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H2020 Pulsar D4.1 - D11.1B - Technology Review H2020 PULSAR D4.1 - D11.1B - TECHNOLOGY REVIEW Document reference D4.1 H2020_PULSAR-TAS-D11.1b Technology Review v2.6.docx Version 2.6 Delivery date 31/05/2019 Confidentiality Level Public Lead Partner ONERA Project reference Grant Agreement n 821858 Name Organisation Date Prepared by Consortium 28/02/2019 Reviewed by Vincent Bissonnette MAG 29/05/2019 Approved by Thierry Germa MAG 31/05/2019 This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 821858 Distribution Organisation Name EC Christos Ampatzis PSA Sabine Moreno (CNES) Michel Delpech (CNES) Javier Rodriguez (CDTI) Daniel Nolke (DLR) Daniel Jones (UKSA) Gianfranco Visentin (ESA) Magellium DLR Space Applications Graal Tech PULSAR Consortium ONERA CSEM DFKI Thales Alenia Space in France Ref.: D4.1 H2020_PULSAR-TAS-D11.1b Technology 31/05/2019 Page 2 of 158 Review v2.6.docx Document Change Record Ed. Vers. Date Change description 1 0 27/02/2019 Document created 1 1 5/03/2019 Draft skeleton 1 3 1/04/2019 Draft table of contents and initial contributions. 1 5 1/05/2019 Contributions from partners. 2 0 15/05/2019 Complete restructuration. Split in three volumes: D11.1a – Mission Analysis D11.1b – Technology Review D11.1c – System Requirement Document 2 1 22/05/2019 Contributions from Magellium and DFKI 2 2 22/05/2019 Merge of previous versions. Addition of I3DS section (TAS) 2 3 28/05/2019 Additional contributions from CSEM 2 4 28/05/2019 Additional contributions from SAS 2 5 28/05/2019 Additional contributions from ONERA 2 6 29/05/2019 Review by TAS-F and SAS Ref.: D4.1 H2020_PULSAR-TAS-D11.1b Technology 31/05/2019 Page 3 of 158 Review v2.6.docx Table of Contents 1 Introduction ............................................................................................................ 11 1.1 Context ............................................................................................................... 11 1.2 Associated documents ........................................................................................... 11 1.2.1 Applicable Documents ..................................................................................... 11 1.2.2 Reference Documents...................................................................................... 11 2 Global System Architecture ..................................................................................... 12 3 Hardware Components ............................................................................................ 13 3.1 Robotic Assembly System (RAS) ............................................................................ 13 3.1.1 Canadarm, Canadarm2, JEMRMS, ERA ............................................................... 13 3.1.2 Dextre, SFA ................................................................................................... 15 3.1.3 DEXARM ........................................................................................................ 17 3.1.4 Orbital Express Robotics (2007) ........................................................................ 18 3.1.5 Front-end Robotics Enabling Near-term Demonstration (FREND) Robotic Arm ......... 19 3.1.6 Dragonfly ....................................................................................................... 20 3.1.7 Compliant Assistance and Exploration SpAce Robot (CAESAR) .............................. 21 3.1.8 References ..................................................................................................... 25 3.2 Segmented Mirror Tiles (SMT) ................................................................................ 25 3.2.1 Review of Telescopes with Segmented Primary Mirror .......................................... 26 3.2.2 Review of High Accuracy Multi-axis Positioning Systems ...................................... 33 3.2.2.1 Naos Fast Tip Tilt Mirror ............................................................................. 34 3.2.2.2 Hexapod for M2 mirror on VLT Auxiliary Telescopes ....................................... 36 3.2.2.3 EMIR – DTU .............................................................................................. 38 3.2.2.4 SOFIA hexapod and tilt-chopping mechanism ............................................... 41 3.2.2.5 M2 Hexapod for the Gran Telescopio CANARIAS ............................................ 44 3.2.3 Technologies for High Precision Position Measurements and Actuation ................... 45 3.2.3.1 Generic Review of the Major 1D Position Sensors Families .............................. 48 3.2.3.2 Generic Review of the Major Actuators Families ............................................ 49 3.2.3.3 Review of the Sensors Used in SMT (mainly edge sensors) ............................. 52 3.2.3.4 Review of Actuators Used in SMT ................................................................ 54 3.2.3.5 Review of the Metrology Techniques Used to Monitor Wave Front of Primary Mirrors in SMT 55 3.2.3.6 Sensors for Implementation in the dSMT Within the Framework of PULSAR dPAMT 61 3.2.3.7 Actuators for Implementation in the dSMT Within the Framework of PULSAR dPAMT 63 3.2.3.8 Sensors Foreseen in the Framework of PULSAR dPAMT to Perform dSMT Characterization ...................................................................................................... 63 3.2.3.9 Metrology of SMT Used in the Framework of PULSAR dPAMT ........................... 64 3.2.3.10 Conclusions and Recommendations About Sensors and Actuators Technological Review 64 3.2.3.11 References .............................................................................................. 64 3.2.4 SMT Review Conclusions .................................................................................. 65 3.3 Exteroceptive Sensors: I3DS Integrated 3D Sensors ................................................. 66 Ref.: D4.1 H2020_PULSAR-TAS-D11.1b Technology 31/05/2019 Page 4 of 158 Review v2.6.docx 3.3.1 Review and Assessment of OG4 Components ..................................................... 70 3.3.2 OG4 ICU ........................................................................................................ 70 3.3.2.1 Hardware Architecture ............................................................................... 70 3.3.2.2 FPGA IP ................................................................................................... 74 3.3.2.3 The Zynq UltraScale+ Architecture .............................................................. 75 3.3.2.4 Performance ............................................................................................. 76 3.3.2.5 Limitations ............................................................................................... 77 3.3.3 OG4 – Sensors ............................................................................................... 78 3.3.3.1 Cameras .................................................................................................. 78 3.3.3.2 LIDAR ...................................................................................................... 82 3.3.3.3 Star Tracker ............................................................................................. 83 3.3.3.4 Radar ...................................................................................................... 84 3.3.3.5 IMU ......................................................................................................... 84 3.3.3.6 Contact/Tactile and Force/Torque Sensor ..................................................... 85 3.3.3.7 Illumination Devices: Pattern Projector and Wide Angle Torch ......................... 87 3.3.3.8 Sensors Performances Summary ................................................................. 88 3.3.4 Conclusions .................................................................................................... 90 3.4 Standard Interface ............................................................................................... 91 3.4.1 Standard Interface in PULSAR .......................................................................... 91 3.4.2 OG5-SIROM Interface ...................................................................................... 91 3.4.2.1 Mechanical Interface .................................................................................. 92 3.4.2.2 Electrical Interface .................................................................................... 93 3.4.2.3 Data Interface .......................................................................................... 93 3.4.2.4 SIROM Controller ...................................................................................... 94 3.4.2.5 OG5- SIROM Specifications ......................................................................... 94 3.4.3 HOTDOCK Interface ........................................................................................ 95 3.4.3.1 Mechanical Interface .................................................................................. 96 3.4.3.2 Power Interface ........................................................................................ 97 3.4.3.3 Data Interface .......................................................................................... 97 3.4.3.4 HOTDOCK Controller .................................................................................. 97 3.4.3.5 Thermal Interface...................................................................................... 98 3.4.4 iSSI (IBOSS)
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