Science and Technology In-Space Assembly Open Forum Presentations

WELCOME TO THE SCIENCE AND TECHNOLOGY (S&T) PARTNERSHIP OPEN FORUM: Information exchange for market analysis of commercial in-space assembly (iSA) activities November 6, 2018 Science & Technology Partnership Forum

AF– NASA – NRO Interagency S&T Partnership Forum

Activities and Background

6 Nov 2018

DISTRIBUTION STATEMENT A - APPROVED FOR PUBLIC RELEASE. DISTRIBUTION IS UNLIMITED. THIS BRIEFING IS FOR INFORMATION ONLY. NO U.S. GOVERNMENT COMMITMENT TO SELL, LOAN, LEASE, CO-DEVELOP, OR CO-PRODUCE DEFENSE ARTICLES OR PROVIDE DEFENSE SERVICES IS IMPLIED OR INTENDED Science and Technology Collaboration

Background Focus Areas • Established S&T Partnership in 2015 as 16 topics identified and prioritized. Top 4: Summit Action Item 1. Small Satellite Technology 3. In-Space Assembly (ISA) – Strategic AF/NRO/NASA forum to identify Lead: AF Lead: NASA synergistic efforts and technologies 2. Big Data Analytics 4. Space Cybersecurity – Additional orgs: OSD, DOS, DARPA, Lead: NRO Lead: NASA AFRL, SMDC, NRL, DIA, NOAA, + Accomplishments Next Steps • In-Space Assembly industry/FFRDC summit (NOW) • 10 Tech Exchange Meetings to date: 24 orgs • Deliver ISA recommendations to Agencies (Fall ‘18) • Cross-walked S&T roadmaps in each area • One-day Big Data Research Workshop (Mar‘18) • Topic 1 transitioned to Gov’t Forum on CubeSats • New topic: cislunar space technologies (FY19) • Cross-agency Innovation Summits with industry • Normalized terms/requirements/goals • Delivered recommendations on goals, strategies, and potential joint concepts • 2 Analytical Games with Intel Community (ODNI)

Key technology areas address mutual needs across government space

3 S&T Collaboration Accomplishments

• Recent Activities (examples) – 5 technical interchange meetings in 2018 – Monthly Space Pillars meetings in Pentagon – Interagency white paper on ISA investments and gaps – Analytical game on Cislunar development across civil/military/IC • Tech Transitions – Cyber defense strategy for NASA’s Restore-L and SCAN missions – ISA Briefing to Industry (NOW) – Government-wide cyber test range catalog – Space Cybersecurity Information Sharing and Analysis Center (ISAC) • Future Efforts – USAF assessment of International Space Station (FY19) – Space test range using ISA techniques (proposal) – ID S&T gaps for Cislunar Space Domain Awareness and Intel (and future military activity)

4 Topic 1: Small Satellite Technology

Lead: AF Current Status:

Goal: Develop miniaturized sensing capabilities for • Transitioned continuity of efforts to the Government Forum on cube-sat and small-sat platforms. CubeSats

Accomplishments: • Conducted Technical Exchanges among government to identify key sensor technologies with most cross- agency Return on Investment. • Captured ongoing development of small satellite miniaturized sensor technologies and briefed at the 30th Annual Small Satellite Conference, Logan, Utah • Discussed with industry the role of government • Cross-walked NASA-AF S&T roadmaps for small sat tech as a pilot and published full cross-walk overview in AIAA SPACE public paper. • Provided technical input to OSTP’s Harnessing Small Satellite Revolution initiative & captured by the White House

UNCLASSIFIED Topic 2: Big Data Analytics (BDA)

Lead: NRO Steps: • Oct 2018 – Big Data Analysis Solutions Forum; NRO/JD Hill; S&T Goal: Integrate advances in cognitive modeling with Alliance participation automated data analytics to create game-changing • Mar 2018 – one-day Big Data Research Workshop effects. • Plan next Government TEM Accomplishments: NRO Big Data Roles: • Summit discussions since 2015 • Technical Exchange meeting – October 2016 • Traditionally NRO is viewed as a big data provider • NRO Enterprise Data Strategy –18 November 2016 • NRO is also a big data consumer • Space Pillars Meeting – 3 May 2018 • Increased automation in collection is needed –To understand big data value, trends and issues • NRO is a cloud participant • Applies multi-INT analytics on data in the cloud –To discuss and share views and perspectives • Provides results to the cloud – Participants normally include individuals form • Exchanges information with partners via the cloud DoD, IC, NASA, State, or any other U.S. • Big Data Analytics Interests Government organization or agency • Data dimensions • On-going: Leverage advanced big-data-sharing • Big Data infrastructure platforms with integrated nonlinear automation tools. • Big Data Analytics NRO is participating with DNI and Community to develop, evaluate, and deploy capabilities to derive the benefits of shared Big Data.

UNCLASSIFIED Topic 3: in-Space Assembly (iSA)

Lead: NASA

Goal: Develop the capability to perform autonomous or semi-autonomous in-space assembly of space systems.

Accomplishments: • Technical Exchanges to ID and prioritize developments • Delivered interagency white paper describing value proposition, strategic plan, current investments and planning, and summaries of potential concepts Steps: • Defined iSA dictionary of terms, and defined and categorized iSA capability areas • Oct 2018 - Deliver interagency partnering recommendations (from maintaining awareness to program coordination) • Performed capability gap analysis to determine interagency partnering recommendations • Nov 2018 - Engage with industry/FFRDCs regarding their visions for iSA and plans to infuse iSA into their business lines iSA Tech Exchange @ NRL DARPA NASA NRL NRO USAF

UNCLASSIFIED Science & Technology Partnership Forum

Questions? Assembly In-Space: NASA Perspective and Experience

W. Keith Belvin NASA STMD

Some Assembly Required

iSA S&T Partnership Nov. 6, 2018 ISS Assembled in over 40 Flights (1998-2011)

10 The Current Paradigm

6.5 m JWST

volume and mass constraints $$$

Is there another approach …? • 40 deployable structures • 178 release mechanisms

11 Engineering for Resilience What Attributes Are We Trying To Achieve?

Break Current Launch Constraints Increased Performance / New Capabilities

Resilience Adapt to Mission Change Evolvability Earth Independence Module Replacement

