Aligning assembly for controlled alignment of modular units in space

Abstract

The present invention provides an aligning assembly for controlled alignment of modular units (200a, 200b) in zero gravity configurations is provided. The aligning assembly comprises a first modular unit (200a) and a second modular unit (200b). Both modular units have a substantially tubular shape, respectively. Each of the first and second modular units comprises a male dock cap (230, Figure 3) on a first longitudinal end and a female dock cap (240, Figure 3) on a second longitudinal end opposite to the first longitudinal end. Further, the aligning assembly comprises a connection unit (220) extending from the male dock cap of the first modular unit to the female dock cap of the second modular unit. The connection unit is adapted to arrange the first and second modular units into a controlled alignment state relative to each other.

Description

[0001] Aligning assembly for controlled alignment of modular units in space

[0002] BACKGROUND

[0003] Contemporary climate change includes both global warming and its impacts on Earth's weather patterns. There have been previous periods of climate change, but the current rate of change is distinctly more rapid and is not due to natural causes. Instead, it is caused by the manmade changes to the greenhouse effect, among those the emission of two important gases, carbon dioxide (CO2) and methane. Burning fossil fuels for energy production creates most of these emissions. Certain agricultural practices, industrial processes, and forest loss are additional sources. Greenhouse gases are transparent to sunlight, allowing it through to heat the Earth's surface. When the Earth emits that heat as infrared radiation the gases absorb it, trapping the heat near the Earth's surface and causing global warming.

[0004] All scenarios of warming of the earth’s atmosphere discussed of the IPCC (Intergovernmental Panel on Climate Change) shown a temperature increase of 1.5 degrees or more beyond the level of the preindustrial age in every possible scenario.

[0005] There have been discussed many environmental engineering concepts that could potentially stop or slow down the increase of the atmosphere’s temperature, such as simulating a volcanic eruption. This involves bringing sulfur particles into the stratosphere, which then reflect solar radiation and cause the average temperature on Earth to drop by half a degree for a short time. However, such an intervention would have significant side effects: The sulfur particles could damage the ozone layer and the temperature difference between the tropics and the poles would decrease. Moreover, most processes based on distributing substances in the upper atmosphere would not be reversible.

[0006] Another idea is based on blocking solar radiation from the earth and thus stopping global warming. The ideas range from giant sunshades to mirrors in space that would reflect the radiation. This concept is known as solar radiation management. For stabilization of the earths atmospheric temperature, a dynamic system is needed. Due to the interaction of many complex processes, such ideas need to grant the ability to be controlled in order to react to unforeseen circumstances.

[0007] This approach, while theoretically feasible, is confronted with immense technical challenges. The L1 Lagrange point, a stable point in the Earth-Sun system ideal for solar shields, lies approximately 1.5 million kilometers from Earth. Deploying such large structures to this location presents formidable difficulties, given the constraints of current space transportation capabilities.

[0008] While concepts for shading the Earth to reduce solar flux and thus counteract global warming are common knowledge, only one possible implementation to our knowledge has been described in more detail in a submitted patent application: PCT / EP2022 / 085051 “Foil and foil assembly for shading the Earth”.

[0009] The size and fragility of the foils further compound these challenges. They must be sufficiently large to have a meaningful impact on the Earth's radiation budget, yet delicate enough to minimize weight for launch. To meet these conflicting demands, the foils are typically compactly folded during launch and designed to unfold upon reaching their destination. However, the process of unfolding and correctly positioning these foils in space remains a substantial obstacle.

[0010] Several unfolding methods are theoretically known, including mechanical unfolding, inflation, and centrifugal force deployment. Mechanical unfolding, which may involve the use of hinges or other mechanisms, often brings the risk of mechanical failure due to the complexity and the harsh space environment. Inflation techniques, while potentially suitable for small- scale applications, face difficulties when scaling up due to issues with maintaining structural integrity and controlling the inflation process. Lastly, centrifugal force deployment, which relies on the rotation of the spacecraft to 'fling out' the shield, lacks precision and control over the unfolding process.

[0011] SUMMARY

[0012] It is therefore the object of the invention to provide an improved aligning assembly for controlled alignment of modular units containing foils in zero gravity configurations. This object is solved by the subject matter of the independent claim. Preferred embodiments are defined by the dependent claims.

[0013] According to one aspect of the invention, an aligning assembly for controlled alignment of modular units in zero gravity configurations is provided. The aligning assembly comprises a first modular unit and a second modular unit. Both modular units have a substantially tubular shape, respectively. Each of the first and second modular units comprises a male dock cap on a first longitudinal end and a female dock cap on a second longitudinal end opposite to the first longitudinal end. Further, the aligning assembly comprises a connection unit extending from the male dock cap of the first modular unit to the female dock cap of the second modular unit. The connection unit is adapted to arrange the first and second modular units into a controlled alignment state relative to each other.

