automation and robotics in the german space program...

8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany

Automation and Robotics in the German Space ProgramUnmanned on-orbit servicing (OOS) & the TECSAS mission

BERND SOMMER German Aerospace Centre (DLR)

Space Management, General Technologies and [email protected]


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Unmanned on-orbit servicing (OOS) & the TECSAS mission

Vision

Mission of the Agency

On-Orbit Servicing

Projects & Missions

Outlook

Table of Contents


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Vision


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Sun probes

Orbital infrastructures

Manned Baseon the back side of the moonfor astronomy

Unmanned explorationof the “hot” planets

Unmannedexploration of Jupiterand it’s moons

Mars station

Unmanned exploration of the“cold” planets, interplanetary bodies and matter

A&R Vision


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NavigationCommunication

Disaster Management

Disaster Management

Weather Forecast

Weather Forecast

Agriculture Planning

Agriculture Planning

Applications


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Mission of the Agency


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Manned/Unmanned Science & Exploration

Missions

Exclusive responsibility for

Space oriented activities

Precursor & pathfinderfor

Earth oriented activities

Operation of an orbital infrastructure for weather

forecasts, telecommunication, navigation, agriculture

planning, disaster handling etc.

§Legislation Politics

Regulation Military

Facilitate Commercialization !

Agency Role of DLR


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Three parallel corridors for OOS:Three parallel corridors for OOS:

TECSAS

End-to-end System Engineering

& Demonstration

Market analyses & Private public partnership (PPP)-

ventures

Subsystem & Component Development and

Qualification

CX-OLEV

ROKVISS

VITAL

Programmatic emphasis


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On-Orbit Servicing


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0

5

10

15

20

25

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Year 1 Year 2 Year 3 Year 4 Year 5 Year 6 Year 7

No.

Fai

lure

s

• Source: Frost & Sullivan• 65% Infant mortality (Year 1 checkout) of all OOS failures as

expected! • 16% in Year 3: Higher Than Subsequent Years due to the growth of

year 1 problems, so these are associated with infant mortality. • Av. 5% Failures year 3+: constant random failures• No data available post-year 7 as no GEO platform has functioned

beyond this - all 15 year life platforms are new!• New Long-life Platforms May Be Responsible for Increased Infant

Mortality Due to Flawed Design Philosophy (According to Insurance Company Analyses)

Propagation

Study OOS II ©2004JKIC&DLR1990-1995: 25% In-Orbit Failures (GEO) of 540 M€ Total Cost (75% Launch)1996-2003: 66% In-Orbit Failures (GEO) of 5.000 M€ Total Cost (34% Launch)Today: 1.000 M€ Insurance Claims p.a. (50% In-Orbit Failures)

Failure Breakdown:Approximately 40% Power, 20% AOCS, 20% Payload, 20% Other

GEO Telco Satellite Failure Statistics


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Service Events

0

2

4

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16

2008 2009 2010 2011 2012 2013 2014 2015

Year

100

120

140

160

180

MotionManipulationObservation

Revenues

0

50

100

150

200

250

300

350

400

450

500

2008 2009 2010 2011 2012 2013 2014 2015

Year

MotionManipulationObservation

Service Events

0

10

20

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100

2008 2009 2010 2011 2012 2013 2014 2015

Year

GEOMEOLEOLEO-SSO

Revenues

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100

200

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400

500

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700

800

2008 2009 2010 2011 2012 2013 2014 2015

Year

GEOMEOLEOLEO-SSO

Market Potential- selected figures


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Why did OOS not yet get off the ground???

Feasibility

Risks

Reliability

Maturity

Nobody did it before !!We would… if you would have… !!

PathfinderPrecursorFacilitator

Agencies

Big Question


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New Design Philosophy:

•Create Serviceability -> cooperative design

•Handle Lifetime of Bus & P/L separately

• Include comprehensive Failure Detection/Diagnostics

•Consider Failure Propagation

“Availability” Does Not Necessarily Mean“Reliability via Redundancy” A. Ellery

Technology

Challenge


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Legislation Politics

Regulation Military

§§

Technology

The OOS challenge“S2S” Business

System & Business Engineering Solution?


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Website:www.on-orbit-servicing.com

Further Information on

52 Participants from 11 Countries

70 Participants from 11 Countries

International Workshops OOSwww.JKIC.de


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• Currently envisioned missions and applications with OOS relevance• Technology needs derived from these application scenarios• Technical developments to provide the means OOS • Progressive logistics on-orbit and on-ground, i. e. infrastructure

elements, transportation, operations, etc.• Potential role of ISS in the OOS context• Civil versus potential military applications • Alternatives to OOS• Economic issues, market potential & commercialization implications • Additional drivers and soft-factors (political, regulatory, structural,

psychological etc.)• Future programmatic orientation of agencies and industries and new

technology trends for space A&R, satellite design and operations.

Workshop results and synthesis on the workshop website: http://www.on-orbit-servicing.com/workshop_2004/index04.html.

Scope of the Workshops

http://www.on-orbit-servicing.com/workshop_2004/index04.html


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Unmanned on-orbit servicing (OOS) & the TECSAS mission•R O A D M A P •O O S & •S A T E L L I T E • S E R V I C I N G•S U M M A R Y TIMEFRAME (as of 2004)•TOPIC 0-5 YEARS 5-10 YEARS 10-20 YEARS

•GENERAL Paving the way for OOSGrass-roots private sector

Paving the way for OOSGrass-roots private sectorMore complex missionsDecreasing costTrade for programs and advocacy

Focus on increasing mission availability, flexibility and efficiency.3 classes of space infrastructure elements:*Non-cooperative*Partly cooperative*Fully cooperative •Corresponding OOS will be available to all classes.

•BUSINESS DEVELOPMENT

Generating economic benefits from on-orbit servicingOOS is an emerging business that needs to establish its credibility through demonstration/operational missions. The first operational mission will likely be the Hubble Servicing Mission.•The space community will start to consider OOS as part of future programs.

Entrepreurial/commercial successes.Link to private equity

OOS will evolve as an integral part of space industry and business landscape.

Roadmap 1


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•DEMONSTRATION MISSIONS

Missions for which the main objective is to demonstrate and verify the capabilities of on-orbit servicing.The level of complexity of the mission will increase from rendez-vous without contact to capturing and docking of non-cooperative satellites.Manipulations, refuelling and component exchange will be done only for satellites/spacecrafts designed to be serviceable (e.g. Hubble, Orbital Express).

•OPERATIONAL MISSIONS

Missions that are responding to a need expressed by a customer.

Missions that are responding to a need expressed by a customer.

OOS will be established as part of operational missions.

•CONCOMITANT ACTIVITIES

Activities beyond the technical development to create the proper environment for the development of on- orbit servicing. We could expect a series of developments that will impact OOS.

Activities beyond the technical development to create the proper environment for the development of on- orbit servicing. We could expect a series of developments that will impact OOS.

Proper environment estasblished for OOS & OOA.

Roadmap 2


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Projects & Missions


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ROKVISS ROBOTICS COMPONENT VERIFICATION ON ISSG. Hirzinger, K. Landzettel, D. Reintsema, C. Preusche,

A. Albu-Schäffer, B. Rebele, M. Turk

iSAIRAS 2005, MunichSession 2b - Orbital Missions

ROKVISS26-01-05

Results and lessons learnedafter 8 months of operation:


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ConeXpresscross-section

Device

ConeXpresscross-section

Latching

Illumination(segmented,ring-shaped)

Illumination(segmented,ring-shaped)

CaptureTool

Camera Camera

ClientNozzle

S / C

uppersensor

arrangement

lowersensor

arrangement

Motor Motor

Deployable /Retractable

Boom

Motor Motor

Dev

ice

Latc

hing

CameraControl

Electronics

Docking PayloadControl Unit

(„Docking“ RTU)

© Kayser-Threde GmbH © DLR-RM

• Licence agreement between DLR and Orbital Recovery Limited, GB• PPP between DLR Space Management and industry•Kayser-Threde is payload prime contractor of Orbital Recovery Ltd.

Docking module is based on DLR-RM’s captured tool (CT)• Further subcontractors are von Hoerner-System GmbH for the vision system

and SpaceTech GmbH, Immenstaad responsible for the client support mechanism

Docking module of CX-OLEV with DLR Capture Tool

© Orbital Recovery Ltd.