Lower Life Cycle Costs Reusability / Multi-Mission Increased Cadence Reduced Ground AI&T

Faster Time of Response Technology / Instrument Upgrade Modular Reconfiguration

13 Changing the Way We Design, Build, and Operate Space Systems

Benefits: What’s Happening: • Larger Space Systems • Advances in Space Robotics • Breaks Fairing Constraint • Autonomous Operations • Lower Cost Launch Vehicles • Low Cost Access to Space • Persistence – Long Life iSS In-Space • Refueling • Technology Upgrade Servicing • Modularity • Resilience/Adaptation • Mod/Sim for V&V • Multi-Mission Vehicles • Persistent Assets • Earth Independence iSS • Design for Assembly • New Space Industry • Earth Independence • Lower Life Cycle Cost • ISRU • Faster Response Time

iSA iSM iSA In-Space iSM In-Space Assembly Manufacturing On-Orbit Servicing, Assembly and Manufacturing

Modular Design, Assembly and Operations

• Systems Concepts and Analysis • Interface Standards

Remote Autonomous Reversible Mobility and Control Operations Joining Tools Assembly and Robotics, Metrology, and Smart Fixed and Free Servicing and Control Interfaces

Rendezvous & Manufacturing Docking/ Berthing (ISAM* & ISRU*)

Known AI&T Challenges: - Ground Subsystem V&V plus System Mod/SIM. - V&V of “autonomy” – High Level of Automation - Space Based System AI&T

ISAM In-Space Additive Manufacturing ISRU In-Situ Resource Utilization Hubble Servicing Missions

Servicing Mission: 1 – Restoring Hubble’s Vision 2 – Expanding Hubble’s Universe 3A & 3B – Gyro, Guidance Sensors, Power System, Cameras 4 – New Instruments, Guidance Systems, Command and Data Handling EVA Assembly Flight Demonstrations

ACCESS Flight Assembly Demo (1985) • Demonstrated the ability to assemble a structure on orbit. • Included simulated utility installation and maintenance.

Quick Attachment Joint for Truss Assembly

17 Autonomous Robotic Assembly

• Truss Structure Assembled on Rotary Motion Base- 8 meter diameter: • 102 Element Truss with 12 Panels • Supervised Autonomy: • Assembly Sequence can be Paused or Reversed at any time

18 Near-Mid Term: Operating in Cis-Lunar Space 20

Solar Electric Propulsion (SEP) Deep Space Transfer Vehicle

Nuclear Thermal Propulsion (NTP) Deep Space Transfer Vehicle 23 On-Orbit Autonomous Assembly of Nanosatellites (OAAN)

Goals 1. Advance technology to enable on-orbit autonomous assembly using nanosatellites. 2. Develop low power magnetic docking technology.

Objectives 1. Demonstrate autonomous control algorithms for on-orbit rendezvous and docking maneuvers in a test environment. 2. Demonstrate precision relative position determination for proximity operations using Carrier-phase Differential GPS in a test environment. 3. Develop Nanosatellite magnetic docking hardware and demonstrate in a test environment.

24 In-Space Servicing, Assembly and Manufacturing Will Change The Way We Design, Build, Maintain, and Operate Space Systems

Technology Gaps: Cultural Gaps: • Modular Concepts/Design • Moving From Custom Build to • Design for Assembly / Composability and Integration Disassembly / Reuse • Low Mass Connectors • Changing from Ground Based to • Structural/Electrical/Fluid Space Based System AI&T • High Strength/Stiffness/Stable • Single Launch, Single Mission to Part Manufacturing Reusability and Resilience • Proximity Operations • Risk Analysis Paralysis • Autonomous Operations • Situational Awareness • Verification/Validation in Space • Modeling and Simulation • Transport Between Orbits: • Resupply / Aggregation Science & Technology In-Space Assembly Partnership Forum November 6, 2018

Assembly in Space: NASA Perspective and Experience

Harley Thronson, Benjamin Reed, Beth Keer, & Matthew Greenhouse NASA Goddard Space Flight Center

26 What this is about . . .

From Gemini VIII in 1966 to investments today in robotic servicing/assembly systems of the future, NASA has acquired extensive experience in designing, assessing, developing, and deploying capabilities to achieve both major science and human exploration goals from Earth orbit to the vicinity of the Moon . . . and beyond.

27 PAST AS PROLOG: A RICH LEGACY OF LEADERSHIP IN NASA’sSERVICING/ASSEMBLY/MANUFACTURING OSAM History and Status MISSIONS & CAPABILITIES Forty-two ISS Assembly and Five HST Servicing/Assembly Missions Six Missions to ISS to Demonstrate Servicing/Assembly Capabilities

Solar Max HSM1 HSM2 HOST HSA3A HSM3B HRSDM Orb-Express HSM4 RRM-1,2,3 RROTT Raven Restore-L 2007 Servicing 1984 1993 1997 1998 1999 2002 2005 2009 2011-18 2014 2017-19 LRD 2022

Apollo CSM-LM EASE/ACCESS ISS assembly & ops IRMA (Archinaut, Dragonfly, CIRAS) iSAT/FASST Studies Assembly 1967-72 1985 1998 – present 2015 – present 2017 – present

3D Printer First 3D Printer in Space ISS Made in Space Additive Refabricator “FabLab” Facility Micro-G Experiment 2014 Manufacturing Facility Late 2018 2020 1998-2012 2016 Manufacture

NASA is uniquely positioned to lead further development of OSAM capabilities after 200+ rendezvous, 9+ servicing missions, collaborations to build and assemble on-orbit, and its vision for development and demonstrations of future OSAM technologies. 29 In-Space Assembly: Status of Current Work

ISS is the best example of large-scale assembly in space NASA GSFC’s Satellite Servicing Projects Division (SSPD)

Robotic servicing and assembly activities are accelerating thanks to government and commercial involvement.

SSPD was born out of the team that serviced and assembled HST five times.

