Canadian Space Robotic Technologies for Lunar Explorationsci.esa.int/Conferences/ILC2005/Presentations/GhafooN-01-PPT.pdf · Canadian Space Robotic Technologies for Lunar Exploration

Space Missions

Canadian Space Robotic Technologies for Lunar Exploration

Nadeem GhafoorChristian Sallaberger

MDA Space Missions

International Lunar ConferenceToronto, 19th-23rd September, 2005

Space Missions

Overview

• Space Robotics in Canada - building on heritage

• Lunar exploration mission & robotics roadmap

• Docking & Rendezvous

• Remote prospecting

• Autonomous Landing

• Planetary science instrumentation

• Autonomous Rovers

• Surface and sub-surface sample handling & processing

• Commercial & human presence

• Conclusions - a Canadian lunar robotic exploration technology roadmap

Space Missions

Space Robotics Heritage• Canada’s space robotic

reputation has built over 25 years

• Shuttle Remote Manipulator System (SRMS)

– Payload deployment, retrieval, rescue & servicing, astronaut transport

• Space Station Robotics– (1) ISS Remote Manipulator

System (SSRMS) “Canadarm-2”, (2) Mobile Base System (MBS), (3) Special Purpose Dexterous Manipulator (SPDM)

– ISS assembly, ISS vehicle capture & berthing

• Shuttle Return to Flight– Test which became a reality,

watched by millions– 1st ever in-orbit inspection and

astronaut repair of shuttle thermal protection system using Inspection Boom Assembly (IBA)

MBS

SSRMS

SPDM

Space Missions

Shuttle

Orbital RoboticsOrbital Robotics

Building on flight heritage

ISS

Satellite Servicing

Orbital Cargo Handling

Large Infrastructure /Spacecraft Assembly &

Servicing

Space Missions

Large Infrastructure /Spacecraft Assembly &

ServicingShuttle

ISS

Satellite Servicing

Planetary RoboticsPlanetary Robotics

Orbital RoboticsOrbital Robotics Orbital Cargo Handling

Building on flight heritage

Robotic Science

Robotic Exploitation / ISRU

Robot assisted Human Exploration

Robotic Exploration

Space Missions

Robotic Planetary Exploration: Technology Roadmap

Landing

Precision Landing

Surface Systems

Rovers

End-to-end Mission Design

Vision Systems &

SensorsPlanetary

Exploration Robotics

Advanced Orbital Robotics

Heritage

Sample Acquisition

Sample Triage &

Processing

Inspection & Science

instruments

Autonomous GNC

Chassis

Mechanisms, Traction

Moon

Mars

NEOs

Lidars

Cameras

Radar

Space Missions

Robotic lunar exploration roadmap

Autonomous Rendezvous &

Servicing

Remote Sensing systems

Autonomous assembly

Sample Acquisition & Processing

ISRU

Orbital infra-structure

Surface infra-

structure

Robotic LSS & Astronaut Assistance

Autonomous Mobility &

GNC

Surface & subsurface instruments

Autonomous Landing

Capability

STS & ISS

Manned presence

Surface exploitation

& ISRU

Surface exploration

Surface & subsurface science &

propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS

Autonomous Orbital Rendezvous

Space Missions

XSS-11 Lidar (USAF)• MDA / Optech Rendezvous Lidar

provided autonomous on-orbit operations demonstration mission

• Lidar sensor (“laser radar”) provides relative position and velocity data for rendezvous and inspection

• Launched April 11, 2005

Orbital Express• Demonstration of autonomous on-

orbit satellite servicing technologies and development of non-proprietary satellite servicing interface standards

• Launch 2006

Orbital Infrastructure

Autonomous Rendezvous & Servicing

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS

Autonomous Orbital Rendezvous & Servicing

Remote Sensing Systems

Space Missions

• Planetary SAR

– World leading SAR heritage: Radarsat 1 & 2

• 3m – 100m resolution• 20km – 500km swath

• Single, dual & quad polarization

– Apply capability to 400kg spacecraft class planetary missions

– Surface & subsurface mapping

– Regolith, ice and bedrock topography for landing site selection and resource ISRU

• Spiral scanning Lidar altimetry instrument (SALLI)

– Efficient generation of lunar topography from polar orbiting spacecraft

Orbital science

Remote Sensing

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS



Autonomous Landing

Space Missions

Robotic Landing

Rendezvous, Descent & Precision Landing Systems

• MDA is partnered with Optech on all space lidar programs

• Selected by NASA to develop precision landing technology with Boeing/JPL

• Under contract to CSA to develop lidar-based hazard avoidance technology for planetary landing

• MDA is prime contractor to ESA for the development of Lidar GN&C for automatic rendezvous and planetary landing

Space Missions

(a)

(b) (e)(d)(c)

Robotic Vision Systems & Sensors

• SSRMS/SPDM Color Cameras (a)

• SPDM OTCM Video B/W Cameras (b)

• SPDM/SSRMS Fluorescent Lights• JEM Fluorescent Lights (c)

• Space Qualified LEDs

• Rendezvous Lidars (d)• 3D Object Recognition and Pose Estimation

Software (e)

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS



Autonomous Landing

Surface & Subsurface Instruments

Space Missions

Robotic Science & Prospecting

Surface InstrumentsPhoenix - MET• MDA is prime contractor to CSA for

the Phoenix MET instrument (Launch in 2007)

• MET consists of a lidar, temperature sensors and a pressure sensor used to characterize the Martian atmosphere

MSL - APXS• MDA was selected by NASA to

provide the Alpha Particle X-ray Spectrometer (APXS) instrument for the 2009 MSL mission

• APXS determines the elemental abundance in soil and rock – ‘rock finger prints’

Space Missions

Robotic Science & Prospecting

Surface & Subsurface Instruments• CSA-funded 1 year instrument concept

studies with MDA as technical lead

Borehole Gamma Ray Spectrometer• Martian subsurface geology through in situ U,

Th & K mapping

• Martian igneous geochemistry• ESA ExoMars & NASA Scout 2011

Microscopic Imager• Essential geological tool for future Mars

contact science & sample triage• ESA ExoMars, NASA MSL & Scout 2011

• No space-qualified sensor yet available with sufficient resolution

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS



Autonomous Landing

Surface & Subsurface Instmts

Autonomous Mobility / GNC

Space Missions

Robotic Exploration

Rover TechnologiesRover System Design• Prime contractor to ESA for the design of the

ExoMars Rover and science payload during the ExoMars Phase A Study

Rover Chassis• Rover chassis design• Validation of RCAST and rover prototype

platform

Rover Autonomous Navigation• Terrain Assessment and Global path planning• Obstacle Avoidance and Local path planning• Visual Motion Estimation for Localization

Space Missions

Rover System Design

ExoMars Rover• Phase A Rover-Pasteur Study

performed for ESA (2004) – MDA (p), Alcatel, Alenia/Laben,

Carlo Gavazzi Space & Kayser-Threde

– Optimized conceptual design of a rover for the ExoMars Mission

– Phase B1 due 2006

• ExoMars Rover – 240kg rover, launch 2011– Autonomous traverse of tens of

kilometres over rocky terrain• cf. MERs: 5 & 6km

– Search for signs of past & present life on Mars

– Drill, on-board sample analysis

• Key challenges– GNC– Locomotion & terrain navigability

Drill

PasteurPayload

CameraEnclosure

ServiceEquipmentBox

ChassisModules

Solar Array

X-Band High Gain AntennaUHF Antenna

VHF AntennaGround PenetratingRadar

1997 2004 2009 2011

Space Missions

Rover Chassis Design

Prototype Chassis & RCAST• Terrain navigability & locomotion performance

– Terrain physical characteristics– Wheel-soil interactions

• RCAST: Rover Chassis Analysis & Simulation Tool

– Mobility analysis & performance prediction– Design, verification & ops planning– Features:

• 3-D multi-body dynamic simulation & visualization

• Experimentally validated wheel-soil module • CoG position and slip optimizations

– Single wheel testbed (MIT Field & Space Robotics Lab)

• Parameter based terrain characterisation

• Wide range of Mars soil analogues

• Prototype Chassis– Internally funded R&D for ExoMars support– RCAST validation– Integration & functional tests end 2005

Longitudinal slip

(+ marker at 0.5)

Sinkage(+ marker at

2cm)Normal Forces

Sloped Terrain

Longitudinal Forces

y

z

x

Forward motion

Space Missions

Autonomous GNC

Rover GNC Testing• Goal: Demonstrate fully autonomous 1 km

traverse in Mars relevant terrain• iRobot ATRVJr

– Laser & stereo camera based GNC system

– Odometers, DGPS & IMU / Gyro

• Key demonstrations:– Terrain assessment & global path planning

– Obstacle avoidance & local path planning

– Visual motion estimation for localization including slip detection and mitigation

DGPS / Compass

IMU/Gyro

Laser

Odometers

Stereo Camera

ODOMETRYFAILURE DUE

TO SLIP

VISION GNC SUCCESSFUL

Space Missions

Autonomous GNC

Rover GNC Testing

Valley of Fire, Nevada

• Next steps– Migrate vision technologies to ExoMars rover chassis prototype

– Demonstrate 1km autonomous navigation of rocky Mars analogue terrain

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS



Autonomous Landing




Space Missions

Robotic Exploitation

Robotic Sample Acquisition, Processing & Handling

Sample Processing &

Triage

Sample Acquisition

Sample Analysis

Arms

Scoops and Rakes

Drills

Material Handling

and SortingDevices

Crusher SA/SPaH

• APXS

Instruments

• GPR

• Microscopic Imager

• Lidar

• GRS

• Multi Spectral Imager

Surface Systems

Space Missions


Sample Acquisition: Exploration Arm• Scalable, reconfigurable family of

manipulators• Range from 4 - 7 dof, 1 - 4m length• Highly autonomous• Low power (35W avg., 50W peak)• Low mass (≤ 15kg for 2m arm)• Tip loads (50 – 100N)• High repeatability (1 – 3mm)• Range of end effectors (scoop shown)

