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Canadian Activities in Intelligent Robotic Systems -

An OverviewJean-Claude Piedbœuf

and Erick Dupuis

ASTRA 2004, ESTEC, The Netherlands

November 2-4, 2004

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Canada in Space RoboticsSpace Shuttle Remote Manipulator

Space Vision System(Neptec)

Mobile Servicing System for ISS

Copyright Canadian Space Agency 2004

In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2 - 4, 2004

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2nd Hubble Servicing MissionFebruary 1997

Replace scientific instrumentsReplace degraded units

Gyro, Guidance Sensors, …)

Human-in-the-loop

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Vision Systems for SpaceKey Canadian technology for space roboticsNew generation (target free)

Laser Camera System (Neptec)robust versus lighting conditiontested on Space Shuttle 2001

Object Recognition and Pose Estimation(MD-Robotics)

based on natural features

LIDAR System (Optech)

Copyright Canadian Space Agency 2004

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Neptec Collision Avoidance & Pose Estimation system (CAPE)

Real-time tracking system of payloads and spacecraftUses any 3D sensor (LCS, Stereo cameras, LIDAR) Outputs 6DOF pose of target(s) and/or sensor and detects potential collisionsCompensates for sensor motionDoes not require cooperative targets (Model based)

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Autonomous Robotics & Ground Operation

R&D platform to test advance concepts for autonomous robotics and ground operationApplications: increase autonomy

MSS ground controlOn-orbit roboticsPlanetary rovers.

Implementation on CARTSPDM likes operationOn-orbit servicing

Implementation on Mars mobile platform

Copyright Canadian Space Agency 2004

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On-Orbit Robotics

MDR End-Effector for satellite capture

MDR ORPE for automatic captureSARAH end-effector

for satellite maintenance

Battery box manipulation

Hardware-in-the-loop simulation of spacecrafts servicing

Capture of a floating object

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Modeling & SimulationSimulation required for

Operation & predictive controlTraining and on board training

Real-Time ImplementationHardware-in-the-LoopVerificationContact Dynamics

Copyright Canadian Space Agency 2004

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MDR On-Orbit Safety MonitorOn-Orbit incidences in the past

(Flight 7A) elbow ~10 cm from an ISS’s antenna. Detected by the ground.(Flight 9A) SSRMS elbow joint close to contacting the shuttle cargo bay door.(Flight 11A) MT hits an antenna assembly

CausesThe crew/operator unaware of proximity

Clearance view, geometry, worload

On-Orbit Safety MonitoringProvide better situation awarenessProvide independent monitoring capability to detect possible safety hazard

Canadarm-2

MT

Boom

Boom

Elbow Joint

Shoulder Joint

Payload

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On-Board Training: SMP1st exp: Psycho-motor skills

Free Flyer Capture: most complex taskCanadarm-2 RT simulation on laptopFirst test in May 2003

Copyright Canadian Space Agency 2004

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SMP 2 (April 2005)Cognitive skills

3D mental representation of objects in spaceAnticipation of dynamics & planningUsing Dextre & Canadarm-2: 50 dof

Visual rendering: 20 Hz on same CPUSGDL Rendering Tech.:

Solid modeling, projectivegeometry, cast shadow, exact 3D visualization,cast shadow, compact

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Planetary Exploration

Moon and MarsPhoenix mission

Meteorological station

Participation to international missionsNASA: Phoenix, drilling, automationESA: Aurora, ExoMarsIndia: Moon payload

Copyright Canadian Space Agency 2004

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Planetary Exploration R&D

Long Range Autonomous Navigation (target km range)

LIDAR + Simultaneous Localisationand MappingGuidance over long distancesReactive Autonomy: CORTEX

Mars Orbit RendezvousAdd ADCS to simulator

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8’x12’ 1/50th Scale Mars model (photo)

3-D point cloud + draped image

Lidar-Based Autonomous Planetary Landing System – LAPS

Dynamic Platform StabilizationHazard Avoidance Navigation Dynamic Test BedIndependent Verification & ValidationReal time Guidance & Control

Copyright Canadian Space Agency 2004

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Mars Exploration

Micro-Robots FeasibilityElectronics survival, thermal controlPower and comm. subsystemsLocomotion (hopping and flight)Proof-of-concept demo electronics

Science PayloadsAnalyse SAR data for analogue environments of Mars on EarthLaser induced fluorescence on analogue materials

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Aircraft Tasking

UAV access to

databases

PayloadControl

PayloadMonitoring

Reliable Networked Autonomy(Xiphos Tech. Inc.)XipLink:

high-performance, commercial release of the CCSDS SCPS-TP protocol, enabling Internet-standard communications to spacecraft and other wireless systems.

Q-Cards:low-cost, fault-tolerant, networkable devices for control and data acquisitionOn ISS and satellitesQ5 to flight on SpaceQuest’s AprizeSat-2

Flight management systemAutonomous flight control and data network

Copyright Canadian Space Agency 2004

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In Situ Resource UtilizationIdentification

Processing

Access/Exploration

BeneficiationWaste

Mining

Product

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Norcat Technology AdaptationExisting Mining

Technology

PlanetaryExplorationTechnology

Copyright Canadian Space Agency 2004

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Advanced Astronaut Medical Support: ADAMS

DecisionTree

Protocol

EventDatabase

TrendAnalysis

DifferentialDiagnosis

SmartSensors &

Diagnostic Tools

GenericDatabase

BaselineDatabase

TreatmentAlgorithm

Patient

Smart Sensors

Semi-AutomatedVoice-Activated

Technology

Medical AutonomyA. DiagnosisB. MonitoringC. TreatmentD. Training

CMOMedical Team

LEO & Moon Missions- Ground Control

AUTONOMOUS

MODE

Patient Simulator

Terrestrial Paradigm - Tertiary Center

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NEEMO-7 on AquariusDemonstrate and assess new telemedecine technologies

Copyright Canadian Space Agency 2004

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SARAH: Robotic HandSARAH: Self-Adapting Robotic Auxiliary HandDeveloped by Université Laval/MD Robotics3 fingers/3 phalanges

Only 1 dof to close fingersFingers reconfigurable: Cylindrical, spherical and planar grasps

Terrestrial version: 2 motors Dextre version: no motor

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Conclusion

Strong Canadian expertise in space roboticsCanada is maintaining expertiseVery active in technology development

Through industry and internally

Open to collaboration

Copyright Canadian Space Agency 2004

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Demos

A glass of wine…

SARAH: Dextre end-effector

Autonomous capture

Questions?

Copyright Canadian Space Agency 2004

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