ASTRA 2017 - ERA and Future Robotics (for Exploration)...• Crew Lectern for Easy Administration of Robots (CLEAR) • AstronauT HeaLtH Enhancement Integrated Countermeasure (ATHLETIC)

ESA UNCLASSIFIED - For Official Use

ASTRA 2017 - ERA and Future Robotics (for Exploration)

Philippe Schoonejans

20/06/2017

ESA UNCLASSIFIED - For Official Use Philippe Schoonejans | 20/06/2017 | Slide 2

Overview

European Robotic Arm for ISS

Deep Space Gateway (DSG)

Lunar surface missions – HLEPP/LEAP

METERON

Miscellaneous


European Robotic Arm (ERA) Status


Recent activities on ERA

Modification of ERA hardware

• ERA accepted in NL, against ICD

• Shipped to Russia 4 years later

• Integration and test with MLM => issues!

SW acceptance

• Flight SW / Ground simulators

Ground Segment

• EGSE / Iron Bird


Launch of ERA on Multi-purpose Lab Module MLM

MLM/Nauka (“science”) is the spare of the FGB/Zarya – it dates from 1998

Contamination of MLM’s propulsion system - no spare parts…

MLM provides a lab but also living space

Will be followed by Science Power Module SPM

SPM provides independence of Russian Segment

This Spring finally the MLM repair started

• Piping and tanks removed for cleaning

• Complex!

Launch date unconfirmed, NASA Flight Plan states 7 Oct 2018


Exploring Space In Partnership

Using the International Space Station

Operating in the Lunar Vicinity

(proving ground)

2030s

Leaving the Earth-Moon System and

Reaching Mars Orbit

Now

2020s

After 2030 Phase 0

Solve exploration mission challenges through research and systems testing on the ISS. Understand if and when lunar resources are available

Phase 1

Conduct missions in cislunar space; assemble Deep Space Gateway and Deep Space Transport

Phase 2

Complete Deep Space Transport and conduct Mars simulation mission

Phases 3 and 4

Missions to the Mars system, the surface of Mars

6


Phase 1: Deep Space Gateway


MCB DSG Configuration

Power and Propulsion Bus (PPB) • Co-manifested with Orion on SLS • Places itself into cislunar space Communication and Utilisation Bay • (CUB, name will change) • Lunar comms, science airlock,

propellant tanks

Habitation Module • Co-manifested with Orion

on SLS • Placed into cislunar space

by Orion

Logistics Modules • Depending upon scenario details, the number

and sequence of logistics modules varies • The robotic manipulator arm will likely arrive

with an early logistics module • Launched either via ELV or co-manifested with

Orion on SLS

EVA Airlock Module • Co-manifested with Orion on SLS • Airlock configuration TBD

Orion Not Shown: • Robotic Lunar Lander • Lunar Ascender

CUB

HAB


Human Lunar Precursor Program (HLEPP)

HLEPP is the complete Robotic Lunar Lander (sample return) mission from launch to landing on the lunar surface, collection of samples, and return of samples to the DSG and return to Earth (via Orion) HLEPP study objectives(on-going): - Establish a scenario for a demo

mission compatible with the Global Exploration Roadmap and the DSG

- HLEPP mission objectives: - prepare for human Moon

missions - Create opportunities for

scientific research (specifically sample return as we need to test the ascent engine)

- Mobility de-risking


Lunar ExplorAtion Precursor (LEAP)

- The term ‘Lunar ExplorAtion Precursor (LEAP)’ covers the surface operations

from rover deployment through end-of-life of the rover

- Phase 1: deployment, check-out and initial operations

- Assume no crew present at Deep Space gateway (DSG)

- Remote operations from Earth

- ~5s delay

- > 80% visibility when using DSG as relay

- Phase 2: first traverse and sample return

- Assume crew present at DSG

- Pre-planning and med/long range planning on Earth

- Flexecution of the traverse by crew

- ~0.5 s delay surface to NRHO (DSG orbit)

- robotic-assisted field geology

- Timing of DSG crew mission with sample return mission is key

- Phase 3: long traverse(s) endurance / survivability test

- After the ascender transports samples to the DSG, the rover

begins its long traverse towards the lunar South Pole

(Amundsen) - TBC

- Assume no crew present at DSG, remote ops from Earth

- Opportunistic science en route

- Possibility to cache samples for follow-up human missions


Lunar ExplorAtion Precursor Surface Mobility Element

- The SME is mainly composed of two parts:

- The mobility element itself, including its sensing elements (CSA)

- The sampling and retrieval chain, including sample container, multipurpose dextrous arm with

exchangeable end-effectors / instruments (ESA)

- The straw-man payload is being detailed by ESA and will be informed by the recommendations

from the HLEPP science team.

