The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures.

Nuclear space powerplants can operate at temperatures below 900 K and use stainless steel construction without a weight penalty if new radiator concepts can achieve radiator weights of 1-3 kg/m{sup 2}. Conventional tube-and-fin radiators weight about 10 kg/m{sup 2} because of heavy tube walls to prevent meteroid puncture. Radiator designs that do not require meteroid protection are possible; they operate with fluids of low vapor pressure that can be exposed directly to space in external-flow radiators. An example is the {open_quotes}rotating disk radiator{close_quotes} in which centrifugal force drives a liquid film radially outward across a thin rotating metal disk; meteroid punctures cause no loss of fluid other than from evaporation, which can be small. An even lighter concept is the liquid drop radiator in which heat is radiated directly from moving liquid drops. Such radiator concepts look practical, and they may be much easier to develop than the high-temperature, refractory-metal power systems necessitated by conventional radiators.

SP-100 is the designation for a nuclear reactor-based power plant being developed for both civil and military missions beginning in the 1990s for such potential space applications as communication satellites, space radar, electric propulsion and space stations. Typically, a system using the SP-100 along with a selected upper stage system would be launched by the National Space Transportation System (NSTS) Space Shuttle System into a near-earth orbit, deployed, and through upper stage propulsion burn(s) be inserted/transferred to its mission orbit. The nature of the advanced design SP-100 gives rise to a set of issues that require special attention to assure that payloads using this power plant are physically and functionally compatible with the NSTS and meet the safety requirements thereof. The purpose of this document is to define and present the requirements and interface provisions that, when satisfied, will ensure technical compability between SP-100 systems and the NSTS.

The purpose of the present task is to develop high temperature multi-foil insulation suitable for use in the SP-100 thermoelectric converter project. Part of this task involves careful examination of alternative foil and foil spacing materials with the goal of effecting significant weight savings over current state-of-the-art foil insulation. This task involved the determination of the state-of-the-art foils, ascertaining what data is available, what additional data is required, preliminary assessment of the suitability of alternate foil and spacer materials, and specific recommendations for additional tests required to qualify new and existing insulation designs for use in the SP-100.

Payload increases of three to five times that of the Shuttle/Centaur can be achieved using nuclear electric propulsion. Various nuclear power plant options being pursued by the SP-100 Program are described. These concepts can grow from 100 kW/sub e/ to 1MW/sub e/ output. Spacecraft design aspects are addressed, including thermal interactions, plume interactions, and radiation fluences. A baseline configuration is described accounting for these issues. Safety aspects of starting the OTV transfer from an altitude of 300 km indicate no significant additional risk to the biosphere.