An Overview of CSAAn Overview of CSA’’s Space s Space Robotics ActivitiesRobotics Activities
Erick Dupuis, Mo FarhatErick Dupuis, Mo Farhat
ASTRA 2011ASTRA 2011ESTEC, Noordwijk, The NetherlandsESTEC, Noordwijk, The Netherlands
IntroductionIntroduction Key Priority Area for CSAKey Priority Area for CSA
Recent ReorganisationRecent Reorganisation Strategy Guided byStrategy Guided by
Global Exploration StrategyGlobal Exploration Strategy International Space Exploration Coordination International Space Exploration Coordination
GroupGroup Canadian Long Term Space PlanCanadian Long Term Space Plan
Preparatory ProgramPreparatory Program Accelerated by Stimulus FundingAccelerated by Stimulus Funding
$110M over 3 years$110M over 3 years
Exploration includes ISSExploration includes ISS MSS OperationsMSS Operations Life SciencesLife Sciences Operational Space Operational Space
MedicineMedicine Robotic Technology Robotic Technology
ExperimentsExperiments
ISS
Capitalise on Investment in Capitalise on Investment in SRMS + MSSSRMS + MSS
Robotic ManipulatorsRobotic Manipulators Specialised Tools and EndSpecialised Tools and End--
EffectorsEffectors Vision SystemsVision Systems Rendezvous and DockingRendezvous and Docking
ISS OOS
Also: OnAlso: On--Orbit ServicingOrbit Servicing
And Planetary ExplorationAnd Planetary Exploration Planetary Surface VehiclesPlanetary Surface Vehicles Excavation & Drilling for ISRUExcavation & Drilling for ISRU Active Vision SystemsActive Vision Systems Robotic Manipulators and ToolsRobotic Manipulators and Tools Scientific InstrumentsScientific Instruments CommunicationsCommunications Life SupportLife Support Crew Medical SystemsCrew Medical Systems
ISS OOS Planetary
Preparatory ProgramPreparatory Program Develop Technologies BEFORE Develop Technologies BEFORE
Required for a MissionRequired for a Mission
Concept StudiesConcept Studies Phase 0 StudiesPhase 0 Studies PrototypingPrototyping Analogue Field DeploymentsAnalogue Field Deployments
Prototyping: OOSPrototyping: OOS TRIDAR, Neptec Design GroupTRIDAR, Neptec Design Group
Orbital Rendezvous SystemOrbital Rendezvous System NonNon--Cooperative SpacecraftCooperative Spacecraft Triangulation LASER: High Precision, ProximityTriangulation LASER: High Precision, Proximity TimeTime--OfOf--Flight LASER: Long Range: 100Flight LASER: Long Range: 100’’s ms m IR Camera: Very Long Range: IR Camera: Very Long Range: ~~43km43km
Tested on STSTested on STS--128, STS128, STS--131, STS131, STS--135135
ISS OOS
Prototyping: OOSPrototyping: OOS TRIDARTRIDAR
ISS OOS
Prototyping: OOSPrototyping: OOS Next Generation Canadarm: MDANext Generation Canadarm: MDA
Terrestrial Prototypes of NextTerrestrial Prototypes of Next--Gen Gen Technologies for Orbital ManipulatorsTechnologies for Orbital Manipulators
Large Manipulator: telescopic BoomsLarge Manipulator: telescopic Booms Small Manipulator: Dextrous Tools, AvionicsSmall Manipulator: Dextrous Tools, Avionics Proximity Operations Testbed: NonProximity Operations Testbed: Non--ContactContact Docking Testbed: ContactDocking Testbed: Contact Operator Control StationOperator Control Station
ISS OOS
Telescoping booms
Avionics, Tools, Advanced Dexterous Tasks
Operations, Integration Proximity
Docking
Prototyping: OOSPrototyping: OOS
ISS OOS
Prototyping: OOSPrototyping: OOS Possible Use of Dextre on ISS to support:Possible Use of Dextre on ISS to support:
Robotic Refueling Mission (NASA Goodard): Robotic Refueling Mission (NASA Goodard): Dextrous ToolsDextrous Tools
Dextre Pointing Package (NASA Goddard): Dextre Pointing Package (NASA Goddard): Testbed for Pointing SensorsTestbed for Pointing Sensors
Technologies Leading to Commercial Technologies Leading to Commercial OOS: Recent announcement by MDA & OOS: Recent announcement by MDA & IntelSatIntelSat
ISS OOS
Prototyping: PlanetaryPrototyping: Planetary EquipmentEquipment
Rovers (Existing and under development)Rovers (Existing and under development) PayloadsPayloads
SmartsSmarts Navigation /AutonomyNavigation /Autonomy SimulationSimulation
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary Rover Platforms Rover Platforms –– ExistingExisting
Ruggedised ExoMars Ruggedised ExoMars Breadboard (MDA)Breadboard (MDA) MSR Analogue Deployment, AZMSR Analogue Deployment, AZ
Juno Rovers (Neptec/ODG)Juno Rovers (Neptec/ODG) ISRU Deployment, HawaiiISRU Deployment, Hawaii
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary Mars Exploration Science Rover: Mars Exploration Science Rover:
MDA/BRPMDA/BRP Terrestrial PrototypeTerrestrial Prototype Mass: ~200kg, P/L: Mass: ~200kg, P/L: ~~70kg70kg Autonomous NavigationAutonomous Navigation 250m/sol (Energy Limited, Solar)250m/sol (Energy Limited, Solar) 20 cm obstacle climbing20 cm obstacle climbing PDR: MidPDR: Mid--April 2011April 2011
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary
ISS OOS Planetary
