astrobee space station robotic free flyer - nasa · astrobee space station robotic free flyer iss...
TRANSCRIPT
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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
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Outline
•Overview
•Highleveldesign
•Status
•Development
• Testing
2
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Overview
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• Develop,test,deliver2freeflyingrobotsfor ISS IVAuse
• 3yearproject(FY15-FY17)underHumanExplorationTelerobotics2(HET2)
• 1year(FY18)extensionforon-orbitcommissioning(proposed)
• Sponsor:SpaceTechnologyMissionDirectorate,GameChangingDevelopmentProgram
• TechnologyinfusiontoISSpayloads&operations
ProjectSummary
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0gRoboticsResearchFacility
AES,SPHERESProgram,SPHERESusers 5
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MobileCameraTasks
ISSProgram,FOD,POIC 6
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MobileSensorTasks
ISSProgram,FOD,POIC 7
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Dock&Resupply
8
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Design
9
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SystemArchitecture
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AstrobeeFreeFlyer
ForwardTop AftTop11
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AstrobeeModules
12
CentralModule
PropulsionModules
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PropModuleAssembly
Impact Mitigation(TBD)
ImpellerRotationalAssembly
Plenum DirectionalSignals(TBD)
Nozzles
13
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ComputingSystems
CoreAvionicsStack
PerchingArmController
PropulsionModuleController
AFT/CUTAWAYVIEW 14
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ExternalSensors
FORWARD
HazCam
NavCam
DockCam
PerchCam
SpeedCam
SIDEVIEW 15
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ExternalSensors
FORWARD
HazCam
NavCam
DockCam
PerchCam
SpeedCam
SIDEVIEW 15
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PowerSystems
FORWARD
Batteries
Batteries
DockAdapter(poweranddata)
16
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PayloadLayout
17
Bottom Top
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PayloadMechanicalAttachmentOptions
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PerchingArm
Stowed Stowed/Deployed19
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DockingStation
20
•2FreeFlyerberths•4standalonebatterychargers•Controlpanel
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DockingStationFrontandSideView
(30.50)
NOTE:Dimensionsareininches
(2.50)
(19.00)
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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
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PlanValidation
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RunPlanTab
Modelofloadedplan
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RunPlanTab
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TeleoperationTab
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Status
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Propulsion
• Propulsionmoduleswerelaggingtherestofthehardwaredevelopmentduetoamajordesignshift
• DuringFY16,wentfromdrawingboardtoflight-likeprototype
• Everymajorpart(plenum,nozzle,impeller,controllerboard)istheresultofmultiple iterationsofprototypingandrework
• Besides bettercompatibilitywithoverallflightdesign,newpropulsionmodulesonP4alreadyshowbetterstabilityandmotionaccuracythanP3
Propulsionmodulewithoutcover28
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Avionics
• Stackoffivecustomboardsconnectingtwopropulsionmodules,sixexternalsensors,threepayloads,andavarietyofotherhardware• WithP4,nowworkingreliablyinconstrainedvolumeofcoremodule• Asexpected,powersystemcansupportmultiplehoursofautonomousflightbetweencharges
Coremodule 29
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MobilitySoftware
• Demonstratedreliablelocalizationbasedonfusingsparsemap,opticalflow,andIMU• Mappingscaledup;demonstratedmappinganentirefloorofourbuilding• Controlapproachportedtonewpropulsionsystem
ISSmapbuiltfromSmartSPHERESdata
DockCamimageryduringapproach 30
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IntegratedPrototype4
• Firstflight-likeprototype• ReducedriskforcertunitandpracticedI&Tprocedures• Matureddetailslikewiring,sensormountingbrackets,designforcrewservicing• Uncoveredavionicsandthermalissuesduringintegration• Manylessonslearnedduringtesting• MoredetailsinI&Tdiscussion
Prototype431
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ControlStation
• ControlStationnowusedtoauthorandrunplans• Conductedusabilitytests(withvaryingISS&Astrobeeexperience) toobtainuserfeedbackandupdatedesign• IntegratedwithFreeFlyersimulatorandPrototype4
FreeFlyercontrolGUI
32
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Prototype4Testing
• Nearflight-likeform
• Verifyrequirements relatedtoh/wdesign
• ReduceriskforCertUnit
• PracticeI&Tprocedures
Prototype 4 free flyer & dock 33
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PayloadInteroperabilityTest
34
• REALMpayload(RFIDreader)
• Verifiedpower/datainterface
• ReadRFIDtags
• Displayedtaginfoontouchscreendisplay
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NavigationDemonstration
35