Deep Space Exploration Robotics for Improved Capability, Utilization, and Flexibility on a Cislunar Habitat

FISO Presentation - May 30, 2018

Daniel Rey (CSA)

Paul Fulford (MDA)

• The CSA is working with other agencies to define the next steps for human spaceflight exploration . Publication of the Global Exploration Roadmap (2011, 2013 and 2018) . With the ISS partners, defining the architecture of the Lunar Orbital Platform – Gateway

• In 2016, the Canadian Government tasked the CSA to prepare Options for Post-ISS Human Spaceflight Exploration for Canada. Current activities related to space robotics are: . MSS Autonomous Control (2017) . DSXR Phase 0 (2017) – this presentation . System for Execution and Planning in Apogy (2017) . Low Profile End Effector and Fixture (2018) . Dexterous Interface and Tools for Planetary and Deep Space (2018) Image Credit: NASA © Government of Canada, 2018 2 Preparing a possible role for Canada in Deep Space Exploration (2)

Over the last decade, the Canadian Space Agency (CSA) has conducted many studies and prototyping activities to prepare Canada for Deep-Space Exploration. In particular, for space robotics: • Robotic Architecture . Robotics and Automation for Orion (2008) . Robotic Orion/Orbital Service Module (2009) . Next Generation Canadarm (2009-2012) . Deep Space Exploration Robotics (DSXR) (2014) . DSXR Pre-Phase 0 (2016) . Manipulator Interface Plate System (MIPS) (2017) • Advanced Autonomy . ISS Artificial Vision Unit (AVU) Repurposing Assessment (2012) . ISS MSS Autonomous Control Assessment (2012) . System of Autonomous Planning and Intelligent ExecutioN Technologies (SAPIENT) (2013) . ISS MSS Application Computer (MAC) Prototype (2015)

Canadarm (SRMS) Canadarm2 (SSRMS) Canadarm3 (DSXR) & Dextre (SPDM) & eXploration Dexterous Arm

Year 1981 (30 years) 2001 (ongoing) 2024 (proposed) Length 15 m 17 m 8.5 m Operator US Jointly operated by Proposed operations by Canada and US Canada Control Tele-operated Tele-operated and ground Autonomous planning and control operations Current TRL 9 9 3-4

Arm repair On Earth In space replacement units In space replacement units with EVA. & internal repair. No EVA. Key New Capture of spacecraft; Self-relocatable; accurate Self-deployable; single arm Features assembly and motion; active for large and fine tasks; maintenance; human- compliance; 2 small arms situational awareness; robot operations. (Dextre) for fine tasks. collaboration; autonomy. © Government of Canada, 2018 4 Enablers

Enablers C1* C2* C3* Applications to Applications to Commercial Commercial Space Robotics Earth Robotics

Capture of spacecraft     Assembly/maintenance      Collaborative human-robot operations      Safety and Mission critical operations      Handling, operating and using tools     Ground Control     Accurate motion and contact operations     Self-relocatable    Sense of touch     Self-deployable   Reconfigurable and on-site repair    Enhanced situational awareness    Autonomous planning and operations    Standard Robotic Interfaces   

*C1 = Canadarm (SRMS), C2 = Canadarm2 (SSRMS), C3 = Canadarm3 (DSXR) © Government of Canada, 2018 5 Deep Space Exploration Robotics

Robotics and autonomy are essential ‘building blocks’ or capabilities whose purpose and application can evolve with the mission in order to enable mission success and maximize the outcomes of such a great pursuit

Image Credits: NASA Science Payloads

Inspection

Assembly and Reconfiguration

EVA Support

Maintenance & Repair

eXploration Dexterous Arm (XDA) Free-Flyer Capture Tool Free-Flyer Grapple Dexterous Grapple Fixture Fixture (DGF) (FFGF)

eXploration Large Arm (XLA)

Lunar Sample Tool Dexterous Adaptor Tool

Standardized Robotic Interfaces

Small ORU Interfaces Large ORU Interface External Science Platform XDA Tool & Payload Adaptor Caddy Small ORU Interface with Fluid Transfer Habitat Low-Profile Grapple Fixture (LPGF)

DSXR provides the capability to inspect all exterior surface and to service external equipment via replacement and/or transfer to the equipment airlock for delivery to the IVA environment for crew repair

Robotic Contingency Ops on Shuttle

Inspection #1 contingency capability • Historically space robotics and inspection have played critical roles to mission success . Inspection provides critical insight to support anomaly resolution

• Shuttle program relied on the This data was derived by MDA using NASA's Greenbook Data for the Shuttle Remote Manipulator System (SRMS) and originally robotic arm to deal with off- published in IAC-07-B31.2.07.

nominal or contingency Robotic inspection of shuttle tiles & wing issues in 44% of its 91 leading edges missions

Photo Credit: NASA

SRMS used to assist with restowage of • Robotics offers mission SIR-B antenna on STS-41G planners the ability to reduce crew exposure to the space environment by providing an alternative to EVA Image Credit: NASA . “First look” inspection In 2016 Dextre used to replace . Replacement of robotically aging ISS Batteries compatible equipment

• Enables maintenance during untended periods for continued availability

DSXR provides self maintenance capabilities to eliminate or reduce the demand for EVA support

Image Credit: NASA

Image Credit: CSA © Government of Canada, 2018 Capture, Berthing & Reconfiguration

DSXR provides the capability to berth/unberth visiting vehicles as well as relocate modules on the DSG for improved mission flexibility

• The robotic capture of visiting vehicles can offer benefits to the mission and alternate or backup capability to docking

