+--------------+-------------------------------------------------------+
| !            | **TO:** Bob Miley/OZ2 (281) 244-8261                  |
| [](media/ima |                                                       |
| ge1.emf){wid | **NASA Contact:** Larry Walter/ER3 (281) 483-5591     |
| th="1.417361 |                                                       |
| 111111111in" | **Analyst:** John Bussell/MAGIK Team (281) 244-7934   |
| height       |                                                       |
| ="1.32569444 | **DATE:** July 11, 2000 **Action Item #: 1192**       |
| 44444445in"} |                                                       |
|              | **RE:** AMS Configuration #4 Assessment               |
|              |                                                       |
|              | **CC:** Phillip Callen/ER3, Skip Hatfield/OM7, RS     |
|              | Library                                               |
|              |                                                       |
|              | **PAGES:** 17 total                                   |
+--------------+-------------------------------------------------------+

The MAGIK Robotic Analysis Team has assessed a fourth configuration for
the Alpha Magnetic Spectrometer on the S3 Truss. MAGIK Action Items
1110, 1146, and 1174 addressed three other configurations. This analysis
addressed the robotic installation clearances to the AMS installed at
the S3 Inboard Upper Payload Attach System (PAS) with a 12 degree tilt
toward the inboard side.

A high fidelity model of the AMS with a 12 degree tilted PAS interface
and a modified debris shield was received from Ross Harold/Lockheed
Martin in June, 2000 and was used in this analysis to assess robotic
clearances.

***Assumptions:***

1.  Assembly operations completed at UF4 (Rev E Assembly Sequence)
    timeframe

2.  AMS manifest keel location is 1175.20 inches

3.  AMS is installed to S3 Inboard Upper PAS

4.  EXP is installed to S3 Outboard Upper PAS

5.  Distance (ISS +Y) from Inboard S3 PAS to Outboard S3 PAS is 113.38
    inches

***Summary:***

The AMS installation operation was assessed, and violations of the
Remote Manipulator System (RMS) Grapple Fixture (GF) approach envelopes
and EVA Contingency Release envelopes were found. Violations of the
SSRMS twenty-four inch requirement during AMS installation were also
identified. These violations are severe enough to be brought to the End
to End Berthing Integration Team (EBIT) for review. The Mission
Operations Directorate (MOD) Robotics Section (DX22) and EVA Section
(DX3) must also be consulted, and waivers must be granted for all 24
inch violations.

***Detailed Discussion:***

The AMS unberth and installation operation was assumed to occur as in
the MAGIK Design Analysis Cycle #8 (DAC 8). The SpaceLab Logistics
Pallet (SLP) carrying the manifested SPDM is removed first. Figure 1
shows the clearance from the SLP Ammonia Tank Assembly (ATA) to the AMS
at manifest. The AMS may need to be manifest further aft in the payload
bay to maintain twenty-four inches to the ATA.

After the SLP is removed, the AMS is grappled by the SRMS. Figure 2
shows a violation of the SRMS GF approach envelope as defined in
NSTS-21000-IDD-ISS section 14.4.4.1. The MOD Robotics Section (DX 22)
would have to review this violation to determine if it is acceptable.
The SRMS EVA Contingency Release Envelope, NSTS-21000-IDD-ISS section
14.4.2.1, is also violated by the AMS structure (Figure 3). MOD EVA (DX
3) would have to review this violation. The AMS is unberthed and handed
off to the SSRMS. The SSRMS EVA Contingency Release Envelope,
NSTS-21000-IDD-ISS section 14.4.2.2, for the SSRMS GF is violated
(Figure 4).

SSRMS violations of the twenty-four inch clearance requirement to the S1
Outer Upper camera and the S1 truss during installation of the AMS to
the S3 Inboard Upper PAS were documented in Action Item 1174. The same
clearance violations were found for this analysis, but were not
documented.

![](media/image2.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 1 -- AMS and SLP Manifested in Payload Bay

![](media/image3.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 2 -- Violation of SRMS Approach Envelope

![](media/image4.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 3 -- SRMS EVA Contingency Release Envelope Violation

![](media/image5.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 4 -- SSRMS and SRMS EVA Contingency Release Envelope Violations

MAGIK DAC 8 analysis documents the AMS as being installed
[before]{.underline} the Express Pallet. This analysis shows the EXP
present during the AMS installation for reference. Figure 5 shows the
AMS 36 inches from being mated to the truss. As previously stated, the
EXP is not currently baselined to be present during the AMS install, but
if it were there, there would be only 9.2 inches from the AMS debris
shielding to the EXP structure.

![](media/image6.emf){width="6.604166666666667in"
height="4.927083333333333in"}

Figure 5 -- AMS 36 inches from being mated to S3 truss

(ISS Back View)

Figure 6 shows the clearances between the AMS and EXP and their
respective PAS Payload Envelopes. The EXP protrudes through the Attached
Payload Envelope making the clearance between the AMS and EXP smaller
than the clearance between the AMS and the Payload Envelope.

![](media/image7.emf){width="6.604166666666667in"
height="4.927083333333333in"}

Figure 6 -- AMS to EXP Clearances

As the AMS is berthed to the S3 Inboard Upper PAS, the keel structure
comes close to the S3 truss structure. The closest clearance is when the
AMS is fully berthed. This clearance is shown in Figure 7 as 13 inches
from the AMS keel structure to the S3 EVA Worksite Interface (WIF) on
the truss.

![](media/image8.emf){width="6.604861111111111in"
height="4.927777777777778in"}

Figure 7 -- AMS Keel to S3 EVA WIF = 13 inches

The clearances shown in Figure 7 are representative of a perfectly
aligned mating operation. However, if any robotic misalignments are
present, these clearances will be affected. For this analysis, the axis
of rotation for the misalignments was assumed to be in the geometric
center and on the same plane as the AMS PAS interface. If the point of
resolution (POR) chosen by the Mission Operations Directorate (MOD) is
different from this assumed POR, the clearances represented in Table 1
will be altered. Additional analysis may need to be done when the final
POR is chosen. The clearances from the AMS keel and structure to
surrounding structure are given in Table 1 below for different cases of
misalignment. These clearances and misalignment issues must be reviewed
by the End to End Berthing Integration Team (EBIT). It should also be
noted that these clearances do not take into account any manufacturing
tolerances or thermal deformations which may be present. The models used
for the analysis represent as-designed, and the as-built hardware could
be larger or smaller which will affect the clearances shown below.

+----------+--------+---------+-------+------+-------+-------+-----+
| **       | **     | **La    | **R   | *    | **AMS | **AMS | **  |
| Distance | Tilt** | teral** | oll** | *AMS | to**  | to    | See |
| Between  |        |         |       | Ke   |       | EXP   | Fig |
| P        | **(Wob | *       | **(   | el** | **EXP | S     | ure |
| assive** | ble)** | *Transl | degre |      | Pa    | truct | #** |
|          |        | ation** | es)** | **To | yload | ure** |     |
| **And    | *      |         |       | S3   | Envel |       |     |
| Active   | *(degr | **(in   |       | W    | ope** | **    |     |
| Halves   | ees)** | ches)** |       | IF** |       | (inch |     |
| of PAS** |        |         |       |      | **    | es)** |     |
|          |        |         |       | **(i | (inch |       |     |
| **(i     |        |         |       | nche | es)** |       |     |
| nches)** |        |         |       | s)** |       |       |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 0        | 0      | 0       | 0     | 13   | 9.7   | 11.9  | 7   |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 0      | 0       | 0     | 20   | 9.7   | 10.0  |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 2      | 0       | 0     | 19   | 7.4   | 8.1   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 0      | 2       | 0     | 19   | 7.7   | 8.0   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 0      | 0       | 2     | 21   | 8.0   | 7.6   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 5      | 0       | 0     | 18   | 1.7   | 5.3   | 8   |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 0      | 5       | 0     | 18   | 4.7   | 5.0   | 9   |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 0      | 0       | 5     | 22   | 4.2   | 3.7   | 10  |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 2      | 2       | 2     | 18   | 3.9   | 3.4   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 2      | 2       | -2    | 17   | 2.8   | 6.3   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 2      | 2       | 4     | 20   | 1.3   | 0.8   | 11  |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 2      | 2       | -4    | 16   | 0.3   | 6.3   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 3      | 3       | 3     | 18   | 0.5   | 0.2   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 3      | 3       | -3    | 16   | 0     | 2.7   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 4      | 2       | 2     | 18   | 1.8   | 1.6   |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 5      | 4       | 5     | 18   | 0     | 0     |     |
+----------+--------+---------+-------+------+-------+-------+-----+
| 12       | 5      | 5       | 5     | 17   | 0     | 0     |     |
+----------+--------+---------+-------+------+-------+-------+-----+

