Patent Description:
While there is no state-of-the-art with respect to interlocking, reconfigurable, reconstitutable, reformable space systems per se, some conventional space systems have "interlocking" capabilities in the sense that docking/joining may be possible (e.g., the international space station). However, these systems are not designed to allow the space system to reconfigure its morphology upon command. Indeed, current space system technology is not yet at the stage of being cell-based (i.e., modularized units that can attach/detach to form larger/smaller structures).

The current state-of-the-art in space systems architecture is individual "works-as-designed" entities with little room for adaptability. While networks of small satellites may be deployed that communicate with one another and perform some collective functions, no cell-based system exists (i.e., relatively small and modularized units that aggregate to form a larger structure). Aside from having a deployable (e.g., solar panels), which typically extend or expand, elongated payloads (e.g., telescopes) are, for the most part, built and launched as-is. These systems are payloads attached to the space vehicle and, for small space vehicles, can take up a significant volume fraction. It is non-trivial to collapse an elongated payload into a flat package, for example. Furthermore, conventional space systems tend to have a prismatic geometric structure that is not optimal for stowing prior to deployment. Accordingly, an improved reconfigurable space system may be beneficial.

<CIT> discloses a light weight, efficient, and compact piezoelectric rotary union system for joining structures such as space station modules. The system comprises piezoelectric actuators attached to a first structure that engage and rotate a ring attached to a second structure. The actuators position and rotate the ring by non-sliding, smooth walking motion that provides high mechanical efficiency, long life, and negligible electrical noise. Electrical conductors embedded in the ring and the actuator traction surfaces transmit electric currents and signals between the structures. Moderate traction pressure and large contact area substantially eliminate contact heating and associated vacuum welding. The piezoelectric actuators generate relatively large translational forces at relatively low speeds. The absence of conventional rolling bearings eases connection and disconnection of the rotary union. Piezoelectric actuators with integral sensors can control the shape and stress of a relatively light and flexible ring, and can actively reduce or cancel structural vibrations.

<NPL> discusses the details of how the aggregation of a new technology construct of "satlets" could change known satellites' cost calculus and may allow on-orbit satellite repurposing and new construction methodology at a small fraction of known cost.

Certain embodiments of the present invention may be implemented and provide solutions to the problems and needs in the art that have not yet been fully solved by conventional space systems. For example, some embodiments pertain to cell-based space systems with nested ring structures that interlock and reconfigure the ensemble topology, and/or redirect the orientation of multiple payloads. Some embodiments may also be collapsible and stackable for launch. Certain embodiments facilitate the efficient movement of mass along a free-space "conveyor belt.

In certain embodiments, the cell-based system with nested ring structures does not interlock, but rather "flies" in formation, aggregating and disaggregating in accordance with the mission. Not all of the nested ring structures have to aggregate in some embodiments. Rather, a select number of cells in certain embodiments may move in this fashion (e.g., for precision imaging or broadcasting applications where interconnection may result in better attitude stability).

It should be understood that the generic term "magnetic" is used herein to specify one possible force for maintaining interconnections. The term "magnetic" includes permanent magnets (i.e., always "on"), electromagnets (i.e., on or off when voltage is applied), electropermanent magnets (i.e., the internal magnetic field can be reversed by an applied field), and/or any other suitable type of magnet without deviating from the scope of the invention.

In an embodiment, there is provided a space vehicle as claimed in claim <NUM>. Some optional features are claimed in the dependent claims. In another embodiment, there is provided a cell-based space system as claimed in claim <NUM>.

In order that the advantages of certain embodiments of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. While it should be understood that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings, in which:.

Some embodiments of the present invention pertain to cell-based space systems with nested-ring structures that interlock and can change configuration to support a mission. As defined herein, "rings" in a cell need not be perfectly ring-shaped. For instance, one or more of the rings in a cell may be elliptical and/or the shape thereof may not be a perfect geometric shape. For instance, a ring may have a curved shape to accommodate the shape of a payload. Cells of some embodiments may have only one ring of any desired shape surrounding a payload, whereas other embodiments may have any desired number of nested rings of any nestable shape (i.e., each inner ring can fit within the boundary of an immediately adjacent outer ring, if any) without deviating from the scope of the invention. In some embodiments, the cross section of the ring may be circular, rectangular, or any other suitable shape that accommodates the tram (which, in some embodiments, may be designed to accommodate the shape of the ring) without deviating from the scope of the invention.

With the nested-ring concept, there are numerous novel payload type possibilities and configurations. The state-of-the art for developing large argosies in space (i.e., space aggregation) envisions the use of robotic service vehicles to assemble structures. Co-joined, stowed, flat nested rings that, upon deploying, can roll and move about by prehensile grasping, offer an alternative, and potentially more effective mechanism for building space argosies without the need of tug-service robots. Since the "intelligence" in some embodiments resides in each and all nested ring cells, upon the failure of a unit, it is not necessary to wait for a tug-service robot for replacement. Rather, replacement cells can be launched and take the place of failed cells in the ensemble.

Some embodiments facilitate a space architecture that includes an interlocking system of mass producible, "smart" programmable nested-ring cells that have rotatable rings, whether attached to other cells or not. Such cells may be able to detach and "climb-over" other cells. The connected cells may transfer data, power, heat, and/or propellant within an ensemble of cells. One key novel feature of some embodiments is that the ability to hop and/or roll via prehensile grasping allows the morphology of the ensemble, which may collectively be considered to be a spacecraft, to change. This capability provides adaptability (i.e., the ability to perform different missions and multisensory missions, and/or change stance in the event of a physical security threat), upgradability (i.e., replacement of non-performing units or enacting a program for continual upgrading), and size (i.e., facilitate the formation of large physical structures). In some embodiments, structures may be <NUM> in diameter, but any size and/or shape structure (including planetary-scale structures, structures that surround the sun, structures that extend from the Earth to the moon, etc.) may be constructed without deviating from the scope of the invention. Each cell may be able to both carry out its own functional needs and serve the mandate(s) of the entire ensemble.

In some embodiments, the outer ring of the nested-ring cell has particular junction points that are fixed, or one or more can move along the ring (e.g., a rail). While rings are shown herein as having specific internal and external faces, other ring designs are possible without deviating from the scope of the invention, such as a Möbius strip. See, for example, https://en. org/wiki/M%C3%B6bius strip. Moreover, the rings may have a cross section that is rectangular, circular, half tube-shaped, or any other suitable shape that facilitates efficient tram maneuverability without deviating from the scope of the invention. To enhance tram maneuverability, in some embodiments, the surface of the rings may be coated with a tribological material to reduce friction (e.g., some form of diamond-like carbon, MoS<NUM>, and/or solid lubricants).

The trams may serve as junction points in the movable configurations, have features that enable joining of two or more nested-ring cells. Moreover, while the trams are shown in the figures herein as moving along one surface, other tram designs are also possible without deviating from the scope of the invention, such as those that allow the connector portion to be rotated about the cross-sectional shape of the ring. The inner rings, any desired number of which may be included without deviating from the scope of the invention, may also have fixed junction points and/or trams. These inner rings may hold sensors and/or payloads in some embodiments, and may primarily support components housed in the center of the nested-rings (called a payload/control section herein). It should be noted that while denoted payload/control sections herein, one or more payloads and/or some or all of the control electronics may be distributed on the rings, the trams, or both. The payload/control section may include batteries and other components that are typically required for a satellite to operate. Additionally, or alternatively, batteries may also be included on the solar panels (if any) and/or be inserted within the rings themselves.

Instead of being housed in a cube, the payload/control section may be a relatively flat "thick-pancake-like" structure where the thickness is just shy of the outer ring thickness. While analogized to a pancake, the payload/control section may have any desired shape without deviating from the scope of the invention. In some embodiments, the propulsion (e.g., valves, nozzle, propellant, etc.) are housed in the center pancake structure. In certain embodiments, the propellant is housed in the pancake structure while the control valves and exit nozzle sit on a rotatable inner ring with propellent lines connecting the two. In some embodiments, the main propellant tank is housed in the pancake structure with a secondary, smaller tank with control valves and exit nozzles on the tram. These embodiments may allow versatility in controlling the propulsive vector. Consequently, the pancake shape can be any size or shape as long as it fits within the nested rings. For instance, the payload/control section may represent a raised circle, oval, square, rectangle, rounded rectangle, or any other desired shape of uniform or varying thickness. The payload/control section may also have irregular shapes/volumes based on the payload(s) and/or component(s) included therein/thereon. In certain embodiments, the outer ring may be the thickest part of the cell when in its stowed configuration. The outer ring and/or any of the inner rings maybe hollow or solid material. They may be fashioned out of different materials in some embodiments. For example, one ring may be metal or a high entropy alloy (e.g., a multi-principal element alloy), another may be constructed from composite materials (e.g., polymers with embedded nanofibers or nanotubes, carbon fiber composites - e.g., those used to manufacture aircraft, such as the Boeing <NUM> Dreamliner®), etc. In some embodiments, the ring may be constructed from glass-ceramic materials (e.g., Zerodur® or other zero coefficient of thermal conductivity materials) or photostructurable glass ceramics (e.g., Foturan®).

