Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory

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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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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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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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Basic SCOUT Dimensions

0.340.821.85

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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Exterior Features

RMS Grapple FixtureEscape System

IBDM

Star Tracker

Ka-Band

UHF

RadiatorGrapple 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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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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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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Vehicle Mass/Power Breakdown

System Allotted Mass (kg)

Actual Mass (kg) Power (W)

Loads, Structures,and Mechanisms

850 796 240

Life Support andHuman Factors 275 235 295

Avionics 200 190 295Power, Propulsion,and Thermal

675 633 85

Total 2000 1850 915

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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

53 2

4

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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 Activity00:30:00 Travel to worksite01:00:00 Worksite Translation03:00:00 Work Period 1

03:15:00 Break 1

05:15:00 Work Period 2

05:45:00 Break 2 – Lunch

Time Activity07:45:00 Work Period 308:00:00 Break 310:00:00 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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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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• 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 5000WSurface 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

FDCCFDC

C

FDCC

CompactPCI BusThermal Control

Power Distribution

Computer DisplayComputer

DisplaySolid State RecorderSolid State

Recorder

Legend:FDCC - Flight & Data Control Computer - Primary Avionics Components - Critical Crew Survival Systems - Flight Control Systems - Mission Systems

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Communication Block DiagramUHF

Omni GimbaledKa-Band

TransponderSensor Data

Video System

Crew Interface - Hand Controllers - Switches - Voice

Flight computers

PowerAmplifierFDC

C

FDCC

FDCC

Video Displays AntennaSwitch

Diplexer

AntennaSwitch

Diplexer

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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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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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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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• 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 295Avionics 295Power, Propulsion, and Thermal 85Total 915

Arm/ Type Operation Time (hr) Power Required (W)

Task/ Max Draw (2) 0.2 2000Task/ Maneuvering (2) 0.8 400Task/ Position Hold (2) 0.8 200Grapple/ Maneuvering 0.2 250

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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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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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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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For More Information

http://www.ssl.umd.eduhttp://spacecraft.ssl.umd.edu

Documents

Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory