF)
Kibo
Direction of travel
JEM Remote Manipulator System
(JEMRMS)
Experiment Logistics Module
- Exposed Section (ELM-ES)
Figure 2.1-1 Kibo Structure
Figure 2.1-1 Kibo Structure
Kibo HANDBOOK
2.1.1 Pressurized Module (PM)
Kibo’s Pressurized Module (PM) is 11.2 meters in length and 4.4 meters in diameter. The PM’s internal air
pressure is maintained at one atmosphere (1 atm), thus providing a shirt-sleeve working environment for the
crew. ISS crew will conduct unique microgravity experiments within the PM. The PM will hold 23 racks -
ten of which are International Standard Payload Rack (ISPR) for experiment payloads. The remaining 13
racks are dedicated to Kibo’s systems and storage.
Kibo also has a scientific airlock, the “JEM Airlock”, through which experiments are transferred and
exposed to the external environment.
Figure 2.1.1-1 shows a picture of the PM.
Pressurized Module (PM)
JEM Airlock
Figure 2.1.1-1 Pressurized Module (PM)
2-3
2. Kibo Elements
2-4
2.1.2 Experiment Logistics Module - Pressurized Section (ELM-PS)
Kibo’s Experiment Logistics Module - Pressurized Section (ELM-PS) provides a storage space for
experiment payloads, samples and spare items. The interior of the ELM-PS is controlled and maintained at
the same air pressure and temperature as that of the PM, and astronauts will be able to freely move between the
ELM-PS and the PM. Among the ISS research facilities/modules, Kibo is the only experiment module with
its own dedicated storage facility.
Figure 2.1.2-1 shows an external view of the ELM-PS.
Figure 2.1.2-1 Experiment Logistics Module-Pressurized Section (ELM-PS)
Kibo HANDBOOK
2.1.3 Exposed Facility (EF)
Kibo’s Exposed Facility (EF) provides a multipurpose platform where science experiments can be deployed
and operated in the exposed envirnment. The experiment payloads attached on the EF will be exchanged or
retrieved by using Kibo’s robotic arm, the “JEM Remote Manipulator System (JEMRMS)”, which will be
operated by the crew from inside the PM.
Figure 2.1.3-1 shows an external view of the EF.
Figure 2.1.3-1 Exposed Facility (EF)
2-5
2. Kibo Elements
2-6
2.1.4 Experiment Logistics Module - Exposed Section (ELM-ES)
Kibo’s Experiment Logistics Module-Exposed Section (ELM-ES) is attached to the end of the EF and
provides a storage space for experiment payloads and samples. Experiment payloads and samples are stored
for later use for the experiments on the EF. Up to three experiment payloads can be stored on the ELM-ES.
In addition, the ELM-ES provides a logistics function where the ELM-ES can be detached from the EF and
returned to the ground aboard the space shuttle along with completed experiments or samples. The ELM-ES
can be re-stocked and then launched again on missions to the ISS.
Figure 2.1.4-1 is an overview of the ELM-ES.
Figure 2.1.4-1 Experiment Logistics Module-Exposed Section (ELM-ES)
Kibo HANDBOOK
2.1.5 JEM Remote Manipulator System (JEMRMS)
Kibo’s robotic arm, JEM Remote Manipulator System (JEMRMS), serves as the human arm and hand in
supporting the experiments conducted on the EF. The JEMRMS is composed of the Main Arm (MA) and the
Small Fine Arm (SFA). Each arm has six joints. The MA is used primarily for exchanging external EF
payloads and for moving large items. The SFA, which is attached to the end of the MA, is used for more
delicate operations. The crew will operate these robotic arms from a remote operations console, the JEMRMS
Console, located inside the PM. The crew will watch external images, taken from the cameras that are
attached to the MA, on a television monitor at the JEMRMS Console.
Figure 2.1.5-1 shows a picture of the JEMRMS.
Main Arm
(
MA)
Small Fine Arm
(
SFA)
EF ORU mock-up
Figure 2.1.5-1 JEM Remote Manipulator System (JEMRMS) -Combination Operation Test
2-7
2. Kibo Elements
Elements
2-8
2-8
2.1.6 Inter-orbit Communication System (ICS)
2.1.6 Inter-orbit Communication System (ICS)
Kibo’s Inter-Orbit Communication System (ICS) provides independent intercommunications between Kibo
and the Tsukuba Space Center (TKSC). Through the JAXA’s Data Relay Test Satellite (DRTS), commands
and voice are uplinked from the ground to Kibo, and experiment data, image data or voice are downlinked from
Kibo to the ground for scientific payload operations. The ICS consists of two subsystem components:
ICS-Pressurized Module (ICS-PM) and ICS-Exposed Facility (ICS-EF). The ICS-PM, which is installed in the
PM, provides command and data handling functions. The ICS-EF has antenna and pointing mechanism that
will be used to communicate with the DRTS.
Kibo’s Inter-Orbit Communication System (ICS) provides independent intercommunications between Kibo
and the Tsukuba Space Center (TKSC). Through the JAXA’s Data Relay Test Satellite (DRTS), commands
and voice are uplinked from the ground to Kibo, and experiment data, image data or voice are downlinked from
Kibo to the ground for scientific payload operations. The ICS consists of two subsystem components:
ICS-Pressurized Module (ICS-PM) and ICS-Exposed Facility (ICS-EF). The ICS-PM, which is installed in the
PM, provides command and data handling functions. The ICS-EF has antenna and pointing mechanism that
will be used to communicate with the DRTS.
Figure 2.1.6-1 shows pictures of the ICS subsystems.
Figure 2.1.6-1 shows pictures of the ICS subsystems.
ICS-Pressurized Module (ICS-PM)
ICS Exposed Facility subsystem (ICS-EF)
Antenna
(being stowed)
ICS-Pressurized Module
(ICS-PM)
Space for PROX system
PROX (Proximity Communication System) is a communication system which will be used for a
rendezvous operation of the H-II Transfer Vehicle (HTV)
Figure 2.1.6-1 Inter-orbit Communication System (ICS)
Figure 2.1.6-1 Inter-orbit Communication System (ICS)
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3. Kibo Specifications
3-1
3. Kibo Specifications
3-2
3.1
Specifications of Kibo Components
Table 3.1-1 shows the specifications for Kibo’s components. Figure 3.1-1 shows Kibo’s configuration
diagrams. For further details on Kibo’s components, please refer to Chapter 4.
Table 3.1-1 Specifications
Component Dimension
(m)
Mass (t)
Number of racks or ISPRs installed
Pressurized Module (PM)
Outer Diameter: 4.4
Inner Diameter: 4.2
Length: 11.2
15.9
23 racks ( 11 Kibo’s System Racks
and 12 International Standard
Payload Racks (ISPR) )
Experiment Logistic
Module-Pressurized
Section (ELM-PS)
Outer Diameter: 4.4
Inner Diameter: 4.2
Length: 4.2
4.2 8
racks
Remote Manipulator
System (JEMRMS)
Length:
Main Arm: 10
Small Fine Arm: 2.2
1.6
(Includes RMS
console)
Main Arm’s maximum lifting
capacity: 7 t
Exposed Facility (EF)
Width: 5.0
Height: 4.0
Length: 5.6
4.1
12 attachments for EF payloads (10
for payloads and 2 for systems. In
addition, one space for temporary
storage/attachment is available)
Experiment Logistic
Module-Exposed Section
(ELM-ES)
Width: 4.9
Height: 2.2
Length: 4.2
1.2
3 EF payloads
Total
27
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ELM-PS
PM
JEMRMS
ELM-ES
EF
4.2m
8.6m
φ
4.4m
8.9m
4.9m
20.5m
11.2m
10m
φ
4.4m
(
CBM
inclusive
)
CBM: Common Berthing Mechanism
Figure 3.1-1 Kibo Configuration Diagram
3-3
3. Kibo Specifications
Specifications
3-4
3-4
3.2
Kibo Operation Mode
3.2
Kibo Operation Mode
Four different operation modes are used for managing Kibo’s systems. Kibo operation mode varies
according to the Kibo’s operations and/or the upper ISS operation modes. Kibo operation modes and the
corresponding descriptions are shown in Table 3.2-1. The operation mode can be switched manually by crew
or by commands sent from the ground. Figure 3.2-1 shows the Kibo operation mode transition.
Four different operation modes are used for managing Kibo’s systems. Kibo operation mode varies
according to the Kibo’s operations and/or the upper ISS operation modes. Kibo operation modes and the
corresponding descriptions are shown in Table 3.2-1. The operation mode can be switched manually by crew
or by commands sent from the ground. Figure 3.2-1 shows the Kibo operation mode transition.
Similarly, the International Space Station (ISS) has seven operation modes. All the ISS operation modes
are switched by commands sent from the ground or by the crew. The ISS operation modes and their
corresponding descriptions are shown in Table 3.2-2.
Similarly, the International Space Station (ISS) has seven operation modes. All the ISS operation modes
are switched by commands sent from the ground or by the crew. The ISS operation modes and their
corresponding descriptions are shown in Table 3.2-2.
There are situations where Kibo operation modes are constrained depending on the status of the ISS
operation mode. For example, the ISS operation mode has to be set as “External Operation Mode” when
switching the Kibo operation mode from “Standard Operation Mode” to “Robotics Operation Mode” for
JEMRMS operation. The relation between Kibo operation modes and ISS operation modes are shown in
Table 3.2-3. In the event of an ISS emergency, the ISS operation modes will be switched accordingly;
however if Kibo operation mode at this point is not applicable, then Kibo operation mode will be switched to
“Standby Mode” automatically.
There are situations where Kibo operation modes are constrained depending on the status of the ISS
operation mode. For example, the ISS operation mode has to be set as “External Operation Mode” when
switching the Kibo operation mode from “Standard Operation Mode” to “Robotics Operation Mode” for
JEMRMS operation. The relation between Kibo operation modes and ISS operation modes are shown in
Table 3.2-3. In the event of an ISS emergency, the ISS operation modes will be switched accordingly;
however if Kibo operation mode at this point is not applicable, then Kibo operation mode will be switched to
“Standby Mode” automatically.
Table 3.2-1 Kibo Operation Modes
Table 3.2-1 Kibo Operation Modes
Kibo Operation Mode
Kibo Operation Mode
Mode Description and Status
Mode Description and Status
Standard Operation Mode
Kibo primary operation mode. The crew can conduct experiments.
However, the crew can not use the JEMRMS.
Robotics Operation Mode
The mode where the crew operates Kibo’s robotic arms. The other features
are the same as those of “Standard Operation Mode”.
Standby Mode
Mode for when an emergency occurs with Kibo’s systems. In emergency
cases, Kibo will be operated with minimal systems by prohibiting all the
experiment supports.
Isolation Mode
Mode for when the pressurization in the Kibo’s pressurized section cannot
be maintained. In this mode, the hatch between Kibo and ISS will be
closed and crew will not be able to enter either the PM or ELM-PS.
Robotics Operation Mode
Standard Operation Mode
Isolation Mode
Standby Mode
Command
Command or
Automatic
Command or
Automatic
Command
Command
Command
Command
Figure 3.2-1 Kibo Operation Mode Transitions
Kibo HANDBOOK
Table 3.2-2 ISS Operation Modes
ISS Operation Mode
iption and Status
Mode Descr
Standard Mode
ISS primary operation mode.
Re-boost Mode
Mode for when the ISS changes orbital altitude (re-boost).
Microgravity Mode
Mode for operating the experiment payloads that require a
microgravity environment.
Survival Mode
ency situations (eg when a verified
anomaly occurs with the ISS power or attitude control systems).
y of
Mode for ISS critical emerg
This mode is used to sustain the long-term operation/survivabilit
the ISS.
Proximity Operation Mode
and Progress cargo ships are in proximity operations to
Mode for when spacecrafts, including the space shuttles, Soyuz
spacecrafts
dock or undock/depart from the ISS.
Assured Safe Crew Return (ASCR)
Mode
is in danger and for
supporting the swift departure (undock/separation) of the Soyuz for
Mode for when the life of the ISS crew
returning the crew safely back to the ground.
External Operation Mode
As) or robotic arm
operations for external assembly or maintenance.
Mode to support Extravehicular Activities (EV
Table 3.2-3 Applicability of Kibo Modes to ISS Operation Modes
ISS Operation Mode
ibo Operation Mode
Re-boost
Assur
Retur
Extern
S
t
S
u
andard
Microgravity
rvival Oper
ati
on
Proximity Op
era
tion
ed Safe Cr
ew
n (ASCR)
al Op
erat
ione
K
Standard
A
A
A
NA
A A A
Robotics Operation
N
NA
NA
NA
NA
A
NA
A
Standby
A A A A A A A
Isolation
A A A A A A A
A: App
NA: No
licable
t Applicable
3-5
3. Kibo Specifications
3-6
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Kibo HANDBOOK
4. Kibo System Components
4-1
4. Kibo System Components
ystem Components
4-2
4-2
4.1
Pressurized Module (PM)
4.1
Pressurized Module (PM)
4.1.1 Brief Summary
4.1.1 Brief Summary
Kibo’s Pressurized Module (PM) is a research facility
where astronauts will enter and conduct scientific experiments
or control Kibo’s systems. The air composition inside the PM
is nearly the same as that on earth. The air pressure is
maintained at one atmospheric pressure (1atm), thus providing
a comfortable working environment for the astronauts. The
temperature and humidity inside the PM are also controlled so
that the astronauts will be able to work in a shirt-sleeve
environment.
Kibo’s Pressurized Module (PM) is a research facility
where astronauts will enter and conduct scientific experiments
or control Kibo’s systems. The air composition inside the PM
is nearly the same as that on earth. The air pressure is
maintained at one atmospheric pressure (1atm), thus providing
a comfortable working environment for the astronauts. The
temperature and humidity inside the PM are also controlled so
that the astronauts will be able to work in a shirt-sleeve
environment.
The racks that will be installed inside the PM are basically
divided into two categories; JEM system racks which will
control and maintain Kibo’s facilities, and payload racks which will be used for experiments inside the PM.
The racks that will be installed inside the PM are basically
divided into two categories; JEM system racks which will
control and maintain Kibo’s facilities, and payload racks which will be used for experiments inside the PM.
The JEM system racks includes, power supply, communications, air conditioning, thermal control and
experiment support systems. The console for Kibo’s robotic arms (JEMRMS Console) and the scientific
airlock (JEM Airlock) are Kibo’s unique system.
The JEM system racks includes, power supply, communications, air conditioning, thermal control and
experiment support systems. The console for Kibo’s robotic arms (JEMRMS Console) and the scientific
airlock (JEM Airlock) are Kibo’s unique system.
The research payloads are for conducting experiments that have been solicited and selected from
applications submitted from the general scientific community. The PM will hold ten International Standard
Payload Racks (ISPRs) for various types of experiments; mainly for life science and material science
experiments.
The research payloads are for conducting experiments that have been solicited and selected from
applications submitted from the general scientific community. The PM will hold ten International Standard
Payload Racks (ISPRs) for various types of experiments; mainly for life science and material science
experiments.
Figure 4.1.1-1 PM location
Table 4.1.1-1 shows the specifications for the PM.
Table 4.1.1-1 shows the specifications for the PM.
Table 4.1.1-1 PM Specifications
Table 4.1.1-1 PM Specifications
Items
Items Specifications
Specifications
Shape Cylindrical
Outer diameter
4.4 m
Diameter
Inner diameter
4.2 m
Length 11.2
m
Mass 15.9
t
Number of Payload Racks
23 racks
JEM system racks: 11
Scientific experiment racks: 12 (10 research/experiment
racks, one refridgerator rack, and one stowage rack)
Electrical Power
Max. 24kW, max. 120V DC
Data management system
32-bit computer system
High-speed data link: max. 100 Mbps
Temperature
18.3 to 26.7 degrees Celsius (
°
C)
Environmental
control
Humidity
25 to 70 %
Number of crew
2 persons for normal operation (max. 4 persons)
Life time
More than 10 years
Kibo HANDBOOK
4.1.2 Layout
Figure 4.1.2-1 shows an external view and structure of the PM.
Window
Exposed Facility Berthing Mechanism (EFBM)
JEMRMS base plate
JEM Airlock
Hand Rails for
Extravehicular Activity
Debris Shield
Common Berthing
Mechanism (CBM)
Window
JEM Airlock
Exposed Facility Berthing Mechanism (EFBM)
JEMRMS base plate
Hatch
to ELM-PS
to Node 2
Hand Rails for Extravehicular Activity
11.2m
φ
4.4m
Debris Shield
Figure 4.1.2-1 Kibo’s PM
4-3
4. Kibo System Components
4-4
Figure 4.1.2-2 Internal Image of PM (view as may be seen from the Harmony Module)
Inside the PM, the inner walls will hold racks that are composed of either JEM system or scientific research
payloads. The work space inside the PM is almost square in shape and is 2.2 m in height and width. An
internal view of the PM is shown in Figure 4.1.2-2.
The PM can hold a total of 23 racks. The racks are built into the inner four walls of the PM. Of the four
inner walls, six racks will be built into three of the walls, and five racks will be built in the remaining wall.
Of these racks, 11 racks are for JEM system, and 12 are for payloads. The racks can be attached or detached
on orbit. Figure 4.1.2-3 shows the locations of the JEM system racks. Figure 4.1.2-4 shows the locations of
the payload racks. A schematic of how to attach and/or detach the racks is shown in Figure 4.1.2-5.
The payloads racks are designed according to the standardized specifications for hardware interface power
and data interface. These racks built in accordance with the required standardized specifications are called
“International Standard Payload Rack (ISPR)”. Of the 12 payload racks inside of the PM, 11 racks are ISPRs
and one rack is for storing experiment materials.
DMS: Data Management System
EPS: Electric Power System
ECLSS: Environmental Control and Life Support System
TCS: Thermal Control System
LIFE: Life Science Payload Rack
MTL: Material Science Payload Rack
Kibo HANDBOOK
ECLSS/TCS Rack 2
Electric Power System Rack 2
Workstation Rack
Stowage Rack 2
Electric Power System Rack 1
ECLSS/TCS Rack 1
DMS Rack 2
Stowage Rack 1
Inter-orbit Communication System Rack
Data Management System (DMS) Rack 1
JEMRMS Rack
to Node 2
JEM Airlock
Port
Starboard
Forward (direction of travel)
Aft
Figure 4.1.2-3 JEM System Racks inside PM
Figure 4.1.2-4 Experiment racks (ISPRs) inside PM
Material Science Payload Racks (ISPR)
Material Science
Payload Racks
(ISPR)
Life Science
Payload Racks
(ISPR)
Stowage Rack
Refrigerator Rack
Material Science Payload Racks (ISPR)
to Node 2
JEM Airlock
ELM-PS
Aft
Port
Starboard
Forward (direction of travel)
Life Science Payload Racks (ISPR)
4-5
4. Kibo System Components
ystem Components
4-6
Figure 4.1.2-5 Schematic of
lly be attached and
detached for relocation, exch
4-6
Figure 4.1.2-5 Schematic of
lly be attached and
detached for relocation, exch
4.1.3 System Components of PM
The PM is composed of the following subsystems.
