1
00:00:00,000 --> 00:00:27,910

foreign

2
00:00:27,910 --> 00:00:27,920

 

3
00:00:27,920 --> 00:00:29,269

for years

4
00:00:29,269 --> 00:00:29,279
for years
 

5
00:00:29,279 --> 00:00:31,189
for years
the dream of conquering the space

6
00:00:31,189 --> 00:00:31,199
the dream of conquering the space
 

7
00:00:31,199 --> 00:00:35,510
the dream of conquering the space
frontier has continued to become reality

8
00:00:35,510 --> 00:00:35,520
frontier has continued to become reality
 

9
00:00:35,520 --> 00:00:37,990
frontier has continued to become reality
an increased level of operations in this

10
00:00:37,990 --> 00:00:38,000
an increased level of operations in this
 

11
00:00:38,000 --> 00:00:40,470
an increased level of operations in this
challenging environment will require

12
00:00:40,470 --> 00:00:40,480
challenging environment will require
 

13
00:00:40,480 --> 00:00:45,590
challenging environment will require
frequent docking of orbiting vehicles

14
00:00:45,590 --> 00:00:45,600

 

15
00:00:45,600 --> 00:00:47,190

to achieve this

16
00:00:47,190 --> 00:00:47,200
to achieve this
 

17
00:00:47,200 --> 00:00:49,750
to achieve this
a safe rendezvous and docking mechanism

18
00:00:49,750 --> 00:00:49,760
a safe rendezvous and docking mechanism
 

19
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a safe rendezvous and docking mechanism
is essential

20
00:00:52,229 --> 00:00:52,239
is essential
 

21
00:00:52,239 --> 00:00:54,150
is essential
an accurate docking sensor would

22
00:00:54,150 --> 00:00:54,160
an accurate docking sensor would
 

23
00:00:54,160 --> 00:00:56,869
an accurate docking sensor would
minimize plume impingement

24
00:00:56,869 --> 00:00:56,879
minimize plume impingement
 

25
00:00:56,879 --> 00:00:59,750
minimize plume impingement
increase fuel efficiency

26
00:00:59,750 --> 00:00:59,760
increase fuel efficiency
 

27
00:00:59,760 --> 00:01:02,869
increase fuel efficiency
simplify docking mechanisms

28
00:01:02,869 --> 00:01:02,879
simplify docking mechanisms
 

29
00:01:02,879 --> 00:01:07,590
simplify docking mechanisms
and increase safety and reliability

30
00:01:07,590 --> 00:01:07,600

 

31
00:01:07,600 --> 00:01:09,109

more importantly

32
00:01:09,109 --> 00:01:09,119
more importantly
 

33
00:01:09,119 --> 00:01:11,190
more importantly
the system would be capable of operating

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00:01:11,190 --> 00:01:11,200
the system would be capable of operating
 

35
00:01:11,200 --> 00:01:14,070
the system would be capable of operating
in a fully autonomous mode

36
00:01:14,070 --> 00:01:14,080
in a fully autonomous mode
 

37
00:01:14,080 --> 00:01:16,390
in a fully autonomous mode
this would minimize the necessary crew

38
00:01:16,390 --> 00:01:16,400
this would minimize the necessary crew
 

39
00:01:16,400 --> 00:01:20,469
this would minimize the necessary crew
interaction during docking

40
00:01:20,469 --> 00:01:20,479

 

41
00:01:20,479 --> 00:01:22,550

various optical docking sensors have

42
00:01:22,550 --> 00:01:22,560
various optical docking sensors have
 

43
00:01:22,560 --> 00:01:24,870
various optical docking sensors have
been proposed which provide information

44
00:01:24,870 --> 00:01:24,880
been proposed which provide information
 

45
00:01:24,880 --> 00:01:27,830
been proposed which provide information
on range bearing angles

46
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on range bearing angles
 

47
00:01:27,840 --> 00:01:31,830
on range bearing angles
attitude and their respective rates

48
00:01:31,830 --> 00:01:31,840
attitude and their respective rates
 

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00:01:31,840 --> 00:01:34,390
attitude and their respective rates
accuracies for these sensors are fairly

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accuracies for these sensors are fairly
 

51
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accuracies for these sensors are fairly
stringent

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as a result

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as a result
 

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as a result
a system is being designed by the

56
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a system is being designed by the
 

57
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a system is being designed by the
tracking and communications division at

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tracking and communications division at
 

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tracking and communications division at
nasa's johnson space center to test the

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nasa's johnson space center to test the
 

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nasa's johnson space center to test the
accuracies of these docking sensors

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this system

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this system
 

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this system
designated the six degree of freedom or