Simulating and practicing servicing Robotic Refueling Mission (RRM) and assembly tasks on ISS

NASA‘s Restore-L, a robotic spacecraft equipped with the tools, technologies and techniques In addition, consideration of Restore-L as a needed to extend satellites' lifespans, even if they demonstration of iSA capabilities. were not designed to be serviced on orbit. During its mission, the Restore-L servicer will rendezvous with, grasp, refuel, and relocate a government-owned satellite to extend its life.

But Restore-L's effect will not end there . . .

31 Early Concept for Demonstrating In-Space Assembly

Astronomical observatories larger than those currently under assessment almost certainly will require space assembly.

Even before that time is reached, space assembly is being evaluated as insurance in the event that “all up” launch and autonomous self-deployment is not feasible or cost-effective.

NASA JPL/GSFC/JSC/STScI OpTIIX Mission Proposed for ISS in 2012 A paradigm shift in architecture: Modularization and robotic assembly

Three-Mirror Anastigmat Telescope Six launched modules (1.45 m aperture) for assembly via ISS robots 32 The Future Assembly/Servicing Study Team (FASST)

Since early 2018, a NASA HQ Astrophysics Division-directed concept study of in- space assembly: cost, risk, and feasibility for future large-aperture space observatories. • 20-meter off-axis telescope adopted as a good reference design • No more compelling alternatives for this study • No “show stoppers” have been identified

 Study consensus was that modularizing this reference design is feasible using current and anticipated technologies and processes

33 The Future Assembly/Servicing Study Team (FASST)

Future team activities include: • Focused engineering design • Feed into costing exercise: identify cost and risk deltas with respect to current design • Parameterize to smaller apertures • Deliver report to NASA HQ SMD and National Academies: Spring 2019

Concept and component suite as of October

34 In-Space Assembly (iSA): Observations and Findings

• NASA priorities for iSA likely to be guided by science priorities, although not exclusively • Coordinate with science prioritization processes and human space flight capability developments (e.g., Gateway) • Establish a cross-Center/Directorate “integrating authority”

• Technology capability investments need to be prioritized and coordinated strategically • Examples include autonomous rendezvous and docking, and grapple/berth/dock, dexterous robots, multi-use tools, modular interfaces . . .

• Identify demonstrations in a representative environment to continually reestablish state-of-the-art • NASA examples: OpTIIX, RRM1, RRM2, Raven, RRM3, Restore-L

• The relations among in-space assembly, servicing, and manufacturing are complex and evolving, have disparate advocates, and need to be regularly assessed. • NASA examples that utilize assembly/servicing capabilities include ISS, HST, Restore-L, IRMA, FASST • NASA’s ambitious future programs: Gateway, lunar and Mars exploration, 20-meter in-space assembled telescope

• Setting global precedence and establishment of international “norms of behavior” are critical to sustainable use of space

• NASA is charged with and is actively transferring servicing and assembly technology to US entities to promote a broad and secure industrial base 35 As long as we are on the subject ...... we would be glad to assist and advise.

The GSFC Satellite Servicing Projects Division: https://sspd.gsfc.nasa.gov/

The FASST Activity: https://exoplanets.nasa.gov/exep/technology/in-space-assembly/ XST: “On the Shoulders of Giants”

Roberta Ewart, DE SMC Chief Scientist [email protected]

6 Nov 18

The views expressed in this presentation are solely those of the author and do not reflect the views of the USAF. Overview

• Motivation (Potential EPIC Speed Pacesetter) • Background (Numerous demands for speed and improvement) • Concept (Improve developmental test) • Concurrent Concept Development Mechanics • Way ahead • Leverage existing technology, on-going S&T iSA Space Forum discussions (Nov 6-7 2018) • Provide link to immediately on ramp concepts and provide new strategic thinking pathfinders

38 M otivation: SM C 2 .0 EPIC SPEED

S P A C E A N D M I S S I L E S Y S T E M S C E N T E R • Shared vision and strategy • Resilient, multi-layered architectures and infrastructure services • Ability to dynamically reallocate resources Enterprise

• A wide network of suppliers including both traditional and innovativestart-ups • Collaboration with Inter-agency and international allies to share costs, movefaster, • and improve capability Partnerships • A culture that encourages fast-failure and fast-learning • Balanced portfolio providing incremental improvement & opportunities for • innovation Innovation • Strategic innovative investments in high pay-off tech & game-changing capabilities • Mission-focused, motivated, knowledgeable, and empoweredworkforce • A culture of risk-taking and continuous improvement • Talent management system designed to develop leaders, empower teams, and Culture reward performance

• Increase decision-making velocity with flatter organization & delegatedauthorities • Streamlined processes, documentation and reviews tailored for theacquisition strategy SPEED 4 Background

• Demands by Congress of the Space Community: • Space Enterprise must move more quickly • Take advantage of commercial capability • “Break cycle of increasing costs” • Build smarter/more capable acquisition workforce and operational community • Create a Space Professional/Operational Entity

40 Space Science & Technology (S&T) Partnership Forum: Introduction

Allow large, persistent space assets to be assembled and routinely upgraded in

Introduction space Transform space operations capabilities with economic and performance In-Space Assembly benefits for both U.S. Government and commercial space endeavors

S&T Partnership The Space The S&T Partnership Forum Science & Forum has identified Principal Partners Value Technology (S&T) and prioritized Proposition NASA Partnership Forum USAF OGA pervasive goals Strategic is a strategic (collaboration topic Framework Interagency Science & Technology Partnership Forum forum established Leverage synergies and influence agency areas) that focus on Stakeholder in 2015 to identify Affiliate Partners key game-changing Goals & portfolios Design synergistic efforts AFRL AFOSR OUSD technologies across Drivers NRL and technologies. AF SMC DARPA NOAA government space Capability Other Topics Needs Small Satellite 1. Facilitate cross-agency collaboration and strategize on technical Conclusions Technology solutions to common pervasive needs Big Data 2. Maintain awareness of each agency’s space S&T investments to In-Space Analytics reduce duplication and identify areas worthy of collaboration Assembly Cybersecurity 3. Identify impediments to collaboration and formulate solutions 41

Aim to identify cross-cutting applications and benefits of developing a robust iSA capability for future space assets Under iSA Analytics