•
Command and Data Handling (C&DH)
•
Electrical Power System (EPS)
•
Communication and Tracking (C&T)
•
Thermal Control System (TCS)
•
Environmental Control and Life Support System (ECLSS)
•
Experiment Support System (ESS)
•
Structure
•
Mechanical System
•
Crew Support System (CSS)
The Command and Data Handling (C&DH), the Electric Power System (EPS), the Communication and
Tracking (C&T), the Thermal Control System (TCS) and the Environmental Control and Life Support System
(ECLSS) are in particular critical systems, and thus, have redundant structures composed of primary and
secondary strings. If a system’s primary string fails, the secondary string will takeover the primary’s function
and capability, and will fully or partially maintain the system. When the PM is in an operational status,
Rack
how to attach or detach the racks: Each rack can individua
ange, or maintenance.
how to attach or detach the racks: Each rack can individua
ange, or maintenance.
4.1.3 System Components of PM
The PM is composed of the following subsystems.
•
Command and Data Handling (C&DH)
•
Electrical Power System (EPS)
•
Communication and Tracking (C&T)
•
Thermal Control System (TCS)
•
Environmental Control and Life Support System (ECLSS)
•
Experiment Support System (ESS)
•
Structure
•
Mechanical System
•
Crew Support System (CSS)
The Command and Data Handling (C&DH), the Electric Power System (EPS), the Communication and
Tracking (C&T), the Thermal Control System (TCS) and the Environmental Control and Life Support System
(ECLSS) are in particular critical systems, and thus, have redundant structures composed of primary and
secondary strings. If a system’s primary string fails, the secondary string will takeover the primary’s function
and capability, and will fully or partially maintain the system. When the PM is in an operational status,
Kibo HANDBOOK
basically, both primary and secondary strings of the above listed systems will be activated. The followings
are details of the systems/subsystems.
m includes the JEM Control Processor (JCP), which is
Kibo
’
s
n
s the status of Kibo
’
s system and experiment payloads.
The JC
peration Mode in concert with the ISS Operation Modes. For
further
odes, please refer to Chapter 3, Section 3.2.
This subs
nctions, including collecting and compiling Kibo’s system status
data and exp
to each of Kibo’s systems through the
Comm
a
r relaying the actual time data provided from the ISS to each
payloa
rd Kibo. Kibo is equipped with two JCP units for redundant purposes. If one of the
JCP un
fa
it will automatically take over the control and fully maintain the functions
and cap
li
for.
(2
(3) Communication and Tracking (C&T)
The Communication and Tracking (C&T) consists of Low /Medium/High Data Rate Systems, Video System
an
as an interphone for communicating with another crew in a
different segment of the ISS.
(4) Thermal Control System (TCS)
(1) Command and Data Handling (C&DH)
The Command and Data Handling (C&DH) syste
ce tral subsystem that controls and monitor
P also controls the setting of Kibo O
information on Kibo
’
s and ISS operation m
ystem also has data processing fu
eriment data for downlink to the ground, relaying data files
unic tion and Tracking (C&T) system, o
d or system onboa
its ils, the second JCP un
abi ties that the JCP is responsible
) Electrical Power System (EPS)
The Electric Power System (EPS) converts and distributes the electrical power (two electrical power
channels, 120V DC each) that is supplied from the Node 2 of the ISS. The EPS consists of various units
including, Power Distribution Boxes (PDBs) and Power Distribution Units (PDUs) that distributes power to
payloads and system equipments.
d Audio System.
The Low Rate (max. 1Mbps), Medium Rate (max. 10Mbps) and High Rate (max. 100 Mbps) Data Systems
relays the data sent from the C&DH system to each subsystem, and collects data from the JEM system or
payloads to be relayed to the C&DH system.
The Video System is composed of Television Cameras (TVCs) which are installed inside and outside of Kibo,
Television Monitors and Camera Control Panels (CCPs). The Video System will transmit visual images taken
by the TVCs.
The Audio System is composed of Audio Terminal Units (ATUs) installed in the Work Station Rack (WS
Rack) and JEMRMS rack. The ATU is a unit common to the ISS. ATUs are installed in several locations
within the ISS. The crew can use the ATUs
The Thermal Control System (TCS) consists of the following two systems: An Active Thermal Control
4-7
4. Kibo System Components
4-8
Passive Thermal Control System (PTCS) which controls and maintains the
temperature of Kibo’s equipment through the use of insulating materials or heaters. Two water coolant loops,
Temperature Loop (MTL) are included in the PM. The heat
generated in Kibo is collected and discharged through two external ammonia coolant loops (medium and low
te
f heat can be discharged through the medium temperature IFHX, and a maximum of 9 kW
ca
pport System (ECLSS)
n a range of 18.3 to 26.7 degree Celsius (
°
C) and humidity within a range of 25 to 70 %. The
as
Kibo by fans for inter-module ventilations, and then returned to the ISS US
segment.
function. Smoke sensors will detect any fire. The fire’s location
will be isolated by power shut down. Fire extinguishers (carbon dioxide) will be used to suppress the fire.
The PM is equipped with two windows located on the side
of
System (ATCS) which transfers the heat generated in the Kibo’s equipments by means of circulating coolant
water in the coolant loops, and a
the Low Temperature Loop (LTL) and Moderate
mperature), known as the Interface Heat Exchanger (IFHX), which is located on the Node 2 exterior. A
maximum of 25kW o
n be discharged through the low temperature IFHX.
(5) Environmental Control and Life Su
The Environmental Control and Life Support System (ECLSS) controls and maintains the temperature inside
of the PM withi
tronauts will be able to conduct experiments in a shirt-sleeve environment. This system provides a
comfortable and safe intra-vehicular environment.
The pressurized air is adjusted by a mixture of oxygen and nitrogen supplied from the US segment of the ISS.
The air is circulated inside
Kibo has fire detection and suppression
(6) Experiment Support System (ESS)
The Experiment Support System (ESS) supplies argon (Ar), helium (He), nitrogen (N2) and carbon dioxide
(CO2) to the payload racks located in the PM. The ESS also conducts vacuum ventilation and evacuates the
gasses from the payload racks. The Common Gas Supply Equipment (CGSE) is a unique special element of
Kibo. The CGSE contains gas bottles of Ar, He and CO2, and supplies these gases to each experiment rack.
Nitrogen gas that will be supplied to the experiment racks is provided from NASA’s Environment Control and
Life Support System (ECLSS).
(7) Structure
The structural body of the PM is designed to bear loads imposed during the space shuttle’s launch, ascent,
ISS attitude control and maneuver. At the same time, the system will maintain a pressurized environment
inside the PM through a shielding of aluminum alloy panels. The Debris Shield covers the PM’s outer shell
structure to protect the body from debris impacts.
the EF docking port. Astronauts will be able to look outside through these windows. The Node 2 side’s
Passive Common Berthing Mechanism hatch is part of the PM’s structure.
Kibo HANDBOOK
(8) Mechanical
System
The Mechanical System consists of the following three mechanisms: 1) the Common Berthing Mechanism
(CBM) which will be used as the berthing port for the Node 2 or the ELM-PS, 2) the JEM Airlock and 3) the
Exposed Facility Berthing Mechanism (EFBM). The following are further details on the CBM and the JEM
Airlock. For details of the EFBM, please refer to Section 4.3.3 in this chapter.
(a) Common Berthing Mechanism (CBM)
rthing Mechanism (CBM) is an ISS common mechanism designed to connect different ISS
modules (except Russian modules). The CBM ensures that the modules berthed by the CBM maintain a
pr
Figure 4.1.3-1 Common Berthing Mechanism (CBM)
The Common Be
essurized environment where astronauts and materials can move freely between different ISS modules.
The CBM is paired and composed of active and passive parts: the Active CBM (ACBM) that uses electric
motors for berthing and the Passive CBM (PCBM). The PM has both the PCBM and the ACBM. The
PCBM is located on the Node 2 berthing port, and the ACBM is located on the berthing port for the
Experiment Logistics Module's Pressurized Section (ELM-PS). Figure 4.1.3-1 shows an outline and
configuration of the CBM.
ACBM
PCBM
φ
2.0m
φ
2.0m
Capture latch
Bolt
Structure
Ring
Alignment Guide
CBM controller
Alignment Guide
ELM-PS
ACBM
PCBM
ACBM
EF
JEMRMS
PM
Node2
4-9
4. Kibo System Components
ystem Components
4-10
nding the slide table. The
“Inner Hatch” is equipped with a small window so that astronauts can visually check the inside of the airlock.
Figure 4.1.3-2 JEM Airlock
Table 4.1.3-1 JEM Airlock Specifications
Item Specifications
4-10
(b) JEM
Airlock
An airlock is basically a passage or small area where air pressure can be adjusted for differences between
two docked neighboring compartments so as to allow astronauts or equipments to move between the two
compartments.
The JEM Airlock is designed for transferring experiments and supplies; humans cannot enter this airlock.
The JEM Airlock inside is pressurized with air at one atmospheric pressure and the EF which is exposed to the
vacuum space environment. The JEM Airlock is used for transferring experiment payloads or samples
between PM and EF.
The JEM Airlock is cylindrical and equipped with the Inner Hatch which is located inside of the PM side and
“Outer Hatch” which is located outside of the EF side. Experiments and supplies that will be transferred
through the airlock are first fastened on a slide table, and then, transferred
nding the slide table. The
“Inner Hatch” is equipped with a small window so that astronauts can visually check the inside of the airlock.
Figure 4.1.3-2 JEM Airlock
Table 4.1.3-1 JEM Airlock Specifications
Item Specifications
(b) JEM
Airlock
An airlock is basically a passage or small area where air pressure can be adjusted for differences between
two docked neighboring compartments so as to allow astronauts or equipments to move between the two
compartments.
The JEM Airlock is designed for transferring experiments and supplies; humans cannot enter this airlock.
The JEM Airlock inside is pressurized with air at one atmospheric pressure and the EF which is exposed to the
vacuum space environment. The JEM Airlock is used for transferring experiment payloads or samples
between PM and EF.
The JEM Airlock is cylindrical and equipped with the Inner Hatch which is located inside of the PM side and
“Outer Hatch” which is located outside of the EF side. Experiments and supplies that will be transferred
through the airlock are first fastened on a slide table, and then, transferred by exte
by exte
Outer side
1.7 m
Outer
Diameter
Inner side (inside the PM)
1.4 m
Length 2.0
m
Pressure proof performance
1047 hPa
Allowable size for transfer
0.64
×
0.83
×
0.80 m
Allowable weigh for transfer
300 kg
Power Consumption
Less than 600 W
Pressurized
section (PM)
Exposed section
(Vacuum)
Outer Hatch
Slide Table
Inner Hatch
Small window
Kibo HANDBOOK
(9) Crew Support System (CSS)
The Crew Support System (CSS) is composed of support equipment which will be used by astronauts during
inter-vehicular activities. The CSS includes in-board lightings, emergency lightings, handrails, and foot
restraints.
4-11
4. Kibo System Components
4-12
s Module- Pressurized Section (ELM-PS)
4.2.1 Brief Summary
ill initially be used as a logistics container for
carrying payload racks and system racks from the ground to the
ISS. Once the ELM-PS is on orbit, the ELM-PS will be used
as a stowage facility. Maintenance tools for the system and
payloads, samples and spare items will be stored inside the
ELM-PS. The ELM-PS volume is less than that of the PM.
A total of eight racks can be stored inside the ELM-PS
Table 4.2.1-1 shows the ELM-PS specifications.
Table 4.2.1-1 ELM-PS Specifications
Items Specifications
4.2
Experiment Logistic
The Experiment Logistics Module – Pressurized Section, or
ELM-PS w
Structural Type
Cylindrical
Outer Diameter
4.4 m
Diameter
Inner Diameter
4.2 m
Length 4.2
m
Mass 4.2
t
Number of Racks
8 racks
Power provided
3kW 120V DC
Environment
Temperature: 18.3 to 29.4 degree Celsius (
°
C)
Humidity: 25 to 70 %
Life Time
More than 10 years
Figure 4.2.1-1 ELM-PS location
Kibo HANDBOOK
4.2.2 Layout
Figure 4.2.2-1 shows the ELM-PS structure. Figure 4.2.2-2 shows the rack locations inside the ELM-PS.
Figure 4.2.2-1 ELM-PS Structure
Figure 4.2.2-2 Rack Locations inside ELM-PS
Image of right side is internal
view of ELM-PS which is seen
from PM
Port
Port
Starboard
Fo
(Directi
avel)
rward
on of tr
Aft
Forward (direction of travel)
Aft
S
tarboard
ELM-PS Exposed Facility Unit
Common Berthing
Mechanism (CBM)
φ
4.4m
4.2m
CBM Hatch (for PM)
4-13
4. Kibo System Components
4-14
mponents of ELM-PS
subsystem. In the event that the PM
l is available as backup; however the
subsystem provides a comfortable inner
the PS. In the ELM-PS, air
is circulated by fans and supplied
4.2.3 System Co
The ELM-PS consists of the following subsystems.
•
Electrical Power System (EPS)
•
Communication and Tracking (C&T)
•
Thermal Control System (TCS)
•
Environmental Control and Life Support System (ECLSS)
•
Structure
•
Mechanical System
•
Crew Support System (CSS)
Each ELM-PS subsystem is driven with one-string system, whereas the PM’s subsystems have a redundant
functionality. The followings are details of the ELM-PS subsystems.
(1) Electrical Power System (EPS)
The Electrical Power System (EPS) distributes electrical power provided by the PM’s EPS to each ELM-PS
EPS fails, a second PM EPS channe
crew will need to change the wiring. When the ELM-PS is attached temporarily to the Node 2 awaiting arrival
of the PM (Please refer to Chapter 5, Section 5.2.1), the electrical power will be supplied to the ELM-PS from
the Node 2.
(2) Communication and Tracking (C&T)
The Communication and Tracking (C&T) consists of a Medium (max. 10 Mbps) Data System, Video System
and Audio System. The C&T relays the data from the ELM-PS subsystems or images inside of the ELM-PS
to the PM’s Communication and Tracking (C&T) system.
(3) Thermal Control System (TCS)
The Thermal Control System (TCS) maintains the temperature inside the ELM-PS, within a required range,
by means of a Passive Thermal Control System (PTCS) that controls the thermal environment through the use
of thermal insulating materials and heating devices.
(4) Environmental Control and Life Support System (ECLSS)
The Environmental Control and Life Support System (ECLSS) controls the atmospheric pressure,
temperature and humidity inside the ELM-PS so as to provide a shirt-sleeve working environment. This
vehicular environment similar to that of
from the PM.
Kibo HANDBOOK
In addition, this subsystem has fire detection and suppression functions. Smoke sensors will detect any fire.
The fire will be isolated by power shut down. The fire will be suppressed by fire extinguishers (carbon
di
(5) S
Sim
ads imposed during the space shuttle’s
launch
c
ude control and maneuver. The ELM-PS is also designed to maintain a pressurized
environ
n
through shielding by aluminum alloy panels. Debris Shield covers the
ELM-P
o
tect the body from debris hit. The berthing hatch for the PM is part
of the ELM-PS’s structure.
ommon Berthing Mechanism (CBM), which will be used as the
berthing port for the Node 2 or the PM, and the ELM-PS Unit Replacement Mechanism (Note: A Passive CBM
(P
While the H-II Transfer Vehicle (HTV) is berthed to the ISS, payloads or cargo on the Exposed Pallet (EP)
osed Pallets carried by the HTV needs to be attached to the
ELM-ES. For this purpose, the ELM-ES is temporary attached to the ELM-PS whenever the HTV arrives.
A
ation on the HTV, please refer to Chapter 8.
oxide).
tructure
ilar to the PM, the ELM-PS structural body is designed to bear lo
, as ent, ISS attit
me t inside the ELM-PS
S’s uter shell structure so as to pro
(6) Mechanical
System
The Mechanical System consists of a C
CBM) is attached to the body of the ELM-PS). The followings are details of the ELM-PS Exposed Facility
Unit (EFU). For details on the CBM, please refer to Section 4.1.3 in this chapter.
(a) ELM-PS Exposed Facility Unit (EFU)
carried by the HTV will be unloaded. The Exp
t this stage, the ELM-ES is attached to the ELM-PS EFU. While the ELM-ES is berthed to the ELM-PS
EFU, the ELM-ES is provided electrical power and enables data-exchange. Figure 4.2.3-1 shows an image of
the ELM-ES being berthed to the ELM-PS EFU. For inform
4-15
4. Kibo System Components
4-16
(7) Crew Support System (CSS)
Figure 4.2.3-1 ELM-ES berthed to ELM-PS EFU (image)
The Crew Support System (CSS) provides in-board lightings and emergency lightings inside the ELM-PS.
ELM-ES
ELM-PS
ELM-PS EFU
EF
JEMRMS
Kibo HANDBOOK
4.3 Exposed
Facility
4.3.1 Brief Summary
Kibo’s Exposed Facility (EF) is a multipurpose experiment
platform where various scientific activities, including scientific
experiments, earth observation, communication, scientific and
engineering experiments or material experiments can be
conducted by utilizing the microgravity and vacuum space
environment. The EF can be used when the EF is berthed to
the PM. The Equipment Exchange Unit (EEU) will
accommodate a maximum of 12 payloads, including the
Exposed Facility (EF) payloads, ELM-ES and the Inter-orbit
Communication System (ICS). Since the EF payloads can be
exchanged on orbit, it is expected that several different types of
scientific experiments can be conducted on the EF.
In order to support the space-exposed experiments on the EF, the EF will provide the necessary electrical
power to each payload, wi
ired temperature and will
collect experiment data.
Table 4.3.1-1 shows the EF specifications.
Table 4.3.1-1 EF Specifications
Items Specifications
ll circulate coolant so as to keep the payloads within a requ
Shape Box
shaped
Size
5.0 m (width) x 5.6 m (length) x 4.0 m (height)
Mass 4.1t
Number of attached payload
12 (including 2 for JEM system and 1 for temporary storage)
Electrical power provided
Max. 11 kW (max. 1 kW for system, 10 kW for EF payloads) 120 V DC
Data management system
16-bit computer system
High-speed data link: max. 100 Mbps
Environment control
None
Life time
More than 10 years
Figure 4.3.1-1 EF location
4-17
4. Kibo System Components
ystem Components
4-18
(EF-EEUs) are used to attach the EF payloads to the EF. Figure
tion of the EF with eight EF payloads and the ICS Exposed Facility subsystem
(ICS-EF) attached on the EF. The standard EF payload envelope is assumed to be less than 1.85m x 1.0m x
0.
Figure 4.3.1-2 Standard EF Payload
4-18
(EF-EEUs) are used to attach the EF payloads to the EF. Figure
tion of the EF with eight EF payloads and the ICS Exposed Facility subsystem
(ICS-EF) attached on the EF. The standard EF payload envelope is assumed to be less than 1.85m x 1.0m x
0.
EF payload configuration.
Figure 4.3.1-2 Standard EF Payload
The EF Equipment Exchange Units
The EF Equipment Exchange Units
4.3.2-1(2/2) shows the configura
4.3.2-1(2/2) shows the configura
8m, with a weight of 500kg. Figure 4.3.1-2 shows a standard
8m, with a weight of 500kg. Figure 4.3.1-2 shows a standard EF payload configuration.
0.8m
1.0m
Grapple Fixture
JEMRMS will grapple here
1.85m
Payload Interface Unit (PIU)
For details, refer to
Paragraph 4.3.3 (5) (b)
Launch Restraint Trunnion
Kibo HANDBOOK
4
Figure 4.3.2-1
(
1/2
)
EF Structure
.3.2 Layout
EF Configuration diagram is shown in Figure 4.3.2-1.