[0014] This assembly may be used for blocking solar radiation from the earth. As state above, stabilization of the earths atmospheric temperature, a dynamic system is needed. Due to the interaction of many complex processes, such ideas need to grant the ability be controlled in order to react to unforeseen circumstances. This approach effectively provides a technologically feasible mechanism for deployment of large foil surfaces but also provides the ability to dynamically control a refractive surface (tunable effect) by ways of alignment.

[0015] According to one aspect, the system may also carry commercially available, large scale produced foil-thicknesses. The system is by design basically agnostic to thickness, roll-width, roll-length and type of material. Therefore this creates the opportunity to both use ultra-thin (nm-scale) up to conventional thicknesses and materials (pm-scale) foils.

[0016] According to a further aspect, in the controlled alignment state, the longitudinal axes of the first and the second modular units may be arranged non-coaxial to each other. Alternatively, the longitudinal axes of the first and the second modular units may be arranged substantially coaxial to each other.

[0017] According to a further aspect, the controlled alignment state may comprise a controlled roll alignment, a controlled pitch alignment and a controlled yaw alignment of the first and second modular units relative to each other.

[0018] According to a further aspect, the connection unit may comprise at least two connector strips extending from the male dock cap of the first modular unit to the female dock cap of the second modular unit. In an embodiment, each of the at least two connector strips may be adapted to individually adjust its length to create a tensile stress between the first and second modular units resulting in a controlled positioning of the first and second modular units relative to each other

[0019] According to a further aspect, the connection unit may further be adapted to transfer the first and second modular units into a mated state, wherein in the mated state, the first and second modular units are coupled with each other via the female dock cap and the male dock cap.

[0020] According to a further aspect, at least one of the female dock cap and the male dock cap of each of the first and second modular units may be rotatably attached to the respective modular unit allowing a controlled rotation of the first modular unit relative to the second modular unit along the coaxially arranged longitudinal axes of the modular units in the second alignment state.

[0021] According to a further aspect, each of the modular units may be a spool module comprising a spool on which a foil (e.g. an ultrathin foil in nanometer range) is wound, wherein the foil is wound on the spool starting from the half of the length (L / 2) such that two opposite ends of the foil protrude radially from the spool in opposite directions, when the foil is unwound. According to an embodiment, each of the modular units may further comprise a power tether along an unrolling direction of the foil for stabilizing the unrolled foil.

[0022] According to one aspect, the system may also carry commercially available, large scale produced foil-thicknesses. The system is by design basically agnostic to thickness, roll-width, roll-length and type of material. Therefore this creates the opportunity to both use ultra-thin (nm-scale) up to conventional thicknesses and materials (pm-scale) foils. Thus, even though

[0023] According to a further aspect, the aligning assembly may further comprise at least one additional connection unit and at least one additional modular unit having a substantially tubular shape and being connected to the first and second modular units via the at least one additional connection unit. Each of the modular units may comprise a honeycomb type structure. The honeycomb type structured modular units may be adapted to be stacked side- by-side to take up a minimum volume. The honeycomb type structure is not limiting, but alternatively, the structure may also be a „gyroidal“ structure to carry loads at minimum material use and weight. This however could also be honeycomb, triangular meshes etc. The Materials may be targeted to be lightweight, high heat deflection temperature composites, e.g. polyamids and carbon fiber.

[0024] According to a further aspect, the aligning assembly may further comprise at least one solar cell on an outer surface of at least one of the modular units for providing electrical power to the modular units. The connection unit may further be adapted to transfer electrical power between the modular modules.

[0025] The assembly may alternatively or further comprise at least one actor in at least one of the modular units for driving the connection unit in order to control a desired alignment.

[0026] The assembly may alternatively or further comprise a gyroscope unit in at least one of the modular units for supporting controlling of the alignment state.

[0027] According to a further aspect, the aligning assembly may be adapted to be deployed into a spaceship and adapted to be released from the spaceship such that after releasing from the spaceship, the aligning assembly self-aligns via the connection unit into a predetermined alignment state.

[0028] According to a further aspect, each of the female dock caps may comprise one or more damper pads for reducing an impact during mating with the corresponding male dock cap.

[0029] According to a further aspect, at least one of the modular units may further comprise a planetary gear for compensation of angular momentum, during unwinding a foil wound within the respective modular unit.

[0030] BRIEF SUMMARY OF THE DRAWINGS

[0031] Embodiments and aspects will be described in the following description and together with the accompanying drawings, wherein

[0032] Fig. 1a is a diagram illustrating a double-layer foil wrapped around a common axis (vertical to the drawing plane) to form a spool;

[0033] Fig. 1 b is a diagram illustrating a double-layer foil wrapped around a common axis of a spool that is being unfolded;

[0034] Fig. 2a is a diagram illustrating a modular unit in closed form and a modular unit with the foil being unrolled;

[0035] Fig. 2b is a diagram illustrating more details of a modular unit where the foil is at least partially unrolled;

[0036] Fig. 2c is a diagram illustrating two modular units being connected via a connection unit;

[0037] Fig. 3 is a diagram illustrating a modular unit with details of a male dock cap and a female dock cap on respective longitudinal ends of the modular unit;

