Systems and methods for docking and undocking a spacecraft

Abstract

Described herein are systems and methods for docking or undocking a spacecraft to or from another spinning spacecraft such as a spinning space station. Methods can include at least receiving an initial state and subsequent states for each of a first spacecraft and a second spacecraft; processing, using a trained machine learning (ML) model, the initial states and the subsequent states to determine actions to execute during the docking or undocking; and executing the plurality of actions thereby docking or undocking the first spacecraft to or from the second spacecraft.

Description

SYSTEMS AND METHODS FOR DOCKING AND UNDOCKING A SPACECRAFTCROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of U.S. Provisional Application No. 63 / 587,045, filed September 29, 2023, which is incorporated by reference herein in its entirety.BACKGROUND

[0002] Fascination with and the study of space has existed throughout recorded history. As technology has advanced, the ability to explore space has dramatically increased. For millennia, people could only view space from Earth. However, the advent of the modem space age has allowed people to leave the confines of Earth and enter space. This era may be considered to have started with the launch of the Sputnik satellite in 1957 by the Soviet Union. However, since that time, incredible strides have been made, including in the Apollo program, which landed humans on the Moon. Following the Apollo programs, the National Aeronautics and Space Administration (NASA) continued space exploration with its Space Shuttle program that allowed for regular human access to space. The Space Shuttle program, which lasted until 2011, conducted numerous missions and led to the next evolution of space exploration by assisting in the construction of the International Space Station (ISS). The International Space Station is a collaborative project involving multiple nations and serves as a space laboratory for scientific research. As space exploration develops, space stations play an increasingly important role. The ISS has served as a platform for scientific research and international collaboration since 2000 and continues to be used today. Currently, space stations operate in low-Earth orbit, but they will eventually expand beyond Earth orbit. As the reach of the space station expands, so too will the time people spend on these stations.

[0003] However, there are significant technical factors to address for inhabitants of space stations. From over two decades of research onboard the ISS, at least one unsolved technical challenge and long-felt need is reducing debilitating side effects in humans due to prolonged exposure to zero gravity. Deficient technical solutions for reducing the effects of prolonged exposure to zero gravity can include limiting visits to space to reduce the toll on their bodies. Zero gravity can therefore be a limiting technical challenge and factor for human space exploration.

[0004] Accordingly, what is needed are systems and methods that can facilitate docking and undocking of a spacecraft to a spinning space station thereby reducing debilitating side effects from prolonged exposure to zero gravity.SUMMARY

[0005] Recognized herein is at least that, for space exploration to develop and continue to expand, space stations may need to provide artificial gravity. Spinning a space station can create artificial gravity. However, the spinning, while beneficial for creating artificial gravity for the space station’s inhabitants, can create other unsolved technical challenges. For example, space stations often receive incoming vessels, which bring supplies, other astronauts, or both. Docking to a spinning space station can be much more technically complex than docking with a non-spinning space station. One unsuitable solution can be to arrest the spinning motion of the space station during the docking process, but this approach can have its own deficiencies. For example, it can take a significant amount of energy to de-spin the space station, dock the incoming vessel, and then re-start the spinning. Methods and systems herein can solve at least these long-felt but unmet technical challenges.

[0006] In an aspect, disclosed herein is a method for docking a spacecraft, the method comprising: receiving an initial state and subsequent states for each of a first spacecraft and a second spacecraft, wherein the initial states and the subsequent states comprise at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory; processing, using a trained machine learning (ML) model, the initial states and the subsequent states to determine a plurality of actions to execute during the docking; and executing the plurality of actions thereby docking the first spacecraft to the second spacecraft. In some embodiments, executing the plurality of actions comprises causing a spin rate of the first spacecraft to substantially match a spin rate of the second spacecraft at a time of the initial states or subsequent times of the subsequent states. In some embodiments, the method further comprises: controlling at least one arm of the first spacecraft or the second spacecraft to bring the first spacecraft into soft docking or hard docking with the second spacecraft; controlling at least one device for correcting a misalignment during the soft docking; and controlling at least one device for hard docking the first spacecraft to the second spacecraft. In some embodiments, the method further comprises: determining the initial states or the subsequent states; processing, by the trained ML model, the initial states or the subsequent states in real time and predicting the plurality of actions; and selecting at least one action of the plurality of actions based at least on determining a likelihood of the at least one action to successfully dock the first spacecraft to the second spacecraft. In some embodiments, the method further comprises generating data from a plurality of sensors to determine the initial states and the subsequent states, wherein the plurality of sensors comprises imaging sensors, GPS sensors, pressure sensors, motion sensors, electromagnetic (EM) sensors, or light detection and ranging (LIDAR) sensors. In some embodiments, the method further comprises using a statistical model to process the data from the plurality of sensors to determine the initial states and the subsequent states. In some embodiments,the method further comprises using a computer vision model to process the data from the plurality of sensors to determine the initial state or the subsequent states. In some embodiments, the method further comprises using one or more operable devices to cause the initial states to transition to the subsequent states, wherein the one or more operable devices comprises (i) thrusters, (ii) momentum devices, (iii) active ballasts, or (iv) active dampening. In some embodiments, the method further comprises aligning a docking port of the first spacecraft with a docking port of the second spacecraft using soft capture docking or hard capture docking. In some embodiments, the soft capture docking comprises initially aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on the initial states or the subsequent states. In some embodiments, the hard docking comprises finally aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on determining a final state of the subsequent states. In some embodiments, the method further comprises determining one or more stabilization actions by processing the initial states or the subsequent states. In some embodiments, the method further comprises using the one or more stabilization actions to compensate for a change in angular momentum or rotational stability caused by contact of the first spacecraft with the second spacecraft. In some embodiments, the method further comprises transmitting and receiving a plurality of communications signals or control signals to affect the docking between the first spacecraft and the second spacecraft. In some embodiments, the method further comprises using a user interface (UI) configured with a plurality of selectable graphical elements which allow a user to manually control or automatically direct the docking of the first spacecraft to the second spacecraft. In some embodiments, the method further comprises determining an emergency action when the docking exceeds a prescribed safety threshold, wherein the emergency action comprises (i) an emergency decoupling of the first spacecraft from the second spacecraft or (ii) an emergency de-spin of the first spacecraft or the second spacecraft. In some embodiments, the method reduces an acclimation time of a user to zero-gravity or microgravity conditions by at least 5%. In some embodiments, the method further comprises using the method to undock the first spacecraft from the second spacecraft. In some embodiments, the second spacecraft comprises a space station.

[0007] In another aspect, described herein is a system for docking a spacecraft, the system comprising: a docking module comprising one or more controllers configured to facilitate docking of a first spacecraft to a second spacecraft, wherein the second spacecraft has an initial state of at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory, each relative to the first spacecraft; a sensor module comprising a plurality of sensors configured to detect the initial state and subsequent states of the second spacecraft during the docking; a decision module comprising a trained machine learning (ML) model configured to (i) process the initial state and thesubsequent states and (ii) determine a plurality of actions during the docking; and a control module comprising operable devices configured to execute the plurality of actions. In some embodiments, executing the plurality of actions causes a spin rate of the first spacecraft to substantially match a spin rate of the second spacecraft at a time of the initial state or subsequent times of the subsequent states. In some embodiments, the one or more controllers of the docking module further comprise: an arm controller configured to control at least one arm of the first spacecraft or the second spacecraft to bring the first spacecraft into soft docking or hard docking with the second spacecraft; a soft capture controller configured to control at least one device for correcting a misalignment during the soft docking; and a hard capture controller configured to control at least one device for hard docking the first spacecraft to the second spacecraft. In some embodiments, the decision module further comprises: a data module configured to receive the initial state or the subsequent states; a ML engine configured to (i) process the initial state or the subsequent states in real time and (ii) predict the plurality of actions; and a routing module configured to select at least one action of the plurality of actions based at least on determining a likelihood of the at least one action to successfully dock the first spacecraft to the second spacecraft. In some embodiments, the decision module is further configured to process data from a localization module or a perception module. In some embodiments, the localization module is configured to use a statistical model to process data from the plurality of sensors and determine the initial state or the subsequent states. In some embodiments, the perception module is configured use a computer vision model to process data from the plurality of sensors and determine the initial state or the subsequent states. In some embodiments, the operable devices of the control module comprise one or more (i) thrusters, (ii) momentum devices, (iii) active ballasts, or (iv) active dampening, to cause the initial state of the first spacecraft to transition to a subsequent state of the first spacecraft. In some embodiments, the docking comprises aligning a docking port of the first spacecraft with a docking port of the second spacecraft using soft capture docking or hard capture docking. In some embodiments, the soft capture docking comprises initially aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on the initial state or the subsequent states. In some embodiments, the hard docking comprises finally aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on determining a final state of the subsequent states. In some embodiments, the system further comprises a stabilization module configured to determine one or more stabilization actions by processing the initial state or the subsequent states. In some embodiments, the one or more stabilization actions are determined to compensate for a change in angular momentum or rotational stability caused by contact of the first spacecraft with the second spacecraft. In some embodiments, the system further comprises a communication module configured to transmit andreceive a plurality of communications signals or control signals between (i) the first spacecraft and the second spacecraft or (ii) each module of the system. In some embodiments, the system further comprises an interface module with a user interface (UI) configured with a plurality of selectable graphical elements for allowing a user to manually control or automatically direct the docking of the first spacecraft to the second spacecraft. In some embodiments, the system further comprises a control phase module configured to determine an emergency action when the docking exceeds a prescribed safety threshold, wherein the emergency action comprises (i) an emergency decoupling of the first spacecraft from the second spacecraft or (ii) an emergency de-spin of the first spacecraft or the second spacecraft. In some embodiments, the system reduces an acclimation time of a user to zero-gravity or microgravity conditions by at least 5%. In some embodiments, the first spacecraft has an initial state of at least (i) a spin rate, (ii) a position, (iii), and (iv) a trajectory, each relative to the second spacecraft, and subsequent states thereof. In some embodiments, the plurality of sensors comprises imaging sensors, GPS sensors, pressure sensors, motion sensors, electromagnetic (EM) sensors, or light detection and ranging (LIDAR) sensors. In some embodiments, the system further comprises using the system to undock the first spacecraft from the second spacecraft. In some embodiments, the second spacecraft comprises a space station.

