CSA Exploration Core 2009 Concept Studies: an Overview

CSA Exploration Core 2009 Concept Studies: An Overview

Eric Martin, Jean-Claude Piedbœuf

Space Exploration, Canadian Space Agency 6767 Route de l'Aéroport, St-Hubert, Québec, Canada, J3Y 8Y9 e-mail: [email protected], [email protected]

Abstract In 2009, the CSA awarded nine contracts for Space Within the Exploration Core context, the Canadian Exploration Concept Studies that could lead to the Space Agency (CSA) has awarded nine contracts in 2009 creation, approval and implementation of potential to conduct advanced concept studies. These studies focus Canadian space exploration activities. These studies on the identification of the technological and scientific focus on the identification of the technological and needs and on the mission analysis. As the initial phase in scientific needs and on the mission analysis. From the payload/mission development, it provides an opportunity nine studies, six were related to technology development for exploring truly innovative ideas. From the nine in the field of robotics while three studies were about the studies, six were related to technology development development of scientific instruments to achieve specific related to the field of robotics while three studies were science objectives. The key objectives of each of these about the development of scientific instruments to studies are described in the following sections. For each achieve specific science objectives. A description of study, an overview of the proposed concept to meet the the main objectives and the work accomplished in each mission requirements is presented. It is important to note of the six studies related to the robotics field is provided that these concepts represent the main results of the in this paper. studies. At the time of writing this paper, none of the proposed missions/concepts was approved for actual 1 Introduction implementation. However, most of these mission concepts resulted in early prototyping activities. Canada is one of the fourteen signers of the Global Exploration Strategy that establishes in 2007 an 2 Extraction Vehicle for In Situ Resource international framework for the exploration of our Moon, Mars and beyond. The Canadian Space Agency (CSA) is Utilisation (EVIS) evaluating potential participation in this renewed worldwide exploration effort building on its current 2.1 Objectives expertise in space exploration. Canada has been involved The EVIS Concept Study was focused on an in space exploration for more than 25 years with its Extraction Vehicle for In Situ Resource Utilization robotics, science and astronaut corps contributions. (EVIS) Mission. It was conducted by Neptec Design Group in partnership with COM DEV, McGill University, To ensure its readiness for future space exploration NORCAT, Ontario Drive and Gear, UTIAS, and missions, in 2007, the CSA has launched an Exploration ProtoInnovations. This group of companies and Core program. This program is developing the individuals is known as the Neptec Rover Team (NRT). requirements for future space missions and deploys prototypes in terrestrial missions reproducing some of The purpose of the Concept Study was to investigate the characteristics of planetary missions. The Exploration and prepare an operational concept and set of high level Core is preparing both the scientific community and requirements for a lunar surface mobility platform that Canadian industry, enabling them to make scientific and was adapted to tasks related to In situ Resource technological advances that will position Canada to make Utilization (ISRU). This work built on an earlier concept informed decisions on a participation in the global study conducted for the CSA but included updates drawn exploration. When a mission of interest to Canada arises, from a number of sources including NASA’s Exploration the existence of the Exploration Core will ensure that the Systems Architecture Study (ESAS) and Lunar required science and technologies have matured to the Architecture Team (LAT) updates, the March 2006 appropriate level, minimizing risk and cost of a mission. Canadian Space Agency publication, Serving and The results of this broad effort will allow Canada to Inspiring the Nation, and a number of relevant make more informed decisions concerning its conferences and seminars that took place between late contributions to, and participation in, the implementation 2008 and mid-2009. of the Global Exploration Strategy. Copyright© Canadian Space Agency 2010. All rights reserved.

i-SAIRAS 2010 August 29-September 1, 2010, Sapporo, Japan 881 The proposed concept is a modular rover platform that is intended to support ISRU mission tasks through While there were subtle variations in the navigation, the sortie, extended stay and lunar outpost phases of the communications, thermal management, and power planned exploration of the Moon. subsystems concepts for the different configurations, the proposed implementation of the subsystems was The primary operational goal of the EVIS rover is to relatively consistent across the three configurations. The enable ISRU at an early stage of the campaign to explore main difference between the configurations was the and eventually establish habitable outposts on the Moon. implementation of the mobility function, and the Once established, this ISRU capability will be required positioning and interfacing of payloads, the other key to function throughout the complete operational phase of subsystems on the rover. lunar exploration.

