INTERNATIONAL SYSTEMS INTEGRATION ON THE INTERNATIONAL SPACE STATION William H. Gerstenmaier Associate Administrator, Space Operations Mission Directorate [email protected] Ronald L. Ticker Manager, Space Station Development Space Operations Mission Directorate [email protected] NASA Headquarters Washington, D.C. USA ABSTRACT Over the next few months, the lnternational Space Station (ISS), and human spaceflight in general, will undergo momentous change. The European Columbus and Japanese Kibo Laboratories will be added to the station joining U.S. and Russian elements already on orbit. Columbus, Jules Vernes Automated Transfer Vehicle (A- and Kibo Control Centers will soon be joining control centers in the US and Russia in coordinating ISS operations and research. The Canadian Special Purpose Dexterous Manipulator (SPDM) will be performing extra vehicular activities that previously only astronauts on EVA could do, but remotely and with increased safety. This paper will address the integration of these international elements and operations into the ISS, both from hardware and human perspectives. lnteroperability of on-orbit systems and ground control centers and their human operators from Europe, Japan, Canada, Russia and the U.S. pose significant and unique challenges. Coordination of logistical support and transportation of crews and cargo is also a major challenge. As we venture out into the cosmos and inhabit the Moon and other planets, it's the systems and operational experience and partnership development on ISS, humanity's orbiting outpost that is making these journeys possible. lnternational crews have together consumed a total of over 49,000 pounds (22,226 kg) of In April 1961, Yuri Gagarin spent 1 hour 48 food. Ground controllers and engineers have minutes in space. From this first brief step coordinated spacecraft systems and toward the cosmos, humanity is on the verge operating procedures so that crew and of establishing a foothold beyond the equipment interoperate effectively. Real time confines of our home planet. Since spacecraft anomalies have been dealt with Expedition One began on November 2, 2000, and resolved through the valiant efforts of the lnternational Space Station has international crew and ground personnel. maintained a continuous international human These lessons learned on ISS in how to presence in orbit. For about seven years and integrate machines, humans and systems counting, crew members from the U.S., from several nations will play a key role as Russia and Europe have worked, conducted human presence is extended to the Moon research, exercised, and enjoyed recreation and Mars. and other activities together in orbit. The lnternational Space Station is a complex The addition of Harmony marks a new phase undertaking of vast proportions. When in ISS evolution. With sufficient station complete in 2010, its mass will be about 387 structural and physical resources in place, we MT, roughly equivalent to the maximum take- can now begin the process of incorporating off weight of a Boeing 747-400 aircraft (1) or the core lnternational Partner elements. about 241 Lexus ES Luxury automobiles (2). These assembly flights will enable The ISS's pressurized volume of 913 m3w ill establishment of six-member crew operations be greater than that of a five bedroom house and more vigorous utilization of station. or a Boeing 747-400 aircraft and can accommodate about 71 Lexus ES vehicles. Figure 1 depicts the ISS configuration. The The solar arrays, covering an area of 2,192 Truss, which provides the backbone m2, can generate about 708,000 kW-hours of structure, power distribution and thermal electrical power per year, enough to power control systems supporting the pressurized about 50 Houston area homes. Major modules, is nearing completion. The port side elements will have been built by over 100,000 truss elements are on orbit. The P3lP4 workers in the U.S., Russia, Canada, Europe, segments were added during the STS- and Japan, and brought to orbit through 35 115 11 2A mission in September 2006. The P6 Space Shuttle assembly flights and 5 Russian element, currently attached to the ZO truss launches. Its operations are global. While will be moved to its permanent outboard controllers in Moscow may be enjoying a nice position during the upcoming STS-120l10A lunch, controllers in Houston will be in the mission. The crew of STS-117113A recently middle of their overnight shift as controllers in installed the S3lS4 truss segments, deploying Tsukuba may be preparing their dinners. its solar arrays and radiators. The short S5 segment was added this summer while The development and assembly of the ISS is assembly of the final S6 truss segment and not only a great technological achievement, solar array has been deferred to after but a tremendous management feat. The ISS assembly of the European and Japanese Partners: NASA, Roscosmos, European pressurized elements. Space Agency (ESA), Canadian Space Agency (CSA), and Japanese Aerospace STS-120lISS mission 10A will temporarily Exploration Agency (JAXA) have broken attach Node 2 Harmony to Node 1 Unity, down communications, cultural and Node 2 will provide the