Robotic Refueling Mission 3amz.xcdsystem.com/4F14E44B-BC41-E69B-DFAF5A1B1627A... · RRM Phase 1 •Storable propellants: steps required to refuel a legacy spacecraft A. Take apart

Robotic Refueling Mission 3Enabling In-Space Servicing and Advancing Exploration Technologies

Presented by Mark Neuman2019 ISS R&D ConferenceAugust 1, 2019

Satellite Servicing Projects Division, Goddard Space Flight Center

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• Refueling

• Relocation

• Repair

• Replacement

• Upgrade

• Augmentation

• Aggregation

• Assembly

• Manufacturing28-1-2019

RRM3 is a technology demonstration developed by

the Satellite Servicing Projects Division at Goddard

Space Flight Center.

The servicing technologies and capabilities

developed by RRM3 will ultimately help SSPD to

change the current paradigm:

Resilience and Sustainability

Restore Servicer

Landsat-7

Robotic Refueling Mission Philosophy

• RRM demonstrations create the foundation for future in-space robotic servicing missions as well as advancing space robotic capabilities leading to gateway and the moon.

• RRM3 is an external ISS experiment designed to demonstrate the tools and techniques needed to store and transfer cryogenic fluid & propellant in orbit. • First of its kind to store a cryogenic fluid and Xenon gas in

space for the purpose of resupply

• Utilizes the ISS Special Purpose Dexterous Manipulator (SPDM)- Dextre, and existing ISS infrastructure

• Increases technology readiness for future in space robotic servicing tasks

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RRM Multi-Phased InvestigationRRM Phase 1

• Storable propellants: steps required to refuel a legacy spacecraftA. Take apart components (cut wire, manipulate thermal blankets and fasteners, remove caps)

B. Connect refueling hardware, transfer fluid and reseal fuel port

• Cryogen fluid: steps required to replenish cryogens in legacy satellites1. Take apart components

RRM Phase 2• Cryogen fluid: intermediate steps required to replenish cryogens

2. Connect replenishment hardware

RRM Phase 3 (RRM3)• Cryogen fluid: final steps required to replenish cryogens

3. Transfer 8-10 Liters of cryogen

• Cooperative recharge of Xenon propellant

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Machine Vision Task

Cryogen Step 1 complete

Propellant StepsA & B complete

Cryogen Step 3 & Xenon recharge

Phase 1 Phase 2

2011 2012 2013 2014

Phase 3

2015

Cryogen Step 2 Complete

2016 2017 20192018

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RRM Locations on International Space Station

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RRMRRM3

RRM3 Main Objectives

1. Maintain cryogen fluid mass for six months via zero boil-off

2. Transfer fluid via “zero vent” technique without forming ice plugs

3. Demonstrate the transfer of Xenon gas from a supply tank to a client tank via a robotically-enabled interface in a zero-g environment.

4. Verify robotic manipulation and actuation techniques necessary for cryogenic fluid and Xenon transfers

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RRM3 Payload Pre-launch

RRM3 Overview

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• Standard ExPA based payload

• Internal Components• Source Dewar filled with

~50 L of liquid methane• Receiver Dewar (10 L capacity)• Electric Cryocoolers (2)• 3 transfer paths between dewars

• Hard line

• Flex line

• Robotic coupler line

• Hose Management Device with 11-ft cryogen transfer hose (flex line)

• Avionics for power distribution, cryocooler & motor control

• SpaceCube computer• Compact Thermal Imager

Cryo Port

Tool Pedestal Mount

Pan/Tilt Camera

Xenon Coupler Adapter

Cryogen Coupler Adapter

WiFiAntenna

Cryogen Transfer Hose

Inspection Port

Machine Vision Targets

Express Pallet Adapter (ExPA)

RRM3 Status• RRM3 launched on SpaceX-16 & installed on ELC1, Dec 2018

• Cryogen supply safely stored with zero boiloff 4+ months

• Anomaly with power to cryocoolers resulted in loss of cryogen supply, April 2019

• Robotic Tools Installed by SPDM, April 2019

• Compact Thermal Imager (CTI) - next gen infrared imaging instrument performing continual Earth observations

• Robotic tool operations planned to start August 2019

8-1-2019 8RRM3 Install Methane Venting Tools mounted on slidetable Tools installed on RRM3 Superimposed CTI Image

• Cryogen Servicing Tool (CST) - A robotic tool with adjustable rollers used to grab the flexible Cryogen Transfer Hose (CTH) and insert it through the cryo port into the receiver tank.