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Technology Satellitefor demonstration and verification in Space

TECSAS

TECSAS


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• Servicer Satellite will be based on Multi-purpose orbital

platform of BSC (MPOP)

• Client Satellite is Quicksat, a CSA micro-satellite

• TECSAS manipulator/robotic system will be based on DLR

elements developed, demonstrated and space qualified

during the ROKVISS mission

•Active vision system will be deployed on the Servicer for

the far and close rendezvous phases.

• Servicer and Client satellites will be put on orbit via a

DNEPR cluster launch

Mission Baseline


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TECSAS Mission Concept

Launcher: DneprLaunch type: Cluster launch, launch of Servicer- and the client satellite within

a single launch campaign Orbit: Sun synchronous near circular " dusk-dawn" orbit, inclination of

-98°, altitude approximately 650 km. Ground control: Simultaneous control of servicer and client from Bear Lakes

near Moscow , RussiaPreliminary timeline:t0: Launch (end of 2009)t0 + 1 day On-orbit check-out and commissioning of servicer and client

satellitet0 + 6 days: Approach maneuvers before rendezvoust0 + 7 days: Start experiments (German and Canadian in increasing order of

complexity); every time one day experiment one day analysist0 + 31 days: Nominal end of experimentst0 + 32 days: Start time margin (extension of experiment phase due to

problems, malfunctions and/or to repeat experiments etc.)t0 +90 days: Nominal end of missiont0 + 91 days: Mission extension or de-orbiting


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Mission Profile


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TECSAS Servicer Satellite


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Far rendezvous:Servicer satellite approaches the client satellite up to 300 m Close approach:Servicer satellite approaches the client satellite from 200 m down to working distance Inspection/fly around:Maintain constant relative distance, orient video camera towards the client Formation flight:Maintain relative distance, orientation and velocity of servicer and client satelliteIdentification of behaviour:Identification of dynamic model parameters of servicer and coupled system Flight maneuvers/orbital changes:Perform with coupled satellites a predefined change of orbital parameters Capture:Synchronize the manipulator and client motion. Grasp client with the end effector. Stabilize coupled system via the manipulator arm.Berthing:Move and orient the captured client via manipulator and attach it rigidly to the servicer, release the manipulator.OOS representative task:E.g. plug/unplug electric connectorDecoupling and separation of servicer and client:Bring servicer into and reside in save distance, initiate collision avoidanceDe-orbiting:Put the servicer on pre-defined re-entry trajectory.

Experimental Program


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Outlook


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Perspective of Automation & Robotics

Tasks inside and outside of the International Space Station (ISS) as well as on-orbit servicing of satellites (OOS) and the exploration of the solar system and other celestial bodies will benefit from the enhancement of space system autonomy and the level of automation.

The combination of new information technologies, forward lookingcommunication systems, highly integrated mechatronics and advanced actuators and sensors together with powerful simulationtools will open up a large array of space applications in the future.

The accomplishments of A&R in Space will support key policy goals such as faster economic growth, creation of high quality jobs, industrial competitiveness, international cooperation and collaborations, strong security and defense capabilities and the fight against poverty.


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Servicing Vehicle (Interavia 5/56)

past futurepresent

Manned & unmanned Servicing/Assembly

Servicing Infrastructure

TECSASHubble ISS

CX-OLEV

DART

XSS-11

Shuttle Inspection

Orbital Express

???JEMHTV

Evolution Routes ??

Automation and Robotics in the German Space Program�Unmanned on-orbit servicing (OOS) & the TECSAS mission �Table of ContentsVisionA&R VisionApplications Mission of the AgencyAgency Role of DLRProgrammatic emphasis On-Orbit ServicingGEO Telco Satellite Failure StatisticsMarket Potential- selected figuresBig QuestionChallengeThe OOS challengeInternational Workshops OOSScope of the WorkshopsRoadmap 1Roadmap 2 Projects & Missions ROKVISSDocking module of CX-OLEV with DLR Capture Tool TECSAS�Mission BaselineTECSAS Mission ConceptMission ProfileTECSAS Servicer Satellite Experimental Program Outlook Perspective of Automation & RoboticsEvolution Routes ??

automation and robotics in the german space program...

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