critical connections for bureaucratic barriers to effectively coordinate subsequent addition of ESA's Columbus and lead the engineering and operations of Research Laboratory and JAXA's Japanese the largest spacecraft ever constructed. Experiment Module (JEM) Kibo facility. After Research conducted on the ISS in the US, the Shuttle departs, Pressurized Mating Russian, European or Japanese elements will Adapter 2 will be relocated to the end of demonstrate Earthly benefits in the medical Node 2 from its current site at the forward and physical sciences, and provide a end of Destiny. The combined Node 2 and pathway for future exploration beyond Earth PMA 2 structure will then be moved to its final orbit. location on the forward end of U.S. Laboratory Destiny, where PMA 2 had originally been berthed. This will be the first INTERNATIONAL PROGRAM ELEMENTS time a major element will be added without the Shuttle present. Until this work is The lnternational Space Station is about 57% completed the Shuttle will not be able to dock complete. Almost all of the supporting to the Space Station. This is a huge step structure and systems are on orbit. Very forward in autonomous operations and will be shortly, Node 2 Harmony, the first a great demonstration of the techniques pressurized element to be launched since the needed to establish a lunar habitat. Columbia accident will be attached to the ISS. This module provides the hub for Columbus, weighing about 10 MT before connecting the U.S. Laboratory Destiny with outfitting, is planned for launch this winter. European and Japanese research facilities to The laboratory, shown in Figure 2, will house be added in the following months. an additional 9 MT of equipment including 10 lnternational Standard Payload Racks (ISPR) as well as provide an external payload facility. 2 Dockng Compartment (DC) I \ PI TNSS Zvezda Service Module SO ~wssS egment ESP-3 I Porl SM MMOD Shrelds Research Module (RM) MMuulltti!ppuurrppoossee LLaabboorraattoorryy MMoodduullee ((MMLLMM)) aanndd EERRAA S6 TNSS P5 TNSS Segment Stahoard Photovolta,c Arrays Mobrle Remote Servicer Base System (MBS), Mobfie Transporter (MT) S & Exposed Faciliiy Elements Currently on Orbit eference Scale Elements Pending US Shuffle Launch Elements Pending Russian Launch Fig. 1: The ISS Configuration August 2007 attach Kibo's Pressurized Module (PM) to its Node 2 port location and ELM-PS relocated to its permanent location atop JEM-PM. JEM- PM is the largest pressurized element on ISS weighing about 16 MT. JEM Exposed Facility (EF) and ELM Exposed Section (ES) will be added to complete the Kibo facility during the third JEM Assembly flight, ISS flight 2JlA. The JEM research facility will include ten ISPRs. EF will provide ten experiment locations and ES will add three sites exposed Fig 2: An overhead crane lowers ESA's to the space environment. These sites are Columbus Module onto a work stand in the accessible through PM's payload airlock. Space Station Processing Facility. Exposed experiments could also be manipulated by the JEM Remote Manipulator System (JEM-RMS) launched earlier on 1J . Kibo will be delivered to ISS through three RMS consists of a large six-joint robotic arm separate Shuttle flights. In early 2008, ISS with a small fine arm for intricate handling of mission 1J IA will temporarily berth the the exposed experiments. The JEM research Experiment Logistics Module (ELM) facility is shown in Figures 3a, 3b and 3c. The Pressurized Section (PS), which provides total mass of the entire Kibo research storage for experiments and research complex is about 27 MT. equipment, to Node 2 zenith. Shortly thereafter. STS-124lISS mission 1J will Fig 3a: The Kibo laboratory resides on a stand at the Space Station Processing Facility at Kennedy Space Center being prepared for next year's planned launch. Fig 3c: Workers at Kennedy Space Center attach the Robotic Manipulator System to Kibo. The RMS will be launched with Kibo on ISS Flight 1J next year. The ISS elements are not stand alone modules but interdependent components of a large, complex spaceship. Structural, electrical power, thermal control, data and voice communications, environmental and life Fig 3b: The Japanese Experiment Module- support systems cross international element Pressurized Section (JEM-PS) arrived at boundaries. Figure 4 provides an example Kennedy Space Center in April 2007 for showing the integration of data launch processing. communications across the space station local area network though routers in Destiny and Harmony and extending to equipment ISS Mission 1J IA will also deliver the Dextre locations in Columbus and Kibo. The bridge Special Purpose Dexterous Manipulator. between US and Russian operating Dextre is part of the Canadian built Mobile segments' networks is accomplished Servicing System (MSS). The MSS externally and routed through a crew switch Canadarm-2 and the Mobile Base System panel. are already on-orbit and being used extensively in ISS assembly. Dextre's dual- arm design will allow it to handle and replace smaller components reducing EVA requirements. NASA's EXPRESSL ogistics Carrier is being developed so that its stored spare parts and