5.0m
Small Fine Arm (SFA)
Stowage Equipment
(SSE)
4.0m
5.6m
Exposed Facility Unit (EFU) (12 units)
Trunnion (x 5)
EF Berthing
Mechanism
(EFBM)
PM
Grapple Fixtures (x 2)
This is a fixture for
fastening the EF to the
space shuttle’s cargo bay,
when the EF is launched.
SSRMS or SRMS grapple
here
For details, refer to
Paragraph 4.5.3
This mechanism is used to attach EF payloads to the EF.
Robot essential Orbital Replacement Unit (R-ORU) (8 units)
PM
Extravehicular Activity Orbital Replacement Unit (E-ORU)
(
4 units
)
4-19
4. Kibo System Components
ystem Components
4-20
4-20
Figure 4.3.2-1
(
2/2
)
EF Structure
EF Berthing Mechanism (EFBM)
Grapple Fixtures
Figure 4.3.2-1
(
2/2
)
EF Structure
(x 2)
PM
Small Fine Arm (SFA)
Stowage Equipment
(SSE)
Robot essential
Orbital
Replacement Unit
(R-ORU) (4
units)
EF Equipment Exchange Unit (EEU)
(
12 units
)
ICS-EF
EF Payloads
Trunnion (x 5)
refer to section 4.6
Kibo HANDBOOK
4.3.3 System Components of EF
The EF consists of the following subsystems;
•
Electrical Power System (EPS)
•
Communication and Tracking (C&T)
•
Thermal Control System (TCS)
•
Structure
•
Mechanical System
The Electrical Power System (EPS), Communication and Tracking (C&T) and Thermal Control System
(TCS) have redundant functionality. If the primary strings of these subsystems fail, the secondary strings will
take over and maintain their system functions. The following are details of the subsystems.
(1) Electrical Power System (EPS)
The Electrical Power System (EPS) receives electrical power from the PM and distributes power to the EF
equipment, Exposed Pallet (ELM-ES), and EF payloads attached to the EF respectively.
(2) Communication and Tracking (C&T)
The Communication and Tracking (C&T) includes the Exposed Facility System Controller (ESC), which is
installed on the EF and controls the EF equipment or system devices by communicating with the JEM Control
Processor (JCP). The ESC also rela
payloads, such as experiment data,
image, temperature and pressure data.
(3) Thermal Control System (TCS)
The Thermal Control System (TCS) is composed of the following two systems. The Active Thermal
Control System (ATCS) which transfers heat generated in the equipment and payloads by circulating the
coolant, Fluorinert
TM
, and the Passive Thermal Control System (PTCS) which maintains the temperature of the
EF system equipments or payloads through the use of thermal insulators or heaters. The TCS manages the
temperature environment for the EF system and payloads operation by protecting the EF from the extreme
space thermal environment. The heat collected by the ATCS will be transferred to the Heat Exchanger
installed on the PM structure. Coolant loops pipes have no redundancy; however other components, such as
pumps, have redundancy.
(4) Structure
The Structure of the EF is composed of box shaped units, which consist of aluminum alloy frames, panels,
and trunnions that are used to attach the EF to the space shuttle’s cargo bay.
ys data between the PM and the EF
4-21
4. Kibo System Components
4-22
osed Facility Berthing Mechanism (EFBM) that is used to
connect the
cility Equipment Exchange Unit (EEU) that attaches EF payloads
to the E
(a) Kibo’
Berthing Mechanism (EFBM)
he EF Berthing Mechanism (EFBM) is a mechanism to connect the EF to the PM. It is paired and
co
nd tracking, and
thermal control system will be simultaneously connected. Data and power transfer between the PM and EF will
M is shown in Figure 4.3.3-1.
(5) Mechanical
System
The Mechanical System is composed of Exp
EF with the PM, and Exposed Fa
F.
s Exposed Facility
T
mposed of an Active EFBM and a Passive EFBM. The Active EFBM, which has a pull-in torque structure
and fastens bolts by motor drive, is located on the PM. The Passive EFBM is located on the EF. Once both
Active and Passive EFBMs are connected, the electrical power system, communication a
be initiated. The external view of the EFB
Figure 4.3.3-1 Exposed Facility Berthing Mechanism
(
EFBM
)
Active EFBM
Passive EFBM
Pull-in torque structure
Kibo HANDBOOK
(b) Kibo’s Exposed Facility’s Equipment Exchange Unit (EF-EEU)
thermal control system (TCS) will be simultaneously connected and power supplies to the payloads,
data transactions, and thermal control become operable.
acility Unit (EFU) and is located on the
side of the EF. The passive EEU, known as the Payload Interface Unit (PIU), is located on the EF payloads.
Fi
Electrical Power System (EPS), Communications and Tracking (C&T) or Thermal Control System (TCS) are
critical systems for operating the EF, thus these system units are designed as ORUs. In case of failure, these
units can be exchanged on orbit. There are two types of ORUs on the EF. The first type of ORU is the
Extravehicular Activity ORU (E-ORU), which is attached to the nadir side of the EF, and will be exchanged by
extravehicular activities. The second ORU type is Robot essential ORU (R-ORU) which is attached to the
zenith side, and will be exchanged by JEMRMS, Kibo’s robotic arm.
The EF Equipment Exchange Unit (EEU) is a mechanism that attaches the EF payloads to the EF. Once a
payload is attached to the EF by the EEU, the electrical power system (EPS), communication and tracking
(C&T) and
The EEU is composed of an active EEU known as the Exposed F
gure 4.3.3-2 shows the EEU (EFU and PIU) structures.
The EEU accommodates the EF payloads to be exchanged on orbit, thus several different types of
experiments can be conducted compared to existing spacecrafts, and thus will flexibly meet the demands for
future technology development.
Figure 4.3.3-2 EEU (EFU and PIU) Structures
(c) Exposed Facility’s Orbital Replacement Units (ORUs) – Extravehicular Activity ORU
(E-ORU) and Robot essential ORU (R-ORU)
Kibo’s Robotic arm
(JEMRMS Main Arm)
Grapple Fixture
EF
Capture Latch
Power / fluid connectors
PIU
EFU
EF payload
4-23
4. Kibo System Components
ystem Components
4-24
(ELM-ES)
4.4.1 Brief summary
-ES
w
l be
de
ransferred to the EF by using
Figure 4.4.1-2 ELM-ES operation concept
4-24
(ELM-ES)
4.4.1 Brief summary
-ES
w
l be
de
ransferred to the EF by using
the JEMRMS.
The used payloads will be retrieved from the EF using the
JEMRMS and stored on the ELM-ES. Then, the ELM-ES will return to the ground aboard the space shuttles.
Figure 4.4.1-2 shows the ELM-ES operations concept. Table 4.4.1-1 shows the ELM-ES specifications.
Figure 4.4.1-2 ELM-ES operation concept
4.4 Experiment
Logistic
Module-Exposed Section
4.4 Experiment
Logistic
Module-Exposed Section
Kibo’s Experiment Logistics Module-Exposed Section
(ELM-ES) is a Kibo’s component, which carries Exposed
Facility (EF) payloads and EF system ORUs. The ELM
Kibo’s Experiment Logistics Module-Exposed Section
(ELM-ES) is a Kibo’s component, which carries Exposed
Facility (EF) payloads and EF system ORUs. The ELM
ill supply and transfer the system ORUs and the EF payloads
to the Kibo’s Exposed Facility (EF), as well as, store completed
EF payloads exchanged from the EF. The ELM-ES wil
ill supply and transfer the system ORUs and the EF payloads
to the Kibo’s Exposed Facility (EF), as well as, store completed
EF payloads exchanged from the EF. The ELM-ES wil
livered to the ISS by space shuttles and attached to the EF.
After the ELM-ES is attached to the EF, the EF payloads on the
ELM-ES will be removed and t
livered to the ISS by space shuttles and attached to the EF.
After the ELM-ES is attached to the EF, the EF payloads on the
ELM-ES will be removed and t
the JEMRMS.
The used payloads will be retrieved from the EF using the
JEMRMS and stored on the ELM-ES. Then, the ELM-ES will return to the ground aboard the space shuttles.
Figure 4.4.1-2 shows the ELM-ES operations concept. Table 4.4.1-1 shows the ELM-ES specifications.
Landing
ISS
ELM-ES loaded in
the space shuttle’s
cargo bay
ELM-ES retrieved from the
space shuttle’s cargo bay
Exchange of
EF payloads
ELM-ES prepared and
checked out
Space shuttle
docked to the ISS
Space shuttle undocked
from the ISS
to ground overhaul facility
ELM-ES
EF
Kibo
EF payloads exchanged
by JEMRMS
ELM-ES installed on /
removed from EF
Launch
EF payloads installed
on / removed from
Figure 4.4.1-1 ELM-ES location
ELM-ES
Kibo HANDBOOK
Table 4.4.1-1 ELM-ES Specifications
Items
Specifications
Structure type
Frame
Width 4.9
m
Height
2.2 m (including the height of the payloads)
Length
4.2 m
Mass (Dry weight)
1.2 t (excluding payloads)
Number of Payloads
(loading style variable)
Three EF payload
Two EF payloads +
Two EF payloads +
s
three R-ORUs
two E-ORUs
Electrical power supply
Max. 1.0 kW 120 V DC
Thermal control
Heater and thermal insulator
Life time
More than 10 years
4-25
4. Kibo System Components
4-26
4.4.2 Layout
ELM-ES configuration is shown in Figure 4.4.2-1.
Figure 4.4.2-1 ELM-ES Configuration
2.2m
4.2m
4.9m
Trunnions (x 5)
Payload Interface Unit (PIU)
This mechanism is used to fasten the
ELM-ES to the space shuttle’s cargo bay
EF payloads
This illustrates
when three EF
payloads are
attached
Trunnions
This mechanism is
used to attach the
ELM-ES to the EF
or ELM-PS
Grapple Fixture (x 2)
SSRMS or SRMS will grapple
here
Payload Attachment Mechanism (PAM)
Grapple Fixture
Payload Interface Unit
(PIU)
Payload Attachment Mechanism (PAM)
Trunnion
Kibo HANDBOOK
4.4.3 System Components of ELM-ES
(ELM-ES) is composed of the following subsystems.
The Experiment Logistics Module-Exposed Section
•
Electrical Power System (EPS)
•
Communication and Tracking (C&T)
•
Thermal Control System (TCS)
•
Structure
•
Mechanical System
Details of the subsystems are as follows.
(1) Electrical Power System (EPS)
The Electrical Power System (EPS) receives power from the space shuttles during the period from launch to
docking with the ISS, and distributes the power to ELM-ES system and Exposed Facility (EF) payloads.
Power will be supplied from the EF while the ELM-ES is operated on orbit.
(2) Communication and Tracking (C&T)
The Communication and Tracking (C&T) includes the Electronic Control Unit (ECU) that is installed on the
ELM-ES. The ECU monitors the status of the ELM-ES, temperature of the EF payloads attached on the
ELM-ES, and the status of the Payload Attachment Mechanisms (PAMs) by communicating with the JEM
Control Processor (JCP) on the PM. The ECU also controls the PAMs or temperature of the attached EF
payloads.
(3) Thermal Control System (TCS)
The ELM-ES is entirely covered with thermal insulating materials in order to prevent the temperature of the
ELM-ES system from exceeding the operating temperature. In addition, to maintain the ELM-ES thermal
environment, heating devices are installed in the areas where thermal insulating material are not sufficient and
the temperature may exceed tolerable temperature ranges. In addition, heating devices are installed in the EF
system ORU and EF payloads which are attached on the ELM-ES.
(4) Structure
The ELM-ES structure is designed to bear loads imposed during the space shuttle’s launch, ascent, ISS
attitude control and maneuver. The main sections of the ELM-ES are composed of aluminum alloy panels in
a reticular pattern. A mechanism called “Trunnion” fastens the ELM-ES to the space shuttle’s cargo bay.
The ELM-ES has five Trunnions.
4-27
4. Kibo System Components
4-28
ds
on to t
L
nit (PIU), which connects the ELM-ES to the EF or the ELMPS.
For inf
a
4.3.3 (5) (b).
(a) P
o
ment Mechanism (PAM)
M) fastens the EF payloads to the ELM-ES while the ELM-ES is
being launched to the ISS or returned to the ground aboard the space shuttle. In addition, this mechanism is
r instances when these payloads need to be moved on orbit by using
the robotic arms. In addition, the PAM has electrical connectors that provide heater power for keeping the EF
pa
Figure 4.4.3-1 Payload Attachment Mechanism (PAM)
(5) Mechanical
System
The Mechanical System consists of Payload Attachment Mechanisms (PAMs), which locks the EF payloa
he E M-ES, and a Payload Interface U
orm tion on the PIU, please refer to Section
ayl ad Attach
The Payload Attachment Mechanism (PA
used to install and remove EF payloads; fo
yloads temperature. Figure 4.4.3-1 shows an overview of the PAM.
EF payload
Structure Latch Mechanism (SLM)
An EF payload will be grappled with four SLMs
Umbilical Connector Mechanism (UCM)
This mechanism enables power to be
supplied to the EF payloads from the
ELM-ES
Trunnion for the EF payload
This structure connects the
EF payloads to the ELM-ES
Alignment Guide
Kibo HANDBOOK
4.5 Japanese Experiment Module Remote Manipulator System
(JEMRMS)
4
(JEMRMS), Kibo’s robotic arm, is a robotic manipulator
conducted
on Kibo and/or for supporting Kibo’s maintenance tasks in
sp
.5.1 Brief Summary
Japanese Experiment Module Remote Manipulator System
system intended for supporting experiments being
ace. The JEMRMS will be the third remote manipulator
robotic arm system designed for space operations that Japan
will have flown into space. The JEMRMS follows Japan’s
Manipulator Flight Demonstration (MFD)*
1
in August 1997
and the Engineering Test Satellite VII (ETS-VII)*
2
, also
known as “KIKU No.7”, in November 1997. The JEMRMS
is composed of two arms, the Main Arm (MA) and the Small
Fine Arm (SFA). The robotic control workstation, known as the JEMRMS Console, is used to operate the
JEMRMS.
Both the Main Arm (MA) and Small Fine Arm (SFA) have six joints and allow for similar movements with
the human arm. Inside the PM, the crew will control the JEMRMS, while watching images on the TV
monitor, located on the JEMRMS Console, which are taken from the cameras attached to the arm.
With these arms, the crew can conduct several tasks including exchanging EF payloads or EF system ORUs
that are located on the EF and ELM-ES. The ten-meter-long Main Arm transfers (grapple and move) large
objects, and the two-meter-long Small Fine Arm is used for precise, delicate and fine-tuned operations.
The JEMRMS will be operated for more than ten years on orbit. Thus, the JEMRMS has exchangeable or
repairable design in case of failure. These arms can be repaired by intra-vehicular or extravehicular activities.
(Repair of the Main Arm will be conducted only by extravehicular activity.)
Table 4.5.1-1 shows the specifications for the JEMRMS (Main Arm and Small Fine Arm).
1
* The Manipulator Flight Demonstration
ed a test model
(equivalent to the JEMRMS
*
2
The Engineering Test Satellite VII (ETS-VII), "KIKU No.7", launched in November 1997, evaluated the
remote-manipulation system and studied the basic techniques for using robotics in space.
Figure 4.5.1-1 JEMRMS Location
(MFD) test, conducted on STS-85 in August 1997, us
), that verified some of the JEMRMS functions.
4-29
4. Kibo System Components
ystem Components
4-30
Specifications
4-30
Specifications
Table 4.5.1-1 JEMRMS (Main Arm and Small Fine Arm) Specifications
Table 4.5.1-1 JEMRMS (Main Arm and Small Fine Arm) Specifications
Items
Main Arm (MA)
Small Fine Arm (SFA)
Structure type
Main Arm with attached Small Arm. Both arms have 6 joints
Degrees of freedom
6
6
Length
m
10
2.2
Mass (weight)
kg
780
190
Handling Capacity
kg
Max. 7,000
Max. 300
mm
Translation 50(+/-)
Translation 10(+/-)
Positioning accuracy
degree
Rotation 1(+/-)
Rotation 1(+/-)
60 (P/L: less than 600kg)
50 (P/L: less than 80kg)
30 (P/L: less than 3,000kg)
25 (P/L: less than300kg)
Translation / rotation speed
mm/s
20 (P/L: less than 7,000kg)
-
Maximum tip force
N
More than 30
More than 30
Life time
More than 10 years
Kibo HANDBOOK
4.5.2 Layout
Compositions of the Main Arm, Small Fine Arm and the JEMRMS
wn in Figure 4.5.2-1.
Figure 4.5.2-1 Main Arm (MA), Small Fine Arm (SFA) and JEMRMS Console
Console are sho
MA Joint 2
MA Joint 1
MA Wrist Vision
Equipment
MA End Effector
SFA Electronics
Main Arm (MA)
Small Fine Arm (SFA)
4m
JEMRMS Console
4m
MA Boom 1
MA Joint 3
関節の動作
Rotary Motion
MA Elbow Vision
Equipment
MA Boom 2
MA Joint 4
MA Base
MA Joint 6
MA Joint 5
SFA Grapple Fixture
MA Boom 3
2m
SFA TV Camera
Electronics
2.2m
Fully
Deployed
SFA Wrist Joint (Roll)
SFA Force / Torque Sensor
SFA Shoulder Joint (Roll)
SFA Shoulder Joint (Pitch)
SFA Wrist TV Camera Head
Boom 1
SFA Tool
SFA Elbow Joint (Pitch)
Boom1
SFA Wrist Joint (Pitch)
Boom 2
SFA Wrist
Joint (Yaw)
Caution and Warning (C&W) Panel
Hold/Release Electronics (HREL)
Audio Terminal Unit (ATU)
Remote Interface Panel (RIP)
Television Monitor 1 (Display)
Translational Hand Controller (THC)
Camera Control Panel (CCP)
Robotics Laptop Terminal (RLT)
Television Monitor 2 (Display)
Avionics Air Assembly (AAA)
Rotational Hand Controller (RHC)
Management Data Processor (MDP)
Power Distribution Box (PDB)
Interface Panel
Arm Control Unit (ACU)
4-31
4. Kibo System Components
4-32
mponents of JEMRMS
•
Main Arm
•
Small Fine Arm
•
JEMRMS Console
•
SFA Stowage Equipment
•
JEMRMS Visual Equipment
•
Hold and Release Mechanism
The following are details of the subsystems.
(1) Main
Arm
(MA)
The Main Arm (MA) consists of MA Booms, MA Joints, MA Television Cameras (TV Cameras), MA
Camera Pan Tilt Unit (PTU), a light and the MA End Effector (grapple fixture) that grapples EF payloads.
There are three MA Booms, known as MA Boom 1, 2 and 3. Vision equipments (TV Cameras, PTU and
light) are attached to the MA Boom 2 and MA Boom 3. The crew will control the JEMRMS while watching
the images, which are taken with the visual equipment, on the TV monitor located on the JEMRMS Console.
The Main Arm is primarily used for exchanging EF payloads (Standard payload envelope is planned to be
1.85m x 1.0m x 0.8m and weighing less than 500kg). The EF payload is grappled and moved by the
JEMRMS Main Arm End-Effector.