Space Missions


Sample Acquisition: Drilling / Coring• Developed, with mining partners, planetary

coring systems (10cm - 10m depths), based on rotary diamond dry-drilling technology

• Drill bit designs developed from Canadian hard rock and Arctic experience, optimisedfor media from hard rock to regolith

• Optimized cuttings transport & core capture technology

• Proof of principle tests:

• Low mass, low power, low down force (≤ 25W and ≤ 6kg for 100mm drill, 50 – 100N)

• Low rpm / low thrust rock comminution due to power, thermal, & reaction constraints.

• Range of materials from silt to basalt.

Space Missions


Sample Processing & Triage: Crusher & Sample Handling Unit

• Sample Handling Unit concept design• Crusher proof of principle tests:

– Variety of jaw configurations and profiles

– Reduce 95% sample to ≤ 1mm particulate (70% ≤ 500�m)

– Low power (≤ 10W avg. flight)

– Low mass (≤ 12kg flight)

Space Missions


Sample Acquisition Testing: Planetary Simulants

• Terrestrial tests of Sample Acquisition, Processing and Handling systems performed to validate mission operations concept

• Tests conducted using breadboard hardware

• Simulant based on JSC lunar regolith simulant

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS



Autonomous Landing




ISRU

Autonomous AssemblyAutonomous

Assembly

Autonomous Landing

(Sub)surface Instmts


Space Missions

Robotic Infrastructure Assembly

Cislunar Infrastructure

• Prime contractor for the Phase A development of a large GEO based structure concept

• The study focus is on space-based manufacture and assembly of large structures utilizing both terrestrial and lunar materials

• This contract is a follow on study to previous work that focused on concepts for lunar resource utilization

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS STS & ISS



Autonomous Landing Autonomous Landing

Surface & Subsurface Instruments (Sub)surface Instmts

Autonomous Mobility / GNC Autonomous Mobility / GNC


ISRU


Assembly

Robotic LSS & Astronaut Support

Space Missions

Robotic Assisted Human Exploration

Manned exploration robotics

• Canada is a world leader in robotic systems in support of human space exploration

– High reliability

– Safety critical

• 25 years experience in astronaut operated space robotics and theastronaut-robot interface

• Ongoing research in the area of robotic space suit enhancement, mobility systems and life support systems

Space Missions

Robotic Exploration

End to End Mission Design

IcebreakerSun-Synchrony

Long Day’s Drive

ExoMars

Mars

CLMMConcept

MSR

Concept

Concept

LDD

Space Missions

Robotic Exploration

Commercial Robotic Missions• MDA has experience in commercially-funded planetary exploration

missions

Space Missions



Servicing


Autonomous assembly


ISRU


Surface infra-

structure



GNC


Autonomous Landing

Capability

STS & ISS

Manned presence


& ISRU

Surface exploration


propsecting

Orbital science &

prospecting

Earth orbit infra-

structure

STS & ISS STS & ISS



Autonomous Landing Autonomous Landing

Surface & Subsurface Instruments (Sub)surface Instmts

Autonomous Mobility / GNC Autonomous Mobility / GNC


ISRU


Assembly

Robotic LSS & Astronaut Support

Space Missions

Thank you

[email protected]@mdacorporation.com

MerciArigatoXie XieShukriaDo jehDankeDank je welGrazieGraciasSpacibaShukranMerciThank you

Space Missions

Reference Slides

Space Missions

Thank you

[email protected]@mdacorporation.com

Space Missions

Locomotion

• Full chassis testing in thermal vacuum on simulated terrain could be possible but very expensive

• Reduced traverse (1000 km) might be viable

• Test rig might need to emulate reference terrain using linear actuators and applied friction

Courtesy JSC

Space Missions

Locomotion

• Energetics:– Lunar gravity is 0.17 of Earth’s and irradiance is 1.4 times Earth’s = 8-

fold energy advantage on Moon

– Gravity-uplift with constant-force spring mechanism and tethered power could provide means to emulate lunar energetics

– Similar technique was used by Russian VNIITRANSMASH team during Lunakhod development

Documents

Canadian Space Robotic Technologies for Lunar Explorationsci.esa.int/Conferences/ILC2005/Presentations/GhafooN-01-PPT.pdf · Canadian Space Robotic Technologies for Lunar Exploration