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AstrobeeSpaceStationRoboticFreeFlyer

ISSResearch&DevelopmentConference2016July14,2016

ChrisProvencherSGTatNASAAmesResearchCenter

IntelligentRoboticsGroup

https://ntrs.nasa.gov/search.jsp?R=20160009134 2020-03-24T11:55:25+00:00Z

Outline

•Overview

•Highleveldesign

•Status

•Development

• Testing

2

Overview

3

• Develop,test,deliver2freeflyingrobotsfor ISS IVAuse

• 3yearproject(FY15-FY17)underHumanExplorationTelerobotics2(HET2)

• 1year(FY18)extensionforon-orbitcommissioning(proposed)

• Sponsor:SpaceTechnologyMissionDirectorate,GameChangingDevelopmentProgram

• TechnologyinfusiontoISSpayloads&operations

ProjectSummary

4

0gRoboticsResearchFacility

AES,SPHERESProgram,SPHERESusers 5

MobileCameraTasks

ISSProgram,FOD,POIC 6

MobileSensorTasks

ISSProgram,FOD,POIC 7

Dock&Resupply

8

Design

9

SystemArchitecture

10

AstrobeeFreeFlyer

ForwardTop AftTop11

AstrobeeModules

12

CentralModule

PropulsionModules

PropModuleAssembly

Impact Mitigation(TBD)

ImpellerRotationalAssembly

Plenum DirectionalSignals(TBD)

Nozzles

13

ComputingSystems

CoreAvionicsStack

PerchingArmController

PropulsionModuleController

AFT/CUTAWAYVIEW 14

ExternalSensors

FORWARD

HazCam

NavCam

DockCam

PerchCam

SpeedCam

SIDEVIEW 15

ExternalSensors

FORWARD

HazCam

NavCam

DockCam

PerchCam

SpeedCam

SIDEVIEW 15

PowerSystems

FORWARD

Batteries

Batteries

DockAdapter(poweranddata)

16

PayloadLayout

17

Bottom Top

PayloadMechanicalAttachmentOptions

18

PerchingArm

Stowed Stowed/Deployed19

DockingStation

20

•2FreeFlyerberths•4standalonebatterychargers•Controlpanel

DockingStationFrontandSideView

(30.50)

NOTE:Dimensionsareininches

(2.50)

(19.00)

21

ControlStation

22

ScicamReal-timeHD Video

NavcamImages@1HzNav & Plan

TelemetryRobot Status

Telemetry

TeleopCommands

Full Real-time Stream

Distributed Video

• EclipsebasedGUI• Create,run,tele-opplans• Runguestscience• Administration• Separate groundUIforfiletransfer,softwareupdatesanddiagnostics

PlanValidation

23

RunPlanTab

Modelofloadedplan

24

RunPlanTab

25

TeleoperationTab

26

Status

27

Propulsion

• Propulsionmoduleswerelaggingtherestofthehardwaredevelopmentduetoamajordesignshift

• DuringFY16,wentfromdrawingboardtoflight-likeprototype

• Everymajorpart(plenum,nozzle,impeller,controllerboard)istheresultofmultiple iterationsofprototypingandrework

• Besides bettercompatibilitywithoverallflightdesign,newpropulsionmodulesonP4alreadyshowbetterstabilityandmotionaccuracythanP3

Propulsionmodulewithoutcover28

Avionics

• Stackoffivecustomboardsconnectingtwopropulsionmodules,sixexternalsensors,threepayloads,andavarietyofotherhardware• WithP4,nowworkingreliablyinconstrainedvolumeofcoremodule• Asexpected,powersystemcansupportmultiplehoursofautonomousflightbetweencharges

Coremodule 29

MobilitySoftware

• Demonstratedreliablelocalizationbasedonfusingsparsemap,opticalflow,andIMU• Mappingscaledup;demonstratedmappinganentirefloorofourbuilding• Controlapproachportedtonewpropulsionsystem

ISSmapbuiltfromSmartSPHERESdata

DockCamimageryduringapproach 30

IntegratedPrototype4

• Firstflight-likeprototype• ReducedriskforcertunitandpracticedI&Tprocedures• Matureddetailslikewiring,sensormountingbrackets,designforcrewservicing• Uncoveredavionicsandthermalissuesduringintegration• Manylessonslearnedduringtesting• MoredetailsinI&Tdiscussion

Prototype431

ControlStation

• ControlStationnowusedtoauthorandrunplans• Conductedusabilitytests(withvaryingISS&Astrobeeexperience) toobtainuserfeedbackandupdatedesign• IntegratedwithFreeFlyersimulatorandPrototype4

FreeFlyercontrolGUI

32

Prototype4Testing

• Nearflight-likeform

• Verifyrequirements relatedtoh/wdesign

• ReduceriskforCertUnit

• PracticeI&Tprocedures

Prototype 4 free flyer & dock 33

PayloadInteroperabilityTest

34

• REALMpayload(RFIDreader)

• Verifiedpower/datainterface

• ReadRFIDtags

• Displayedtaginfoontouchscreendisplay

NavigationDemonstration

35