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OnOn--Orbit Orbit Mobile Servicing System (MSS)Mobile Servicing System (MSS)
Training SimulatorTraining Simulator
1
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Project Description• Project Definition
• Stands for System for Maintaining, Monitoring MRO (MSS Robotic Operator) Performance on-board the ISS
• Collaboration between Canadian and Russian Space Agencies
• Project Goals• Keep the skills of the astronauts at the required level
on-board the space station for robotic tasks• Determine if the astronauts are ready to perform an
operation with the SSRMS
2
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Project Description
• How to do that?• The capture of free-flyers is the most
challenging tasks• Simulator that models the SSMRS and a
generic free-flyer is appropriate to evaluate the astronaut performance
3
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Hardware Components
• IBM 800 MhzLaptop
• Hand-Controllers• USB Box Interface• USB Cable
4
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
USB Box Interface• Uses Q4 Technology
(Xiphos Technologies)• Powered by the Laptop
USB link• Supply power to the
hand-controllers• Convert HC inputs in
USB format (HID format)
5
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Software Architecture
VisualVisualRendererRenderer
DynamicDynamicEngineEngine
AnalysisAnalysisModuleModule
GUIGUI
Performance data file(Hand-Controller inputs,
Free-flyer target vs SSRMS end-effector frame)
6
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Dynamic Engine• Validated SSRMS
model (elastic joints)• Free-flyer model with
ACS• SSRMS end-effector
vs free-flyer frame computation
• Manual operation mode (MAM)
7
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Main Control ConsoleUser Oriented
Different levels of difficulty
Multi-Languages
System Status
SimulationCommand
Analysis Modules
Upload File
8
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Visual RendererRemaining mission time
Free-flyer grapple fixture
System mode
Free-flyer model
Free-flyer grapple fixture
SSRMS end-effector
9
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Session & Trend Analysis• Hand-Controller
Inputs Analysis• SSRMS Dynamic
Behavior• Capture Success
Verification• Session Score
mechanism
10
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Tools and COTS Used• Dynamic Engine
• SYMOFROS (Canadian Space Agency's Robotic Toolbox)• Matlab/Simulink/Stateflow/Real-Time Workshop
• Visual Renderer• Open Scene Graph
• Graphical User Interface• Java 1.4.1
• Analysis Module• Matlab programming language
• USB Interface Box (based on FPGA)• Xiphos Q4 Technologies (www.xiphos.ca)
11
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002
Future Milestones
• October 2002• Delivery of the ground release to Russia• S/W and H/W integration in Russia
• November 2002• S/W and H/W final validation
• January, 31st 2003• Experiment launch
• 2003-• On-board ISS Experiment
12
7th ES
A W
orkshop on Advanced S
pace Technologies for R
obotics and Autom
ation 'AS
TR
A 2002'
ES
TE
C, N
oordwijk, T
he Netherlands, N
ovember 19 - 21, 2002