[0008] In another aspect, disclosed herein is computer program product for docking a spacecraft, the computer program product comprising at least one non-transitory computer-readable medium having computer-readable program code portions embodied therein, the computer-readable program code portions comprising: an executable portion configured to receive an initial state and subsequent states for each of a first spacecraft and a second spacecraft, wherein the initial states and the subsequent states comprise at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory; an executable portion configured to process, using a trained machine learning (ML) model, the initial states and the subsequent states to determine a plurality of actions to execute during the docking; and an executable portion configured to execute the plurality of actions thereby docking the first spacecraft to the second spacecraft.

[0009] Additional aspects and advantages of the present disclosure will become readily apparent from the following detailed description, wherein only illustrative embodiments of the present disclosure are shown and described. As will be realized, the present disclosure is capable of other and different embodiments, and its several details are capable of modifications in various obvious respects, all without departing from the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.INCORPORATION BY REFERENCE

[0010] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. To the extent publications and patents or patent applications incorporated by reference contradict the present disclosure contained in the specification, the specification is intended to supersede and / or take precedence over any such contradictory material.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The novel features of the present disclosure are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present disclosure will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the present disclosure are utilized, and the accompanying drawings of which:

[0012] FIG. 1 depicts an embodiment of a space station, according to embodiments of the present disclosure.

[0013] FIG. 2 depicts the spin rotation of a cylindrical space station, according to embodiments of the present disclosure.

[0014] FIG. 3 depicts a block diagram illustrating a space vehicle docking / undocking system 300, according to embodiments of the present disclosure.

[0015] FIG. 4 depicts block diagrams illustrating example methods / modules that may be used for operating a spacecraft for docking / undocking, according to embodiments of the present disclosure.

[0016] FIG. 5 depicts an interplay or process flow of modules, according to embodiments of the present disclosure.

[0017] FIG. 6 depicts spinning docking, according to embodiments of the present disclosure.

[0018] FIG. 7 depicts a rotational soft capture implementation or adaptation, according to embodiments of the present disclosure.

[0019] FIG. 8 depicts yet another rotational soft capture implementation or adaptation, according to embodiments of the present disclosure.

[0020] FIGS. 9A-9B depict alternative thread implementations, according to embodiments of the present disclosure.

[0021] FIG. 10 depicts spin docking, according to embodiments of the present disclosure.

[0022] FIG. 11 depicted is an embodiment of docking in which the space station is spinning but the incoming spacecraft is not spinning, according to embodiments of the present disclosure.

[0023] FIG. 12 depicted an alternative embodiment of docking in which the space station is spinning but the incoming spacecraft is not spinning, according to embodiments of the present disclosure.

[0024] FIGS. 13-14 depict additional views of an arm implementation, according to embodiments of the present disclosure.

[0025] FIG. 15 depicts yet another docking configuration, according to embodiments of the present disclosure.

[0026] FIG. 16 depicts a state or control phase diagram for docking and undocking, according to embodiments of the present disclosure.

[0027] FIG. 17 depicts a simplified block diagram of a computing device / information handling system, according to embodiments of the present disclosure.DETAILED DESCRIPTION

[0028] While various embodiments of the present disclosure have been shown and described herein, such embodiments are provided by way of example only. Numerous variations, changes, or substitutions may occur without departing from the present disclosure. It should be understood that various alternatives to the embodiments of the present disclosure described herein may be employed.Overview

[0029] Space stations can serve a multitude of important purposes, making them crucial assets in space exploration and scientific research. Some of the key uses of space stations include the following. First, a space station provides a unique microgravity environment that allows scientists to conduct experiments that can be impossible to perform on Earth. These experiments may cover a wide range of fields, including biology, physics, climate / weather research, and materials science. The results of these experiments can lead to new discoveries and advancements in various scientific disciplines. Second, space stations help push technological advancements. Building and operating a space station requires cutting-edge technology and engineering solutions. The development of such technology not only benefits space exploration but also finds other applications, such as in medical devices, water purification systems, and energy-efficient materials. Third, space stations offer opportunities for long-duration human spaceflight, allowing astronauts to live and work in space for extended periods. This experience is essential for preparing astronauts for future deep space missions, such as those to the Moon, Mars, and beyond. Fourth, space stations serve a critical role for testing spacecraft systems, life support technologies, and various space-related equipment. This testing helps identify potential issues and improves the reliability and safety of future space missions. Fifth, space stations provide a controlled environment for studying the effects of prolonged space travel on the human body. Researchconducted on space stations contributes to our understanding of space medicine and helps develop countermeasures to mitigate health risks for astronauts on long-duration missions. Sixth, as space travel expands, space stations will serve as logistical hubs where cargo and crew can be transported to and from Earth. They will support resupply missions, enabling continuous scientific research and astronaut well-being. Finally, as space stations and space travel become more common, they will provide opportunities for commercial ventures, including space tourism, research partnerships, and private sector experiments. In short, space stations play a vital role in advancing science, technology, and human exploration beyond Earth. They are platforms for conducting groundbreaking research, testing new technologies, and preparing for future missions to destinations like the Moon and Mars.

[0030] As noted previously, for any extended stays, astronauts can benefit from artificial gravity. Developing artificial gravity space stations is of utmost importance for humanity’s interplanetary expansion given the significant detrimental effects on the human body caused by extended duration in microgravity. However, doing so involves overcoming a variety of technological, operational, and programmatic technical challenges. Described herein are technical solutions for handling the docking / undocking processes for an artificial gravity space station.

[0031] Although short-arm centrifugation shows some promise as a viable countermeasure to prolonged microgravity exposure and has been demonstrated to be tolerable to humans in some ground studies, the physical constraints of the centrifuge limit the operational capabilities of the person within. This effectively prevents the centrifugation from occurring constantly; it is instead implemented in an intermittent, time-limited fashion, similar to exercise. The short-arm centrifugation can be intentionally paired with exercise for operational synergy. While this approach may address the medical deconditioning concerns, its technical deficiencies include at least not allowing the station to act as an analogue for permanent habitation on the Moon or Mars. Compared to short-arm centrifugation, an increased spin radius reduces the rotational rate needed to achieve any given gravitational level, which in turn reduces the spin acclimatization burden to the humans. It also reduces the gravity gradient experienced by humans standing “upright” with respect to the experienced accelerative force. Short of introducing the untenable technical complexity of tethers and booms, one way to maximize the spin radius within a cylinder whose height is non-trivially greater than its diameter is by spinning about an axis perpendicular to the cylinder’s longitudinal axis, rather than coincident with it.Spin considerations for docking / undocking and artificial gravity

[0032] FIG. 1 depicts an embodiment of a space station, according to embodiments of the present disclosure. The space station illustrated in FIG. 1 represents a whole-station artificial gravity architecture that still provides significant value is a series of cylindrical modules matedend-to-end and spun. The station 100 may comprise individually launched modules with a pressurized interior fully capable of supporting all human space-based activities as well as science, research, and in-space manufacturing. In some cases, the space station can include individually launched components, different pressurized interiors, module support (e.g., habitat module support), individual compartments in each module, or individual docking ports in each module. In some cases, the space station can include a spinning space station or a non-spinning space station. In some cases, a spacecraft to be docked or undocked to or from the space station may be a spinning spacecraft or a non-spinning spacecraft.

[0033] In one or more embodiments, artificial gravity is generated by spinning the entire station “baton-style”, end-over-end. Such architecture facilitates optimize for the confluence of the following priorities: design simplification (e.g., the series of cylindrical modules mated end-to- end and spun provides a simple whole-station artificial gravity architecture that still provides significant value); spin radius maximization; module volume maximization; and instability reduction.

[0034] In one or more embodiments, one or more of the following methodologies may be employed to ensure stability while spinning: 1. Active control using thrusters and / or Control Moment Gyroscopes (CMGs) (single-module stations and multi-module stations) and an active ballasting system (multi-module station). 2. Selective mass distribution bias towards the plane of the spin, both internal and external to the pressurized module, to encourage the assembly to become wheel-like 3. A de-spun section at the spin axis may be excluded in one or more embodiments, because it can add significant mass out of the spin plane and may cause the station configuration to become less stable. In one or more embodiments, each module may be fully compartmentalized to ensure crew safety in the event of an emergency. Each module may be equipped with at least one docking port to ensure crew egress ability.

[0035] FIG. 2 depicts the spin rotation of a cylindrical space station 200, according to embodiments of the present disclosure. As illustrated in FIG. 2, a benefit of the spinning creates partial gravity environments that will emulate various gravitational fields. For example, depending upon where along the longitudinal axis an astronaut is, they may experience different simulated gravitation fields, such as Earth, Venus, Mars, Moon, and near-zero gravities.