(2) Small Fine Arm (SFA)
The Small Fine Arm (SFA) consists of SFA Electronics, SFA Booms, SFA Joints, end effectors called “Tool”,
and SFA TV Cameras. The SFA is used when the SFA is grappled by the MA End Effector.
The SFA is primarily used for precise, delicate and fine-tuned tasks, which include exchanging the Orbital
Replacement Units (ORU) on the EF. (ORU size is planned to be 0.62 x 0.42 x 0.41 m, and weighing 80 kg
max)
The SFA is designed with a compliance function that was validated on the Manipulator Flight Demonstration
(MFD) during the STS-85 mission. This feature allows the crew to easily operate the arm. The SFA
compliance function utilizes the Force/Torque Sensor on the arm to sense when a target is touched, after which
the attitude of the arm is automatically controlled.
(3) JEMRMS
Console
The JEMRM
ing the images,
4.5.3 System Co
The JEMRMS is composed of the following subsystems.
S Console is installed in the PM. Crew will control the JEMRMS while watch
Kibo HANDBOOK
which are taken with TV cameras, on the TV monitor located on the JEMRMS Console. The JEMRMS
Console is composed of a Management Data Processor (MDP), Laptop Computer, Hand Controllers, TV
M
e MDP controls the JEMRMS systems by
commu
a
and the ISS Command and Control Multiplexer/Demultiplexer (C&C MDM) that
control
p Computer and Hand Controllers (RHC and THC) are used to manipulate the
JEMRM T
lays images taken from the external cameras. The Hold/Release Electronics
(HREL
u
Release Mechanism (please refer to (5)).
(4) S
l
quipment (SSE)
ment (SSE) is a device to stow the SFA when the SFA is not
-use. The SSE is installed on the EF. The location of the SSE is shown in Figure 4.3.2-1.
Mechanism (HRM)
Figure 4.5.3-1 JEMRMS locked to PM (Launch configuration)
onitors and Hold/Release Electronics (HREL). Th
nic ting with the JCP
s the ISS. The Lapto
S.
he TV monitor disp
) is sed to operate the Hold and
ma l Fine Arm (SFA) Stowage E
The Small Fine Arm (SFA) Stowage Equip
in
(5) Hold and Release
While the Main Arm (MA) is launched to the ISS, the Hold and Release Mechanism (HRM) locks the Main
Arm to the PM. After the PM is docked with the ISS, the crew will manipulate the HREL on the JEMRMS
Console to release the locked Main Arm from the HRM. Afterward, the Main Arm will be deployed. The
HRM holds the Main Arm’s elbow, wrist and Boom3. Figure 4.5.3-1 shows the position of the JEMRMS
locked to the PM. (Launch configuration).
Main Arm
Pressurized
Module (PM)
JEMRMS base plate
HRM
HRM
Hold and Release
Mechanism (HRM)
(
Hidden below the arm
)
4-33
4. Kibo System Components
4-34
diameter antenna that is installed on the EF and JAXA’s data
as Kodama.
provides the data communication functions. The ICS Exposed
l
enna installed
on the EF.
Specifications
4.6
Inter orbit Communication System (ICS)
4.6.1 Brief Summary
The Inter-orbit Communication System (ICS) is Japan’s
unique system for uplink/downlink data, images and voice data
between Kibo and the Mission Control Room at the Tsukuba
Space Center (TKSC). The ICS uses the 80-centimeter
relay satellite, the Data Relay Test Satellite (DRTS), also known
The ICS consists of the following two subsystems. The ICS
Pressurized Module (ICS-PM) subsystem located in the PM
Faci ity (ICS-EF) subsystem composed of an ant
Table 4.6.1-1 shows the ICS specifications.
Table 4.6.1-1 ICS Specifications
Items
ICS-PM ICS-EF
Size (m)
2.0 x 1.0 x 0.9
1.1 x 0.8 x 2.0 (antenna retracted)
2.2 x 0.8 x 2.0 (antenna deployed)
Mass (weight) (kg)
330
310
Downlink
50 Mbps / About 26 GHz / QPSK
Data rate /
frequency /
modulation
method
Uplink
3 Mbps / About 23 GHz / BPSK
DRTS Visible Window*
Total of 7.8 hours per day (DRTS currently consists of only one satellite)
Max. 40 min. per orbit
*: The actual amount of time available for the DRTS communication may be shorter than the data in the above
table since the above time is based on calculated estimations. In addition, DRTS communication time may
occasionally be allocated for other satellites.
QPSK (Quadrature Phase Shift Keying)
BPSK (Binary Phase Shift Keying)
Figure 4.6.1-1 ICS Location
Kibo HANDBOOK
4.6.2 Layout
The ICS configuration is shown in Figure 4.6.2-1.
Figure 4.6.2-1 Inter-orbit Communication System (ICS)
ICS Pressurized Module (ICS-P
ICS Exposed Facility (ICS-EF) subsystem
M) subsystem
Eart
Grapple Fixture
JEMRMS will
grapples here
h sensor
Sun sensor
Antenna
(
Retracted state
)
Stowage
space
ICS ORU
(seven nits)
Space fo
Communic
r HTV - Proximity
ation Sys
OX)
tem (PR
4-35
4. Kibo System Components
4-36
mponents of ICS
S-PM and ICS-EF components.
(1) ICS Pressurized Module (ICS-PM) subsystem
The ICS Pressurized Module (ICS-PM) subsystem is comprised of seven Orbital Replacement Units (ORUs).
Equipment or devices, such as the Base Band Data Processing Unit, are included in those ORUs. These
ORUs are installed in the ICS rack and manages the ICS.
Primarily, the ICS-PM multiplexes the data of the Kibo’s system and experiment payloads for downlink from
Kibo to the ground, demultiplexes the data uplinked from the ground, and modulates the data before sending or
demodulates the data after receipt.
In addition, the ICS-PM has an automatic operation scheduling function where, commands are uplinked
from the ground in advance while the DRTS is in a communication window. The commands uplinked from the
ground are stored in the ICS-PM. Each command is executed at the scheduled time. This provides ICS
scheduled automatic operations. In addition, the ICS-PM has data recording function for later downloading to
the ground, whenever real time communication is not available.
(2) ICS Exposed Facility (ICS-EF) subsystems
The ICS Exposed Facility (ICS-EF) subsystem is comprised of several components, including Pointing
Mechanism, frequency converters, High-Power Amplifier, as well as, various sensors, including the Earth
sensor, Sun sensor and Inertial Reference Unit.
Data downlinked from Kibo to the ground are relayed to the ICS-EF by the ICS-PM. The data is passed
through the frequency converter and power amplifier, and then, sent to the DRTS. Data uplinked from the
ground will pass through the frequency converter, converted to a low frequency, and then, relayed to the
ICS-PM.
In addition, the ICS antenna can automatically track the DRTS. The ICS-EF determines the antenna’s
attitude based on data from the Earth sensor, Sun sensor and Inertial Reference Unit, while at the same time,
calculating the antenna’s directions based on the ISS and DRTS orbital positions The ICS-EF moves the
antenna using the Antenna
CS attitude, and tracks the
DRTS automatically. Further, while communicating with the DRTS, the ICS can calibrate the direction of the
DRTS by detecting any pointing error based on the high-frequency signals that the antenna receives.
4.6.3 System Co
The following are details of the ICS subsystems, IC
Pointing Mechanism by estimating the variability of the I
Kibo HANDBOOK
5. Kibo Operations
5-1
5. Kibo Operations
5.1
Launch and Flight Plan
Kibo’s components will be launched to the International Space Station (ISS) in three assembly flights as
shown in Table 5.1-1 below.
Table 5.1-1 Kibo Launch Plan
ISS Assembly Flight
*1
Kibo Component
Launch Target
1J/A
Experiment Logistics Module -Pressurized
Section (ELM-PS)
No earlier than February 14,
2008
1J
Pressurized Module (PM) with JEMRMS
No earlier than April 24, 2008
2J/A
Exposed Facility (EF) and Experiment
Logistics Module –Exposed Section (ELM-ES)
Japanese Fiscal Year (JFY)
2008
After being attached to the ISS, every ISS component including Kibo’s component is and will be operated
according to the operations overview as shown in Table 5.1-2. Each country or organization that develops an
ISS component is responsible for operating their own components. Kibo operations are controlled from the
Mission Control Room in the Space Station Integration and Promotion Center (SSIPC) at the Tsukuba Space
Center (TKSC). For details on the ground facilities and Kibo’s mission operations, please refer to Section 5.3.
Table 5.1-2 Operations of ISS Components after launch
Operations Overview
Assembly Activation and
Checkout
Assemble and activate, and verify whether the components are
operational
System Operations
Control and monitor the component’s operational status
Utilization
(For Kibo) Conduct experiments in space using experiment payloads
onboard Kibo
Maintenance
Exchange or repair failed or failing equipment
Supplies, which are necessary for maintaining or exchanging experiment payloads on-orbit, are delivered to
the ISS by the space shuttle, the H-II Transfer Vehicle (HTV) that is currently under development by Japan, the
Russian Progress spacecraft, and the Automated Transfer Vehicle (ATV) developed by the European Space
agency (ESA). For information on the HTV, please refer to Chapter 8.
*1
For the ISS Assembly Flight Numbers, the letter "J" represents the mission relating to Japan's element, and
"A" represents the mission relating to US elements. For example, "2J/A" is the second assembly flight which
delivers elements of Japan and US.
5-2
Kibo HANDBOOK
5.2 Kibo
Assembly
Sequence
5.2.1 1J/A Flight
During the 1 J/A Flight, the Experiment Logistics Module – Pressurized Section (ELM-PS) will be delivered
to the ISS. The ELM-PS will be carrying Kibo’s system racks (JEM system racks) and payload racks.
Figure 5.2.1-1 shows the expected external view of the ISS after completion of the 1J/A Flight Mission. The
planned cargo bay layout during launch of the 1J/A Flight is shown in Figure 5.2.1-2.
After the docking of the space shuttle to the ISS, the following procedures will be used to attach the ELM-PS
to the ISS. Figure 5.2.1-3 shows the procedures for attaching the ELM-PS to the ISS.
1.
Space shuttle docks to ISS
2.
Canadarm2 (ISS robotic arm) grapples the Orbiter Boom Sensor System (OBSS) and removes the
OBSS from the space shuttle’s cargo bay. (This will provide sufficient clearance for the safe removal
of the ELM-PS from the space shuttle’s cargo bay.) (Figure 5.2.1-3 (1))
3.
The Shuttle Remote Manipulator System (SRMS) removes the ELM-PS from the space shuttle’s cargo
bay. (Figure 5.2.1-3 (1) to Figure 5.2.1-3 (3))
4.
The ELM-PS is attached, by the SRMS, to the Common Berthing Mechanism (CBM) at the zenith side
of Node 2. (Figure 5.2.1-3 (4))
5.
The CBM vestibule is pressurized. The crew connects the electrical power cables and air ducts
between the ELM-PS and Node 2.
6.
The ELM-PS is powered up and activated. The operational status of the ELM-PS is checked.
7.
The crew enters the ELM-PS from Node 2.
Eventually, the ELM-PS will be attached to the PM. However, since the ELM-PS will be launched before
the PM, the ELM-PS will temporarily be attached to the Node 2 until the PM is delivered to the ISS.
Note: The above procedures are based on NASA/JAXA coordination as of March 2007. The above
procedures are subject to change dependent on possible changes.
5-3
5. Kibo Operations
Direction of travel
Direction towards earth
Node 2
Experiment Logistics Module –
Pressurized Section (ELM-PS)
Figure 5.2.1-1 ISS after completion of 1J/A Flight
to space shuttle’s Middeck
Experiment Logistics Module –
Pressurized Section (ELM-PS)
SRMS
Canadian element
Orbiter Docking System (ODS)
Figure 5.2.1-2 Cargo bay layout during launch of 1J/A Flight (Image)
5-4
Kibo HANDBOOK
Node 2
ELM-PS
(1)
(2)
(3)
(4)
Canadarm2 (SSRMS)
OBSS
SRMS
ELM-PS
SRMS
Node 2
Figure 5.2.1-3 Procedures for connecting ELM-PS to ISS
5-5
5. Kibo Operations
5.2.2 1J Flight
During the 1J Flight, the Pressurized Module (PM) and Kibo’s Remote Manipulation System (JEMRMS)
will be delivered to the ISS. Figure 5.2.2-1 shows the expected external view of the ISS after completion of
the 1J Flight. The Planned cargo bay layout during launch of 1J Flight is shown in Figure 5.2.2-2. The
JEMRMS will be securely locked to the PM when the JEMRMS is launched to the ISS.
Following the space shuttle’s docking to the ISS, the PM will be berthed to the ISS according to the
following procedure. Figure 5.2.2-3 shows the procedures for berthing of the PM to the ISS. Figure 5.2.2-3
shows the procedures for relocating the ELM-PS from the Node 2 to the PM.
1.
Space shuttle docks to ISS
2.
Canadarm2 removes the PM from the space shuttle’s cargo bay (Figure 5.2.2-3 (1) to Figure 5.2.2-3
(2))
3.
The PM is berthed to the CBM on the port side of Node 2. (Figure 5.2.2-3 (3) to Figure 5.2.2-3 (4))
4.
The CBM vestibule is pressurized. The crew connect electrical power cables and other cables or
lines.
5.
The PM is powered up. The operational status of the PM system is checked through the activation of
one (B string) of the two strings (A & B strings) of the PM system.
6.
The air conditioning and air ventilations are activated. The crew enters the PM.
7.
Three JEM system racks and JEMRMS Console, which were launched during the 1J/A Flight while
being stored in the ELM-PS, are transferred to the PM through the Node 2.
8.
The “A” string (second string) of the PM system is activated. The system’s operational status (two
strings activated) is checked.
9.
The JEMRMS Console is activated. The JEMRMS is deployed.
10.
The other racks are transferred from the ELM-PS to the PM.
11.
After closing the ELM-PS hatches, the ELM-PS is deactivated. And the Canadarm2 removes the
ELM-PS from the Node 2 CBM and relocate to the PM CBM. (Figure 5.2.2-4 (1) to Figure 5.2.2-4 (4))
12.
The ELM-PS system is reactivated, and the crew enters the module.
Note:
The above procedures are based on NASA/JAXA coordination as of March 2007. The above
procedures are subject to change dependent on possible changes.
5-6
Kibo HANDBOOK
Direction of travel
Direction towards earth
Node 2
ELM-PS
JEMRMS
PM
Figure 5.2.2-1 ISS after 1J Flight is completed
to space shuttle’s Middeck
SRMS
Orbiter Docking System
(ODS)
PM
JEMRMS
Main Arm
Configuration of the
JEMRMS during launch
PM
Figure 5.2.2-2 Cargo bay layout during launch of 1J Flight (Image)
5-7
5. Kibo Operations
Node 2
PM
(1)
(2)
(3)
Canadarm2 (SSRMS)
ELM-PS
JEMRMS
PM
JEMRMS
(4)
Figure 5.2.2-3 Procedures for attaching PM to ISS
5-8
Kibo HANDBOOK
Node 2
PM
Canadarm2 (SSRMS)
ELM-PS
JEMRMS
ELM-PS
(1)
(2)
(3)
(4)
Figure 5.2.2-4 Procedures for relocating ELM-PS (space shuttle is not included)
5-9
5. Kibo Operations
5.2.3 2J/A Flight
During the 2J/A Flight, the Exposed Facility (EF) and the Experiment Logistics Module – Exposed Section
(ELM-ES) will be launched to the ISS. Figure 5.2.3-1 shows the expected external view of the ISS after
completion of the 2J/A Flight. The Planned cargo bay layout during launch of the 2J/A Flight is shown in
Figure 5.2.3-2.
After the docking of the space shuttle to the ISS, the EF and ELM-ES will be attached to the ISS according
to the following procedures. The procedures for attaching the EF and ELM-ES to the ISS are shown in Figure
5.2.3-3.
1.
Space shuttle docks to the ISS
2.
Canadarm2 removes the EF from the space shuttle’s cargo bay (Figure 5.2.3-3 (1) to Figure 5.2.3-3
(2))
3.
The EF is attached to the Exposed Facility Berthing Mechanism (EFBM) on the PM by the Canadarm2
(Figure 5.2.3-3 (3) to Figure 5.2.3-3 (4))
4.
The EF is powered up and activated The EF’s operational status is checked.
5.
The SRMS removes the ELM-ES from the space shuttle’s cargo bay (Figure 5.2.3-3)
6.
The ELM-ES is handed over from the SRMS to the Canadarm2 (Figure 5.2.3-3 (6))
7.
The ELM-ES is attached to the EF by the Canadarm2 (Figure 5.2.3-3 (7) to Figure 5.2.3-3 (8))
8.
The ELM-ES is powered up and activated The ELM-ES’s operational status is checked.
9.
The payloads carried on the ELM-ES during launch are relocated to the EF by the JEMRMS
Note: The above procedures are based on NASA/JAXA coordination as of March 2007. The above procedures
are subject to change dependent on possible changes.
5-10
Kibo HANDBOOK
Direction of travel
Direction towards earth
ELM-PS
JEMRMS
PM
EF
ELM-ES
Figure 5.2.3-1 ISS after completion of 2J/A Flight (Illustration provided by NASA)
to the space shuttle’s Middeck
SRMS
Orbiter Docking System (ODS)
US cargo
EF
ELM-ES
Figure 5.2.3-2 2J/A Cargo bay layout during launch of 2J/A Flight (Image)
5-11
5. Kibo Operations
PM
Canadarm2 (SSRMS)
EF
(1)
(2)
(3)
(4)
SRMS
(5)
(6)
(7)
(8)
ELM-ES
EF
SRMS
Canadarm2 (SSRMS)
ELM-ES
Figure 5.2.3-3 Procedures for connecting EF and ELM-ES to ISS
5-12
Kibo HANDBOOK
5.3
Kibo Operations Control
The International Space Station (ISS) program, which includes the construction, assembly, and utilization of
the ISS, has been promoted by the United States (US), Japan, Canada, 11 European countries that belong to the
European Space Agency (ESA), and Russia. Overall operations of the ISS are coordinated by the US. Each
International Partner is responsible for operating each country’s own ISS component including ISS
components/modules/segments, ISS payloads or equipment.
Communications between the ISS and the International Partners are conducted through the Tracking and
Data Relay Satellite (TDRS) by way of NASA Johnson Space Center (JSC) and White Sands Ground Station.
Japan will alternatively use JAXA’s Data Relay Test Satellite (DRTS), known as Kodama, for communicating
with Kibo. Russia communicates with the ISS only when direct communications with the ISS are permitted,
and uses the TDRS as a backup communication method.
Figure 5.3-1 shows the conceptual diagram for the ISS operations.
Tracking and
Data Relay
Satellite
JAXA Data
Relay Test
Satellite
Space Shuttle
Automated
Transfer
Vehicle (ATV)
Soyuz /
Progress
H-II Transfer
Vehicle (HTV)
NASA White Sands
Ground Station
Payload Operations
Integration Center
NASA JSC: Mission
Control Center
NASA KSC:
Kennedy Space
Center
ESA: Kourou, French
Guiana
Canadian Space Agency
Saint-Hubert, Quebec
ESA:
Columbus Control Centre
Russian Space Agency: Mission
Control Center-Moscow
JAXA: Tsukuba Space
Center (TSKC),
Tsukuba Japan
Russian Space
Agency: Baikonur
Cosmodrome
Tanegashima
Space Center
(TNSC)
Each organization operate their own components / modules / segments from their own Control Centers
Figure 5.3-1 ISS Operations Conceptual Diagram
5-13
5. Kibo Operations
After all of the Kibo components are assembled and attached to the ISS, Japan’s full-scale experiments in
space will commence.