In some embodiments, the nominal thicknesses a nested-ring cell may be <NUM>-<NUM> (<NUM>-<NUM>"), but the nominal thickness can be more or less without deviating from the scope of the invention. In some embodiments, the payload/control section may rotate independently of the rings, and the rings can also rotate independently. <FIG> is a top view illustrating such a nested-ring cell <NUM>, according to an embodiment of the present invention. In this embodiment, nested ring cell <NUM> includes three rings - an outer ring <NUM>, a middle ring <NUM>, and an inner ring <NUM>. In this embodiment, rings <NUM>, <NUM> are rails that include movable trams <NUM> (a. tractors - see parent <CIT>). The magnified portion of <FIG> represented by the dashed rectangle shows that each ring <NUM>, <NUM>, <NUM> includes respective electronics <NUM>, <NUM>, <NUM>. In some embodiments, electronics are included for at least one ring and supplement or replace the functionality of a payload/control section.

Rails can carry power, data lines, heat (e.g., microheat pipes), and in some embodiments, a propellant fuel line. The lines may be hardwired, fiber, and/or 3D printed along or inside the rails, as desired. For instance, in <FIG>, inner ring <NUM> includes two rotatable nozzles <NUM> and respective propellant lines <NUM>. Propellant lines may be embedded in any desired ring, or more than one ring, without deviating from the scope of the invention. Propellant may also be stored within a propellant storage tank (not shown) and may be refilled via a service valve (not shown).

<FIG> shows a nested ring structure that is designed to rotate about one axis (shown as the y-axis here via shaft <NUM>). In some embodiments, some nested rings rotate about a y-axis shaft, while others rotate about an x-axis shaft perpendicular to the y-axis via a gimbaled mechanism. In certain embodiments, these shafts may not be orthogonal to one another. Indeed, any number of shafts, interconnection therebetween, gimbaling mechanisms, and orientation may be used without deviating from the scope of the invention.

A payload/control section <NUM> includes a reaction wheel housing <NUM> that houses a momentum management system <NUM>. Momentum management system <NUM> controls the net angular momentum vector, and includes reaction wheels (e.g., three-axis reaction wheels) and a momentum dumping system (e.g., magnetorquers) that enable the desaturation of the momentum of the reaction wheels. Each nested ring <NUM>, <NUM>, <NUM> and payload/control section <NUM> has its own respective motors <NUM>, <NUM>, <NUM>, <NUM> and can independently rotate. The rotation can be continuous, fixed angular motion that is then stopped, or motion to a prescribed set of angular locations with stops at constant or varying times without deviating from the scope of the invention. Any rotation induced by motors <NUM>, <NUM>, <NUM>, <NUM> should be countermanded by momentum management system <NUM> to keep the overall attitude (i.e., a defined observation direction) of nested ring cell <NUM> steady.

Motors <NUM> are attached to outer ring <NUM> via support structure <NUM>, but are able to rotate about shaft <NUM> while attached thereto. Motors <NUM> are attached to middle ring <NUM>, but are able to rotate about shaft <NUM> while attached thereto. Motors <NUM> are attached to inner ring <NUM>, but are able to rotate about shaft <NUM> while attached thereto. Also, motors <NUM> are attached to payload/control section <NUM> via tubes/struts <NUM>, but are able to rotate about shaft <NUM> while attached thereto. All motors <NUM>, <NUM>, <NUM>, <NUM> in this embodiment have properties currently found in rotation stages with a center hole aperture: (<NUM>) bidirectional motion with velocity control; (<NUM>) encoders to ensure precise angular motion and positioning; and (<NUM>) mechanical clutches to lock. Motors <NUM>, <NUM>, <NUM>, <NUM> are also designed to operate in a vacuum environment. In some embodiments, the motor function can be integrated into shaft <NUM>. In certain embodiments, only one motor per ring is used.

Thus, rings <NUM>, <NUM>, <NUM> and payload/control section <NUM> rotate about shaft <NUM>. Shaft <NUM> may also include data and/or power lines that provide data and/or power between rings <NUM>, <NUM>, <NUM> and payload/control section <NUM>. In some embodiments, shaft <NUM> may also contain one or more propellant fuel lines to deliver propellant to one or more rings. This may be used, for instance, to control rotation thereof, as well as to control and power each tram <NUM> and a sensor or other device that "rides" on top of the tram.

Payload control section <NUM> also includes a primary propellant storage tank <NUM> and a secondary propellant storage tank <NUM>. Secondary propellant storage tank <NUM> may function as a reserve in some embodiments. Any number, size, and location of propellant storage tanks may be used without deviating from the scope of the invention. Propellant storage tanks <NUM>, <NUM> are connected to propellant lines <NUM> (connection not shown) and include electronic valves (not shown) that control the flow of propellant.

<FIG> is a top cutaway view illustrating a wiring scheme in nested-cell ring <NUM>, according to an embodiment of the present invention. The wiring can be traditional metal conductors, optical fiber, 3D printed, pattern transfer fastened/bonded, etc. with interconnects as desired or necessary. In some embodiments, the wiring may be within the ring, wrapped about the ring, or any combination thereof without deviating from the scope of the invention. Various components from <FIG> have been removed and colors have been changed to white for illustration purposes. More specifically, ring <NUM> remains, and the wiring scheme for ring <NUM> may be similar to that for ring <NUM> or any other ring that requires power/data for its operation (e.g., to operate trams <NUM>). Power lines <NUM> (lines with larger dashes) and data lines <NUM> (lines with smaller dashes) extend through shaft <NUM> and also throughout ring <NUM>. Power line <NUM> and data line <NUM> also extend into payload/control section <NUM> and interface with internal circuitry thereof (not shown). Power and data may be transferred to payload/control section <NUM> and/or one or more of rings <NUM>, <NUM>, <NUM> via a direct-contact "brush" and/or non-contact optical, RF, or electromagnetic transport in certain embodiments. In some embodiments, trams <NUM> and ring <NUM> may have a similar structure to that shown in <FIG> and <FIG> and 5A and 5B, respectively, of parent <CIT>, for example.

In some embodiments, trams may be capable of performing various operations, such as connecting to other cells to form a structure, to provide power and/or data and to act as support structures to hold external components that can be articulated (e.g., sensors, cameras, transmitters and/or receivers, mirrors, solar panels, heat shields, mirrors, lenses, etc.), and the like. <FIG> is a front cutaway view illustrating a generic potential tram 140a that may be capable of performing these operations, according to an embodiment of the present invention. In some embodiments, depending on the physical shape and properties of the ring, the ring shape and/or the tram coupling shape may be rectangular, circular, or any other suitable shape in which the tram can "grasp" or couple onto the ring without deviating from the scope of the invention. Tram 140a includes a linking mechanism 142a that is capable of performing linking operations with linking members of other trams and/or other structures (e.g., holding a component such as a lens, linking with another rail or other physical structure, etc.). Control circuitry 144a controls the operation of tram 144a and its components. Retaining members 146a keep tram 140a operably connected to or proximate to a rail (not shown), which fits within a rail space 148a defined in part by retaining members 146a. Rail space 148a is shown as rectangular in <FIG>, but may be any suitable shape without deviating from the scope of the invention. Two such trams 140a that are linked via respective linking mechanisms 142a are shown in <FIG>.

Many tram embodiments are possible without deviating from the scope of the invention. It should also be noted that tram embodiments described herein and derivatives thereof may be used with any suitable component (e.g., cells or any other physical structure) and for any suitable application (whether terrestrial, space-based, underwater, underground, etc.) without deviating from the scope of the invention. For instance, in <FIG>, tram 140b includes retaining members 141b that hold tram 140b in place on a retaining section of a rail. Tram 140b also includes an electromagnet 142b that may engage with magnets of other rings and/or trams. However, in some embodiments, mechanical connections may be used in addition to, or in lieu of, magnets. Tram 140b also includes wheels 144b that contact the tram retaining section of the rail. Wheels 144b are driven by brushless electric motors 146b via respective shafts 147b. Electrical contacts 148b contact one or more wires of the rail. In some embodiments, the "wheels" or "guides" can be ball bearings and the motion thereof may be similar to direct-drive, slotless, brushless servomotors. The tram in some embodiments may include an optical encoder or other encoder (e.g., a laser-based interferometer) that characterizes the tram position along the rail without deviating from the scope of the invention.

Similarly, the connections of a tram and the rail can follow an industry-proven direct drive linear motor (DDLM) with the requirement that it must operate in vacuum environment and include some form of space qualified lubricant (e.g. solid lubricant, MoS<NUM>, diamond-like carbon, etc.). A DDLM is a motor that is laid out flat and directly coupled to the driven load, eliminating the need for ball/lead screws, rack and pinions, belts/pulleys, and gearboxes. In some embodiments, rails may be coupled to tractors configured as DDLMs. In some embodiments, the tram and rail can be moved in a similar manner to technology implemented in magnetic levitation (maglev) trains, which induce both motion and levitation using electromagnetics. Motion is induced by altering the polarity of the magnets in sequence and levitation is facilitated by permanent magnets.

