Unmanned on-orbit servicing (OOS), ROKVISS and the TECSAS ...robotics.estec.esa.int/ASTRA/Astra2004/Papers/astra2004_A-04.pdf · On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission

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On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission

Automation and Robotics in the German Space Program

Unmanned on-orbit servicing (OOS),ROKVISS and the TECSAS mission

Bernd Sommer, Michael TurkGerman Aerospace Center, DLR

Space Management - General Technologies and Robotics

Königswinterer Straße 522-52453227 Bonn/Germany

Phone: +49(228) 447- 542E-mail: [email protected]

ASTRA 2004ESA/ESTEC, Noordwijk,

The Netherlands

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On-Orbit Servicing (OOS) and the TECSAS mission

Tableof

Contents-Vision-Application areas-The Challenge-Activities with respect to OOS-OOS/OOA Contributions

The ROKVISS Mission

The TECSAS Mission-Objectives-Mission Profile & Reference Scenario-Partners-Spacecraft Composition-Schedule-The Mission

On-Orbit Servicing

-Objectives-Mission Scenario-Robotic External O/B Unit-Schedule

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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Sun probes

Orbital infrastructures

Manned Baseon the back side of the moonfor astronomy

Unmanned explorationof the “hot” planets

Manned and unmannedexploration of Jupiterand it’s moons

Mars station

Unmanned exploration of the“cold” planets, interplanetary bodies and matter

Vision

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NavigationCommunication

Disaster Management

Disaster Management

Weather Forecast

Weather Forecast

Agriculture Planning

Agriculture Planning

Application areas

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Why did OOS not yet get off the ground???

Feasibility

Risks

Reliability

Maturity

Nobody did it before !!We would… if you would have… !!

PathfinderPrecursorFacilitator

Agencies

The Challenge

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The OOS challenge

Legislation Politics

Regulation Military

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Technology

The Challenge

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OOS Roadmap & Outlook

TECSAS Phase B TECSAS Phase C/D/E/F

OLEV Mission (ORL)

Concomitant Activities

Full ORC Service Roll-Out

Technology Development

International Agency Co-Operation

5 Years

Technology VerificationROKVISS

OOS Business Evolution (& OOA)

Support OOS & OOAInfrastructure Setup

International Industrial Collaboration

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Changes to Policy & Regulations

Co-Operative & Modular Design

Demonstration

Roadmap

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OOS & OOA Contribution to Future Space

• Exploration & Resource Utilization

• Culture & Mindset

• Commercialization

• Enabling Technologies

• Public Goods

OOS/A Contributions

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Robotic Komponents Verification on ISS ROKVISS

M. TurkGerman Aerospace Center, DLR, Bonn

W. Paetsch, K. Landzettel, W. Naumann, J. Dalcolmo

EADS-ST, DLR-OP,KT, vH&S

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Objectives

SPACE FLIGHT QUALIFICATION of DLR’shighly integrated, light-weight robotic joint-elements for their application in free space environment

TELE PRESENCE operational mode verification - Direct operator involvement into the control loop- Up-and down-link round trip time of less than 500 ms- Tele-presence operations performed during direct link

contact phases (approximately 5 – 7 minutes).

TELE OPERATION mode verification

AUTOMATIC OPERATION MODES verification for new robotic control modes for.

Direct radio contact phases,high level robot commandsto be executed on board

Repeated verification of joint parameters in a realistic free space mission environment

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ROKVISS Mission Scenario

ISS Ground stationTSUP, Moscow

On-board Computer (inside the Russian Service Module)

ROKVISS, Direct Link (S-Band) (4 Mbit/s downlink, 256 kbit/suplink)

Antenna and Robotic Ground Station atGSOC / Weilheim

Russian StandardGround Link

Robotic External Unit (outside the Russian Service Module)

Link TSUP -GSOC

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Robotic External O/B Unit (during thermal vacuum test)

Still camera

Illumination

Robot (2 joints)

Stereo camera

Power Distribution Unit, Video Processing Unit

Base plate

Experiment contour

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ROKVISS Schedule

Start of Project November `01

Delivery of Technology Model March `04

Delivery of Flight Model November `04

Launch (Progress M) December `04

Installation of ROKVISS (EVA) January `05 (tbc)

Start of Operational Phase January `05 (tbc)

End of Project January `06

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Operational for appr. 1 year - Example for the first 10 weeks of the mission

Mission schedule of ROKVISS

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Technology Satellite for demonstration and verification of Space system

TECSAS

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Mission statement :

TECSAS shall demonstrate the availability andadvanced maturity of the technologies necessary for:

•Approach and rendezvous•Inspection fly around•Formation flight•Capture•Stabilization/calibration of the coupled satellite pair•Flight maneuvers with the coupled satellite pair•Manipulation of the target satellite•Active ground control via tele-presence•Passive ground control during autonomous operations•Thrust control for disposal or de-orbiting•De-coupling of the compound

ObjectivesTEChnology SAtellite for demonstration and verification of a Servicing system

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Mission profile (1)

Mission Profile

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Mission profile (2)

Mission Profile

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MoU on A&R and TECSAS

TECSAS partners on Agency Level

Deutsches Zentrumfür Luft-und Raumfahrt

MoU on A&R and

OOS

Federal Space Agencyof Russia

Partners

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German Aerospace Center

•Manipulator•Control S/W•Approach Sensors•Communications•Ground Stations•Mission Operations•Simulation S/W•Ground Tests

•Manipulator•Control S/W•Approach Sensors•Communications•Ground Stations•Mission Operations•Simulation S/W•Ground Tests

•Chaser Satellite•Launcher•Launch Services •Ground Station

•Chaser Satellite•Launcher•Launch Services •Ground Station

Federal Space Agency of Russia

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•Target Satellite•LIDAR System (?)•Manipulator Hand (?) •Ground Stations•Control S/W•Operations•Ground Tests

•Target Satellite•LIDAR System (?)•Manipulator Hand (?) •Ground Stations•Control S/W•Operations•Ground Tests

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Contributions to TECSAS

Partners

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MULTIMULTI--PURPOSE ORBITAL BOOST PLATFORMPURPOSE ORBITAL BOOST PLATFORM

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On-Orbit Servicing (OOS) and the TECSAS missionSPACECRAFT COMPOSITION

S/C Composition

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TECSAS Phase B

Freeze ofconcept

PM

Study logic:

K/O

Compatibility analysis

Existing concept viaCSA contribution

MissionConcept

Mission & SystemRequirements

Existing designfeatures

SRR Mission &System Spec PDR

Nov.04 Jan. 05 Mar. 05 Dec. 05

Schedule

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DDR

PDRK/O

Detailed design Phase

H/W & S/WDevelopment

phase

Existing designfeatures

SSTR

Freeze of

design

Elementsassembly

integration & testETR

March06 December 06 March 08 October 08

Mission & SystemRequirements

System Test PSR

March 09

TECSAS Phase C/D:

Schedule

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TECSAS Phase E:

FRR

PSRK/O

Integration ofP/L on launcher

Launch preparations

Ground system c/o

On-Orbitoperations MAR De-orbiting

of chaser

March 09 June 09

August 09 September 09 July 09

Schedule

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TECSAS Phase ATECSASPhase A

The Mission

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Documents

Unmanned on-orbit servicing (OOS), ROKVISS and the TECSAS ...robotics.estec.esa.int/ASTRA/Astra2004/Papers/astra2004_A-04.pdf · On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission