Acta Astronautica Vol. 9, No. 4, pp. 187-198, 1982 0094-5765]821040187-12503.

0010
Printed in Great Britain. Pergamon Press Ltd.

LOW-GRAVITY ENVIRONMENT IN SPACELAB

WALTER KNABE and DIRK EILERS

ERNO Raumfahrttechnik GmbH, Hiinefeldstrasse 1-5. Postfach 105909. 2800 Bremen, F.R.G.

(Received 9 December 1981)

Abstract--This paper presents residual and system-generated accelerations with results from g-jitter spectral
measurements in the Spacelab Engineering Model. An overview (classification, brief discussion, and assessment
of magnitudes) of the various constituents of the perturbative acceleration field inside the Spacelab Module is
presented, both steady and fluctuating components being considered. Results of local g-jitter spectral measurements
taken in the Spacelab Engineering Model (EM-l)/Long Module Configuration are presented for frequencies from
less than l to 200 Hz.
The measured results for the system-generated perturbative accelerations exhibit, in the time domain, amplitudes
of the order of 10-3 g (peak value 3.6.10 -3 g). Spectral values of 4.10 -4 g are obtained in the frequency range up to
100 Hz; up to 10 Hz, however, the spectral values remain about an order of magnitude smaller, and also between
100 and 200 Hz the perturbation level is significantly lower than below 100 Hz.
Measured results from simulated crew activities show, in the time domain, a peak amplitude of 2.6.10-2g, the
spectral values being 6.10 _3g below 100 Hz and 1.10 _3 g below 10 Hz, for typical perturbances.

I. INTRODUCTION Results of local g-jitter spectral measurements taken in

Spacelab operation during the orbital phase of a mis-
s i o n - i n which ideally the conditions of an inertial
laboratory would be approached to a high degree of
accuracy--imposes practical limitations in terms of
attainable low-acceleration levels which require careful
consideration in cases of Spacelab experiments with
low-acceleration tolerance limits of ~< 10 3 g . On-orbit
local measurements of the perturbative accelerations for
certain experiments, individually at their respective
positions within Spacelab, appear desirable or man-
datory. The work summarized in this paper was
motivated primarily by the desire to establish a practical
framework for the assessment of the on-orbit low-gravity
environment provided by Spacelab, with special con-
sideration of the requirements of the first German
Spacelab mission (D-l), taking due account of the need
to supplement existing g-jitter data by spectral
measurement results of Spacelab structural low-intensity
vibrations.
An overview (classification, brief discussion, and
assessment of magnitudes) of the various constituents of
the perturbative acceleration field is presented, both
steady and fluctuating components being considered. The
residual acceleration due to the gravity gradient yielding
a significant or major contribution to the relatively weak
steady field component, is considered, and practical im-
plications of its tensorial character are indicated. The
main emphasis, however, is placed upon g-jitter as the
predominant component; its characteristics are analyzed
and discussed as determined by its various elements,
viz., effects from orbiter manoeuvres and particularly
from mechanical vibrations due to the operation of the
life support subsystems and to crew activities (notably
handling of switches and apparatus).
the Spacelab Engineering Model (EM-1)/Long Module
Configuration are presented, for the frequency band of
interest, namely, frequencies from less than 1 to 200 Hz.
Previously obtained audible noise testing data for EM-1
had already indicated the occurrence of vibration res-
ponses in the Spacelab racks, caused by the activation
and operation of vital on-board equipment, at levels of
about 10-3g in this frequency range. Therefore, an in-
vestigation was carried out to measure and analyze in
detail, in the frequency band of interest, the vibrational
characteristics for on-orbit operational conditions, with
the aid of sensitive force transducers and servoac-
celerometers; the investigation also included independent
simultaneous laser measurements of the vibrational
motion, using holographic and interferometric methods:
these measurements were performed for comparison
purposes as well as for heuristic reasons. The ac-
celeration responses at several typical experiment loca-
tions within, and at suitable points at the base of, the
EM-1 Long Module were determined for full operation
as well as for discrete partial operation modes of
Spacelab. Also, the responses to additional excitations
corresponding to, or simulating, certain simple or typical
forms of astronaut activity (e.g. handling and switching
shocks) were recorded and analyzed. The measured res-
ponse signals have been reduced to narrowband filtered
acceleration amplitudes vs frequency plots; for pulse-
type excitations, and for other transient source
influences, the time behaviour of the acceleration res-
ponses has been determined. The results confirm essen-
tially the previously obtained data deduced from audible
noise measurements.
For experiments sensitive to g-jitter perturbations at
levels below 10-3 g, the application of suitable vibration-

