Deep Space Exploration Robotics for Improved Capability...

Deep Space Exploration Robotics for Improved Capability,

Utilization, and Flexibility on a Cislunar Habitat

D a n i e l R e y ( C S A )

P a u l F u l f o r d ( M D A )

© Government of Canada, 2018

FISO Presentation - May 30, 2018

Preparing a possible role for Canada in Deep Space Exploration (1)

© Government of Canada, 2018 2Image Credit: NASA

• The CSA is working with other agencies to define the next steps for human spaceflight exploration Publication of the Global Exploration Roadmap

(2011, 2013 and 2018) With the ISS partners, defining the

architecture of the Lunar Orbital Platform –Gateway

• In 2016, the Canadian Government tasked the CSA to prepare Options for Post-ISS Human Spaceflight Exploration for Canada. Current activities related to space robotics are: MSS Autonomous Control (2017) DSXR Phase 0 (2017) – this presentation System for Execution and Planning in Apogy

(2017) Low Profile End Effector and Fixture (2018) Dexterous Interface and Tools for Planetary

and Deep Space (2018)

Preparing a possible role for Canada in Deep Space Exploration (2)

Over the last decade, the Canadian Space Agency (CSA) has conducted many studies and prototyping activities to prepare Canada for Deep-Space Exploration. In particular, for space robotics:• Robotic Architecture

Robotics and Automation for Orion (2008) Robotic Orion/Orbital Service Module (2009) Next Generation Canadarm (2009-2012) Deep Space Exploration Robotics (DSXR) (2014) DSXR Pre-Phase 0 (2016) Manipulator Interface Plate System (MIPS) (2017)

• Advanced Autonomy ISS Artificial Vision Unit (AVU) Repurposing Assessment (2012) ISS MSS Autonomous Control Assessment (2012) System of Autonomous Planning and Intelligent ExecutioN Technologies

(SAPIENT) (2013) ISS MSS Application Computer (MAC) Prototype (2015)

© Government of Canada, 2018 3

Evolution of the Canadarms

4© Government of Canada, 2018

Canadarm (SRMS) Canadarm2 (SSRMS)& Dextre (SPDM)

Canadarm3 (DSXR)& eXploration Dexterous Arm

Year 1981 (30 years) 2001 (ongoing) 2024 (proposed)

Length 15 m 17 m 8.5 m

Operator US Jointly operated by Canada and US

Proposed operations by Canada

Control Tele-operated Tele-operated and ground control

Autonomous planning and operations

Current TRL 9 9 3-4

Arm repair On Earth In space replacement units with EVA.

In space replacement units & internal repair. No EVA.

Key New Features

Capture of spacecraft; assembly and maintenance; human-robot operations.

Self-relocatable; accurate motion; active compliance; 2 small arms (Dextre) for fine tasks.

Self-deployable; single arm for large and fine tasks; situational awareness; collaboration; autonomy.

Enablers

5

Enablers C1* C2* C3* Applications to CommercialSpace Robotics

Applications to CommercialEarth Robotics

Capture of spacecraft

Assembly/maintenance

Collaborative human-robot operations

Safety and Mission critical operations

Handling, operating and using tools

Ground Control

Accurate motion and contact operations

Self-relocatable

Sense of touch

Self-deployable

Reconfigurable and on-site repair

Enhanced situational awareness

Autonomous planning and operations

Standard Robotic Interfaces

*C1 = Canadarm (SRMS), C2 = Canadarm2 (SSRMS), C3 = Canadarm3 (DSXR)© Government of Canada, 2018

Deep Space Exploration Robotics


Robotics and autonomy are essential ‘building blocks’ or capabilities whose purpose and application can evolve with the mission in order to enable mission success and maximize the outcomes of such a great pursuit

DSXR Capabilities

7

Assembly and Reconfiguration

Inspection

Maintenance & Repair

EVA Support

Science PayloadsImage Credits: NASA


DSXR Overview

8© Government of Canada, 2018

Free-FlyerGrappleFixture(FFGF)

Free-Flyer Capture Tool

eXploration DexterousArm (XDA)