[0036] Note that the baton configuration is not limited to providing a single gravity but is optimized for variable gravity environments. The variability allows for or provides different zones for inhabitants that may have different tolerances and medical states. It also provides different environments for testing / experiments.

[0037] In one or more embodiments, one or more methods may be implemented to reduce acclimation time for inhabitants: (1) Coriolis-optimized architectural layouts; (2) Vestibularadaptation exercises; (3) Visual stimuli; and (4) standard motion-sickness countermeasures. In some cases, using systems and methods herein, acclimation time can be reduced by at least about 1%, 5%, 10%, 20%, or greater.

[0038] Although the space station may not spin about its most inherently stable longitudinal axis, robust stability may nevertheless be maintained via one or more of the methods introduced above as well as systems and methods disclosed herein.

[0039] Note that docking of a visiting vehicle at the center of spin may be a destabilizing event. As discussed herein, active controls, in conjunction with operational parameters, may be used to account for this.

[0040] While docking may be conducted in a de-spun state, in which after the vehicle and station are successfully docked that conjoined spinning will commence, such an approach is costly and operationally inefficient. First, it is costly in terms of energy / fuel needed to de-spin the station and to resume spinning of the space station with the docked vehicle. Second, people and experiments being conducted that relate to partial gravity may be adversely affected by the stopped space station. Thus, it can be beneficial to be able to dock the incoming vessel without having to de-spin the space station.

[0041] However, docking with a spinning space station presents unique technical challenges compared to docking with a stationary spacecraft or station. When a space station is spinning, it generates artificial gravity within its modules, which can be beneficial for the health of astronauts. However, it complicates the docking process. Several elements can be considered or are involved in docking with a spinning space station.

[0042] First, understanding the spin can be important. Before attempting to dock, either the visiting spacecraft, the space station, or both must be aware of the space station’s spin rate, direction, and orientation. This information is crucial for proper alignment during the docking process. And, if the incoming spacecraft is spinning, its spin rate, direction, and orientation must similarly be determined.

[0043] Second, the vessels can match their rotation to ensure stable and safe docking. This involves good control of a spacecraft’s attitude and rotation rates and / or as disclosed in embodiments herein involves control of space station docking systems.

[0044] Third, docking port alignment can be configured to closely align the docking port on the incoming vessel with the docking port on the space station. This may be accomplished using guidance systems and active controls to ensure the two ports align correctly.

[0045] Fourth, the capture mechanism used to capture the docking port of the space station can include soft capture capabilities that can compensate for some initial port misalignment and compensate for out-of-sync rotation. Once soft capture has been achieved, a hard docking maybe performed, which involves firmly securing the docking ports together to create an airtight seal and structural connection.

[0046] Fifth, as part of docking, embodiments can include stabilization state systems that compensate for the addition of the docked vehicle. For example, as part of transitioning from soft to hard capture while spinning, factors such as the Dzhanibekov effect can be accounted for. The Dzhanibekov effect, also known as the intermediate axis theorem, is a phenomenon in rotational dynamics that occurs in the context of a rotating rigid body, such as a spacecraft or satellite. It is named after Vladimir Dzhanibekov, a Soviet cosmonaut who first observed and reported this effect during a space mission. The Dzhanibekov effect is a result of the complex interplay of angular momentum and rotational stability and describes an interesting behavior of a rotating object with three different principal moments of inertia (e.g., three distinct moments of mass distribution along its principal axes). These moments of inertia are typically referred to as the major axis (the axis with the largest moment of inertia), the intermediate axis (the axis with the middle moment of inertia), and the minor axis (the axis with the smallest moment of inertia). The phenomenon occurs when a rotating object, initially stable in one axis (usually the major or minor axis), experiences a disturbance or torque that causes it to rotate around its intermediate axis. This rotation around the intermediate axis can be unpredictable and can appear as if the object is flipping. Understanding and accounting for this effect is important to avoid unintended rotations or instabilities after the initial capture. In one or more embodiments, the spacecraft and the space station can be stabilized to prevent unintended separation or oscillations using thrusters and / or other control systems.

[0047] Sixth, depending upon the embodiment, spin management can also be used for the space station and coupled spacecraft. While docked, the spacecraft and / or space station may need to achieve and maintain proper orientation, spin, and alignment. This may involve using several systems such as reaction wheels, gyroscopes, and / or thrusters.

[0048] Finally, in addition to the docking process, it shall also be understood that undocking can also present technical challenges — particularly to the dynamics and controls of the space station as its geometry changes with the undocking. Therefore, when a mission is complete and the spacecraft undocks from the spinning space station, the undocking procedure comprises reversing aspects of the docking sequence to ensure a safe separation.Systems for docking or undocking a spacecraft

[0049] In an aspect, described herein is a system for docking a spacecraft. In some embodiments, the system comprises a docking module comprising one or more controllers configured to facilitate docking of a first spacecraft to a second spacecraft. In some embodiments, the second spacecraft has an initial state of at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv)a trajectory, each relative to the first spacecraft. In some embodiments, the system comprises a sensor module comprising a plurality of sensors configured to detect the initial state and subsequent states of the second spacecraft during the docking. In some embodiments, the system comprises a decision module comprising a trained machine learning (ML) model configured to (i) process the initial state and the subsequent states and (ii) determine a plurality of actions during the docking. In some embodiments, the system comprises a control module comprising operable devices configured to execute the plurality of actions. In some embodiments, executing the plurality of actions causes a spin rate of the first spacecraft to substantially match a spin rate of the second spacecraft at a time of the initial state or subsequent times of the subsequent states.

[0050] Turning now to FIG. 3, depicted is a block diagram illustrating a space vehicle docking / undocking system 300, according to embodiments of the present disclosure. As depicted the docking / undocking system 390 may comprise several systems (e.g., systems 310-360), which may comprise subsystems or components. These systems may be communicatively coupled over one or more networks or communication connections. The networks and communication connections may be any type, such as a local area network (LAN), a wide area network (WAN), a satellite network, or a combination thereof, and may comprise wired (e.g., interconnect, buses, etc.), wireless, or both connectivity. In one or more embodiments, a communication connection may be designed to allow microcontrollers and devices to communicate with each other in applications without a host computer and / or may be designed to communicate using standard or proprietary communication protocols.

[0051] Computing systems may be any kind of information handling system, such as a server or a cluster of servers, application servers, backend servers, or a combination thereof. Computing systems may be data analytics servers, content servers, machine learning servers, map and point of interest (MPOI) servers, location servers, etc. FIG. 17, below, depicts an example computing system, according to embodiments of the present disclosure.

[0052] In one or more embodiments, embodiments may be configured to operate in an autonomous mode in which the processes are performed with little or no input from a user or users.

[0053] In one or more embodiments, system 390 includes, but is not limited to, a docking system 310, sensor system 320, communication system 330, control systems 340, user interface system 350, and data analytics and machine learning (ML) system 360. It shall be noted that the spacecraft may comprise additional systems and components; the systems of FIG. 3 are depicted to illustrate the docking / undocking embodiments disclosed herein. For example, the spacecraft may further include certain common components included in typical spacecrafts, such as an engineor engines, life support systems, environmental systems, etc., which may be controlled by a control system using a variety of communication signals and / or commands.Docking systems

[0054] In one or more embodiments, the docking system 310 may comprise one or more subsystems or controllers related to docking / undocking components. In one or more embodiments, the docking system 310 comprises an arm controller 312 for controlling an arm that facilitates capture and docking of an incoming spacecraft. It shall be noted that if the space station does not have an arm, then it may not have an arm controller 312.

[0055] In one or more embodiments, the docking system may comprise controllers for soft capture 314 and hard capture 316. Soft capture and hard capture are two methods used in spacecraft docking and rendezvous operations.

[0056] Soft capture typically refers to methodologies of spacecraft docking where the two spacecraft make physical contact with each other using a flexible mechanism. This approach is characterized by a gradual and controlled approach and connection process. Soft capture allows for initial misalignment and prevents damage to either spacecraft. Soft capture mechanisms may include docking probes, capture latches, or magnetic interfaces. Once the soft capture is achieved, the spacecraft may then proceed to establish a more secure connection, such as a hard capture. In some cases, soft capture methods can include, without limitation, using docking systems that are androgynous (e.g., identical interfaces on both spacecrafts) or non-androgynous (e.g., male and female mating parts). In some cases, the docking system can include the APAS-75 / 89 Docking System; a probe and drogue docking system, e.g., the SSVP-M8000; the Common Berthing Mechanism® (CBM); the Soft Capture Mechanism® (SCM); the Androgynous Peripheral Attach System (APAS)-based docking ports for Space Shuttles; the NASA Docking System (NDS); SpaceX® soft capture rings; magnetic docking ports; or capture arms, e.g., the Canadarm2® on the ISS.