• 4 Concepts were considered: • Space Logistics • Developmental Test • Space Power • Space Situation Awareness • These were scored along with the other S and T Forum Concepts • What follows is the way ahead for one of those: Developmental Test: Advanced Space Based Testbed (XST)

42 Concept: “Advanced Space Based Testbed” (XST)

• Devise an in-space (orbital) facility primarily for developmental test (DT) but allow options for: • Joint/Cross Agency T&E • Collaboration improves cost effectiveness • Operational T&E • Can be an off-ramp • Pervasive S and T • Rapidly leverage 6.1-6.3 (into field faster using 6.4) • Technology from Industry (IRAD, CRAD) • Move development from primarily industry to industry and government • Better understand the intellectual property and data rights • Improve requirements generation/refinement earlier and concurrently • Training • Govt personnel need hands-on knowledge • Shortest path to OTE

43 Truss For “XST”

• Basic Truss structure-using iSM and iSA, use iSS (a spaceplane) to: • Add Instrumentation/Comms • Add ADCS • Add UDA points for test candidates/eqt/etc.

44 iSA Framework is Multi-Purpose

45 M odified iSA Flow for XST Use

46 Conclusion

• Many demand that Space Acquisition needs to change • One way to increase acquisition speed is to enhance/increase Developmental Test (DT) • XST concept could rapidly provide that DT • Large NRE already paid • S&T iSA Space Forum Collaboration can bring down cost • Create a broad based platform for energizing rapid space improvements

47 Robotic Servicing of Geosynchronous Satellites: Future Applications for Robotics in Earth Orbit

Joseph Parrish U.S. Defense Advanced Research Projects Agency RSGS Program Manager Arlington, Virginia, USA

Presented by: Bernard Kelm U.S. Naval Research Laboratory NRL RSGS Deputy Program Manager

Interagency Science and Technology Partnership Forum on In-Space Assembly November 6th, 2018

Approved for public release, distribution unlimited 48 Robotic Servicing of Geosynchronous Satellites (RSGS)

Goal: To create a dexterous robotic operational capability in geosynchronous orbit Benefits: • Increased resilience for the current U.S. space infrastructure • The first concrete step toward a transformed space architecture with revolutionary capabilities Artist’s concept from DARPA partner Space Systems Loral (SSL) Launch: Spring 2021

Artist’s Concept Artist’s Concept Artist’s Concept Artist’s Concept Cooperatively inspect spacecraft Cooperatively assist with orbit Cooperatively correct mechanical Cooperatively install self experiencing anomalies adjustments problems contained payloads on-orbit

49 Robotic servicing in GEO: improved reliability, new capabilities

• Same benefits for GEO satellites that maintenance, repair and upgrade provide to valuable terrestrial assets

• Improved reliability and affordability: • Refueling: increased fleet flexibility • Capability to repair some anomalies • Inspection: data on on-orbit condition of mechanical systems • New capabilities: • Cooperatively attach modules to on-orbit spacecraft • Communications, scientific and entrepreneurial applications • Reduced CAPEX for small GEO payloads • Approach: • Overcome the technical barriers • Sustain the capability to execute servicing missions • Develop years of operational experience and data • Transparent operations in GEO

Approved for public release, distribution unlimited 50 The potential of space robotics

GEO today GEO future • Single fairing constraint • On-orbit assembly

• No response to failures • On-orbit servicing

• Fixed capabilities • On-orbit upgrades

Tethers Unlimited

SSL

Robotics enables a transformation of space

Approved for public release, distribution unlimited 51 RSGS: Resilience and transformation

Goals: • dexterous robotic capability in GEO • increased resilience for current infrastructure • transformed space architecture, revolutionary capabilities

Approach: • Public-private-partnership • Major investments by both the US government and private industry • Partner: SSL and its JV partner Space Infrastructure Services (SIS) Approved for public release, distribution unlimited 52 Technology: 15-year foundation for flight program

Full scale HWIL testing Flight SW Testing Robotics Control Workstation

Flight Prototype Tools Flight Prototype Demonstration Testbeds Robotics All photos: U.S. Naval Research Lab Approved for public release, distribution unlimited 53 RSGS + delivery = space logistics infrastructure

Rendezvous, Present-day Dock GEO asset Future small Restore satellite Spacecraft Future GEO maneuver orbit asset

Capture, Capture, transport, transport unpack

Delivery: Delivery: ESPA, PODS secondary, dedicated

Approved for Public Release, Distribution Unlimited 54 Delivery: the other half of Space Logistics

Artist’s conception: MDA DARPA Payload Orbital Delivery (POD) System

Artist’s conception: MDA Artist’s conception: MDA

Approved for public release, distribution unlimited 55 OAC Example Delivery via POD Ejection Mechanism (PEM)

POD location options on POD ejection POD/OAC capture by RSGS SSL-1300 bus (SSL image)

Mid East/West Faces Antenna Tower

Anti-Nadir Side of the Anti-Nadir Side of (SSL image) North/South Panels the East/West Faces

POD chassis and PEM PEM on GEO bus (SSL image) (SSL image)

Approved for public release, distribution unlimited 56 Evolution: Expanded Capabilities, Lower Costs

First robotic POD OAC Capability Fully automated capability in space logistics GEO

Artist’s Concept

Artist’s Concept LOGISTICS

NASA First steps in GEO logistics REPAIR w REPOSITION w INSPECT w AUGMENT Technology development and investment

Expanded coverage, Modular spacecraft Large apertures, new tools, with on-orbit structures, and bases experiments replaceable units CONSTRUCTION

Artist’s Concept NASA Artist’s Concept NovaWurks Image

Approved for public release, distribution unlimited 57 Payoffs

• Fielding the capability rapidly • Commercial partner, existing bus design • Targeting launch in 2021

• Sustained capability, not just demonstration • Revenues from servicing operations

• On-orbit upgrade could lower cost of access to GEO • Payloads that do not require propulsion or attitude control •  Quicker, lower cost payload integration • Variety of means of delivering to orbit • More rapid response to tech development, terrestrial changes

• Validate assembly concepts • Send assembly demo kits to GEO—discussed at GSFC workshop Nov 2017

Approved for public release, distribution unlimited 58 www.darpa.mil

Approved for public release, distribution unlimited 59 U.S. Naval Research Laboratory Space Robotics & In-Space Assembly Past, Present & Future

Michael Mook November 6th, 2018 Branch Head, Control Systems Naval Center for Space Technology 202-404-7410 Approved for public release, distribution unlimited Established July 2, 1923 … 95 years of innovation

“The Government should maintain a great research laboratory to develop guns, new explosives, and all the technique of military and naval progression without any vast expense.”

