SPHERES and Astrobee Space Sta3on Robo3c Free Flyers

ISSNa&onalSPHERES/AstrobeeFacilityDate

JoseV.BenavidesWithsupportfromSPHERES&Astrobeeprojectteams

NASAAmesResearchCenter

Agenda

• SPHERES• AstrobeeProjectoverview

• Currentstatus&upcomingac&vi&es

• On-orbitcommissioningac&vi&es(FY18)

• FreeFlyerexternalappearance

• Integra&ngwiththeAstrobeeplaSorm

2

•  AFacilityoftheISSNa&onalLaboratorywiththreeIVAnano-satellitesdesignedanddeliveredbyMITtoresearches&ma&on,control,andautonomyalgorithms

•  InstalledonISSin2006•  ManagedbyARCsinceFall2010•  ByworkingaboardISSundercrewsupervision,it

providesarisktolerantTestbedEnvironmentforDistributedSatellite&Free-flyingControlAlgorithms

•  Forma&onflight,Docking,ProximityOpera&ons•  Ifanythinggoeswrong,resetandtryagain!•  Thesatellitescanbereused

ü  Replenishableconsumablesü  Mul&pletestsessionsassignedperyear

Sco$KellyworkingwithSPHERESintheKibolab

Ifyoucan’tbringthespaceenvironmenttothelaboratory,takethelaboratorytospace!

Over119TestSessions(600+hrs.ofFacilityConsoleac&vi&esinvolvingcrew)OneofthemostusedandpopularISSNa&onalLabFacili&es

Synchronized Posi3on Hold Engage Reorient Experimental Satellites - SPHERES

11/15/17 3

SPHERES Pla?orm Capabili3es • Sensors•  Accelerometers,Gyroscopes,Ultrasonicranging•  SmartphoneCamera

• Actuator•  CO2Propulsion,0.2Nofforcepossible

• C&DH•  115kbpsdownlinktolaptop•  Real-&meinterfacetolaptopMatlabrun&me•  400kbpsreal-&medownlinktoMissionOpera&onsCenter

• ExpansionPort•  Providesaninterfaceforintegra&onwithaddi&onaltechnologies•  WelldocumentedICD•  CurrentlyusedbyseveralPayloads

Diameter 8.3 in (0.2 m)

Mass 7.8 lb (3.5 kg)

Thrust (single thruster)

<1 oz (0.2 N)

CO2 Capacity

6 oz (170g)

11/15/17 4

GraniteLab

FlightLab

MicroGravityTestFacility(MGTF)Lab:Cradle/GimbalandRobo&cARM

EngineeringEvalua&onLab(EEL)

SPHERES Facility Labs

MissionOpera?onsCenter

Interna&onalSpaceSta&on

•  11/15/17 5

Microgravity Free-Flyer Technologies past, present, & future

SmartSPHERES

SPHERESPSAAERCam Astrobee

RINGS

SLOSH

Interact

UDP/HALO

Tether

ZeroRobo&csVer&go

1996-2002 2000-2008 2006-2018 2018

TA04Robo&cs,Tele-Robo&cs&Autonomous

TA02In-SpacePropulsion TA05Communica&on&Naviga&on STEMEduca&on

Avionics&SoiwareRiskmi&ga&on11/15/17 6

SPHERES Facility Team

q TeamØ  JoseBenavides,Jose.V.Benavides@nasa.gov,PMØ  AricKalerhagen,aric.j.kalerhagen@nasa.gov,OpsLeadØ  JonathanBarlow,jonathan.s.barlow@nasa.gov,EngLeadØ  DarrylLevasseur,darryl.w.levasseur@nasa.govØ  JoseCortez,jose.cortez@nasa.govØ  RobertHanson,robert.s.hanson@nasa.govØ  SimeonKanis,simeon.i.kanis@nasa.govØ  DonSoloway,Donald.i.soloway@nasa.gov

Facility Transi3on

6Years(-2024)

•  ISSOpera&ons•  Maintenance•  PayloadSupport

AstrobeeDevelopment&Build

AstrobeeCommissioning

AstrobeeOpera&ons

1year(CY18)•  Opera&ons

PlanningProducts

•  OnOrbitInstallCheckout&Demo

SPHERESSupport

12Years(Est.2006-)