[0057] Hard capture, on the other hand, involves more secure docking. In such approaches, the two spacecraft use rigid mechanisms, such as mechanical hooks, latches, or docking rings, to firmly lock together. Hard capture is typically used when a strong and reliable connection is important, especially in scenarios where the spacecraft may need to withstand external forces or to ensure interface integrity. Once hard capture is achieved, the two spacecraft are mechanically and securely attached, and any further docking operations, such as sealing of hatches or transfer of crew and cargo, can take place.Sensor systems

[0058] As illustrated in FIG. 3, the system 390 may comprise sensor system 320 having one or more sensors that are configured to detect information. In one or more embodiments, the sensorsystem 320 comprises, but is not limited to, one or more cameras 322, global positioning system (GPS) unit(s) 323, one or more motion sensors (e.g., inertial measurement unit (IMU), accelerometers, etc.) 326, one or more pressure sensors 324, radar unit(s) 328, and one or more light detection and range (LIDAR) units 329. GPS system 323 may include a transceiver operable to provide information regarding the position of the spacecraft. The motion sensor unit 326 may sense position and orientation changes of the spacecraft based on inertial acceleration. Radar unit 328 may represent a system that utilizes radio signals to sense objects within a range of the spacecraft. In one or more embodiments, in addition to sensing objects, radar unit 328 may additionally sense the speed and / or heading of the objects. LIDAR unit 329 may sense objects in the environment in which the spacecraft is located using lasers. LIDAR unit 329 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components. Cameras 322 may include one or more devices to capture images of the environment surrounding the spacecraft. Cameras 322 may be still cameras and / or video cameras, and one or more of the cameras may receive image data in varying ranges of the light spectrum. One or more of the cameras may be mechanically movable, for example, by mounting the camera on a rotating and / or tilting platform. In one or more embodiments, one or more cameras may be moveable to be stabilized relative to another object that is being imaged by the camera.

[0059] Sensor system 320 may further include other sensors, such as an infrared sensor, a throttle sensor, an audio sensor (e.g., a microphone), and a weight or mass sensor. In one or more embodiments, one or more sensors may be used to determine a center of mass or center of force of the spacecraft, including due to changes in configuration, changes in number of occupants, and changes in payload. Having one or more mass sensors to gauge the overall mass of the spacecraft and its contents (including occupants) allows the spacecraft to use mass and / or weight parameters for one or more determinations, such as braking, accelerating, handling, etc.Control systems

[0060] In one or more embodiments, as illustrated in FIG. 3, the system 390 includes control systems 340, but is not limited to, thruster module or unit 342, momentum devices 344 (e.g., flywheels, control moment gyroscopes, etc.), active ballast 346, and active dampening 348. Thrusters 342 may be used to adjust the direction, rotation, or orientation of the spacecraft. Thrusters 342 may be used to control the speed and braking; for example, thrusters operating counter to a directional movement will slow movement in that directional movement. Also, thrusters 342 may also be used for steering.Other systems

[0061] In one or more embodiments, as illustrated in FIG. 3, communication system 330 allows for communication between the spacecraft and other systems, such as devices, sensors, otherspacecrafts, etc. For example, communication system 330 may communicate with one or more devices directly or via a communication network. As noted previously, networks and communication connections may be any type, such as a local area network (LAN), a wide area network (WAN), a cellular network, a satellite network, an edge network, or a combination thereof, and may comprise wired (e.g., interconnect, buses, etc.), wireless, or combination thereof.

[0062] As illustrated in FIG. 3, a user interface system 350 may be provided to aid user control or operation of one or more of the systems described herein. User interfaces may include graphical user interfaces and / or interface hardware (e.g., a keyboard, a touch screen display device, a microphone, and a speaker, etc.).

[0063] Some or all of the functions of docking / undocking may be controlled or managed by system 390, especially when operating in an autonomous mode, but may also provide override functionality for manual operation. To facilitate autonomous operation or to provide guided assistance during manual mode, the docking system 390 may comprise machine learning models or methods 366. As illustrated in FIG. 3, the data analytics and ML system(s) 360 may include data collector(s) 362 that interface with the sensor system to collect data related to the spacecraft and / or related to docking / undocking. Because training of machine leaming / artificial intelligent (Al) methodologies and running trained ML / Al models typically require immense computing resources, machine learning (ML) engines 364 may be used. Machine learning engines 364 may comprise graphical processing units (GPUs), neural processing units (NPUs), and other specialized hardware that can perform real-time or near real-time computations. The ML engines 364 may receive information from the other systems (e.g., data collector 362, sensor system 320, control system 340, communication system 330, user interface system 350, etc.) and process the received information to plan and execute a methodology, such as docking or undocking.

[0064] While an incoming spacecraft is moving along its route, a spacecraft (e.g., a space station) with a docking system 390 may obtain real-time information about the incoming spacecraft, including without limitation its position, orientation, and spin. Based on the real-time information provided by the sensor system and from other inputs (e.g., received from the incoming spacecraft), the docking system 390 can plan a procedure for safely and efficiently docking the incoming spacecraft.

[0065] System 360 may also perform data analytics services for a variety of purposes. In one or more embodiments, collected data may be used to generate new ML methodologies, to provide data for updating (e.g., finetuning) existing ML methodologies, or both. For example, in one or more embodiments, the collected data 362 may include information indicating the commands (e.g., thruster, dampening, docking, etc.) issued and responses of the spacecraft (e.g., speeds,accelerations, decelerations, directions) captured by sensors at different points in time. The statistics may further include information describing the environments at different points in time.

[0066] In one or more embodiments, based on collected data 362, machine learning engine 364 generates or trains a set of rules, algorithms (methods), and / or predictive models 366 for a variety of purposes. For example, in one or more embodiments, methods / models 366 may include one or more models to receive data from a plurality of sensors mounted on the space station related to initial connection with an incoming spacecraft, one or more methods for handling the soft capture of the incoming spacecraft, one or more methods for handling hard capture of the incoming spacecraft, and one or more methods for handling undocking (particularly for emergency undocking and de-spinning the space station if it is spinning. Methods / models may also be uploaded to the space station to be utilized during operation.Methods for docking or undocking a spacecraft

[0067] In another aspect, disclosed herein is a method for docking a spacecraft. In some embodiments, the method comprises receiving an initial state and subsequent states for each of a first spacecraft and a second spacecraft. In some embodiments, the initial states and the subsequent states comprise at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory. In some embodiments, the method comprises processing, using a trained machine learning (ML) model, the initial states and the subsequent states to determine a plurality of actions to execute during the docking. In some embodiments, executing the plurality of actions thereby docking the first spacecraft to the second spacecraft. In some embodiments, executing the plurality of actions comprises causing a spin rate of the first spacecraft to substantially match a spin rate of the second spacecraft at a time of the initial states or subsequent times of the subsequent states.

[0068] FIG. 4 depicts block diagrams illustrating example modules that can be configured to perform methods herein for operating a spacecraft for docking / undocking 400, according to embodiments of the present disclosure. Methods / modules 366 include, but are not limited to, localization module 410, perception module 415, motion control module 420, decision module 425, planning module 430, docking control module 435, operational constraints module 440, and emergency de-spin module 445. FIG. 5 depicts an interplay or process flow of modules 500, according to embodiments of the present disclosure.

[0069] Some or all of modules 410-445 may be implemented in software, hardware, or a combination thereof. For example, these modules may be installed in persistent storage device, loaded into memory, and executed by one or more processors or engines. Note that some or all of these modules may be communicatively coupled to or integrated with some or all modules of spacecraft control system. Some of the modules may be integrated together as an integrated module.Localization module and methods

[0070] Localization module 410 may determine the current location of the spacecraft by leveraging sensors and other data. Determining the position of a space station (e.g., its orientation, motion, rotation, etc.) is not only important for tasks such as spacecraft control and navigation but is also very important for docking / undocking procedures. In one or more embodiments, the localization module 410 may utilize sensors such as: Inertial measurement unit (IMU), which measures the spacecraft’s linear and angular acceleration and allows the spacecraft to calculate its position, velocity, and orientation; Attitude determination system, which may use data from gyroscopes and other sensors to determine the spacecraft’s attitude (orientation) in three dimensions. It provides information about roll, pitch, and yaw angles, which are important for controlling the spacecraft’s orientation and aligning it with desired reference frames; GPS, particularly if the space station is in a low Earth orbit (LEO). A GPS receiver can provide accurate position and velocity information. This information may be used to supplement other data, such as the IMU data; Relative navigation sensors (e.g., such as LIDAR, radar, or computer vision systems) may also be used for rendezvous and docking operations. These sensors measure the distance and relative position of other spacecraft or objects nearby, enabling safe docking procedures.

[0071] Ground control or mission control centers on Earth may also supply information to the space station that it may use to help in tracking and determining position and other factors. However, depending upon the distance from Earth, delays in information from a ground-based tracking stations may be less useful for real-time control.

[0072] In one or more embodiments, localization module may use information communicated to it by an incoming spacecraft. That is, the spacecraft may report its own position information, which the space station may supplement with its own sensor information and computations (e.g., as discussed in the next paragraph).

[0073] Onboard computing systems may process data from the various sensors and inputs to perform navigation calculations and execute control algorithms. Data processing methods, such as Kalman filtering, may be employed to estimate a spacecraft’s state (e.g., position, velocity, and orientation) by combining sensor measurements, which may be noisy, with a dynamic model. Such approaches help improve the accuracy of localization determination. Combining data from these systems and sensors, the space station’s onboard computer may continuously update knowledge of its position, orientation, and rotation, as well as the incoming vessels’ position, orientation, and rotation (if any).Perception module and methods

[0074] Perception module 415 may include a computer vision system or functionalities of a computer vision system to process and analyze images captured by one or more cameras to identify objects and / or features in the environment of the spacecraft. The computer vision system may use object recognition methods, video tracking, and other computer vision techniques. In one or more embodiments, the computer vision system maps an environment, tracks objects, and estimates the speed of objects, etc. Perception module 415 may also detect objects based on other sensor data provided by other sensors such as a radar and / or LIDAR. For the object, one or more prediction modules may be used to predict how the object will behave under the circumstances. The prediction may be performed based on the perception data given a set of input data and models. A prediction module may calculate a rate of change (e.g., acceleration or deceleration) based on the control parameters. Embodiments herein address docking when at least one spacecraft (e.g., the space station and the incoming spacecraft or just the space station) is spinning. In one or more embodiments, unique feature markings on the port of the incoming vessel may be detected by one or more cameras of the space station, and using one or more computer vision methods, the space station can accurately determine the relative rate of spin between itself and the incoming vessel.Decision module and methods

[0075] Information from the localization module 410 and from perception / sensor module 415 may be supplied to decision module 425 to determine how to execute an operation or task, such as docking or undocking. For example, information about the space station (e.g., its orientation, rotation, trajectory, etc.) and information about an incoming spacecraft (e.g., its orientation, rotation, trajectory, etc.) may be used by one or more models in the decision module 425 to compute a plan (e.g., a set of tasks) how to successfully achieve docking. Decision module 425 may make such decisions according to a set of models and rules, which may be stored in a persistent storage device.

