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Canadian Activities in Intelligent Robotic Systems -
An OverviewJean-Claude Piedbœuf
and Erick Dupuis
ASTRA 2004, ESTEC, The Netherlands
November 2-4, 2004
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Canada in Space RoboticsSpace Shuttle Remote Manipulator
Space Vision System(Neptec)
Mobile Servicing System for ISS
Copyright Canadian Space Agency 2004
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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2nd Hubble Servicing MissionFebruary 1997
Replace scientific instrumentsReplace degraded units
Gyro, Guidance Sensors, …)
Human-in-the-loop
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Vision Systems for SpaceKey Canadian technology for space roboticsNew generation (target free)
Laser Camera System (Neptec)robust versus lighting conditiontested on Space Shuttle 2001
Object Recognition and Pose Estimation(MD-Robotics)
based on natural features
LIDAR System (Optech)
Copyright Canadian Space Agency 2004
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Neptec Collision Avoidance & Pose Estimation system (CAPE)
Real-time tracking system of payloads and spacecraftUses any 3D sensor (LCS, Stereo cameras, LIDAR) Outputs 6DOF pose of target(s) and/or sensor and detects potential collisionsCompensates for sensor motionDoes not require cooperative targets (Model based)
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Autonomous Robotics & Ground Operation
R&D platform to test advance concepts for autonomous robotics and ground operationApplications: increase autonomy
MSS ground controlOn-orbit roboticsPlanetary rovers.
Implementation on CARTSPDM likes operationOn-orbit servicing
Implementation on Mars mobile platform
Copyright Canadian Space Agency 2004
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On-Orbit Robotics
MDR End-Effector for satellite capture
MDR ORPE for automatic captureSARAH end-effector
for satellite maintenance
Battery box manipulation
Hardware-in-the-loop simulation of spacecrafts servicing
Capture of a floating object
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Modeling & SimulationSimulation required for
Operation & predictive controlTraining and on board training
Real-Time ImplementationHardware-in-the-LoopVerificationContact Dynamics
Copyright Canadian Space Agency 2004
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MDR On-Orbit Safety MonitorOn-Orbit incidences in the past
(Flight 7A) elbow ~10 cm from an ISS’s antenna. Detected by the ground.(Flight 9A) SSRMS elbow joint close to contacting the shuttle cargo bay door.(Flight 11A) MT hits an antenna assembly
CausesThe crew/operator unaware of proximity
Clearance view, geometry, worload
On-Orbit Safety MonitoringProvide better situation awarenessProvide independent monitoring capability to detect possible safety hazard
Canadarm-2
MT
Boom
Boom
Elbow Joint
Shoulder Joint
Payload
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On-Board Training: SMP1st exp: Psycho-motor skills
Free Flyer Capture: most complex taskCanadarm-2 RT simulation on laptopFirst test in May 2003
Copyright Canadian Space Agency 2004
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SMP 2 (April 2005)Cognitive skills
3D mental representation of objects in spaceAnticipation of dynamics & planningUsing Dextre & Canadarm-2: 50 dof
Visual rendering: 20 Hz on same CPUSGDL Rendering Tech.:
Solid modeling, projectivegeometry, cast shadow, exact 3D visualization,cast shadow, compact
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Planetary Exploration
Moon and MarsPhoenix mission
Meteorological station
Participation to international missionsNASA: Phoenix, drilling, automationESA: Aurora, ExoMarsIndia: Moon payload
Copyright Canadian Space Agency 2004
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Planetary Exploration R&D
Long Range Autonomous Navigation (target km range)
LIDAR + Simultaneous Localisationand MappingGuidance over long distancesReactive Autonomy: CORTEX
Mars Orbit RendezvousAdd ADCS to simulator
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8’x12’ 1/50th Scale Mars model (photo)
3-D point cloud + draped image
Lidar-Based Autonomous Planetary Landing System – LAPS
Dynamic Platform StabilizationHazard Avoidance Navigation Dynamic Test BedIndependent Verification & ValidationReal time Guidance & Control
Copyright Canadian Space Agency 2004
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Mars Exploration
Micro-Robots FeasibilityElectronics survival, thermal controlPower and comm. subsystemsLocomotion (hopping and flight)Proof-of-concept demo electronics
Science PayloadsAnalyse SAR data for analogue environments of Mars on EarthLaser induced fluorescence on analogue materials
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Aircraft Tasking
UAV access to
databases
PayloadControl
PayloadMonitoring
Reliable Networked Autonomy(Xiphos Tech. Inc.)XipLink:
high-performance, commercial release of the CCSDS SCPS-TP protocol, enabling Internet-standard communications to spacecraft and other wireless systems.
Q-Cards:low-cost, fault-tolerant, networkable devices for control and data acquisitionOn ISS and satellitesQ5 to flight on SpaceQuest’s AprizeSat-2
Flight management systemAutonomous flight control and data network
Copyright Canadian Space Agency 2004
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In Situ Resource UtilizationIdentification
Processing
Access/Exploration
BeneficiationWaste
Mining
Product
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Norcat Technology AdaptationExisting Mining
Technology
PlanetaryExplorationTechnology
Copyright Canadian Space Agency 2004
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Advanced Astronaut Medical Support: ADAMS
DecisionTree
Protocol
EventDatabase
TrendAnalysis
DifferentialDiagnosis
SmartSensors &
Diagnostic Tools
GenericDatabase
BaselineDatabase
TreatmentAlgorithm
Patient
Smart Sensors
Semi-AutomatedVoice-Activated
Technology
Medical AutonomyA. DiagnosisB. MonitoringC. TreatmentD. Training
CMOMedical Team
LEO & Moon Missions- Ground Control
AUTONOMOUS
MODE
Patient Simulator
Terrestrial Paradigm - Tertiary Center
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NEEMO-7 on AquariusDemonstrate and assess new telemedecine technologies
Copyright Canadian Space Agency 2004
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SARAH: Robotic HandSARAH: Self-Adapting Robotic Auxiliary HandDeveloped by Université Laval/MD Robotics3 fingers/3 phalanges
Only 1 dof to close fingersFingers reconfigurable: Cylindrical, spherical and planar grasps
Terrestrial version: 2 motors Dextre version: no motor
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Conclusion
Strong Canadian expertise in space roboticsCanada is maintaining expertiseVery active in technology development
Through industry and internally
Open to collaboration
Copyright Canadian Space Agency 2004
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Demos
A glass of wine…
SARAH: Dextre end-effector
Autonomous capture
Questions?
Copyright Canadian Space Agency 2004
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