external mounted experiments will be robotically replaceable by Dextre. Fig. 4: ISS Integrated Station Local Area Network. A 2004 New York Times article discussing a new Hewlett-Packard wireless communications device proclaimed that "If your office can't reach you on this, then you must be on the International Space Station (3)." With due respect to the New York Times and through the use of additional security measures; crew members on the ISS are well connected to the world below. International elements also provide system redundancy necessary for reliable long term operations. Dissimilarly redundant Russian and US carbon dioxide removal and oxygen generation systems, for example, provide assurance that critical life sustaining capabilities can be maintained in the event one system fails for an extended time period. LOGISTICS SUPPORT Most cargo supplies are currently brought to ISS by Russian Progress vehicles. There Fig. 5: A Section of the European Space have been about 26 Progress flights to ISS Agency's Autonomous Transfer Vehicle is since the launch of Progress 1P in August lowered onto a transportation trolley at 2000. Progress typically carries about 2,300 the European Space and Technology kg of dry cargo, water and air bags, and Center (ESTEC) for shipment to the refueling propellant. launch site at Kourou. (Photo: ESA) Beginning early next year, additional logistics support will be provided by the European Space Agency's Automated Transfer Vehicle (An/) shown in Figure 5. ATV will be launched on an Ariane 5 and has capacity to carry about 6,500 kg of dry cargo, water and air bags, and refueling propellant to the ISS. ATV was shipped from the European Space and Technology Center (ESTEC) on July 13, 2007 for launch from the European Spaceport at Kourou, French Guiana. In a few years, the Japanese Aerospace Exploration Agency's H-ll Transfer Vehicle (HTV), shown in Figure 6, will join the ISS logistics resupply effort. HTV is an H-ll launched autonomous cargo vehicle with the capacity to carry about 4,900 kg upmass. Most importantly HTV can carry external cargo (cargo destined to be on the outside of ISS). The Canadian built Space Station Remote Manipulator System (SSRMS) will Fig. 6: JAXA's H-Il Transfer Vehicle (Photo: capture and berth HTV to Kibo on the ISS. JAXA) NASA is also pursuing acquisition of logistics Mission Control Houston immediately started transportation services through commercial an investigation to determine the relationship, US sources. Flight demonstrations are if any, of 13A assembly activities, particularly planned for 2009. S3 solar array activation which occurred nearly coincident with the start of the computer anomaly. Concurrent with the CONTROL CENTERS AND OPERATIONS MCC-H investigation, Energia, the primary Russian contractor, had formed its own multi- For the past seven years of continuous ISS disciplinary team. NASA and Energia teams operations, ISS operations were coordinated worked independently to eliminate potential by mission control centers in Moscow (MCC- causes and communicated daily. Failure M) and Houston (MCC-H) with help from analyses were greatly aided by ESA which robotics control personnel in Saint-Hubert, proactively provided data and expert Quebec, Canada and payload controllers in personnel familiar with the German-built Huntsville Alabama. Managing the complex Service Module Central Computers. The interactions and learning to work together, cause was determined to be corrosion found during both routine and unexpected on several connectors which provide situations, has been a significant challenge. command signals to the Central Computers power circuitry. A good case in point is the experience during the Russian Segment computer anomaly Operational workarounds were quickly during the ISS 13A mission in June 2007. developed to restore Service Module While the Space Shuttle Orbiter Atlantis was functions. These workarounds required docked to ISS, Service Module Central extensive coordination between Russian and Computer-2 (L(BM-2), shown in Figure 7, US engineers. Further time critical innovative went offline followed by three Terminal and creative solutions had to be developed to Computers (TBM-3, TBM-1 and TBM-2) and keep the Soyuz spacecraft viable as a return the remaining Service Module Central vehicle. No single engineering team had all Computer lanes (UBM-1 and UBM-3). The of the answers or resources to solve this loss of these computing systems could have problem. A problem of this nature within a affected the ability of ISS to maintain attitude single country or culture is extremely difficult, control through the use of Russian thrusters, because the various engineering disciplines the ability of ISS to maintain environmental must coordinate their work. In this situation, control through activation of Elektron oxygen not only did the various engineering functions generator and Vozdukh carbon dioxide need to work together, but they had to work removal system, the ability to maintain together across cultural boundaries. They thermal control through the external Service had to work together and trust the detailed Module cooling loops, and power to the design knowledge from each side. The Soyuz return vehicle. cooperation was phenomenal and highlights the strength of this international team. The complexity of communications and coordination will pose a major challenge in the coming years. ISS Control Centers in the U.S., Russia and Canada will soon be joined by the An/ Control Center in Toulouse, France, Columbus Control Center in Oberpfaffenhofen, Germany (shown in Figure 8), and the JEM Control Center in Tsukuba, Japan. Later, the HTV control center, also in Tsukuba, will become operational to support HTV flights. These new human spaceflight operations facilities will coordinate and schedule visiting vehicles, crew activities, and Fig. 7: Service Module Central Computer-2 research operations. The complexity of (UBM-2) routine interactions, which are currently largely bi-lateral, will sharply increase as 6 coordination must now occur among all five ISS crews receive some level of cross ISS partners. Impediments of differing training on each others equipment, with all operational practices, languages, time zones, members trained in emergency procedures. and customs must be resolved. ISS Control U.S. crew members acquire a high Center locations are shown in Figure 9. proficiency in maintenance and operations of U.S. Space Operating Segment (USOS) equipment and are trained as users of Russian equipment. Russian crew members specialize in Russian Space Operating Segment equipment and are trained as users of USOS equipment. An ESA or Russian crew member will be responsible for An/ operations. Each partner is responsible for crew training on its equipment and systems. A training curriculum of two years or longer is typically required (4). The shared crew training and flight experiences will be invaluable when international crews venture onto lunar or Martian soil. Procedures for routine Fig 8: The Columbus Control Center at operations and daily activities, food and Oberpfaffenhofen, Germany will recreational preferences, language and coordinate ESA's ISS operations. (Photo: personal communications issues, physical ESA) and emotional health issues, which may differ among crew members from different parts of the globe, are being worked out on the ISS. A number of simulations are being conducted in preparation for ATV launch. These mission simulations involve the ATV control center, MCC-H and MCC-M. They help develop operational procedures and coordination as well as provide critical practice for operations personnel. Similarly, the Columbus Control Center was used to support ESA's Astrolab mission with ESA astronaut Thomas Reiter onboard ISS Expedition 13. This mission provided an opportunity for control center personnel to gain experience in preparation for Columbus activation and routine European operations on ISS beginning later this year. In 2009, crew size will grow from its current three to six members. The additional crew quarters, galley, waste removal and hygiene capabilities, exercise equipment, crew health care systems operations guidelines and procedures needed to accommodate and support the larger crew size are in development. Plans for crew assignment and rotation are also in work. The increased crew size will allow more opportunity for international partners' expedition crew members. Columbus Control Center ISS Mission Control MSS Control H-11A Launch L:ontrol Tanegashlma, Japan Hmlstnn, I'exas 'I'niilaise, brance .e-ianc Launch Control Baiku~~uKr,a zaklistall ICourou, French Guiana Fig 9: ISS Control Centers are located around the globe. SUMMARY Company, http:llwww.boeing.comlcommercial The lnternational Space Station is poised to 1747familvl747-8 fact sheet.html, enter a new phase. The next few Shuttle accessed Aunust 20,2007. flights will add new elements for human (2) Lexus ~~35L0e,xu s, habitation and science research and initiate http:llwww.lexus.comlmodelslESld European and Japanese space and ground etailed specifications.html, based ISS operations. ESA and JAXA accessed August 20,2007. activities will be coordinated with on-going (3) Friedman, ~homaLs. , The World is American, Canadian and Russian activities. Flat: A Brief Historv of the Twenty- ESA1sA n/ will begin carrying needed First Centurv, Release 2.0; 02006 supplies to ISS supplementing Russian Thomas L. Friedman; Farrar, Straus Progress resupply vehicles. In the coming and Giroux; P. 187 years, JAXA's H Nw ill join the ISS space (4) Kitmacher, Gary and Theresa G. - vehicle support fleet. When taken together, Maxwell, "Furthering Exploration the station will be a very busy transportation lnternational Space Station and research hub, with a correspondingly Experience", presented at American active and complex ground support and Institute of Aeronautics and control infrastructure. Developing and Astronautics SpaceOps 2006, June operating these systems from the U.S., 23, 2006. Russia, Europe, Japan and Canada are providing a live and vigorous testbed for future multi-national exploration of the moon and Mars. The lnternational Space Station will help to insure the success of humankind's future exploration into the galaxy. REFERENCES (1) 747 Family: 747-8 Technical Characteristics, The Boeing