DexterousAdaptor Tool

Tool & Payload Caddy

Habitat Low-Profile Grapple Fixture (LPGF)

Dexterous Grapple Fixture (DGF)

eXploration Large Arm (XLA)

Lunar Sample Tool

External Science Platform

Large ORU Interface

Standardized Robotic Interfaces

Small ORU Interfaces

Small ORU Interface with Fluid Transfer

XDAAdaptor

Inspection, Repair & Logistics


DSXR provides the capability to inspect all exterior surface and to service external equipment via replacement and/or transfer to the

equipment airlock for delivery to the IVA environment for crew repair

Off Nominal is the New Nominal

• Historically space robotics and inspection have played critical roles to mission success Inspection provides critical insight

to support anomaly resolution

• Shuttle program relied on the robotic arm to deal with off-nominal or contingency issues in 44% of its 91 missions


This data was derived by MDA using NASA's Greenbook Data for the Shuttle Remote Manipulator System (SRMS) and originally

published in IAC-07-B31.2.07.

Inspection #1

contingency capability

Photo Credit: NASA

Robotic inspection of shuttle tiles & wing

leading edges

Robotic Contingency Ops on Shuttle

Improved Crew Safety & DSG Availability

• Robotics offers mission planners the ability to reduce crew exposure to the space environment by providing an alternative to EVA “First look” inspection Replacement of robotically

compatible equipment

• Enables maintenance during untended periods for continued availability

11

Image Credit: NASA


SRMS used to assist with restowage of SIR-B antenna on STS-41G

In 2016 Dextre used to replace aging ISS Batteries

Self Repair


DSXR provides self maintenance capabilities to eliminate or reduce the demand for EVA support

Image Credit: NASA

Image Credit: CSA

Capture, Berthing & Reconfiguration


DSXR provides the capability to berth/unberth visiting vehicles as well as relocate modules on the DSG for improved mission flexibility

Free Flyer Capture

• The robotic capture of visiting vehicles can offer benefits to the mission and alternate or backup capability to docking

Reduces the collision between vehicles, resulting in lower loads/accelerations imparted to the station

Provides opportunity to reduce docking system mass via removal of elements not necessary for berthing, freeing up mass for more logistics


Image Credit: NASA

Benefits of Berthing/Unberthing


• The capture, berthing and relocation of modules/vehicles enables in-space re-planning and reconfiguration: Ensures physical connection is

retained in the stack during re-arrangement

Robotic rearrangement of modules does not utilize consumable propellant

Berthing interfaces on ISS are wider in diameter than docking interfaces, allowing larger items to be transferred between modules

Image Credit: NASA

Flexible Mission Architectures through Berthing/Unberthing


• Mission architectures evolve over time due to changes in government, sponsorship, politics, partnerships and technical developments Through all phases of a project life

cycle, the ability to adjust plans and take alternate paths directly allows programs to stay on cost and schedule

Robotics accommodate infrastructure change and enable in-space re-planning and reconfiguration

EVA Support


The DSXR supports contingency EVA operations

EVA Operations

• Shuttle and ISS robotics have provided decades of examples showing the benefits of human/robotic collaboration during EVA: Robotics provides an EVA work

platform with extended reach and mobility to areas otherwise not accessible via handrails and tether points

Mobility aid that result in a reduction in EVA timelines via efficient transfer of crew

18

Image Credit: NASA

Robotic/EVA Repair of ISS Solar Array


Use of Robotics to Support Shuttle EVA

EVA Operations

Robotics offers improved crew efficiency by freeing hands for performing tasks instead of stability

19

Image Credits: NASA


Support to Science


Image Credit: NASA

DSXR enables the robotic hosting, deployment, and maintenance of science payloads on the Habitat

Science Support

• The Deep Space Gateway can serve as an important platform for deploying small hosted missions to the Moon using DSXR and a small satellite deployer system

• Science Payloads can be hosted on external science platforms services by DSXR


Image Credit: SSL

Science Support

• Supports lunar sample return mission through robotic capture of Lunar Ascent Element and transfer of Sample Preservation Module to Equipment Airlock for crew retrieval and return to Earth


