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University of Maryland Space Systems Design
Human/Robot Hybrids forDeep Space EVA
David L. AkinMary L. Bowden
UMd Space Systems Laboratory
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University of Maryland Space Systems Design
Space Construction & Orbital Utility Transport
• SCOUT System:– Two SCOUT spacecraft– Docking Module (DM)– eXtended Mission Pallet (XMP)
• Closed-cabin atmospheric system for EVA
• Proposed element of the Orbital Aggregation & Space Infrastructure Systems (OASIS) program
• Designed to operate with proposed Gateway Station at the Earth-Moon L1 Point
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University of Maryland Space Systems Design
SCOUT Major Design Constraints• Task/ human arm
interaction• Worksite attach/ control• Zero pre-breathe• Shirt-sleeve operation• Operating Pressure: 8.3 psi• RMS attach fitting• IBDM w/ internal hatch
opening• Accommodate 5% Japanese
female to 95% American Male
• Escape system placement
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University of Maryland Space Systems Design
Basic SCOUT Dimensions
0.340.82
1.85
1.50
0.75
r = 0.33
0.70
2.00
0.87
Rear ViewSide View Bottom View
All dimensions in meters
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University of Maryland Space Systems Design
Exterior Features
RMS Grapple FixtureEscape System
IBDM
Star Tracker
Ka-Band
UHF
Radiator
Grapple Arm
Laser Rangefinder
Radiator
Nitrogen QuadHydrazine
Triad
Single Hydrazine
Handrail
Helmet w/ HUD
Human AX-5 Arms
Tool Posts
ExternalCamera
Task Arms
Mini-Workstation
Front View Rear View
Lights ExternalCamera
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University of Maryland Space Systems Design
Internal Volume Constraints• Major volume requirements
designed into the cabin layout
– Minimal volume required to accommodate a 95% American male
• Volume dimensions are 0.72m x 0.71m x 0.172m
• Internal components placed around this volume
– Minimal volume required for a controlled tumble
• Volume is a sphere with 1.22m • Needed to flip over within SCOUT
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University of Maryland Space Systems Design
Internal Layout
Front View Rear View Isometric View
Foot restraint location(s)
StorageBox
InternalCamera
EscapeHatch
PressureControl
CO2/AirSystem
WasteCollectionSystem
HandControllers
Computers
Touch Screen Monitors
KeyboardFire Extinguisher
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University of Maryland Space Systems Design
Vehicle Mass/Power Breakdown
SystemAllotted Mass
(kg)Actual Mass
(kg)Power (W)
Loads, Structures,and Mechanisms
850 796 240
Life Support andHuman Factors
275 235 295
Avionics 200 190 295
Power, Propulsion,and Thermal
675 633 85
Total 2000 1850 915
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University of Maryland Space Systems Design
Transition from Earth to L1
1. Test Mission at ISS2. SEP#1 travels with Gateway on autonomous spiral to L13. SEP#2 travels with SCOUT system 4. After SCOUT and Gateway Station are stable5. Crew Transfer vehicle brings first crew for 6 month mission
Lin, Frank. Lunar L1 Gateway & SEP Design Briefing. 02 Nov 2001.
Crew Transfer Vehicle
ISSSCOUT
L1 Gateway
SEP #1 & Gateway
SEP #2 & SCOUT Not to Scale
1
5
3 2
4
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University of Maryland Space Systems Design
Nominal Missions• Nominal six-month mission consists of 15 sorties per
SCOUT– Eleven hours spent in the pod for eight hours of work– Total SCOUT hours for two pods: 240 working hours
and 330 hours inside the pod– End of life occurs at 600 sorties (20 years)
Example Sortie
Time Activity
00:30:00 Travel to worksite
01:00:00 Worksite Translation
03:00:00 Work Period 1
03:15:00 Break 1
05:15:00 Work Period 2
05:45:00 Break 2 – Lunch
Time Activity
07:45:00 Work Period 3
08:00:00 Break 3
10:00:00 Work Period 4
10:30:00 Travel to Gateway
11:00:00 Dock to Gateway
11:00:00 Total Sortie Time
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University of Maryland Space Systems Design
XMP / Docking Module• eXtended Mission Pallet (XMP)
– Supports off-site extended sorties– Attaches between SCOUT and tow-
vehicle– Provides off-site refueling/
recharging– Shirt-sleeve atmosphere allows
passage from SCOUT to tow-vehicle
• Docking Module (DM)
– Attach points for two SCOUT vehicles
– One port for connection to Gateway
– Storage for 6 months of propellant – Spare batteries– Life support regeneration need
[Conceptual Design]
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University of Maryland Space Systems Design
• Triple Junction Crystalline Solar Arrays:– Advanced radiation protection– Consistent with OASIS design
– Is = 1394W/m2
– ρpower = 250W/kg
– ηeff = 40%
Docking Module Power System
Total Power Output 5000W
Surface Area/ Panel 4.5m2 (1 x 4.5m)
Mass/ Panel 10kg
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Avionics Top-Level Block Diagram
Robotic Control
Communication/ Video System
Propulsion System
Attitude Sensors
Astronaut Interface
Life Support Sensors
Firewire Data BusFirewire Data Bus
FDCC
FDCC
FDCC
CompactPCI Bus
Thermal Control
Power Distribution
Computer Display
Computer Display
Solid State Recorder
Solid State Recorder
Legend:FDCC - Flight & Data Control Computer - Primary Avionics Components - Critical Crew Survival Systems - Flight Control Systems - Mission Systems
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University of Maryland Space Systems Design
Communication Block DiagramUHF
Omni GimbaledKa-Band
Transponder
Sensor Data
Video System
Crew Interface - Hand Controllers - Switches - Voice
Flight computers
PowerAmplifier
FDCC
FDCC
FDCC
Video Displays AntennaSwitch
