automation and robotics section...

7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2002'ESTEC, Noordwijk, The Netherlands, November 19 - 21, 2002

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19 November 200219 November 200219 November 200219 November 2002 Mission Applications for Space A&R Mission Applications for Space A&R Mission Applications for Space A&R Mission Applications for Space A&R ---- G.VisentinG.VisentinG.VisentinG.Visentin 1111

Automation and Robotics Section (TOS-MMA)

An Overview ofAn Overview ofAn Overview ofAn Overview ofMission Applications forMission Applications forMission Applications forMission Applications for

Space A & RSpace A & RSpace A & RSpace A & R

Gianfranco VisentinHead, Automation & Robotics Section (TOS-MMA)

ESA/ESTECP.O. Box 299, 2200 AG Noordwijk, The Netherlands

Tel: +31-71-565-4835, Fax. +31-71-565-5545e-mail: [email protected]



❤ LEO applications = ISS applications" system servicing " robotic assembly of spacecraft" payload tending" free flying inspection and servicing

Space Robotics: Overview of Application ScenariosSpace Robotics: Overview of Application ScenariosSpace Robotics: Overview of Application ScenariosSpace Robotics: Overview of Application Scenarios

# Robotic satellite servicing in GEO❋ servicing in GEO❋ renewed interest in ESA, EU

% Innovative robotics for subsurface and arial exploration

& Robotics for surface exploration in Solar System✺ present: comet sampling (Rosetta): ready for launch

✺ ESA Science cornerstone mission to Mercury✺ Mars-Express Beagle lander

✺ future: new AURORA programme


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Large robot systemsLarge robot systemsLarge robot systemsLarge robot systems for ISS assembly and servicingCanadian MSSCanadian MSSCanadian MSSCanadian MSS (Mobile Servicing System) on Western Segment

flying!flying!flying!flying!comparison with JEMRMS (Space Station Robotics session)on-orbit training issues (Space Station Robotics session)dynamic simulation issues (Orbital Robotics Simulation session)

ERA (European Robot Arm) on Russian Segmentgetting ready to flygetting ready to flygetting ready to flygetting ready to flytest results (Space Station Robotics session)Mission preparation Support (Space Station Robotics session)ERA Evolution: lacking political support so far

Robotic System Servicing on the ISS (1)Robotic System Servicing on the ISS (1)Robotic System Servicing on the ISS (1)Robotic System Servicing on the ISS (1)



Assembly and servicing of other spacecraft from the ISSXEUSXEUSXEUSXEUS ("next generation XMM")

Dedicated robot technology developments:TRP "Robotic Assembly of Large Space Structures" initiated in 2002 (see Future In-Orbit Robotics Applications: Servicing and Assembly session)

Robotic System Servicing on the ISS (2)Robotic System Servicing on the ISS (2)Robotic System Servicing on the ISS (2)Robotic System Servicing on the ISS (2)

EUROBOTEUROBOTEUROBOTEUROBOTTHETHETHETHE next thingan anthropomorphic robot system capable of dextrous EVA System study will be launched by the Manned Space and Microgravity DirectorateRunning technology development are illustrated in G.Visentin pres. In the Technology Programmes session


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Robotic Tending of Payloads on ISS (1)

Tending of externally-mounted payloads (EVA robotic tending)✸ ESA technology developments validated in JET (end-to-end JERICO

Evaluation Testbed) ✸ TEF/EuTEF on Western Segment of ISS/ EXPRESS pallet cooperation with

ASI, DLR on robotics did not materialise - EuTEF will fly on COLUMBUS as non-robotised facility

✸ EUROPA on ISS/EXPRESS-pallet cooperation ASI/ESA for flight in 2003 (new incarnation of JERICO/robotised EuTEF) see paper in Orbital Robotics -1: Operations session

✸ DLR work on technology for teleoperated robot system on ISS (ROKVISS) see paper in Orbital Robotics - 1: Operations and in Orbital Robotics - 4: Joints and Grippers sessions



Tending of internally-mounted payloads (IVA robotic tending)) PAT (PAyload Tutor) in ISS pressurised labs:

☺ presented in previous ASTRAs, iSAIRAS 99 (cooperation ASI / ESA)" manpower and funding limitations have halted progress☺ however interest is high due to ISS manpower crisis

✌ An Innovative TRP funded activity is about to start see G.Visentin pres. in Technology Programmes session

☛ Technology developments ongoing (see G.Visentin pres. in Technology Programmes session) :

on-board controller h/w for pressurised environmentlightweight dextrous robot arm

Robotic Tending of Payloads on ISS (2)


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Free-Flying Robotic Inspection and Servicing

Many approaches and system studies presented in previous ASTRAs✻ ATV enhancements, Free-Flying Micro Operators (FFMO), ISS-Inspector, SPIDER (SPace

Inspection Device for External Repair)" no success so far in establishing such a system as a European contribution to the ISS# too much too fast ?$ strong NASA reservations w.r.t. safety and influence

Japanese ETS-7 mission (iSAIRAS 99)☺ demonstrated capabilities and feasibility of free flying robotics

ISS inspection scenario not actively pursued in ESA now% not under European responsibility% other means exist (EVA) ?