[0076] For example, in one or more embodiments, the decision module 425 may include one or more routing models that are configured to provide routes or paths from a starting point to a destination point. Decision module 425 may examine a set of possible routes and may select and modify one of the most optimal routes in view of other data provided by other modules. For example, in one or more embodiments, the decision module 425 may also receive input from an operational constraints module 440. Operational constraints may consider factors such as resource constraints. A space station has limited resources. Therefore, if a docking would require too much time, too much fuel, may result in an unsafe vehicle approach, etc., the decision module 425 may consider these factors when determining a docking plan or may determine that docking under the current conditions is not advisable.Planning module and methods

[0077] In one or more embodiments, based on the decision models output (e.g., the set of tasks for accomplishing the desired goal (e.g., docking), the implementation / planning module 430 may convert the set of tasks into low level commands to operating the affected systems of the spacecraft to execute the plan. For example, driver signals, commands, and other information are generated and sent to the responsive components at the correct times to ensure execution of the decided plan is accomplished, such as motion control module 420 and docking control module 435. It shall be noted that signals may be sent to other modules if they are involved in one or more of the tasks.

[0078] In one or more embodiments, the planning phase may be performed in a number of planning cycles, such as for example, in every time interval of 50 milliseconds (ms) (or some other time interval or intervals). For each of the planning cycles or driving cycles, one or more control commands may be issued based on the planning and control data. That is, for every 50 ms, planning module 430 implements a next segment. Alternatively, planning module 430 may further specify the specific implementation and may alter that execution if next needed to do so. Note that, in one or more embodiments, decision module 425 and planning module 430 may be integrated as a single module.Capture modules and methods

[0079] Turning now to FIG. 6, depicted is spinning docking, according to embodiments of the present disclosure. Illustrated in FIG. 6 is a space station 605 that is rotating in a plane comprising its longitudinal axis. The space station 605 is rotating according to a first rotational speed as illustrated by arrows 615. Also depicted is an incoming spacecraft 610, which is also rotating at a second rotational speed as illustrated by arrows 620. For the illustrated embodiment, the spacecraft 610 will dock with the space station 605 without requiring the space station to de-spin. To achieve docking, the space station and the spacecraft can match rotational speeds as well as alignment (e.g., orientation (e.g., clocking) and the spacecraft can approach along an approach line 625 that runs perpendicular to the longitudinal axis of the space station and aligns with the docking port 630).

[0080] However, because perfect alignment and matching rotational speeds is unrealistic, embodiments comprise having a soft docking port that allows for misalignment and mismatched rotations with acceptable tolerance. The dashed cone section 635 extending from the port 630 illustrates an acceptable range within which soft capture may successfully occur.

[0081] Some soft capture implementations may be adapted for use with embodiments herein. Soft docking ports have been used for various space missions, including crewed and uncrewed spacecraft rendezvous, docking, and berthing operations. It should be noted that docking systemsmay be androgynous (e.g., identical interfaces on both spacecrafts) or non-androgynous (e.g., male and female mating parts).

[0082] Some soft docking ports and systems include, but are not limited to, the following. One example is the APAS-75 / 89 Docking System, which is an androgynous peripheral attach system that was used on the Apollo and Space Shuttle programs. It allowed for docking between the Apollo Command and Service Module (CSM) and the Lunar Module (LM), as well as for Shuttle dockings with the International Space Station (ISS). Another example is the probe and drogue docking system (e.g., the SSVP-M8000), which comprises a probe (e.g., a rigid rod) and a drogue (e.g., a cone-shaped receptacle); it has been used in various space programs, including on the ISS. The ISS has employed various soft docking and berthing mechanisms, including the Common Berthing Mechanism (CBM), the Soft Capture Mechanism (SCM), and the AP AS-based docking ports for Space Shuttles. Yet another example is the NASA Docking System (NDS), which has been used for docking commercial crew spacecraft, such as SpaceX Crew Dragon and Boeing CST-100 Starliner, with the ISS. It includes a passive probe and active capture features. Another implementation is SpaceX’s soft capture rings, which involve inflatable structures used in conjunction with other docking systems. They form a tight seal between spacecraft during docking. Magnetic docking ports have also been tried. These ports employ strong magnets to secure the connection after initial contact. Finally, capture arms, such as the Canadarm2 on the ISS, are robotic arms equipped with specialized end-effectors designed to physically grasp and secure a target spacecraft or object. They are typically used for berthing and manipulation rather than typical docking, but such systems may in a general sense be considered to facilitate a form of soft docking by helping align an incoming craft to a docking port.

[0083] It must be noted, however, that these existing soft capture mechanisms do not accommodate spin. Accordingly, embodiments herein may include rotational capture mechanisms to receive an incoming spacecraft and help reduce any differential in rotation to zero so that hard capture may be performed. Embodiments herein may be implemented with or adapted to be used with one or more existing soft capture mechanisms.

[0084] FIG. 7 depicts a rotational soft capture implementation or adaptation 700, according to embodiments of the present disclosure. In one or more embodiments, to accommodate for a difference in rotation between an incoming spacecraft and the spinning space station, prongs 705 may extend from a slip ring 710 that can initially receive rotational different from an incoming spacecraft by spinning relative to the space station. To help facilitate hard docking, a controller may then apply braking or motor control to reduce the rotation difference been the two vessels until it is zero (or near zero) and hard docking can be performed. In one or more embodiments, the spin ring 710 may include an opening 715 to facilitate connecting to a port that allows accessbetween the two vessels once hard docking has been finished. Note that having the prongs extending outward at angles not only aids in absorbing the rotational difference but also helps other misalignments (e.g., axial misalignment) by funneling the incoming vessel to the center of the port.

[0085] FIG. 8 depicts yet another rotational soft capture implementation or adaptation 800, according to embodiments of the present disclosure. As illustrated, a spinning space station 805 may include as part of its docking system 810 a set of flanges or petals 815 that have gaps 820 to receive mating flanges or petals from an incoming craft (not depicted). The gaps 820 may be configured to be larger than the incoming craft’s mating flanges to further allow for rotation difference. As the flanges interlace and contact each other, a slip ring 825 may rotate to account for the rotational difference. As with the prior embodiment, the slip ring may be controlled by a controller (e.g., docking / undocking system 390 of FIG. 3) to adjust to slip ring’s rate to bring the incoming vessel’s rotation in sync with the space station and docking port 830.

[0086] FIGS. 9A and 9B depict additional rotational soft capture implementations or adaptations, according to embodiments of the present disclosure. As illustrated in FIG. 9A, a docking port may include a thread 905 to account for a spin / rotation difference between the space station and an incoming vessel. Not only does the thread 905 allow for rotation difference, but it also helps move the incoming vessel closer to hard docking.

[0087] FIG. 9B depicts an alternative thread embodiment, according to embodiments of the present disclosure. While a thread 910 is also used in the depicted example, it is on a conical shaped port 915. Such an embodiment can also allow for other initial misalignments (e.g., axial misalignment).Operational examples

[0088] Turning now to FIG. 10, depicted is an embodiment of a spin docking 1000, according to embodiments of the present disclosure. In the depicted embodiment, the space station 1005 is rotation in its longitudinal axis plane (e.g., end over end). The incoming spacecraft 1010 is also spinning and seeks to dock with the space station at its docking port 1015, which is located at the center of rotation of the space station. Utilizing the systems and methods discussed above, the incoming vessel may initially align itself, within set tolerance ranges, axially and rotationally to dock. Note that a docking system 390 may operate on the space station, on the incoming vessel, or both, in which case they may coordinate the docking procedure.

[0089] FIG. 10 addresses a situation in which both the space station and the incoming spacecraft were spinning. But, not every incoming spacecraft may be spinning. As noted previously, the space station may be spinning to provide artificial gravity, and to de-spin the space station expends critical resources. All resources, except for power that may be generated by one or more solarpanel arrays (e.g., panels 1110 in FIG. 11), must be conveyed (at extreme cost) to the space station. Therefore, minimizing resource expenditure is important, especially for long missions or situations in which the space station is at an extreme distance from Earth. Accordingly, FIG. 11 depicts an embodiment of docking in which the space station is spinning but the incoming spacecraft is not spinning 1100, according to embodiments of the present disclosure.