In this embodiment, tram 140b includes circuitry 149b that controls operation of tram 140b. For instance, circuitry 149b may include, but is not limited to, a microcontroller, a transceiver, and/or any other suitable circuitry without deviating from the scope of the invention. In certain embodiments, no control circuitry may be present, and brushless electric motors 146b may be controlled by providing power to the conductor(s) of the rail to drive brushless electric motors 146b.

Per the above, in some embodiments, power and/or data from a tram may be provided from the tram to another connected tram or device. Accordingly, tram 140b includes a power contact 150b and a data contact 152b that send/receive power and data, respectively, to/from a connected tram or device. In this manner, tram 140a may power a sensor or camera, receive power from a solar panel or battery, provide power and data between connected cells, etc. Also included in tram 140b are materials that enable the efficient transfer of heat between connected cells.

<FIG> shows an alternative magnetic tram 140c. Similar to magnetic tram 140b of <FIG>, tram 140c includes retaining members 141c, a magnet 142c, and electrical contacts 148c. However, in this embodiment, a motor 146c is powered directly by conductor(s) of the rail and engages with teeth of the rail via gear 144c. Motor 146c rotates gear 144c, moving tram 140c along the rail. Moreover, if a DDLM concept is used, tram 140c in <FIG> would not need to include gears 144c or motors 146c. Also similar to tram 140b, tram 140c includes a power contact 150c and a data contact 152c that send/receive power and data, respectively, to/from a connected tram or device.

In some embodiments, a specific nested ring and the trams on the ring have all the properties as noted above, but in addition, are designed to provide free space propulsion. <FIG> shows an embodiment of such a tram 140d. Tram 140d includes three nozzles for expelling propellant gas 144d, which are controlled by three respective control valves 142d and associated control circuitry 143d. Tram 140d has a local propellant tank 146d that serves all nozzles 144d. Propellant tank 146d is filled by tram 140d stopping at a specific location along the ring (i.e., a "gas station"). At that location, a hermetic seal connection is made with rail 148d, and valve 142d proximate to rail 148d is opened via proximate controller 143d. The "gas station" is fueled from a larger tank located elsewhere (e.g., the payload/control section).

<FIG> illustrates a front cutaway view of a device flip-out tram 140e, according to an embodiment of the present invention. Tram 140e includes an attached device 142e that "flip-out" via a hinge 144e. Hinge 144e may be motorized to facilitate retractability. Devices that may constitute device 142e include, but are not limited to, one or more of a lens, a mirror, a shade, a filter, a flip-out sensor, a flip-out angular momentum control device (e.g., a reaction wheel), a patterned electrode that serves as a linear motor, or any combination thereof.

<FIG> illustrates a front cutaway view of a mm-Wave or µWave sensing or broadcasting tram 140f, according to an embodiment of the present invention. Tram 140f includes three horn antennas 142f on the left, right, and top of tram 140f. Electronics are not shown to better illustrate horn antennas 142f. The benefits of mm-Wave and µWave technology are discussed in more detail below.

<FIG> illustrates a front cutaway view of an imaging tram <NUM>, according to an embodiment of the present invention. Tram <NUM> includes four imagers or detectors <NUM> (e.g., single photon detectors) in this embodiment. However, any suitable number, type, and/or location (e.g., on the side) of imagers and/or detectors may be used without deviating from the scope of the invention.

<FIG> illustrates a front cutaway view of a laser communication or LIDAR tram <NUM>, according to an embodiment of the present invention. Tram <NUM> includes a laser system <NUM> inside a laser housing <NUM>. Laser system <NUM> includes optics, modulators, filters, mirrors, and diagnostics to ensure the proper and continual operation of the laser-based LIDAR. Tram <NUM> is considered as the LIDAR source, with the return signal being sensed/picked up by another tram, such as tram <NUM> of <FIG>. The LIDAR laser beam is then directed by a gimbled or galvanometer-based beam delivery control system <NUM>. While <FIG> shows the laser beam exiting in three primary directions, it should be noted that the beam can exit in any direction between the dotted line beam direction lines. Beam delivery control system <NUM> (e.g., electronics, diagnostics, motor control, etc.) is housed in beam delivery control system housing <NUM>. Beam delivery control system housing <NUM> may also house one or more sensors (not shown) in some embodiments. While lasers are currently highly efficient in converting electrical energy to photons, they generate heat, which should be removed. Accordingly, a cooling system <NUM> is included that provides passive radiators and/or active cooling (e.g., fluid motion, a recirculatory, etc.).

While rectangular-shaped trams are shown in <FIG>, it is possible to have trams of any desired shape without deviating from the scope of the invention. For instance, <FIG> is a front cutaway view illustrating a circular magnetic tram <NUM>, according to an embodiment of the present invention. Tram <NUM> includes a linking mechanism <NUM> that engages with linkage points of other trams (see <FIG>, for example). Linking mechanism <NUM> is operably connected to a rotatable collar <NUM> that rotates about an inner ring <NUM>. Control electronics <NUM> control rotation of rotatable collar <NUM>.

In this embodiment, four rail guides <NUM> on inner ring <NUM> provide power for control electronics in order to provide power to rotate rotatable collar <NUM>, attach linking mechanism <NUM> to other linkage points or structures, etc. However, any number and/or location of rail guides may be used without deviating from the scope of the invention. In some embodiments, rail guides may receive power wirelessly. Inner ring <NUM> is physically connected to rail <NUM>, which is tubular in this embodiment, held in place magnetically, or both. Power is provided to rail guides <NUM> via conductors <NUM> of rail <NUM>.

It should be noted that multiple linking mechanisms may be used such that a single tram can connect to two or more cells, other structures, etc. <FIG> shows such a tram 200a. In this embodiment, six linking mechanisms 210a are connected to rotatable collar 220a. Linking mechanisms 210a may be of different types in some embodiments, such that of tram 200a. For instance, the linking mechanisms shown in <FIG> may all be included on tram 200a, creating multipurpose linkages.

<FIG> illustrates some example linking mechanisms, according to an embodiment of the present invention. It should be noted that the linking mechanisms shown in <FIG> may include sensors or other devices in some embodiments without deviating from the scope of the invention. It should also be appreciated that other linking mechanisms are possible, and any suitable linking mechanism may be used without deviating from the scope of the invention. For instance, linking mechanisms in some embodiments may be part of (e.g., either half of) a hinge joint <NUM>, a pivot joint <NUM>, a ball and socket joint <NUM>, an ellipsoid in socket joint <NUM>, a saddle joint <NUM>, planes <NUM>, a mechanical and magnetic interlock <NUM>, a spring-loaded ball and groove joint <NUM>, etc. The construction and operation of joints <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is readily apparent. The illustrated linking mechanisms may be motorized in some embodiments.

Planes <NUM> magnets with opposite polarities that each come from a different respective linking mechanism. Mechanical and magnetic interlock <NUM> includes an upper magnetic half <NUM> and a lower magnetic half <NUM> with opposite polarities. Mechanical connector <NUM> of upper half <NUM> and mechanical connector <NUM> of lower half <NUM> mechanically connect their respective halves to the opposite half. A plane joint with latch ball locking <NUM> is also possible. A ball portion <NUM> fits into a hollow socket portion <NUM> via spring-loaded latch balls <NUM> (e.g., spring-loaded ball bearings) that fit within ball grooves <NUM>.

In some embodiments, cells may exchange various physical items and information. Such a system linkage interface <NUM> is shown in <FIG>. In <FIG>, modules (i.e., cells) N and N + <NUM> connect. After connection, N and N + <NUM> are able to share power, data, heat, and fuel.

Various interfaces are possible for the exchange of material(s) and/or signals without deviating from the scope of the invention. In some embodiments, each interface may have hardware/software components denoted "layers" herein. One such layered process control interface <NUM> for exchanging materials and docking information is shown in <FIG>. Both N and N + <NUM> include respective security interface layers, signals test and codex translator layers, and pose estimation layers for docking. The terms are generic here and the order of layers as shown can be varied without deviating from the scope of the invention. The primary functions of the layers are as follows. The layer labeled as "docking: pose estimation" includes sensors, electronics (e.g., circuits), and control systems with software that ensures that when modules N and N + <NUM> are close, but not yet connected, the relative pose of each module is such that it will induce a successful docking engagement. Consequently, pose estimations should be done prior to physical docking.

The layer labeled as "signals test and codex translator" includes sensors, electronics (e.g., circuits), and control systems with software that conducts two functions after successful docking: (<NUM>) the layer tests the interconnected signals to ensure that they have the right voltage, current, pulse structure, etc.; and (<NUM>) the layer also is able to change the protocol of the data and/or control formats that will pass between modules N and N + <NUM>. In some embodiments, modules may be manufactured by different vendors and prior worldwide standards generation, communication, and controls may have different protocols (e.g., they may use a different codex). The signals test and codex translator layer converts the communication protocols so that modules N and N + <NUM> can exchange valid information. The layer labeled as "security layer interface" includes sensors, electronics (e.g., circuits), and control systems with software that serves as a signal's "firewall" between module N and module N + <NUM>. This layer is intended to protect the adjoining modules from cyberattacks (e.g., malware, denial of service (DoS), Byzantine attacks, man-in-the-middle, and others). The terms are generic here and other attacks are possible and may be mitigated against without deviating from the scope of this invention.

Various types of control software may be included in some embodiments at the individual cell level, at the collective ensemble level, or both. The collective ensemble represents all of the connected cells and their collective computational abilities in their totality. For instance, all cells may individually include computation hardware (e.g., microprocessors and/or nanoprocessors, GPUs, etc.). Some of the software, such as that for a particular cell's self-maintenance functions, could be run on the cells' computational hardware locally. However, in some embodiments, "local" (as opposed to global or worldwide) computational cloud architectures may be used. With such an architecture in place, excess computational processing capabilities of cells in the ensemble may be used to support or enable ensemble functions. Examples of ensemble functions include, but are not limited to, maintaining the attitude of a large (e.g., <NUM>) space construct (e.g., an argosy), the coherent capture of signals from numerous sensors that are widely spaced from one another, general distribution of electrical power or communication bandwidth among thousands of cells, etc. In this sense, the cells of the ensemble are somewhat analogous to cells that maintain the main systems of the human body (e.g., nervous, lymphatic, circulatory, endocrine, etc.). These systems operate beyond the functions of the individual body cells that collectively enable them.

To connect one tram to another, power and data contacts may be aligned with one another and trams may be mechanically and/or magnetically attached to one another. For instance, an electromagnet of one tram may be set to the opposite polarity of an electromagnet of the other tram so they attract (i.e., N-S or S-N). To separate, the polarity of one magnet may be modified to be the same as the other magnet (i.e., N-N or S-S). The magnets may be housed or encapsulated in materials to ensure minimal magnetic leakage (e.g., mu-metal) since stray magnetic fields affect some sensors (e.g., radiometric sensors).

In order to maintain attitude of the cell, for each ring rotation (or rotation of the payload/control section), or more specifically, an angular momentum change, there should be a near-simultaneous counter-rotation maneuver to compensate for the angular momentum change. This can be done by motion of another ring, motion of the reaction wheels (in the payload/control section), movement of a tram, a small propulsive maneuver, or a combination thereof, with the intent that the angular momentum change in the first motion-maneuver is nulled by the second motion-maneuver.

A key feature of this approach is that that the outer ring dimension can be any desired size, which could depend on the mission and/or launcher that is used. The outer ring could be <NUM>, <NUM>, <NUM>, any desired diameter, or a combination thereof without deviating from the scope of the invention. For example, if the outer and inner rings are manufactured from carbon fiber reinforced composites (CFSs), rings of approximately <NUM> meters in diameter can readily be produced, which is the same cross section as the fuselage of a Boeing <NUM> Dreamliner®. Furthermore, the outer ring may have an irregular shape, as discussed herein.

Because the nested-ring cell in some embodiments is circular in shape and able to be flattened, it is possible to "stack" cells onto different launch vehicles (e.g., air-launched Pegasus rockets, the Delta rocket family, the SpaceX Falcon <NUM>, etc.). some example stackable configurations are described in more detail below. The outer ring in each cell may have a connector tram that is capable of multi-axis rotation. Consequently, such a joint could be used to connect the stacked nested-ring cells during stowage (see, e.g., <FIG> and <FIG>) such that upon orbital deployment, the stacked cells expand like a Slinkey™ toy or an accordion (see, e.g., <FIG>, <FIG>), but with only one attachment point per cell in some embodiments. This deployment approach enables the placing of hundreds, thousands, or more nested-ring cells into orbit without having to exercise a disengagement/re-engagement maneuver. This provides a significant cost and energy savings for missions that require a large number of cells to be deployed, connected, and operate in concert. This capability is novel and is harder to implement with cube-shaped units, for example.

The prehensile grasping mobility of the cells that provides a hop and/or roll action in some embodiments requires more power than body-mounted solar cells of conventional CubeSats can provide. Space data from Aerocubes show that a 1U CubeSat with solar cells mounted on two sides is capable of producing approximately <NUM> watts of power for normal orbits and operations. However, calculations show that approximately <NUM> watts of power would be necessary to have a fully functioning programmable cell in some embodiments, albeit that number is based on power draws of current motors and robotics. Gathering more solar power generally requires a deployable (i.e., a solar panel that extends out from the cell). This approach is the current practice in space systems. However, given that the cells of some embodiments perform hop and/or roll maneuvers, a traditional solar panel deployable would be obstructive.

An alternative is developing a deployable that can be opened/closed repeatedly, as is described further in some embodiments below. This may be risky using folding deployable solar panels (e.g., origami-type structures) due to the complex mechanical linkages involved therein, and the possibility of a jam-up. To address this concern, two or more round solar panels may be employed. In some embodiments, the backs of the solar panels may carry batteries that can scale with the solar panel surface area and create a more integrated photovoltaic system. Furthermore, in a stowed configuration, the batteries may make up the surface area of the top and bottom of the cell, and thus protect the delicate solar panel surface area from handling damage. In certain embodiments, solar cells/batteries within a panel may be attached to trams on the outer ring, and thus can both traverse along the outer ring and pivot about a universal motion joint of the tram.

In some embodiments, cells with solar cell/battery panels are employed (see, e.g., <FIG>; see also the descriptions of <FIG> below). The solar cell/battery panels may be circular in some embodiments, and may be connected to a payload/control section in the center via specialized connections that provide power from the solar cell/battery panels to the payload/control section. In the stowed configuration, the solar cell/battery panels may be housed or recessed within the outer ring. Consequently, and unlike in <FIG>, in a cross-sectional view of the fully stowed configuration, the solar cell/battery panels would not show. During deployment, the specialized connections may push the solar cell/battery panels above the outer ring to allow the solar cell/battery panels to pivot and rotate about the connections and deploy, in a similar manner to what is shown in <FIG>. The specialized connections may be motorized such that upon failure of a solar cell/battery panel or upon the cell instituting a roll motion (e.g., via prehensile grasping), the solar cell/battery panels can be rotated back into the housing. The diameter of the solar cell/battery panels should be smaller than the diameter of the outer ring to permit protective stowage. In embodiments where the battery is located behind the solar cell panels and during stowage, the solar cells are typically hidden, and the specialized connections may have a robotic joint design to enable both twisting and pivoting motion.

In some embodiments, it is possible to attach various sensors and other devices to the trams. For instance, cameras may be powered by the ring rail via the tram or via wireless RF or optical power, and may transmit data to the payload/control section using wireless technology, e.g., via millimeter wave (mm-Wave) or microwave (µWave) wireless technology, which may have speeds of approximately <NUM> Gb/s, or via a hardwired data line available on the ring rail. Because mm-Wave technology (Ka, V, W, mm) and µWave technology (and in the future, terahertz technology and beyond) is inherently smaller than current wireless technology (S, C, X, Ku, and K bands), it can be integrated onto the trams of even smaller cell embodiments relatively easily. Moreover, the mm waves and microwaves are more directional, and therefore, it is easier to direct the energy toward the payload/control section. Another feature that is possible is that when multiple cameras are mounted on ring trams, it is possible to see in front, to the side, and behind the facing direction of the nested ring structure. Cameras on an inner ring, for example, can be controlled to periodically "look around" (e.g., look other directions including towards an adjacent connected neighbor cell) without having to rotate the payload/control section. For example, a small light detection and ranging (LIDAR) device (which, in essence, is laser radar) can be attached to a tram that is powered by the payload section. The laser and its smaller extendable telescope (if necessary) and/or a beam directing mirror may be used to allow sensing of nearby objects (e.g., ~<NUM> or less) to mitigate against a hit by space debris.

Certain payloads can only be operated when extended. For instance, in the case of a telescope, the laws of optics dictate the distance between lenses and mirrors for the desired magnification/resolution. Extensible systems such as telescopes cannot easily be "flat-packed". However, with a nested-ring structure, a primary lens or mirror on one of the rings may be rotated out such that the lens or mirror is at a particular distance L from a secondary mirror (located on another ring or on the payload/control section). A similar concept is feasible for an antenna (e.g., RF, mm-Wave, µWave, etc.) that requires a larger surface area for signal capture, which can be flipped out at a particular distance L.

A similar concept can be applied with other optical elements that are typically found in telescopes to filter or analyze light prior to detection by a sensor. For example, in some telescope designs, the optical focal point is not placed on the sensor or a secondary mirror. Rather, the focal point is just above the sensor or secondary mirror. This allows insertion of spatial filters (e.g., a field stop) and other devices to be placed at the focal point to further refine and characterize the image. In such embodiments, the characterization sensors or devices may be placed on a tram closer to the sensor (often, but not necessarily, on the payload/controller section). Given the multiple nested rings of some embodiments, it is also possible to change the magnification of the lens/mirror of the primary optics, and consequently allow for multiple telescopic magnifications.

In some embodiments, a lens of aperture D may be rotated such that the distance from the lens to the surface (e.g., a camera chip) has distance L. A lens or a mirror may direct the focused light onto a second mirror, which then further reflects the light to a sensor located on a rail or the payload/control section. This would be useful, for example, if there are multiple cameras and each camera chip is sensitive to a different wavelength band.

In certain embodiments, the sensor may need to be shielded from ambient light to keep it cool, and thus lower electronics noise. Such embodiments may capture images from a source that emits heat via radiation (e.g., the Earth). In some important frequency bands, the Earth's albedo produces sufficient energy to increase the noise level on sensitive sensors. Currently, these sensors must be kept cold by using cryogenic fluids, which evaporate in the vacuum of space over time, thus rendering the sensor inoperable. In orbits about Earth, staring into dark space can lower the surface temperature of an object close to <NUM> (-<NUM>). With a nested-ring architecture, sensitive sensors can be placed so as not to look at the sun or Earth, and the image (i.e., desired incoming radiation) may be guided to the sensor via a sequence of mirrors that can move with motion of the cell in orbit. Another approach would be to use sun or heat shields to protect a sensor in a similar configuration to the deployable solar panels described below. The sun and heat shields may thus fold out and be positioned as desired.

Additional advantages of the nested-ring architecture are apparent in situations where multiple rings (attached or nonattached) work in concert. For instance, two nested-ring structures may not be attached per se, but rather, may be attached to other rings themselves. In this mission, a laser beam generated from one nested-ring may hit a deployable on the other nested-ring that is a mirror, and the outcome is redirection of the laser energy. This may provide a novel optical communication, cell-to-cell, crosslink scheme. It should be noted that if the other nested-ring deployable is not a mirror that merely defects light, but is actually a part of a telescope, then the divergence of the laser beam may be changed by using mirrors or lenses from different nested ring deployables. Other scenarios are also possible in which cells are attached, and the totality of all of the linked cells takes up a distance measured in kilometers. In such instances, a high speed local optical free-space intracell communication link may be established. To better appreciate the advantages of this scenario consider <NUM>,<NUM> attached cells in some articulated topology with Cell #<NUM> and Cell #<NUM> being at opposite ends. It may be more efficient (e.g., reduced latency in information transfer) for Cell #<NUM> and Cell #<NUM> to communicate via a direct free-space optical communication link than via a woven hardwire communication system.

Another example where a nested-ring system may be beneficial is in the assembly of caged structures that carry radiative matter, such as a radioisotope thermoelectric generator (RTG or RITG) or a nuclear reactor. These systems may serve as power sources for long duration space missions, such as to the edges of our solar system and beyond. A drawback of such nuclear systems is that the radiation emitted from these devices is harmful to the operation of nearby electronics. For example, in the case of RTGs, these are typically placed at the end of a large truss. In some embodiments, an RTG or nuclear reactor may be placed in the center of a structure.

For voyages to the outer reaches of our solar system, reactors serve not only to provide power, but also heat given that temperatures on conventional electronics usually plummet below the operational range. A large cage structure, for instance, where operating payloads are placed at the periphery and the power source is in the middle, would be able to deliver electrical power and heat from the center core to other cells via diffusion through interconnected cells and/or via radiative transfer if the payload/control sections of the respective cells are oriented to capture the heat. For example, if the reactor portion in the center is a sphere (e.g., one-meter diameter), by Stefan-Boltzmann's Law, approximately <NUM> kW of radiated heat power is emitted via radioactive decay if the center temperature can be held at <NUM>. Rather than having all the heat escape into space, a portion could be collected by orienting the payload/control sections of the cells.

In some embodiments, the nested ring structures may be collapsible and stackable for launch. Such embodiments may facilitate more efficient use of the payload compartment volume of a launch vehicle, for example. Because current space systems do not yet utilize "cell-based" architectures, efficient packaging for launch is problematic for these systems. At certain sizes, not all shapes lead to efficient stowage. For example, prismatic shapes, such as cubes (e.g., CubeSats), do not efficiently pack within a cylindrical launch vehicle when launched in large numbers. Some embodiments offer a better solution. One or more stacks of nested ring cells could efficiently fill the launch vehicle payload volume with more space vehicles. Also, nested ring cells could be designed to fit to the payload shape and volume of a given launch vehicle (e.g., that of <FIG>).

<FIG> is a side view illustrating a cell stack <NUM> in a stowed configuration, according to an embodiment of the present invention. Cell stack <NUM> includes ring-shaped cells <NUM>, where each cell is connected to two other cells (unless on the top or bottom of cell stack <NUM>, in which case the top and bottom cells are connected to only one other cell) via connecting members <NUM> (e.g., ball joint connectors, magnets, or any other suitable connector without deviating from the scope of the invention). In some embodiments, cell <NUM> may be cell <NUM> of <FIG> and <FIG>. In this embodiment, each connecting member <NUM> is on the opposite side of cell stack <NUM> as the one above/below it. However, connecting members may interconnect adjacent cells in any desired location and/or configuration without deviating from the scope of the invention.

In some embodiments, connecting member <NUM> may rotatably connect two adjacent cells such that they are not separable. However, in certain embodiments, connecting member <NUM> may be made up of two separate portions - one for each connected cell - that mechanically and/or magnetically connect to, and release from, one another. In certain embodiments, the cells may mechanically interlock with one another via a releasable mechanism driven by an actuator. In some embodiments, some cells may use magnets to interlock and others may use mechanical interlocking mechanisms. Mechanical interlocking mechanisms may be stronger and may support larger structures. In some embodiments, mechanically connected cells may form a support structure within the space system that supports other cells or non-cell space vehicles and provides the ability to build even larger space systems than magnets alone may allow. Additionally or alternatively, such structures may be used for terrestrial and/or underwater support structures in some embodiments.

<FIG> is a side view illustrating a payload section <NUM> of a launch vehicle <NUM> with cell stack <NUM> loaded therein, according to an embodiment of the present invention. Due to the generally cylindrical shape of payload section <NUM> in this embodiment, cell stack <NUM> makes efficient use of the space therein. When "flattened" for deployment, cells <NUM> may require considerably less volume than a <NUM>. 5U or 3U CubeSat, for example. As such, a larger number of flattened cells capable of performing equivalent or superior functionality to small CubeSats may be deployed in a single launch. Furthermore, as is discussed in parent <CIT>, cells may be inserted in multiple launches and may collectively join to form larger structures than fixed-size systems that conventional launch vehicles can deliver. This enables construction of potentially enormous structures in space.

<FIG> is a side view illustrating two cells <NUM> unfolding about a common connection member <NUM>, according to an embodiment of the present invention. Once deployed, cells <NUM> may deploy about their respective connection mechanisms. In this embodiment, cells <NUM> move about connection mechanism <NUM> until they are perpendicular with respect to their stowed position. See also <FIG>. Because connection member <NUM> may employ a variable angle connection scheme, the full deployment need not be as shown in <FIG>. Given a large number rings, in some embodiments, the net expanded or unfolded structure can have a curved shape to enable capture of light or images with better efficiency, for example.

<FIG> is a front view illustrating cell stack <NUM> in the deployed configuration, according to an embodiment of the present invention. Cells <NUM> include an outer ring <NUM> that defines the widest circumferential boundary of cells <NUM> and a support member <NUM> to which one or more inner rings and a payload may be attached. As shown in the upper cell, at least one inner ring <NUM> and a payload/control section <NUM> may be attached. While shown as a thick line here, it should be appreciated that support member <NUM> may be hollow in some embodiments, and may internally and/or externally facilitate power and/or data between rings <NUM>/<NUM> themselves, and/or between rings <NUM>/<NUM> and payload/control section <NUM>. It should also be appreciated that any suitable support structure, or structures, may be used without deviating from the scope of the invention. For instance, multiple support structures may be used. Additionally, or alternatively, adjacent cell sections may be connected to one another. For instance, outer ring <NUM> may be connected to inner ring <NUM>, inner ring <NUM> may be connected to payload/control section <NUM>, etc..

Various components may be included in and/or on payload/control section <NUM>. Essentially, these components may be the subsystems that are required to control and fly space vehicles. These may be any suitable component including, but not limited to, cameras, radio frequency (RF) antennas, transceivers, thermometers, radiation detectors, novel sensors, light sources, spectrometers, reaction wheels, an attitude determination and control system (ADCS), processing circuitry (e.g., a central processing unit (CPU), a field programmable gate array (FPGA), an accelerator (e.g., a graphical processing unit (GPU)), etc.), propulsion mechanisms and tanks, or any other component or combination of components without deviating from the scope of the invention. One or more components may be deployable in some embodiments. For instance, an antenna may be extended and retracted, a solar array may be unfurled and retracted, etc..

In certain embodiments, some connected nested-ring cells do not contain a payload/control section, such as payload/control section <NUM>, but instead only have nested rings (i.e., they are hollow in the center). These specialized nested-ring cells may be wirelessly controlled from adjoining nested-ring cells that have a full complement of control systems. In other words, cells without a payload/control section may have electronics and batteries within their rings, or attached thereto, that enable them to move their trams and rings.

The embodiment shown in <FIG> shows a cell stack that deploys into a linear arrangement of cells. However, any cell interconnection patterns are possible without deviating from the scope of the invention. Furthermore, once separated from the launch vehicle, the cells may move about one another, connecting to, moving to the outer rim, and disconnecting from one another using a suitable connection mechanism (e.g., magnets, as shown in <FIG> and <FIG> of parent <CIT>).

