FISO Presentation - May 30, 2018 Deep Space Exploration Robotics for Improved Capability, Utilization, and Flexibility on a Cislunar Habitat Daniel Rey (CSA) Paul Fulford (MDA) © Government of Canada, 2018 Preparing a possible role for Canada in Deep Space Exploration (1) • 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) © Government of Canada, 2018 3 Evolution of the Canadarms 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 © Government of Canada, 2018 DSXR Capabilities Image Credits: NASA Science Payloads Inspection Assembly and Reconfiguration EVA Support Maintenance & Repair © Government of Canada, 2018 7 DSXR Overview 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) © Government of Canada, 2018 8 Inspection, Repair & Logistics 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 © Government of Canada, 2018 Off Nominal is the New Nominal 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 © Government of Canada, 2018 10 Improved Crew Safety & DSG Availability 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 © Government of Canada, 2018 11 Self Repair 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 © Government of Canada, 2018 Free Flyer Capture • 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 © Government of Canada, 2018 14 Benefits of Berthing/Unberthing • The capture, berthing and relocation of modules/vehicles enables in- space re-planning and reconfiguration: Ensures physical connection is retained in the stack during re- arrangement 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 © Government of Canada, 2018 15 Flexible Mission Architectures through Berthing/Unberthing • 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 © Government of Canada, 2018 16 EVA Support The DSXR supports contingency EVA operations © Government of Canada, 2018 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 © Government of Canada, 2018 18 EVA Operations Robotics offers improved crew efficiency by freeing hands for performing tasks instead of stability Image Credits: NASA © Government of Canada, 2018 19 Support to Science Image Credit: NASA DSXR enables the robotic hosting, deployment, and maintenance of science payloads on the Habitat © Government of Canada, 2018 Science Support • 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 © Government of Canada, 2018 21 Science Support • 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 © Government of Canada, 2018 22 Intravehicular Robotics Employing the smaller dexterous arm for EVR and IVR as well as other purpose built robotics show potential benefits for Gateway utilization © Government of Canada, 2018 ISS Crew Availability 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