187
188 WALTER KNAVEand DIRK Eli ERS
damping/-insulating measures (e.g. anti-vibration mounts)
may become desirable or necessary.
2. LOW-GRAVITYCONDITIONSIN SPACELAB
Considering Spacelab (carried by the Space-Shuttle) as
an earth-orbiting low-gravity system, we distinguish be-
tween the residual acceleration due to the gravity-
gradient field ("tidal" field) existing inside Spacelab and
the perturbative accelerations occurring there due to
various external and internal influences. We use the term
"g-jitter" to denote the total contribution to the ac-
celeration field in Spacelab from any regularly or irre-
gularly fluctuating acceleration component generated by
internal sources (system machinery and equipment,
astronaut activities, etc.), g-jitter is, therefore, the more
or less rapidly varying component of the acceleration
field, and constitutes, together with the slowly varying
(non-gravity) accelerations due to external effects (drag,
solar radiation pressure, etc.) the perturbative ac-
celerations.
2.1 Residual acceleration field
Even under ideal free-fall conditions, a residual ac-
celeration field is present in Spacelab, which is due to the
radial variation of the earth's gravity field. This residual
acceleration field vanishes only at the exact location of
the center of mass, 0, of the Shuttle/Spacelab system and
is non-zero elsewhere, becoming noticeable for high-
sensitivity accelerometers already a short distance away
from 0. The residual acceleration field ~, is determined by
the gradient of the earth's gravity acceleration field g.
For a convenient reference point ro (relative to the
earth's center of gravity) inside Spacelab, a Taylor series
expansion of g for a nearby point r reads:
dg
g(r)=g(ro)+(~-~)r=,~l'~+ ....
where
= r - ro
with
Igl = Ir- rol < Irol.
Choosing 0 as reference point, one obtains the residual
acceleration field y inside Spacelab in terms of the
relative position vector g, in good approximation, as
dg '=F
where we have introduced the tensor symbol F for the
vector gradient of g at the location ro. In a Cartesian
coordinate system centered at 0 (with z-axis in the r-
direction and, say, x-axis in the instantaneous velocity
direction on a circular orbit), the tensor components
F ~ = ~x~, F~y = ~y~, etc.
take on define values with which one can easily cal-
culate, or under simplifying assumptions estimate, lhe
residual acceleration field.
Thus, one obtains for the simplest approximation of
the earth's gravity field from
"" Ldr\ r" / j ~ .~ ro
at an orbital height of 400 km (r,,- 6.77.10 ~ m):
F= =2.6.10 "sec : = 2 . 6 . 1 0 7g/m.
In the approximation used, this tensor component
determines already the vertical (z) change of the residual
acceleration field. For instance, over a vertical distance
of 4 m (corresponding roughly to the inner diameter of
the Spacelab Module), the difference of the residual
acceleration is A=7= = 2.6.10 ~. 4 m sec : --
10-~m sec -~- 10 6g, i.e. about 1 p.g.
By comparison, the corresponding residual ac-
celeration differences in the x - and y-directions are
smaller by a factor of 2, as can be easily verified through
calculation of the respective tensor components.
The components of the tensor F can be measured, in
principle, by means of a sufficiently sensitive gravity
gradiometer. However, no such measurements seem to
have been performed so far in a manned space vehicle.
A more detailed consideration of the residual ac-
celeration field shows that its anisotropy characteristics
are well suited as a basis for measuring the local vertical
at the position of the space vehicle by means of an
appropriate sensor. A concrete proposal for such a
measurement of the local vertical in the presence of
g-jitter was put forward already in 1964 by Diesel[l].
2.2 Perturbative accelerations
The following perturbational influences contributing to
the low-g environment inside Spacelab are considered:
• External influences exerting upon the
Shuttle/Spacelah system surface forces which result in
position-independent accelerations inside Spacelab and
which exhibit slow time-variations along the orbit of the
space vehicle; these influences are
--solar radiation pressure
--momentum transfer from micro-meteoroid fluxes
--drag forces due to the ambient ionospheric medium,
especially aerodynamic drag.
• System-generated and other internal influences
causing position- and/or time-dependent accelerations
inside Spacelab:
--internal gravitational effect due to the mass dis-
tribution of the Shuttle/Spacelab system or, rather, its
components (self-gravitational field)
--Vernier thruster action for attitude correction or
stabilization or for slow rotational manoeuvres of the
orbiter
--operation of the life support subsystems and of
auxiliary equipment
 Low-gravity environment in spacelab
--astronaut movements and other astronaut activities
(handling of apparatus, etc.)
--perturbations from the Spacelab experiments them-
selves or their auxiliary equipment (pumps, centrifuges,
etc.)
An assessment of the perturbative accelerations is
presented in the sequel. The last three influences listed
above are discussed in more detail, in Sections 3 and 4 of
this paper, on the basis of results of the measurements
performed.
2.3 Solar radiation pressure
The radiative power of 4.1033 erg sec -~ is nearly con-
stant, even at periods of high solar activity. Sun-spots
and fluctuations over a solar cycle affect this value by
less than 2%. More than 99% of the radiation energy is
contained in the wavelength range between 0.2 and 5/zm.
The following value for the solar constant is used[2]:
J = 1.95(-
+ l%)[cal cm -2 min ~] = 1.35 • 106 [erg/cm 2 sec].
Then the acceleration value bs for the Shuttle/Spacelab
system due to the photon momentum transfer can be
easily calculated from the expression
J A
bs = c ~ f(t),
where c = 3.10 L°cm sec -1 denotes the velocity of light,
A is the effective area of the system exposed to the
radiation, M = 9. 104 is the mass of the total system, and
f(t) is a function depending on the configuration and
reflection properties of the exposed surface--with a
value of order unity and with a time-dependence due to
the orbital motion and change of attitude. We estimate
the maximum acceleration by using the maximum
effective area A = 3 6 7 m 2 and the value f =2, cor-
responding to total reflection of the impinging radiation:
b~ = 4.10 6 [cm sec -2] = 4. 10-9 g.
2.4 Micro-Meteoroid impacts
The influence of the more or less continuous and
smooth micro-meteoroid fluxes observed in the vicinity
of the earth is considered, excluding extremely sporadic
and unlikely events of impingement resulting in exces-
sive effects.
The calculation is analoguous to that for the photon
flux impact:
The total momentum transfer due to particles in the mass
range between m~ and m2 is
j = f ~ i 2mt~ dn(m)
.~.dm
where v is the particle velocity and n(m) is the cumula-
tive meteoroid flux density, i.e., the number of particles
with mass equal to or greater than m passing per second
through 1 m 2 area.
The value of the acceleration is given by b,, =
J . ( A / M ) . Using an average impact velocity v =
189
20 km sec ~ for the mass range considered: ml = I g and
m2 = 10-I~ g, and the distribution function[3]:
n(m) = 3.9.10 ~5. m-1.22
[particles of mass t> m per m2 and sec],
one obtains b,, = 7 . 1 0 '2msec 2 = 7 . 1 0 ~3g.
In addition to this effect from the constant background
flux component, strongly time-varying effects due to
meteoroid showers may be experienced, the magnitude
of which is difficult to estimate. We assume that in rare
cases these spontaneously occurring effects may exceed
the above value of bm by factors between 102 and 103.
Thus, in such an extreme situation, values of the order of
(bin)max- I0 ~Og would be attained.
2.5 Atmospheric drag
Considering the orbital motion of the space vehicle in
the ambient ionospheric medium, one has to distinguish
between the drag effect due to the neutral particles of the
medium, and the forces exerted upon the space vehicle
due to the electrically charged constituents of the ion-
osphere in the presence of the earth's magnetic field. At
an orbital height of 400 km (altitude of the D-I mission),
the atmospheric drag is known to dominate in com-
parison with the electric and electromagnetic interaction
effects. And since the latter are very difficult to calculate
(or estimate), we restrict ourselves to an assessment of
the (neutral) atmospheric drag:
For the Knudsen number Kn = (A/L) (where A denotes
the collision mean-free-path of the neutral particles of
the atmosphere at the orbital height, and L denotes the
length of the space vehicle), one has Kn > 100, so that
the conditions of free molecular flow are well fulfilled.
The acceleration (being antiparallel to the velocity
vector) can be computed directly from Newton's formula
for aerodynamic drag:
02 A
bo = co "~v " M~
where c r , - 3 is the appropriate value of the drag
coefficient, p(400 km) = 6.10 t5 g cm-3 the atmospheric
density, and v = 8 km s e c t the orbital velocity of the
spacecraft; A is the effective cross section of the latter,
and M = 9.10 4 kg its mass.
The maximum acceleration, obtained for the maximum
cross-sectional area A = 3.67. 102m2, is found to be
(bD)ma× = 1.2.10 -4 cm sec -2= 1.2.10 -7 g; for the mini-
mum acceleration ( A = 6 4 m 2) one obtains the value
(bD)min = 2.1 • 10-s g.
These values are in good agreement with the cor-
responding points on the respective curves of Fig. 1,
which is reproduced from the Spacelab Payload Ac-
commodation Handbook.
2.6 Internal gravitational effect due to mass distribution
of Shuttld SL system or of individual components
To assess the relative importance of the local gravita-
tional effect, at a given point inside Spacelab, due to the
mass distribution of the space vehicle or merely of one
]90 WALTER KNABEand DIRK EILERS

i0-I

i0-2 10
I m 22
590 f t 2}

jO-3
12 7 m 2
I 2 2 9 0 ff 2 )

u 10-4 I0-

tZ O-5 10-~
~60 m'
3960 ft2/
9 0 718 kg

200000 Jbl

10-6

hculor fo
10-7 10- I( p!one

10-8 iO-I
10C) 200 300 400 500 600 700
AIlJfude, n ml

t I I I 1 I
200 400 600 800 1000 1200
AltitUde, krn

Fig. 1. Atmospheric drag of the Space Shuttle, as function of orbital height (from: SL Payload Accommodation
Handbook[4]).

of its components, it appears sufficient to establish a
reasonable upper limit for the effect.
Considering, for instance, a highly idealized mass
model of the Shuttle/SL system according to which the
total mass of the system is homogeneously distributed
over the surface of a closed cylinder with dimensions
roughly representative of the Long Spacelab Module and
calculating the gravitational acceleration due to this mass
configuration for a test particle (mass point) in the in-
terior of the cylinder at a point located midway between
the end faces and a distance of several cm ( 5 - 10 cm)
away from the cylinder wall, one obtains, after a
straightforward but tedious integration over this mass
distribution, an acceleration of the order b ~ - 10-9g
(directed, of course, perpendicularly towards the nearby
wall).
For a single, large, compact mass (m = 500kg, 0 =
10 gcm 3) of reasonably regular shape, the acceleration
experienced by a test particle at a distance of several cm
( 5 - 10 cm) is b m - 10-7 g, as can be shown by a simple
calculation.
Both values obtained above are based on rather
extreme assumptions, and in practical situations the
effect can be expected to be much smaller.
2.7 Vernier thruster action
Considered in this context is only the low-level Ver-
nier thruster action for smooth attitude control purposes,
including slow rotation manoeuvres of the orbiter, i.e. at
conditions consistent with mission requirements for the
experimental phases of Spacelab operation (in particular,
regarding the requirements of the German D-1 mission).
The maximum translatory acceleration of the Vernier
thrusters (see [4]) is in the direction of the orbiter yaw
axis; its value is 2.4.10-4g.
In order to estimate the maximum acceleration asso-
ciated with rotational motion of the orbiter we consider
the case of a pitch motion with angular acceleration
0m,x = 0.03°sec -2 = 5, 2. 10-4 rad sec 2
and a body-fixed point P at a distance r = 5 m from the
axis of rotation. The tangential acceleration then
assumes the value b T = r ' 0 .... = 2 . 6 . 1 0 3 m s e c : =
 Low-gravityenvironment in spacelab
2 . 6 . 1 0 -4 g. The radial acceleration bR is estimated for a
firing period of At = 4 sec:
bR = (r ' 0)2, with 0 = 0max" At - 2' 10-3[rad sec ~]
r installed in the payload area, was available at the ERNO
bR = ~ [m sec 2] = 2" 10-5[m sec 2] = 2' 10 6 g.
The value of the radial acceleration is, in this case, only
about 1% of the value of the tangential acceleration; on
the other hand, the radial acceleration continues to exist,
in contradistinction to the tangential acceleration, after
termination of the thruster action until the angular velo-
city is reduced again to zero. Thus, for sufficiently small
angular velocities the radial acceleration is negligible.
Analoguous considerations apply also to the roll and the
yaw motions.
The acceleration due to orbiter attitude control thrus-
ter operation will reach values of about 3 .' 10 4 g inside
Spacelab.
2.8 Perturbation effects of primary interest
This category comprises those effects and their asso-
ciated perturbative accelerations which are of primary
and practical interest for an assessment of the low-g
environment in Spacelab at the actual locations of the
experiments. It covers, essentially, the last three items of
the list presented at the beginning of this section.
The "g-jitter" existing in Spacelab under full opera-
tional mission conditions, in the presence of astronauts
and activated experiments, is represented, to a large
extent, by the perturbative accelerations in this category.
Included here should also be perturbations caused by
Space Shuttle components or equipment, so far as they
lead to noticeable acceleration levels within Spacelab.
Such perturbative sources, however, have not been
identified, except for the Orbiter Reaction Control Sys-
tem (RCS), the influence of which has just been des-
cribed (Vernier thruster action).
A detailed discussion of the accelerations representing
the g-jitter, based on results of our own experimental
investigation, is presented in Section 3 and 4.
Here we only add a few remarks on crew-motion-
induced g-jitter contributions, referring to generally used
data based on NASA work. Table I [5] exhibits' g-values
due to typical astronaut motions, for a certain experi-
ment site in the Spacelab racks. In Fig. 2, a crew motion
time profile is shown[6], which is based on Skylab data
and zero-g flights; it provides input information for
assessing the perturbation effects from corresponding
wall interactions.
3. SPACELABMACHINERY-ANDCREW-INDUCED
ON-ORBIT VIBRATIONENVIRONMENT
First indications concerning the characteristics of the
Spacelab on-board vibration environment were obtained
from the audible noise control work inside the Spacelab
Cabin. Those data prompted a detailed study and in-
vestigation of the Spacelab machinery- and crew-induced
vibration environment.
191
For this purpose, the first completely integrated and
functional Spacelab Engineering Model in a double
module configuration, with several heat load dummies
and front-plate-closed racks-instead of experiments-
Integration Building (at Bremen), where an extensive
measurement program could be conducted.
Table 2 gives a listing of identified equipment inside
the Spacelab Module, which generates aero-dynamic,
vibro-acoustic, and mechanical vibrations and shocks.
The most prominent vibration-generating units are
mounted in the module subfloor area, being represented
by (see Fig. 3):
• Avionics Fan
• Cabin Fan, CO2-Control Assembly
• Water Separator
The fans and the water separator are mounted to the
subfloor via anti-vibration-mounts as a means for reduc-
tion of cabin noise. A further reduction of vibration
energy at the sources or along the transmission paths to
the racks does not appear to be achieveable with
reasonable effort.
A listing of typical handling activities to be performed
by the Spacelab crew inside and at the Module during an
on-orbit mission, as given below, was considered for the
definition of handling activity simulation tests in con-
junction with acceleration response measurements:
• Crew motion inside/outside Module
• Vigorous free soaring, crouching, and straightening
by astronauts
• Operation of switches
• Disconnection and variation of foot restraints and
handrails along rack fronts
• Opening and closing of covers, doors, inserts of
mainfloor, racks, overhead containers
• Exchange of cartridges, magazines
• Operation of airlock with experiment table
• Operation of hatches at viewport, optical window
• Handling of cameras (e.g. installation on window,
exchange of films, etc.)
• Space-Sled experimentation, incl. hop and drop tests
• Others
Since the Spacelab Module is a flexible structure with its
characteristic vibration behaviour, dynamics and mode
shapes, the results from a Modal Survey Test were used
together with some configuration features, such as mass
loading and integration status, to define the measurement
locations for the g-jitter investigations. Locations, were
maximum deflections can be expected under low-
frequency excitation, were chosen. Acceleration res-
ponse variations were detected through a careful choice
of measurement points. For the control of externally-
induced low level acceleration perturbations (back-
ground) at the site where the Spacelab Module was
mounted in the integration building, a separate
measurement point was monitored at the foundation of
the Module support structure.
192 WALTER KNABE and D1RK EILERS

Table 1. Predicted acceleration g-levels at the materials science

experiment rack due to crew motion (Mission SL-I) (from
NASA/ESA "SL-I: integrated payload requirements doc.':
Ref. [5])
Event Motion at Pilot's Stand Motion at Rack 4 Location
Min/Max (10-4g) Min/Max (10 4g)

Deep Breathing 0.1/1.5 0.1/1.3

Coughing 0.7/1.4 06/1.2
Sneezing 2.1/3.3 1.8/2.8
Console Oper. 0.1/0.3 0.1/0.3
Body Bending 1.1/3.0 0.9/2.6
(at Wait)
Arm Rotation (90 ° ) 0.4/1.4 0.4/1.2
Leg Rotation (45° ) 0.8/1.1 0.8/1.1
Crouch & Stand 3.8/5.2 3.2/4.4

Measured results from simulated crew activities in the Spacelab Module (Engineering Model}

are reported in Section 3.

Impulse = 4 0 N s
ditioner, pumps, etc. in the integration building), and with
Spacelab in an inactive state, the remaining background
acceleration amplitudes were, in the time domain, ap-
proximately 4.10 4 g; the maximum spectral component
of 1.3.10 -4 g occurred at 20 Hz, and at other frequencies
z
the spectral values remained below 3.10 ~g. These

/
09 results indicated a satisfactory quality of measuring in-
o
strumentation used and, at later comparisons with the
results of the g-jitter measurements, also an acceptable
signal to noise ratio.
P Details of a typical acceleration response measurement
C~ e~ 2 3 location are given in Fig. 5, together with an internal
Time, view of the Spacelab Module Cabin at the time of
testing. The acceleration sensor was mounted to the
Fig. 2. Typical crew motion profile[4].
front of the Control Center Rack with the aid of a small
platform. The Control Center Rack represents a fully
integrated rack with boxes, substructures, etc, whereas
An overview of the measurement locations is given in the experiment racks were not properly loaded with
Fig. 4. equipment, at the time when the measurements were
A problem arose regarding the selection of measuring made.
equipment sensitive enough to measure very low ac- In the area of the module forward end cone, the O2N2
celeration levels, such that the requirements Panel is located with a number of valves, operated either
by manual switches or driven electrically. After ac-
• Sensitivity < 10 ~g celeration measurements had been taken from the
• Range > I g activated basic Spacelab system, the acceleration res-
• Compensation for 1 g ponses were again recorded (at the same locations)
• Bandwidth 0-200 Hz when, in addition, such valves were operated. This
examplifies a typical operation and handling simulation,
with good linearity and stability could be fulfilled. the effect of which is superimposed upon the basic
Since standard accelerometers did not appear to be system-generated vibrations. Also simulated were hand-
adequate in view of these stringent requirements, alter- ling shocks executed by a Spacelab crew member. A
native methods using highly sensitive measuring devices medicine ball was used to simulate certain actions of a
were selected and used, in particular, piezo-electric force human body under weightlessness. With the aid of an
transducers, servo-accelerometers, and optical means impact load hammer, the force function introduced was
(Laser-Interferometer). Especially the servo-ac- measured.
celerometer Sundstrand Q-Flex QA-1100 proved to be The activation sequence of the Spacelab System, at
adequate for our purposes. The error of the the time when measurements were taken, included
measurement chains used was estimated to be in the operation of (see [4]):
range of 3-8%.
The initial steps of the measurement program showed • Avionics Fan 1, high speed
that upon elimination of external disturbances (air con- • Cabin Fan 1
 Low-gravity environment in spacelab 193

Table 2. Vibration sources in Spacelab module

Speceleb Component Vibration mechanism

Subsyztem

1 ECLS Cabin Fan Package aerodynamic, vibro-acoustic

mechanical vibration
2 CO2 Control Assembly aerodynamic, vibro-acoustic
3 Humidity and Temperature Control aerodynamic, vibro-acoustic
Assembly (Heat Exchanger)
4 By-Pass of Humidity/Temperature aerodynamic, vibro-acoustic
Control Assembly
5 Cabin Air Ducts, Bends aerodynamic
6 Outlet Diffuser aerodynamic, vibro-acoustic
7 Water Separator aerodynamic, vibro-acoustic
8 By-Pass Valve Actuator Motor mechanical,
vibration intermittent
9 Avionics Fan Package aerodynamic, vibro-acoustic
mechanical vibrations
10 Avionics Heat Exchanger aerodynamic, vibro-acoustic
11 Avionics Air Ducts/Bends aerodynamic, vibro-acoustic
12 Rack Inlet Diffuser aerodynamic, vibro-acoustic
13 Rack Return Ducts aerodynamic, vibro-acoustic
14 Upper Feedthrough Valves shocks, exceptional
15 Smoke Detectors mechanical vibrations
16 O2N 2 Panel Valves shocks, exceptional
17 Monitoring & Control Panel Switches shocks, exceptional
18 TCS Water Pump Package mechanical vibrations
19 Freon Pump Package mechanical vibrations
20 Tubing mechanical vibrations
21 Fluid Heat Exchanger mechanical vibrations
22 Cold Plates mechanical vibrations
23 EPDS 400 Hz Inverter mechanical vibrations
24 Luminary mechanical vibrations
25 Monitoring & Control Panel Switches shocks, exceptional
26 CDMS Mass Memory Unit mechanical vibrations,
intermittent
27 Data Display Unit/Keyboard mechanical vibrations,
intermittent, small
28 High Data Rate Recorder mechanical vibrations,
shocks due to start and stop
29 Intercom & Remote Loudspeaker vibro-acoustic, intermittent
30 SAM RAAB Converter mechanical vibrations
31 Caution & Warning Loudspeaker vibro-acoustic, exceptional
32 Airlock Pressure& DepressureValve mechanical vibrations, shocks
33 Spacelab Fan/Airducts aerodynamic, vibro-acoustic,
Transfer mechanical vibrations
Tunnel (STT)
34 Shuttle via Trunnions mechanical vibrations
35 Payload Experiments mechanical vibrations

• By-Pass, 2/3 cool
• Water Separator 1
• Water Pump 1
• Freon Pump 1
• S/S Inverter
• Exp. Inverter, 0 kW power
• Exp. Rack 9, 11, shutt off valves "open"
• CDMS/DPA, EXP/DPA
• Smoke Detectors.
Ultimately, about 50 measurement steps with varia-
tions in instrumentation, location, operational state and
simulated activities were recorded and evaluated [7].
The most significant results of the measurements are
presented in this paper; they have to be understood as
typical values, which may vary in Spacelab, due to
different actual flight configuration response characteris-
tics, in amplitude and frequency, at a given location of
interest. A variation within half an order of magnitude
for the acceleration amplitudes must be allowed for.
The recording time for each scene was limited to
approx. 4min. From this analog record, a segment of
10 sec was digitalized, upon passing a low pass filter of
80Hz, and printed as amplitude vs time for 3.5 sec,
containing the maximum acceleration amplitude of the
10 sec segment. The frequency-spectra were calculated
for bandwidths of 0-100 Hz and 0-200 Hz, with a spec-
tral bandwidth of 0.25 Hz, a Hanning normalized func-
tion, and 20 or 10 averages, with a duration of 2.56 sec
for each Fourier-spectrum sample to be averaged.
The acceleration amplitude versus time (time history),
for a fully activated Spacelab as analyzed at a represen-
tative location of the Control Center Rack is given in Fig.
6. A randomly fluctuating signal with a maximum of
3.6.10 -3 g was obtained. The corresponding acceleration
spectrum up to 200Hz (Fig. 7) shows the maximum
component at 60 Hz with 4.10 -4 g; low intensities were
observed at low frequencies and above 120 Hz.
The strongest g-jitter signals were observed for simu-
lated crew handling shocks, where a transient force
function (reproduced in Fig. 8) with a peak of 100 N was
introduced at the Spacelab Rack Handrails. In response
to this pulse input function, the output, again at a
representative Control Center Rack location, exhibits a
194 WAI.TER KNABEand DIRK EtLERS

AVIONICS FAN CO 2 C O N T R O L ASSEMBLY

Fig. 3. Major vibration sources in Spacelab Module.

