FELDs Experiment: a new flexible soft docking concept Drop Your - - PowerPoint PPT Presentation

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FELDs Experiment: a new flexible soft docking concept Drop Your - - PowerPoint PPT Presentation

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FELDs Experiment: a new flexible soft docking concept Drop Your Thesis! 2014 Davide Petrillo (Team Leader) 1 symposium on space educational activities Marco Gaino (Docking) Padova, 9-12 December 2015 Alessandro Cavinato (Mechanics) Centro

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SLIDE 1

1° symposium on space educational activities Padova, 9-12 December 2015 Centro Congressi Padova “A.Luciani” Davide Petrillo (Team Leader) Marco Gaino (Docking) Alessandro Cavinato (Mechanics) Federico Chiariotti (Informatics) Marco Buonomo (Electronics)

FELDs Experiment: a new flexible soft docking concept Drop Your Thesis! 2014

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SLIDE 2

Introduction

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

02/20 Space Rendezvous & Docking Two spacecraft get into close approach and physical connection Traditional docking technologies

  • Soft docking + hard lock
  • Berthing + hard lock

Drawbacks of traditional docking system

  • Complexity (large numbers of actuators)
  • High peak load trasmission
  • Mass budget
  • Not suitable for small satellites
  • Strict alignment requirements (5 to 6 DoF control)
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SLIDE 3

FELDs Experiment

Flexible Electromagnetic Leash Docking system

FELDs Experiment

To study the dynamics of an innovative electromagnetic soft docking technology composed of a tethered probe in a microgravity environment

  • Looser relative attitude and position

control

  • No need for close approach
  • Self-aligning
  • Non-piercing capture
  • Multi-shot capability for one

capture

  • Scalable to Microsat

FELDs soft docking advantages

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

03/20

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SLIDE 4

FELDs Experiment

04/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

FELDs applications:

  • Refueling
  • Data Transfer
  • Repairing missions
  • Crew Transfer
  • Space debris removal
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SLIDE 5

The Experiment

05/20 SEC (Target system):

  • Sensors, Electromagnet and Cap
  • Electromagnet
  • Shear dampers
  • Load Cells
  • Connectors

GUN:

  • Spring
  • Probe
  • Guides

Release system:

  • Tether
  • Constantan wire
  • Plexiglas tube

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 6

Results

06/20

  • SEC System:
  • Measurements (Load cells, shear dampers)
  • Assembly
  • Vibrational model, impact model
  • GUN + Release system:
  • Friction estimation
  • Spring compression (microgravity, measurements)
  • Design (light, strong, materials)
  • Tether material
  • Design:
  • Distance between GUN and SEC
  • Assembly
  • Components orders
  • Stereoscopic video system
  • Electronics
  • Budget
  • Management

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 7

The Experiment

07/20 SEC SYSTEM

GUN + RELEASE SYSTEM

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 8

Drop Your Thesis!

08/20 The Drop Your Thesis! (DYT) programme gives university students, from bachelor to PhD level, the

  • pportunity to perform scientific or technological

research in microgravity conditions.

  • Height: 146 m
  • Fall: 120 m

Drop tower:

  • 4.74 s of microgravity
  • 5 Drops
  • Deceleration at 50 g

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 9

Drop Campaign

09/20

  • 3-14 November 2014, ZARM Drop Tower, University of Bremen

Integration week:

  • Assembly
  • System improving

Drop week:

  • 5 drops (one per day)
  • Live results
  • Gravity tests

(Mechanics, Electronics, Informatics)

  • Changes & adjustements of the system

day by day

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 10

FELDs Experiment – 1° Drop

10/20

  • Height between SEC and GUN: 34 cm
  • Spring compression: 1.2 cm
  • Probe velocity: 0.14 m/s

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 11

Results

11/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

TETHER DYNAMIC RESPONSE SEC DYNAMIC Thanks to the stereoscopic camera subsystem Thanks to the load cells

  • FELDs experiment gave us a good response for almost all

the subsystems involved.

  • The measurements subsystems gave us two different

ways to understand our experiment behavior:

MAGNETIC FIELD ACTION

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SLIDE 12

Results – Magnetic Field Action

12/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

Results – Magnetic Field Action

0.005 0.01 0.015 0.02 0.025 0.05 0.1 0.15 0.2 0.25 0.3 0.35

 (m)

h (m) THIRD DROP, TRAJECTORY

Magnetic field goal Prevent the misalignment Facilitate the connection

0.005 0.01 0.015 0.02 0.025 0.05 0.1 0.15 0.2 0.25 0.3 0.35

 (m)

h (m) THIRD DROP, TRAJECTORY real smoothed simulated

~7cm

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SLIDE 13

Results – Tether dynamic response

13/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.05 0.1 0.15 0.2 0.25 0.3 0.35 POSITION time (s) position (m) position smoothed (w=33) position from simulation 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0.05 0.1 0.15 0.2 0.25 0.3 0.35 POSITION time (s) position (m) position smoothed (w=33) position from simulation

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SLIDE 14

Results – Tether dynamic response

14/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

  • 0.2

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 VELOCITY time (s) velocity (m/s) velocity smoothed (w=33) velocity from simulation 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

  • 0.2

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 VELOCITY time (s) velocity (m/s) velocity smoothed (w=33) velocity from simulation

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SLIDE 15

Results – SEC Response

15/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

1 2 3 4 5 6 7 8 9 10

  • 10
  • 8
  • 6
  • 4
  • 2

2 4 6 8 10 time (s)

  • utput load cells (V)

0.5 1 1.5 2 2.5 3 3.5 4 4.5

  • 40
  • 30
  • 20
  • 10

10 20 30 time, s Force (N) real cells simulated

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SLIDE 16

Technical Support

16/20

  • CISAS “G.Colombo”
  • Prof. Alessandro Francesconi
  • Dr. Lorenzo Olivieri, Ph.D.
  • Francesco Branz, Eng.
  • Dr. Francesco Sansone, Ph.D.
  • ESA (European Space Agency)
  • Lily Ha, Trainee at ESA
  • Dr. Natacha Callens
  • Dr. Piero Galeone
  • ZARM (Center of applied space technology and microgravity)
  • Dr. Ing. Thorben Könemann
  • Ing. Fred Oetken
  • Ing. Jan Siemen
  • ELGRA (European Low Gravity Research Association)
  • Dr. Guus Borst

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 17

Outreach

  • La stampa
  • Il sole 24 ore
  • Il mattino di padova
  • Il Corriere della sera
  • ASI website
  • ESA Education section
  • Rai TV

17/20 FELDs Team:

  • Best team Project
  • IAC2015, Jerusalem, Israel
  • Winning team, Hans Von Muldau Award

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

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SLIDE 18

Conclusions and future developments

To work in low gravity requires special efforts for the design process, giving us several challenges to deal: Even small forces become significant Because of this, FELDs experience gave us a special opportunity to try

  • ur skills managing this kind of behavior

18/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

Every detail needs attention, especially those negligible in normal conditions The design process must anticipate all the possible

  • utcomes during the fall

Design Process Building Process Fundamental Learning Experiences

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SLIDE 19

Conclusions and future developments

19/20

1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions

Every drop gave us an important lesson The unsuccessful drops showed the importance of the flexible tether release The three successful drops gave us an encouraging feedback.

  • Demonstrating the capability of this

technology

  • Fitting well to the theoretical models

and simulations Drop Your Thesis! Campaign revealed itself as an important experience for

  • ur future.
  • Networking
  • Pragmatism
  • Design
  • Inspiration
  • Opportunities
  • New experiences
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SLIDE 20

Thank you for your attention! Any questions?