[0090] In the embodiment depicted in FIG. 11, the docking system 1115 of the space station 1105 comprises a rotatable ring interface 1120 (which may also be referred to herein as a de-spun ring embodiment). The ring interface 1120 may be spun with the same rotational speed but in the opposite direction of the spin of the space station. The net result is that the rotating ring interface 1120 will have zero rotational difference relative to the incoming space craft 1125. Docking with such a ring interface may proceed in a similar manner as no-spin docking that is currently performed, at least on the initial contact / soft contact stage. In one or more embodiments, the incoming spacecraft may attach to the ring and then be ramped into rotational alignment with the space station. Once the spacecraft’s rotation matches the space station’s rotation, hard docking may proceed.

[0091] FIG. 12 depicted an alternative embodiment of docking in which the space station is spinning but the incoming spacecraft is not spinning 1200, according to embodiments of the present disclosure. In the depicted embodiment, the space station 1205 includes a rotatable ring 1220 that is similar to that depicted in FIG. 11 as part of its docking system 1215. However, attached to the rotatable ring 1220 is an arm 1230. In such an embodiment, by spinning the rotatable ring 1220 at the same rate but in the opposite direction of the space station 1205 (e.g., counter spinning the ring 1220), the ring and arm will have no rotation relative to the incoming spacecraft 1225. The arm 1230, once connected to the incoming vessel 1225 can assist in aligning the spacecraft with the docking port of the space station. Once aligned and connected to the rotating ring 1220, the spacecraft’s rotation can be increased from zero to the space station’s rotation rate, and final docking may then proceed.

[0092] FIGS. 13 and 14 depict additional views of an arm implementation (1300, 1400), according to embodiments of the present disclosure. As illustrated, the docking system 1315 includes a rotatable ring 1320 to which an arm 1330 is attached. At the end of the arm is a capture mechanism 1335 that may be used to initially capture the incoming spacecraft and guide it toward the docking system 1315.

[0093] Note that embodiments may be combined with other embodiments disclosed herein. For example, the docking system includes a set of flanges 1340 as part of the rotatable ring 1320 that may be used not only to assist in soft capture but to also provide structural support for spinningup / rotating the captured spacecraft so that it can fully dock to the docking port 1345. FIG. 14 depicts the arm in an extended configuration 1400.

[0094] While not depicted, it shall be noted that an alternative embodiment may comprise having a rotatable ring at or near the end of the arm rather than at base of the arm where it affixes to the space station. One additional benefit of such implementations is that less mass needs to be moved, and therefore, less resources are expended.

[0095] Turning now to FIG. 15, depicted is yet another docking configuration 1500, according to embodiments of the present disclosure. The prior embodiments had the incoming spacecraft approaching perpendicular to the longitudinal axis of the space station 1510. However, a spacecraft 1525 may approach and dock in line with the space station’s longitudinal axis. Once the spacecraft’s 1525 circular rotation 1520 about the center of rotation 1515 of the space station 1505 is synchronized, the docking resembles docking to two non-spinning vessels.

[0096] It shall be noted alternative embodiments may comprise having a rotatable garage docking (which may also be referred to as a de-spun garage docking system). In such embodiments, an entire housing or garage structure may be rotated — similar to the rotatable ring — however, the entire spacecraft is received within the garage structure. The de-spun garage docking system may operate as a dry dock for the space station and may also serve other roles, such as a working area. Embodiments of the de-spun garage docking system may or may not include an arm. Such embodiments may involve additional structural requirements. For example, some or all spinning connections (e.g., power lines, water tubes, air vents, fuel lines, etc.) may be implemented using bearing or other rotational connection means.

[0097] Turning now to FIG. 16, depicted is a state or control phase diagram 1600 for docking and undocking, according to embodiments of the present disclosure. In the depicted embodiment 600, there are four main control phases. First, there is a no contact or solo control phase 1605, which represents when the space station and the incoming spacecraft have no physical connection. In such embodiments, each vessel may operate independently.

[0098] Once the incoming spacecraft comes into contact with the space station, the control phase may transition to an in-transit / initial contact control phase 1610. At this phase, the two vessels are not fully integrated but may be considered as loosely coupled. In one or more embodiments, one of the vessels (e.g., the space station) may direct the actions of both vessels, may take the leading role in coordinating the actions of both vessels but each vessel may retain some autonomy, or they may work in concert. In one or more embodiments, the two vessel may engage in an initial protocol to assign which vessel will be the lead vessel. It shall be noted that the incoming vessel may take the lead — particularly in emergency situations where the space station is undergoing one or more issues.

