National Technical University of Athens Mechanical Engineering Department Control Systems Laboratory http://csl-ep.mech.ntua.gr Spinning-in of Terrestrial Microsystems and Technologies to Space Robotics: Results and Roadmaps Iosif S. Paraskevas, Thaleia Flessa, Prof. Evangelos Papadopoulos
Who we are - CSLab Our interests include: Space Robotics Underwater Robotics Microrobotics Legged robots Haptic Devices Exoskeletons Telerobotics Our Philosophy: In-house designs Modeling and Control Hands-on experience Since 1997: >80 past students and >20 students active >180 Publications in international conferences and journals 3 lab offices and workshop 2
Who we are Space Robitics >50 Journal-Conference publications Space Projects Software 3D Simulator Hardware Zero-Gravity 2D Emulator Flat Granite Table Hovering manipulator-equipped satellite base Computer Autonomy: PC104 controlled Power Autonomy: Batteries/ CO2 propulsion Thrusters + Reaction Wheel Feedback: CCD Camera/ Optical Sensors 3
Introduction This work is based on a completed ESA research project under contract 22110/08/NL/RA Objectives Review and assessment of existing terrestrial Micro-Nano Technologies (MNTs) applicable to space A&R Systematic application of selected MNTs to problematic areas of space A&R Derivation of recommendations and roadmaps 4
Motivation Requirements in space applications Mass, weight, consumption Launch conditions Space environment Reliability and flexibility Payload Redundancy Cost Terrestrial Applications of MNT Variety of applications Significant reliability Economy of scale 5
Selection Criteria Which terrestrial MNTs are prefered? Technical Criteria: Applicability to A&R subsystems, (not scientific payload) Compliant physical principle (e.g. no need for atmosphere) Launch conditions: Shock, vibrations External space environment: Temperature, Radiation, Dust particles, Vacuum Required technical lifetime Programmatic Criteria: Development maturity and risk Development cost & time to reach sufficient maturity not the exact modification process 6
Identified Terrestrial MNTs Statistics Classified per Space A&R subsystem > 100 interesting MNTs European R&D and industry very competitive Per country: 21% 19% 17% 9% 8% 7% 4% 3% 3% 2% 7
Space A&R Classification Rovers / Other means of locomotion (e.g. MER, ExoMars Rover) Stationary Planetary Explorers (e.g. Phoenix, Beagle 2) Planetary Explorers (e.g. Mars Global Surveyor, SMART-1) Aerobots / Balloons (e.g. SkySailor, ARES) Servicing Satellites (e.g. DART, Orbital Express) A&R in Planetary Constructions (e.g. Moon / Mars Base) A&R inside Orbital Constructions (e.g. ROTEX) A&R outside Orbital Constructions (e.g. ERA, JEMRMS) Human Class Systems Earth Observation Moles and Underwater explorers 8
Identified Problems (I) Power Source Solar Cells affected by dust & Large batteries On-Board Data Handling (OBDH) Low computational power Navigation is slow due to computational restrictions Power Source Solar Cells affected by dust & Large batteries OBDH and Attitude & Orbital Control Systems (AOCS) Electrical and Computational Power Mechanisms Lack of Integration, Low efficiency Power Subsystem in a confined space High Integration needed Structure strong, light, multifunctional 9
Identified Problems (II) Power and Propulsion have special demands OBDH and AOCS because of extremely complicated dynamics Sensors for Rendezvous and Docking Power Production and Storage is large and massive OBDH lack terrestrial computer capabilities Structure properties can be enhanced. Cabling. Chassis should be lightweight. Cabling problem (NASA Orbital Express) Large Actuators which lead to the necessity of integration Sensors for high flexibility and dexterity 10
Replacements & Roadmaps Base Scenarios: Rovers & Servicing Satellites Similarities with other classes Common problems Priorities of space agencies Terrestrial MNT Products selection Solution to problems: Search for similar or better specs Alternative technologies when possible Mainly qualitatively Difficulty to assess the modification process by entities (cost, time, alteration of characteristics) 11
Prominent Replacements (I) Currently DC/DC Converters Cables Thermal Mgmt Replacement Hi eff. (>98%) DC/DC Piezotransformer (Noliac DK) Wireless Power WISA Power (ABB - D) Active cooling TE Peltier Coolers (Micropelt - D) Expected Impact Mass and volume reduction Reduced EMI Reduced power losses Less Cables Wireless automation Design flexibility Increased freedom of motion Active cooling on the spot Less power needed Better thermal control Higher efficiency 12
Prominent Replacements (II) Currently IMUs Lenses 3D Cameras Replacement Motion Tracking Insrument Butterfly Gyro (IMEGO - SE) Variable focus lenses Liquid Lenses(Varioptic - FR) RT Depth Calculation 3D Camera (Mesa Imaging - CH) Expected Impact Mass and volume reduction Shock Resistant Power consumption Autofocus No moving parts Small design Stabilization Control Reduced Mass and Volume No 3D SW algorithm Autonomous navigation Lower Power reqs. 13
Prominent Replacements (III) Currently Cables and Strucutre OBDH Architecture Actuators Replacement Wire in Composite (BeruF1 GB) WiseNET & icyflex (CSEM - CH) Linear Actuator (KATAKA - DK) Expected Impact Mass and volume reduction Modularity & Flexibility Distributed Sensors Protected harnesses SoC Package RF Rx and Tx Low Power Less Cables Novel Actuation Method Linear Actuation Volume needed for linear actuation method 14
Roadmaps Systematic methodology for introducing MNT to a high system level at the two selected scenarios Problems - Space Sensor solar cells Islands more efficient Structure than terrestrial - Hydrogen OBDHFuel Cells cannot AOCS be used in space A&R Navigation & Docking - Motor Actuators elements (Magnets and materials) 15
Roadmaps: Sensor Islands - Less Cables - Power Harvesting - Integrated Electronics - Computational Autonomy - Wireless Communication - Increased Functionality Mass Volume Power Comp. Func Moderate Moderate High High High 16
Roadmaps: Navigation - Lower consumption (electrical & computational) - Multiple and/or redundant computational units - Upgraded navigational capabilities - Combination with Sensor Islands Mass Volume Power Comp. Func High High High High High 17
Roadmaps: Structure - Mass and Volume Reduction - Increased functionality - Decentralized Sensors - Combination with Sensor Islands Mass Volume Power Comp. Func Low Low Medium Low High 18
Summary Terrestrial MNT products: Reduce mass and volume, electrical power consumption Provide better distribution of computational power Significant increase in redundancy and functionality More space for payload Highest impacts: Sensor Island concept Improved sensing capabilities Decentralized architecture Integrated and efficient electronics Novel chassis with improved characteristics ESA and Europe: Can be independent and competitive Large financial impact 19
Questions? More information: http://csl-ep.mech.ntua.gr Contact: Prof. Evangelos Papadopoulos egpapado@central.ntua.gr Iosif S. Paraskevas isparas@mail.ntua.gr Thaleia Flessa tflessa@mail.ntua.gr 20