Scenario may come back✹ first studies have established higher criticality of impact damage in ISS hulls



Robotic Satellite Servicing in GEO

Renewed interest:ESA: maintaining the GEO orbit safe and performant:

initiated at General Study level (ROGER = RObotic GEostationary orbit Restorer) see M.Kassebom pres. in Future In-Orbit Robotics Applications: Servicing and Assembly session

EU: Amendment 107 to the RTDT programmeIn-Orbit Servicing: the objective is to analyse the market and stimulate the development of technologies required for building a European capability in the field of in-orbit servicing for satellites to reduce the cost of launching and operating satellite platforms.Research will focus on: satellite interfaces, sensors, data, and system architectures developed in Europe or elsewhere, as well as developing a prototype of operational services responding to three specific types of orbits (Low Earth Orbit, Geostationary, Galileo orbital planes).

ESA: initiating innovative-TRP activity on “Satellite Servicing Building Blocks” see G.Visentin pres. in Technology Programmes session


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Robotic Surface Exploration in Solar System (1)

Mars surface science / exploration✺Mars ExpressMars ExpressMars ExpressMars Express mission

approved ESA mission, launch 2003robotic arm for Beagle 2 lander see paper from N.Phillips in Planetary Robotics -2: Arm and Drill Developments session

✸AURORA AURORA AURORA AURORA Exomars Exomars Exomars Exomars missionmissionmissionmissionsee paper from J.Vago in New Mission Applications session

✸Technology developmentsDrilling systems see 2 papers in Planetary Robotics - 2: Arm and Drill Developments sessionMars micro rover control work at ESA see exhibit from L.Steinicke in Exhibits sessionAutonomous navigation technology from CNES see paper from M.Maurette in Planetary Robotics - 5: Navigation session



Robotic Surface Exploration in Solar System (2)

Moon surface science / explorationstill some international interest (Japan, USA)

Human missions to Mars / Moon☺ strong interest in D/MSM (expecting invitation by NASA for international

missions)) could be the "next big thing" after the ISS✌A&R has been identified as one strategic technology for European contribution !

✹set of 3 General Studies for D/MSM launched in 2000✹mission and systems, power / life support, A&R (AROMA) see paperfrom Von Richter in Planetary Robotics: Missions and Needs


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Robotic Surface Exploration in Solar System (3)Mercury surface science:

ESA Science Cornerstone mission: BepiColombo, launch planned in 2009ESA scientists demand for a Lander funded by ESA (deviation from earlier science missions !!!)Strong A&R need for lander science payload supportHowever present landing scenario offers extremely limited mass (<20 kg for the whole lander!!!)Several A&R technology development activities were initiated, see G.Visentin pres. in Technology Programmes session

Surface / atmospheric science on other planets, moonsVenus, Europa landing still longer-term goals for ESAneeded there: flying robots (Aerobots)

first ESA technology development activity planned, see G.Visentin pres. in Technology Programmes sessionA European “restart” study has been proposed in the General Studies Programme, see G.Visentin pres. in Technology Programmes session

also needed: smart moles/robotic earthworms for subsurface explorationfirst ESA technology development activity planned, see G.Visentin pres. in Technology Programmes session



Non-Robotic Automation: StatusTSU-2

Upgraded version of Telescience Support Unit (TSU) for FluidPac which flew successfully on Foton 12 (9/99) being the first real flight use of telescience.Unfortunately blew up in the explosion of Foton-M1 on 14/10/2002Hopefully the mission hardware will be rebuild and new flight

MFC (Microgravity Facilities for Columbus) Material Science Laboratory (MSL), Fluid Science Laboratory (FSL), BioLab, European Physiology Module (EPM) successfully passed PDR / CDR stages of developmentA&R contributions to embedded automation, more effective ground interaction (BioLab even has an internal manipulator )MSL-Electromagnetic Levitator (MSL-EML) for Columbus (joint ESA / DLR development) ending Phase A/B initiated in 2000features enhanced automation technology


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SummarySpace robot systems for ISS servicing

MSS fliesfliesfliesflies and ERA is getting close to flightgetting close to flightgetting close to flightgetting close to flight (Russians permitting...)exciting new uses have been identified (XEUS assembly, EUROBOT)

Robotic payload tending on ISSmore frustrations (JERICO, EuTEF), more attempts (EUROPA) ...

Free-flying roboticsforget the ISSforget the ISSforget the ISSforget the ISS, but interest on satellite retrieval, GEO maintenance is higher than ever

Mars roboticsMars Express: Europe is catching up after US failuresAURORA will provide the much needed ESA flight opportunities (esp. for rovers !), and the right framework to kill the bi-lateral co-operations with NASAnew major long-term perspective: robotics to support human missions !

Mercury robotics is not looking goodnot looking goodnot looking goodnot looking good, despite ESA-Science accepts the principle of funding also the Lander

Innovative roboticswe definitely need Aerobots and smart moles/robotic earthworms

automation and robotics section...

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