OnOn--orbit Servicing in Canada: orbit Servicing in Canada: Advanced Developments and Advanced Developments and

DemonstrationsDemonstrationsJeanJean--Claude Claude PiedbœufPiedbœuf, ,

Eric Martin and MichelEric Martin and Michel DoyonDoyonCanadian Space AgencyCanadian Space Agency

ASTRA 2004, ESTEC, The Netherlands ASTRA 2004, ESTEC, The Netherlands November 2November 2--4, 20044, 2004

Upcoming OOS MissionsUpcoming OOS MissionsNASA's DART: October 2004NASA's DART: October 2004DLR ROKVISS: 2005DLR ROKVISS: 2005US US DoD'sDoD's XSS11: 2005XSS11: 2005NASA's Shuttle Inspection & Repair: 2005NASA's Shuttle Inspection & Repair: 2005DARPA'sDARPA's Orbital Express: 2006Orbital Express: 2006--20072007NASA's Hubble Servicing: 2007NASA's Hubble Servicing: 2007--20082008DLR'sDLR's TECSAS: 2009TECSAS: 2009OLEV: Orbital Life Extension VehicleOLEV: Orbital Life Extension VehicleSmartSatSmartSat--1 (1 (NiCTNiCT--Japan)Japan)

NASA DART MissionNASA DART MissionDemonstration of Autonomous Demonstration of Autonomous Rendezvous Technology: 2004Rendezvous Technology: 2004

Autonomous rendezvous technologiesAutonomous rendezvous technologiesNo capture nor contactNo capture nor contact

Advanced Video Guidance Sensor Advanced Video Guidance Sensor Developed by Orbital SciencesDeveloped by Orbital Sciences

Video Guidance Sensor: 1998

Autonomous Rendezvous Autonomous Rendezvous LidarLidarUS US DoD DoD flight demonstration XSSflight demonstration XSS--11: 200411: 2004

Demonstrate proximity operationDemonstrate proximity operationSpace rendezvous: Mars sample returnSpace rendezvous: Mars sample returnLead by LockheedLead by Lockheed

Optech Optech & MD& MD--Robotics provide RELAVISRobotics provide RELAVIS

RELAVIS: Rendezvous Laser RELAVIS: Rendezvous Laser Vision SystemVision System

RELAVIS provides ~3.5 km* blob detection, bearing, range

and tracking of a resident space object

RELAVIS uses lidar and optional

camera data to provide pose and

closing rate to support docking

*Reflectivity and size of object affects range. 3.5km range estimate based on 1m object with 100% reflectivity.

Detection and tracking

Shuttle ReturnShuttle Return--ToTo--Flight Flight Inspection SystemInspection System

OnOn--orbit inspection and repair capabilitiesorbit inspection and repair capabilitiesExtension boom and vision systemExtension boom and vision system

SIR Vision SystemMDR Extension Boom

Neptec Inspection System

Optech Lidar

Neptec Laser Camera System (LCS)Neptec Laser Camera System (LCS)High speed random access triangulation laser imagerHigh speed random access triangulation laser imagerShort to medium range, high speed, high accuracyShort to medium range, high speed, high accuracyFirst flew as a DTO on STSFirst flew as a DTO on STS--105105Selected by NASA to perform onSelected by NASA to perform on--orbit inspection of orbit inspection of Shuttle’s TPSShuttle’s TPSApplicationsApplications

Satellite servicing / rendezvous & dockingSatellite servicing / rendezvous & dockingSpacecraft inspectionSpacecraft inspectionRobotic operationsRobotic operations

OptechOptech Shuttle Tile InspectionShuttle Tile InspectionTest at NASA JSC Test at NASA JSC –– March 2003March 2003

Scanned at 61 m / 10 mm resolutionScanned at 61 m / 10 mm resolution

Tile Inspection Test at NASA JSCTile Inspection Test at NASA JSC8’ x 8' tile mockup: new shuttle tiles, 8’ x 8' tile mockup: new shuttle tiles, damaged tiles and simulated tiles (0.25" to 3")damaged tiles and simulated tiles (0.25" to 3")

ILRIS-3DCOTSLidarScanner

Photograph of tile wall Lidar image of tile wall

Autonomous Satellite ServicingAutonomous Satellite Servicing

Orbital Express (cont'd)Orbital Express (cont'd)Orbital Express sponsored by DARPAOrbital Express sponsored by DARPA

Lead by Boeing: 2006Lead by Boeing: 2006--2007 Flight2007 FlightAutonomously service and refuel satellitesAutonomously service and refuel satellites

MDMD--Robotics role: Advanced robotic systemRobotics role: Advanced robotic systemManipulator, ORU, Interface, Ground SegmentManipulator, ORU, Interface, Ground Segment

Non-proprietary interface

Hubble Robotic ServicingHubble Robotic ServicingReplace cancelled shuttle servicing missionReplace cancelled shuttle servicing missionTasksTasks

DeDe--orbitorbitReplace batteries and gyrosReplace batteries and gyrosUpgrade instrumentsUpgrade instruments