- ESA is investigating Multipurpose dexterous robot arm with force-feedback and master-slave

control as an enabler to robotic-assisted geology

- Ground control of lunar surface asset latency < 5 secs.

- Crew control of surface asset from DSG < 1 sec


Lunar ExplorAtion Precursor @ Schrödinger

- Likely landing site

- Surface mission phase 2 of 35 km selected / traverse loops back to Lander

- Considered a challenging but realistic timeline over the 70 days mission (between descent and ascent)

- Several options for the follow-up traverses (North loop, South loop, others) which will cover hundreds of km

- Slopes preliminary analyses show feasibility

- HLEPP Mission Definition Review selected sample transfer via re-ingress of the LDE ramp (to be analysed)

(ref. Kring et al)


Example Horizon Masks in Schroedinger

Local Topography Shielding


METERON Context : European ISS Mission 2019

- Luca Parmitano’s next ISS mission is planned for May-October 2019 and provides a timely opportunity to shake-down the entire LEAP concept

- Luca is trained in field geology and also planetary robotics; he is also very keen on performing such tasks (advocate)

- Taking this opportunity provides a natural conclusion to METERON, with a very visible result, useful for possible continuation into an actual mission such as LEAP

- It requires elements to be put in place, leveraging upon already made investments but also making new ones:

- New Exploration rover prototype based upon INTERACT

- Investment in a given set of payloads to be mounted on the rover

- Flight and Ground HCIs

- A demonstrator would be flown to ISS for Luca

- Mission, Rover, and Scientific operations set-up

- Analog mission itself

ANALOG / 2019

Luca ParmitanoISS - May-Oct 2019

In-Orbit DemonstratorOf Robotic HCI

ISS

Exploration Ground Prototype

EVO#3

Analogue Test Site(e.g. ROBEX Etna

test site)

Mission Operations &

Ground Segment Analogue

(ESOC)

Rover OperationsControl Centre

(TBD)

Lunar Scientific Operations

(distributed)

Lunar Science data archiving &

Samples Curation(ECSAT / HRAF)

Lunar Scientific Community


METERON Context : European ISS Mission in 2019

1. Flight Segment

• HCI Demonstrator on ISS

• ISS needed because of haptics in zero-g, realistic workload

2. Surface segment

• Mobility platform based on INTERACT

• Adapted to match LEAP/CSA specs

• Payload interfaces

• Payload itself

• Arm(s), End-effectors, Instrumentation

• Sample container

• Lander interfaces / mock-up / simulation model

• Analog site characterisation and modelling, Logistics

3. Ground Segment

• Definition of the ground segment roles and set-up

• MOC/ROCC/SOC

• MOE EGS-CC ?

• Communications

4. User segment

• Science data archiving

• Sample curation

• User management processes

ANALOG / 2019

Luca ParmitanoISS - May-Oct 2019

In-Orbit DemonstratorOf Robotic HCI

ISS

Exploration Ground Prototype

EVO#3

Analogue Test Site(e.g. ROBEX Etna

test site)

Mission Operations &

Ground Segment Analogue

(ESOC)

Rover OperationsControl Centre

(TBD)

Lunar Scientific Operations

(distributed)

Lunar Science data archiving &

Samples Curation(ECSAT / HRAF)

Lunar Scientific Community

1. Flight Segment

2. Surface Segment

3. Ground Segment

4. User Segment


Analog tests campaign progression towards in-flight validation

OPSCOM-3 prepares the ground segment aspects

• Gradual maturation of: • Human-Robotic HCI • Exploration Rover

Prototype • Rover Operations

tools • Science Operations

tools • Mission Operations

tools • Ground segment

• At least one test prior to the

ANALOG campaign, controlled from ISS

• Prepare at LUNA facility (European Astronauts Centre) is an option

2018 Robotic assisted geology

2017 HOPE

2019 ANALOG


Miscellaneous activities

Selection of (robotics) tech devt activities (chairing the TECNET-EXP WG):

• Tandem of Rover and Associated waIn for Lunar Extended Roaming (TRAILER)

• Crew Lectern for Easy Administration of Robots (CLEAR)

• AstronauT HeaLtH Enhancement Integrated Countermeasure (ATHLETIC)

…. and remarkably similar to robotics:

• Docking mechanism IBDM

• Free flying (inspection) Cubesat for ISS (and maybe later exploration)


Thank you for your attention

Thank you!

Documents

ASTRA 2017 - ERA and Future Robotics (for Exploration)...• Crew Lectern for Easy Administration of Robots (CLEAR) • AstronauT HeaLtH Enhancement Integrated Countermeasure (ATHLETIC)