[0038] Fig. 4 is a diagram illustrating a stacked arrangement of multiple modular units placed in a space ship and a cross section of the stacked arrangement;

[0039] Fig. 5 is a diagram illustrating the stacked arrangement of multiple modular units when released into space;

[0040] Fig. 6 is a diagram illustrating the self-aligning and retraction after the stacked arrangement of multiple modular units are released into space; Fig. 7 is a diagram illustrating the self-aligning and retraction after the stacked arrangement of multiple modular units are released into space;

[0041] Fig. 8 is a diagram illustrating the aligned arrangement starting to unroll the foils wound to the modular units;

[0042] Fig. 9 is a diagram illustrating the fully deployed system with the modular shapes aligned and the foils rolled out;

[0043] Fig. 10 is a diagram illustrating the aligned system undergoing roll alignment, pitch alignment and yaw alignment; and

[0044] Fig. 1 is a diagram showing an exemplary arrangement of the foil in space between the sun and the earth

[0045] DETAILED DESCRIPTION

[0046] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. Notably, the scale of the dimensions in all figures is not necessarily realistic and may be exaggerated for a better understanding of the invention. Instead, as further described below, the scale may depend on variable roll-width of foil material, which can be in the range from 1 to 10+ meters. Notably, the herein disclosed techniques are agnostic to these changes of dimension.

[0047] With the planet warming up and thus extra emitted radiation and with extra losses through clouds etc., an extra solar absorption of approximately 0.75 W / m2is given, compared to an average absorption of 240 W / m2on earth, which is 0.3% of the incident solar flux calculated for the current imbalance, which is about 1 degree at the moment. A very similar number comes from the naive estimate of a 287 K influence of solar radiation on the earth’s temperature. A reduction of 1 degree would correspond to 0.3% reduction of solar flux.

[0048] The basic concept of the invention is the placement of a means for reduction of solar irradiation between earth and sun, close to the Lagrange Point L1 , close to 1.5 Million km away from the position of the earth directly in the direction of the sun. The duration of the orbit of an object placed in L1 is synchronous with the Earth. Instabilities as well as deviations in position from L1 may require active balancing of the orbital position and velocity e.g. using propulsion by photon pressure.

[0049] Any object in L1 reduces the flux of photons on the earth’s surface. An object with the cross section 6371km x 6371 km X TT = 1.3x1014m2would produce shade on the whole earth. A reduction of 1 degree would thus correspond to reducing the flux by 1 / 287, or placing a dark spot of 3.8x1011m2close to L1.

[0050] One candidate material relates to a polymer material, such as Formvar, a former Brand Name for a class of polymers formed from polyvinyl alcohol and fomaldehyde. Known techniques for producing thin Formvar foils are known, for example where an 8 nm foil at the boundary surface of liquid chemicals is formed and pulled with continuous speed.

[0051] Referring to Fig. 11 , a foil 100 is placed between the Sun and the Earth such that incident light from the Sun is at least partially deflected. A candidate point for placing the foil 100 may be the L1 Lagrange Point, which is about 1.5 million kilometers away from Earth. This basic idea of the physical mechanism of the invention is shown in Fig. 1 , wherein the foil 100 directs light out of the direct line of sight equally in opposite (all) directions around the axis between Earth and Sun. The foil 100 may have different optical properties for manipulating the sun light. The present invention is not limited to a specific foil. Instead, the present invention provides a concept of unfolding and stabilizing the foil 100 after it has been brought to its destination.

[0052] Some boundary conditions for the foil 100 are that the foil 100 must not stick to each other. This property is fulfilled for Formvar, which may be used as material for the foil 100. Another condition of the foil 100 is that the foil is mechanically stable enough to withstand mechanical manipulation. This is also achievable with Formvar.

[0053] The foil 100 according to some embodiments may be about 20 nm, which makes the foil 100 mechanically more stable. However, the exact thickness of the foil 100 is not critical and the embodiments are not limited to a specific thickness. For a 22 nm thick foil, the weight per square meter is 2x10-5kg, a number where there is no intuitive experience.

[0054] In the description, the following aspects are discussed: (1) The basic concept of unrolling and the use of electrostatics for unrolling; (2) the electrically conductive edge of the foil; and (3) the use of electrostatics for stabilizing the geometry of the foil.

[0055] Figs. 1a and 1 b illustrate the process of folding and unfolding the foil 100.

[0056] According to some embodiments, the foil 100 has a length of L and is rolled or wound around a spool 102. The spool 102 on which the foil 100 is wound is located in the middle of the foil 100, i.e. at around L / 2. As such, winding the foil 100 onto the spool 102 starts from the half of the length (L / 2) such that two opposite ends 107 and 108 (see Fig. 1 b) of the foil 100 protrude radially from a spool edge in opposite directions, when the foil 100 is fully rolled onto the cylindrical spool 102. The spool may be a cylindrical spool, but may also be a frame or may be provided in any other shape that is suitable for winding the foil 100.

