GRAVITY TY OFFLOAD TE TESTB TBEDS FOR FO SPACE ROBOTI TIC - - PowerPoint PPT Presentation

▶
gravity ty offload te testb tbeds for fo space roboti tic
SMART_READER_LITE
LIVE PREVIEW

GRAVITY TY OFFLOAD TE TESTB TBEDS FOR FO SPACE ROBOTI TIC - - PowerPoint PPT Presentation

Dec 23, 2023 19 likes •232 views

GRAVITY TY OFFLOAD TE TESTB TBEDS FOR FO SPACE ROBOTI TIC MISSION SIMULATI TION ORGANIZERS Craig Carignan University of Maryland, USA Giacomo Marani West Virginia University, USA Andr Schiele European Space Agency, The Netherlands

slide-1
SLIDE 1

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Vancouver, BC, September 24, 2017

ORGANIZERS

Craig Carignan University of Maryland, USA Giacomo Marani West Virginia University, USA André Schiele European Space Agency, The Netherlands

GRAVITY TY OFFLOAD TE TESTB TBEDS FO FOR SPACE ROBOTI TIC MISSION SIMULATI TION

slide-2
SLIDE 2

Previous Workshops

  • ICRA 2012: “Robotic Satellite Servicing,” St. Paul, Minnesota
  • ICRA 2015: “The Next Generation of Space Robotic Servicing

Technologies,” Seattle, Washington

Focused mainly on space robotic technology development.

IROS 2017 Space Robotics Workshop Introduction/Carignan 2

slide-3
SLIDE 3

Space Robot Application Areas

  • Satellite Servicing
  • Assembly and Construction
  • Orbital Debris Removal
  • Planetary Exploration
  • Asteroid Sample Retrieval

IROS 2017 Space Robotics Workshop Introduction/Carignan 3

slide-4
SLIDE 4

Identified Key Technology Areas

  • Advanced vision and mapping algorithms
  • Navigation and rendezvous algorithms
  • Autonomous grappling of uncooperative satellites/small bodies
  • Dexterous manipulation, end-effectors, and specialized tools
  • Operator interfaces and time delay compensation
  • Ground simulation testbeds and validation

IROS 2017 Space Robotics Workshop Introduction/Carignan 4

slide-5
SLIDE 5

Objectives for This Workshop

  • Review the state-of-the-art in ground-based platforms for space

robotic mission simulation

  • Share research and ideas in an effort to better which reduced gravity

simulation techniques work best for given application

  • Identify new technologies that will enable more accurate simulation
  • f reduced gravity environments on the ground

IROS 2017 Space Robotics Workshop Introduction/Carignan 5

slide-6
SLIDE 6

Some Current Simulation Methods

  • Parabolic flight
  • Neutral buoyancy

simulation

  • Air bearing platforms
  • Counterweights with

tethers

  • Robotic motion-based

platforms

IROS 2017 Space Robotics Workshop Introduction/Carignan 6

slide-7
SLIDE 7

Parabolic Flight

IROS 2017 Space Robotics Workshop Introduction/Carignan 7

slide-8
SLIDE 8

Neutral Buoyancy

IROS 2017 Space Robotics Workshop Introduction/Carignan 8

Ranger NBV performing HST servicing tasks at UMD’s Neutral Buoyancy Research Facility.

slide-9
SLIDE 9

Air bearing platform at ESA’s ESTEC Centre.

Air Bearing Tables

IROS 2017 Space Robotics Workshop Introduction/Carignan 9

slide-10
SLIDE 10

Counterbalance

Lunar Excursion Module Simulator (LEMS) in 1963.

IROS 2017 Space Robotics Workshop Introduction/Carignan 10

slide-11
SLIDE 11

Cable robot simulator at the Max Planck Institute.

Robotic Motion-Based Platforms

IROS 2017 Space Robotics Workshop Introduction/Carignan 11

slide-12
SLIDE 12

Reduced Gravity Limitations

25 sec micro-g, 2g load water drag planar workspace PARABOLIC FLIGHT MOTION PLATFORM AIR BEARING TABLE NEUTRAL BUOYANCY time-delay, robot resonance COUNTERWEIGHTS point loading, quasistatic

IROS 2017 Space Robotics Workshop Introduction/Carignan 12

slide-13
SLIDE 13

Famous Validation Slip-Up

Initial bid to capture satellite fails By WILLIAM HARWOOD UPI Science Writer | May 10, 1992 SPACE CENTER, Houston -- A spacewalking astronaut wielding a 160-pound grapple tried to latch onto a disabled communications satellite Sunday, but the effort caused the wayward craft to start tumbling, blocking initial attempts to haul the craft aboard for repairs.

IROS 2017 Space Robotics Workshop Introduction/Carignan 13

After at least three unsuccessful attempts by astronaut Pierre Thuot to snag the satellite while floating on the end of the shuttle Endeavour's robot arm, commander Daniel Brandenstein broke off the exercise and backed away shortly after 6:30 p.m., leaving the Intelsat 6 communications satellite wobbling through space like a gyrating top.

http://www.airspacemag.com/videos/category/space-exploration/intelsat-rescue/

slide-14
SLIDE 14

Intelsat 408 Training

IROS 2017 Space Robotics Workshop Introduction/Carignan 14

Training for the Intelsat capture task was performed using an inertially comparable spinning system on an air-bearing floor, with the crew operating in an inertially fixed 1-g

  • environment. Inaccuracies in

the air bearing facility along with the inability to simulate

  • ut-of-plane motion, may have

actually produced negative training for the flight crew.

slide-15
SLIDE 15

Mistakes can be costly …

IROS 2017 Space Robotics Workshop Introduction/Carignan 15

Brewster Rockit

slide-16
SLIDE 16

Schedule

09:00 Introduction 09:10 Session 1 Presentations (2) 10:00 Coffee Break 10:30 Session 2 Presentations (3) 11:45 Poster Session 12:30 Lunch 13:55 Session 3 Presentations (5) 16:00 Coffee Break & Poster Session 16:30 Discussion (Town Hall) 17:30 Adjourn

IROS 2017 Space Robotics Workshop Introduction/Carignan 16

slide-17
SLIDE 17

Session 1 Presentations

09:10 Günter Niemeyer, Disney Research Robotic Simulators: Passivity, Performance, and Possibilities 09:35 Joshua Mehling, NASA Johnson Space Center Simulating Reduced Gravity: Robot Testing at NASA Johnson Space Center

IROS 2017 Space Robotics Workshop Introduction/Carignan 17

slide-18
SLIDE 18

Session 2 Presentations

10:30 Kazuya Yoshida, Tohoku University

Air Bearing Testbed for Orbital Debris Removal and Asteroid Surface Locomotion

10:55 John Wen, RPI

Air Bearing Systems for Space Dynamics and Control Simulations

11:20 Marco De Stefano & Jordia Artigas, DLR

The DLR On-Orbit Servicing Simulator OOS-SIM: Reproducing Free-Floating Dynamics with Robotic Facilities

IROS 2017 Space Robotics Workshop Introduction/Carignan 18

slide-19
SLIDE 19

Session 3 Presentations

13:55 Brian Roberts, NASA Goddard Space Flight Center Gravity Offload Techniques Utilized at NASA’s Goddard Space Flight Center 14:20 Bernd Maediger, Airbus DS GmbH Bremen Robotic Satellite Servicing Testbeds for Capture and Re-Fueling Operations 14:45 Raja Mukherji & John Lymer, MDA Corp. Testing of Dextre Force Control Operations Using a Ground Test Bed

IROS 2017 Space Robotics Workshop Introduction/Carignan 19

slide-20
SLIDE 20

Session 3 Presentations (cont’d)

15:10 Glen Henshaw, U.S. Naval Research Lab Microgravity Simulation Environments and Space Robotics Validation at NRL 15:35 François Conti, Force Dimension Breaking New Ground in Human Exploration

IROS 2017 Space Robotics Workshop Introduction/Carignan 20

slide-21
SLIDE 21

Town Hall Discussion

  • Logistics: lessons learned
  • No single testbed alone can validate the on-orbit dynamics
  • How much cross validation is needed to buy down risk?
  • Technical: how to improve each platform
  • Better actuators & sensors for motion-based platform
  • Can we leverage technology from other fields? (e.g., haptics)
  • Programmatic:
  • How to choose platform(s) within budget?
  • How to make sure we’re not fooling ourselves
  • Intelsat VI example

IROS 2017 Space Robotics Workshop Introduction/Carignan 21