Space Missions
Canadian Space Robotic Technologies for Lunar Exploration
Nadeem GhafoorChristian Sallaberger
MDA Space Missions
International Lunar ConferenceToronto, 19th-23rd September, 2005
Space Missions
Overview
• Space Robotics in Canada - building on heritage
• Lunar exploration mission & robotics roadmap
• Docking & Rendezvous
• Remote prospecting
• Autonomous Landing
• Planetary science instrumentation
• Autonomous Rovers
• Surface and sub-surface sample handling & processing
• Commercial & human presence
• Conclusions - a Canadian lunar robotic exploration technology roadmap
Space Missions
Space Robotics Heritage• Canada’s space robotic
reputation has built over 25 years
• Shuttle Remote Manipulator System (SRMS)
– Payload deployment, retrieval, rescue & servicing, astronaut transport
• Space Station Robotics– (1) ISS Remote Manipulator
System (SSRMS) “Canadarm-2”, (2) Mobile Base System (MBS), (3) Special Purpose Dexterous Manipulator (SPDM)
– ISS assembly, ISS vehicle capture & berthing
• Shuttle Return to Flight– Test which became a reality,
watched by millions– 1st ever in-orbit inspection and
astronaut repair of shuttle thermal protection system using Inspection Boom Assembly (IBA)
MBS
SSRMS
SPDM
Space Missions
Shuttle
Orbital RoboticsOrbital Robotics
Building on flight heritage
ISS
Satellite Servicing
Orbital Cargo Handling
Large Infrastructure /Spacecraft Assembly &
Servicing
Space Missions
Large Infrastructure /Spacecraft Assembly &
ServicingShuttle
ISS
Satellite Servicing
Planetary RoboticsPlanetary Robotics
Orbital RoboticsOrbital Robotics Orbital Cargo Handling
Building on flight heritage
Robotic Science
Robotic Exploitation / ISRU
Robot assisted Human Exploration
Robotic Exploration
Space Missions
Robotic Planetary Exploration: Technology Roadmap
Landing
Precision Landing
Surface Systems
Rovers
End-to-end Mission Design
Vision Systems &
SensorsPlanetary
Exploration Robotics
Advanced Orbital Robotics
Heritage
Sample Acquisition
Sample Triage &
Processing
Inspection & Science
instruments
Autonomous GNC
Chassis
Mechanisms, Traction
Moon
Mars
NEOs
Lidars
Cameras
Radar
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous
Space Missions
XSS-11 Lidar (USAF)• MDA / Optech Rendezvous Lidar
provided autonomous on-orbit operations demonstration mission
• Lidar sensor (“laser radar”) provides relative position and velocity data for rendezvous and inspection
• Launched April 11, 2005
Orbital Express• Demonstration of autonomous on-
orbit satellite servicing technologies and development of non-proprietary satellite servicing interface standards
• Launch 2006
Orbital Infrastructure
Autonomous Rendezvous & Servicing
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Space Missions
• Planetary SAR
– World leading SAR heritage: Radarsat 1 & 2
• 3m – 100m resolution• 20km – 500km swath
• Single, dual & quad polarization
– Apply capability to 400kg spacecraft class planetary missions
– Surface & subsurface mapping
– Regolith, ice and bedrock topography for landing site selection and resource ISRU
• Spiral scanning Lidar altimetry instrument (SALLI)
– Efficient generation of lunar topography from polar orbiting spacecraft
Orbital science
Remote Sensing
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing
Space Missions
Robotic Landing
Rendezvous, Descent & Precision Landing Systems
• MDA is partnered with Optech on all space lidar programs
• Selected by NASA to develop precision landing technology with Boeing/JPL
• Under contract to CSA to develop lidar-based hazard avoidance technology for planetary landing
• MDA is prime contractor to ESA for the development of Lidar GN&C for automatic rendezvous and planetary landing
Space Missions
(a)
(b) (e)(d)(c)
Robotic Vision Systems & Sensors
• SSRMS/SPDM Color Cameras (a)
• SPDM OTCM Video B/W Cameras (b)
• SPDM/SSRMS Fluorescent Lights• JEM Fluorescent Lights (c)
• Space Qualified LEDs
• Rendezvous Lidars (d)• 3D Object Recognition and Pose Estimation
Software (e)
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing
Surface & Subsurface Instruments
Space Missions
Robotic Science & Prospecting
Surface InstrumentsPhoenix - MET• MDA is prime contractor to CSA for
the Phoenix MET instrument (Launch in 2007)
• MET consists of a lidar, temperature sensors and a pressure sensor used to characterize the Martian atmosphere
MSL - APXS• MDA was selected by NASA to
provide the Alpha Particle X-ray Spectrometer (APXS) instrument for the 2009 MSL mission
• APXS determines the elemental abundance in soil and rock – ‘rock finger prints’
Space Missions
Robotic Science & Prospecting