This operational goal is addressed with a vehicle that 3 Moon Mobility System: Canadian satisfies the following high level objectives: Contribution to the Manned Lunar Mission x Supports the extraction of resources from lunar (MLM) regolith to reduce the landed mass going to the moon, and 3.1 Objectives x Provides a means of moving and excavating the The MLM Concept Study looked at an exploration regolith in the near vicinity of a lunar outpost to concept that could lead to a critical and central Canadian aid in outpost deployment and emplacement. contribution to the international lunar surface mobility architecture. Its developed technologies and expertise 2.2 Concept Overview are also applicable to forward-looking CSA exploration While reviewing both primary and secondary milestones such as small-body missions and Mars sample objectives for the EVIS Rover, a series of scenarios that return, as well as other government-led initiatives in the such a vehicle could be used to support were identified. area of electric vehicles. The study was conducted by These scenarios can generally be grouped into the MDA Space Missions in Brampton, Ontario, in following categories: partnership with Bombardier Recreational Products/CTA, x Prospecting and Surveying Bristol Aerospace Limited, Carleton University, COM x Large-scale Resource Extraction, Transportation DEV, Defence Research and Development Canada, and Processing Hamilton Sundstrand, Hydrogenics Corporation, Johns x Utility and Mission Extendibility. Hopkins University - Applied Physics Lab, McGill University, MDA – Montreal, Optech Inc., Routes The rover objectives, capabilities and scenarios were AstroEngineering Ltd, Rune Entertainment, Simon enumerated, and then the rover-specific operational Fraser University, Université de Sherbrooke, University objectives and missions were decomposed and analyzed. of Guelph, University of Toronto – Institute for The result of this analysis was to arrive at some key Aerospace Studies, University of Western Ontario and operational/functional requirements for the rover. These University of Winnipeg. requirements were further decomposed to identify technical requirements that could be used in the The key objectives of the study were: evaluation of the concepts that were brought forward. x Assembly of a pan-Canadian industrial consortium of eight leading space companies Three rover configurations were identified as being and terrestrial technology providers to address relevant to the EVIS Rover operational requirements. the space-rating of a manned surface vehicle, The three configurations include a prospecting rover, an galvanise public interest, and spur industrial excavating rover, and a multi-purpose rover that momentum; represents a hybrid of the previous two that can also x Gathering of priorities from a diverse set of transport an EVA astronaut. All of these vehicles share a Canadian space stakeholders, including ten common skid-steer platform, U-shaped chassis and a academic science and technology partners, to relatively simple four-wheeled traction system with that promote ownership of Canada’s conceptual can be adapted from compliant wheels to non-rubberized lunar contribution; tracks with only minor modifications. Each of the three x Design of a human-rated surface mobility rover configurations consists of two of the four-wheeled system to be the foundation of Canada’s chassis interconnected by a linkage that allows the contribution to the international exploration chassis to be joined for some operations and separated in architecture; other cases. Figure 1 shows the EVIS rover concept and x Preparation of a budgetary ROM (Rough Order configurations. of Magnitude) cost to be used for planning

882 purposes;

Figure 1. EVIS Rover Concept and Configurations

x Establishment of a Canadian Lunar Mobility Architecture to create national unity, program The MLM rover, shown in Figure 2, has been efficiency and guide technology development, designed with close attention paid to the needs of the and to aid definition of architectures by human who will be riding in the rover. Not only does the international partners; design of a rover place extra attention on speed, safety x Provision of the prerequisites to kick-start rover and reliability, but human factors considerations also technology developments. drive the requirements for the rover to minimize vibration, acceleration and shock loads experienced by 3.2 Concept Overview the rider during the travel over the rough lunar terrain.