– Thomas Edison, 1915

“One of the imperative needs … is machinery and facilities for utilizing the natural inventive genius of Americans to meet the new conditions of warfare.” – Josephus Daniels, Secretary of the Navy, 1915

NRL 17-1231- 2442 Approved for public release, distribution unlimited 61 Research Focus Areas (S&T Base Program)

Battlespace Electronics Electromagnetic Space Res. & Undersea Information Materials & Environments Warfare Space Tech Warfare Technology Chemistry 15% 18% 13% 9% 6% 25% 12% Understand New electronic Technologies for Understand the Networks and Development of environmental and electro-optic total awareness space Research and Communications advanced processes & phenomena, and dominance environment and advanced , Information functional and predict materials, theory of its effects on technologies for Assurance and structural environmental and techniques electromagnetic systems undersea Cyber Warfare, materials battlespace variability from for future forces Conduct unique sensors for anti- Decision the ocean and experiments in submarine and Support, and bottom through technological space, specific counter-mine Autonomous the middle surprise to future DON warfare Systems atmosphere avoidance needs

In-house basic and applied research … physical, space, environmental science and engineering

NRL 17-1231- 2442

Approved for public release, distribution unlimited 62 Naval Center for Space Technology History

– NRL has a proven history developing diverse, new systems and transitioning to operations • 100 satellites and 38 launches for national, DoD, and civilian sponsors Blossom Point

Approved for public release, distribution unlimited 63 NRL Internal R&D and Investment during the 1990’s

NRL IRAD Concept Development in the 1990’s identified that Rendezvous and Proximity Operations and Satellite Servicing would likely become important new national space capabilities in the near future. NRL internal investment in the NRL Space Robotics Laboratory from the 1990’s is helping to make this a reality today.

Approved for public release, distribution unlimited 64 DARPA / NRL Space Robotics History - Highlights

2004: SUMO Point Design 2004: SUMO Grapple Demonstration 2005: SUMO RPO & Grapple Demonstration

2008: FREND EDU Grapple Demonstration 2008: FREND Flight Prototype Grapple 2009: FREND Environmental Testing

2013: Phoenix EMI Testing 2013: Phoenix First Contact Discharge R&D 2014: Phoenix Teleoperations Tool Testing

65 NRL IR&D Space Robotics Highlights

NRL has a robust and ongoing set of IR&D projects related to on-orbit robotics and satellite servicing

BICEP: Laboratory Demonstration of LIIVe: Low design Impact Lightweight Servicing Robot Arm Two-Armed Cooperative Servicing Inspection Vehicle Develop prototype micro-robotic Develop and demonstrate techniques Develop and demonstrate algorithms and servicing arm, deployable from smallsat, using relative navigation sensing and two ConOps needed to autonomously to advance mechanism, packaging, dexterous manipulators to autonomously inspect a high valued host satellite at sensing and controls design approach a satellite and release a ranges under 10 meters snagged deployable by imparting a small release force

BICEP expertise transitioned to RSGS Hardware transitioned to DARPA Hardware transitioned to industry partner InSPIRE Program, flown on ISS for continued development for NanoSat’s 66 NRL Major Facilities for Satellite Servicing and In-Space Assembly

Machine Vision Lab Proximity Operations Testbed Gravity Offset Testbed Optical testbed for development and characterization Facilitates full scale hardware-in-the-loop rendezvous Large air-bearing table facilitates high precision facility for flight machine vision sensors, docking and servicing rehearsals contact dynamics rehearsal and validation illuminators, and algorithms

Modeling and Simulation Integrated Robotics Workstation Single Joint Actuator Robust Monte-Carlo simulation capability validates Robotics operations control station, supports high Provides extremely detailed correlation between predicted validates performance of robotic operations fidelity rehearsals and training of robotics operations robotic hardware behavior and controls simulations

67 Environmental Test Facilities at NRL

Thermal Vacuum Chamber Vibration and Shock Lab

EMI Chamber Space Charge/Plasma Chamber

68 End-to-End Flight Architecture Testing

69 FREND Mark II Robotic Arm

NRL Image

• Under development at SSL-Robotics • 2 Meter Class, 7-DOF Robotic Arm • Capable of 1g operations – critical for robust system verification testing • FREND Mark II arm incorporates several design improvements including upgraded resolver electronics, improved grounding, and enhanced flex harness design • First generation FREND EDU used extensively for system-level testing since 2007 • First generation FREND FPU completed flight qualification testing (vibe, TVAC, EMI) in 2008 • Mark II flight units planned for delivery in 2019

FREND 7-DOF arm design is robust and enables multiple missions

70 RSGS Development Status

Malin Space Systems

Panchromatic, Color, and IR Cameras Post-CDR Payload Algorithms & Flight Software Oceaneering Post-PDR Level, Build 3.0, Space FSW w/ HW Testing underway Systems

Robotic Arm Assembly (RAA) Tool Changer and Receptacle Post-CDR, Flight I&T upcoming Post-CDR, EM testing underway

Neptec Design Group

LIDAR Structural, Power and Data Port Pre-PDR End of Arm Control Board (EACB) Sierra Nevada Corp., post-PDR Post-CDR, EDU testing complete, EM fabrication underway

MDA

Tool Kit Robotics Processing Module (RPM) and Marman Ring Tool: post-PDR Payload Lighting POD Capture Tool: pre-PDR Post-CDR, Radiation Testing Power Distribution Unit (PDU) Common Remote Electronics (CRE) LAE Tool: pre-PDR Pre-CDR, EM fabrication underway Post-CDR, EDU assembly underway Successful

71 Technology Maturation

NRL and DARPA develop robotic DARPA / SSL Investment: satellite servicing to ensure the ability Satellite Servicing including Upgrade, Refueling and Assembly of DoD space assets to support national needs 9