[0057] By folding the foil 100 in this manner onto the spool 102, a force acting on the opposite ends 107 and 108 of the foil 100 in opposite directions results in unwinding of the foil from the spool 102. The force may be produced by at least one motor attached to the axis of the spool, acting as a gyroscope, rotating against the rotation direction of the spool. As can further be seen in Figs. 1a and 1b, the foil comprises a first tube structure 104 at the first end 107 and a second tube structure 106 at the second end 108 of the foil 100. The first 104 and second tube structures 106 are arranged along a width direction of the foil and are parallel to an axis of the spool 102.

[0058] The tube structures 104 and 106 may comprise a conductive material. Charging the first and second tube structures 104 and 106 with electric charge of same polarity causes electric repulsion of the first and second tube structures causing unwinding of the foil from the spool. Notably, the foil 100 is an electrical insulator. The isolation may be sufficiently strong over at least a part of the foil, to (sufficiently) maintain electric charge at the edges.

[0059] When the foil 100 is unrolled, the ends are pulled away from the central axis, i.e. from the spool 102. According to some embodiments, the spool 102 may be actively rotated, supporting the unfolding process, by using a gyroscope within the spool 102. The radial motion (motion away from the central axis 102 of the rolled foil 100) of the ends 107 / 108 of the foil100 can be adjusted to the rotation speed of the roll 100.

[0060] To adjust the force required to unroll the foil 100, an electrostatic voltage is applied to the ends of the foil 100. The force is calculated as follows:

[0061] The capacitance of two parallel wires is defined as with I the length of the wires, R the thickness of the wire and d the distance of the wires. The coefficient s is the dielectric constant in vacuum multiplied with a parameter for the dielectric properties of the material (1 for vacuum, order 3 for plastic). An applied voltage on the wires with the same polarity on both wires causes a number of electric charges to be placed on the wire, following the equation C = Q / ll. The charges on the wires then cause the Coulomb force, with the charges qi and <72, vacuum dielectric constant so and the distance r. For a l m long pair of (hollow and possible extremely thin-walled) wires with 1 cm diameter at 1 m distance, the capacitance becomes 10'11F, which for 500 V applied voltage results in 7x10-9Coulomb stored charges. This results in a force 4x1 O'7N per meter length, or for a mass of 2x1 O'5kg / m2for a 22 nm thick Formvar foil, an acceleration of 2x1 O'2m / s2. So, after a voltage was applied for 50 s, the two wires move apart with a velocity of 1 m / s (this is independent of the length of the wire, if the mass per length is constant).

[0062] The maximum applied voltage is related to the breakdown voltage of the foil 100, or, a spool of foil: for unrolling (or unfolding in possible other configurations, a voltage of up to 10,000 V for a 1 cm thick foil package is realistic, while theoretically much higher values could be used.

[0063] The voltage can then be varied to adjust the force with distance of the wires to keep e.g. the unrolling speed constant.

[0064] The voltage can further be reduced to make the accelerating force zero. Opposite charges can be applied at opposing sides of the unrolling foil to decelerate the unrolling motion to avoid a damaging momentum at the maximum extension of the foil when unrolled. While the forces are large for small distances, the forces decrease quadratically with distance, therefore the inversion of the force for deceleration acts only slowly and -can be tuned to achieve zero acceleration when unfolded.

[0065] The conductive material at the edges 107 and 108 can be a tape or a deposited metallic or conductive layer at a material similar to the foil or thicker. By applying an electrostatic voltage, the force acts uniformly along the edge where the conductor is applied. It is therefore not necessary to use any mechanical stabilization segments for the purpose of unrolling the foil 100.

[0066] As the foil 100 itself is an insulator, leakage currents will become negligibly small with larger separation of the wires during unfolding.

[0067] The maximum voltage is not limited by the electrostatic breakdown of the foil material but the electric field at the edge of the thin conducting material. This favors a cylindrical geometry for the wire, which can be hollow with a thickness of the coating even below micrometers. This avoids breakdowns at the edge of a deposited layer, where electric fields otherwise become very strong. A possible implementation of the tube structure may have a conductive coating, which may be less than 1 pm in thickness. The tube can be a flat foil, which finds its circular cross section when voltage is applied in vacuum.

[0068] The leakage currents on the surface of a plastic is typically larger than 1012Q, so for 104m width and similar length of an exemplary foil 100, this resistance is expected. For 10,000 V applied at the edge for the fully unfolded foil 100 (an example possibly realistic for later navigation purposes), a current of 10'8A is expected, thus requiring a power for a voltage supply of 10'4Watt. The power for continuous operation is thus very small, also charge-up times are expected to be small. Many commercial solutions to apply up to 100 kV at < 0.1 W power are available, in particular DC-HVDC converters with low mass and size (order of 0.3 kg in mass, e.g. EMCO high voltage supplies). (EMCO is a brand name)

[0069] The resistivity of the conductor (e.g., Alu) is relevant because of the length of the edge: with 1 pm thickness and 3 cm width, the resistivity per m is 0,88 Q (or 10 kQ for 104m length) For a leakage current of 10-8 A, the voltage drop is thus negligible.

