The development of Rendez-Vous and Docking (RVD) technology is the first step to realize in-orbit servicing technologies such as the exchange of Orbital Replaceable Units (ORUs), the resupply of fuel and/or coolant and the construction of large space structures. Kawasaki (KHI) is now developing the key technologies in two major fields for the in-orbit servicing technologies, which are the technologies for RVD operation and space robotics. The RVD technology under development in KHI is discussed in this paper, which includes the studies on docking mechanisms, proximity sensors and a RVD system on board a small rocket.

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A new procedure of designing a multi-body Lambert type orbit comprising a multiple swingby process is developed here, aiming at relieving a numerical difficulty inherent to a highly nonlinear swingby mechanism. [Ref. 1 and 2] , Accordingly the proposed algorithm the Recursive Multi-Step Linearization (RMSL), first divides a whole orbit into several trajectory segments. Then, with a maximum use of piecewised transition matrices, a segmentized orbit is repeatedly upgraded until an approximated orbit initially based on a patched conics method eventually converges. A number of segments and locations of segment separation are found two key factors in the proposed algorithm. To grasp a physical significance behind the above factors, single lunar swingby orbits are extensively studied. Four criteria representing the RMSL capability are highlighted, and their effects to the key factors are understood. In application to the four body Earth-Moon system with a Sun’s gravitation, one of the double lunar swingby or its including 12 lunar swingby is successfully designed without any velocity mismatch.

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The mission objectives of the Lunar Polar Orbiter (LPO) are to acquire the geographical and elemental composition database of the entire lunar surface. Two types of the LPO systems have been studied. One is the 2-ton-class remote sensing satellite referred as the “Mapping Mission”. The other is the combination of the 1.5-ton-class Landing Probe referred as “Imaging Orbiter and Landing Probe Mission”. Mapping Mission employs the high resolution Lunar Mapping Imager (LMI), Synthetic Aperture Radar (SAR) and Laser Altimeter (L-ALT). Imaging Orbiter and Landing Probe Mission employs the LMI, conventional RF Radar Altimeter and ground truth sensors. X-ray and Gamma-ray spectrometers are common sensors to the both missions. Each LPO can be designed by best utilizing the up-to-date earth observation satellite technology without any major technical challenges. As for the Landing Probe, Navigation and Guidance, Descent Engine, Landing Radar and Landing Gear are the key technology which require the further research effort. The LPO is tentatively planned to be launched in FY1997 by H-II rocket.

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This paper presents a mission scenario and a system concept of Lunar Mobile Explorer (LME) in late 1990’s, using H-II, the Japanese coming launch vehicle. Also described is the conceptual study of LME about the guidance navigation, and control (G&C) system and the communication system. In the early stage of the lunar development, it is necessary to make a detail map of the moon resources and topography, and to get the data for planning of human activities, which expects obtaining the number of Lunar bases, to decide good places for locating these bases, to estimate a scope of robot application. Then, it is appropriate to send an unmanned explorer on the moon in order to get a large amount of data. It is better choice to use mobile explorer, because no standstill can obtain the abundant data except LME.

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Lunar base construction study has been conducted under the sponsorship of many Japanese industries to amend the man tended lunar outpost study carried by NASDA. Permanent lunar base construction is to be constrained by the ability of the usable transportation system carrying the basic modules composing lunar base itself. Based upon the experiences of Antarctic Research Expedition and of designing International Space Station now going on it was assumed the initial permanent lunar base has to be composed of two habitats and one power module for letting possible to alive 8 crews, and has to be expanded by adding three or four modules in every year for improving the easiness of livingness. In early stage of construction, crew members have to live and work using only two habitat modules with getting the electric power from power module, therefore the minimum self support functions except the food and oxygen supplying have to be attached to the habitat modules. One or two years later from beginning the construction the plantation modules have to be added one by one for implementing the food and oxygen supplying functions to whole lunar base. Based upon the consideration above, life support subsystems to be installed in the habitat and plantation modules and the method for integrating all subsystems to accomplish the required life support functions have been discussed.

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