MajorTasks•  ISSOpera&ons•  Consumables•  Maintenance•  PayloadSupport

SPHERESOpera&ons

AstrobeeSupport

2Years(CY16-17)

•  Infrastructure&LabUpgrades

•  Integra&on&TestSupport

•  FlightBuildSupport

•  GuestScienceSW&Processes

•  SimulatorDev

Guest Scien3st Program (GSP)

OverviewTheGSPprovidesaccesstothesourcecode,withexamples,aSPHERESsoiwaresimulator,andOpera&onssupport.

TechnicalAspects1.  DownloadGSPfromSourceforge,includingsimulator

2.  DevandTestyoursoiwareonthesimulator

3.  TestinAmesSPHERESLab

4.  DeliverSoiwareandplanningproductstoSPHERESOpera&ons5.  ConducttestsessionaboardISS

Opera&onalPlanningAspects1.  Deliverproposedinves&ga&on–onepager2.  SPHERESini&atesrequesttoscheduleISSTestSession3.  GenerateallplanningitemsrequiredbyISS(e.g.TestPlan,)

www.nasa.gov/spheres/gsp

GSP Process

Opera3ons: Func3ons

EnsureFacilityReadinessforISSTestSessionsØ AllcrewtrainingnowviaOnboardTraining(OBT)bothEnglish&RussianØ CrewprocedureupdatesØ CoordinatewithISSLeadIncrementScien&standPOICCadreØ Flightproductsonorbit(testplan,.spf,on-boardtrainingandreview,etc.)Ø Consumable(CO2TanksandBaleries)refurbishmentandresupplyØ SupportSPHERESdirectory/filemaintenance

Real-TimeISSTestSessionsupportØ Coordinatew/SPHERESinves&gatorsproductdevelopmentanddeliveryØ SupportcrewandPOICcadrereal-&meØ Conduct/coordinatecrewconferencesasneededØ Testsessiondataandvideomanagement

Opera3ons: Func3ons

IncrementPlanningØ PTPand2-pagerdevelopment,review,andupdateØ CEFsupportandsubmilalØ Timelineplanningmodelreviewandupdate

SafetyandVerifica&onAssessmentsØ ConductIntegratedSafetyAssessmentsforallSPHERESpayloadsØ ConductIntegratedVerifica&onforallSPHERESpayloadsØ Safety&Verifica&onassessmentsforBalery/Tanklaunches/returnsØ CompleteCer&fica&onofFlightReadinessforgroundsystemsandon-orbithardwareandopera&onsproductsØ ConductISSRequirementsChangeAssessmentstoSPHERESFacility

PublicRela&onsØ Maintainwebsite,workwithARCPAOofficetopublishmaterialonsite

SPHERES Calendar

Blue Flight Repair

Astrobee Project Overview

15

•  Develop,test,deliver2freeflyingrobotsforISSIVAuse

•  3yearproject(FY15-FY17)underHumanExplora&onTelerobo&cs2(HET2)

•  1year(FY18)extensionforon-orbitcommissioning(justapproved)

•  Sponsor:SpaceTechnologyMissionDirectorate,GameChangingDevelopmentProgram

•  TechnologyinfusiontoISSpayloads&opera&ons

Project Summary

16

0g Robo3cs Research Facility

AES,Astrobee/SPHERESProgramandusers 17

Mobile Camera Tasks

ISSProgram,FOD,POIC 18

Mobile Sensor Tasks

ISSProgram 19

Dock & Resupply

20

AutomateconsumableresupplyMinimizecrew&me

Current Status & Upcoming Ac3vi3es

21

Schedule

22

Commissioning Ac3vi3es

23

FY18 Ac3vi3es

24

External Appearance

25

26

27

28

Integra3ng with the Astrobee Pla?orm

29

Integra3on Overview

• LookfordraiGuestScienceGuidedocumentbeforetheendofthisyear

• Willquicklymen&onafewpointsaboutintegra&onnow

30

Payload Bays

31

FORWARDMOTION

TopAHBay

Bo$omAHBayBo$omForwardBay

TopAHBay(ArmMounted)