The result of this project is a concept for an The MLM rover enables manned surface mobility, all-Canadian manned lunar rover that is in line with the but it can also be operated remotely or autonomously surface mobility needs put forth by the International during unmanned lunar missions or for situations where Architecture Working Group. astronaut time is better spent on other tasks. To enhance situational awareness for both the manned and unmanned The concept is inherently modular, and this allows configuration, a lidar-based vision system concept has for maximum flexibility as the proposed lunar been formulated. A long range is required for the architecture changes within the context of the detection of hazards due to the long stopping distances international working groups. The MLM vehicle can on the Moon as compared with similar situations on accommodate the need for a small agile rover for short Earth. sorties, yet it also has the ability to expand to accommodate the need to transport pressurized modules The MLM rover includes one or two small robotic and other large cargo provided by external partners. Not manipulators (the configuration is mission-specific) that only is the vehicle itself modular, the components such can assist EVA astronauts with lifting of heavier as batteries, avionics and wheels within the vehicle are payloads, in addition to positioning payloads and science modular to allow the vehicle configuration to be instruments during remotely-operated or autonomous optimized for a specific mission. The vehicle has also missions. The robotic manipulators can also be used for been designed with the launch criteria in mind – the servicing of the rover or other lunar assets. Development stowed envelope has been minimized while maintaining of a concept for robotics for unloading the Altair lander the ability for the vehicle to be deployed without the (CRADLE) has been achieved through work done in need for EVA (extra-vehicular activity) assistance. conjunction with the IAWG via CSA.

883 the proposed design. The study was conducted by Neptec Design Group in partnership with Institut National d’Optique (INO).

According to the current program proposal, MSR NET is an orbiter carrying three landing probes that will be used for a ground network with science instruments to assess various aspects of Mars, a rendezvous and capture experiment and other technology demonstrators and science experiments.

Once in orbit about Mars, the rendezvous and capture experiment will be performed. The experiment will include rendezvous & capture sensors and mechanism and a spherical canister, which is a non collaborative target (i.e. no thrusters or navigation instruments). See Figure 3. Two simulations will be performed; the first one will focus on the intermediate and final approach Figure 2. MLM Rover Concept phases of the rendezvous and the second one concerns the long range phase. The MLM rover concept also includes interfaces designed to accommodate the use of large tools such as blades for surface leveling or drills for ISRU. The design includes a high-definition video camera capable of streaming high-definition video and audio direct-to-earth through the rover communication subsystem to ensure public engagement, and potentially participation, in lunar surface activities.

The MLM rover incorporates a power architecture that will accommodate the peak power loads that arise when the manned rover is travelling quickly with a large payload, and in addition will not rely on existing lunar infrastructure to be recharged. The concept includes a thermal control architecture that allows the vehicle to Figure 3. MSR NET Chaser and Sample Canister with survive the severe cold of the lunar night, yet still Laser Illumination dissipate the large amount of heat generated while travelling in full sun conditions. The Concept Study project began by assembling the mission concept and the system requirements, then The MLM rover incorporates a communications produced an innovative concept design of the MSR NET architecture that is compatible with the international Vision System. The design consisted of three main community’s communications architecture in order to subsystems: position the rover to be an integral part of the lunar x the Long Range Optical Sensor (LROS), an surface communications network. The design includes optical passive system for long range operations the functional fault tolerance and the failure detection from 1500km down to 5km, mechanisms required to ensure protection against x the Gated Flash 3D System (GF3DS), an active catastrophic or critical hazards. vision system able to actively track the sample canister from 5km down to capture, and x a LIDAR, another active sensor used for precise 4 Vision System for MSR NET ranging over the last 100m of the travel to the target. 4.1 Objectives The Vision System for MSR NET Concept Study In order to assess the validity of the proposed solution, a aimed at developing a concept design of the vision technical feasibility assessment and mission risk analysis system that would fit the rendezvous and capture were carried out and they concluded that there were no requirements experiment of the ESA-led MSR NET technical obstacles preventing the proposed vision precursor mission, as well as assessing the feasibility of system development.