<FIG> is a side view illustrating a cell <NUM> in a partially deployed configuration with round top and bottom solar panels <NUM>, <NUM>, respectively, according to an embodiment of the present invention. Sun or heat shields, reflecting surfaces, or an antenna dish may be designed and deployed in a similar manner to solar panels <NUM>, <NUM> in some embodiments. Solar panels <NUM>, <NUM> may be thin film, crystalline, or any other suitable solar panel technology without deviating from the scope of the invention. Top solar panel <NUM> and bottom solar panel <NUM> connect to a cell body <NUM> of the cell via extensible, rotatable connecting members <NUM>, <NUM>, respectively. In some embodiments, solar panels may be connected to trams on rings of the cell. Respective actuators <NUM>, <NUM> rotate each of connecting members <NUM>, <NUM>. In some embodiments, the rotatable actuators may be on the side of connecting members <NUM>, <NUM> proximate to the respective solar panels, the side proximate to cell body <NUM>, or both.

In the stowed configuration, solar panels <NUM>, <NUM> are housed or recessed within cell body <NUM>. Consequently, if fully stowed in this side view, solar panels <NUM>, <NUM> would not be visible. During deployment, connecting members <NUM>, <NUM> push solar panels <NUM>, <NUM> above/below cell body <NUM>, respectively, via actuators <NUM>, <NUM>. Solar panels <NUM>, <NUM> can then pivot and rotate about connecting members <NUM>, <NUM> and deploy, as shown in <FIG>.

In some embodiments, connecting members <NUM>, <NUM> are motorized via actuators <NUM>, <NUM> such that upon failure of cell <NUM>, solar panels <NUM> or <NUM>, or the cell instituting a roll motion (e.g., via prehensile grasping), solar panels <NUM>, <NUM> can be rotated back into cell body <NUM>. In some embodiments, where the failure is catastrophic (e.g., meaning power/control is completely lost to cell <NUM>) a wireless coded message from a nearby cell may jettison the failed cell by either a miniature gyro-based separator or a non-explosive shape memory alloy device that changes shape to release the solar panels and all connections. In certain embodiments, connecting members <NUM>, <NUM> are also hinged such that solar panels <NUM>, <NUM> may also be rotated about an axis provided by the hinge. Connecting members <NUM>, <NUM> include power lines (not shown) that provide power from solar panels <NUM>, <NUM> to cell <NUM>.

In the fully stowed configuration, solar panels <NUM>, <NUM> are packaged such that they are contained within cell body <NUM> for protection. Cell <NUM> is vertically and horizontally compact, with solar panels <NUM>, <NUM> recessed below the thickness of outer rim <NUM> (and nothing additional to the horizontal footprint). However, it should be noted that in some embodiments, one or both solar panels <NUM>, <NUM> may be larger or smaller than cell body <NUM>. However, in these embodiments, packaging is typically less efficient. Solar panels may also have a different shape than the cell body in some embodiments. In certain embodiments, cell <NUM> may be connected to other cells and stowed for deployment in a cell stack in a similar manner to that shown in <FIG> and <FIG>. However, depending on the location of the connections between cells (which may move due to connections to respective trams), the solar panels may need to be of a smaller diameter than the outer ring of the cell in order to be stackable.

<FIG> are side and front views, respectively, illustrating cell <NUM> in a deployed configuration, according to an embodiment of the present invention. In order to deploy, solar panels <NUM>, <NUM> first pop up (i.e., above cell body <NUM> such that they clear its thickness) and then rotate about respective rotatable connecting members <NUM>, <NUM> to expose photovoltaic cells (not shown) of solar panels <NUM>, <NUM>. Rotatable connecting members <NUM>, <NUM> are also connected to an outer ring <NUM> of cell body <NUM>. Similar to <FIG>, a support member <NUM> is also included in this embodiment. The orientation, shape, size, and configuration of support member <NUM> may differ from what is shown without deviating from the scope of the invention. The diameter of solar panels <NUM>, <NUM> should be smaller than the diameter of cell body <NUM> to permit protective stowage. In embodiments where the battery is located behind the solar panels (e.g., cell <NUM> of <FIG>) and during stowage, respective connecting members have a robotic joint design to facilitate twisting and pivoting maneuvers.

In order to optimize power generation when the sun is in view, solar panels <NUM>, <NUM> may both have their photovoltaic cells facing the same direction (e.g., both on the face visible in <FIG>). In some embodiments, batteries may be included opposite the photovoltaic side of the solar panels in order to facilitate compactness and to increase power storage capabilities. Such a cell <NUM> is shown in <FIG> in a partially deployed configuration. Like cell <NUM> of <FIG>, cell <NUM> includes a cell body <NUM>, a top solar panel <NUM>, a bottom solar panel <NUM>, extensible, rotatable connecting members <NUM>, <NUM>, and actuators <NUM>, <NUM>. However, each of solar panels <NUM>, <NUM> includes a respective battery <NUM>, <NUM> on its non-photovoltaic side. Additionally, or alternatively, battery pack <NUM>, <NUM> may include circuitry for their respective solar panels, if such circuitry is not already included as part of solar panels <NUM>, <NUM>. This facilitates significant power storage capabilities while also ensuring that batteries <NUM>, <NUM> do not consume space that could otherwise be used for other components within the outer ring of cell <NUM>. Extension and rotation of the solar panels/batteries may be facilitated by actuators <NUM>, <NUM>. In some embodiments, instead of the batteries, the back of the solar cells may include heat radiators to remove excess heat from the nested-ring cell. Because the solar panels are likely to face the sun, the back of the panels will tend to be facing dark space, where removal of heat by radiative means would be more efficient.

It is also possible to have embodiments where the bottom solar panel/battery positions are reversed (i.e., the positions and orientations of solar panel <NUM> and battery <NUM> would be reversed). In such embodiments, the upper connector may enable a <NUM>-degree door-hinge motion to expose the lower solar panel, as well as some rotation about the upper connector. The lower connector may thus have <NUM>-degree door-hinge motion, a <NUM>-degree twist motion about the horizontal axis with respect to what is shown in <FIG> to bring the lower solar panel to face the sun, and some rotation about the lower connector.

In some embodiments a series of deployed connected nested rings (see, e.g., <FIG>, <FIG>) could be used in space as a means for capturing solar power for terrestrial use, where each cell has two solar panels deployed. This is an efficient means to deploy what NASA calls the "SunTower. " See, for example, https://science. gov/science-news/science-at-nasa/<NUM>/ast23mar <NUM>. A very conservative calculation shows that it is possible to stack <NUM> nested rings that are <NUM> thick with a <NUM> diameter in the payload fairing of a single Space X Falcon Heavy launch vehicle, somewhat similar to what is shown in <FIG>, which may be deployed similar to the manner shown in <FIG>. If the solar panels used just roll-to-roll solar cells (-<NUM>% efficiency currently) instead of thin-film crystalline copper indium gallium selenide (CIGS) solar cells (∼ <NUM>% efficient (NREL)) or <NUM> junctions with concentrator solar cells -<NUM>% efficient (Fraunhofer ISE/Soitec), only <NUM>% of the available sunlight could be harnessed, and of that, only <NUM>% is converted to wireless power (e.g., IR laser or microwave), the amount of electrical power generated from one Falcon Heavy launch tower, -<NUM>. 1MW, is enough to power <NUM> homes. The generated power could also be beamed to satellites already in space (analogous to a "gas station" in space).

It is also possible to have more than two solar panels in some embodiments. Such an embodiment is shown in cell <NUM> of <FIG> and <FIG>. As with cells <NUM> and <NUM>, cell <NUM> includes a cell body <NUM>, an outer ring <NUM>, and a support member <NUM>. However, cell <NUM> includes four solar panels on its upper side. Solar panel <NUM> is the uppermost panel, with solar panel <NUM> below solar panel <NUM>, solar panel <NUM> below solar panel <NUM>, and solar panel <NUM> below solar panel <NUM>. Each solar panel <NUM>, <NUM>, <NUM>, <NUM> is rotatably connected to rotatable connecting members <NUM>, <NUM>, <NUM>, <NUM>, respectively. Rotation of rotatable connecting members <NUM>, <NUM>, <NUM>, <NUM> is facilitated by actuators <NUM>, <NUM>, <NUM>, <NUM>, respectively.

Solar panels <NUM>, <NUM>, <NUM>, <NUM> are stacked on top of outer ring <NUM>. The panels need not be all solar panels in some embodiments. Rather, at least one panel could be another mission support structure, such as reflecting (RF or optical) surfaces for enabling satellite cross-link communications or power transfer (e.g. microwave).

