1. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 1

2. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 2

3. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 3 Configuration 1:Configuration 5: One Pod No Escape Two Pods Bailout Systems Configuration 2:Configuration 6: Two Pods No Escape Two Pods Propulsion Bailout Systems Configuration 3:Configuration 7: One Pod Bailout System Two Pods Propulsion / Bailout Systems Configuration 4:Configuration 8: One Pod Propulsion Bailout System Three Pods Bailout Systems

4. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 4

5. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 5 0.17m 0.68m shoulder roll shoulder pitch elbow roll wrist pitch wrist yaw tool drive roll elbow pitch wrist roll

6. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 6 Bare Bolt Drive Parallel Jaw Mechanism Microconical http://rtsx.ssl.umd.edu

7. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 7 0.17m 1.36m shoulder roll shoulder pitch elbow roll wrist pitch elbow pitch wrist roll

8. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 8

9. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 9 1 2,3 4,5 6 7,8

10. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 10 12 13 11 10 9 14

11. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 11 Grapple Arm 22 19 20 21 Task Arm 16 15 17 18

12. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 12 23 24 25 26, 27, 28 Not Shown

13. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 13

14. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 14

15. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 15 Operation: Laser diodes illuminate retro-reflectors mounted on the target CMOS camera detects reflected beams from target DSP translates video information and converts it into relative position and attitude measurements SBC sends information to Guidance, Navigation, and Control (GN&C) system Retro-Reflector Clusters Active Sensor Passive Target

16. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 16

17. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 17 Sensor Data Omni Video System Crew Interface - Hand Controllers - Switches - Voice Gimbaled Ka-Band Flight computers Power Amplifier FDCC Video Displays Antenna Switch Diplexer Transponder Low Noise Amplifier Avionics

18. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 18

19. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 19 ComponentMass (kg)Power (W)Maturity CompactPCI Box - 6U Chassis15N/AEstimated FDCC Single-Board Computers (3)1.64720.4Measured Solid State Recorder Card (2)1.8412Measured IEEE 1394 Data Bus Card (2)1.8410Measured Video Display Graphics Card (2)210Measured Open CompactPCI Card Slot (5)530Estimated Crew Interface Display - 15" (2)14.652Measured Keyboard and Hand Controllers (2)5.351Estimated Heads-Up-Display Electronics25Estimated Crew Interface Switches6.31Estimated Internal and External Cameras1.59Measured Camera Gimbals1030Measured Power Distribution Unit (3)3015Estimated Wiring Harness50N/ACalculated Total191295 Avionics

20. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 20

21. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 21 Catalyst Bed Heaters Valve Heaters Line Heaters (T16) (T14) (T15) (T13) (T8) (T6) (T7) (T5) (T4) (T2) (T3) (T1) (T12) (T10) (T11) (T9) Bottom Left Panel Bottom Right Panel Top Left Panel Top Right Panel Fill and Drain Valve Flow Control Valve Normally Closed Flow Control Valve Normally Open Filter Thrust Chamber Valve (TCV) Valve Branch A Valve Branch B Heater Pressure Temperature Thruster Isolation Valve (P) (T) GN 2 (P) (T) (P) 1A 4A 3A 6A 6B 4B 1B 3B 2 5 N2H4N2H4 N2H4N2H4 (P) (T) (P)

22. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 22 (T16) (T14) (T15) (T13) (T8) (T6) (T7) (T5) (T4) (T2) (T3) (T1) (T12) (T10) (T11) (T9) Bottom Left Panel Bottom Right Panel Top Left Panel Top Right Panel 1A4A 3A 6A 6B 4B 1B 3B 2 5 N2N2 N2N2 (P) (T) (P) Fill and Drain Valve Flow Control Valve Normally Closed Flow Control Valve Normally Open Filter Thrust Chamber Valve (TCV) Valve Branch A Valve Branch B Heater Pressure Temperature Thruster Isolation Valve Pressure Regulator Relief Valve (P) (T) R1 R2 R3 R4

23. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 23

24. University of Maryland ENAE 484 Spring 2003 Critical Design Review – Page 24 Critical Design Review May 3, 2003