GMV IN SPACEGMV-UK

© GMV, 2014

Catapult Open

ITSpace TransportDefense

CMMI level 5Multinational technology

group

Founded in

1984

Private capital

Headquarters in Spain (Madrid)

Subsidiaries in 11 countries

2,000employees

Roots tied to Space

Aeronautics, Space, Defense, Security, Transportation, Healthcare, Banking & finances, and ICT industries

50% 10% 20% 20%

A GLOBAL HIGH TECH GROUPINTRODUCTION TO GMV

2

SPAIN

GERMANY

POLAND

PORTUGAL

ROMANIA

USA

FRANCE

UK

COLOMBIA

MALAYSIA

NETHERLANDS

0

25

50

75

100

125

150

175

200

2005 2010 2015

200 M€worldwide revenue

© GMV, 2014

Catapult Open

458 spacecraft use

GMV technology

Leading EU

Space Robotics technology R&D

#1 worldwide provider of satellite control centers for

commercial telecommunication

satellites

Prime/leading role in

European GNSS Systems

(and export)

1,100staffUPSTREAM

Customer focus

GMV IN SPACEINTRODUCTION TO GMV

80EO

9HSF

5LAU

35NAV

48SCI&RE

8TECH

273TELECOM

operational 269

implementation 88

design/definition 28

end of life 45

failed 12

dropped/cancelled 16

EO Data Processing and Applications

Space SegmentGNC technology leaderOn-board AutonomyOn-board SoftwareTest Facilities

DownstreamGeospatial servicesIntelligent Transportation Systems

100cities

33Kvehicles

140world turns per day

© GMV, 2014

Catapult Open

SPACEOUR OFFER IN

125 M€worldwiderevenue

65%upstream

25%downstr

10%ops

NAVIGATION ALGORITHMS & PERFORMANCES: Engineering and algorithms development for satellite navigation systems, Large navigation processing and signal generation systems, Precise positioning and augmentation system, GNSS tools. GNSS receivers including Galileo PRS.

PRODUCTS:

magic suite, PRESENCE

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V IN

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AV

IGA

TIO

N

GMV IN OPERATIONS

- Intelligent Fleet Management Systems- Critical Infrastructures Protection (CIP)- Emergency and crisis management- Maritime traffic monitoring systems- Weather information value-added services- Geo-information products to service environmental policies, forestry management and food security

GMV IN SPACE APPLICATIONSOperations EngineeringReal-Time Operations

GM

V IN

FLI

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T SE

GM

ENT

SATE

LLIT

ES A

ND

LA

UN

CH

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S/C SUBSYSTEMS: Guidance, Navigation and Control (GNC) and On-Board SW (OBSW)

EXPERTISE: Mission Analysis and Systems Engineering, GNC Algorithms and Technology, Robotics and Autonomy, Mission and Satellite Simulators, Ground Validation and Test Benches

PRODUCTS:

gncde, platform

GM

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GR

OU

ND

SEG

MEN

TM

ISSI

ON

CO

NTR

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& P

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D PRIME/INTEGRATOR: Leadership and ground segment integrator

CONTROL CENTERS: Mission & Satellite Control, Flight Dynamics, Ground Station Monitoring and Control, Mission Planning

DATA PROCESSING: EO Payload Data Processing, Science Operation Centres, Telecom Payload Management

PRODUCTS:

hifly, focus suite, flexplan, magnet, smart rings,

GM

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AC

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GM

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© GMV, 2014

Catapult Open

MAIN SPACE CUSTOMERSSPACE AGENCIES

SATELLITE MANUFACT. / SYSTEM INTEGRATORS

TELECOM SATELLITE OPERATORS

americas

CUSTOMERS

© GMV, 2014

Catapult Open

SPA

CE ▪ Satellite Control Centers

▪ Flight Dynamics Systems

▪ Mission Planning Systems

▪ Global Satellite Navigation Systems

▪ Earth Observation Satellite Data ProcessingCenters

▪ Scientific Operations Centers

▪ Guidance, Navigation and Control (GNC)

▪ Autonomy and robotics

▪ Mission analysis

▪ On-board software

▪ Simulators development

▪ Space applications

6/26/2019 Page 6GENERAL PRESENTATION

© GMV, 2014

Catapult Open

SPACE

Major provider of EO Services and Applications.

#1 Worldwide Satellite Control Center provider to commercial telecom operators (+300 Satellite missions worldwide).

European leader in satellite navigation processing ground segment (EGNOSand Galileo).

Reference supplier for on-board GNC/AOCS subsystems.

