An Overview of CSAAn Overview of CSA’’s Space s Space Robotics ActivitiesRobotics Activities

Erick Dupuis, Mo FarhatErick Dupuis, Mo Farhat

ASTRA 2011ASTRA 2011ESTEC, Noordwijk, The NetherlandsESTEC, Noordwijk, The Netherlands

IntroductionIntroduction Key Priority Area for CSAKey Priority Area for CSA

Recent ReorganisationRecent Reorganisation Strategy Guided byStrategy Guided by

Global Exploration StrategyGlobal Exploration Strategy International Space Exploration Coordination International Space Exploration Coordination

GroupGroup Canadian Long Term Space PlanCanadian Long Term Space Plan

Preparatory ProgramPreparatory Program Accelerated by Stimulus FundingAccelerated by Stimulus Funding

$110M over 3 years$110M over 3 years

Exploration includes ISSExploration includes ISS MSS OperationsMSS Operations Life SciencesLife Sciences Operational Space Operational Space

MedicineMedicine Robotic Technology Robotic Technology

ExperimentsExperiments

ISS

Capitalise on Investment in Capitalise on Investment in SRMS + MSSSRMS + MSS

Robotic ManipulatorsRobotic Manipulators Specialised Tools and EndSpecialised Tools and End--

EffectorsEffectors Vision SystemsVision Systems Rendezvous and DockingRendezvous and Docking

ISS OOS

Also: OnAlso: On--Orbit ServicingOrbit Servicing

And Planetary ExplorationAnd Planetary Exploration Planetary Surface VehiclesPlanetary Surface Vehicles Excavation & Drilling for ISRUExcavation & Drilling for ISRU Active Vision SystemsActive Vision Systems Robotic Manipulators and ToolsRobotic Manipulators and Tools Scientific InstrumentsScientific Instruments CommunicationsCommunications Life SupportLife Support Crew Medical SystemsCrew Medical Systems

ISS OOS Planetary

Preparatory ProgramPreparatory Program Develop Technologies BEFORE Develop Technologies BEFORE

Required for a MissionRequired for a Mission

Concept StudiesConcept Studies Phase 0 StudiesPhase 0 Studies PrototypingPrototyping Analogue Field DeploymentsAnalogue Field Deployments

Prototyping: OOSPrototyping: OOS TRIDAR, Neptec Design GroupTRIDAR, Neptec Design Group

Orbital Rendezvous SystemOrbital Rendezvous System NonNon--Cooperative SpacecraftCooperative Spacecraft Triangulation LASER: High Precision, ProximityTriangulation LASER: High Precision, Proximity TimeTime--OfOf--Flight LASER: Long Range: 100Flight LASER: Long Range: 100’’s ms m IR Camera: Very Long Range: IR Camera: Very Long Range: ~~43km43km

Tested on STSTested on STS--128, STS128, STS--131, STS131, STS--135135

ISS OOS

Prototyping: OOSPrototyping: OOS TRIDARTRIDAR

ISS OOS

Prototyping: OOSPrototyping: OOS Next Generation Canadarm: MDANext Generation Canadarm: MDA

Terrestrial Prototypes of NextTerrestrial Prototypes of Next--Gen Gen Technologies for Orbital ManipulatorsTechnologies for Orbital Manipulators

Large Manipulator: telescopic BoomsLarge Manipulator: telescopic Booms Small Manipulator: Dextrous Tools, AvionicsSmall Manipulator: Dextrous Tools, Avionics Proximity Operations Testbed: NonProximity Operations Testbed: Non--ContactContact Docking Testbed: ContactDocking Testbed: Contact Operator Control StationOperator Control Station

ISS OOS

Telescoping booms

Avionics, Tools, Advanced Dexterous Tasks

Operations, Integration Proximity

Docking

Prototyping: OOSPrototyping: OOS

ISS OOS

Prototyping: OOSPrototyping: OOS Possible Use of Dextre on ISS to support:Possible Use of Dextre on ISS to support:

Robotic Refueling Mission (NASA Goodard): Robotic Refueling Mission (NASA Goodard): Dextrous ToolsDextrous Tools

Dextre Pointing Package (NASA Goddard): Dextre Pointing Package (NASA Goddard): Testbed for Pointing SensorsTestbed for Pointing Sensors

Technologies Leading to Commercial Technologies Leading to Commercial OOS: Recent announcement by MDA & OOS: Recent announcement by MDA & IntelSatIntelSat

ISS OOS

Prototyping: PlanetaryPrototyping: Planetary EquipmentEquipment

Rovers (Existing and under development)Rovers (Existing and under development) PayloadsPayloads

SmartsSmarts Navigation /AutonomyNavigation /Autonomy SimulationSimulation

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary Rover Platforms Rover Platforms –– ExistingExisting

Ruggedised ExoMars Ruggedised ExoMars Breadboard (MDA)Breadboard (MDA) MSR Analogue Deployment, AZMSR Analogue Deployment, AZ

Juno Rovers (Neptec/ODG)Juno Rovers (Neptec/ODG) ISRU Deployment, HawaiiISRU Deployment, Hawaii

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary Mars Exploration Science Rover: Mars Exploration Science Rover:

MDA/BRPMDA/BRP Terrestrial PrototypeTerrestrial Prototype Mass: ~200kg, P/L: Mass: ~200kg, P/L: ~~70kg70kg Autonomous NavigationAutonomous Navigation 250m/sol (Energy Limited, Solar)250m/sol (Energy Limited, Solar) 20 cm obstacle climbing20 cm obstacle climbing PDR: MidPDR: Mid--April 2011April 2011