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designated the six degree of freedom or
 

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designated the six degree of freedom or
six doff system

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six doff system
 

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six doff system
provides six degrees of movement by

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provides six degrees of movement by
 

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00:01:59,600 --> 00:02:02,310
provides six degrees of movement by
using five rotational stages

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00:02:02,310 --> 00:02:02,320
using five rotational stages
 

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00:02:02,320 --> 00:02:05,190
using five rotational stages
and one linear stage

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and one linear stage
 

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00:02:05,200 --> 00:02:06,230
and one linear stage
range

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range
 

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range
bearing angles

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00:02:07,670 --> 00:02:07,680
bearing angles
 

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00:02:07,680 --> 00:02:10,389
bearing angles
attitude and their respective rates are

80
00:02:10,389 --> 00:02:10,399
attitude and their respective rates are
 

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00:02:10,399 --> 00:02:12,949
attitude and their respective rates are
provided

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provided
 

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provided
range is furnished by a granite rail 12

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00:02:15,830 --> 00:02:15,840
range is furnished by a granite rail 12
 

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range is furnished by a granite rail 12
meters in length with a carriage

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00:02:17,830 --> 00:02:17,840
meters in length with a carriage
 

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00:02:17,840 --> 00:02:21,270
meters in length with a carriage
floating on three air bearings

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00:02:21,270 --> 00:02:21,280
floating on three air bearings
 

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00:02:21,280 --> 00:02:23,589
floating on three air bearings
the maximum change in range travel

90
00:02:23,589 --> 00:02:23,599
the maximum change in range travel
 

91
00:02:23,599 --> 00:02:27,430
the maximum change in range travel
distance is 10.5 meters while rates can

92
00:02:27,430 --> 00:02:27,440
distance is 10.5 meters while rates can
 

93
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distance is 10.5 meters while rates can
vary from 5 millimeters per second to

94
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vary from 5 millimeters per second to
 

95
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vary from 5 millimeters per second to
400 millimeters per second

96
00:02:34,229 --> 00:02:34,239

 

97
00:02:34,239 --> 00:02:36,630

mounted inside the granite rail is a

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00:02:36,630 --> 00:02:36,640
mounted inside the granite rail is a
 

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00:02:36,640 --> 00:02:39,190
mounted inside the granite rail is a
linear encoder with a resolution of 5

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00:02:39,190 --> 00:02:39,200
linear encoder with a resolution of 5
 

101
00:02:39,200 --> 00:02:41,350
linear encoder with a resolution of 5
microns

102
00:02:41,350 --> 00:02:41,360
microns
 

103
00:02:41,360 --> 00:02:43,110
microns
the gratings on the encoder are

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00:02:43,110 --> 00:02:43,120
the gratings on the encoder are
 

105
00:02:43,120 --> 00:02:45,509
the gratings on the encoder are
photoelectrically scanned and counted to

106
00:02:45,509 --> 00:02:45,519
photoelectrically scanned and counted to
 

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00:02:45,519 --> 00:02:49,670
photoelectrically scanned and counted to
keep track of absolute position

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00:02:49,670 --> 00:02:49,680

 

109
00:02:49,680 --> 00:02:51,990

two rotational stages on top of the

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00:02:51,990 --> 00:02:52,000
two rotational stages on top of the
 

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00:02:52,000 --> 00:02:57,830
two rotational stages on top of the
range carriage provide azimuth

112
00:02:57,830 --> 00:02:57,840

 

113
00:02:57,840 --> 00:03:02,790

and elevation

114
00:03:02,790 --> 00:03:02,800

 

115
00:03:02,800 --> 00:03:06,070

referred to as the sensor gimbal mount

116
00:03:06,070 --> 00:03:06,080
referred to as the sensor gimbal mount
 

117
00:03:06,080 --> 00:03:08,550
referred to as the sensor gimbal mount
this entire assembly can safely support

118
00:03:08,550 --> 00:03:08,560
this entire assembly can safely support
 

119
00:03:08,560 --> 00:03:11,910
this entire assembly can safely support
a sensor weighing up to 40 kilograms

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00:03:11,910 --> 00:03:11,920
a sensor weighing up to 40 kilograms
 

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00:03:11,920 --> 00:03:14,390
a sensor weighing up to 40 kilograms
here a laser is mounted on the sensor

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00:03:14,390 --> 00:03:14,400
here a laser is mounted on the sensor
 

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00:03:14,400 --> 00:03:16,630
here a laser is mounted on the sensor
gimbal mount to simulate a docking

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00:03:16,630 --> 00:03:16,640
gimbal mount to simulate a docking
 