8 DARPA R&D Investment: Autonomous Robotic Docking & Servicing

6 Ongoing Development: Robotic Servicing of DARPA R&D Investment: Geosynchronous Satellites Program FREND Flight Robotics 5 DARPA Investment: Satellite Servicing Tools Maturation

NRL Capital Investment: Orbital Contact Dynamics Facility

Technology Readiness Level Readiness Technology 3

NRL 6.2 Program: Advanced Robotic Servicing DARPA Seedling: Enhance DoD space dominance by: 2 Orbital Robotic Servicing • Upgrading Existing DoD spacecraft • Improving technology time-to-orbit • Enabling on-orbit maintenance, upgrade and NRL Capital Investment: assembly 1 Space Robotics Laboratory and IR&D

2000 2005 2010 2015 2020

72 NRL Robotics Vision of Transformation

• Decades of NRL robotics research have generated significant space, ground, and maritime innovations

• Significant internal investments in facilities, personnel, and research, combined with strong external sponsor partnerships

• Transformational robotics technology will have a lasting impact on our nation

NRL Introduction | 73 DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. 73 Technology Transfer

Collaborations and Tech Transfer are strongly encouraged by NRL Management and our Sponsors

DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited. 74 DoD Center of Excellence for Space Robotics

• Significant NRL internal investments in facilities, people, and research applying to long-range goals since the late 1990s • Leading national efforts in developing new space robotics capabilities and policy • Nationally unique capabilities in robotic control algorithms and software, innovative mechanism design, systems engineering, and system testing and validation • NRL robotics will continue to develop new capabilities for the US DoD through in-house research, mission sponsors, and industry collaborations

Approved for public release, distribution unlimited 75 Space Science & Technology Partnership Forum

Value Proposition, Strategic Framework, and Capability Needs for In-Space Assembly Industry Open Forum November 6, 2018 Presenter: Phillip A. Williams, Ph.D. NASA Langley Research Center

76 Space Science & Technology Partnership Forum Facilitation and Analysis Team Erica Rodgers, Ph.D., NASA HQ, S&T Elaine Gresham, Bryce Space & Technology Partnership Lead Carie Mullins, Bryce Space & Technology Phillip Williams, Ph.D., NASA LaRC, Team Lead Camryn Burley, Intern, University of Virginia Matt Stafford, NASA LaRC, Deputy Team Lead Sean Downs, Intern, University of Colorado Dale Arney, Ph.D., NASA LaRC Joe Fulton, Intern, University of Maryland Karin Bozak, NASA GRC Ben Griffith, Intern, Embry-Riddle University Jim Dempsey, NASA LaRC Nick Houghton, Intern, Michigan State Sharon Jefferies, NASA LaRC University Doris Hamill, NASA LaRC Riaz Husain, Intern, Texas Bob Moses, NASA LaRC Daniel Long, Intern, NC State University Fred Stillwagen, NASA LaRC Alex Mazarr, Intern, VA Tech Gregory Benjamin, Analytical Mechanics & Katie Welch, Intern, Rutgers University-New Associates Brunswick

77 A New Paradigm for Spacecraft Development and Operation

• Traditional way of building spacecraft leads to cycles of spiraling costs – Higher-cost payloads -> higher-reliability launch vehicles -> increased launch costs – Larger payloads mandate larger and heavier-lift launch capabilities • Low-cost commercial launch systems have potential to break spiral – iSA will take advantage of these launch systems • Advances in automation and robotics make iSA possible – Building up large structures beginning with relatively simple components • Technologies will reduce cost of developing & launching new systems – Enable repair or upgrade satellites

In-Space Assembly (iSA) Current state-of-the-art (SOA) Significant economic impact 5-10 year-old technology at launch In-Space Servicing (iSS) and performance 25+ year-old technology at end of benefits mission life In-Space Manufacturing (iSM)

Ensure capabilities remain on the cutting edge iSA and iSS enable advancements beyond SOA

78 A New Paradigm for Spacecraft Development and Operation

Benefits of In-Space Assembly & Servicing

Bring about new capabilities enabled by spacecraft dimensions, masses, or configurations that cannot otherwise be

Assembly launched from Earth TALISMAN is critical to the CIRAS project, which seeks to enable space- based, robotic assembly of flight hardware and space systems. (Northrop Grumman/Orbital ATK, NASA, NRL) Individual spacecraft can evolve in response to Credits: NASA/LaRC new knowledge, techniques, and technologies TALISMAN = Tension Actuated Long-reach In-Space Manipulator CIRAS = Commercial Infrastructure for Robotic Assembly and Servicing

Servicing Mission success less dependent on launch and less susceptible to on-orbit failure -> options for recovery -> in turn could reduce the costs of making systems extremely reliable

• Structures assembled in space designed for operational loads, not launch loads Reduce • Avoid system complexity and parasitic mass of on-orbit deployment Cost • Extensible/reusable spacecraft support broader range of missions and conditions Improve • Remove/replace modules during operation -> improve life cycle costs & mission risk Performance • Modularity enables launches of small components on lower cost comm vehicles • Only lose modular elements if failure, not entire spacecraft Limit • Incremental buildup distributes cost across time -> pay as you go approach Risk • Facilitates cost sharing by multiple programs and multiple government agencies

79 In-Space Assembly: Current Activities

Government and Commercial Cooperation

Common core of high-leverage technologies -> provide nucleus of a iSA capabilities towards robust and flexible capability for spectrum of users

Government Technology and investing in Public-private capability iSA and iSS partnerships maturation will benefit from Commercial cooperation investing in towards a iSA and iSS Need for continuous shared goal capability improvements and development

Space Science and Technology Partnership Forum (U.S. government agencies) agreed to explore the next steps in cooperative endeavors

80 Space Science & Technology (S&T) Partnership Forum

Allow large, persistent space assets to be assembled and routinely upgraded in space Transform space operations capabilities with economic and performance benefits for both U.S. Government and commercial space endeavors

The Space S&T Principal Partners The S&T Partnership Partnership Forum has identified Forum is a and prioritized strategic forum Interagency Science & Technology Partnership Forum pervasive goals established in Leverage synergies and influence agency portfolios (collaboration topic 2015 to identify areas) that focus on Affiliate Partners synergistic efforts key game-changing AFRL OUSD and technologies. AFOSR NRL technologies across AF SMC DARPA NOAA government space. Other Topics

Small Satellite 1. Facilitate cross-agency collaboration and strategize on technical Technology solutions to common pervasive needs Big Data 2. Maintain awareness of each agency’s space S&T investments to In-Space Analytics reduce duplication and identify areas worthy of collaboration Assembly Cybersecurity 3. Identify impedimentsFor Public Release.to collaboration and formulate solutions

81 Value Proposition: Process Overview

1. Value Identification: 2. Value Proposition: Develop 3. Value Delivery: Deliver on Identify the a robust value proposition to the promise with excellent stakeholders and their meet stakeholder technical and programmatic value expectations expectations performance.

