Department of Aerospace Science and Technology

Space Engineering for planetary exploration

M. Lavagna

michelle.lavagna@polimi.it

Scenario e prospettive delle Scienze Planetarie in Italia Roma, 4 giugno 2014

Dept.

Aerospace

Science &Techs Research activities: generalities

DSTA (Dipartimento di Scienze e Tecnologie Aerospaziali)

• is an Engineering Dept, and has its core skills in technology research, verification, validation

and prototyping both in the Aeronautics and Space areas.

•Offers support to the mission\system requirements definition, the mission, instruments,

subsystems and systems design, compliant with the specific general ECS standards.

2

Dept.

Aerospace

Science &Techs

3

ModellingSimulation

Analysis &

Design

Global Optimization

Robust\Optimal Control

Muldisciplinary optimization

Uncertaintiespropagation

Soft Computing

Differential Algebra

Space Environment

Multi-body Dynamics

Mission AnalysisMission Analysis

Space Science & Technology

Relative Dynamics

Local Optimization

Dynamics&

Control Adaptive Control

Dept.

Aerospace

Science &Techs

Atmospheric Maneuvering

Interplanetary trajectories &

maneuvers design

N-body Teajectories

Planetary OrbitsStation Keeping

Mission AnalysisMission Analysis

Entry Descent &Landing

Robust orbits propagation

Formation Flying Control

Dept.

Aerospace

Science &Techs

5

Navigation &

Environment

Guidance &

Control

Facilities&

Experiments

Space SystemsSpace Systems

Space Science & Technology

Dept.

Aerospace

Science &Techs

7

Adaptive Guidance for retargetting

Automated Guidance, Navigation and Controlfor Spacecraft Landing

• Science opportunitiy

• Hazard avoidance

• Moon descent and landing • 700kg dry mass• Powered descent

Example scenario

Flexibility: 2km retargetting Precision Robustness:Nav errors

Dept.

Aerospace

Science &Techs

8

Surface Hazard Maps autonomous generation to :

safe landing on unknown objects\surfaces

multi-level clustering algorithm supported by supervised learning (1024x124 tcom=3s)

In Orbit Robotics: Navigation & Environment\Guidance Autonomous GNC for landing

Self-organizing maps

MultilayerNeural Network

Visual-based Navigation

• Single camera relative navigation.

• Image features are extracted and tracked between subsequent frames.

• Data fusion together with complementary sensors: Inertial Measurement Units (IMU) and laser altimeters.

• On going.

Dept.

Aerospace

Science &Techs

Biomimetic Legged robot projects inspired by insects: Prototype to

CTRNN Neural Network and distributed control testing

Smart Materials for actuation

Surface Robotics: locomotion

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50

5

10

15

20

25

30

35

40

45

T [Nm]

DP

[N]

Drawbar pull as a function of torque with different eccentricity

e = 0

e = 0.8

Wheeled Rover Traversability improvements•Sensitivity to wheel shape variation based on Smart materials implementation

Dept.

Aerospace

Science &Techs

9

-0.1 -0.05 0 0.05 0.1-0.1

-0.08

-0.06

-0.04

-0.02

0

0.02

0.04

0.06

0.08

0.1

x [m]

z [m

]

Deformation from circular to elliptic wheel

increasing e

Dept.

Aerospace

Science &Techs

Digital Environment Reconstruction: Stereo Vision System

Motion State Reconstruction: Visual Odometry

Path planning algorithms

zm

xm

y

Displacement

And Rotation

10

Navigation & Environment: Surface mobility 10

Dept.

Aerospace

Science &Techs

Surface Robotics: Analysis & DesignSampling mechanisms

SD2 Soil modeling DEM Sampling tool design Granular mechanics: simulation of sampling

Instant pusher

• Fast grab bucket

1,5s; 37g

Rotating stinger• 1,5s; 7g

12

1,5s; 58g

3s; 38g

Dept.

Aerospace

Science &Techs

2014 Philae – Rosetta Lander – lands on comet Churymov-Gerasimenko: PoliMi drill SD2 PI

SD2

13

Surface Robotics: Cometary lander - Philae13

Electric power generation simulator

Mechanical verification Drill behavior in in icy and microgravity conditionsDefinition of optimal drilling strategiesDefinition of contingency operationsScientific use of SD2

Mission plans development

Dept.

Aerospace

Science &Techs

14Experimental Facilities & Breadboarding

Exploited for Internal and

external testing

(-75° +200°, 10-6 mbar)

• 3x3m glass table• GNC for proximity maneuvering

& landing• robotics in microgravity

conditions

Mars sample canister (UnPd, OHB-CGS)

Functional and environmental testing

Dept.

Aerospace

Science &Techs

15Feasibility studies

3 per year phase A studies on potential future space mission of ESA interest

•Europa Lander; Binary Asteroids deviation; Formation Flying at the magnetopause

•Manned mission to NEA; Fractioned satellite on Earth orbit; Phobos sample return

•Mission to Enceladus; Mission to Pluto-Caron; Active Debris Removal & in orbit servicing

•Lunar cold trap mission; Mission to Neptune; Mars Lagrangian point station

•Venus sample return; Pioneer Anomaly detection mission; Troposhere monitoring

•Jupiter Moons tour; large X-ray telescope; Earth Energy sources mapping

• Manned mission on the Moon; GPS on Mars; Vega Launcher upper stage

•In situ Resource Utilisation on Mars; Balloons on Mars, Moon sample return

Department of Aerospace Science and Technology

Space Engineering for planetary exploration

M. Lavagna

michelle.lavagna@polimi.it

Roma, 4 giugno 2014