## **Alpha Magnetic Spectrometer 2 (AMS-02) CDR Robotics Splinter**

For-the-Record AMS-02 Critical Design Review (CDR) Robotics Splinter -
The following are 0Z2/Robert Miley\'s comments for-the-record concerning
the AMS-02 CDR Robotics Splinter that occurred on 5/15/03.

\[1\] Provided the results of the Manipulator Analysis Graphic and
Interactive Kinematics (MAGIK) Robotic Analysis Action Item (AI) #1705
on May 12 to the AMS-02 Design Team for incorporation into the AMS-02
Critical Design Review (CDR) data pack. Reviewed AI #1705 which
requested this MAGIK robotic assessment for the AMS-02 Payload when
berthed on the ISS inboard S3 zenith Payload Attach Site (PAS) with the
modified Remotely Operated Electrical Umbilical (ROEU) Payload
Disconnect Assembly (PDA) payload bracket as discussed in the Shuttle
Consolidated Analysis Working Group (CAWG) AMS-02 and Orbiter Payload
Bay Static and Dynamic Clearance Assessment meeting of 4/29/03, which
shows that the required AMS-02 PDA bracket extension of 6.07-inches has
a significant impact to the ISS payload clearance envelopes between the
S3 inboard and outboard zenith PAS sites. The MAGIK AI #1705 analysis
assumed the maximum misalignment that causes the clearance envelope to
decrease to 1.5-inches when the incoming payload is nearly installed.

ISS PIM to proceed to the ISS Payloads Control Board (PCB) and the ISS
Program Integration Control Board (PICB) for resolution of this AMS-02
clearance issue and authority to proceed with a waiver for AMS-02, which
is outside the static payload envelope. (R. Miley)

\[2\] CSA indicated that the MacDonald Dettwiler Space & Advanced
Robotics (MDR Robotics) study to identify and characterized the SSRMS
and MBS robotic component sensitivity to the AMS-02 magnetic fringe
field will not be completed to until late June 2003.

\[3\] A general group discussion of the AMS-02 SRMS-to-SSRMS berthing
scenario occurred. The key points were:

\[3-1\] SSRMS can provide up to 1,800-watts of power to a payload.
Primary SSRMS power circuit is 'PRIME A' and redundant circuit is 'PRIME
B'. The two circuits will not power simultaneously. Operate off one
circuit and shut it down, and then switch to the other circuit. Or
operate off SSRMS circuit, shut it down, and switch to power from the
PAS UMA.

\[3-2\] MBS/MCAS site -- MCAS limited to 1,350-watts of power. AMS-02
has no MBS/POA capability (no planned use for the MBS/POA).

\[3-3\] SSRMS Standard Operations -- Mate before break (power down one
side, before powering up the other side). Power from AMS-02 must be
compatible with SSRMS.

\[3-4\] SSRMS operational constraints are speed, load based on payload
mass, C.G. AMS-02 thermal constrains are designed for 8-hours without
power. AMS-02 is working a sloshing action.

\[3-5\] NO SPDM activity is required with the AMS-02 design.

\[3-6\] NO CSA signature is included in SSP 57003, the IRD For Attached
Payloads to which AMS-02 is designed.

\[3-7\] Grapple fixture comments: FRGF and PVGF stay out zones are
required by SSP 42004, PIRN 79 and SSP 21000, Section 14.

MAGIK noted that the AMS-02 FRGF location does not meet the grapple
fixture ICD operational clearance envelope for EVA during SRMS Orbiter
payload bay operations to remove AMS-02 for its subsequent robotic
handoff to the SSRMS. AMS exceeds the EVA envelope of the FRGF, and not
the SSRMS approach envelope. SSRMS Shuttle approach envelope with the
Orbiter's sill needs to be worked through the Robotics Integration
Control Board (RICB)\\MSS Integration Panel (MIP). Latest FRGF CAD
models are needed by both MAGIK and AMS-02 to work this envelope issue

  ----------------------- ----------------------- -----------------------
  AMS-02 Critical Design                          
  Review (CDR) Robotics                           
  Splinter                                        

  Robert Miley            AMS ISS PIM             281-226-4968

  Bruce Hastie            ER3/SEWG                281-244-5505

  Alicia Mooty            Boeing/PEI              281-226-4605

  Angus Hendrick          ER3/NASA                281-483-1089

  Don Langford            LTMPF/JPL               818-393-2787

  Rich Golick             LTMPF ISS PIM           281-226-4453

  John Bussell            ER3/MAGIK               281-244-7934

  John C. Harcinske       Boeing/ISS EVR          281-226-6280

  Dennis Engelbert        Boeing/EVR              281-226-6235

  Gene Cook               OZ3/NASA                281-244-8467

  Vic Sanders             Boeing/PEI              281-226-4266

  Ross Harold             AMS-02 Design           281-333-6134

  Paul Nemeth             AMS-02 Operations       281-335-6706

  Ann Vaughan             ACO MODA DO54/USA       281-244-0257

  Larissa Arnold          ACO MOD DO54/NASA       281-483-0623

  David L. Brown          Boeing/GCS              281-226-4988

  Roland Thoerner         CSA (Telecon)           405-926-4556
  ----------------------- ----------------------- -----------------------