82 iSA Dictionary

Military Utility Upgradability Resilience capability of the space system ability to improve level of invulnerability of to achieve military objectives performance and/or a system in the presence through operational effectiveness of a of stress or in the event effectiveness, suitability, system architecture by of an adversarial attack availability, interoperability & replacing sub-systems affordability with newer & better capabilities Space Exploration Scientific Progress pursue missions through critical Persistence advance science & research and technology technology to enhance demonstrations, promotion of a continued or prolonged knowledge, education, robust U.S. commercial space existence of a space innovation, economic industry, and space systems and system and its required vitality and stewardship robotic exploration of Earth capabilities and of Earth from orbit and of the cosmos operations. beyond. 83 S&T Strategic Framework for iSA: Overview

Need to anticipate future of in-space robotic capabilities, rather than react to them.

Advantages of new robotic technologies with government and commercial engagement will enhance in-space capabilities and reduce future costs.

84 S&T Strategic Framework for iSA: Phase Timeline: Current Status

We are here

85 S&T Strategic Framework for iSA: Phase 1

Benefits of Applications Current Synergies & iSA and In- Across Investments Opportunities Space Government & Planning Servicing & Commercial

S&T iSA TIM NASA Goddard, Greenbelt, DC #1 February 2017

Stakeholder Value Strategic iSA Dictionary Goals & Proposition Framework Design Drivers

Government Report

86 S&T Strategic Framework for iSA: Key Results - Phase 1

Objectives • Establish baseline of gov’t iSA work • Collectively describe benefits of iSA architectures • Establish value for partnering on iSA • Communicate and document results/information Key Results 1. Conducted 2. Strategized 3. Categorized 4. Integrated TIM TIM, described on partnering capabilities, document data into document, govt activities, activities, benefits, documented established documented defined value potential concepts, nomenclature, govt iSA proposition & identified applicability delivered and planning strategic plan of commercial sector communicated document

87 S&T Strategic Framework for iSA: Phase 2

Agency iSA iSA Capability Joint Priorities Capability Demonstration Needs Roadmaps Concepts

U.S. Naval Research Laboratory S&T iSA TIM #2 Washington, DC September 2017

Integrated Partnership Government Recommendations Public Papers Analyses Report

88 S&T Strategic Framework for iSA: Phase 2

Key Results 1. Developed 2. Defined 3. Determined and analysis synergies, gaps, assessed potential framework, constructed demo platforms, held TIM, roadmaps, developed analytic collected and bridged analysis methodology and to prioritization Objectives prioritized data FOMs 4. Integrated • Collect and prioritize analyses to make data gov’t partnering • Perform gov’t iSA Synergy & Demo Gap Platform recommendations, capability analysis Analysis Analysis shared data Prior- • Assess potential iSA itization analysis with demonstration ForRoadmap Public Release. principals, platforms Analysis published public SYS-06 • Communicate papers (2018 results/ make AIAA SPACE) recommendations

89 S&T Strategic Framework for iSA: Phase 3

Follow-up Commercial/ Market Interagency Questionnaire; Research Presentations interagency Virtual Questionnaire Panel Sessions Sessions

Industry Open Forum S&T iSA TIM #3 NASA Headquarters, Washington, DC November 6, 2018

Integrated Government Partnership Public Papers Analysis Recommendations Report

90 Phase 1, TIM 1: Stakeholder Goals and Design Drivers

Stakeholder Goals (from TIM 1) – Long Term Performance Targets Supports Near term demo: A demo/mission completed within next 1 or 2 budget cycles Affordable: Ability of a mission to meet budget targets Lower Cost: Develop capabilities in early missions that may lower future mission costs

Industry transitioning: Demonstrate capabilities that open up new commercial market

Tier 1 Design Drivers (from TIM 1) – Concept applications to achieve concept goal Stability: Tendency to return to desired state after acted upon by outside influences. Assembly: Capability to assemble/construct components by joining Upgradability: Design choices that allow for new technologies or enhanced capabilities Scalability: Same part count, but the size/dimensions change (Dorsey et al., 2006). Interfaces: Place at which independent systems meet/communicate with each other.

91 Capability Needs

1. Deployable modules 2. Structural assembly 3. Connecting utilities 4. Ability to disjoin 5. Sensing, Modeling, Simulation, and Verification 6. Interoperability 7. Automation/Autonomy 8. Precision 9. Adaptive correction 10.Design 11.Tunability 12.Stability 13.Standard interfaces 14.Docking/berthing

92 Conclusions

Interagency S&T Partnership Forum Data analysis results in upcoming • Coordinate/facilitate partner dialog presentations • Collect data and perform data analysis 1) Data collection, iSA capability analysis, • Assemble data products into and government roadmaps recommendations Dale Arney Stakeholder goals, key design 2) iSA capability needs prioritization and drivers, and iSA capability potential demonstration concepts needs form the basis of Sharon Jefferies reference for analysis

93 Conclusions: AIAA SPACE 2018 Conference Papers on Phase 2

Space Science and Technology Partnership Forum: Value Proposition, Strategic Framework, and Capability Needs for In-Space Assembly Phillip A. Williams; Jim Dempsey; Doris Hamill; Erica Rodgers; Carie Mullins; Elaine Gresham; Sean Downs Space Science and Technology Partnership Forum: Analysis for a Joint Demonstration of High Priority, In-Space Assembly Technology Doris Hamill; Sharon A. Jefferies; Robert W. Moses; Frederic Stillwagen; Carie Mullins; Elaine Gresham Space Science and Technology Partnership Forum: In-Space Assembly Data Collection and Analysis Dale C. Arney; Phillip A. Williams; James A. Dempsey; Erica Rodgers; Karin Bozak; Camryn Burley; Daniel Long; Riaz Husain

94 Thank you for your attention!

95 Glossary of Terms

• (Functional) Capability: the ability to perform lower level functions that combine to perform tasks to assemble a mission system. It represents basic functionality needed to perform a given task. • Technology: solution that enables functional capability developments and thus the capability. Multiple technologies may be matured to enable a functional capability.