AIRLOCK
AFT END CONE VIEWPORT
HIGH QUALITY
WINDOW
OVERHEAD I VIEWPORT
STOWAGE CON~rAINER

MPI

MPZ~
F~B

MAIN FLOOR'\ "

EXTENSION "~
\

F~v~' D MP3
, ) if no racks are foreseen
WORK " ~ ~-~
BENCH RACK ~-
~RACK I~ "~

Fig. 4. g-jitter measurementlocationsin Spacelab EMldouble module(~ound measurements).

 Low-g]avity environment in spacelab 195

Fig. 5. Typical g-jitter measurement location in Spacelab EM1 Long Module (Control Center Rack).

430 t

320t

.!,j,l,,,,ll , .., I ,t ,..i ,,I,.J

olltllllt~l~tlll~Al~till~Jti,l,ltJ
'~i,iiii~'P~iI~B~`iH~ri~f'~?~i~.~I~W~"~#~iri~iii~'~Ii~i~'~Ii~;~

i0~0I.. I. 0 0.25 0.50

,

0.75
I, f,.2J
1.00 I 25 i.50 1.75
....
200 2.25 2.50 2.75
_

$ O0 5.75
T in sec
Meximum occelerotion in mg 3.6171
Fig. 6. Measured acceleration response at Control Center Rack with Spacelab activated.

160-

r20-

0005001 ~ -5
80.
Z
4
40.
oe~
o,

© f f f
40

JJ
-

,f ,v~,b. ..., j, ?, .? I -80

• 4,, JO 5 2.0 25 30
T, sec
Frequency 200
Moximum force, N I0-f8435
Fig, 7. Spacelab active; 200Hz spectrum of g-jitter at Control Fig. 8. Simulation of handling shocks; transient input force
Center Rack. function introduced by a medicine ball.
1% W A L T E R K N A B E a n d D I R K EILERS

peak acceleration of 2.6.10-~g with a typical decay
pattern (Fig. 9). The frequency spectrum of this shock
response, shown in Fig. 10, displays acceleration values
(peak value= 6. 10-3g) which exceed the values for
normal Spacelab operation by an order of magnitude.
The frequency spectrum was zoomed to a 10 Hz band-
width for the most intensive handling shock simulation
response obtained; this brings into evidence (insert in
Fig. 10) the small values of the order of 10-4g below
6Hz, and of 10-~g below 3Hz. A summary of the
analyzed maximum spectral acceleration responses is
given in Fig. 11.
k.
-7.C ,, . . . .
' !, 2 :;
T in sec
Maximum accelerationin m g 2 5 7 1 9 6
Fig. 9. Spacelabactive, plus simulatedhandlingshocks; transient
accelerationresponse at Control Center Rack (Y-component).
The presented spectral results constitute an ap-
propriate input for analyzing the response of highly
sensitive Spacelab experiments, provided that the
dynamic characteristics of the latter are known.
4. PERTURBATIONS DUE TO EXPERIMENTS
The work performed in studying the Spacelab micro-
gravity environment was mainly concentrated on the
measurement and the data reduction of the accelerations
due to the fully operational basic Spacelab System. At
that time, no actual experiment or payload hardware was
present in the Module, but some effort was expended
to analyse the design and function of typical experiments
and their supporting equipment, as indications existed
that the low-gravity requirements of certain experiments
might be violated, in some cases, by the operation of
experiments themselves, irrespective of the g-jitter from
other sources.
As examples of such perturbation sources in the
German Dl-mission, the Isothermal Heating Facility, the
,, .LAItL, Fluid Physics Module, and the Vestibular Sled may be
mentioned. In the case of the Isosthermal Heating Facil-
ity, which is contained in the Material Science Double
Rack, a motor-driven mechanism is interchanging in an
alternating operation the furnace and the cooling cham-
ber between two probes. This operation will introduce
. I ], mechanical shocks when reaching the end stops. In the
25 ~ C
same Material Science Double Rack the Fluid Physics
Module is situated in which for certain processes vibra-
tions will be excited by an excenter, which in turn may
disturb other nearby critical experiments. A rack-dedi-

,I"
mUv| a ,n g

x I0 4q
• 02

,:, 0 0 2
I I

0 01 2 x 9 ~ 1 0 4(j
I
I
!
!
.-i
l f-s
l
I I
i b s ,, 6

'o

--2

O I I I I ~,~ I I 1 l - -
IO0
0 FrequeFcy

Fig. 10. Spacelab activated, plus simulationof handling shocks; 100Hz accelerationresponse spectrum at empty
rack.
 Low-gravity environment in spacelab 197

-6

21

,'il llll I' , ilr

o
~oo

Frequency, Hz

Fig. 11. Maximum measured g-jitter spectral response during ground simulation testing in Spacelab (Spacelab E M I
double module).