[0099] One or more sensors (e.g., switches, weight sensors, load cells, etc.) may be used to detect this initial contact phase, which may represent soft capture or initialization of soft capture. At this phase, misalignments may be addressed and control mechanisms to account for changes in center of mass and / or center of force, Dzhanibekov effects (e.g., moments of inertia), dampening, etc. can be implemented to ensure stability.[000100] Once misaligns (e.g., axial, rotational, etc.) have been reduced to zero or near zero, the control phase may progress to fully coupled control phase 1615. This phase may include controls for hard capture and completion of docking, including sealing surfaces coming into contact. Also, at this phase, control mechanisms to account for the changed center of mass and / or center of force, Dzhanibekov effects (e.g., moments of inertia), dampening, etc. can be implemented to maintain stability. In one or more embodiments, at this stage, one of the vessels may assume control of the cojoined system. However, in one or more alternative embodiments, one of the vessels may merely take a leading role in coordinating the actions of both vessels, but each vessel may retain some autonomy; or in yet another alternative embodiment, they may work in concert but remain primarily autonomous. In one or more embodiments, determination of the relative roles of the vessels may be determined in the initial protocol during the in-transit phase. However, in one or more embodiments, the assignment of roles / determination of coordination may be changed at other times, particularly if different conditions arise. For example, if the space station is initially set to coordinate all actions of both conjoined systems but then experiences some incident (e.g., impact damage from debris), control may be transferred to the docked spacecraft.[000101] In one or more embodiments, the control phase system 1600 may include decoupling and / or de-spinning control modules 1620. As a safety measure, either vessel may be configured to perform a rapid de-spin. Also, depending upon the control phase (e.g., initial contact control phase 1610 or fully coupled control phase 1615), a separation / undocking may be performed first before an emergency de-spin may be implemented.Computing systems[000102] In another aspect, disclosed herein is computer program product for docking a spacecraft. In some embodiments, the computer program product comprises at least one non- transitory computer-readable medium having computer-readable program code portions embodied therein, the computer-readable program code portions comprising: an executable portion configured to receive an initial state and subsequent states for each of a first spacecraft and a second spacecraft, wherein the initial states and the subsequent states comprise at least (i) a spin rate, (ii) aposition, (iii) an orientation, and (iv) a trajectory; an executable portion configured to process, using a trained machine learning (ML) model, the initial states and the subsequent states to determine a plurality of actions to execute during the docking; and an executable portionconfigured to execute the plurality of actions thereby docking the first spacecraft to the second spacecraft.[000103] In one or more embodiments, aspects of the present disclosure may be directed to, may include, or may be implemented on one or more information handling systems (or computing systems). An information handling system / computing system may include any instrumentality or aggregate of instrumentalities operable to compute, calculate, determine, classify, process, transmit, receive, retrieve, originate, route, switch, store, display, communicate, manifest, detect, record, reproduce, handle, or utilize any form of information, intelligence, or data. For example, a computing system may be or may include a personal computer (e.g., laptop), tablet computer, mobile device (e.g., personal digital assistant (PDA), smartphone, phablet, tablet, etc.), smartwatch, server (e.g., blade server or rack server), a network storage device, camera, or any other suitable device and may vary in size, shape, performance, functionality, and price. The computing system may include random access memory (RAM), one or more processing resources such as a central processing unit (CPU) or hardware or software control logic, read only memory (ROM), and / or other types of memory. Additional components of the computing system may include one or more drives (e.g., hard disk drive, solid state drive, or both), one or more network ports for communicating with external devices as well as various input and output (I / O) devices, such as a keyboard, mouse, touchscreen, stylus, microphone, camera, trackpad, display, etc. The computing system may also include one or more buses operable to transmit communications between the various hardware components.[000104] FIG. 17 depicts a simplified block diagram of an information handling system (or computing system), according to embodiments of the present disclosure. It will be understood that the functionalities shown for system 1700 may operate to support various embodiments of a computing system — although it shall be understood that a computing system may be differently configured and include different components, including having fewer or more components as depicted in FIG. 17.[000105] As illustrated in FIG. 17, the computing system 1700 includes one or more CPUs 1701 that provide computing resources and control the computer. CPU 1701 may be implemented with a microprocessor or the like, and may also include one or more graphics processing units (GPU) 1702 and / or a floating-point coprocessor for mathematical computations. In one or more embodiments, one or more GPUs 1702 may be incorporated within the display controller 1709, such as part of a graphics card or cards. The system 1700 may also include a system memory 1719, which may comprise RAM, ROM, or both.[000106] A number of controllers and peripheral devices may also be provided, as shown in FIG. 17. An input controller 1703 represents an interface to various input device(s) 1704. Thecomputing system 1700 may also include a storage controller 1707 for interfacing with one or more storage devices 1708 each of which includes a storage medium such as magnetic tape or disk, or an optical medium that might be used to record programs of instructions for operating systems, utilities, and applications, which may include embodiments of programs that implement various aspects of the present disclosure. Storage device(s) 1708 may also be used to store processed data or data to be processed in accordance with the disclosure. The system 1700 may also include a display controller 1709 for providing an interface to a display device 1711, which may be a cathode ray tube (CRT) display, a thin film transistor (TFT) display, organic lightemitting diode, electroluminescent panel, plasma panel, or any other type of display. The computing system 1700 may also include one or more peripheral controllers or interfaces 1705 for one or more peripherals 1706. Examples of peripherals may include one or more printers, scanners, input devices, output devices, sensors, and the like. A communications controller 1714 may interface with one or more communication devices 1715, which enables the system 1700 to connect to remote devices through any of a variety of networks including the Internet, a cloud resource (e.g., an Ethernet cloud, a Fiber Channel over Ethernet (FCoE)ZData Center Bridging (DCB) cloud, etc.), a local area network (LAN), a wide area network (WAN), a storage area network (SAN) or through any suitable electromagnetic carrier signals including infrared signals. As shown in the depicted embodiment, the computing system 1700 comprises one or more fans or fan trays 1718 and a cooling subsystem controller or controllers 1717 that monitors thermal temperature(s) of the system 1700 (or components thereol) and operates the fans / fan trays 1718 to help regulate the temperature.[000107] In the illustrated system, all major system components may connect to a bus 1716, which may represent more than one physical bus. However, various system components may or may not be in physical proximity to one another. For example, input data and / or output data may be remotely transmitted from one physical location to another. In addition, programs that implement various aspects of the disclosure may be accessed from a remote location (e.g., a server) over a network. Such data and / or programs may be conveyed through any of a variety of machine- readable media including, for example: magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as compact discs (CDs) and holographic devices; magnetooptical media; and hardware devices that are specially configured to store or to store and execute program code, such as application specific integrated circuits (ASICs), programmable logic devices (PLDs), flash memory devices, other non-volatile memory (NVM) devices (such as 3D XPoint-based devices), and ROM and RAM devices.[000108] Aspects of the present disclosure may be encoded upon one or more non-transitory computer-readable media comprising one or more sequences of instructions, which, whenexecuted by one or more processors or processing units, causes steps to be performed. It shall be noted that non-transitory computer-readable media shall include volatile and / or non-volatile memory. It shall be noted that alternative implementations are possible, including a hardware implementation or a software / hardware implementation. Hardware-implemented functions may be realized using ASIC(s), programmable arrays, digital signal processing circuitry, or the like. Accordingly, the “means” terms in any claims are intended to cover both software and hardware implementations. Similarly, the term “computer-readable medium or media” as used herein includes software and / or hardware having a program of instructions embodied thereon, or a combination thereof. With these implementation alternatives in mind, it is to be understood that the figures and accompanying description provide the functional information one can require to write program code (e.g., software) and / or to fabricate circuits (e.g., hardware) to perform the processing required.[000109] It shall be noted that embodiments of the present disclosure may further relate to computer products with a non-transitory, tangible computer-readable medium that has computer code thereon for performing various computer-implemented operations. The media and computer code may be those specially designed and constructed for the purposes of the present disclosure. Examples of tangible computer-readable media include, for example: magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CDs and holographic devices; magneto-optical media; and hardware devices that are specially configured to store or to store and execute program code, such as ASICs, PLDs, flash memory devices, other non-volatile memory devices (such as 3D XPoint-based devices), and ROM and RAM devices. Examples of computer code include machine code, such as produced by a compiler, and files containing higher level code that are executed by a computer using an interpreter. Embodiments of the present disclosure may be implemented in whole or in part as machine-executable instructions that may be in program modules that are executed by a processing device. Examples of program modules include libraries, programs, routines, objects, components, and data structures. In distributed computing environments, program modules may be physically located in settings that are local, remote, or both.[000110] One can recognize that no computing system or programming language is critical to the practice of the present disclosure. One can also recognize that a number of the elements described above may be physically and / or functionally separated into modules and / or sub-modules or combined together.[000111] It will be appreciated that the preceding examples and embodiments are exemplary and not limiting to the scope of the present disclosure. It is intended that all permutations, enhancements, equivalents, combinations, and improvements thereto that are apparent upon areading of the specification and a study of the drawings are included within the true spirit and scope of the present disclosure. It shall also be noted that elements of any claims may be arranged differently including having multiple dependencies, configurations, and combinations.Methods for training a machine learning model[000112] Many machine learning (ML) methods implemented as algorithms or models are suitable as approaches to perform the methods described herein. Such methods include but are not limited to supervised learning approaches, unsupervised learning approaches, semi-supervised approaches, or any combination thereof.[000113] Machine learning algorithms may include without limitation neural networks (e.g., artificial neural networks (ANN), multi-layer perceptrons (MLP), long short-term memory (LSTM)), support vector machines, k-nearest neighbors, Gaussian mixture model, Gaussian process, naive Bayes, decision trees, random forest, or gradient boosting trees. Linear machine learning algorithms may include without limitation linear regression with or without regularizer, logistic regression, naive Bayes classifier, perceptron, or support vector machines (SVMs). Other machine learning algorithms for use with methods according to the disclosure may include without limitation quadratic classifiers, k-nearest neighbor, boosting, decision trees, random forests, neural networks, pattern recognition, Bayesian networks, or Hidden Markov models. Other machine learning algorithms, including improvements or combinations of any of these, commonly used for machine learning, can also be suitable for use with the methods described herein. Any use of a machine learning algorithm in a workflow can also be suitable for use with the methods described herein. The workflow can include, for example, cross-validation, nested-cross- validation, feature selection, row compression, data transformation, binning, normalization, standardization, and algorithm selection.[000114] A machine learning algorithm can generally be trained by the following methodology to build a machine learning model. In some cases, generated models may facilitate docking or undocking a spacecraft to or from a space station. Input data can include, for example, (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory of the spacecraft or the space station. Output data can include, for example, a plurality of actions to dock or undock the spacecraft to or from the space station.[000115] 1. Gather a dataset for “training” and “testing” the machine learning algorithm. The dataset can include many features, for example, features associated with (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory. The training dataset is used to “train” the machine learning algorithm. The testing dataset is used to “test” the machine learning algorithm. [000116] 2. Determine “features” for the machine learning algorithm to use for training and testing. The accuracy of the machine learning algorithm may depend on how the features arerepresented. For example, feature values may be transformed using one-hot encoding, binning, standardization, or normalization. Also, not all features in the dataset may be used to train and test the machine learning algorithm. Selection of features may depend on, for example, available computing resources and time or importance of features discovered during iterative testing and training. For example, it may be discovered that features associated with spin rate are predictive for determining the actions during docking or undocking.[000117] 3. Choose an appropriate machine learning algorithm. For example, a machine learning algorithm described elsewhere herein may be chosen. The chosen machine learning algorithm may depend on, for example, available computing resources and time or whether the prediction is continuous or categorical in nature. The machine learning algorithm is used to build the machine learning model.[000118] 4. Build the machine learning model. The machine learning algorithm is run on the gathered training dataset. Parameters of the machine learning algorithm may be adjusted by optimizing performance on the training dataset or via cross-validation datasets. After parameter adjustment and learning, the performance of the machine learning algorithm may be validated on a dataset of naive samples that are separate from the training dataset and testing dataset. The built machine learning model can involve feature coefficients, importance measures, or weightings assigned to individual features.[000119] Once the machine learning model is determined as described above (“trained”), it can be used to generate the plurality of actions for docking or undocking the spacecraft to or from the space station.Terms and Definitions[000120] Components, or modules, shown in diagrams are illustrative of exemplary embodiments of the disclosure and are meant to avoid obscuring the disclosure. It shall be understood that throughout this discussion that components may be described as separate functional units, which may comprise sub-units, but one can recognize that various components, or portions thereof, may be divided into separate components or may be integrated together, including, for example, being in a single system or component. It should be noted that functions or operations discussed herein may be implemented as components. Components may be implemented in software, hardware, or a combination thereof.[000121] Furthermore, connections between components or systems within the figures are not intended to be limited to direct connections. Rather, data between these components may be modified, re-formatted, or otherwise changed by intermediary components. Also, additional or fewer connections may be used. It shall also be noted that the terms “coupled,” “connected,” “communicatively coupled,” “interfacing,” “interface,” or any of their derivatives shall beunderstood to include direct connections, indirect connections through one or more intermediary devices, and wireless connections. It shall also be noted that any communication, such as a signal, response, reply, acknowledgment, message, query, etc., may comprise one or more exchanges of information.[000122] The use of certain terms in various places in the specification is for illustration and should not be construed as limiting. A service, function, or resource is not limited to a single service, function, or resource; usage of these terms may refer to a grouping of related services, functions, or resources, which may be distributed or aggregated. The terms “include,” “including,” “comprise,” “comprising,” or any of their variants shall be understood to be open terms, and any lists of items that follow are example items and not meant to be limited to the listed items. A “layer” may comprise one or more operations. The words “optimal,” “optimize,” “optimization,” and the like refer to an improvement of an outcome or a process and do not require that the specified outcome or process has achieved an “optimal” or peak state. The use of memory, database, information base, data store, tables, hardware, cache, and the like may be used herein to refer to system component or components into which information may be entered or otherwise recorded.[000123] One can recognize that: (1) certain steps may optionally be performed; (2) steps may not be limited to the specific order set forth herein; (3) certain steps may be performed in different orders; and (4) certain steps may be done concurrently.[000124] It shall also be noted that although embodiments described herein may be within the context of a space station, aspects of the present disclosure are not so limited. Accordingly, aspects of the present disclosure may be applied or adapted for use in other contexts. It shall also be noted that the systems and methodologies disclosed herein may be implemented by the space station, by the spacecraft, or by a combination thereof.[000125] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this present disclosure belongs. [000126] As used herein, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. Any reference to “or” herein is intended to encompass “and / or” unless otherwise stated.[000127] As used herein, the term “about” in some cases refers to an amount that is approximately the stated amount.[000128] As used herein, the term “about” refers to an amount that is near the stated amount by 10%, 5%, or 1%, including increments therein.[000129] As used herein, the term “about” in reference to a percentage refers to an amount that is greater or less the stated percentage by 10%, 5%, or 1%, including increments therein.[000130] As used herein, the phrases “at least one”, “one or more”, and “and / or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and / or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together.[000131] While preferred embodiments of the present disclosure have been shown and described herein, such embodiments are provided by way of example only. It is not intended that the present disclosure be limited by the specific examples provided within the specification. While the present disclosure has been described with reference to the aforementioned specification, the descriptions and illustrations of the embodiments herein are not meant to be construed in a limiting sense. Numerous variations, changes, and substitutions may occur without departing from the present disclosure. Furthermore, it shall be understood that all aspects of the present disclosure are not limited to the specific depictions, configurations, or relative proportions set forth herein which depend upon a variety of conditions and variables. It should be understood that various alternatives to the embodiments of the present disclosure described herein may be employed in practicing the present disclosure. It is therefore contemplated that the present disclosure shall also cover any such alternatives, modifications, variations, or equivalents. It is intended that the following claims define the scope of the present disclosure and that systems, methods and structures within the scope of these claims and their equivalents be covered thereby.