[0070] Generating an electrostatic voltage in space is based on the separation of charges. This raises the question about the interaction of opposite charges and the storage of the charges that are not required for the Coulomb force process. When positive charge is used for the repulsion of the conductors, the negative charges (excess electrons) can be emitted into free space through field emission in a direction away from the conductor, with a kinetic energy too high to hit the conductor again.

[0071] The use of REBCO tape (e.g. http: / / www.shsctec.com / index.php?m=list&a=index &classid=62 may be an option as the conductor: REBCO is a high-temperature superconductor, which would be superconducting at this location in space and in the given configuration. A zero resistivity would enable instantaneous application of high voltage, but would enable the use with high currents and in addition magnetic interaction with the solar wind (not photon pressure), which opens a new range of navigation possibilities.

[0072] It is further possible to place such a conductor at least on two opposing edges of the foil, preferably on all four sides of the foil, or around a circular foil (which could also be unrolled using the same concept discussed above.

[0073] The electrostatic force can then be used to stretch the foil 100. With a voltage of approximately 100 V, a typical distance between conductors (e.g. a foil size of 103x 104m, or possible placements of conductors every 103 m) of 103 m and a mass of 500 kg foil between conductors, a force of only 150 pN is obtained. This, however, translates into a velocity of 3x1 O'2m / s after one day exposure, or a displacement of the (whole) foil of 1 m in 30 s or 2.74 km per day.

[0074] With opposing voltages on opposite sides of the foil 100, this would e.g. also enable to remove the foil within few days.

[0075] The use of electrostatics further enables properly flat alignment of the foil without the use of angular momentum and thus the avoidance of tangential forces during unfolding, which potentially damage the foil 100.

[0076] Flatness of the foil 100 may be achieved by the repulsive force between the edges, which stretches the foil to a flat surface. In addition, the edges prefer a placement in a straight line due to the fact the any bend causes a net Coulomb force that forces the foil towards a straight alignment. It should be noted that this at the same time results in an oscillatory behavior.

[0077] Figure 2a shows a modular unit 200 configured to accommodate the foil 100 in a rolled up state. The modular unit 200 may be configured to be approximately several centimeters in diameter and up to 10 meters in length, depending on the size of the foil 100. Usually, the foil 100 can be manufactured with an endless length, but may be limited in its with direction to around 10 meters, which therefore results in a length dimension of approximately 10 meters of the modular unit 200. Nonetheless, the invention is not limited to a specific length of the modular unit 200, since also shorter modular units may be used together with longer modular units 200, which allows for even improved pack size and space utilization during transport.

[0078] The modular unit 200, as shown on the left side of Figure 2a, may be configured to have a mechanical structure in which it can withstand forces during a rocket launch without damage. Thus, the modular unit 200 may be stored in a cargo area of a spacecraft along with a plurality of other modular units in order to reach the orbit or Lagrange point as efficiently as possible.

[0079] The modular unit 200 is substantially tubular in shape, but this does not necessarily mean that the modular unit 200 must have a round side surface. Instead, the tubular shape of the modular unit 200 can also comprise a honeycomb-like structure, which enables a particularly efficient way of packing a plurality of modular units 200 next to each other. This ensures a particularly space-saving and efficient packing method within the cargo rocket. The honeycomb type structure is not limiting, but alternatively, the structure may also be a „gyroidal“ structure to carry loads at minimum material use and weight. This however could also be honeycomb, triangular meshes etc. The Materials may be targeted to be lightweight, high heat deflection temperature composites, e.g. polyamids and carbon fiber.

[0080] On the right-hand side of Figure 2a, a modular unit 200 is shown, the foil 100 of which can be seen in an unrolled state. It should be noted that the dimensions shown in Figure 2a do not correspond to reality, as the length of the modular unit is generally between 5 and 10 meters (plus / minus several meters), as discussed above. The length of the foil 100 can be up to 100 kilometers or even more.

[0081] To release the foil 100 from the modular unit 200, the modular unit 200 may have corresponding openings on opposite sides of the modular unit 200 that can be opened in a controlled manner to unroll the foil 100 and stretch it accordingly. As further shown on the right side of Figure 2a, the system may also include a power tether 210 that may optionally be used. This power tether 210 can, for example, be rolled out along at least one side of the foil 100 along the unrolling direction of the foil 100 in order to guarantee additional stability for the foil 100. According to some embodiments, this power tether may be an ultra-low diameter magnetic wire coil, which may be in addition to conductors on the foils 100. The modular units 200 can for example each carry two non-fixed coils (per foil 100) wrapped around a fixed core. The coil is pushed off the core by a defined current surge, unrolls / unwinds and thus ejects the ends of the foil 100. In addition to anchoring and initial ejection of the foils 100, this tether 210 may also provide a power supply to the foil end carrier 250, which is illustrated in Figure 2b.