Surface & Subsurface Instruments• CSA-funded 1 year instrument concept
studies with MDA as technical lead
Borehole Gamma Ray Spectrometer• Martian subsurface geology through in situ U,
Th & K mapping
• Martian igneous geochemistry• ESA ExoMars & NASA Scout 2011
Microscopic Imager• Essential geological tool for future Mars
contact science & sample triage• ESA ExoMars, NASA MSL & Scout 2011
• No space-qualified sensor yet available with sufficient resolution
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing
Surface & Subsurface Instmts
Autonomous Mobility / GNC
Space Missions
Robotic Exploration
Rover TechnologiesRover System Design• Prime contractor to ESA for the design of the
ExoMars Rover and science payload during the ExoMars Phase A Study
Rover Chassis• Rover chassis design• Validation of RCAST and rover prototype
platform
Rover Autonomous Navigation• Terrain Assessment and Global path planning• Obstacle Avoidance and Local path planning• Visual Motion Estimation for Localization
Space Missions
Rover System Design
ExoMars Rover• Phase A Rover-Pasteur Study
performed for ESA (2004) – MDA (p), Alcatel, Alenia/Laben,
Carlo Gavazzi Space & Kayser-Threde
– Optimized conceptual design of a rover for the ExoMars Mission
– Phase B1 due 2006
• ExoMars Rover – 240kg rover, launch 2011– Autonomous traverse of tens of
kilometres over rocky terrain• cf. MERs: 5 & 6km
– Search for signs of past & present life on Mars
– Drill, on-board sample analysis
• Key challenges– GNC– Locomotion & terrain navigability
Drill
PasteurPayload
CameraEnclosure
ServiceEquipmentBox
ChassisModules
Solar Array
X-Band High Gain AntennaUHF Antenna
VHF AntennaGround PenetratingRadar
1997 2004 2009 2011
Space Missions
Rover Chassis Design
Prototype Chassis & RCAST• Terrain navigability & locomotion performance
– Terrain physical characteristics– Wheel-soil interactions
• RCAST: Rover Chassis Analysis & Simulation Tool
– Mobility analysis & performance prediction– Design, verification & ops planning– Features:
• 3-D multi-body dynamic simulation & visualization
• Experimentally validated wheel-soil module • CoG position and slip optimizations
– Single wheel testbed (MIT Field & Space Robotics Lab)
• Parameter based terrain characterisation
• Wide range of Mars soil analogues
• Prototype Chassis– Internally funded R&D for ExoMars support– RCAST validation– Integration & functional tests end 2005
Longitudinal slip
(+ marker at 0.5)
Sinkage(+ marker at
2cm)Normal Forces
Sloped Terrain
Longitudinal Forces
y
z
x
Forward motion
Space Missions
Autonomous GNC
Rover GNC Testing• Goal: Demonstrate fully autonomous 1 km
traverse in Mars relevant terrain• iRobot ATRVJr
– Laser & stereo camera based GNC system
– Odometers, DGPS & IMU / Gyro
• Key demonstrations:– Terrain assessment & global path planning
– Obstacle avoidance & local path planning
– Visual motion estimation for localization including slip detection and mitigation
DGPS / Compass
IMU/Gyro
Laser
Odometers
Stereo Camera
ODOMETRYFAILURE DUE
TO SLIP
VISION GNC SUCCESSFUL
Space Missions
Autonomous GNC
Rover GNC Testing
Valley of Fire, Nevada
• Next steps– Migrate vision technologies to ExoMars rover chassis prototype
– Demonstrate 1km autonomous navigation of rocky Mars analogue terrain
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing
Surface & Subsurface Instruments
Autonomous Mobility / GNC
Sample Acquisition & Processing
Space Missions
Robotic Exploitation
Robotic Sample Acquisition, Processing & Handling
Sample Processing &
Triage
Sample Acquisition
Sample Analysis
Arms
Scoops and Rakes
Drills
Material Handling
and SortingDevices
Crusher SA/SPaH
• APXS
Instruments
• GPR
• Microscopic Imager
• Lidar
• GRS
• Multi Spectral Imager
Surface Systems
Space Missions
Robotic Exploitation
Sample Acquisition: Exploration Arm• Scalable, reconfigurable family of
manipulators• Range from 4 - 7 dof, 1 - 4m length• Highly autonomous• Low power (35W avg., 50W peak)• Low mass (≤ 15kg for 2m arm)• Tip loads (50 – 100N)• High repeatability (1 – 3mm)• Range of end effectors (scoop shown)
Space Missions
Robotic Exploitation
Sample Acquisition: Drilling / Coring• Developed, with mining partners, planetary
coring systems (10cm - 10m depths), based on rotary diamond dry-drilling technology
• Drill bit designs developed from Canadian hard rock and Arctic experience, optimisedfor media from hard rock to regolith
• Optimized cuttings transport & core capture technology
• Proof of principle tests:
• Low mass, low power, low down force (≤ 25W and ≤ 6kg for 100mm drill, 50 – 100N)
• Low rpm / low thrust rock comminution due to power, thermal, & reaction constraints.
• Range of materials from silt to basalt.
Space Missions
Robotic Exploitation
Sample Processing & Triage: Crusher & Sample Handling Unit
• Sample Handling Unit concept design• Crusher proof of principle tests:
– Variety of jaw configurations and profiles
– Reduce 95% sample to ≤ 1mm particulate (70% ≤ 500�m)
– Low power (≤ 10W avg. flight)
– Low mass (≤ 12kg flight)
Space Missions
Robotic Exploitation
Sample Acquisition Testing: Planetary Simulants
• Terrestrial tests of Sample Acquisition, Processing and Handling systems performed to validate mission operations concept
• Tests conducted using breadboard hardware
• Simulant based on JSC lunar regolith simulant
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing
Surface & Subsurface Instruments
Autonomous Mobility / GNC
Sample Acquisition & Processing
ISRU
Autonomous AssemblyAutonomous
Assembly
Autonomous Landing
(Sub)surface Instmts
Autonomous Mobility / GNC
Space Missions
Robotic Infrastructure Assembly
Cislunar Infrastructure
• Prime contractor for the Phase A development of a large GEO based structure concept
• The study focus is on space-based manufacture and assembly of large structures utilizing both terrestrial and lunar materials
• This contract is a follow on study to previous work that focused on concepts for lunar resource utilization
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing Autonomous Landing
Surface & Subsurface Instruments (Sub)surface Instmts
Autonomous Mobility / GNC Autonomous Mobility / GNC
Sample Acquisition & Processing
ISRU
Autonomous AssemblyAutonomous
Assembly
Robotic LSS & Astronaut Support
Space Missions
Robotic Assisted Human Exploration
Manned exploration robotics
• Canada is a world leader in robotic systems in support of human space exploration
– High reliability
– Safety critical
• 25 years experience in astronaut operated space robotics and theastronaut-robot interface
• Ongoing research in the area of robotic space suit enhancement, mobility systems and life support systems
Space Missions
Robotic Exploration
End to End Mission Design
IcebreakerSun-Synchrony
Long Day’s Drive
ExoMars
Mars
CLMMConcept
MSR
Concept
Concept
LDD
Space Missions
Robotic Exploration
Commercial Robotic Missions• MDA has experience in commercially-funded planetary exploration
missions
Space Missions
Robotic lunar exploration roadmap
Autonomous Rendezvous &
Servicing
Remote Sensing systems
Autonomous assembly
Sample Acquisition & Processing
ISRU
Orbital infra-structure
Surface infra-
structure
Robotic LSS & Astronaut Assistance
Autonomous Mobility &
GNC
Surface & subsurface instruments
Autonomous Landing
Capability
STS & ISS
Manned presence
Surface exploitation
& ISRU
Surface exploration
Surface & subsurface science &
propsecting
Orbital science &
prospecting
Earth orbit infra-
structure
STS & ISS STS & ISS
Autonomous Orbital Rendezvous & Servicing
Remote Sensing Systems
Autonomous Landing Autonomous Landing
Surface & Subsurface Instruments (Sub)surface Instmts
Autonomous Mobility / GNC Autonomous Mobility / GNC
Sample Acquisition & Processing
ISRU
Autonomous AssemblyAutonomous
Assembly
Robotic LSS & Astronaut Support
Space Missions
Thank you
[email protected]@mdacorporation.com
MerciArigatoXie XieShukriaDo jehDankeDank je welGrazieGraciasSpacibaShukranMerciThank you
Space Missions
Reference Slides
Space Missions
Locomotion
• Full chassis testing in thermal vacuum on simulated terrain could be possible but very expensive
• Reduced traverse (1000 km) might be viable
• Test rig might need to emulate reference terrain using linear actuators and applied friction
Courtesy JSC
Space Missions
Locomotion
• Energetics:– Lunar gravity is 0.17 of Earth’s and irradiance is 1.4 times Earth’s = 8-
fold energy advantage on Moon
– Gravity-uplift with constant-force spring mechanism and tethered power could provide means to emulate lunar energetics
– Similar technique was used by Russian VNIITRANSMASH team during Lunakhod development