University of Maryland. Critical Design Review Page 1

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1 Critical Design Review Page 1

2 Critical Design Review Page 2

3 Configuration 1: Configuration 2: Configuration 3: Configuration 4: One Pod No Escape Two Pods No Escape One Pod Bailout System One Pod Propulsion Bailout System Configuration 5: Configuration 6: Configuration 7: Configuration 8: Two Pods Bailout Systems Two Pods Propulsion Bailout Systems Two Pods Propulsion / Bailout Systems Three Pods Bailout Systems Critical Design Review Page 3

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5 shoulder roll shoulder pitch elbow roll elbow pitch wrist roll wrist pitch wrist yaw tool drive roll 0.68m 0.68m 0.17m Critical Design Review Page 5

6 Bare Bolt Drive Critical Design Review Page 6 Parallel Jaw Mechanism Microconical

7 shoulder roll shoulder pitch elbow roll elbow pitch wrist roll wrist pitch 1.36m 1.36m 0.17m Critical Design Review Page 7

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9 1 7,8 6 2,3 4,5 Critical Design Review Page 9

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11 Grapple Arm 22 Task Arm Critical Design Review Page 11

12 26, 27, 28 Not Shown Critical Design Review Page 12

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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 Activ e Sensor Retro-Reflector Clusters Passiv e Target Critical Design Review Page 15

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17 Gimbaled Omni Ka-Band Video System Video Displays Antenna Switch Diplexer Flight computers FDCC FDCC FDCC Crew Interface - Hand Controllers - Switches - Voice Power Amplifier Low Noise Amplifier Sensor Data Transponder Avionics Critical Design Review Page 17

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19 Component Mass (kg) Power (W) Maturity CompactPCI Box - 6U Chassis 15 N/A Estimated FDCC Single-Board Computers (3) Measured Solid State Recorder Card (2) Measured IEEE 1394 Data Bus Card (2) Measured Video Display Graphics Card (2) 2 10 Measured Open CompactPCI Card Slot (5) 5 30 Estimated Crew Interface Display - 15" (2) Measured Keyboard and Hand Controllers (2) Estimated Heads-Up-Display Electronics 2 5 Estimated Crew Interface Switches Estimated Internal and External Cameras Measured Camera Gimbals Measured Power Distribution Unit (3) Estimated Wiring Harness 50 N/A Calculated Total Avionics Critical Design Review Page 19

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21 Top Left Panel (T8) GN 2 (P) (P) GN 2 Top Right Panel (T4) (P )(T) 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 (T6) (T7) (T5) Bottom Left Panel (T16) (T14) (T15) 1A 3A (T) (T) (P) N 2 H 4 N 2 H (T) 4 6A 4A 2 (P) (T) 1B 5 3B 4B 6B Bottom Right Panel (T2) (T3) (T1) (T12) (T10) (T11) (T13) (T9) Valve Heaters Line Heaters Critical Design Review Page 21 Catalyst Bed Heaters

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

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24 Critical Design Review May 3, 2003 Critical Design Review Page 24