[0082] Also not shown in Figure 2a, but also optionally present, may be solar modules attached to the surface of the modular unit 200. This is illustratively shown in Figure 2b. At least one solar cell on the surface of a modular unit 200 can be used to supply the modular unit 200 with electrical energy. This is particularly advantageous in embodiments in which the modular unit 200 includes further electronic components, such as gyroscopes or actuators, which are important in interaction with further modular units 200, as described further below. Potential processor or computer components in the modular unit 200 may also be powered thereby. As will be explained later, electrical energy can also be transmitted from a modular unit 200 via corresponding connection units (explained later) to other modular units.

[0083] The modular unit 200 may further comprise a planetary gear on the unwinding axis of the foil 100 to compensate for most of the angular momentum generated by the unwinding of the foil 100. For the fine adjustment of the compensation of the angular momentum, one or more gyroscopes can additionally be used in the modular unit 200, which can be designed to be correspondingly small, since the main compensation of the angular momentum can be compensated by the planetary gear. In some embodiments, the modular units 200 may also provide a controlled pre-feeding of the foil 100. According to some embodiments, the modular units 200 may therefore rewind the foils 100. For this purpose, the modular units 200 comprise a foil core and foil guides which can rotate in a driven manner.

[0084] Figure 2b shows additional details of the modular unit 200, where the foil 100 is partially unrolled. As can be seen in Figure 2b, there may be a foil end carrier 250 on at least one side of the foil. The foil end carrier 250 may for example be the static conductor that carries electronic charge in order to support the unrolling as described above. As can also be seen in Figure 2b, solar modules 260 may be installed on at least on side of the modular unit 200, as discussed above.

[0085] Figure 2c shows a first modular unit 200a and a second modular unit 200b, which are connected to each other via a connecting unit 220. The connecting unit 220 extends from an end portion of the first modular unit 200a to an end portion of the second modular unit 200b. The connecting unit 220 is adapted to move or transit the first modular unit 200a and the second modular unit 200a into a controlled arrangement state or alignment state relative to each other. According to embodiments, the connection unit 220 may comprise at least two separate connection strips. The connection strips may be flat and may be placed under tension by at least one of the two modular units 200a or 200b, which are connected by the two connecting strips of the connecting unit 220, in order to arrange the two modular units 200a and 200b relative to each other in a controlled manner.

[0086] The connecting unit is not limited to having exactly two connection strips. Instead, the connecting unit may also comprise only one strip with a width hat is larger than its thickness. Alternatively, the connecting unit may comprise a central spine shared by all modules and being pulled by each respective end-module.

[0087] In an embodiment, the connection strips are made of a flexible, bendable metal. In other embodiments, the connecting unit 220 may include a robotic arm equipped with appropriate joints that can be used to adjust any controlled arrangement or alignment between the modular units 200a and 200b.

[0088] The connection unit 220 therefore enables a controlled and arbitrary geometrical arrangement of the modular units 200a and 200b relative to each other. For example, at least one of the modular units 200a or 200b may be provided with corresponding means for individually retracting the connection unit 220 (e.g., individually retracting and / or releasing each of the connection strips) and thus shortening or lengthening the effective length of the connection unit (e.g., the respective connecting strip) in a controlled manner, resulting in a relative arrangement of the two modular units 200A and 200B relative to each other.

[0089] When the whole connection unit is fully retracted (e.g. both connection strips are fully retracted), the two modular units 200a and 200b can be mated to each other into an engaged state, where both of the modular units 200a and 200b are coaxially aligned and fixed to each other. This will be further discussed with regard to Fig. 3 below.

[0090] Thus, with the controllable connection unit 220, a desired alignment state between the first modular unit 200a and the second modular unit 200b can be arranged. In the controlled alignment state, longitudinal axes of the first and the second modular units 200a and 200b may be arranged non-coaxial to each other, as can be seen for example in Figure 2c and in Figures 4 to 6 and specifically in Figure 10b. Another controlled alignment state that the aligning assembly consisting of at least two modular units 200a and 200b can take refers to a state, where the longitudinal axes of the first and the second modular units 200a and 200b are arranged substantially coaxial to each other. This may be a connected state as can be seen, for example, in Figures 7 to 10a.

[0091] Specifically referring to Figures 10a and 10b, the controlled alignment state of at least two modular units 200a and 200b comprises a controlled roll alignment, a controlled pitch alignment and a controlled yaw alignment of the first and second modular units 200a and 200b relative to each other.

[0092] As will also be further described below, at least one of the two modular units 200a and 200b may also be equipped such that the end cap of the modular unit 200 to which the connecting unit 220 is attached may rotate axially of the modular unit 200 in a controlled manner to control a geometric arrangement / alignment relative to the axis of rotation along the modular unit 200.

[0093] Figure 3 shows another aspect of modular unit 200. In modular unit 200 as shown in Figure 3, the modular unit 200 may have a male docking cap 230 on a first axial end of modular unit 200 and a female docking cap 240 on the opposite axial end side of modular unit 200. According to embodiments, each of the plurality of modular units 200 is provided with a male docking cap 230 and an opposite female docking cap 240.