• Visual Inspection Poseable Invertebrate Robot 2 (VIPIR2) - A robotic inspection camera used to visually verify entry and positioning of the Cryogen Transfer Hose (CTH) into the receiver tank

• Multi-Function Tool 2 (MFT2) - A dual rotary drive tool used to connect custom hose adapters to robot-friendly fill ports.

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Robotic Tool Summary

Cryogen Servicing Tool (CST) VIPIR2 Multi-Function Tool 2 (MFT2)

• Acquires and transports the Cryogen Transfer Hose (CTH) from the Hose Management Device (HMD) Cradle to the Cryo Port

• Docks with Cryo Port and feeds the CTH through a transfer line into the Receiver Tank

• Remains in place during the methane transfer

• After the transfer, retracts the CTH and maneuvers it back to the cradle where the HMD retracts the CTH

Robotic Tools – Cryogen Servicing Tool (CST)

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Fixed Camera Arms (2)Main Electronics Box

Port Insertion Guide

Latch Jaws (2)

Feed Horn

Drive Rollers (4)

Microfixture

Cryogen Transfer Hose Tip

Robotic Tools VIPIR2 – Visual Inspection

Main Drive AssemblyContains OTCM 7/16” Hex Drive Interface, Anti-Rotation Device and Torque Limiter

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Wi-Fi AntennaCompatible with RRM3 Access Port for

transmission of HD video from borescope

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Enhanced Motorized Zoom Lens Mid-Range Inspection CameraNTSC, Color, VGA (640 x 480)

12-36mm optical zoom and focus

Fixed Camera Assembly Situational Awareness CameraNTSC, Color, VGA (640 x 480)

Video Borescope Assembly Close-Range Inspection Camera

Digital, Color (1280 × 720) Flexible snake-like appendage (≈36” long) with Borescope Camera in articulating tip

(± ~90)

Robotic Tools – Multi-Function Tool 2 (MFT2)

Fixed Lens Camera Positioning Mechanism

NTSC, Color, VGA (640 x 480) 3” Extension and 90 Pitch

Motorized Zoom LensCamera Positioning Mechanism

NTSC, Color, VGA (640 x 480) 8-24mm optical zoom and focus

3” Extension and 90 Pitch

Tool to Adapter InterfaceTwo concentric rotary drives and One linear drive plunger used to

actuate tool adapters

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Operations: Flex Line Transfer

• CST used to deliver flexible Cryogen Transfer Hose to Cryo Port

• Internal Hose Management Device used to manage hose slack

8-1-2019 13Photos from Dextre Ground Testbed evaluations at MDA-Brampton, Canada

Operations: Cryogen Coupler Adapter (CCA)

• Robot-Friendly Hose Adapter and Port

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Photos from Dextre Ground Testbed evaluations at MDA-Brampton, Canada

RRM3 Secondary Objectives

• Xenon Transfer• A demonstration of Xenon transfer was

deferred for a future Add-On Task Board

• Xenon supply (1 kg) and Task Board interface is in place

• Compact Thermal Imager (CTI) • Next generation infrared instrument surveying

land masses that detects biomass burning and land surface temperatures during ISS flyovers

• Machine Vision• Series of decal targets on RRM3 to be observed

from robotic cameras• Fiducial targets used for Pose Estimation

algorithms

• Checkerboard used for camera calibrations8-1-2019 15

CTI

Checkerboard

Fiducial Targets

Task Board Mount

Technology Applicability• In-space technologies validated on RRM3 are significant to extending the reach and capabilities of humans with robots

into deep space.

• The ability to manage (deliver, store, transfer) cryogenic oxygen, hydrogen and other cold fluids is critical to in-situ habitation of humans and the processing of propellants required for long duration voyages.• The RRM team is poised to provide a scaled build-to-print RRM-like payload to continue cryogenic mission

objectives beyond the RRM3 stowage benchmark.

• Many of the technologies and techniques demonstrated on RRM3 are being used on Restore-L which is a first of its kind mission to demonstrate national satellite servicing, assembly, and manufacturing capabilities.

• RRM3 is ultimately facilitating:1. Advance of essential technologies for exploration, science, and national security2. Kick-starting a new U.S. commercial servicing industry along with the milestone Restore-L mission by establishing best practices

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Autonomous Rendezvous, Inspection

Autonomous Capture

Telerobotic Refuel& Relocate

Telerobotic Assembly& Manufacture