Experiments, which will be performed in or on Kibo, are operated and controlled from the Space Station
Operations Facility (SSOF) in the Space Station Integration and Promotion Center (SSIPC) at Tsukuba Space
Center (TKSC) in collaboration with the Space Station Control Center (SSCC) at NASA’s Johnson Space
Center (JSC), where the overall operations of the International Space Station (ISS) are controlled and managed.
Overview of the SSIPC that consists of several related ground facilities is shown in Figure 5.3-1.
The SSOF is responsible for Kibo’s operations control, including (1) controlling and monitoring Kibo’s
ongoing systems, (2) operating Japan’s experiment payloads onboard Kibo, (3) implementing operations plans,
and (4) supporting launch site processing.
Kibo’s operations systems are categorized by the following systems: (a) Operations and Utilization Planning
System, (b) Operations Control System, (c) Crew Operations Training System, (d) Engineering Support System,
(e) Logistics and Maintenance Operations Management System and (f) Operations Data Network System.
Overview of the Operations Control System (OCS), which is the most critical system for Kibo operations, is
shown in Figure 5.3-2.
5-14
Kibo HANDBOOK
Mission Control Room
(MCR)
Operations Planning
Room
Operations Rehearsal
Room(ORR)
NASA
This center is responsible for
the operations of Columbus
laboratory
.
Communication Interface for payload operations
Communication Interface for system operations
Space Station Test Building
Space Experiment Laboratory (SEL)
Columbus Control Center
(Col-CC)
Payload Operations and
Integration Center
(POIC)
This center is located at the
MSFC and integrates the
scientific payload operations
aboard the ISS
Space Station Control
Center (SSCC)
This center is located at the JSC
and controls and operates the
overall ISS systems. This center
is responsible for the safety of the
ISS and the ISS flight crew.
Mission Control Center –
Moscow (MCC-M)
This center controls and
operates the Russian segment
of the ISS.
Space Station Integration
and Promotion Center
(SSIPC)
This operations control complex is located at the TKSC. The SSIPC
controls and manages Kibo operations.
Tests on Kibo’s integrated systems are conducted
here. Operational status of the systems, interfaces,
and applicability of the payloads are tested here.
Engineering supports for Kibo’s on-orbit operations
will be provided.
Astronaut Training Facility (ATF)
Weightless Environment Test Building (WET)
Responsible for 1) development of technologies for
experiments in space, 2) supporting users
developed the Kibo experiments, 3) preparing Kibo
experiment operations program, and 4) supporting
the experiment data analysis.
Responsible for crew selection, training, and health
care. Research for developing technologies or
methods for the crew selection, training and health
care are conducted.
Weightless environment simulator provides an
artificial microgravity environment by water
buoyancy,. Design verification tests on Kibo’s
components are conducted here. Kibo maintenance
or Kibo’s ORU replacement procedures are prepared
and aastronaut’s basic training is conducted here.
Space Station Operations Facility (SSOF)
Responsible for controlling Kibo
operations in cooperation with SSCC
and POIC. At the SSOF, operations of
Kibo’s system and payload are
conducted and Kibo operations plans are
prepared. The operability and launch
feasibility are studied here.
User Operations
Area (UOA)
Responsible for real-time Kibo operation
on a 24-hour basis. Ongoing Kibo
systems, monitoring health and status of
Kibo’s payloads, sending commands, and
real-time operational planning are
managed here.
Distributs status of Japan’s experiments
and experiment data to the respective
users. Users who are responsible for the
experiment’s operations, can monitor,
control, and analyze the experiment’s data.
The users can support and conduct
on-orbit experiments from the ground.
Plans on-orbit and ground operations
based on the power distribution, crew’
resources, and data transmission capacity.
If the operation plands need to be
changed, adjustments will be conducted
in tandem with the Mission Control
Room, the User Operations Area and
NASA.
Functions are similar to the MCR’s. The
ORR provides trainings for flight
controllers, conducts integrated rehearsals,
and conducts joint integrated simulations
with NASA.
ESA
FSA
JAXA
NASA
Figure 5.3-1 Space Station Integration and Promotion Center (SSIPC) Ground facilities
5-15
5. Kibo Operations
Figure 5.3-2 Kibo Operations Control System
Operations Control System (OCS)
Monitoring Control subsystem
Experiment Operations
Support subsystem
Strategic and Tactical Planning
subsystem
Operations Data Management
subsystem
Operations Data Network
subsystem
Common Equipment subsystem
Along with the SSCC operations control, the Operations Control
System (OCS), which is a core component of the SSIPC, controls
and monitors Kibo’s systems and the status of Japan’s and
international partners experiment payloads aboard Kibo. The OCS
also conducts data management and provides user support.
In addition, the OCS prepares and manages the operations plans for
Kibo’s systems and payload operations within the available
resources that are allotted to Kibo in cooperation with the
SSCC/POIC that is responsible for integrating the overall ISS
system and payload operations.
This subsystem provides several types of supports for users
who operate their experiments on or in Kibo including: (1)
distribution and display of experiment data and ancillary
data that is downlinked from Kibo to the users, (2) input and
transmission of commands from the users, and (3)
interfacing the uses’ provided equipment for standard
interfacing.
The Monitoring Control subsystem is responsible for: (1) the
processing and display of telemetry data required for the real
time monitoring and control of Kibo’s onboard payloads
(Japan’s and international partners’), (2) control and
verification of commands that are transmitted, (3) operations
history data archive, (4) transmission, control and/or
verification of on-orbit operations files, and (4) fault
detection, isolation, and recovery.
This planning subsystem manages: (1) planning and
preparation of Kibo’s systems or payloads, (2) ground
operations planning for Kibo on-orbit operations, and (3)
revising or modifying ground operations plans, and (4) data
management for operations planning.
This data management subsystem manages: (1) operations
data of Kibo’s system and Kibo’s on-board payloads (both
Japan’s and international partners’), (2) experiment data for
Japan’s experiment payloads, (3) accumulation of ancillary
data and statistical processing, (4) data processing,
long-term storage management and distribution of data, and
(5) data search management.
This network subsystem manages: (1) the equipment for
interfacing between NASA and Kibo’s ICS and (2) OCS
network operations.
This subsystem provides equipment and information that are
common to either the Kibo’s flight controllers or Kibo’s
operations staff. This subsystem is composed of: (1) audio
and video communication equipment, (2) large displays, (3)
standard time provision equipment, and (4) consoles at the
MCR.
5-16
Kibo HANDBOOK
5.3.1 Orbital Interface (between the ground to/from Kibo)
TKSC) and Kibo for data
uplink/downlink
(1) NASA Data Communication Link
interface between Kibo and TKSC through NASA’s Tracking and
Data R
(a) S
band
s commands (power-on and power-off commands to Kibo), telemetry data (Kibo’s health
status data)
(b) Ku
band
s larger bandwidth data that is acquired at Kibo to the ground, including, experiment data
or video
(2) JAXA
Data
Communication
Link
the TKSC and Kibo through JAXA’s Data and Relay Test
Satell
There are two types of communication links between Tsukuba Space Center (
. In general, Kibo operations are conducted by using NASA’s communication link.
This link provides the data communication
elay Satellite System (TDRSS). Commands or data from the TKSC are first received at NASA JSC
and White Sands Ground Station and forwarded to Kibo through the TDRSS and the ISS. This link utilizes
two types of communication bands. Each band relays different types of data.
The S band relay
and voice.
The Ku band relay
images.
This link provides a direct interface between
ite (DRTS). The data sent from TKSC are relayed through the DRTS and received by the Inter-orbit
Communication System (ICS) installed on Kibo. This link uses the Ka band. The types of the data to be
uplink/downlink are nearly the same as the types of data for NASA’s communication link, including,
commands, telemetry, voice, video images, experiment data and experiment images. JAXA’s Data
Communication Link is also known as the “ICS link”.
5-17
5. Kibo Oper
5-18
ations
5.3.2 Ground Interface (between TKSC and NASA Mission Control Centers)
There are two types of ground links between JAXA and NASA. Both links between the two control centers
are via leased lines/channels.
(1) Link between the Tsukuba Space Center (TKSC) and NASA’s Johnson Space Center (JSC)
This link interfaces the Tsukuba Space Center (TKSC) with NASA’s Johnson Space Center (JSC).
Commands (power-on and power-off commands to Kibo), telemetry data (Kibo’s health status data), voice and
video images are sent and received.
(2) Link between Tsukuba Space Center (TKSC) and NASA’s Marshall Space Flight Center
(MSFC)
This link interfaces Kibo with the TKSC through the Huntsville Operations Support Center (HOSC) at
NASA’s Marshall Space Flight Center (MSFC). Experiment data downlinked from Kibo is sent to the TKSC.
Figure 5.3-3 shows a conceptual diagram of the orbital/ground interfaces for Kibo operations.
Kibo HA
NDBO
O
K
Figure 5.3-3 Conceptual Diagram of orbital/ground communication interfaces for Kibo Operations
5-19
TDRS
DRTS
U
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Ka-band
S-band
•
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Downlink: ISS/Kibo telemetry data, voice
•
•
Uplink: ISS/Kibo commands, voice
Ku-band
•
•
Downlink (50Mbps): Experiment data, video
images
Ka-band
•
Downlink (50Mbps): Kibo telemetry data,
voice, video images, experiment data
•
Uplink (3Mbps): Kibo command, voice,
data file for payloads
Kibo telemetry data / commands,
voice, video images
experiment data
N
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Mission Control Center
Huntsville Operations Support
Center (HOSC)
(Space Station Integration and
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5. Kibo Operations
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Kibo HANDBOOK
6. Kibo Utilization
6-1
6. Kibo Utilization
6-2
6.1 Summary
400 km above the earth, construction and assembly of the International Space Station (ISS) is ongoing.
Aboard the ISS, various scientific experiments are currently or will be conducted by utilizing an environment
unique to space. The space environment is characterized by microgravity, space radiation, vast views, very
high vacuum and an abundant source of solar energy. These environmental conditions are completely different
and difficult to fully duplicate from what is available on earth. The results from these experiments are
expected to enhance the capabilities of our 21st century industry and will also be used for the betterment of
mankind. On Kibo, several types of scientific experiments that will use Kibo’s pressurized and exposed
facilities are planned. This chapter describes Kibo’s space experiment environment and the experiment
payloads planned to be used inside or outside of Kibo, and introduces Kibo’s utilization plans during Kibo’s
initial utilization phase.
6.2 Environment
6.2.1 Microgravity
Every object orbiting the earth, like the ISS, is in a state of continuous free-fall towards the center of the
earth. Under these conditions, these orbiting objects are under the influence of microgravity or near zero
gravity conditions. On-board the ISS, several factors including atmospheric drag, gravity gradient (tidal
force), crew activities, and the station’s solar array rotations may affect the ISS gravitational environment.
However, microgravity is still only about 10
-6
to 10
-4
g of that on earth, and thus can be utilized for long-term
research on-board the ISS. (Note: 1 g is a measurement expressed as an object’s nominal acceleration at
9.80665 m/s
2
due to gravity on Earth at sea level and known as G-force or G-load). Utilizing this
microgravity environment, several types of experiments or studies on the effects of gravity on life are under
consideration for Kibo’s future experiments.
6.2.2 Line of Sight and field of view from the ISS
The line of sight from certain sites of the ISS can be blocked by the ISS structural components, including the
pressurized modules or rotating solar arrays. The field of view or what can be seen depends on location and
the direction of the line of sight.
Since Kibo will be located at the front of the ISS (ISS’s direction of travel), a relatively wider field of view
can be seen from the Exposed Facility (EF) experiment payloads site attached to the front (ISS’s direction of
travel) of the Kibo’s Exposed Facility (EF).
The field of view from the EF experiment payload #1, that will be attached to the EF, was estimated by a
field of view analysis. Figure 6.2.2-1 shows an estimated field of view from the EF experiment payload #1.
Mission planning for an experiment, which will be conducted using an EF experiment payload on the EF and a
view is of importance, will need to factor in the results of the field of view analysis.
Kibo HANDBOOK
Solar Array
JEMRMS
ELM-PS
PM
Solar Array
ICS
SFA Storage Equipment
EF
EF payload
Radiator
TV camera,
lights, PTU
Radiator
Solar Array
Solar Array
Soyuz spacecraft
Node 3
Radiator
Earth
30
60
90
30
60
90
Direction of travel
Direction of travel
EF experiment
payload #1
Zenith direction
Direction of earth center
Direction of travel
Note: The rotation envelopes for the station’s solar arrays and radiators are
indicated. Both figures illustrate a hemispheric view.
SFA: Small Fine Arm
PTU: Pan Tilt Unit
to Node 2
EF
Figure 6.2.2-1 Estimated field of view for EF experiment payload #1 site on EF
6.2.3 Background Atmosphere
The degree of vacuum at the ISS orbit (at an altitude of 400 km) is approximately 10
-5
Pa. Water dumps
from the ISS or water dumps from the space shuttle being docked to the ISS could affect this vacuum
environment. In addition, the atmospheric density of the environment surrounding the ISS may vary
depending on solar and geomagnetic activities.
At the altitude where the ISS orbits, a significant amount of atomic oxygen exists. The atomic oxygen is
formed from dissociated oxygen molecules exposed to ultraviolet (UV) radiation. Atomic oxygen is known to
oxidize, erode and contaminate spacecraft materials on orbit.
Excluding water dumps from the ISS, there are many contamination sources in Kibo’s surrounding
environment, including out-gassing from the ISS components (gasses emitted from organic materials) or
thruster burns by the space shuttles or other spacecrafts. When planning experiments for the EF, atmospheric
factors will need to be taken into consideration.
6-3
6. Kibo Utilization
6-4
6.2.4 Space Radiation
The environment where the ISS orbits are comprised of cosmic radiations, including a radiation belt (Van
Allen belts) consisting of particles captured by the earth's magnetic field, solar flare particles (solar protons)
generated by solar activities, and galactic cosmic rays that originates from outside the solar system. The
environment outside and inside the ISS can be affected by cosmic radiations impacted with the ISS structural
components or the atmosphere, which in turns generates secondary radiations. The cosmic radiation may
cause malfunctions with the ISS equipment, which is known as a “single event effect”. Additionally, the
cosmic radiation may adversely affect the health of the ISS crew. Therefore, observations and researches on
cosmic radiation have become increasingly important.
6.2.5 Thermal Environment
The ISS and Kibo’s thermal environments are complex and composed of direct solar exposure, sun light
reflected from the earth (albedo), infrared radiation and cosmic background radiation. The temperature
surrounding the ISS and Kibo ranges from -150
°
C to +120
°
C (degree Celsius), depending on the shaded or
un-shaded area of the ISS or Kibo. The thermal environment can also vary depending on the relative position of
the sun and the ISS orbital plane.
Before designing an EF experiment payload, as well as Kibo’s components, verification that EF experiment
payload itself is strong enough to endure the severe thermal conditions of space including interruptions or
reflections attributed to ISS’s surrounding components should be done.
6.2.6 Micrometeoroid and Space Debris
In space, micrometeoroids which are believed to originate from comets or asteroids and space debris, which
originate from artificial satellites, spacecraft components, old launch vehicles or orbit burns of solid rocket fuel,
are orbiting the earth. These orbiting micrometeoroids and space debris may possibly impact the ISS or Kibo.
Under an altitude of 2,000 km above the earth, more than 10,000 pieces of space debris, the size of 10 cm or
greater, have been confirmed. If a piece of debris that may impact the ISS is predicted or confirmed, a debris
avoidance maneuver that alters the ISS orbital altitude will be implemented. In addition, debris shields or
debris bumpers are installed around the outside surface of the PM and ELM-PS for protecting these
components’ structural bodies from possible space debris impacts. Moreover, these components are designed
not to break apart even if a hole is made in the component’s surfaces from debris impacts. The safety of the ISS
crew can be ensured by evacuating the crew to a different ISS module, and then, closing and securing the
hatches of the affected module.
Kibo HANDBOOK
6.3 Experiment
Payloads
6.3.1 Experiment Payloads for Kibo’s Pressurized Module (PM)
(1) Cell Biology Experiment Facility (CBEF)
The Cell Biology Experiment Facility (CBEF) is equipped with an incubation environment where the
temperature, humidity and carbon dioxide (CO2) concentration can be controlled. The basic phenomena of life
in space can be studied through the use of cells from animals, plants, microorganisms, etc. A centrifuge will be
used to generate an artificial gravity environment, thus experiments in both a microgravity and artificial gravity
environment can be conducted in Kibo.
The culture chamber will be set in a “canister” and installed within the CBEF. Through a utility connector
inside the CBEF, the canister can receive power, command input, sensor output, video output. These utilities
will provide support for an efficient experimental environment. In addition, by placing the canister in the
Clean Bench (CB), the ISS crew can, by using the Clean Bench’s glove box, directly handle the samples inside
the canister.
Figure 6.3.1-1 shows an overview of the CBEF. Table 6.3.1-1 shows the CBEF specifications.
The CBEF will be installed in the “SAIBO” experiment payload rack in Kibo’s Pressurized Module (PM).
The Clean Bench (CB) will also be installed in the “SAIBO” rack. The CBEF will be operated at the location
as shown in Figure 6.3.1-2.
Centrifuge
Microgravity Compartment
(
μ
G incubator unit)
1G Compartment
(1 G incubator unit)
Figure 6.3.1-1 CBEF
6-5
6. Kibo Utilization
6-6
Table 6.3.1-1 CBEF Specifications
Items Specifications
Temperature setting
15 to 40
°
C
Humidity setting
Max. 80
±
10 % RH
CO2 concentration setting
0 to 10 % (0.1 % step)
Gravity setting
0.05 to 2 G (at 112.5 mm radius point)
Utility
Power: DC+5V, +12V,
±
15V
Sensor output: 0 to 5 V
Command: 1 bit
Video output
Figure 6.3.1-2 Location of SAIBO Rack in Pressurized Module (PM)
SAIBO Rack
(
Location Code: A2 in PM
)
Kibo HANDBOOK
(2) Clean Bench (CB)
The Clean Bench (CB) will provide an aseptic glove-box operating compartment called “Operation Chamber
(OC)” where germfree operations can be conducted. Life Science and biotechnological experiments can be
performed on-board Kibo through the use of the CB. The CB has a Disinfection Chamber (DC), which is
separated from the OC. This separation prevents the OC from becoming contaminated by microorganisms
while transferring samples or equipment. In addition, the OC is equipped with ultraviolet lamps for
sterilization and High Efficiency Particle Air (HEPA) Filters. These filters eliminate particles that are
suspended in the air. Consequently, germfree experiments can be conducted by the Clean Bench. The front
of the OC is comprised of transparent materials so as to provide good views of the inside of the OC. The ISS
crew will be able to conduct germfree experiments by directly monitoring the insides of the OC. In addition,
to support the experiments, a phase-contrast/fluorescent microscope and a monitor camera are installed in the
CB.
Figure 6.3.1-3 shows an overview of the CB. Table 6.3.1-2 shows the CB’s specifications.
The CB will be installed in the “SAIBO” experiment payload rack in the PM together with the CBEF, and
will be operated at the location as shown in Figure 6.3.1-2.
Power Unit
Liquid Crystal Display
(LCD) Monitor
Operation
Chamber
Joystick
Glove
Disinfection
Chamber (DC)
Microscope
Control Unit
Astronaut Furukawa using the OC
Figure 6.3.1-3 CB
6-7
6. Kibo Utilization
6-8
Table 6.3.1-2 CB Specifications
Items Specifications
Cubic Volume
Operation Chamber: 52 L
Disinfection Chamber: 14 L
Environment Control
Air duct filtering system: particle are eliminated by HEPA filters (two)
Sterilization method: UV-germicidal lamp
Temperature setting: 20 to 38
°
C
Equipment installed
Phase-contrast/fluorescent microscope (objective lens: x4, x10, x20, x40
magnification)
Utility
Power: DC+5V, +12V,
±
15V
Video output
Kibo HANDBOOK
(3) Fluid Physics Experiment Facility (FPEF)
The Fluid Physics Experiment Facility (FPEF) is an experiment facility for conducting fluid physics
experiments at ambient temperature and in a microgravity environment. In space or in a microgravity
environment, the effects from thermal convection are lower than that on earth. Thus, Marangoni convection
(convection attributed to differences between surface tensions) is significant. The primal objective of the
FPEF is to investigate the Marangoni convection in a space environment which affects such as the
semiconductor single crystal growth experiment. The results from investigating the Marangoni convection
are expected to facilitate control of convections that are currently hampering industrial applications. The
results, by deepening our understanding of the Marangoni convection, may be applied to methodologies for
eliminating foam or bubbles in fluids.
As part of the FPEF standard functions, the FPEF has the following features for observing, measuring or
monitoring: (1) two-dimensional (2D) and three-dimensional (3D) flow field observation for observing flow
distributions, (2) surface temperature measurement, (3) velocity profile measurement using ultrasound, and (4)
surface flow velocity monitoring. Currently, the “Liquid Bridge” application is being planned for the FPEF
for investigating the Marangoni convection. In addition, several Experiment Cells are being developed to meet
several diverse experiment purposes. Figure 6.3.1-4 shows an overview of the FPEF. Table 6.3.1-3 shows the
FPEF specifications.
The FPEF will be installed in the “RYUTAI” experiment payload rack inside the PM. The FPEF will be
operated at the location as shown in Figure 6.3.1-5.
Figure 6.3.1-4 FPEF
6-9
6. Kibo Utilization
6-10
Table 6.3.1-3 FPEF Specifications
Items Specifications
Liquid Bridge Formation
Sample: Silicone Oil
Diameter: 30 mm, 50 mm
Length: 65 mm maximum
Temperature Control
Heating Disk: 90
℃
(degrees Celsius) maximum
Cooling Disk: 5
℃
(degrees Celsius) minimum
3D Flow Field Observation
CCD camera (effective pixel: 768 (H) x 494 (V))
Liquid Bridge Overview
Observation
CCD camera (effective pixel: 768 (H) x 494 (V))
Surface Temperature
Distribution Measurement
Infrared Imager
*spectral response: 8 to 14
μ
m
*measurement range: 0 to 100
°
C
Surface Flow Velocity
Measurement
Photochromic dye actuation with nitrogen gas laser
(two points irradiation)
Utility
Power source: 12
±
2V, 4A (Max), 1ch
24
±
2V, 3.5A (Max), 3ch
±
15V
±
0.5V, 0.8A (Max)/ch, 1ch
Analog Input: 0 to 10V, 8ch
Digital Input: 8ch
Digital Output: 8ch
Gas supply: Argon (Ar) gas
Figure 6.3.1-5 Location of RYUTAI Rack
RYUTAI Rack
(
Location Code: A3 in PM
)
Kibo HANDBOOK
(4) Solution/Protein Crystal Growth Facility (SPCF)
The Solution/Protein Crystal Growth Facility (SPCF) is an experiment facility for conducting basic
researches related to crystal growth in various solutions or proteins in a space environment. The SPCF
consists of the Solution Crystallization Observation Facility (SCOF) and the Protein Crystallization Research
Facility (PCRF). The SCOF uses cell cartridges for growing solution crystals. In-situ observations can be
performed while the crystals are growing by controlling the temperature and pressure in the cell cartridge. A
Mach-Zehnder (MZ) Interference Microscope and a Dynamic Light Scattering unit are mounted in the SCOF
for crystal growth observation, crystal surface observation, liquid-phase temperature/concentration distribution
measurements, and/or particle size distribution measurements. The second SPCF facility, the PCRF, is a
facility for growing large and high-quality protein crystals for ground structural analyses.
The SCOF and PCRF can be operated separately as independent facilities. The overviews of the SCOF and
PCRF are shown in Figure 6.3.1-6 and Figure 6.3.1-7, respectively. The specifications for the SCOF and
PCRF are shown in Table 6.3.1-4 and Table 6.3.1-5, respectively.
The SPCF will be installed in the “RYUTAI Rack” in the PM together with the FPEF, and will be operated at
the location as shown in Figure 6.3.1-5.
(SCOF Front)
(SCOF Inside)
Mach-Zehnder (MZ)
Interference Microscope
Laser Light
Optical Window
Electronics Controller
Test specimen
(cell cartridge)
Cell Driving System
Gas Port
Amplitude-Modulation
Microscope
Polarizing Microscope
Bright-Field Microscope
Figure 6.3.1-6 SCOF
6-11
6. Kibo Utilization
bo Utilization
6-12
6-12
CCD Camera
Cell Cartridge
Cell Tray
Figure 6.3.1-7 PCRF
Figure 6.3.1-7 PCRF
Table 6.3.1-4 SCOF Specifications
Table 6.3.1-4 SCOF Specifications
Items
Items Specifications
Specifications
Mach-Zehnder (MZ)
Interference Microscope
Magnification: x2, x4
Light source: LD and solid-state laser diode (
λ
= 532 nm, 780 nm)
Phase resolution: More than 0.2
λ
Amplitude-Modulation
Microscope
Magnification: x2, x4
Light source: LED (
λ
= 600 nm)
Phase resolution: More than 0.2
λ
User Interface
Temperature Control: Peltier element
Temperature Measurement: Thermister (standard or high precision
measurement), Thermocouple (K, J type)
Options Dynamic
Light
Scattering
Fluorescence Decay
Reflecting Spectrophotometer
Absorption Photometer
Table 6.3.1-5 PCRF Specifications
Items Specifications
Cell Cartridge
Number of cartridges: 6
Temperature control: 0 to 35
°
C
Harvesting method: Vapor Diffusion, Batch, Membrane, Liquid-liquid diffusion
Observation systems
Camera: 1/2 CCD camera
Light source: LED
Resolution: More than 40
μ
m
Kibo HANDBOOK
(5) Gradient Heating Furnace (GHF)
The Gradient Heating Furnace (GHF) is a multipurpose electrical furnace for conducting experiments related
to vapor deposition and crystal growth of semiconductor materials. The GHF is comprised of a furnace, a
Control Equipment, and a Sample Cartridge Automatic Exchange Mechanism (SCAM) with a controller.
Samples will be heated or cooled in the Furnace Section. The Control Equipment will receive commands
from the ground to control the experiments while relaying data to the data communication system of Kibo.
The SCAM can accommodate up to 15 samples and can automatically exchange the samples. There are three
heating units in the Furnace Section. Each heating unit can independently be controlled or maneuvered. Thus,
different temperature profiles can be set for conducting various experiments. When running the experiments
in the GHF, fusion and unidirectional solidification of the samples can be conducted. The GHF overview is
shown in Figure 6.3.1-8. The GHF specifications are shown in Table 6.3.1-6.
The GHF will be installed in the “KOBAIRO” experiment payload rack, with power or coolant water being
supplied from the PM. Data can be sent to or received from the ground.
(
GHF installed in the KOBAIRO Rack
)
GHF Material Processing Unit (Furnace)
Motor
Heating Unite
Vacuum Chamber
Figure 6.3.1-8 GHF
6-13
6. Kibo Utilization
bo Utilization
6-14
6-14
Table 6.3.1-6 GHF Specifications
Table 6.3.1-6 GHF Specifications
Items
Items Specifications
Specifications
Heating Temperature Range
500 to 1600
°
C
Temperature Stability
Within
±
0.2
°
C
Temperature Gradient
150
°
C / cm or higher at temperature 1450
°
C
Speed
0.1 to 200 mm / h
Temperature Monitoring
Five points (max. 10 points)
KOBAIRO Rack (Installed at Location
Code F3 in PM)
Figure 6.3.1-9 Location of KOBAIRO Rack in PM
Kibo HANDBOOK
6.3.2 Exposed Facility (EF) Experiment Payloads
(1) Monitor of All-sky X-ray Image (MAXI)
The Monitor of All-sky X-ray Image (MAXI) will monitor X-ray variations from more than 1,000 X-ray
sources. The observations will encompass the entire sky during a time period ranging from a day to a few
months. The MAXI will conduct monitoring once per orbit.
The MAXI is equipped with two types of slit cameras. The first camera is a Gas Slit Camera (GSC) with a
gas proportional counter. The GSC is equipped with 12 counters. The GSC has a total effective area of
5000 cm2. The second camera is a Solid-state Slit Camera (SSC) with peltier-cooled X-ray sensitive CCD.
The MAXI is equipped with two SSCs that provide a total effective area of 200 cm2. By combining these
cameras, an x-ray in a low to high-energy range can be captured over a wide range of wavelengths. Color
image data can be obtained using an X-ray.
An overview of the MAXI is shown in Figure 6.3.2-1. The specifications for the slit cameras mounted on the
MAXI are shown in Table 6.3.2-1.
Payload Interface Unit
Grapple Fixture
Radiation plate
Power unit
Ring laser
gyroscope
Signal processing
Mission Data Processor
Gas Slit Camera
Solid-state Slit Camera
Loop Heat Pipe
Visual Star Camera Head
Figure 6.3.2-1 MAXI
6-15
6. Kibo Utilization
6-16
Table 6.3.2-1 Specifications of Slit Cameras mounted in MAXI
Items
Specifications
Sky coverage
FOV: 160 degree (L) x 1.5 degree (FWHM), 2 directions
Scope of instant observation: 2 % of the entire sky
Scanning: 90 to 98 % of the entire sky (per orbit)
Imaging capability
Point spread function (PSF): 1.5 degree (FWHM)
Pointing Accuracy: Less than 6 arc min.
Spectroscopy
X-ray photons of 2 to 30 keV
Resolution
18 % at 5.9 keV
Timing accuracy
120
μ
sec. with respect to GPS time
GSC
Sensitivity
10 m Crab (1 orbit), 1 m crab (1 week)
Sky coverage
FOV: 90 degree (L) x 1.5 degree (FWHM), 2 directions
Scope of instant observation: 1.3 % of the entire sky
Scanning: 70 % of the entire sky (per orbit)
Imaging capability
Point spread function (PSF): 1.5 degree (FWHM)
Pointing Accuracy: Less than 6 arc min.
Spectroscopy
X-ray photons of 0.5 to 10 keV
Resolution
150 eV at 5.9 keV
Timing accuracy
3 to 16 sec. (Dependent on CCD read-out methods)
SSC
Sensitivity
20 m Crab (1 orbit), 2 m crab (1 week)
Note: mCrab = unit, 1/1000 of the X-ray intensity of the Crab Nebula
Kibo HANDBOOK
(2) Superconducting Submillimeter-Wave Limb-Emission Sounder (SMILES)
The Superconducting Submillimeter-Wave Limb-Emission Sounder (SMILES) will observe submillimeter
wavelengths that are emitted from trace gases in the stratosphere. These observations will be conducted by
pointing the SMILES antenna (Submillimeter Antenna (ANT)) at the upper reaches of the atmosphere. The
SMILES can determine the amount of trace gases that exist in the ozone layer. The SMILES measures the
distribution and changes in the trace gases in the stratosphere, globally, with a high degree of accuracy.
The Submillimeter-wave Receiver installed in SMILES is comprised of a superconductive sensor and
amplifiers (low noise). The SMILES uses a highly sensitive superconductive sensor and a 4-Kelvin
mechanical cooler that are world leading edge components.
An overview of the SMILES is shown in Figure 6.3.2-2. The specifications of SMILES sensors and
measuring instruments are shown in Table 6.3.2-2.
Ambient Temperature Optics
Beam Transfer Unit
Crycooler Drive Electronics
Antenna Drive Electronics
Electrical Power System
Acousto-Optic
Spectrometer
Star Tracker
Antenna Reflector
Submilimeter-wave emitted from trace gases
Figure 6.3.2-2 SMILES
6-17
6. Kibo Utilization
6-18
Table 6.3.2-2 SMILES / Equipment Specifications
Items
Specifications
Mass (weight)
Less than 500 kg
Electrical power
Less than 900 W (tentative)
Observation band
640 GHz Band
Target gases
O
3
, HCI, CIO, HO
2,
H
2
O
2
, HOCI, BrO, HNO
3
, SO
2
, etc.
Latitude range
65N to 38S
Altitude range
10 to 60 km
Main body
Sensitivity
1 K (rms) in a single scan
Submillimeter Antenna (ANT)
Structure type: Offset Cassegrain reflector
Size: 400 mm x 200 mm
HPBW: 0.09 degree (El) x 0.18 degree (Az)
Submillimeter-wave Receiver
RF: 624.32 to 626.32 GHz (LSB)
648.32 to 650.32 GHz (USB)
LO frequency: 637.32 GHz
Intermediate frequency: 11.0 to 13.0 GHz
Mechanical 4-K Cooler
Joule - Thomson Cryocooler: 4.5 K
Stirling Cryocooler (x2): 20 K, 100 K
Sensor &
measuring
instruments
Acousto-optical Spectrometer
(AOS)
Band: 1.2 GHz
Channel: 1500 per unit
Resolution: 1.8 MHz
Kibo HANDBOOK
(3) Space Environment Data Acquisition equipment-Attached Payload (SEDA-AP)
The Space Environment Data Acquisition equipment-Attached Payload (SEDA-AP) will measure the space
environment (neutrons, plasma, heavy ions, high-energy light particles, atomic oxygen, and cosmic dust) at the
ISS orbit. Using the SEDA-AP, the space environmental effects on materials and electronic devices will be
investigated.
A number of sensors and equipment are mounted in the SEDA-AP, including the Neutron Monitor (NEM)
and the Plasma Monitor (PLAM). Space environment data obtained by the SEDA-AP will be applied to the
development of future spacecraft designs. The data will also be utilized for ISS operations and related
scientific researches, and space weather forecast (prediction of solar activity trends).
The SEDA-AP will conduct measurement and monitoring by extending a mast, on which the Neutron
Monitor (NEM) - Sensor and the Plasma Monitor (PLAM) are attached. The mast extends to over 1 m from
the SEDA-AP structural body. The experiments using the SEDA-AP sensors and electronic devices will
measure, monitor, and collect data, simultaneously, for three consecutive years.
An overview of the SEDA-AP is shown in Figure 6.3.2-3. The specifications for the SEDA-AP sensors and
measuring instruments are shown in Table 6.3.2-3.
Heater Control Equipment
Heavy Ion Telescope (HIT)
Neutron Monitor (NEM) - Sensor
Plasma Monitor (PLAM)
Neutron Monitor (NEM) - Electronic device
Micro-Particles Capturer
(MPAC) and Space Environment
Exposure Device (SEED)
Kibo Exposed Facility
Standard
Dose Monitor
(SDOM)
Atomic Oxygen Monitor
(AOM)
Electronic Device Evaluation
Equipment (EDEE)
PDU
Attached Payload Remote Terminal
Extension Mechanism
Drive circuit
Figure 6.3.2-3 SEDA-AP
6-19
6. Kibo Utilization
6-20
Table 6.3.2-3 SEDA-AP / Equipment Specifications
Items
Specifications
Dimension
Mast stowed : W800 x H1000 x L1850 mm
Mast extended : W800 x H1000 x L2853 mm
Mass (weight)
Approx. 450 kg
Power Consumption
Approx. 220 W (Nominal operation)
Main body
Extension Capacity
NEM Sensor extends to over 1 m from the SEDA-AP structural
body
Neutron Monitor
(NEM)
Bonner Ball Neutron Detector (BBND)
Measuring energy range : 0.025 eV (thermal neutron) to 15 MeV
Maximum number of measurable particles : 1 x 10
4
count/sec
Scintillation Fiber Detector (FIB)
Measuring energy range : 15 MeV to 100 MeV
Maximum number of measurable particles : 50 event/sec
Heavy Ion Telescope
(HIT)
Li: 10 to 43 MeV/nuc
C: 16 to 68 MeV/nuc
O: 18 to 81 MeV/nuc
Si: 25 to 111 MeV/nuc
Fe: 34 to 152 MeV/nuc
Plasma Monitor (PLAM)
Langmuir probe mode :
High Gain -0.2 µA to +2 µA
Low Gain -0.04 mA to +0.4 mA
Floating probe mode :
High Gain ±5 V
Low Gain ±100 V
Standard Dose Monitor
(SDOM)
Electron : 0.5-21 MeV (7 ch)
Proton : 1.0-200 MeV (15 ch)
Alpha : 7.0-200 MeV (6 ch)
Heavy Ion : ID only (1 ch)
Atomic Oxygen Monitor
(AOM)
Measuring range : 3 x 10
17
to 3 x 10
21
atoms/ cm
2
Resolution : 3 x 10
17
atoms/ cm
2
Electronic Device
Evaluation Equipment
(EDEE)
Memory (1MSRAM)
Micro-Processor Unit (V70-MPU)
Power MOSFET
Sensor and
Electronic
Device
Micro-Particles Capturer
(MPAC) and Space
Environment Exposure
Device (SEED)
Micro-particle capture :
Silica-aerogel (34 mm x 34 mm x 9 pcs)
Golden plate (119 mm x 60 mm x 2 pcs
76 mm x 25.5 mm x 1 pcs)
SEED onboard sample : Scheduled to be selected prior to launch
Kibo HANDBOOK
6.4 Utilization
Plan
6.4.1 Overall Schedule
With the exception of the GHF, all of the experiment payloads, as shown in section 6.3.1, will be installed in
the SAIBO Rack or the RYUTAI Rack. The SAIBO Rack and RYUTAI Rack will be stored in Kibo’s
Experiment Logistics Module-Pressurized Section (ELM-PS). The ELM-PS is scheduled for launch during
Japan Fiscal Year 2007.
Both racks will be transferred from the ELM-PS to Kibo’s Pressurized Module (PM), and will be installed at
the locations as shown in Figure 6.3.1-2 and Figure 6.3.1-5, respectively. After functions of the two racks are
verified on orbit, experiments using these two racks will commence, based on the schedule as shown in Figure
6.4.1-1. Transfer method of the GHF in the KOBAIRO Rack is currently under consideration. The
KOBAIRO Rack may be launched on-board the HTV toward the ISS.
The SEDA-AP and MAXI will be launched aboard the space shuttle, and will be attached onto Kibo’s
Exposed Facility (EF) on orbit.
The SMILES is currently planned for launch on-board the HTV.
(July 2007 updated)
Development has completed.
Preparing for launch and on-
board operation
Development is completed
Assembling flight hardware
Both rack will be install in
ELM-PS at NASA Kennedy
Space Center.
FY2008 FY2009
FY2010
February, 2008
JEM ELM-PS
FY2008
JEM-Exposed Facility
& ELM-ES
FY 2009
HTV#1 launch
April, 2008
JEM-PM
KOBIRO Rack
SMILES
SEDA-AP
MAXI
SAIBO Rack
RYUTAI Rack
FY 2010
HTV#2 launch
In the ELM-PS
In Pressurized Logistics
Carrier (PLC) of HTV
Assembling flight hardware
MAXI
SEDA-AP
On the Unpressurized
Logistics Carrier (ULC)
of HTV.
On the ELM-ES
FY2007
Figure 6.4.1-1 Major Milestone (tentative) for Experiment Payload Launches
6-21
6. Kibo Utilization
6-22
6.4.2 Utilization Fields
The period of two-and-half years starting after Kibo launch until the completion of the ISS construction,
scheduled for the middle of 2010, is defined as the First Utilization Phase (Initial Utilization Phase). Toward
the First Utilization Phase, the following preparation tasks for Kibo utilization are in progress.
Scientific Research
•
Preparations of the 16 experiment themes related to Life Science and Material Science, which were
selected from domestic or international applications, and will be conducted in the PM, are progressing.
•
Development of the three Exposed Facility (EF) experiment payloads (SEDA-AP, SMILES and MAXI)
to be conducted on Kibo’s EF are progressing.
•
Preparations of the three Life Science and space-medicine experiment themes, which were selected
from international applications, and will be using ISS facilities (non Kibo facilities), are progressing.
Applied Research
•
Research activities related to protein crystallization and nano application study are under consideration
at the Application Research Center.
Space Medicine and Human Space Technology
•
Researches focusing on medical risk mitigation for long-duration manned space exploration are
progressing. (Telemedicine, reducing bone and muscle atrophy, etc.)
Diversified Utilization, including Education and Culture
•
Educational missions targeted for students and on-orbit scientific educational experiments are being
planned.
•
Ten experiments have been selected as pilot studies for the Art field with preparations currently in
process.
Utilization by the Asia Pacific Region
•
Utilization of Kibo facilities is being proposed at the Asia-Pacific Regional Space Agency Forum
(APRSAF). Feasibility assessment of Kibo experiments after 2010 is in process.
Commercial Utilization (fee base)
•
Supporting the Private sector businesses through commercializing the results from application
researches or Space Open Lab Program.
•
Using Kibo facilities for a fee are currently under consideration.
Kibo HANDBOOK
6.4.3 Experiment Themes
The scientific experiment themes, which will be conducted in Kibo’s Pressurized Module (PM), were
domestically solicited in 1992. The preliminary selections of the domestic experiments were conducted in
August 1993. Life Science and microgravity-science experiment themes that will be conducted in Kibo’s
Pressurized Module (PM), were also solicited internationally. Preparations of the selected experiment themes
from domestic and international applications have been in progress as part of the collaborative activities
between the themes’ principal investigators and Japan Aerospace Exploration Agency (JAXA). The
preparations include preparations of the experiment plans (protocols), refinement of the specifications for the
payloads, evaluations on the experiment operational tasks, and pilot studies on experiments using the space
shuttles. Through these activities, the required techniques and methods for conducting experiments utilizing
Kibo facilities have been accumulated.
Table 6.4.3-1 shows the experiment themes of Kibo (Material Science and Life Science) that will utilize
Kibo’s Pressurized Module (PM) during the First Utilization Phase. Table 6.4.3-2 shows the experiment
themes that will utilize Kibo’s Exposed Facility (EF) or other ISS facilities (non-Kibo facilities).
Table 6.4.3-3 shows the utilization themes currently under consideration from such diverse fields as,
application research, space medicine, manned space exploration, culture and education.
6-23
6. Kibo Utilization
6-24
Table 6.4.3-1 Scientific Experiment Themes (Material Science & Life Science)
Kibo’s Pressurized Module (PM)
Fields Title
Material
Science
•
Spatio-temporal Flow Structure in Marangoni Convection (Marangoni1;
Yasushi Takeda, Hokkaido University)
•
Chaos, Turbulence and its Transition Process in Marangoni Convection
(Marangoni2; Hiroshi kawamura, Science University of Tokyo)
•
Investigation on Mechanism of Faceted Cellular Array Growth (Facet; Yuko
Inatomi, JAXA)
•
Study on micro-gravity effect for pattern formation of dendritic crystal by a
method of in-situ observation (Ice Crystal; Yoshinori Furukawa, Hokkaido
University)
•
Experimental Assessment of Dynamic Surface Deformation Effects in
Transition to Oscillatory Thermo capillary Flow in Liquid Bridge of High
Prandtl Number Fluid (Marangoni3; Satoshi Matsumoto, JAXA)
•
Interfacial Stability under Microgravity (Succinonitrile; Yasunori Miyata,
Nagaoka University of Technology)
•
Role of the short range order on the self-and impurity diffusion of group
14(IVB) elements with a different degree of complexity* (Diffusion; Toshio
Itami, Hokkaido University/JAXA)
•
Growth of Homogeneous In0.3Ga0.7As Single Crystals in Microgravity*
(Hicari; Kyoichi Kinoshita, JAXA)
Pressurized
Module
Life
Science
•
Control of cell differentiation and morphogenesis of amphibian culture cells
(Dome Gene; Makoto Asashima, Tokyo University)
•
Biological effects of space radiation and microgravity on mammalian cells
(Neuro Rad; Hideyuki Majima, Kagoshima University)
•
Detection of Changes in LOH Profile of TK mutants of Human Cultured
Cells (LOH; Fumio Yatagai, RIKEN)
•
Gene expression of p53-regulated Genes in Mammalian Cultured Cells after
Exposure to Space Environment
(Rad Gene; Takeo Ohnishi, Nara
Medical University)
•
Cbl-Mediated Protein Ubiquitination Downregulates the Response of Skeletal
Muscle Cells to Growth Factors in Space
(Myo Lab; Takeshi Nikawa, T
University of Tokushima)
•
Regulation by Gravity of Ferulate Formation in Cell Walls of Wheat
Seedlings
(Ferulate; Kazuyuki Wakabayashi, Osaka City University)
•
Integrated assessment of long-term cosmic radiation through biological
responses of the silkworm, Bombyx mori, in space (Rad Silk; Toshiharu
Furusawa, Kyoto Institute of Technology)
•
Life Cycle of Higher Plants under Microgravity Conditions
(Space Seed;
Seiichiro Kamisaka, Toyama University)
•
RNA interference and protein phosphorylation in space environment using
the nematode Caenorhabditis elegans
(CERISE; Atsushi Higashitani,
Tohoku University)
Kibo HANDBOOK
Table 6.4.3-2 Scientific Experiment Themes
Kibo’s Exposed Facility (EF) or other ISS facilities
Fields Title
Exposed Facility
•
Monitoring the Space Environment and Research on Its Effects on Parts &
Materials (SEDA; Tateo Goka, JAXA)
•
Experimental Observation of Atmosphere Using ”SMILES” (SMILES;
Masato Shiotani, Kyoto University)
•
Research on Long-and Short-Term Variations of ALL Sky A-ray Sources
(MAXI; Masaru Matsuoka, JAXA)
Material
Science
•
Effect of Material Properties on Wire Flammability in a Weak Ventilation of
Spacecraft (Osamu Fujita, Hokkaido University)
•
Containerless Crystallization of Silicon in Microgravity (CCSM; Kazuhiko
Kuribayashi, JAXA)
Life
Science
•
Role of Microtubule-Membrane-Cell Wall Continuum in Gravity Resistance
in Plants (Cell-Wall; Takayuki Hoson, Osaka City University )
•
Reverse genetic approach to exploring genes responsible for cell-wall
dynamics in supporting tissues of Arabidopsis under gravity conditions.
(Resist-Wall; Kazuhiko Nishitani, Tohoku University)
•
Effects of Microgravity and Neuromuscular Activity on Skeletal Muscle
Fibers (Akihiko Ishihara, Kyoto University)
•
The Effect of Microgravity on Vestibular Neurotransmission (Shinichi Usami,
Shinshu University)
•
Hydrotropism and auxin-inducible gene expression in roots grown in
microgravity conditions (Hydro Tropi; Hideyuki Takahashi, Tohoku
University)
Other
Module
Space
Medicine
•
Preflight zoledronate infusion as an effective countermeasure for
spaceflight-induced bone loss and renal stone formation (Bisphosphonates;
Toshio Matsumoto, University of Tokushima)
6-25
6. Kibo Utilization
6-26
Table 6.4.3-3 Utilization Themes other than scientific experiments (tentative)
Fields Title
Applied
research
•
Protein Crystallization (Osaka University)
•
Nano-material (Nagoya Institute of Technology)
•
Dynamics of Interfaces (Tokyo University of Science)
Space
Medicine
Human
Space
Technology
•
Physiological Countermeasure; Prevention of bone loss and urinary stone,
Countermeasure for muscle atrophy
•
Psychological Support; Psychological monitoring for adaptation of isolation
and human interaction, Cross-cultural Issue
•
Radiation; Bio-dosimetry, Personal dosimetry (advanced type)
•
Medical System; Small and Portable Medical data monitoring equipment
(Tele-medicine), Autonomous Diagnostic Medical equipment
•
Environment; Gas monitoring and analyzing system (advanced type)
•
Habitation Technology(Japanese Space Foods, e.t.c.)
JEM
utilization
by Asia
Pacific
region
•
Research collaboration with Asia Pacific region
•
Educational program using ISS/JEM
Pressurized
Module
Commercial
utilization
•
Protein Crystallization
•
3 Dimensional Photonic Crystallization
•
High Definition Video filing
Kibo HANDBOOK
6.4.4 Utilization Plan
For the First Phase Utilization, which will continue for three years from the beginning of the Kibo operations
until 2010, the detailed operations plans have been deliberated at the ISS/Kibo Utilization Promotion
Committee, which is an external advisory committee to JAXA. The allocation of the utilization resources per
study field or the experiment payloads that will be loaded on Kibo, or the experiment themes that are targeted
for international coordination in 2008, were arranged in 2005.
For international coordination, the allocation of the ISS utilization resources and optimization of the ISS
overall resources are currently being evaluated based on the ISS overall logistics plan and the ISS overall
operations plan.
Figure 6.4.4-1 shows the tentative schedule for the First Utilization Phase
(July 2007 updated)
HTV
△
2J/A
FY
FY2009
FY2008
FY2010
RYUTAI Rack
SAIBO Rack
KOBAIRO Rack
Inc. 15
FY2007
△
1J/A
SMILES
SEDA
MAXI
△
1J
Marangoni1
Marangoni2
Marangoni13
Facet
Ice Crystal
Succinonitrile
Rad Gene
Diffusion
Hicari
LOH
Dome Gene
Rad Silk
CERISE
Neuro Rad
Space Seed
Myo Lab
Ferulate
Cell Wall / Resist Wall
JEM Pressurized Module
CBEF
CB
HD Cam/Small devices
JEM Exposed Facility
Other Module (IAO)
PCRF
GHF
FPEF
SCOF
Inc. 16
Inc. 17
Inc. 18
Inc. 19
Inc. 20
Inc. 21
Inc. 22
Inc. 23
US Lab
Russian
Module
HD Cam
3DPC #2
Protein #2
Protein #3
Bisphosphonates (Pre/Post flight)
Education/Culture
HD Cam
Matryoshka/ARTCLISS/Space ICCHIBAN
Figure 6.4.4-1 Schedule for the First Utilization Phase (tentative)
6-27
6. Kibo Utilization
6-28
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Kibo HANDBOOK
7. H-II Transfer Vehicle (HTV) Overview
7-1
7. H-II Transfer Vehicle (HTV) Overview
7-2
7.1 Summary
The H-II Transfer Vehicle (HTV), designed and being built in Japan, is an unmanned cargo transfer
spacecraft that will deliver supplies to the International Space Station (ISS).
The HTV will be launched from the Tanegashima Space Center in Japan aboard an H-IIB Launch Vehicle
(currently under development). When the HTV approaches close proximity to the ISS, the Space Station
Remote Manipulator System (SSRMS), also known as "Canadarm2," will grapple the HTV and berth it to the
ISS. The HTV will deliver up to 6,000 kg of supplies, including food, clothing and several types of
experiment payloads to the ISS. After the supplies are unloaded, the HTV will then be loaded with waste
materials, including used payloads or used clothing. Afterward, the HTV will undock and depart from the ISS,
and will de-orbit and reenter the atmosphere. While the HTV is berthed to the ISS, the ISS crew members
will be able to enter and remove supplies from the HTV Pressurized Logistics Carrier (PLC).
Figure 7.1-1 shows an image of the HTV on-orbit.
Figure 7.1-1 Image of HTV during Flight
The HTV will be utilized for delivering supplies to the ISS as with the Russian Progress cargo spacecraft, the
U.S. space shuttle, and the Automated Transfer Vehicle (ATV) developed and built by the European Space
Agency (ESA),. The HTV can carry both pressurized (for inside use) and un-pressurized (for outside use)
cargo, and this is a unique special feature of the HTV.
The launch of the HTV "Technical Demonstration Vehicle" (initial flight vehicle) is scheduled during Japan’s
fiscal year 2009 (JFY 2009). Thereafter, one or two HTVs per year are planned for launch.
Kibo HANDBOOK
7.1.1 HTV Components
The H-II Transfer Vehicle (HTV) consists of two logistic carriers: Pressurized Logistics Carrier (PLC) and
Un-pressurized Logistics Carrier (UPLC) which carries an Exposed Pallets (EP), and an Avionics Module and a
Propulsion Module.
Proximity Communication System (PROX), antennas and reflectors which enable inter-orbit
communications between Kibo and the HTV, are installed on Kibo, and will be utilized when the HTV
approaches the ISS. Table 7.1.1-1 shows the HTV specifications.
Un-pressurized Logistics
Carrier (UPLC)
Avionics Module
Propulsion Module
PLC will carry supplies that will be
used aboard ISS. ISS crew will be
able to enter and work inside PLC
Avionics Module contains navigation,
communication and electrical equipment
Exposed Pallet
(
EP
)
Exposed Pallet will carry
un-pressurized payloads
Common Berthing
Mechanism
(
CBM
)
Pressurized Logistics Carrier (PLC)
UPLC will carry an Exposed Pallet
Propellants, necessary to generate
propulsion for rendezvous,
attitude control and de-orbit, are
stored in Propulsion Module’s
propellant tanks
Figure 7.1.1-1 HTV Configuration Diagram
Table 7.1.1-1 HTV Specifications
Items Specifications
Length
10 m (including thrusters)
Diameter 4.4
m
Mass (weight)
10,500 kg (exclude cargo mass)
Cargo capacity (supplies)
6,000 kg
-Pressurized cargo: 4,500 kg
-Un-pressurized cargo: 1,500 kg
Cargo capacity (waste)
6,000 kg
Target orbit to ISS
Altitude: 350 km to 460 km
Inclination: 51.6 degrees
Maximum duration of a mission
Solo flight: 100 hours
Stand-by (on-orbit): More than a week
Berthed with the ISS: Maximum 30 days
7-3
7. H-II Transfer Vehicle (HTV) Overview
ehicle (HTV) Overview
7-4
(1) Pressurized Logistic Carrier (PLC)
ll carry cargo, including International Standard Payload Racks
(ISPR), drinking water, and clothes that will be used aboard the ISS. The PLC's internal air pressure is
m
d Logistic Carrier (UPLC)
arry an Exposed Pallet (EP) (Please refer to (3))
(3
will carry EF payloads, as well as, the ISS battery Orbital Replacement Units
(ORU). There are two different types of Exposed Pallets, Type I and Type III. To meet different and
sp
pallet will be attached
Type III:
s Mobile Base System (MBS). Up to six battery ORUs can be delivered.
Figure 7.1.1-2 Exposed Pallets (EP) (left: Type I, right: Type III)
7-4
(1) Pressurized Logistic Carrier (PLC)
ll carry cargo, including International Standard Payload Racks
(ISPR), drinking water, and clothes that will be used aboard the ISS. The PLC's internal air pressure is
m
d Logistic Carrier (UPLC)
arry an Exposed Pallet (EP) (Please refer to (3))
(3
will carry EF payloads, as well as, the ISS battery Orbital Replacement Units
(ORU). There are two different types of Exposed Pallets, Type I and Type III. To meet different and
sp
pallet will be attached
Type III:
s Mobile Base System (MBS). Up to six battery ORUs can be delivered.
Figure 7.1.1-2 Exposed Pallets (EP) (left: Type I, right: Type III)
The Pressurized Logistics Carrier (PLC) wi
The Pressurized Logistics Carrier (PLC) wi
aintained at one atmospheric pressure (1atm). Temperature inside the HTV is controlled until it is berthed
to the ISS. After the HTV is berthed to the ISS, the PLC’s and the ISS’s internal air will be circulated
throughout the ISS using fans. While the HTV is berthed to the ISS, the ISS crew will be able to enter the
PLC to unload the supplies. After the supplies are unloaded, the HTV will de-orbit and reenter the
atmosphere carrying the waste materials. The HTV's berthing port is equipped with a Common Berthing
Mechanism (CBM).
(2) Un-pressurize
aintained at one atmospheric pressure (1atm). Temperature inside the HTV is controlled until it is berthed
to the ISS. After the HTV is berthed to the ISS, the PLC’s and the ISS’s internal air will be circulated
throughout the ISS using fans. While the HTV is berthed to the ISS, the ISS crew will be able to enter the
PLC to unload the supplies. After the supplies are unloaded, the HTV will de-orbit and reenter the
atmosphere carrying the waste materials. The HTV's berthing port is equipped with a Common Berthing
Mechanism (CBM).
(2) Un-pressurize
The Un-pressurized Logistic Carrier (UPLC) will c
The Un-pressurized Logistic Carrier (UPLC) will c
) Exposed Pallet (EP)
) Exposed Pallet (EP)
The Exposed Pallets (EPs)
The Exposed Pallets (EPs)
ecialized purposes, development of other types of Exposed Pallets, in addition to Type I and Type III, are
under consideration. An outline of the Exposed Pallets is shown in Figure 7.1.1-2.
Type I: This type of pallet carries the Exposed Facility (EF) payloads that will be used on Kibo's Exposed
Facility (EF). Two or three EF payloads per flight can be delivered. This
ecialized purposes, development of other types of Exposed Pallets, in addition to Type I and Type III, are
under consideration. An outline of the Exposed Pallets is shown in Figure 7.1.1-2.
Type I: This type of pallet carries the Exposed Facility (EF) payloads that will be used on Kibo's Exposed
Facility (EF). Two or three EF payloads per flight can be delivered. This
to the EF.
This type of pallet carries the US ORUs, such as the battery ORU. This pallet will be attached to
the station'
to the EF.
This type of pallet carries the US ORUs, such as the battery ORU. This pallet will be attached to
the station'
Battery ORU
EF payload
Exposed Pallet
FRGF
A Battery ORU can be
temporarily attached
FRGF
FRGF: Flight Releasable Grapple Fixture. JEMRMS grapples here.
PVGF: Power Video Grapple Fixture. Canadarm2 grapples here.
PIU:
Payload Interface Unit (Passive part of EEU). For detail, please refer to Chapter 4 Section 4.3
PVGF
Type I
Type III
PIU
Kibo HANDBOOK
(4) Avionics
Module
The Avionics Module contains guidance navigation & control, communication and electrical power systems.
