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On-orbit servicing and active debris removal missions will rely on the use of unmanned satellite equipped with a manipulator. Capture of the target object will be the most challenging phase of these missions. During the capture manoeuvre, the manipulator must avoid collisions with elements of the target object (e.g., solar panels). The dynamic equations of the satellite-manipulator system must be used during the trajectory planning because the motion of the manipulator influences the position and orientation of the satellite. In this paper, we propose application of the bidirectional rapidly exploring random trees (BiRRT) algorithm for planning a collision-free trajectory of a manipulator mounted on a free-floating satellite. A new approach based on pseudo-velocities method (PVM) is used for construction of nodes of the trajectory tree. Initial nodes of the second tree are selected from the set of potential final configurations of the system. The proposed method is validated in numerical simulations performed for a planar case (3-DoF manipulator). The obtained results are compared with the results obtained with two other trajectory planning methods based on the RRT algorithm. It is shown that in a simple test scenario, the proposed BiRRT PVM algorithm results in a lower manipulator tip position error. In a more difficult test scenario, only the proposed method was able to find a solution. Practical applicability of the BiRRT PVM method is demonstrated in experiments performed on a planar air-bearing microgravity simulator where the trajectory is realised by a manipulator mounted on a mock-up of the free-floating servicing satellite.

The filter wheel (FW) assembly (FWA), developed by the CBK Institute, is one of the critical subsystems of the wide field imager (WFI) instrument on board the Advanced Telescope for High Energy Astrophysics-mission of the ESA Cosmic Vision 2015-25 space science program (launch scheduled around 2035). The instrument has to collect soft x-rays with very high quantum efficiency, thus WFI requires extremely thin optical blocking filter (OBF). Due to its thickness (∼150 nm) and large area (∼170 mm × 170 mm) needed to achieve a 40 0 × 40 0 instrument field of view, the filter is extremely vulnerable to acoustic loads generated during Ariane 6 rocket launch. On the other side, FW mechanism has to provide high overall reliability, so it is more favourable to launch the instrument in atmospheric pressure (without vacuum enclosure for filter protection). Design efforts of the FW subsystem were focused on two issues: providing maximal possible sound pressure level suppression and smallest possible differential pressure across the OBF, which should prevent filters from damaging. We describe the design of a reconfigurable acoustic-demonstrator model (DM) of WFI FWA created for purposes of acoustic testing. Also, the acoustic test campaign is described: test methodology, test criteria, and results discussion and its implication on future FWA design. In general, tests conducted with the FWA DM showed that current design of WFI is feasible and the project can be continued without introducing a vacuum enclosure, which would significantly increase system complexity and mass.

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