125
00:03:16,640 --> 00:03:20,470
gimbal mount to simulate a docking
sensor prototype

126
00:03:20,470 --> 00:03:20,480

 

127
00:03:20,480 --> 00:03:23,030

a separate movable granite table

128
00:03:23,030 --> 00:03:23,040
a separate movable granite table
 

129
00:03:23,040 --> 00:03:25,750
a separate movable granite table
designated the target gimbal mount

130
00:03:25,750 --> 00:03:25,760
designated the target gimbal mount
 

131
00:03:25,760 --> 00:03:28,470
designated the target gimbal mount
is offset from the granite rail

132
00:03:28,470 --> 00:03:28,480
is offset from the granite rail
 

133
00:03:28,480 --> 00:03:32,550
is offset from the granite rail
three rotary stages provide yaw

134
00:03:32,550 --> 00:03:32,560
three rotary stages provide yaw
 

135
00:03:32,560 --> 00:03:42,550
three rotary stages provide yaw
roll

136
00:03:42,550 --> 00:03:42,560

 

137
00:03:42,560 --> 00:03:52,149

and pitch

138
00:03:52,149 --> 00:03:52,159

 

139
00:03:52,159 --> 00:03:54,710

all five rotational stages contain

140
00:03:54,710 --> 00:03:54,720
all five rotational stages contain
 

141
00:03:54,720 --> 00:03:56,550
all five rotational stages contain
rotary encoders that possess a

142
00:03:56,550 --> 00:03:56,560
rotary encoders that possess a
 

143
00:03:56,560 --> 00:03:58,949
rotary encoders that possess a
resolution of one one thousandth of a

144
00:03:58,949 --> 00:03:58,959
resolution of one one thousandth of a
 

145
00:03:58,959 --> 00:04:01,750
resolution of one one thousandth of a
degree

146
00:04:01,750 --> 00:04:01,760
degree
 

147
00:04:01,760 --> 00:04:04,070
degree
a retro reflector assembly would be a

148
00:04:04,070 --> 00:04:04,080
a retro reflector assembly would be a
 

149
00:04:04,080 --> 00:04:06,149
a retro reflector assembly would be a
typical target attached to the target

150
00:04:06,149 --> 00:04:06,159
typical target attached to the target
 

151
00:04:06,159 --> 00:04:09,910
typical target attached to the target
gimbal mount

152
00:04:09,910 --> 00:04:09,920

 

153
00:04:09,920 --> 00:04:12,710

a 19-inch rack houses the equipment

154
00:04:12,710 --> 00:04:12,720
a 19-inch rack houses the equipment
 

155
00:04:12,720 --> 00:04:14,789
a 19-inch rack houses the equipment
necessary to operate the sixth off

156
00:04:14,789 --> 00:04:14,799
necessary to operate the sixth off
 

157
00:04:14,799 --> 00:04:16,710
necessary to operate the sixth off
stages

158
00:04:16,710 --> 00:04:16,720
stages
 

159
00:04:16,720 --> 00:04:18,629
stages
included is a computer containing the

160
00:04:18,629 --> 00:04:18,639
included is a computer containing the
 

161
00:04:18,639 --> 00:04:21,590
included is a computer containing the
control software which drives the stages

162
00:04:21,590 --> 00:04:21,600
control software which drives the stages
 

163
00:04:21,600 --> 00:04:25,670
control software which drives the stages
through a central interface

164
00:04:25,670 --> 00:04:25,680

 

165
00:04:25,680 --> 00:04:27,909

the six dof subsystems are also

166
00:04:27,909 --> 00:04:27,919
the six dof subsystems are also
 

167
00:04:27,919 --> 00:04:30,390
the six dof subsystems are also
contained in this rack

168
00:04:30,390 --> 00:04:30,400
contained in this rack
 

169
00:04:30,400 --> 00:04:32,629
contained in this rack
including a global positioning system

170
00:04:32,629 --> 00:04:32,639
including a global positioning system
 

171
00:04:32,639 --> 00:04:36,790
including a global positioning system
time receiver and a rate meter

172
00:04:36,790 --> 00:04:36,800
time receiver and a rate meter
 

173
00:04:36,800 --> 00:04:39,189
time receiver and a rate meter
these instruments provide time tagging

174
00:04:39,189 --> 00:04:39,199
these instruments provide time tagging
 

175
00:04:39,199 --> 00:04:41,590
these instruments provide time tagging
and calculation of absolute and relative

176
00:04:41,590 --> 00:04:41,600
and calculation of absolute and relative
 

177
00:04:41,600 --> 00:04:46,790
and calculation of absolute and relative
rates of each of the stages

