OnOn--Orbit Orbit Mobile Servicing System (MSS)Mobile Servicing System (MSS)

Training SimulatorTraining Simulator

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7th ES

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orkshop on Advanced S

pace Technologies for R

obotics and Autom

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ovember 19 - 21, 2002

Project Description• Project Definition

• Stands for System for Maintaining, Monitoring MRO (MSS Robotic Operator) Performance on-board the ISS

• Collaboration between Canadian and Russian Space Agencies

• Project Goals• Keep the skills of the astronauts at the required level

on-board the space station for robotic tasks• Determine if the astronauts are ready to perform an

operation with the SSRMS

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7th ES

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A 2002'

ES

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C, N

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ovember 19 - 21, 2002

Project Description

• How to do that?• The capture of free-flyers is the most

challenging tasks• Simulator that models the SSMRS and a

generic free-flyer is appropriate to evaluate the astronaut performance

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7th ES

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ES

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ovember 19 - 21, 2002

Hardware Components

• IBM 800 MhzLaptop

• Hand-Controllers• USB Box Interface• USB Cable

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A 2002'

ES

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ovember 19 - 21, 2002

USB Box Interface• Uses Q4 Technology

(Xiphos Technologies)• Powered by the Laptop

USB link• Supply power to the

hand-controllers• Convert HC inputs in

USB format (HID format)

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ES

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ovember 19 - 21, 2002

Software Architecture

VisualVisualRendererRenderer

DynamicDynamicEngineEngine

AnalysisAnalysisModuleModule

GUIGUI

Performance data file(Hand-Controller inputs,

Free-flyer target vs SSRMS end-effector frame)

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7th ES

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obotics and Autom

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A 2002'

ES

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ovember 19 - 21, 2002

Dynamic Engine• Validated SSRMS

model (elastic joints)• Free-flyer model with

ACS• SSRMS end-effector

vs free-flyer frame computation

• Manual operation mode (MAM)

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7th ES

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orkshop on Advanced S

pace Technologies for R

obotics and Autom

ation 'AS

TR

A 2002'

ES

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C, N

oordwijk, T

he Netherlands, N

ovember 19 - 21, 2002

Main Control ConsoleUser Oriented

Different levels of difficulty

Multi-Languages

System Status

SimulationCommand

Analysis Modules

Upload File

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7th ES

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pace Technologies for R

obotics and Autom

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TR

A 2002'

ES

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C, N

oordwijk, T

he Netherlands, N

ovember 19 - 21, 2002

Visual RendererRemaining mission time

Free-flyer grapple fixture

System mode

Free-flyer model

Free-flyer grapple fixture

SSRMS end-effector

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A 2002'

ES

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ovember 19 - 21, 2002

Session & Trend Analysis• Hand-Controller

Inputs Analysis• SSRMS Dynamic

Behavior• Capture Success

Verification• Session Score

mechanism

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7th ES

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A 2002'

ES

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oordwijk, T

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ovember 19 - 21, 2002

Tools and COTS Used• Dynamic Engine

• SYMOFROS (Canadian Space Agency's Robotic Toolbox)• Matlab/Simulink/Stateflow/Real-Time Workshop

• Visual Renderer• Open Scene Graph

• Graphical User Interface• Java 1.4.1

• Analysis Module• Matlab programming language

• USB Interface Box (based on FPGA)• Xiphos Q4 Technologies (www.xiphos.ca)

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7th ES

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pace Technologies for R

obotics and Autom

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TR

A 2002'

ES

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C, N

oordwijk, T

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ovember 19 - 21, 2002

Future Milestones

• October 2002• Delivery of the ground release to Russia• S/W and H/W integration in Russia

• November 2002• S/W and H/W final validation

• January, 31st 2003• Experiment launch

• 2003-• On-board ISS Experiment

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7th ES

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orkshop on Advanced S

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obotics and Autom

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ES

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C, N

oordwijk, T

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ovember 19 - 21, 2002