Lunar Exploration Light Lunar Exploration Light RoversRovers Mass: 500kg, P/L 300kgMass: 500kg, P/L 300kg Human UpgradableHuman Upgradable Manual, Teleop or Manual, Teleop or
AutonomousAutonomous VVmaxmax: 15km/h Manual: 15km/h Manual Slope: 25 deg, Slope: 25 deg,
Obstacles: 30cmObstacles: 30cm
Prototyping: PlanetaryPrototyping: Planetary
ISS OOS Planetary
Lunar Exploration Light Lunar Exploration Light RoversRovers Mass: 500kg, P/L 300kgMass: 500kg, P/L 300kg Human UpgradableHuman Upgradable Manual, Teleop or Manual, Teleop or
AutonomousAutonomous VVmaxmax: 15km/h Manual: 15km/h Manual Slope: 25 deg, Slope: 25 deg,
Obstacles: 30cmObstacles: 30cm
Prototyping: PlanetaryPrototyping: Planetary Standard Interface ModuleStandard Interface Module RoverRover--Mounted Mounted
Manipulator ArmsManipulator Arms MiniMini--Corer & DrillCorer & Drill MicroscopeMicroscope Next Gen VisionNext Gen Vision Next Gen PowerNext Gen Power Next Gen CommunicationsNext Gen Communications
ISS OOS Planetary
Integration&
Field-Tests
Prototyping: PlanetaryPrototyping: Planetary MicroMicro--RoversRovers
Max 30kg including science P/LMax 30kg including science P/L Teleop or AutonomousTeleop or Autonomous Soil SamplingSoil Sampling
MPB Team: focus on scienceMPB Team: focus on science ESI: focus on platformESI: focus on platform Delivery Early SummerDelivery Early Summer
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary Rover Operator Situational Rover Operator Situational
Awareness and Navigation Awareness and Navigation Aids (ROSANA)Aids (ROSANA)
Autonomous Intelligent and Autonomous Intelligent and Robust Guidance, Navigation Robust Guidance, Navigation & Control for Planetary Rovers& Control for Planetary Rovers
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary Avatar EXPLORE Avatar EXPLORE
ExperimentsExperiments Remote Control Remote Control
from ISSfrom ISS InformationInformation--CentricCentric Autonomous OpsAutonomous Ops Locate Thermal AnomaliesLocate Thermal Anomalies Ops Concept ProvenOps Concept Proven
Asynchronous LinkAvatar Operator StationISS
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary 3D Site Mapping (U. Toronto, MDA)3D Site Mapping (U. Toronto, MDA)
Rover Localisation & Coverage PlanningRover Localisation & Coverage Planning ALTESCAPE (Ryerson U., Neptec)ALTESCAPE (Ryerson U., Neptec)
Vision for Orbital RdV and Rover OdometryVision for Orbital RdV and Rover Odometry Investigating Traction System for Lunar Investigating Traction System for Lunar
Mobility (McGill, Neptec)Mobility (McGill, Neptec) Compliant Wheel DesignsCompliant Wheel Designs
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary Mobile Robotics Development and Mobile Robotics Development and
Validation Platform Using Vortex (McGill, Validation Platform Using Vortex (McGill, CM Labs)CM Labs) Rover Terrain Interaction SimulationRover Terrain Interaction Simulation
Volumetric Contact Model Validation and Volumetric Contact Model Validation and Application to Planetary Rovers (U. Application to Planetary Rovers (U. Waterloo, Parallel Geometry)Waterloo, Parallel Geometry) Rover Terrain Interaction SimulationRover Terrain Interaction Simulation
ISS OOS Planetary
Prototyping: PlanetaryPrototyping: Planetary Power system management and Power system management and
optimization tool for space missions optimization tool for space missions (University of Waterloo, Maplesoft)(University of Waterloo, Maplesoft)
Characterization, Dynamics and Design of Characterization, Dynamics and Design of Mechanical Systems for Interaction with Mechanical Systems for Interaction with Real and Virtual Environments (McGill, Real and Virtual Environments (McGill, Quanser)Quanser) Analysis Tools for Design and Ops PlanningAnalysis Tools for Design and Ops Planning
ISS OOS Planetary
Planetary Analogue MissionsPlanetary Analogue Missions Impact and Ice: Lunar Sample Return from Impact and Ice: Lunar Sample Return from
South Pole Aitken Basin (Mistastin and South Pole Aitken Basin (Mistastin and Reis craters)Reis craters)
Genesis of Methane on Mars (Axel Genesis of Methane on Mars (Axel Heiberg Island)Heiberg Island)
Mars Methane Mission (Thetford Mines)Mars Methane Mission (Thetford Mines) Mars Analogue Research: Signature of Mars Analogue Research: Signature of
Life in Freshwater Environment (Pavilion Life in Freshwater Environment (Pavilion Lake)Lake)
ISS OOS Planetary
ConclusionConclusion Robotics Activities CoveringRobotics Activities Covering
International Space StationInternational Space Station OnOn--Orbit ServicingOrbit Servicing Planetary ExplorationPlanetary Exploration
Preparatory Program: Develop Preparatory Program: Develop Technologies BEFORE Required for Technologies BEFORE Required for Commitment to MissionCommitment to Mission
Accelerated by Stimulus FundingAccelerated by Stimulus Funding $110M over 3 years$110M over 3 years