178
00:04:46,790 --> 00:04:46,800

 

179
00:04:46,800 --> 00:04:48,469

okay

180
00:04:48,469 --> 00:04:48,479
okay
 

181
00:04:48,479 --> 00:04:50,950
okay
operation of the sixth system is based

182
00:04:50,950 --> 00:04:50,960
operation of the sixth system is based
 

183
00:04:50,960 --> 00:04:53,430
operation of the sixth system is based
on knowing the initial coordinates of 14

184
00:04:53,430 --> 00:04:53,440
on knowing the initial coordinates of 14
 

185
00:04:53,440 --> 00:04:55,350
on knowing the initial coordinates of 14
reference points on the two gimbal

186
00:04:55,350 --> 00:04:55,360
reference points on the two gimbal
 

187
00:04:55,360 --> 00:04:57,510
reference points on the two gimbal
mounts and commanding the stages to move

188
00:04:57,510 --> 00:04:57,520
mounts and commanding the stages to move
 

189
00:04:57,520 --> 00:04:59,909
mounts and commanding the stages to move
to a desired range and attitude at a

190
00:04:59,909 --> 00:04:59,919
to a desired range and attitude at a
 

191
00:04:59,919 --> 00:05:06,550
to a desired range and attitude at a
specified rate

192
00:05:06,550 --> 00:05:06,560

 

193
00:05:06,560 --> 00:05:08,629

in order for all position and rate

194
00:05:08,629 --> 00:05:08,639
in order for all position and rate
 

195
00:05:08,639 --> 00:05:10,469
in order for all position and rate
measurements to be relative to each

196
00:05:10,469 --> 00:05:10,479
measurements to be relative to each
 

197
00:05:10,479 --> 00:05:11,430
measurements to be relative to each
other

198
00:05:11,430 --> 00:05:11,440
other
 

199
00:05:11,440 --> 00:05:14,950
other
a common coordinate system was defined

200
00:05:14,950 --> 00:05:14,960
a common coordinate system was defined
 

201
00:05:14,960 --> 00:05:17,590
a common coordinate system was defined
a digital metrology system is used to

202
00:05:17,590 --> 00:05:17,600
a digital metrology system is used to
 

203
00:05:17,600 --> 00:05:20,150
a digital metrology system is used to
shoot individual targets and calculate

204
00:05:20,150 --> 00:05:20,160
shoot individual targets and calculate
 

205
00:05:20,160 --> 00:05:23,189
shoot individual targets and calculate
position coordinates

206
00:05:23,189 --> 00:05:23,199
position coordinates
 

207
00:05:23,199 --> 00:05:25,270
position coordinates
these coordinates are then entered into

208
00:05:25,270 --> 00:05:25,280
these coordinates are then entered into
 

209
00:05:25,280 --> 00:05:29,270
these coordinates are then entered into
the control computer software

210
00:05:29,270 --> 00:05:29,280

 

211
00:05:29,280 --> 00:05:32,629

the stages are commanded to move

212
00:05:32,629 --> 00:05:32,639
the stages are commanded to move
 

213
00:05:32,639 --> 00:05:36,629
the stages are commanded to move
the laser spot searches for the target

214
00:05:36,629 --> 00:05:36,639
the laser spot searches for the target
 

215
00:05:36,639 --> 00:05:38,790
the laser spot searches for the target
the proximity of the laser spot to the

216
00:05:38,790 --> 00:05:38,800
the proximity of the laser spot to the
 

217
00:05:38,800 --> 00:05:41,350
the proximity of the laser spot to the
desired target determines the accuracy

218
00:05:41,350 --> 00:05:41,360
desired target determines the accuracy
 

219
00:05:41,360 --> 00:05:46,230
desired target determines the accuracy
of the sensor prototype

220
00:05:46,230 --> 00:05:46,240

 

221
00:05:46,240 --> 00:05:48,790

in a typical testing scenario

222
00:05:48,790 --> 00:05:48,800
in a typical testing scenario
 

223
00:05:48,800 --> 00:05:51,029
in a typical testing scenario
static and dynamic accuracies will be

224
00:05:51,029 --> 00:05:51,039
static and dynamic accuracies will be
 

225
00:05:51,039 --> 00:05:53,350
static and dynamic accuracies will be
tested on a candidate optical docking

226
00:05:53,350 --> 00:05:53,360
tested on a candidate optical docking
 

227
00:05:53,360 --> 00:05:55,590
tested on a candidate optical docking
sensor

228
00:05:55,590 --> 00:05:55,600
sensor
 

229
00:05:55,600 --> 00:05:57,590
sensor
position information taken from the

230
00:05:57,590 --> 00:05:57,600
position information taken from the
 

231
00:05:57,600 --> 00:05:59,909
position information taken from the
sensor will be compared to the true six