Table 3. Summary of residual and perturbative accelerations in Spacelab

Source Acceleration (in units of g) Remarks

Gravity gradient Residual acceleration: "tidal" field

(at 400 km altitude) 10- 6 max.

Solar radiation pressure slow time variation,

and micro-meteoroid fluxes 4 • 10- 9 max. diurnal

Atmospheric drag dependent on attitude

(neutral component) 2.10 - 8 10- 7 of orbiter relative to
at 400 km altitude velocity vector

tnternal self-gravi- < 10- 9 stationary field

tational field of (10 - 8 10- 7 max., in very
Shuttle/SL-System extreme situations, which
are hardly of practical
importance)

Venting activities 10- 7 at irregular intervals

in Shuttle and SL.

Vernier attitude control 3 • 10- 4 max. for translational motion

thruster activity as well as ifor tangential
component of rotation
(at a distance of 5 m
from axis of rotation)

SL life support Measured results:

system and auxiliary 3.6 • 10- 3 peak value (time domain)
equipment 4 • 10- 4 spectral value < 100 Hz
4 • 10- 5 spectra/value < 10 Hz

Astronaut motion Measured results:

and other crew activities 2 • 10- 2 peak value (time domain)
6 10- 3 spectral value < 100 Hz
10- 3 spectral value < 10 Hz

Experiments and their quantitatively still to be local effects

auxiliary equipment determined for D-1
experiments
!98 WALTERKNABEand D1RKEILERS
cated water cooling loop is operated by a water pump
package, in timeline with the execution of experiments.
The water pump generates a perturbative acceleration at
nearby experiment locations in the order of 10 2g at a
very discrete frequency of 80 Hz, which corresponds to
the rate of revolutions of the pump itself.
5. SUMMARYANDCONCLUSIONS
The results for the Spacelab micro-gravity environ-
ment discussed in this paper are compiled in Table 3. The
data for the g-jitter contribution to this environment are
based, to a large extent, on our own measurements.
An important conclusion to be drawn from the results
of the investigation can be expressed by the statement
that the fully operational basic Spacelab System is
characterized, in the frequency range up to 100 Hz, by
g-jitter spectral levels exceeding the value of 10-4g only
for a few narrow bandwidths (spectral peak value =
4.10 4g at 60Hz). Thus, the operational Spacelab
Module in itself is endowed with a micro-gravity
environment of rather good quality. In view of this fact,
the more severe g-jitter contributions from astronaut
motions and other crew activities have to be kept as low
as possible in order to retain the low acceleration levels
of the basic system-generated background. Similarly,
particular attention should be paid to the adverse effects,
in terms of g-jitter, which may arise from experiments
and their auxiliary equipment.
Acknowledgements--The authors acknowledge the collaboration
of Prof. Dr. F. Hock, University Hannover, in performing the
high-sensitivitymeasurements on Spacelab. This work was sup-
ported by the Bundesministerfiir Forschung und Technologie of
the Federal Republic of Germany and was monitored by the
Deutsche Forschungs-und Versuchsanstalt fiir Luft-und Raum-
fahrt.
I~CES
1. J. W. Diesel, AIAA J. 2, 118%11% (1964).
2. A. J. Drummond and J. R. Hichley, The Eppley-JPL solar
constant measurement program. Solar Energy 12 217 (1%8).
3. Meteoroid Environmental Model. NASA SP-8013 (1%9).
4. Spacelab Payload Accommodation Handbook. ESA Ref. No.
SLP/2104, 31 July 1978.
5. Spacelab Mission One: Integrated payload requirements
document, NASA-MSFC l~)c. No. JA-010. Revision D. Feb.
198I.
6. W. Haeussermann, Control requirements of the shuttle
experiments. In: (Edited by E. Gottzein). Automatic Control
in Space, VDI-Gesellschafi MeB- und Regelungstechnik pp.
97-111 (1976).
7. D. Eilers, F. Hock, W. Knabe and H. R. Meyer-Piening,
Vibrationsmessung und -entstGrung fiir Spacelab-Experi-
mente der D-1 Mission. Final Rep. ERNO Raumfahrttechnik,
Bremen, PRV-TB-1/Io81(1981).