[0094] The exact structure and design of the male docking cap 230 and the female docking cap 240 are not critical and both docking caps can be of a same design as long as the connecting unit 220 can attract both ends in a stable mating state. A „loftband“ connecting a hexagonal body to the rotation-symmetric dock-cap may ensure a low-torque tumble of the module to effectively roll over and align. If this would be a sharp edge, high torque have to be applied to get the module ..rolled over" and axially aligned. However, the invention is not limited to a specific cap topology.

[0095] The male docking caps 230 and the female docking caps 240 of separate modular units 200 are configured to engage / mate with each other when two modular units 200a and 200b are brought together so that they touch each other at the respective ends. This can be achieved by the connecting unit 220, which is shown by way of example in the female docking cap 240, where the female docking cap 240 comprises exemplary actuators 244 (hidden inside the cap), which are connected to the connecting unit 220. The actuators 244 can be, for example, motors that can individually retract and extend the respective connecting strips of the connecting unit 220.

[0096] The actuators 244 are shown by way of example on the female docking cap 240. However, the embodiments are not limited to this. It is also possible that the actuators 244 are implemented on the male docking cap 230 or are implemented on both the male docking cap 230 and the female docking cap 240.

[0097] The same also applies to the damping pads 242, which are shown as an example on the female docking cap 240. The damping pads 242 on the female or male docking cap 230- 240 ensure that any vibrations that may occur during a connection maneuver in space are minimized, thereby better protecting the modular unit 200. According to embodiments of the invention, at least one of the male docking cap 230 and the female docking cap 240 can be removed or otherwise opened, for example to better insert the foil 100 into the modular unit 200.

[0098] Figure 4 shows an exemplary arrangement of a plurality of modular units 200 within a rocket 400 or within an exemplary cargo space within a rocket 400. Due to the modular design of the modular units 200 and in particular due to the honeycomb or gyrodial structure of the modular units 200, the available storage space within a cargo rocket 400 can be used particularly efficiently, since in the arrangement as shown in the cross-section A-A, no cavities are created between the modular units 200.

[0099] As can also be seen in Figure 4 and in particular in the cross-section A-A through the rocket 400, the modules 200 are connected to one another via the connecting units 220. Only connection units 220 between two neighboring modular units 200a and 200b can be seen in the cross-section A-A, however, the person skilled in the art will recognize that on the opposite side of the modular units 200 (not shown in Figure 4), there are corresponding additional connecting units 220 to the other modules. Thus, in embodiments of the inventions, all or at least a group of several of the modular units shown in Figure 4 (such as those modular units 200 which are shown in the cross-section A-A of Figure 4), may be connected to each other via the connecting units 220.

[0100] Figures 5 to 9 show the modular units 200 connected to each other via the connecting units 220 and show in particular the process of unloading the modules in space and the subsequent arrangement of the modules 200. By initially releasing the modules 200 into space, for example, an already preset tension via the connecting units 220 can ensure that the chain of modular units 200 stretches itself along a line or unfolds to at least a certain degree.

[0101] Thus, the modular units 200 in itself have the needed ..intelligence" in terms of onboard systems to cancel the need for external manipulation for the operation of self-assembling after being released into a zero-gravity environment, such as space.

[0102] This can be seen in Figure 5, where the modular units 200, in a first step after being released from the rocket 400, may engage in a spiral unfolding motion. Further details of this unfolding process can be seen in Figure 6, where a top view of the spiral of interconnected modular units 200 is shown and furthermore side views of the modular units 200 connected to each other via the connecting units 220 are shown. Due to an already slightly applied tension by the connecting units 220, which connect two modular units 200a and 200b to each other, the modular units may unfold slowly and in a controlled manner and finally end in an alignment along a common axis of the modular units 200.

[0103] The final alignment of the modular units 200 is shown in Figure 7. In the final orientation of the modular units 200, the male docking cap 230 of a first modular unit 200a is connected to a corresponding female docking cap 240 of a second modular unit 200b. In the final alignment of the modular units 200, as shown in Figure 7 at the end of the unfolding process, the modular units 200 need not yet be firmly connected to each other, but may in embodiments still only be held in a predefined arrangement state via the corresponding connection units 220. For example, as shown in Figures 8 and 9, once the modular units 200 are released, each or a portion of the modular units 200 may begin to unroll and release the foil 100 from the corresponding modular unit 200. This can be done in a step-like process, as shown in Figure 8, but can also be done simultaneously and synchronously across all modular units 200.

[0104] Figure 9 shows a corresponding view of the interconnected modular units 200, the foils of which are fully extended.

[0105] As shown in Figs. 10a and 10b, the relative alignment between the modular units 200 can relate to roll alignment, pitch alignment and yaw alignment. Thus, a versatile alignment and relative manipulation of the interconnected modular units 200 is given. The sequential arrangement of the modular units 200 along a “chain” together with the connection units 220 between the modular units 200 allows for a high degree of flexibility in relative positioning and alignment of the modular units 200.

[0106] The connection units 220 thereby facilitate the alignment of the modular units 200 in arbitrary configurations / states, providing control over the three primary types of alignment, including rolling, pitching and yawing

[0107] Rolling refers to the rotation of the modular units along the longitudinal axis as can be seen in Figure 10a. This axis runs through the length of the interconnected modular units 200. The mount in the docking ends of the connection units 220 can rotate each modular unit 200 around this axis, enabling the entire chain of modular units to twist in a rolling motion.

[0108] Pitching involves the rotation of the modules around a lateral axis perpendicular to the longitudinal axis of the modular units 200. This axis runs horizontally across the width of each modular unit 200. By adjusting the pitch, the connection units 220 can tilt the modular units 200 forward or backward, allowing the chain of modular units 200 to bend upwards or downwards or built a step pattern as shown in Figure 10b.

[0109] Yawing relates to the rotation of the modular units 200 around a vertical axis, which is perpendicular to both the longitudinal and lateral axes. This motion allows the modular units to turn left or right, enabling the chain to change direction horizontally.

Claims

CLAIMS1. An aligning assembly for controlled alignment of modular units in zero gravity configurations, the aligning assembly comprising: a first modular unit and a second modular unit, both of which having a substantially tubular shape, wherein each of the first and second modular units comprises a male dock cap on a first longitudinal end and a female dock cap on a second longitudinal end opposite to the first longitudinal end; and a connection unit extending from the male dock cap of the first modular unit to the female dock cap of the second modular unit, wherein the connection unit is adapted to arrange the first and second modular units into a controlled alignment state relative to each other.

2. The aligning assembly of claim 1, wherein in the controlled alignment state: longitudinal axes of the first and the second modular units are arranged non-coaxial to each other, or the longitudinal axes of the first and the second modular units are arranged substantially coaxial to each other.

3. The aligning assembly of claim 1 or 2, wherein the controlled alignment state comprises a controlled roll alignment, a controlled pitch alignment and a controlled yaw alignment of the first and second modular units relative to each other.

4. The aligning assembly of any of claims 1 to 3, wherein the connection unit comprises at least two connector strips extending from the male dock cap of the first modular unit to the female dock cap of the second modular unit.

5. The aligning assembly of claim 4, wherein each of the at least two connector strips is adapted to individually adjust its length to create a tensile stress between the first and second modular units resulting in a controlled positioning of the first and second modular units relative to each other6. The aligning assembly of any of claims 1 to 5, wherein the connection unit is further adapted to transfer the first and second modular units into a mated state, wherein inthe mated state, the first and second modular units are coupled with each other via the female dock cap and the male dock cap.

7. The aligning assembly of any of claims 1 to 6, wherein at least one of the female dock cap and the male dock cap of each of the first and second modular units is rotatably attached to the respective modular unit allowing a controlled rotation of the first modular unit relative to the second modular unit along the coaxially arranged longitudinal axes of the modular units in the second alignment state.

8. The aligning assembly of any of claims 1 to 7, wherein each of the modular units is a spool module comprising a spool on which a foil is wound, wherein the foil is wound on the spool starting from the half of the length (L / 2) such that two opposite ends of the foil protrude radially from the spool in opposite directions, when the foil is unwound.

9. The aligning assembly of claim 8, wherein each of the modular units further comprises a power tether along an unrolling direction of the foil for stabilizing the unrolled foil.

10. The aligning assembly of any of claims 1 to 9, further comprising: at least one additional connection unit; and at least one additional modular unit having a substantially tubular shape and being connected to the first and second modular units via the at least one additional connection unit, wherein each of the modular units comprise a honeycomb type structure or a gyrodial type structure, and wherein the honeycomb or gyrodial type structured modular units are adapted to be stacked side-by-side to take up a minimum volume.11 . The aligning assembly of any of claims 1 to 10, further comprising: at least one solar cell on an outer surface of at least one of the modular units for providing electrical power to the modular units, wherein the connection unit is further adapted to transfer electrical power between the modular modules; and / or at least one actor in at least one of the modular units for driving the connection unit in order to control a desired alignment; and / or a gyroscope unit in at least one of the modular units for supporting controlling of the alignment state.

12. The aligning assembly of any of claims 1 to 11 , wherein the aligning assembly is adapted to be deployed into a spaceship and adapted to be released from the spaceship such that after releasing from the spaceship.

13. The aligning assembly of any of claims 1 to 12, wherein the aligning assembly selfaligns via the connection unit into a predetermined alignment state after being released into a zero gravity region.

14. The aligning assembly of any of claims 1 to 13, wherein each of the female dock caps comprises: one or more damper pads for reducing an impact during mating with the corresponding male dock cap.

15. The aligning assembly of any of claims 1 to 14, wherein at least one of the modular units further comprise a planetary gear for compensation of angular momentum, during unwinding a foil wound within the respective modular unit.

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