 Reduces the collision between vehicles, resulting in lower loads/accelerations imparted to the station

 Provides opportunity to reduce docking system mass via removal of elements not Image Credit: NASA necessary for berthing, freeing up mass for more logistics

• The capture, berthing and relocation of modules/vehicles enables in- space re-planning and reconfiguration:

 Ensures physical connection is retained in the stack during rearrangement

 Robotic rearrangement of modules does not utilize consumable propellant

 Berthing interfaces on ISS are wider in diameter than docking Image Credit: NASA interfaces, allowing larger items to be transferred between modules

• Mission architectures evolve over time due to changes in government, sponsorship, politics, partnerships and technical developments

 Through all phases of a project life cycle, the ability to adjust plans and take alternate paths directly allows programs to stay on cost and schedule

 Robotics accommodate infrastructure change and enable in-space re- planning and reconfiguration

The DSXR supports contingency EVA operations

Use of Robotics to Support Shuttle EVA

• Shuttle and ISS robotics have provided decades of examples showing the benefits of human/robotic collaboration during EVA: . Robotics provides an EVA work platform with extended reach and Robotic/EVA Repair of ISS Solar Array mobility to areas otherwise not accessible via handrails and tether points . Mobility aid that result in a reduction in EVA timelines via efficient transfer of crew Image Credit: NASA

Robotics offers improved crew efficiency by freeing hands for performing tasks instead of stability

Image Credits: NASA

Image Credit: NASA

DSXR enables the robotic hosting, deployment, and maintenance of science payloads on the Habitat

• The Deep Space Gateway can serve as an important platform for deploying small hosted missions to the Moon using DSXR and a small satellite deployer system

Image Credit: SSL

• Science Payloads can be hosted on external science platforms services by DSXR

• Supports lunar sample return mission through robotic capture of Lunar Ascent Element and transfer of Sample Preservation Module to Equipment Airlock for crew retrieval and return to Earth

Employing the smaller dexterous arm for EVR and IVR as well as other purpose built robotics show potential benefits for Gateway utilization

Category IVR % Hrs Addressable Sleep/Rest/Eat 59.23% No Science Utilization 9.86% Yes The data collected Exercise 9.74% No from OPTIMIS Maintenance 4.80% Yes Eva 2.51% No suggests that Conferences 2.28% No crewmembers on Housekeeping 1.54% Yes board ISS each work Medical 1.19% No Soyuz Dock/Undock 0.94% No on IVR addressable Misc. 0.93% No tasks for ~4.5 hours of Cargo Ops 0.92% Yes their day Training 0.87% No Crew Misc. 0.83% No Resupply/Outfit 0.82% Yes Berthing/Unberthing 0.48% No Stow Mgmt. 0.29% Yes Progress Load/Unload 0.23% Yes Progress Dock/Undock 0.11% No Soyuz Pack/Stow 0.11% Yes Ext Cargo 0.01% No Unaccounted 2.32% No Total 100.00%

Data Source: NASA’s Operations Planning Timeline Integration System (OPTIMIS)

# Task Description 1 Logistics Transfer of Cargo Transfer Bags Handling (CTBs) and Middeck lockers (MDLs) 2 Monitoring Environmental monitoring, Visual Inspection Photography, Video. Inventory Inventory scans

3 Housekeeping Weekly housekeeping tasks 4 Science Experiments where crew assist with loading/unloading of samples 5 Maintenance Repeatable maintenance operations.

6 Technology Autonomy, path planning, fault Demonstrations recovery, task planning, mobility operations 7 Unplanned Teach new robotics handling Collaborative routines Robotics 8 Telerobotic Telerobotic medicine medicine demonstrations. Future capability for deep space. 9 ORU Repair Small-scale repairs at the circuit Dexterous card assembly (CCA) level by Glovebox removing and replacing shop- Image Credits: NASA replaceable units (SRUs). © Government of Canada, 2018 25 Collaborative Tele-robotics

Canadarm spin-offs to terrestrial collaborative robotic technology offers spin-in capabilities for DSXR such as collaboration with crew – a third hand or dexterous repair

Image Credit: Synaptive Medical Image Credit: University of Calgary

Advanced Situational Awareness and Automated Mission Planning & Execution Tools for Increased Ease of Use and Efficiency

• Variable autonomy of robotics can effectively support LOS and latent signals by way of parsing high level commands in situ • Commands can be issued at an activity level versus at an arm level or actuator level (similar Dextre command and control is performed from the ground to auto-pilot) alleviate crew 100% of the time with safety time for planning, training and features in place to address execution and ultimately latency and LOS reducing complexity

Image Credit: NASA

• Earth independent operations will demand capacity for crew to inspect and repair systems versus bringing redundant/replaceable units, requires . Multi-purpose tools to support crew . In-situ repairable systems which exploit commonality • Crew self-reliance features also include . Situational awareness and management of external assets

. Built-in planning and training Image Credit: NASA capability . Ease of use

• Robotic manipulator systems are essential enablers for long duration outposts addressing critical needs: . planned - science support, inspection, . expected - reconfiguration, assembly, EVA support, maintenance, repair, and . unforeseen needs! • Advances in self-deployment, self-maintenance, standard interfaces, situational awareness, and autonomy will provide efficient and necessary capabilities to cislunar missions and beyond - including Mars and future destinations. • Building on ISS heritage, Canada has been actively developing essential technologies for deep space exploration through collaboration with International Partners. • DSXR can be expanded and leveraged to achieve new capabilities for human exploration and commercial activities.