884 4.2 Concept Overview are to: 1. Develop and demonstrate key technologies for The concept design of the MSR-NET Vision System future exploration such as landing systems, consists of three major subsystems: the LROS, the surface mobility and night surviving GF3DS and a LIDAR. The LROS has a 6.5º cone FOV technologies. and was designed to detect the 20-cm canister at 2. In-situ observation and investigation for science distances of up to 1500km. The subsystem consists of a and lunar utilization. radiation hardened CMOS imager, a lens and associated 3. Contribute to international Moon exploration electronics. The operational concept proposed by ESA is activity and meet public interest by including a “man-in-the-loop” where the raw 2D images are international and public outreach payloads. transferred back to mission control on Earth for image processing to locate the canister against the star In order to meet the mission objectives, the study background. The processed images allow the ground derived the main operational activities of the rover that team to refine the canister orbit model, which in turn specifically relate to the 3D micro vision system permits modification of the Orbiter trajectory to capabilities. The vision system on the rover must provide approach the canister orbit for a rendezvous. LROS is sufficient accuracy, resolution, and range to meet the powered and controlled through MSR NET Vision following objectives: System power supply and control electronics 1. Navigation respectively. a. Path Planning b. Collision Avoidance The Active Camera or GF3DS generates an array of c. Visual Odometry 2D data but ranging data can also be inferred using a 2. Site Inspection time gate, which allows measurement of the range of the 3. Public Outreach. canister. The GF3DS has a 20º FOV and can initiate target bearing tracking from 5km down to capture During the Concept Study, the mission concept and distance. Its gating timing is synchronized with the laser the system requirements were assembled and led to the source, which is illuminating the target. The time gate is creation of the novel MEMS LIDAR sensor system set to let the “shutter” open only a certain amount of time, concept design. This design consists of a LIDAR long enough to let the reflected laser light return from the subsystem coupled to MEMS-based scanning optics in target. It thereby enables a range measurement. The time order to generate 3D data points. The system uses a gate also acts as a filter and reduces noise from fibre laser source to illuminate the scene using high background light. The GF3DS raw data then must be energy and short duration light pulse. The micro mirror processed within the MSR NET Vision System before located on the MEMS optical assembly can be steered to sending the coordinates of the canister such as x, y and z get data over the full scanner field of view. or azimuth, elevation and range to the GN&C system or onboard computer. 5.2 Concept Overview The LIDAR provides range information to the The concept design of the MEMS LIDAR sensor GN&C system or onboard computer at the required rate. system consists of LIDAR electronics, a fibre laser, a MEMS-based steering assembly and optics.

5 MEMS LIDAR for the JAXA SELENE-2 The LIDAR uses Neptec-proven Time of Flight Mission (TOF) electronics for the LIDAR subsystem. The light source is a fibre laser that has been used in many other 5.1 Objectives ruggedized (military) applications. The MEMS-based technology has been created by INO and is currently The MEMS (Micro-Electro-Mechanical System) under development in other programs. LIDAR Concept Study developed a concept design for a LIDAR sensor applicable to the JAXA-led SELENE-2 The sensor system has a 60º x 60º FOV which is rover mission. The study was conducted by Neptec swept out using the MEMS-based steering optics, an Design Group in partnership with Institut National INO micro-mirror assembly. A TOF unit and a fibre laser d’Optique. integrated in a LIDAR assembly are used to perform range measurement at each mirror location. The entire The SELENE-2 mission follows the Kaguya system is synchronized via the system processor card. (SELENE) mission, which launched in 2007, and will The range data can either be used by the rover CPU for constitute the next step of the Japanese exploration autonomous navigation or other purposes or can be program. The objectives of the SELENE-2 mission transferred to ground control for further analysis and (derived from the Moon exploration program objectives)