Diplexer
AntennaSwitch
Diplexer
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University of Maryland Space Systems Design
Worksite Interaction• Heads-Up Display (HUD)
– Used for display of pertinent information dealing with
• Flight control• Robotic control• General SCOUT system
• Hand Controllers– Two 3-DOF controllers used for
translation and rotation control of• Manual flight • Operation of the task arms
• AX-5 Arm and Glove Sensors– Used to control task arms– Activated/deactivated by voice
command• Voice Recognition
– System utilizes pre-allocated communications hardware with the FDCCs to process voice commands
– Allows for both coarse and fine control of dexterous manipulators
HUD
Hand Controllers
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Dexterous Manipulator Design• Task Arm
– Modeled after 8 DOF Ranger Telerobotic Shuttle Experiment arm
• Trade study found two arms to be the best choice– One arm did not provide the ability to grasp the hardware being
removed while removing bolts and latches– Three arms brought a concern about the interference of the arms with
each other and with the human arms due to intersecting work envelopes
• Uses interchangeable end effectors for task completion– Max 8 end effectors on SCOUT– End effectors needed will be predetermined prior to sortie
• Grapple Arm– Modified version of the task arm
• Longer due to reach concerns for grappling• Only has a pitch joint at end effector connection • Uses universal grappling end effector that will be designed to be
used on a predetermined worksite
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University of Maryland Space Systems Design
Overall Structural Design• Hexagonal Pressure Hull
– Load-bearing aluminum panels incorporating Micrometeoroid (MM) and Orbital Debris (OD) protection
– Stringers to transfer panel loads and serve as hard attachment points for Shuttle launching
• Outer Frame– Load-bearing aluminum panels with MM
and OD protection– House external tanks and electronics– Back panel hinged for Li-Ion Battery
replacement and Power Distribution Unit (PDU) servicing
• Main mechanisms– International Berthing and
Docking Mechanism (IBDM)– Dexterous Manipulators– Remote Manipulator System (RMS)
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University of Maryland Space Systems Design
Tank and Thruster Placement• 16, 1N Nitrogen thrusters
– For contamination-critical sites
– 4 quads
• 16, 6N Hydrazine thrusters
– For non-sensitive sites
– 4 triads
– 4 singles
Nitrogen Pressurant Tank
* One on each side
Hydrazine Propellant Tank
* One on each side
NitrogenPropellant Tanks
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University of Maryland Space Systems Design
• Base-Load Power Requirements:– Loads assumed constant throughout 13hr sortie (includes reserve)– Loads assumed safety-critical
• Peak-Load Power Requirements (for 2hr work period):– Loads vary throughout work period– Loads not safety-critical
SCOUT Power Requirements
System Power Required (W)
Loads, Structures, and Mechanisms
240
Life Support and Human Factors 295
Avionics 295
Power, Propulsion, and Thermal 85
Total 915
Arm/ Type Operation Time (hr) Power Required (W)
Task/ Max Draw (2) 0.2 2000
Task/ Maneuvering (2) 0.8 400
Task/ Position Hold (2) 0.8 200
Grapple/ Maneuvering 0.2 250
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University of Maryland Space Systems Design
SCOUT Battery Placement• Located near Power
Distribution Units (PDUs)
• Accessible via EVA to fix/replace:– 1 spare stored in
docking module– 3 batteries replaced
once a year
Hinged back panel
EVA handrails
PDUs
Li-Ion Batteries
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University of Maryland Space Systems Design
Costing• Cost based on heuristic formulas at the vehicle level for
both SCOUTs, the docking module, and the XMP• SCOUTs
– Non-recurring Cost ($M) = $1180 Million– 1st Unit Production = $87 Million– 2nd Unit Production = $70 Million
• Docking Module– Non-recurring Cost ($M) = $260 Million– 1st Unit Production = $71 Million
• XMP– Non-recurring Cost ($M) = $142 Million– 1st Unit Production = $35 Million
Total = $1850 Million
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Summary• SCOUT represents a revolutionary advance in
EVA capabilties for low earth orbit and beyond• Direct integration of robotic and EVA
capabilities expands range of feasible applications
• Analysis shows that a single SCOUT sortie can perform ISS servicing currently requiring 2 EVA and 1 IVA crew
• L1 Gateway basing provides ideal location for extended sorties performing servicing in geostationary orbit, lunar orbit, other libration points (EM and ES)
• Extends human presence throughout the Earth-Moon system
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University of Maryland Space Systems Design
The SCOUT Team• Avionics
– Aaron Hoskins– Will Miller– Oliver Sadorra– Greg Stamp
• Crew Systems– Katy Catlin– Avi Edery– John Hintz– Andrew Long– Alexandra Langley
• Loads, Structures, and Mechanisms– Justin Richeson– Eric Rodriguez– Ernest Silva– Yudai Yoshimura
• Mission Planning and Analysis– Chris Bowen– Wendy Frank– Kirstin Hollingsworth– Sadie Michael– Jackie Reilly
• Power, Propulsion, Thermal– Cagatay Aymergen– Matt Beres– Nathan Moulton– Christopher Work
• Systems Integration– Meghan Baker– Tom Christy– Jesse Colville– Robyn Jones– Lynn Pierson
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University of Maryland Space Systems Design
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University of Maryland Space Systems Design
For More Information
http://www.ssl.umd.eduhttp://spacecraft.ssl.umd.edu
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