As can be seen in <FIG>, solar panels <NUM>, <NUM>, <NUM> have different shapes than solar panel <NUM>, which is in top and does not need to accommodate for any rotatable connection members. More specifically, the shape of solar panel <NUM> accommodates rotatable connection member <NUM>, the shape of solar panel <NUM> accommodates rotatable connection members <NUM>, <NUM>, and the shape of solar panel <NUM> accommodates rotatable connection members <NUM>, <NUM>, <NUM>. It should be noted that the shapes of solar panels <NUM>, <NUM>, <NUM> as depicted are not necessarily optimal, and any suitable shape may be used without deviating from the scope of the invention. For instance, solar panels <NUM>, <NUM>, <NUM> may be round with the exception of arc-shaped slits (one for solar panel <NUM>, two for solar panel <NUM>, and three for solar panel <NUM>), where each slit avoids collision with a respective rotatable connection member when cell <NUM> is in the stowed configuration. In some embodiments, solar panels could be located on the back side of cell <NUM>, or on the front and the back side thereof with photovoltaic faces oriented in opposite directions with respect to the front panels and the back panels, without deviating from the scope of the invention. One or more solar panels could also have batteries on the non-photovoltaic sides thereof for power storage.

In some embodiments, such as those where it is necessary to have the solar panels facing the sun as the satellite or nested-ring structure moves about the Earth in orbit, rather than being horizontally rotatable, solar panels in some embodiments may deploy via hinges. The hinges may be connected to a tram on the outer ring that can move. In other embodiments, the panel is an antenna or reflector that must face in a particular direction.

An example cell <NUM> of an embodiment with a solar panel is shown in <FIG>. Cell <NUM> includes a cell body <NUM>, a solar panel <NUM>, and an actuated hinge <NUM>. Actuated hinge <NUM> rides on a tram (not shown) that can go move around the perimeter of the outer ring. Actuated hinge <NUM> includes a post <NUM> that is operably connected to cell body <NUM>, an actuator <NUM>, and a solar panel connection plate <NUM> that is operably connected to actuator <NUM> and facilitates hinge functionality for solar panel <NUM>. However, in some embodiments, solar panel <NUM> may be connected directly to actuator <NUM> without deviating from the scope of the invention. In some embodiments, hinge <NUM> may be movable about the outer ring of cell <NUM> in a manner similar to that disclosed in parent <CIT>.

During deployment, actuator <NUM> causes solar panel <NUM> to rotate as shown in <FIG>. Actuated hinge <NUM> coupled with tram motion about the outer ring permits the photovoltaic face of solar panel <NUM> in this embodiment to face the sun when orbiting the Earth. When deployed, the photovoltaic face of solar panel <NUM> would also be facing up with respect to <FIG>, but may be tilted in order to be better oriented towards the sun. Indeed, in some embodiments, hinge <NUM> may be constructed such that solar panel <NUM> can rotate all the way to the back side of cell body <NUM> such that the surface of solar panel <NUM> that faces towards the top of cell body <NUM> is facing outwards (down with respect to <FIG>) from the back of cell body <NUM>.

<FIG> illustrates potential orientations of solar panel <NUM> during orbit, according to an embodiment of the present invention. Only solar panel <NUM> is shown in <FIG> for illustration purposes. As cell <NUM> orbits the Earth, the optimal orientation for solar cell <NUM> changes. Hinge <NUM> may be used to optimally orient solar panel <NUM> towards the sun (except perhaps in eclipse, if the orbit has an eclipse phase). Alternatively, solar panel <NUM> could be an antenna, a reflector, or any other device or structure that requires pointing in a specific direction without deviating from the scope of the invention. Moreover, multiple hinges may be included enabling more complex articulation, and/or panels may rotate.

Multiple solar panels per side are also possible with hinge configurations. The top solar panel could be round, and lower solar panels could include "cut-outs", somewhat similar conceptually to cell <NUM> of <FIG> and <FIG>, to accommodate supports for hinges of any solar panels above the respective solar panel. To deploy, the top solar panel may deploy first, then the next highest, then the next highest, and so forth until all solar panels are deployed.

It should be noted that in addition to, or in the place thereof, sun shields or heat shields may be included and deployed in a similar manner to the solar panel configurations shown in <FIG>, <FIG>, <FIG>-C, 10A, and 10B. The sun shields or heat shields may take the place of one or more of the solar panels.

Per the above, the payload/control section may have different shapes in some embodiments. For instance, as shown in <FIG>, the payload/control section may have a circular shape (<NUM>), a square shape (<NUM>), a triangular shape (<NUM>), a rectangular shape (<NUM>), a rounded rectangular shape (<NUM>), an irregular shape (<NUM>), or any desired shape without deviating from the scope of the invention. As shown in <FIG>, the payload/control section may have a uniform thickness (<NUM>), a sloped thickness (<NUM>), a uniform wave-shaped thickness (<NUM>), or any other desired design without deviating from the scope of the invention.

In some embodiments, cell rings have non-circular (e.g., elliptical, rectangular, square, triangular), irregular shapes, or combinations thereof. Such a cell <NUM> is shown in <FIG>. Cell <NUM> includes a circular outer ring <NUM> and an irregular inner ring <NUM>. Rings <NUM>, <NUM> surround payload/control section <NUM> and rotate about a shaft <NUM>. While not the case in <FIG>, the shape of the rings may be designed to accommodate components of the payload/control section, for example.

There are some missions in which a deployable system such as that shown in <FIG> may not provide the necessary functionality. A very large aperture telescope is one example. A large antenna is another. Accordingly, some embodiments have an alternative design that enables such missions.

<FIG> illustrate a cell-based extensible/collapsible telescope <NUM>, according to an embodiment of the present invention. Telescope <NUM> includes an upper portion with an outer ring <NUM>, an inner ring <NUM>, an upper lens/mirror support ring <NUM>, a lens/mirror <NUM>, supports <NUM>, and two prehensile contact points <NUM>. Prehensile contact points <NUM> are movable trams on outer ring <NUM> that allow cell-based extensible/collapsible telescope <NUM> to be connected to at least two other rings. While two contact points <NUM> are shown in this embodiment, more may be provided without deviating from the scope of the invention to enable more complex optics. Contact points <NUM> have a prehensile grasp function, allowing a single contact point <NUM> to grasp, be movable, and be rotatable, as in or similar to a ball-in-socket joint with a lock-clutch. The motion of contact point <NUM> is controlled under motorized actuation control.

<FIG> shows a side view of telescope <NUM>. As seen in <FIG>, telescope <NUM> also includes a lower portion with prehensile contact points <NUM>, an outer ring <NUM>, an inner ring <NUM>, a light sensor <NUM>, and light sensor supports <NUM>. Other components, such as light shields, light test instrumentation, etc. may be included in some embodiments.

<FIG> shows telescope <NUM> when deployed. Lens support ring <NUM> is extended via extension arms <NUM>. Extension arms <NUM> may be controlled to place lens <NUM> the desired distance from sensor <NUM> in order to properly focus light. The received light may then be converted by sensor <NUM> into analog, and then digital, electronic signals, which may then be processed by electronics (not shown) of telescope <NUM>. Additional mirrors may be used without deviating from the scope of the invention, and different configurations, such as a Schmidt-Cassegrain architecture, are also possible. Indeed, various such telescopes with different properties interconnected at prehensile contact points <NUM> are possible without deviating from the scope of the invention. Due to the movable properties of contact points <NUM>, telescopes of some embodiments can be facing in one direction while others face in different directions.

<FIG> illustrates a cell-based extensible/collapsible telescope 1400a similar to that of <FIG>, except that telescope 1400a includes two reflecting mirrors 1440a, 1480a. In this embodiment, primary (larger) reflecting mirror 1480a has a hole in the middle (not shown) that houses sensors (e.g., photodetectors). Light striking mirror 1480a is focused and reflected onto mirror 1440a, which is then further focused and reflected through the hole onto the sensors. Components of telescope 1400a are otherwise similar to telescope <NUM>.

It should be noted that antennas or other energy harvesting devices that require a large capture aperture may be used in a similar manner to what is shown in <FIG> without deviating from the scope of the invention. For example, <FIG> illustrates an example of an energy harvesting device 1400b. In <FIG>, a primary reflecting surface (i.e., an energy capture surface) 1480b is included, light from which is then focused onto a sensor 1440b. Components of energy harvesting device 1400b are otherwise similar to telescope <NUM>.

A more extended version of an energy harvesting device 1400c is shown in <FIG>. energy harvesting device 1400c includes three attached rings, of which the top and bottom can expand. The center ring has a large reflector or energy harvesting surface 1480c, which has a hole (not visible). In this embodiment, while the top supported structure includes an energy harvesting reflector 1440c that captures the focused energy from reflector or energy harvesting surface 1480c, the bottom structure includes a sensor 1495c (e.g., a photodetector).

A further expanded version of an energy harvesting device 1400d is shown in <FIG>, where a top optic/reflector 1440d can be replaced from one of three shown (even more can be attached in some embodiments). The top structure, which includes optic/reflector 1440d, actually has the shape as that shown in <FIG>, except that instead of structures <NUM>, <NUM>, <NUM>, <NUM> being shields or solar panels, they are structures that hold a reflector with a different focal length, and can be rotated into position via connections similar to <NUM>, <NUM>, <NUM>, and <NUM> (not shown). In <FIG>, the outer (or off-center) reflectors 1440d are displayed for easy delineation. In practice, connections similar to <NUM>, <NUM>, <NUM>, <NUM> of <FIG> (not shown here) would allow the unused reflectors 1440d to be dropped down along the extension arms shown here (similar to extension arms <NUM> of <FIG>) so that maximum energy or light could be harvested by reflector 1480d.

An advantage of the embodiment shown in <FIG> is that since both the top and bottom structures are collapsible, either or both can be retracted partially back. Consequently, this changes the focus of optic/reflector 1440d, reflector 1480d, and/or sensor 1495d. Energy harvesting device 1400d has a variable f-number, which is tantamount to a variable depth of field or resolution.

In some embodiments, a lens/mirror may be deployed on a tram in order to provide additional telescope functionality. Such a cell <NUM> is shown in <FIG>. Telescope <NUM> accommodates the need for an optical element (here, lens/mirror <NUM>) to be located at a precise distance from a component, such as a photodetector <NUM> of payload control section <NUM>. Lens/mirror <NUM> moves about its respective ring via a tram <NUM>. The specific tram <NUM> that carries lens/mirror <NUM> is obscured in this view. Lens/mirror <NUM> on a movable tram <NUM> can be a light shield, an RF collector, or any other device or structure that requires physical separation and precise distance separation without deviating from the scope of the invention.

Some embodiments may also be used to reduce noise in an optical and/or RF detector. Such a cell <NUM> is shown in <FIG>. In cell <NUM>, a lens <NUM> and a mirror <NUM> with possible optical or RF filters/polarizers are employed to guide the incoming energy onto a side of the cell that is colder (e.g., cold side <NUM>) and holds a sensor (not visible). In this manner detection may occur on cold side <NUM> rather than on warm side <NUM>, which may have more noise, be warm enough to damage the sensor, etc. A similar embodiment to that shown in <FIG> could be used to guide light or RF that is leaving the cell as (i.e., optical or RF reciprocity). In this example, the light or RF leaving the cell may come out from the warmer side in some embodiments.

Some embodiments may be used to transmit and reflect lasers, such as those containing a communication signal, to a target (e.g., another cell). Such a system <NUM> is shown in <FIG>. System <NUM> includes a laser-emitting cell <NUM> and a reflecting cell <NUM>. Laser-emitting cell includes a cell body <NUM>, a payload/control section <NUM> that includes a laser, and two solar panels <NUM>. Reflecting cell <NUM> includes a cell body <NUM>, a payload/control section <NUM>, a solar panel <NUM>, and a mirror <NUM>. Laser light emitted by payload control section <NUM> is oriented towards mirror (or RF reflector) <NUM>. Mirror <NUM> is oriented towards a target (e.g., a cell with another mirror, another space vehicle, a cell with a receiver, a ground station on Earth, etc.). In this manner, rapid intra-cell and external communications can be provided.

It is also possible to form a cell-based space mass-conveyor belt. In some embodiments, the cell ensemble may have a large size (e.g., <NUM> diameter or more). It may be desirable to move payloads (e.g., propellant, batteries, sensors, just mass, etc.) along the structure to mount it to a cell, or move it to a different cell.

A cell <NUM> for this purpose is shown in <FIG>. Cell <NUM> includes an outer ring <NUM> and two inner rings <NUM>, <NUM>. Which inner ring is inside the other is a matter of design choice. As depicted, outer ring <NUM> encompasses inner rings <NUM>, <NUM>, which are oriented to some angle with respect to one another and outer ring <NUM>.

Motion of a payload <NUM> can be accomplished by moving a ring that is loaded by the payload using prehensile motion and mechanical transfer. Alternatively, and as shown here, two inner rings <NUM>, <NUM> may be used to move the payload via electromagnetic actuation via electro & mechanical (E&M) drivers <NUM>, <NUM>. For instance, in the position shown in <FIG>, it is assumed that payload <NUM> has some relatively slow velocity as it enters rings <NUM>, <NUM>, <NUM>. E&M driver <NUM> and E&M driver <NUM> both briefly attract payload <NUM> (i.e., pulling payload <NUM> into the cross-ring structure of rings <NUM>, <NUM>, <NUM>). As payload <NUM> moves into the middle of the cross-ring structure, E&M driver <NUM> and E&M driver <NUM> briefly turn off their magnetic attraction, and as the payload <NUM> begins to exit the cross-ring structure, both E&M driver <NUM> and E&M driver <NUM> generate a field that repels payload <NUM>. This operation sequence, when exercised in a concatenated fashion along multiple connected rings (see <FIG>, for example), will produce motion of payload <NUM>. Two items are not shown but are evident: (<NUM>) payload <NUM> must itself be magnetic or must be in a magnetic container; and (<NUM>) another ring (not shown) or the payload/control section (not shown) provides a sequence of electromagnetic fields that maintain payload <NUM> within the cross-ring structure of rings <NUM>, <NUM>, <NUM>.

Multiple cells may form a virtual "rail" system that moves a payload along an electromagnetic "trap" by sequential electromagnetic actuation. Such a space cell-based conveyor belt system <NUM> is shown in <FIG>. In <FIG>, the payload is moved along the line of the gray arrow. In some embodiments, a similar approach may be employed for terrestrial or underwater conveyor belt applications.

<FIG> is a front cutaway view illustrating a tram <NUM> configured to be used in a mass-conveyor belt system, according to an embodiment of the present invention. Most components in team <NUM> are similar to those of tram 140a in <FIG>. However, tram <NUM> includes a magnet housing <NUM> and electromagnets <NUM> that are extendible outward from within magnet housing <NUM>. Alternatively, in some embodiments, electromagnets may be located on the left side of the top of the tram and be deployable via a hinge in a flip-out fashion, similar to the mechanism shown in <FIG>. Electromagnets <NUM> alternate in polarity from north to south, as is better seen in <FIG>. As a payload moves past magnets <NUM>, the polarities switch in a manner similar to a maglev train, driving the payload onward in conjunction with other electromagnets of other trams.

<FIG> illustrates a system <NUM> for movement of a payload <NUM> with respect to two trams <NUM>, <NUM>, according to an embodiment of the present invention. As can be seen, electromagnets of each tram <NUM>, <NUM> have alternating polarities. Payload <NUM> also has its own magnets (permanent or electromagnetic), the polarities of which may stay the same in some embodiments. As the electromagnets of trams <NUM>, <NUM> alternate, payload <NUM> moves along between trams <NUM>, <NUM>. The lower diagram shows the positions of trams <NUM>, <NUM> during movement of payload <NUM> in this example.

Various structures of cells are possible with nested-ring cell ensembles. Some such structures <NUM> are shown in <FIG>. For instance, the ring structures in the top shape can each rotate in any desired direction, and the collective structure may bend similar to a noodle. More exotic structures, such as an accordion-like cell structure separating connecting two arcs of cells, are also possible. Ring-based cells are easier to assemble in space than other types of structures (e.g., prismatic shapes). In all prismatic shape structures, there is the contention of dealing with the vertex or edge. A ring has no vertex, and can consequently "roll" about another attached ring using the movable tram concept. The concept of the prehensile grasp (or joint) as described above also enables a global twisting motion, which is shown in the top image of <FIG>, without worrying about edge-contact since by fiat, the curvature about the contact point will always be away from the contact point.

Per the above, it may be desirable to keep systems that are potentially damaging to other systems, such as a space-rated nuclear reactor, at a distance from sensitive sensors. A caged structure <NUM> that does so with respect to the outer cells is shown in <FIG>. Cell <NUM> includes a space-rated nuclear reactor and is located at the center of the cage. Cells <NUM> surround cell <NUM> in a "boxed X" pattern. In this manner, cells at the outside of the cage may be kept some distance from cell <NUM>. Power and/or heat may be provided by cell <NUM> to cells <NUM>.

<FIG> is an architectural diagram illustrating a sparse aperture array <NUM>, according to an embodiment of the present invention. Sparse aperture array <NUM> uses the configuration described with respect to <FIG>. In <FIG>, seven cells <NUM> include respective shafts <NUM> (other nested cells and components not shown) that are connected (connections not shown) in a specific orientation defined in the literature as the Golay-<NUM> array. See, for example, <NPL>). The Golay-<NUM> refers to nine apertures <NUM> that have rotated into the array shape shown using rotated connecting members <NUM>. Nine apertures <NUM> are each designed to harness E&M radiation (e.g., light as per <FIG>) and each have diameter of D. Mathematics shows that the Golay-<NUM> array has resolution of an effective aperture of an approximate diameter of 11D, as given by effective aperture <NUM>.

Claim 1:
A space vehicle which is a nested-ring cell (<NUM>), the nested-ring cell comprising:
an outer ring (<NUM>);
an inner ring (<NUM>) located within the outer ring;
a middle ring (<NUM>) located between the outer ring (<NUM>) and the inner ring (<NUM>);
a shaft (<NUM>) rotatably connecting the outer ring (<NUM>), the middle ring (<NUM>), and the inner ring (<NUM>): and
one or more movable trams (<NUM>), each of the one or more movable trams (<NUM>) located on and riding along the outer ring (<NUM>) and configured to move along at least a portion of the outer ring (<NUM>) on which the respective movable tram (<NUM>) is located, wherein
the outer ring (<NUM>) is a rail, and
the cell (<NUM>) is configured to connect via the one or more movable trams (<NUM>) to at least one other cell in order to form a space system.