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary

ISS OOS Planetary

Lunar Exploration Light Lunar Exploration Light RoversRovers Mass: 500kg, P/L 300kgMass: 500kg, P/L 300kg Human UpgradableHuman Upgradable Manual, Teleop or Manual, Teleop or

AutonomousAutonomous VVmaxmax: 15km/h Manual: 15km/h Manual Slope: 25 deg, Slope: 25 deg,

Obstacles: 30cmObstacles: 30cm

Prototyping: PlanetaryPrototyping: Planetary

ISS OOS Planetary

Lunar Exploration Light Lunar Exploration Light RoversRovers Mass: 500kg, P/L 300kgMass: 500kg, P/L 300kg Human UpgradableHuman Upgradable Manual, Teleop or Manual, Teleop or

AutonomousAutonomous VVmaxmax: 15km/h Manual: 15km/h Manual Slope: 25 deg, Slope: 25 deg,

Obstacles: 30cmObstacles: 30cm

Prototyping: PlanetaryPrototyping: Planetary Standard Interface ModuleStandard Interface Module RoverRover--Mounted Mounted

Manipulator ArmsManipulator Arms MiniMini--Corer & DrillCorer & Drill MicroscopeMicroscope Next Gen VisionNext Gen Vision Next Gen PowerNext Gen Power Next Gen CommunicationsNext Gen Communications

ISS OOS Planetary

Integration&

Field-Tests

Prototyping: PlanetaryPrototyping: Planetary MicroMicro--RoversRovers

Max 30kg including science P/LMax 30kg including science P/L Teleop or AutonomousTeleop or Autonomous Soil SamplingSoil Sampling

MPB Team: focus on scienceMPB Team: focus on science ESI: focus on platformESI: focus on platform Delivery Early SummerDelivery Early Summer

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary Rover Operator Situational Rover Operator Situational

Awareness and Navigation Awareness and Navigation Aids (ROSANA)Aids (ROSANA)

Autonomous Intelligent and Autonomous Intelligent and Robust Guidance, Navigation Robust Guidance, Navigation & Control for Planetary Rovers& Control for Planetary Rovers

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary Avatar EXPLORE Avatar EXPLORE

ExperimentsExperiments Remote Control Remote Control

from ISSfrom ISS InformationInformation--CentricCentric Autonomous OpsAutonomous Ops Locate Thermal AnomaliesLocate Thermal Anomalies Ops Concept ProvenOps Concept Proven

Asynchronous LinkAvatar Operator StationISS

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary 3D Site Mapping (U. Toronto, MDA)3D Site Mapping (U. Toronto, MDA)

Rover Localisation & Coverage PlanningRover Localisation & Coverage Planning ALTESCAPE (Ryerson U., Neptec)ALTESCAPE (Ryerson U., Neptec)

Vision for Orbital RdV and Rover OdometryVision for Orbital RdV and Rover Odometry Investigating Traction System for Lunar Investigating Traction System for Lunar

Mobility (McGill, Neptec)Mobility (McGill, Neptec) Compliant Wheel DesignsCompliant Wheel Designs

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary Mobile Robotics Development and Mobile Robotics Development and

Validation Platform Using Vortex (McGill, Validation Platform Using Vortex (McGill, CM Labs)CM Labs) Rover Terrain Interaction SimulationRover Terrain Interaction Simulation

Volumetric Contact Model Validation and Volumetric Contact Model Validation and Application to Planetary Rovers (U. Application to Planetary Rovers (U. Waterloo, Parallel Geometry)Waterloo, Parallel Geometry) Rover Terrain Interaction SimulationRover Terrain Interaction Simulation

ISS OOS Planetary

Prototyping: PlanetaryPrototyping: Planetary Power system management and Power system management and

optimization tool for space missions optimization tool for space missions (University of Waterloo, Maplesoft)(University of Waterloo, Maplesoft)

Characterization, Dynamics and Design of Characterization, Dynamics and Design of Mechanical Systems for Interaction with Mechanical Systems for Interaction with Real and Virtual Environments (McGill, Real and Virtual Environments (McGill, Quanser)Quanser) Analysis Tools for Design and Ops PlanningAnalysis Tools for Design and Ops Planning

ISS OOS Planetary

Planetary Analogue MissionsPlanetary Analogue Missions Impact and Ice: Lunar Sample Return from Impact and Ice: Lunar Sample Return from

South Pole Aitken Basin (Mistastin and South Pole Aitken Basin (Mistastin and Reis craters)Reis craters)

Genesis of Methane on Mars (Axel Genesis of Methane on Mars (Axel Heiberg Island)Heiberg Island)

Mars Methane Mission (Thetford Mines)Mars Methane Mission (Thetford Mines) Mars Analogue Research: Signature of Mars Analogue Research: Signature of

Life in Freshwater Environment (Pavilion Life in Freshwater Environment (Pavilion Lake)Lake)

ISS OOS Planetary

ConclusionConclusion Robotics Activities CoveringRobotics Activities Covering

International Space StationInternational Space Station OnOn--Orbit ServicingOrbit Servicing Planetary ExplorationPlanetary Exploration

Preparatory Program: Develop Preparatory Program: Develop Technologies BEFORE Required for Technologies BEFORE Required for Commitment to MissionCommitment to Mission

Accelerated by Stimulus FundingAccelerated by Stimulus Funding $110M over 3 years$110M over 3 years