885 processing, depending on the mission scenario. The 6 A Canadian Science Lander for the MEMS LIDAR can detect objects up to a distance of International Lunar Network (ILN) 100m depending on target reflectivity. See Figure 4. 6.1 Objectives The ILN Concept Study looked at an exploration concept that could lead to a critical and central Canadian contribution to the International Lunar Network, a lunar global network of geophysical science nodes that will conduct key science measurements crucial to the understanding of the nature of the Moon, its formation, and the history of the Earth-Moon system. The study was conducted by MDA Space Missions, Brampton, Ontario in partnership with Bristol Aerospace Limited, COM DEV International Ltd, MDA – Montreal, MDA – Richmond, NGC Aerospace, Odyssey Moon, Optech Inc., Rune Entertainment and University of Western Ontario. Figure 4. MEMS LIDAR Enclosure Layout (with Sides Removed for Clarity) The key objectives of the International Lunar Network Concept Study were: The largest technical risk identified in the project is x Assembly of a pan-Canadian academic team the MEMS micro-mirror assembly currently under focused on lunar science. The ILN Science development at INO. Although MEMS optical Work Group, chaired by Dr. Gordon Osinski, technology has been commercially available for several consists of internationally recognized lunar years, the design targets of the MEMS LIDAR device researchers from the University of Western necessitate advanced, state of the art technology. This Ontario, the University of Winnipeg, the technology will require investment in development and University of Guelph, the University of British testing to prepare it for space applications. The laser Columbia, and McGill University. source is another potential risk for the project. x Assembly of a pan-Canadian industrial Although the identified laser has been used in other consortium of five leading space companies and devices, it has no space heritage. Therefore testing and terrestrial technology providers to address the analysis is required in order to ensure this capability. It development of a Canadian spacecraft, should be noted that alternatives exist, but may enlarge galvanize public interest, and spur industrial the form-factor. Due to the high peak power of the laser momentum. source as well as the power draw from the MEMS x Gathering of priorities from a diverse set of micro-mirror device, the power consumption of the unit Canadian space stakeholders, including ten slightly exceeds the design target. The unit is currently academic science and technology partners, to being optimized through prototyping in order to reduce promote ownership of Canada’s conceptual the power consumption. Another risk involves the lunar lander. interaction between the electronics and mechanical x Design of a lunar landing system capable of a enclosure volume. In order to achieve the volume fully autonomous soft, safe, precision landing design target for the optical sensor, re-designed anywhere on the lunar surface, including hazard electronics are required. A trade-off is required to avoidance and detection, to be the foundation of determine an appropriate level of technological risk in Canada’s contribution to the international the electrical devices. exploration architecture. x Preparation of a budgetary ROM cost for the A thorough technical feasibility assessment of the contribution to be used for planning purposes. concept design has been carried out and concluded that x Establishment of a Canadian Lunar Lander the technology can be developed as currently planned by Architecture to create national unity, program keeping consideration of risks such as availability of the efficiency and guide technology development, technology at the time of fabrication in mind. and to aid definition of architectures by international partners. x Provision of the prerequisites to kick-start lunar spacecraft systems technology development.

While the goal of this Concept Study was to provide a

886 Canadian node to the International Lunar Network, the vision systems along with additional sensors such as an lunar lander concept will also provide Canada with the inertial motion unit and radar altimeter. The fusion of capability of flying a stand-alone mission to the Moon. these sensors makes the autonomous landing sequence reliable and robust.

6.2 Concept Overview The ILN structural bus and landing leg configuration are flexible, allowing for other subsystems such as The result of this project is a concept for an propulsion to be reconfigured to match the overall all-Canadian fully autonomous lunar lander that appears mission needs. The lunar lander vehicle has also been to be feasible according to engineering analysis and is in designed with the launch criteria in mind – the stowed line with the lunar lander needs put forth by the envelope has been minimized and can be accommodated International Lunar Network and International Lunar within the launch vehicle fairing of a wide number of Architecture Working Group. launch vehicles in a similar class.

The concept lunar lander design is entirely The ILN lunar lander includes a number of booms to compatible with the overarching mission goals and deploy instruments, a deployable mast capable of requirements. The concept design detailed options that accommodating the panoramic camera and a high-gain can land 25 kg, 50 kg, or 90 kg in support of the antenna, and a small robotic manipulator that is used for International Lunar Network. The smallest payload deploying instruments and a rover to the surface of the option represents the core International Lunar Network Moon. It can also be used to support science through the science suite augmented by a panoramic camera. The use of its camera system to inspect on-board science other options represent the core science suite plus experiments. The instrument deployment can be additional instruments focused on Canadian science performed either remotely-operated or autonomously. goals, including a small rover. See Figure 5. A stand-alone option was examined that was capable of placing up to 130 kg of science payload on the lunar 7 Robotic Orion/Orbital Service Module surface. The concept lunar lander design has maximum (ROSM) dry and wet mass of 650 kg and 1980 kg respectively. 7.1 Objectives The objective of this Concept Study was to provide the CSA with the information required to assist in evaluating Canadian participation in future crewed and automated exploration missions of international space agencies. The study was conducted by MDA Space Missions, Brampton, Ontario in partnership with Bristol Aerospace Limited, Lockheed Martin Space Systems and Mafic Studios Inc.