WHAT WE DO

6/26/2019 Page 7GENERAL PRESENTATION

© GMV, 2014

Catapult Open

ROBOTICS AND AUTONOMYWHO WE ARE

GMV PRESENTATION 30/04/2019 Slide 8

❑ We provide RAS technologies for the Space market in a wide range of scenarios/applications:

– Orbital robotics (Active Debris Removal, In-orbit servicing and refueling, Assembly of large structures, Exploration)

– Planetary surface robotics (Surface Exploration, In-Situ Resources Utilization, planetary mining)

❑ Space-born technologies are the core of our solutions for inspection and operation in other harsh and unknown environments and critic applications:

– Navigation & mapping in unknown areas

– Augmented Situational Awareness tools

– Autonomous mobility, inspection & service in hostile environments

– AI for cooperative working with humans

– Support to design, install and operate innovative robotic solutions for difficult or complex automation/autonomous problems

GMV/ESA - LUCID Field Tests, P.N. Teide

© GMV, 2014

Catapult Open

TECHNOLOGIES & SERVICESOUR OFFER

30/04/2019GMV PRESENTATION Slide 9

• Robotics consultancy• Support to system

design and integration.• End-to-end solutions.

Robotic Systems Consultancy

• Design, Development and Validation of innovative robotic control systems

Robotic Control Systems

• Visual odometry (monocular and stereo, processor and FPGA).

• Data fusion (IMU, LIDAR, Visual and TOF cameras, GPS, inclinometer).

• Simultaneous Localisation and Mapping (SLAM) techniques.

• Generation and processing of Digital Elevation Maps (DEMs).

Odometry and Navigation

• Terrain mapping and path planning solutions.

Path planning

• Advanced situational awareness techniques for robot operation.

• MMI augmentation

Situational Awareness

• AI Solutions for advanced robotics (segmentation, locomotion and manipulation)

AI for Robotics

• Robotic facilities for testing

• Engineering support for tests set-up, integration of customer equipment & systems

• Telemetry generation, post-processing and analysis

Test Facilities

• Distributed simulations• Model based systems

engineering• Field trials

Validate and Verification

© GMV, 2014

Catapult Open

MARKETSOUR OFFER

30/04/2019GMV PRESENTATION Slide 10

Surface Robotics

• Autonomous agents for planetary exploration

• Visual odometry & mapping (SPARTAN)

• Path planning & trajectory control

• Situational Awareness

Orbital Robotics

• Advanced control for capture & detumbling of debris

• Visual navigation & inspection in-orbit

• Robotic assembly of large and flexible structures

• Robotic in-orbit servicing & refueling

Terrestrial Robotics

• Autonomous inspection & service in hostile environments

• Navigation & mapping in unknown areas

• AI for cooperative working with humans

Simulation &Test Facilities

• Orbital dynamics simulation for RdV and FF

• Navigation sensors test• GNC closed loop

experiments• Contact dynamics (ADR,

in-orbit assembly)• Planetary robotics test

campaigns

GNCclosed-loop

Orbitaldynamics

Contact dynamics

Mars Yard

Sensor Testing

Nucleardecom.

Oil & Gas

Mining

Agriculture

In-orbitassembly

ADR

In-orbitservice

Visualnavigation

Support to ISRU

Infrastr.Building

© GMV, 2014

Catapult Open

Projects: ESA and UK Space Agency activitiesHRAF / SimulationsValidation (field trials and simulations)Sample Fetch Rover

Flight systems making use of facilities and expertise in Harwell Space Cluster

R&D: AI products led from UK office integrated in “GMV Brain”:-perception-semantic mapping-multi-agent collaboration

Validation & applications of space technology for terrestrial use-cases: -infrastructure monitoring-mining-agriculture-humanitarian

Commercial Products using GMV Brain software electronics and integrated COTS platforms

ROBOTICS AT GMV UKRole and collaboration

6/26/2019 Page 11

GMV UK Robotics Strategy

GMV Track Record: SPARTAN, LUCID, ERGO, ESROCOS, ADE, SFR…

Goals and function of GMV UK Robotics

Short-term Longer-term

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What is HRAF?• Robotics and Autonomy Validation and Verification Facility

The aim of HRAF is to enable and speed-up and improve the efficiency of deployment of autonomous robot in real environments to complete tasks and achieve missions robustly.

