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