The Avionics Module controls and navigates the HTV’s remote-controlled flight by receiving commands from
the ground or by HTV autonomous flight. In addition, the Avionics Module distributes power to each
component of the HTV.
(5) Propulsion
Module
The Propulsion Module has four propellant tanks. These tanks supply propellant to the HTV thrusters. The
propulsion for orbital adjustment or attitude control will be produced by commands sent from the Avionics
Module. The HTV has 32 thrusters installed. Specifications of the HTV thrusters are shown in Table 7.1.1-2.
Locations of the thrusters are shown in Figure 7.1.1-3
Table 7.1.1-2 HTV thruster specifications
Specifications
Items
Main thruster
Attitude Control Thruster
Number of units
4 units
14 units x 2 string (redundant structure)
*Of 28 units, 12 units are installed on the
Pressurized Logistics Carrier (PLC)
Thrust (per unit)
490N
110N
Figure 7.1.1-3 Location of HTV thrusters
Main Thruster
Attitude Control Thruster
Attitude Control Thruster
7-5
7. H-II Transfer Vehicle (HTV) Overview
ehicle (HTV) Overview
7-6
e
e
HTV approaches the ISS from the
of the reflectors, please refer
to Figure 7.1.1-4
Figure 7.1.1-4 PROX and Reflectors
7-6
(6) Proximity Communication System (PROX)
The Proximity Communication System (PROX), which is installed in Kibo, consists of PROX antennas,
PROX-GPS antennas, PROX communication equipment, and a Hardware Command Panel (HCP). With the
exception of the PROX antennas, the PROX-GPS antennas and the HCP, the PROX related equipments are
installed in the Inter-orbit Communication System (ICS) rack, which is one of the JEM system racks installed
in the JEM Pressurized Module (PM).
When the HTV approaches in close proximity to the ISS, the PROX antenna will initiate communications
with the HTV. This antenna contains GPS receivers. The ISS's orbital location and speed will immediately
be relayed to the HTV through the PROX. At the same time, data from the HTV will be relayed to the ISS.
In addition, the antenna will relay commands sent from the ground to the HTV.
(7) Reflector
The reflectors are installed on the nadir (bottom) side of Kibo. The reflectors will reflect the lasers that are
beamed from the HTV's Rendezvous Sensor (RVS) when the HTV is in ISS Proximity Operations and as th
HTV approaches the ISS from the
of the reflectors, please refer
to Figure 7.1.1-4
Figure 7.1.1-4 PROX and Reflectors
(6) Proximity Communication System (PROX)
The Proximity Communication System (PROX), which is installed in Kibo, consists of PROX antennas,
PROX-GPS antennas, PROX communication equipment, and a Hardware Command Panel (HCP). With th
exception of the PROX antennas, the PROX-GPS antennas and the HCP, the PROX related equipments are
installed in the Inter-orbit Communication System (ICS) rack, which is one of the JEM system racks installed
in the JEM Pressurized Module (PM).
When the HTV approaches in close proximity to the ISS, the PROX antenna will initiate communications
with the HTV. This antenna contains GPS receivers. The ISS's orbital location and speed will immediately
be relayed to the HTV through the PROX. At the same time, data from the HTV will be relayed to the ISS.
In addition, the antenna will relay commands sent from the ground to the HTV.
(7) Reflector
The reflectors are installed on the nadir (bottom) side of Kibo. The reflectors will reflect the lasers that ar
beamed from the HTV's Rendezvous Sensor (RVS) when the HTV is in ISS Proximity Operations and as the
e
nadir side (direction of earth). For locations
nadir side (direction of earth). For locations
PROX GPS Antenna
Communications & Data
Handling/Electrical Power/GPS
equipment
(Installed in the ICS rack in the PM)
Reflector
Hardware Command
Panel (HCP)
PROX antenna (Installed
on the outside of the PM)
Kibo HANDBOOK
7.2 HTV
Operations
The HTV will be operated in the following sequence. An outline of the HTV operations is shown in Figure
7.2-1
1.
Launch
2.
Rendezvous with the International Space Station (ISS)
3.
Berthing with the ISS
4.
Operations while berthed with the ISS
5.
Undock/Departure from the ISS/Reentry
Max. 30 days
TDRSS
TDRSS
ISS Proximity
Operations Phase
Rendezvous
Phase
H-IIB/HTV
Se
4 min. after
paration
ISS Departure
launch
Figure 7.2-1 HTV Operations
T egashima
an
Space Center
Phase
Approx. 3 days
De-orbit
Phase
Reentry
H-IIA/B
-CC
Control
Center
SSCC
HTV-CC
NASA White Sands
Ground Station
NASA
Space Center
Johnson
(JSC)
Tsukuba Space Center (TKSC)
US
Japan
7-7
7. H-II Transfer Vehicle (HTV) Overview
ehicle (HTV) Overview
7-8
7.2.1 Launch
The HTV will be
m
a Space Center aboard an H-IIB launch vehicle (Figure
e). The
nch op
ty will
onc
the HTV’s launch time has to be
adjusted and scheduled for when the
an is passin
the Tanegashima Space Center launch
site.
Figure 7.2.1-1 HTV Launch Image (above) and HTV/H-IIB Separation Image (below)
7-8
7.2.1 Launch
The HTV will be
m
a Space Center aboard an H-IIB launch vehicle (Figure
e). The
nch op
ty will
onc
the HTV’s launch time has to be
adjusted and scheduled for when the
an is passin
the Tanegashima Space Center launch
site.
Figure 7.2.1-1 HTV Launch Image (above) and HTV/H-IIB Separation Image (below)
launched fro
HTV’s lau
launched fro
HTV’s lau
the Tanegashim
the Tanegashim
7.2.1-1 abov
7.2.1-1 abov
portuni
portuni
be
be
e a day, since
g over
e a day, since
g over
ISS’s orbital pl
ISS’s orbital pl
e
e
HTV mounted
inside
HTV
H-IIB Launch Vehicle
(Second Stage)
Kibo HANDBOOK
Following the launch phase, the HTV will be inserted into an elliptical orbit with an altitude of 200 km
(perigee) x 300 km (apogee) and a inclination of 51.6 degree.
After separating from the H-IIB launch vehicle, 1) the HTV will automatically activate the HTV subsystems,
2) maintain its attitude,3) perform a self-check on the HTV’s components, and 4) initiate communications with
the HTV Control Center (HTV-CC) at Tsukuba Space Center (TKSC).
7.2.2 Rendezvous
After separating from the H-IIB launch vehicle, the HTV will approach the ISS in the following sequence as
described below. Figure 7.2.2-1 shows the HTV Rendezvous Flight profile that depicts how the HTV will
approach the ISS, by boosting (adjusting) the HTV’s orbital altitude.
1.
After separating from the H-IIB launch vehicle, the HTV will automatically activate HTV’s
communication system and initiate communications with NASA's Tracking and Data Relay Satellite
(TDRS).
2.
The HTV status will be monitored from the ground. Next, the HTV will then start orbital flight
towards the ISS.
3.
After three days of orbital flight, the HTV will reach close proximity to the ISS.
4.
The HTV will reach the proximity "Communication Zone" (23 km from the ISS), at which point the
HTV can directly communicate with the ISS
5.
The HTV will establish communications with the Proximity Communication System (PROX).
6.
While communicating with PROX, the HTV will approach the ISS, guided by GPS signals (Relative
GPS Navigation), until the HTV reaches the “Approach Initiation (AI) Point, 7 km behind the ISS .
At this point, the HTV will maintain this distance from the ISS.
Altitude
Time
Rendezvous Launch
Reentry
Proximity
operations
Departure
ISS
Adjusting orbital
altitude and phase
Apogee
Perigee
Figure 7.2.2-1 HTV Rendezvous Flight Profile
7-9
7. H-II Transfer Vehicle (HTV) Overview
7-10
7.2.3 Berthing with the ISS (Proximity Operation Phase)
oach the ISS from the nadir (bottom) side of the ISS (from the direction of Earth).
The HTV will then be grappled by the Canadarm2 and berthed to the ISS.
Figure 7.2.3-1 HTV Proximity Operations
The HTV's approach to the ISS during the Proximity Operation Phase is as follows.
1.
The HTV will move from the Approach Initiation (AI) Point to a point 500 meters below the ISS, as
guided by Relative GPS Navigation
2.
Using a laser radar called “Rendezvous Sensor (RVS)”, the HTV will approach closer to the ISS. Laser
reflectors are installed on Kibo (This is called “RVS Navigation”)
3.
The HTV will slowly and gradually approach the ISS. The HTV will hold its approach twice, when
reaching the following points: HTV will stop 300 m below the ISS (hold point), and will stop 30 m
below the ISS (Parking Point).
4.
Eventually, the HTV will approach a proximity area called “Berthing Point”. This point is set 10 m
below the ISS, and is in a predetermined area which is called ”Berthing Box”. Next, while at the
Berthing Point, the HTV will maintain its distance from the ISS
The HTV’s approach speed during the RVS Navigation phase is 1 to 10 meters per minute. During the
"ABORT" to the HTV. In
addition, if an emergency occurs and further approach can not be permitted, the HTV will be controlled to
de
The HTV will slowly appr
approach, the ISS crew can send commands including "HOLD," "RETREAT" or
part from the ISS orbit.
AI Point
Direction of travel
D
Op
eparture
erations
Sepa
an
ration
M
euver
Final Approach
Parking Point
Approach
Initiation
R-bar approach
Rendezvous Sensor Navigation
RGPS Navigation
500 m from
the ISS
ISS Proximity Sc
Drawing
ale
7 km behind the ISS
RGPS Navigation: Relative GPS navigation
R-bar Approach: Approach from the direction of earth
Kibo HANDBOOK
igure 7.2.3-2 Images of HTV approaching the ISS (above) and HTV Berthing to the ISS (below)
HTV
Canadarm2
HTV
Canadarm2
F
n be berthed to the ISS (Figure 7.2.3-2 below).
Once the HTV Control Center (HTV-CC) at the TKSC confirms that the HTV’s approach and distance from
the ISS is within the Berthing Box, the ISS crew will inhibit the HTV thrusters (Figure 7.2.3-2 above). Next,
the Canadarm2 will grapple the HTV and berth the HTV to the CBM located at the nadir side (earth side) of the
Node 2. The HTV will the
7-11
7. H-II Transfer Vehicle (HTV) Overview
7-12
7.2.4 Operations while berthed to the ISS
Once the HTV is berthed to the ISS, the lights in the PLC will be powered up and the air pressure in the PLC
will be adjusted by ISS crew or the HTV-CC for ingress preparation. After completing these preparatory
tasks, both the HTV and ISS hatches will be opened. The temperature inside of the PLC will be maintained at
15.6
°
C (degrees Celsius) before the ISS crew enters the PLC. This is a preemptive measure to hinder the
possible formation of dew upon the crew entering the PLC. While the HTV is berthed to the ISS, power will be
supplied from the ISS to the HTV.
After the hatches between the ISS and HTV opened, the ISS crew will start transferring the supplies (ISPRs,
drinking water, clothes, etc.) from the PLC to the ISS. After the supplies are transferred, the HTV will be
loaded with waste from the ISS.
In addition, in order to unload the supplies from the Exposed Pallet (EP), the EP will be removed from the
HTV’s Unpressurized Logistics Carrier (UPLC) and will be attached to the ISS Mobile Base System (MBS) or
Kibo's Exposed Facility (EF). An example of the EP Type I transfer procedure is as follows.
1.
The Canadarm2 will grapple the EP, and remove the EP from the UPLC (Figure 7.2.4-1)
2.
The EP will be handed from the Canadarm2 to the JEMRMS, Kibo’s robotic arm (Figure 7.2.4-2 (2))
3.
The EP will be attached to Kibo’s Exposed Facility (EF) by the JEMRMS (Figure 7.2.4-2 (4))
Kibo HANDBOOK
Figure 7.2.4-1 Image of EP being removed from UPLC
Figure 7.2.4-2 Image of EP attached to EF
HTV
Canadarm2
Exposed Pallet
HTV
Canadarm2
Exposed Pallet
EF
JEMRMS
( )
( )
( )
( )
7-13
7. H-II Transfer Vehicle (HTV) Overview
7-14
7.2.5 Departure from the ISS and Reentry
After being loaded with waste, the HTV will undock and depart from the ISS. The HTV will be destroyed
while reentring the atmosphere. The procedures for the HTV’s undocking and departure from the ISS are as
follows.
1.
The hatch of the HTV will be closed and the power supply will be switched to the HTV’s internal
power supply by the ISS crew
2.
The Canadarm2 will grapple the HTV
3.
The Common Berthing Mechanism will be disengaged
4.
The Canadarm2 will move the HTV to the release point
5.
The Canadarm2 will release the HTV
6.
The HTV thrusters will be activated by the ISS crew.
7.
The HTV will depart from the ISS
Figure 7.2.5-1 Image of HTV reentering the atmosphere
Kibo HANDBOOK
Figure 7.2.5-2 HTV Debris Falling Permissible (Allowed or Expected) Areas and HTV’s Orbit (Red lines)
Visible window
Visible window
Debris Falling
Permissible /
Expected Areas
Debris Falling
Permissible /
Expected Areas
7-15
7. H-II Transfer Vehicle (HTV) Overview
7-16
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Kibo HANDBOOK
Appendix Acronyms and Abbreviations
i
Appendix Acronyms and Abbreviations
ii
Acronym/Abbreviation
Name
ACBM
Active Common Berthing Mechanism
AEFBM
Active Exposed Facility Berthing Mechanism
AI Approach
Initiation
AOM Atomic
Oxygen
Monitor
AOS Acousto-optical
Spectrometer
APRSAF
Asia-Pacific Regional Space Agency Forum
ASCR
Assured Safe Crew Return
ATCS
Active Thermal Control System
ATF Astronaut
Training Facility (TKSC)
ATU Audio
Terminal
Unit
ATV
Automated Transfer Vehicle
BBND
Bonner Ball Neutron Detector
C&C MDM
Command and Control Multiplexer/Demultiplexer
C&DH
Command and Data Handling
C&T Communication
and
Tracking
CB Clean
Bench
CBEF Cell
Biology
Experiment Facility
CBM
Common Berthing Mechanism
CDR
Critical Design Review
CGSE
Common Gas Supply Equipment
CMG
Control Moment Gyro
Col-CC
Columbus Control Center
CSA
Canadian Space Agency
CSS
Crew Support System
DC Docking
Compartment
DMS
Data Management System
DRTS
Data Relay Test Satellite
ECLSS Environmental
Control and Life Support System
ECU
Electronic Control Unit
EDEE
Electronic Device Evaluation Equipment
EEU Equipment
Exchange
Unit
EF Exposed
Facility
EFBM
Exposed Facility Berthing Mechanism
EFU
Exposed Facility Unit
ELM-ES Experiment
Logistics Module-Exposed Section
ELM-PS Experiment
Logistics
Module-Pressurized Section
Kibo HANDBOOK
Acronym/Abbreviation
Name
E-ORU
Extravehicular activity Orbital Replacement Unit
EPS
Electrical Power System
ERA
European Robotic Arm
ESS
Experiment Support System
EVA Extravehicular
Activity
FCIT
Flight Crew Interface Test
FIB
Scintillation Fiber Detector
FSA
Federal Space Agency
FPEF
Fluid Physics Experiment Facility
FRGF
Flight Releasable Grapple Fixture
GHF
Gradient Heating Furnace
GPS
Global Positioning System
GSC
Gas Slit Camera
HCP
Hardware Command Panel
HEPA
High Efficiency Particulate Air
HIT
Heavy Ion Telescope
HOSC
Huntsville Operations Support Center
HREL
Hold and Release Electronics Unit
HTV
H-II Transfer Vehicle
HTV-CC
HTV Control Center
ICS
Inter-orbit Communication System
ICS-EF
ICS Exposed Facility Subsystem
ICS-PM
ICS Pressurized Module Subsystem
IFHX
Interface Heat Exchanger
ISPR
International Standard Payload Rack
ISS
International Space Station
JAXA Japan
Aerospace
Exploration Agency
JCP
JEM Control Processor
JEM Japanese
Experiment Module
JEMRMS Japanese
Experiment Module Remote Manipulator System
JFY Japan’s
fiscal
year
JSC
Johnson Space Center
LCD
Liquid Crystal Display
LTL
Low Temperature Loop
LVLH
Local Vertical Local Horizontal
MA
Main Arm (JEMRMS)
iii
Appendix Acronyms and Abbreviations
iv
Acronym/Abbreviation
Name
MAXI
Monitor of All-sky X-ray Image
MBS
Mobile Base System or MRS(Mobile Remote System) Base System
MCC
Mission Control Center
MCC-M
Mission Control Center - Moscow
MCR
Mission Control Room (TKSC)
MEIT Multi-Element
Integration
Test
MLM
Multi-Purpose Laboratory Module
MOU
Memorandum of Understanding
MPAC&SEED Micro-Particles
Capturer
and Space Environment Exposure Device
MSFC
Marshall Space Flight Center
MTL Moderate
Temperature
Loop
NASA
National Aeronautics and Space Administration
NASDA National
Space
Development Agency of Japan
NEM Neutron
Monitor
OBSS
Orbiter Boom Sensor System
OCS
Operation Control System (TKSC)
ODS
Orbiter Docking System
OPR
Operations Planning Room (TKSC)
ORR
Operations Rehearsal Room (TKSC)
PAM Payload
Attach
Mechanism
PCBM
Passive Common Berthing Mechanism
PCRF
Protein Crystallization Research Facility
PDB
Power Distribution Box
PDR
Preliminary Design Review
PDU
Power Distribution Unit
PEFBM
Passive Exposed Facility Berthing Mechanism
PIU
Payload Interface Unit
PLAM Plasma
Monitor
PLC
Pressurized Logistics Carrier (HTV)
PM Pressurized
Module
PMA
Pressurized Mating Adapter
POIC
Payload Operations and Integration Center
PROX
Proximity Communication System
PTCS
Passive Thermal Control System
PVGF
Power & Video Grapple Fixture
RM Research
Module
Kibo HANDBOOK
Acronym/Abbreviation
Name
R-ORU Robot
essential
Orbital Replacement Unit
RUR
Reference Update Review
RVS Rendezvous
Sensor
SCOF
Solution Crystallization Observation Facility
SDOM Standard
Dose
Monitor
SEDA-AP
Space Environment Data Acquisition equipment
–
Attached Payload
SEL
Space Experiment Laboratory (TKSC)
SFA
Small Fine Arm (JEMRMS)
SFU
Space Flyer Unit
SLM Structure
Latch
Mechanism
SLT System
Laptop
Terminal
SMILES
Superconducting Submilimeter-Wave Limb-Emission Sounder
SPCF
Solution/Protein Crystal Growth Facility
SRMS
Shuttle Remote Manipulator System
SSC Solid-state
Slit
Camera
SSCC
Space Station Control Center
SSE
Small Fine Arm Storage Equipment
SSIPC
Space Station Integration and Promotion Center
SSOF
Space Station Operations Facility (TKSC)
SSRMS
Space Station Remote Manipulator System
TCS
Thermal Control System
TDRS
Tracking and Data Relay Satellite
TKSC Tsukuba
Space
Center
UCM
Umbilical Connector Mechanism
UOA
User Operations Area (TKSC)
UPLC Un-pressurized
Logistics
Carrier
URM
Unit Replacement Mechanism
WET
Weightless Environment Test Building (TKSC)
v