The Restore-L Servicing Mission - NASA · overview of the Restore-L servicing mission, ... relative navigation system servicing avionics ... SpaceCube computer

The Restore-L Servicing Mission We will present information about the Restore-L Servicing Mission, a technology demonstration of servicing technologies via the robotic on-orbit refueling of a functional Government-owned satellite in polar low Earth orbit. This demonstration would establish U.S. leadership in robotic on-orbit satellite servicing, accelerate the maturation of technologies critical to NASAs Journey to Mars, and jumpstart a new domestic commercial servicing industry. We will present an overview of the Restore-L servicing mission, which was recently approved to progress to flight. We will also describe the technologies that NASA is advancing to achieve this mission, and provide the current status of the Restore-L effort.

https://ntrs.nasa.gov/search.jsp?R=20170004988 2018-07-30T04:24:37+00:00Z

The Restore-L Servicing Mission

Benjamin B. Reed Deputy Program Manager, Satellite Servicing Capabilities Office

NASA’s Goddard Space Flight Center

[email protected]

Presented to the Embedded Systems Conference April 14, 2016

Approved for Public Release

Science and Exploration

2 Approved for Public Release

NASA/JPL-Caltech

Science

Assemble

Upgrade

Extend Life


Replace and Repair

Replenish Consumables

Exploration

Build


Assemble Upgrade Extend Life

Replace and Repair Replenish Consumables

Servicing Capabilities

Build


Restore-L Pre-formulation Phase: now Technology Demonstration Mission


Refuel & Relocate

Grasp

Rendezvous

Objectives 7


relative navigation system

servicing avionics

robot arm and software

tool drive system and tools

propellant transfer system

Technologies


Technologies


Relative Navigation Objective

–  Autonomous, robotic rendezvous with a non-cooperative satellite

The Challenge –  Autonomous, real-time relative navigation with both non-cooperative and

cooperative objects •  Non-cooperative methods allow rendezvous to legacy space objects •  Autonomous system allows robust operation across many operational regimes

–  Creating a near-turnkey system for multiple future missions

Technologies that make it possible

–  Sensor suite (Visible, infrared, lidar) –  Algorithms (range, bearing, pose) –  SpaceCube processor

Impact –  Results in an off-the-shelf, integrated

Government technology set and capabilities


Servicing Avionics Objective

–  Avionics to enable autonomous rendezvous and capture of non-cooperative satellites, also teleoperated servicing tasks

The Challenge

–  Running complex vision processing algorithms and robot motion control algorithms in real time on flight-qualified hardware

–  Developing methods to parallel process algorithms to accelerate hardware –  Developing a mission-critical system that is flight-qualified and robust to launch and

space environment –  High volume video data storage and commandable distribution


–  SpaceCube processor –  Video Data Storage Unit

Impact: how America benefits –  Provides enhanced data processing capability

to support complex on-orbit servicing tasks –  Remote locations with communication limitations

can benefit from increased processing prior to transmitting

–  Applicable to missions that need many video sources with limited bandwidth


Objective –  Autonomous grasping of non-cooperative on-orbit satellite –  Teleoperated robotic servicing of legacy interfaces

The Challenge -  Autonomous capture of non-cooperative clients -  Teleoperated servicing of non-prepared worksites

at LEO, GEO or interplanetary Technologies that make it possible

–  NASA Servicing Arm – 7 degrees of freedom –  Robot Electronics Unit –  Robot Flight Software

Impact: how America benefits –  Support of current (SPDM) and future (LEO/GEO

servicing, asteroid, etc.) robotic missions –  Accurate local simulation of remote delay –

can help with investigating mitigation of cis-lunar and beyond time delay

–  Robot and Electronics Unit design is GEO-qualifiable and can be used on future robotic missions

Robot Arm and Software


Objective –  Multipurpose tools and adapters to service a non-cooperative client

The Challenge

–  Create compact, multi-drive tool drive system that enables low-mass, no-motor tools

–  Produce suite of robotic tools capable of fault-tolerant operations on unprepared worksites – grasp, inspection, refueling (repair)


–  Advanced Tool Drive System –  Sophisticated servicing tools

and adapters

Impact: how America benefits –  Otherwise daunting missions become

achievable –  American industry gets a jumpstart

on on-orbit servicing

Tool Drive System and Tools


Objective –  System capable of transferring propellant to a non-cooperative satellite in orbit

The Challenge

–  Provide propellant on orbit to spacecraft not designed for servicing Technologies that make it possible

–  Propellant Transfer Assembly –  Zero-g fluid flow meter –  Hose management system

Impact: how America benefits

–  Enables safe and reliable refueling of spacecraft for life extension

–  Flexible fleet architecture –  Ability to launch satellites with less initial fuel,

allowing for more instruments –  Knowledge learned extensible to other fluid

systems: xenon, helium, cryogens –  American industry gets a jumpstart on

on-orbit refueling

Propellant Transfer System


Technology Advancement on Orbit and on the Ground


RRM is a multi-phased ISS investigation of tools, technologies and techniques for robotic refueling, cryogen replenishment and xenon recharge.

Blanket Manipulation

Wire Cutting

Transferring Mock Propellant

Robotic Refueling Mission

Technology Demonstration on the International Space Station

Cap removal


RRM is a multi-phased ISS investigation of tools, technologies and techniques for robotic refueling, cryogen replenishment and xenon recharge.

Raven

Technology Demonstration on the International Space Station

Artist’s Concept Raven payload (pre-launch)

Results in an off-the-shelf, integrated Government technology set/capability applicable to executing future NASA missions Reduces risk for Orion


Robotic Operations Center


Disruptive technologies open fresh possibilities

for the future



Technologies

NASA Nation Industry


Embedded Systems within SpaceCube


Goddard SpaceCube v2.0 Computer

SpaceCube computer

SpaceCube Processor Card

SpaceCube Power Card 22


STS-125 On-Board Image Processing

Relative Navigation Sensor System

à  Typical space flight processors are 25-100x too slow for this application

à  Successfully tracked Hubble position and orientation in real time operations

à  FPGA algorithm acceleration was required to meet 3Hz loop requirement


SpaceCubes on the ISS

STP-H4 ISS Location

ELC2 MISSE-7/8 SpaceCube v1.0

STP-H4 On-Orbit Location

24 Image Credit: DoD Space Test Program

ELC1 STP-H4 SpaceCube v1.0 SpaceCube v2.0 STP-H5 SpaceCube v1.0 SpaceCube Mini SpaceCube v2.0

ELC3 RRM3 SpaceCube v2.0


SpaceCube v2.0 Processor Layout

NASA Goddard’s Embedded System Platform Won a Global-Wide Innovation Award IPC 6012B Class 3/A, 22 layers, no microvias Back-to-Back CCGA 1752 devices US Patent Pending


Fun Fact

•  NASA’s Goddard Space Flight Center has flown 26 embedded processors on 5 systems including:

–  General purpose Command and Data Handling –  Real-time on-board image tracking –  Redundant fail-safe computing, and –  High-speed instrument interfacing

•  STP-H5 will have 11 embedded systems

•  RRM3 will have 3-6 embedded systems

•  Restore-L will have 12-15 embedded systems


Assemble

Replace and Repair Replenish Consumables Build

Upgrade Prolong Life



http://ssco.gsfc.nasa.gov


Documents

The Restore-L Servicing Mission - NASA · overview of the Restore-L servicing mission, ... relative navigation system servicing avionics ... SpaceCube computer