Intravehicular Robotics


Employing the smaller dexterous arm for EVR and IVR as well as other purpose built robotics show potential benefits for Gateway utilization

ISS Crew Availability


Data Source: NASA’s Operations Planning Timeline Integration System (OPTIMIS)

Category % Hrs IVR Addressable

Sleep/Rest/Eat 59.23% NoScience Utilization 9.86% YesExercise 9.74% NoMaintenance 4.80% YesEva 2.51% NoConferences 2.28% NoHousekeeping 1.54% YesMedical 1.19% NoSoyuz Dock/Undock 0.94% NoMisc. 0.93% NoCargo Ops 0.92% YesTraining 0.87% NoCrew Misc. 0.83% NoResupply/Outfit 0.82% YesBerthing/Unberthing 0.48% NoStow Mgmt. 0.29% YesProgress Load/Unload 0.23% YesProgress Dock/Undock 0.11% NoSoyuz Pack/Stow 0.11% YesExt Cargo 0.01% NoUnaccounted 2.32% NoTotal 100.00%

The data collected from OPTIMIS suggests that crewmembers on board ISS each work on IVR addressable tasks for ~4.5 hours of their day

Intravehicular Robotics Opportunities

25

# Task Description1 Logistics

HandlingTransfer of Cargo Transfer Bags (CTBs) and Middeck lockers(MDLs)

2 MonitoringVisual InspectionInventory

Environmental monitoring, Photography, Video. Inventory scans

3 Housekeeping Weekly housekeeping tasks

4 Science Experiments where crew assist with loading/unloading of samples

5 Maintenance Repeatable maintenance operations.

6 Technology Demonstrations

Autonomy, path planning, fault recovery, task planning, mobility operations

7 Unplanned Collaborative Robotics

Teach new robotics handling routines

8 Telerobotic medicine

Telerobotic medicine demonstrations. Future capability for deep space.

9 ORU RepairDexterous Glovebox

Small-scale repairs at the circuit card assembly (CCA) level by removing and replacing shop-replaceable units (SRUs).

Image Credits: NASA


Collaborative Tele-robotics


Canadarm spin-offs to terrestrial collaborative robotic technology offers spin-in capabilities for DSXR such as collaboration with crew – a third hand or dexterous repair

Image Credit: Synaptive Medical

Image Credit: University of Calgary

Planning, Perception & Autonomy


Advanced Situational Awareness and Automated Mission Planning & Execution Tools for Increased Ease of Use and Efficiency

Mission Utility and Productivity

• Variable autonomy of robotics can effectively support LOS and latent signals by way of parsing high level commands in situ

• Commands can be issued at an activity level versus at an arm level or actuator level (similar to auto-pilot) alleviate crew time for planning, training and execution and ultimately reducing complexity

28

Dextre command and control is performed from the ground 100% of the time with safety features in place to address latency and LOS

Image Credit: NASA


Self Reliance for Path to Mars

• Earth independent operations will demand capacity for crew to inspect and repair systems versus bringing redundant/replaceable units, requires Multi-purpose tools to support crew In-situ repairable systems which

exploit commonality

• Crew self-reliance features also include Situational awareness and

management of external assets Built-in planning and training

capability Ease of use

29

Image Credit: NASA


Conclusions

• Robotic manipulator systems are essential enablers for long duration outposts addressing critical needs: planned - science support, inspection, expected - reconfiguration, assembly, EVA support, maintenance, repair,

and unforeseen needs!

• Advances in self-deployment, self-maintenance, standard interfaces, situational awareness, and autonomy will provide efficient and necessary capabilities to cislunar missions and beyond - including Mars and future destinations.

• Building on ISS heritage, Canada has been actively developing essential technologies for deep space exploration through collaboration with International Partners.

• DSXR can be expanded and leveraged to achieve new capabilities for human exploration and commercial activities.


Deep Space Exploration Robotics for Improved Capability...

Documents

Transcript of Deep Space Exploration Robotics for Improved Capability...