01/06/2018 Page 12HRAF OVERVIEW

Updated European Robotics and Autonomy (ERA) V&V Facility Concept

HRAF

Framework(inc. middleware)

Field Trials

European Virtual Collaboration

Platform

- Maintain a platform (website) that aids information sharing, collaboration and provides an index for European facilities, organizations, researchers, robots and data. This should be the “home page” and “forum” of European robotics from the technical angle. Host server for the data catalogue. It should allow for sharing sensitive and protected information as well provided. - Support information sharing and collaboration between participating organizations- Facilitate trials, competitions and benchmarks with specific expertise- Training for the HRAF Software Framework

Data Catalogue

Simulations

Benchmarking and certification

- Validate sub-system and system level performance - Qualify sub-systems and systems for certain level of autonomy, safety and performance

- Common Framework for efficient integration of systems and easy execution of tests. Complete reference system for subsystem tests.- Common Platforms for reference and benchmarking tests both in simulation model and field trial.- End-to-end Tests in simulation and real locations for functional validation in many possible scenarios- V&V with pre-defined common tests and performance parameters- Data from heritage and reference tests. Well defined data structure for recording - Calibration data from standard experiments

The aim of HRAF is to support the integration, verification and validation of autonomy systems and associated technologies from unit up to mission level. This requires the use of specialist test facilities including mock planetary surfaces, software-based simulation environments and physical field trials in representative environments to provide ground truth.

The concept aims to capitalize on the complementary aspects and the interdependencies between a simulation and modelling environment, a field trials unit (called FRONTIER, Field tRial suppOrt uNitfor roboTIc ExploRation) including remote robotics operations test centre as well as a networking and data archiving capability, all of which support an autonomy verification and validation process in itself.

© GMV, 2014

Catapult Open

Scenario 3 Overview• HRAF-EDLS: Architecture Review

Task Group 1 – EDLS Federation 26/06/2019

• Scenario 3 shall simulate the Descent & Landing (D&L) Phase of the Proximity Operations activities while orbiting a NEO, with descent beginning ~500m and following a vertical descent trajectory

• In HRAF-EDLS, we make use of a Technical solution inherited from the H2020 NEOShield2 and ESA NEO-GNC / NEO-GNC2 activities, which developed GNC and IP functions in the context of the now retired MarcoPoloR mission, which targeted 1996-FG3

• The major items inherited from NEOShield2 to be used by HRAF-EDLS include;

• The NEOShield2 Matlab/Simulink simulator containing Real World (inc.DKE), OBSW (inc. GNC and IP Behavioural model) and Post Processing blocks

• NEO GNC/IP Avionics Breadboard on RASTA cradle (LEON2 and FPGA)

• NEO HIL mockup

• Note that as we do not have a direct interest in the Target NEO, a different NEO PANGU shape model shall be reused and adapted for use in the EDLS Federation

• SPIN Project: Using PANGU (Planet and Asteroid Natural scene Generation Utility) to create asteroid models for the simulation.

© GMV, 2014

Catapult Open

Scenario 3 HIL Federation Configuration – HIL Test Setup & Example Test Results

• HRAF-EDLS: Architecture Review

Note: Mock-up scaling is considered to achieve 500m descent using 20deg FOV camera, which leads to ~6m robotic arm travel in -Xlvlh frame

Task Group 1 – EDLS Federation

© GMV, 2014

Catapult Open

H2020 PERASPERA

OG10Autonomous decision making

OG8Robotised assembly of large modular orbital structures

OG7Orbital support services

OG9Robotised reconfiguration of satellites

OG11Exploring robot-robot interaction

6/26/2019 Page 15

https://www.h2020-peraspera.eu/https://www.h2020-peraspera.eu/?page_id=36

GMV UK Robotics EXTERNAL

© GMV, 2014

Catapult Open

H2020 PERASPERA – OG-2

6/26/2019 Page 16

EUROPEAN ROBOTIC GOAL-ORIENTED AUTONOMOUS CONTROLLER (ERGO)

As shown in the figure, the main architecture proposed in ERGO, already tested and validated in previous projects, is composed of two main components:

▪ At the bottom of the architecture we find the Functional layer which is in charge of performing the requested actions by the executive layer. The functional layer is the final interface with the underlying hardware.

▪ On top of the functional layer, there is an agent that controls the execution of the functional layer. This agent embodies a set of control loops (aka reactors, shown in red in the figure). Each of these control loops can contain deliberative or reactive behaviours.

http://www.h2020-ergo.eu/

GMV UK Robotics EXTERNAL

© GMV, 2014

Catapult Open

H2020 PERASPERA – OG-10

OG10Autonomous decision making

OG8Robotised assembly of large modular orbital structures

OG7Orbital support services

OG9Robotised reconfiguration of satellites

OG11Exploring robot-robot interaction

6/26/2019 Page 17

The ADE system encompasses the contemporaneous presence of the following “autonomous functionalities”: ▪ High-level goal commanding (E4) from ground

▪ Long range autonomous rover navigation (and its disturbances along the path)

▪ Opportunistic Science (generating continuously interesting spots to visit and possible conflicts)

GMV UK Robotics EXTERNAL

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THANK YOU