The results of this study include a comprehensive overview of planned astronomy / science missions, exploration missions of Moon, Mars and near Earth asteroids, and commercial missions from the view point of the mission characteristics and the in-space automation and robotics functions required for their assembly, servicing and maintenance. These missions provide an opportunity for deploying in-space automation and robotics in the form of a Robotic Orbital Figure 5. The ILN Lunar Landing Spacecraft Concept Service Module (ROSM) as an insert into a crewed or with Deployed Science Payload uncrewed vehicle.

The concept is an inherently flexible approach which In order to develop a system that would be adaptable allows access to the surface of the Moon through a to numerous future applications, this study performed a guidance, navigation, and control architecture capable of comprehensive survey of emerging Space Exploration providing fully autonomous, soft, safe landing and applications that require significant in-space robotics hazard avoidance. The guidance, navigation, and control capabilities, including servicing, assembly and landing algorithms use lidar-based and camera-based maintenance of on-orbit spacecraft and structures. These

887 missions were broadly grouped into the following three in-space robotics were utilized to define the robotic categories: service module concept. x New generation of astronomical science capabilities. An examination of the functions led to a ROSM x Exploration of the Moon, Mars and Near Earth module that would “mix-and-match” the following Asteroids. subsystems, based on the mission requirements and the x Commercial Spin-Offs for on-orbit assembly, ROSM vehicle fielding concept: construction and servicing. x Large manipulator arm x Dexterous robotic system The scope of this study was limited to robotic servicing x Robotic tools for both the manipulator and applicable to the space segment of future space missions dexterous robot in the three mission categories. Robotic servicing ap- x Rendezvous sensor system and Docking plicable to landed surface operations with the exception Interface of possibly operations on the surface of Near Earth x Refueling Module Objects were excluded from the scope of this study. x Cargo Accommodation.

A number of applications of the ROSM vehicle are There is no “one size fits all” robotic service module shown in Figure 6. design. However, the objectives of the disparate missions can be met by developing multiple concepts for fielding of the robotic service module which will enable the adaptation of robotic service module by combining mission specific elements with those selected from a set of standard generic or common elements.

This ROSM robotics module was designed with the ability to be integrated in four different vehicle fielding concepts, based primarily on elements of the NASA Orion Crew Vehicle, but also allowing for an unmanned, all-Canadian vehicle option. The four alternative fielding concepts are the following: x ROSM replaces Orion SM (Service Module) x ROSM as an Insert in Orion SM (ROSMI) x ROSM as a payload on a Canadian-built Spacecraft Bus (ROSV) x ROSM replaces Orion CM (Crew Module).

8 Conclusions

In 2009, the CSA initiated nine Concept Studies on Space Exploration. These studies focused on the identification of the technological and scientific needs and on the mission analysis. From the nine studies, six were related to technology development related to the field of robotics while three studies were about the development of scientific instruments to achieve specific Figure 6. ROSM Vehicle Applications science objectives. The key objectives of each of these studies were described in this paper. For each study, an 7.2 Concept Overview overview of the proposed concept to meet the mission The study proceeded to develop a versatile ROSM requirements was presented. These studies resulted in concept and preliminary architecture with elements that early prototyping activities and were also essential to one can mix-and-match into a payload suitable for a support CSA engagement to the International Space variety of mission categories and vehicle fielding Exploration Coordination Group activities on a lunar concepts. The results of the RAO (Robotics and architecture. The CSA has currently a very active Automation for Orion) study performed in 2008 for CSA prototyping program aiming at demonstrating many of and the Canadian knowledge base and expertise in these concepts in terrestrial analogue missions.

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