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SpaceX-D Mission Robotics Overview
a 10 Jan 2012
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Frank DiGiuseppe
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AS
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International Space Station 1

Pre-decisional, For Internal Use Only
 EVR
SpaceX-D Mission – Initial MSS Setup

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IN TERN ATION AL
S PACE STATIO N
 RWS and SSRMS pre-configured in Hot Backup config by ground

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 Cupola RWS configured as Main RWS, Lab RWS as Hot Backup
 SSRMS pre-positioned at high hover position

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 Early during Dragon approach, crew will configure RWS monitor
views and overlays to support crew monitoring of vehicle approach

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 Prior to final approach to
capture point, crew will

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review contingency cue
cards (Backaway & a
Capture cue cards)
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Page 2 Pre-decisional, For Internal Use Only

 EVR
SpaceX-D Mission – Capture Ops

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IN TERN ATION AL
S PACE STATIO N
 On MCC-H go for capture:

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 Crew arms SSRMS capture command and begins tracking
vehicle GF with SSRMS using Tip LEE camera view

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 As LEE closes in to 5ft from GF, ISS thrusters are inhibited,
followed immediately by Dragon commanded to free drift

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 Once Dragon confirmed
free drift, operator is

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go to maneuver LEE
over GF pin and trigger
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capture sequence
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 SSRMS maneuvers
Dragon to expected cap-
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ture position in prep. for

pre-berthing maneuvers.
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Page 3 Pre-decisional, For Internal Use Only

 EVR
SpaceX-D Mission – Berthing Ops

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 Crew maneuvers Dragon to Pre-Install Setup position (3.5m out)
IN TERN ATION AL
S PACE STATIO N

 Crew performs Dragon CBM survey using camcorder through N2N

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hatch window

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 Crew maneuvers Dragon to Pre-Install position (1.5m out)
 CBCS re-installed during SSRMS maneuver

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 Desats are inhibited

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 Crew maneuvers Dragon
into CBM interface until 4
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RTL indicators are obtained
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 CBM first stage capture
 SSRMS Limped
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 CBM second stage capture

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 SSRMS brakes on, ‘go’ to

release Dragon
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Page 4 Pre-decisional, For Internal Use Only

 EVR
SpaceX-D Mission – Docked Ops

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IN TERN ATION AL
S PACE STATIO N
 MOD/ROBO is planning to perform a survey of the Dragon trunk
using SPDM at the end of the SSRMS.

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 MBS translated from WS2 to WS5
 SSRMS retrieves SPDM from MBS (via GC)

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 Dragon trunk surveyed using SPDM LEE and CLPAs (via GC)
 SPDM returned to MBS, MBS returned to WS2 (via GC)

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Rationale: viewing and lighting assessment to aid in operations planning for future trunk cargo
extraction/insertion ops.

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Page 5 Pre-decisional, For Internal Use Only

 EVR
SpaceX-D Mission – Release Ops

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IN TERN ATION AL
S PACE STATIO N
 RWS and SSRMS pre-configured in Hot Backup config by ground

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 SSRMS captures Dragon GF, vehicle unbolted from N2 Nadir
 Crew backs Dragon off to Demate position (~1.75m back off)

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 Crew maneuvers Dragon from Demate position to Release
position

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 ISS desats inhibited

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 Crew commands auto-release of Dragon GF (expectation that GF
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will have mostly drifted out of LEE before carriage end-of-travel)
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 Crew maneuvers SSRMS to backoff position (~4.5 m sep. from
GF)
 Dragon departure commanded
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 ISS desats re-enabled

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 Crew maneuvers SSRMS to Park position

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Page 6 Pre-decisional, For Internal Use Only