Table 1 -- AMS Misalignments on Approach to S3 while EXP is Present

![](media/image9.emf){width="5.283333333333333in" height="3.925in"}

Figure 8 -- AMS 12 inches away from berth, 5 Degree Wobble toward EXP

(ISS Back View)

![](media/image10.emf){width="5.283333333333333in" height="3.925in"}

Figure 9 -- AMS 12 inches away from berth, 5 inch Lateral Translation
toward EXP

(ISS Back View)

![](media/image11.emf){width="5.283333333333333in" height="3.925in"}

Figure 10 -- AMS 12 Inches away from berth, 5 Degree Roll toward EXP

(ISS Back View)

![](media/image12.emf){width="5.283333333333333in" height="3.925in"}

Figure 11 - AMS 12 Inches away from berth, 2Degree Wobble toward EXP,

2 Inch Lateral Translation toward EXP, 4 Degree Payload Roll

(ISS Back View)

One critical element in determining whether clearance violations are
waiverable is the possible viewing of the operation. The S3 aft camera
provides a view of the AMS installation to the S3 PAS site. Figure 12
shows the view from that camera of the AMS at a point 36 inches from its
berth.

![](media/image13.emf){width="6.604166666666667in"
height="4.927083333333333in"}

Figure 12 -- View from S3 Aft Camera of AMS installation to S3 Inboard
Upper PAS

If the clearance violations found for the AMS installation to the S3 PAS
are not waived, the P3 PAS site may provide an alternate location. The
installation of the AMS to the P3 Upper PAS was assessed and found to be
robotically feasible. Figures 13 through 15 show the SRMS to SSRMS AMS
handoff and the installation to the P3 Upper PAS. Figures 16 and 17 show
the views from the P1 Outboard Upper and P3 Aft cameras. There were no
clearance violations found for this installation.

![](media/image14.emf){width="6.604166666666667in"
height="4.927083333333333in"}

Figure 13 -- SRMS to SSRMS Handoff of the AMS

(ISS Front-Port View)

![](media/image15.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 14 -- SSRMS Installation of AMS to P3 Upper PAS

(ISS Front-Port View)

![](media/image16.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 15 - SSRMS Installation of AMS to P3 Upper PAS

(ISS Front View)

![](media/image17.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 16 - View from P1 Outboard Upper Camera of AMS installation to P3
Upper PAS

![](media/image18.emf){width="5.283333333333333in"
height="3.941666666666667in"}

Figure 17 - View from P3 Aft Camera of AMS installation to P3 Upper PAS

The baselined operation of installing the EXP after the AMS is installed
to the S3 truss was assessed for clearances. Using the same
misalignments as were assumed for the AMS approach, the EXP approach
clearances are slightly better. Table 2 shows these clearances from the
EXP to the AMS. These clearances, like the AMS berthing clearances, are
under the required twenty-four inch distance. The EBIT must consider
these clearances as well as the AMS berthing clearances before a waiver
may be granted for this operation.