• Operational Mission: where the ISA capabilities are applied to perform a mission in the future (e.g. large telescope, artificial gravity habitat) • Technology Demonstration Mission (TDM): where ISA capabilities are demonstrated on flight missions (e.g. Restore-L, RSGS) • Technology Development Activity: activities performed to advance capabilities (e.g. specific technologies like manipulators/robotics, algorithms for autonomous operations)

• Relevance: relevance of capabilities to an organization’s in-space assembly operational missions, assessed as Enabling or Supporting • Prioritization: degree to which a capability supports a stakeholder goal (strategic desires) and Tier 1 design drivers (technical attributes) identified in TIM 1 – Stakeholder Goals: long-term performance targets for the S&T Partnership Forum stakeholders – Tier 1 Design Drivers: a particular property or application of a concept that serves as the rationale for the concept’s design to achieve its goal. Tier 1 design drivers are those that were rated highest during a preliminary collective prioritization at TIM 1.

96 Space Science & Technology Partnership Forum In-Space Assembly Data Collection and Analysis S&T Industry Open Forum November 6, 2018

Presenter: Dale Arney, Ph.D. NASA Langley Research Center

For Public Release. 97 Data Analysis and Roadmap Sub-Teams

Ben Griffith, Intern Phillip Williams, NASA LaRC Riaz Hussain, Intern Jim Dempsey, NASA LaRC Camryn Burley, Intern Dale Arney, NASA LaRC Daniel Long, Intern Karin Bozak, NASA GRC Katie Welch, Intern

For Public Release. 98 Analysis Flow Diagram

Data Inputs Analysis Results Decision Support iSA Activities Capability Roadmaps Spectrum of Cooperation Agency Tech Dev Activities Agency TDMs Capability Data Analysis Crosscutting vs. Dual Gaps Agency Operational Missions Venn Diagrams Bubble Charts Decision Guidance Capabilities Scorecards Operational Mission Synergies & Gaps Value Proposition Relevance Agency Need Capability Prioritization Agency Investments Demo Platform Analysis Stakeholder Goals & Design Drivers Joint Priorities

For Public Release. 99 Analysis Flow Diagram – Data Inputs

For Public Release. 100 Analysis Flow Diagram – Analysis Results

For Public Release. 101 Analysis Flow Diagram – Decision Support

For Public Release. 102 Data Collection and Storage

Partners The partner institutions (e.g. Air Force, NASA)

Capabilities In-space assembly capabilities (defined prior to Technical Interchange Meeting 2)

Concepts Operational missions identified by the partners

Technology Demonstration Missions (TDMs) Missions to demonstrate new capabilities

Activities Technology development activities

For Public Release. 103 Data Analysis Overview

• Goal of data analysis is to understand current state of play for iSA within the government and find capability synergies and gaps within partnership agencies.

• Data collection is iterative – Several discussions with partnership members to verify and increase fidelity of the data

• Two primary data analysis streams: – Agency needs from the Operational Missions – Agency activities from TDMs and Technology Development Activities

For Public Release. 104 Agency Need & Investment: Venn Diagram

For Public Release. 105 Agency Need & Investment: Bubble Chart

For Public Release. 106 Agency Need & Investment: Interpretation

For Public Release. 107 Agency Need & Investment: Interpretation

For Public Release. 108 Agency Need & Investment: Interpretation

For Public Release. 109 Agency Need & Investment: Interpretation

For Public Release. 110 Agency Need & Investment: Interpretation

For Public Release. 111 Agency Need & Investment: Bubble Chart

For Public Release. 112 Agency Need & Investment: Bubble Chart

For Public Release. 113 Agency Need & Investment: A Deeper Dive

For Public Release. 114 Agency Need & Investment: Collaboration

For Public Release. 115 In-Space Assembly Activities: Roadmaps

• The purpose of the roadmap is to show the current landscape of in-space assembly across the government – Specific technology development activities the various Agencies are working – Technology demonstration missions (TDMs) that are underway or planned

• Example questions posed after the roadmap is presented: – Are these technology development activities sufficient to develop the given capabilities needed for the future operational missions? – Can two agencies collaborate on their respective technology development activities to provide more value to the government?

For Public Release. 116 Example Roadmap

For Public Release. 117 Concluding Remarks

• On In-Space Assembly – Most of the capabilities have opportunities for collaboration – There are a lot of exciting activities and upcoming missions in iSA right now – This data and the visualizations will be useful in • Making recommendations to the S&T partnership forum • Discussions with industry • Influence implementation of iSA going forward

• On Data Analysis – Leave plenty of time for data collection and cleaning – Separate data from analysis – Exploratory data analysis and visualization is mandatory • Talking through hypotheticals is a waste of time

For Public Release. 118 Glossary of Terms

• Relevance: relevance of capabilities to an organization’s in-space assembly operational missions, assessed as Enabling or Supporting • Prioritization: degree to which a capability supports a stakeholder goal (strategic desires) and Tier 1 design drivers (technical attributes) identified in Technical Interchange Meeting (TIM) 1 – Stakeholder Goals: long-term performance targets for the S&T Partnership Forum stakeholders – Tier 1 Design Drivers: a particular property or application of a concept that serves as the rationale for the concept’s design to achieve its goal. Tier 1 design drivers are those that were rated highest during a preliminary collective prioritization at TIM 1.

For Public Release. 119 Analysis Flow Diagram