Claims

CLAIMSWhat is claimed is:

1. A method for docking or berthing a spacecraft, the method comprising: receiving an initial state and subsequent states for each of a first spacecraft and a second spacecraft, wherein the initial states and the subsequent states comprise at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory; processing the initial states and the subsequent states to determine a plurality of actions to execute during the docking; and executing the plurality of actions thereby docking the first spacecraft to the second spacecraft.

2. The method of claim 1, wherein executing the plurality of actions comprises causing a spin rate of the first spacecraft to substantially match a spin rate of the second spacecraft at a time of the initial states or subsequent times of the subsequent states.

3. The method of claim 1, further comprising: controlling the first spacecraft to bring the first spacecraft into soft docking, hard docking, or berthing with the second spacecraft; controlling at least one device for correcting a misalignment during the soft docking; and controlling at least one device for hard docking the first spacecraft to the second spacecraft.

4. The method claim 1, further comprising: determining the initial states or the subsequent states; processing the initial states or the subsequent states in real time and predicting the plurality of actions; and selecting at least one action of the plurality of actions based at least on determining a likelihood of the at least one action to successfully dock the first spacecraft to the second spacecraft.

5. The method of claim 4, further comprising generating data from a plurality of sensors to determine the initial states and the subsequent states, wherein the plurality of sensors comprises imaging sensors, GPS sensors, pressure sensors, motion sensors, electromagnetic (EM) sensors, inertial sensors, or light detection and ranging (LIDAR) sensors.

6. The method of claim 5, further comprising using a statistical model to process the data from the plurality of sensors to determine the initial states and the subsequent states.

7. The method of claim 5, further comprising using a computer vision model to process the data from the plurality of sensors to determine the initial state or the subsequent states.

8. The method of claim 1, further comprising using one or more operable devices to cause the initial states to transition to the subsequent states, wherein the one or more operable devices comprises (i) thrusters, (ii) momentum devices, (iii) active ballasts, or (iv) active dampening.

9. The method of claim 1, further comprising aligning a docking port of the first spacecraft with a docking port of the second spacecraft using soft capture docking or hard capture docking.

10. The method of claim 9, wherein the soft capture docking comprises initially aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on the initial states or the subsequent states.

11. The method of claim 9, wherein the hard docking comprises finally aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on determining a final state of the subsequent states.

12. The method of claim 1, further comprising determining one or more stabilization actions by processing the initial states or the subsequent states.

13. The method of claim 12, further comprising using the one or more stabilization actions to compensate for a change in angular momentum or rotational stability caused by contact of the first spacecraft with the second spacecraft.

14. The method of claim 1, further comprising transmitting and receiving a plurality of communications signals or control signals to affect the docking between the first spacecraft and the second spacecraft.

15. The method of claim 1, further comprising using a user interface (UI) configured with a plurality of selectable graphical elements which allow a user to manually control or automatically direct the docking of the first spacecraft to the second spacecraft.

16. The method of claim 1, further comprising determining an emergency action when the docking exceeds a prescribed safety threshold, wherein the emergency action comprises (i) an emergency decoupling of the first spacecraft from the second spacecraft or (ii) an emergency de-spin of the first spacecraft or the second spacecraft.

17. The method of claim 1, wherein the method reduces an acclimation time of a user to zerogravity or microgravity conditions.

18. The method of claim 1, further comprising using the method to undock the first spacecraft from the second spacecraft.

19. The method of claim 1, wherein the second spacecraft comprises a space station.

20. A system for docking a spacecraft, the system comprising: a docking module comprising one or more controllers configured to facilitate docking of a first spacecraft to a second spacecraft, wherein the second spacecraft has an initial state ofat least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory, each relative to the first spacecraft; a sensor module comprising a plurality of sensors configured to detect the initial state and subsequent states of the second spacecraft during the docking; a decision module comprising a model configured to (i) process the initial state and the subsequent states and (ii) determine a plurality of actions during the docking; and a control module comprising operable devices configured to execute the plurality of actions.

21. The system of claim 20 wherein executing the plurality of actions causes a spin rate of the first spacecraft to substantially match a spin rate of the second spacecraft at a time of the initial state or subsequent times of the subsequent states.

22. The system of claim 20, wherein the one or more controllers of the docking module further comprise: an arm controller configured to control at least one arm of the first spacecraft or the second spacecraft to bring the first spacecraft into soft docking or hard docking with the second spacecraft; a soft capture controller configured to control at least one device for correcting a misalignment during the soft docking; and a hard capture controller configured to control at least one device for hard docking the first spacecraft to the second spacecraft.

23. The system of claim 20, wherein the decision module further comprises: a data module configured to receive the initial state or the subsequent states; a ML engine configured to (i) process the initial state or the subsequent states in real time and (ii) predict the plurality of actions; and a routing module configured to select at least one action of the plurality of actions based at least on determining a likelihood of the at least one action to successfully dock the first spacecraft to the second spacecraft.

24. The system of claim 23, wherein the decision module is further configured to process data from a localization module or a perception module.

25. The system of claim 24, wherein the localization module is configured to use a statistical model to process data from the plurality of sensors and determine the initial state or the subsequent states.

26. The system of claim 24, wherein the perception module is configured to use a computer vision model to process data from the plurality of sensors and determine the initial state or the subsequent states.

27. The system of claim 20, wherein the operable devices of the control module comprise one or more (i) thrusters, (ii) momentum devices, (iii) active ballasts, or (iv) active dampening, to cause the initial state of the first spacecraft to transition to a subsequent state of the first spacecraft.

28. The system of claim 20, wherein the docking comprises aligning a docking port of the first spacecraft with a docking port of the second spacecraft using soft capture docking or hard capture docking.

29. The system of claim 28, wherein the soft capture docking comprises initially aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on the initial state or the subsequent states.

30. The system of claim 28, wherein the hard docking comprises finally aligning the docking port of the first spacecraft to the docking port of the second spacecraft based at least on determining a final state of the subsequent states.

31. The system of claim 20, further comprising a stabilization module configured to determine one or more stabilization actions by processing the initial state or the subsequent states.

32. The system of claim 31, wherein the one or more stabilization actions are determined to compensate for a change in angular momentum or rotational stability caused by contact of the first spacecraft with the second spacecraft.

33. The system of claim 20, further comprising a communication module configured to transmit and receive a plurality of communications signals or control signals between (i) the first spacecraft and the second spacecraft or (ii) each module of the system.

34. The system of claim 20, further comprising an interface module with a user interface (UI) configured with a plurality of selectable graphical elements for allowing a user to manually control or automatically direct the docking of the first spacecraft to the second spacecraft.

35. The system of claim 20, further comprising a control phase module configured to determine an emergency action when the docking exceeds a prescribed safety threshold, wherein the emergency action comprises (i) an emergency decoupling of the first spacecraft from the second spacecraft or (ii) an emergency de-spin of the first spacecraft or the second spacecraft.

36. The system of claim 20, wherein the system reduces an acclimation time of a user to zerogravity or microgravity conditions by at least 5%.

37. The system of claim 20, wherein the first spacecraft has an initial state of at least (i) a spin rate, (ii) a position, and (iii) a trajectory, each relative to the second spacecraft, and subsequent states thereof.

38. The system of claim 20, wherein the plurality of sensors comprises imaging sensors, GPS sensors, pressure sensors, motion sensors, electromagnetic (EM) sensors, or light detection and ranging (LIDAR) sensors.

39. The system of claim 20, further comprising using the system to undock the first spacecraft from the second spacecraft.

40. The system of claim 20, wherein the second spacecraft comprises a space station.

41. A computer program product for docking a spacecraft, the computer program product comprising at least one non-transitory computer-readable medium having computer-readable program code portions embodied therein, the computer-readable program code portions comprising: an executable portion configured to receive an initial state and subsequent states for each of a first spacecraft and a second spacecraft, wherein the initial states and the subsequent states comprise at least (i) a spin rate, (ii) a position, (iii) an orientation, and (iv) a trajectory; an executable portion configured to process, using a trained machine learning (ML) model, the initial states and the subsequent states to determine a plurality of actions to execute during the docking; and an executable portion configured to execute the plurality of actions thereby docking the first spacecraft to the second spacecraft.

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