+----------------+------------+--------------+-----------+------------+
| **Distance     | **Tilt**   | **Lateral**  | **Roll**  | **EXP to   |
| Between        |            |              |           | AMS        |
| Passive**      | **         | **T          | **(d      | S          |
|                | (Wobble)** | ranslation** | egrees)** | tructure** |
| **And Active   |            |              |           |            |
| Halves of      | **(        | **(inches)** |           | **         |
| PAS**          | degrees)** |              |           | (inches)** |
|                |            |              |           |            |
| **(inches)**   |            |              |           |            |
+----------------+------------+--------------+-----------+------------+
| 0              | 0          | 0            | 0         | 11.9       |
+----------------+------------+--------------+-----------+------------+
| 12             | 0          | 0            | 0         | 12.5       |
+----------------+------------+--------------+-----------+------------+
| 12             | 2          | 0            | 0         | 9.7        |
+----------------+------------+--------------+-----------+------------+
| 12             | 0          | 2            | 0         | 10.6       |
+----------------+------------+--------------+-----------+------------+
| 12             | 0          | 0            | 2         | 9.5        |
+----------------+------------+--------------+-----------+------------+
| 12             | 5          | 0            | 0         | 5.9        |
+----------------+------------+--------------+-----------+------------+
| 12             | 0          | 5            | 0         | 7.6        |
+----------------+------------+--------------+-----------+------------+
| 12             | 0          | 0            | 5         | 5.3        |
+----------------+------------+--------------+-----------+------------+
| 12             | 2          | 2            | 2         | 5.0        |
+----------------+------------+--------------+-----------+------------+
| 12             | 2          | 2            | 4         | 2.3        |
+----------------+------------+--------------+-----------+------------+
| 12             | 3          | 3            | 3         | 1.5        |
+----------------+------------+--------------+-----------+------------+
| 12             | 4          | 2            | 2         | 2.4        |
+----------------+------------+--------------+-----------+------------+
| 12             | 5          | 4            | 5         | 0          |
+----------------+------------+--------------+-----------+------------+
| 12             | 5          | 5            | 5         | 0          |
+----------------+------------+--------------+-----------+------------+
|                |            |              |           |            |
+----------------+------------+--------------+-----------+------------+
|                |            |              |           |            |
+----------------+------------+--------------+-----------+------------+
|                |            |              |           |            |
+----------------+------------+--------------+-----------+------------+

Table 2 -- EXP Misalignments on Approach to S3 while AMS is Present

The worst case clearances from the EXP to the AMS occur when the EXP is
approximately 27 inches from its berth instead of the 12 inches shown in
Table 2. This is due to the proximity of the AMS's ROEU to the EXP
pallet top. Table 3 shows the clearances from the EXP to the AMS at a
point 27 inches away from berthing. Figures 18 and 19 show two cases of
these clearance violations.

+-------------+----------+-----------+---------+----------+----------+
| **Distance  | **Tilt** | **        | *       | **EXP to | **See    |
| Between     |          | Lateral** | *Roll** | AMS      | F        |
| Passive**   | **(W     |           |         | Str      | igure#** |
|             | obble)** | **Tran    | **(deg  | ucture** |          |
| **And       |          | slation** | rees)** |          |          |
| Active      | **(de    |           |         | **(i     |          |
| Halves of   | grees)** | **(       |         | nches)** |          |
| PAS**       |          | inches)** |         |          |          |
|             |          |           |         |          |          |
| *           |          |           |         |          |          |
| *(inches)** |          |           |         |          |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 2        | 0         | 0       | 7.9      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 0        | 2         | 0       | 8.7      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 0        | 0         | 2       | 8.0      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 5        | 0         | 0       | 4.5      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 0        | 5         | 0       | 5.7      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 0        | 0         | 5       | 3.9      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 2        | 2         | 2       | 3.2      | 18       |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 2        | 2         | 4       | 0.5      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 3        | 3         | 3       | 0.4      | 19       |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 4        | 2         | 2       | 1.6      |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 5        | 4         | 5       | 0        |          |
+-------------+----------+-----------+---------+----------+----------+
| 27          | 5        | 5         | 5       | 0        |          |
+-------------+----------+-----------+---------+----------+----------+
|             |          |           |         |          |          |
+-------------+----------+-----------+---------+----------+----------+
|             |          |           |         |          |          |
+-------------+----------+-----------+---------+----------+----------+
|             |          |           |         |          |          |
+-------------+----------+-----------+---------+----------+----------+
|             |          |           |         |          |          |
+-------------+----------+-----------+---------+----------+----------+
|             |          |           |         |          |          |
+-------------+----------+-----------+---------+----------+----------+

Table 3 -- EXP Misalignments on Approach to S3 while AMS is Present

![](media/image19.emf){width="5.283333333333333in"
height="3.966666666666667in"}

Figure 18 -- EXP 27 inches from berth -- 2 degree pitch, 2 inch lateral
offset,

2 degree roll -- ISS Back View

![](media/image20.emf){width="5.283333333333333in"
height="3.966666666666667in"}

Figure 19 -- EXP 27 inches from berth -- 3 degree pitch, 3 inch lateral
offset,

3 degree roll -- ISS Back View