NASA seriously considers robotic missionNASA seriously considers robotic missionOpportunity forOpportunity foronon--orbit servicingorbit servicing

Gyro

2nd Servicing Mission: 1997

Hubble Servicing (cont'd)Hubble Servicing (cont'd)More than 25 responses to NASA RFIMore than 25 responses to NASA RFI

3 front runner contenders for robotic part3 front runner contenders for robotic part

NASA selected NASA selected Dextre Dextre from Canada as best solutionfrom Canada as best solutionContract to MDContract to MD--RoboticsRobotics

Mission in 2007Mission in 2007--08: battery & gyro life 08: battery & gyro life Aggressive schedule Aggressive schedule Flight validated H/WFlight validated H/W

Johnson Space Center Robonaut

Univ. Maryland Ranger

CSA DEXTRE (build by MDR)

TECSASTECSASTEChnology SAtellitesTEChnology SAtellites for demonstration and for demonstration and verification of Space systemsverification of Space systems

Rendezvous, capture, docking & deRendezvous, capture, docking & de--orbitingorbitingTeleTele--presence and autonomous controlpresence and autonomous controlDLR lead mission: 2008DLR lead mission: 2008

CSA contributionCSA contributionTarget satellite Target satellite Autonomous capabilities Autonomous capabilities

TECSAS (cont'd)TECSAS (cont'd)Potential Canadian TechnologiesPotential Canadian Technologies

SARAH endSARAH end--effector effector (Laval Univ./MD(Laval Univ./MD--Robotics)Robotics)Lidar Lidar for rendezvous (for rendezvous (OptechOptech/MD/MD--Robotics)Robotics)Electronic components (EMS, Electronic components (EMS, XiphosXiphos))

Optech Lidar

SARAH End-Effector

SmartSatSmartSat--1 Experiment1 Experiment

NiCT NiCT mission to demonstrate:mission to demonstrate:NextNext--Generation Constellation System Generation Constellation System ExperimentsExperimentsOrbital Experiment for Space Weather Orbital Experiment for Space Weather Observation and ForecastObservation and ForecastOrbital Maintenance SystemOrbital Maintenance System

MDMD--Robotics Study on Robotics Study on RadarsatRadarsat--1 Life 1 Life ExtesionExtesion

Docking Interface

Docking Mechanism

Docking Approach (Along-track)

Technologies for OOSTechnologies for OOSManipulators and vision systems are criticalManipulators and vision systems are critical

Technology well developedTechnology well developed

More autonomyMore autonomyRemove human from the realRemove human from the real--time looptime loopOnOn--orbit safety monitoringorbit safety monitoring

Dexterous endDexterous end--effectoreffector/tools/toolsPerform human type operationPerform human type operation

Simplified ground stationSimplified ground stationISS mode of operation too complexISS mode of operation too complex

Complex procedure & interfaceComplex procedure & interface100s hours of training100s hours of training

Example from Example from TelesurgeryTelesurgerySimple procedures & Simple procedures & operationsoperationsMinimal training Minimal training requiredrequired

Center for Minimal Access Surgery,Hamilton, Canada

Autonomous Robotics & Ground Autonomous Robotics & Ground Operations (ARGO)Operations (ARGO)

Ground control with varying autonomy levelsGround control with varying autonomy levelsRequire onRequire on--board safety monitoringboard safety monitoring

Seamless integration of operationsSeamless integration of operationsPlanning, verification, execution, postPlanning, verification, execution, post--flight flight analysisanalysisIncrease efficiencyIncrease efficiency

Applicable to different systemsApplicable to different systems

Satellite Servicing Satellite Servicing SetupSetup

CART Java Driver

Resource Server

AutonomyEngine

On-OrbitSafety Module

ARGO Resource ServerARGO Resource ServerResource Server

AutonomyEngine

TCP-IP / Flight SCPSInternet

CART Java Driver

TCP-IP / Flight SCPS

22ndnd OnOn--Orbit Servicing WorkshopOrbit Servicing WorkshopJointly organized by CSA, DLR and JAXAJointly organized by CSA, DLR and JAXAHeld on Oct. 1Held on Oct. 1stst and 2and 2ndnd in Vancouverin VancouverObjective:Objective:

Results available shortly at:Results available shortly at:http://www.onhttp://www.on--orbitorbit--servicing.com/workshop_2004servicing.com/workshop_2004

Develop a roadmapDevelop a roadmapAttained through working Attained through working group group discussionsdiscussions

OOS Workshop RoadmapOOS Workshop Roadmap

Satellite Satellite ServicingServicingTechnologyTechnologyLarge Space Large Space Structures

Satellite Servicing Roadmap

Structures

Web Version

ConclusionConclusion

Canada involved in OOS since late 70sCanada involved in OOS since late 70sSpace ShuttleSpace ShuttleISSISS

Extension to satellite servicingExtension to satellite servicingCanada part of 6 of the 9 upcoming missionsCanada part of 6 of the 9 upcoming missions

Robotics will play a key role in OOS&A but Robotics will play a key role in OOS&A but more is needed: System & Infrastructuremore is needed: System & Infrastructure