FORWARDMOTION

Payload Bays

32

BOTTOM TOP

Bo$omForward

Bo$omAH

TopAH

Concept of Opera3ons

• Payloadbays:canoccupyasinglebay,thetwoadjoiningbaysonthebolom,orallthree• (Oruseanon-standardmoun&ngapproach)

• Primaryvs.backgroundexperiment• PrimaryexperimentcontrolsAstrobeeplaSorm• Backgroundexperimentscanrunduringotherac&vi&es,aslongastheydon’tinterfere

•  Example:Sensorthatpassivelycollectsdata

• Canminimizecrewinvolvement,requirecrewoversight,oreveninvolvecrewinexperiment

• Payloadsthat“playnice”withresourcesareexpectedtogetmoreexperiment&me

33

Payload Design Considera3ons • MechanicalInterface

•  Payloadbay•  Quick-disconnectleverspreferred•  Four-boltpalernop&onalsoavailable

• Oddpayloadsalsopossible•  REALMthinflexibleantennasonpropulsionmodulesareourfirstexample•  Largepayloadscouldpoten&allyconnecttodockadapterin“tractortrailer”configura&on

• ElectricalInterface• USBtoAstrobeeHighLevelProcessor•  Drawpowerfrom14.4VDCVbal(preferred)orUSB•  COTSmilspecblind-mateconnector

•  Iner&alproper&esandforces• GuidelinesonmaximumimpacttomassandCG•  Keepdisturbanceforcessmallandsteady

•  Thermalairflowexhaust•  Rota&ngparts–gyroscopicmoment,dragtorque,spin-up/spin-down•  Reac&onforcesgeneratedbymovingar&culatedpartslikearms

• Thermalinterface•  Don’tplanonusingAstrobeecoreasasignificantheatrejec&onpath•  Thermalinsula&onlayeratpayloadbaysurfacemaybeadvisable

34

SoYware Interfaces

35

PayloadProcessor

GuestSoiware

AstrobeeProcessors

GuestSoiware

PlaSormSoiware

Astrobee1

PayloadProcessor

GuestSoiware

GuestSoiware

PlaSormSoiware

Astrobee2

AstrobeeProcessors

GroundHost

GuestSoiware

ControlSta&on

SoYware Interfaces

36

PayloadProcessor

GuestSoiware

AstrobeeProcessors

GuestSoiware

PlaSormSoiware

Astrobee1

PayloadProcessor

GuestSoiware

GuestSoiware

PlaSormSoiware

Astrobee2

AstrobeeProcessors

GroundHost

GuestSoiware

ControlSta&on

Providesimula&ontools

Onboard Compu3ng

• LowLevelProcessor(LLP):Linux/ARM,Dualcore• Runshighfrequencycontrolloop

• MidLevelProcessor(MLP):Linux/ARM,Quadcore• Runsabsolutelocaliza&onalgorithms,obstacledetec&on,sequencer,communica&ons

• Heavyprocessingpowerusedbyvision• HighLevelProcessor(HLP):Android/ARM,Quadcore

• InterfacewithScienceCameraandTouchScreenDisplay• Encodesvideowithdedicatedhardware• Runsguestsciencecode

37

Astrobee Robot API

• Standardapproach• GuestscienceAndroid/JavaapprunningonHLPcommunicatesviaROS(rosjava)withplaSormsoiwarerunningonMLP

•  Commanding:Guestappusesrestrictedvocabularyofhigh-levelcommands,sentviaROStoonboardexecu&ve

•  Telemetry:FullaccesstoonboardROStelemetrystreams• Mul&-robot:WiFinetworkroutesareavailablebetweentheHLPsofdifferentfreeflyers;allmul&-robotcoordina&onisuptoguestsciencesoiware

•  Communica&ontopayload:YourAndroidappcancontrolUSBlinktoyourdevice

•  Communica&ontoground:PackyourtelemetrydatapointintoagenericROSguesttelemetrymessage

• Alterna&ves(morecustom->moreeffortandmorerisk)• ModifyplaSormsoiwareifneeded(e.g.&ghtcontrolloops)•  CanuseAndroidNDKifC++ispreferredratherthanJava• Manyotherpossibili&es

38

We Want You!