232
00:05:59,909 --> 00:05:59,919
sensor will be compared to the true six
 

233
00:05:59,919 --> 00:06:01,830
sensor will be compared to the true six
dot position

234
00:06:01,830 --> 00:06:01,840
dot position
 

235
00:06:01,840 --> 00:06:04,070
dot position
dynamic information is provided by

236
00:06:04,070 --> 00:06:04,080
dynamic information is provided by
 

237
00:06:04,080 --> 00:06:06,150
dynamic information is provided by
comparing the tracking capability of the

238
00:06:06,150 --> 00:06:06,160
comparing the tracking capability of the
 

239
00:06:06,160 --> 00:06:08,629
comparing the tracking capability of the
docking sensor to that of the more

240
00:06:08,629 --> 00:06:08,639
docking sensor to that of the more
 

241
00:06:08,639 --> 00:06:12,870
docking sensor to that of the more
accurate six dof system

242
00:06:12,870 --> 00:06:12,880

 

243
00:06:12,880 --> 00:06:15,189

future enhancements of the six dof

244
00:06:15,189 --> 00:06:15,199
future enhancements of the six dof
 

245
00:06:15,199 --> 00:06:16,150
future enhancements of the six dof
system

246
00:06:16,150 --> 00:06:16,160
system
 

247
00:06:16,160 --> 00:06:18,550
system
include a proposed expansion into an

248
00:06:18,550 --> 00:06:18,560
include a proposed expansion into an
 

249
00:06:18,560 --> 00:06:21,510
include a proposed expansion into an
autonomous rendezvous and docking test

250
00:06:21,510 --> 00:06:21,520
autonomous rendezvous and docking test
 

251
00:06:21,520 --> 00:06:23,110
autonomous rendezvous and docking test
facility

252
00:06:23,110 --> 00:06:23,120
facility
 

253
00:06:23,120 --> 00:06:25,990
facility
here docking scenarios will be set up to

254
00:06:25,990 --> 00:06:26,000
here docking scenarios will be set up to
 

255
00:06:26,000 --> 00:06:29,590
here docking scenarios will be set up to
gain knowledge on docking sensors

256
00:06:29,590 --> 00:06:29,600
gain knowledge on docking sensors
 

257
00:06:29,600 --> 00:06:31,510
gain knowledge on docking sensors
this will enable development of an

258
00:06:31,510 --> 00:06:31,520
this will enable development of an
 

259
00:06:31,520 --> 00:06:33,830
this will enable development of an
optimum docking sensor that could be

260
00:06:33,830 --> 00:06:33,840
optimum docking sensor that could be
 

261
00:06:33,840 --> 00:06:35,670
optimum docking sensor that could be
used in a multitude of docking

262
00:06:35,670 --> 00:06:35,680
used in a multitude of docking
 

263
00:06:35,680 --> 00:06:44,070
used in a multitude of docking
applications

264
00:06:44,070 --> 00:06:44,080

 

265
00:06:44,080 --> 00:06:46,550

a potential application of the six dof

266
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a potential application of the six dof
 

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a potential application of the six dof
system would support the shuttle and

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system would support the shuttle and
 

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system would support the shuttle and
space station docking simulator

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space station docking simulator
 

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space station docking simulator
currently astronauts practice docking

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currently astronauts practice docking
 

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currently astronauts practice docking
the shuttle to the space station by

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the shuttle to the space station by
 

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the shuttle to the space station by
using visual cues

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if this system was connected to the

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if this system was connected to the
 

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if this system was connected to the
simulator it could move using the

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simulator it could move using the
 

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simulator it could move using the
relative range

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relative range
 

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relative range
bearing angles and attitude as

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bearing angles and attitude as
 

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bearing angles and attitude as
calculated by the six dof system

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calculated by the six dof system
 

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calculated by the six dof system
this would enable the simulator to

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this would enable the simulator to
 

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this would enable the simulator to
operate in a completely autonomous mode

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from enhancing astronaut training

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from enhancing astronaut training
 

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from enhancing astronaut training
to docking with space station freedom

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to aiding orbital assembly

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to aiding orbital assembly
 

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to aiding orbital assembly
the accuracy of the six degree of

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the accuracy of the six degree of
 

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the accuracy of the six degree of
freedom system will provide an important

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freedom system will provide an important
 

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freedom system will provide an important
service

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service
 

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service
as we continue to reach out beyond

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as we continue to reach out beyond
 

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as we continue to reach out beyond
earth's boundaries

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you