• TheprimaryuseofAstrobeeistobearesearchplaSorm

• It’suselesswithoutcompellingguestscienceexperiments

• Weareheretosupportyou(simulator,facili&es,ISSopsdevelopment,etc.)

39

Backup

40

Prototype 4D

• Upgradingexis&ngP4C• Newcentralstructure• EPSboard,SpeedCam,crewinterfaces,WiFiantenna

• NewpropmoduleservosandPMCs• PerchingArm• Dockberthingpost• FM,visualodometry,commanddic&onary,GNCimprovements

• ControlSta&on41

Risk Reduc3on

• SinglepropulsionmodulenotintegratedintoP4D• Newnozzles• Structuraldesign• Bumpers• Outerskin• SignalLEDs• LEDcontrolboard

42

System Architecture

43

Astrobee

Astrobee Modules

45

CentralModule

PropulsionModules

Prop Module Assembly

ImpactMi&ga&on

ImpellerRota&onalAssembly

Plenum

Nozzles

46

Compu3ng Systems

CoreAvionicsStack

PerchingArmController

PropulsionModuleController

AFT/CUTAWAYVIEW 47

External Sensors

FORWARD

HazCam

NavCam

DockCam

PerchCam

SpeedCam

SIDEVIEW48

Power Systems

FORWARD

Baleries

Baleries

DockAdapter(poweranddata)

49

Payload Layout

50

Bolom Top

Perching Arm

Stowed Stowed/Deployed51

Base Layout

SpeedCam

Balery(1ontop+

1onbolom)

HazCamNavCamSciCam

Microphone/Speaker

TouchScreen/TouchScreenAc&vateBulon

FrontLEDlight

DockCam

DockAdapter

PerchCam

AiLEDLightTerminateBulon

Balery 52

LEDIndicators

Laser

StatusLEDs

StatusLEDs

Core and Forward Module

TopForwardModule

53

ForwardModule

ForwardBezel

AY Module

54

AiBezel

PerchCam

DockCam

LED

AiAntennas

Indicators

55

A C GeneralStatusLEDs(crewcancalldownstatusincaseoferrors,like“Aisgreen,Bisamber,Cisoff”)

B

VID

AUDLIVE

A/VModeLEDs(blue,white,blue)

VID

AUDLIVE

A/VModeLEDs(blue,white,blue)

WAKE

PowerSwitch(illuminatedgreenwhenpowerison)

PWR

WakeBulon(illuminatedgreenwhenawake)

TouchScreenAc&vateBulon

Docking Sta3on

56

• 2FreeFlyerberths• 4standalonebalerychargers

• Controlpanel

Docking Sta3on Front and Side View

(30.50)

NOTE:Dimensionsareininches

(2.50)

(19.00)

57

Control Sta3on

58

ScicamReal-timeHD Video

NavcamImages@1HzNav & Plan

TelemetryRobot Status

Telemetry

TeleopCommands

Full Real-time Stream

Distributed Video

• EclipsebasedGUI• Create,run,tele-opplans

• Runguestscience• Administra&on• SeparategroundUIforfiletransfer,soiwareupdatesanddiagnos&cs

Plan Valida3on

59

Run Plan Tab

Modelofloadedplan

60

Run Plan Tab

61

Teleopera3on Tab

62

Free Flyer Key Requirements •  Holonomiccontrol

•  NavigateUSOS•  Mul&pleperipheralports

•  Reconfigureparametersperpayload

•  OpenAPIforpayloads•  Posi&on:+/-20cm,+/-2cm

•  Angle:+/-20deg,+/-8deg•  Maxaccelera&on:10cm/sec2

•  Maxvelocity:50cm/sec

•  Avoidhixngunexpectedobstacles

•  Avoidkeepoutzones•  Validatepathagainstmap

•  Monitorbalerycharge

•  Noiserequirements

•  Toleratecollisions•  Size:30cmx30cmx30cm

•  Mass:6kg

•  StreamandrecordHDvideo

•  Sor&edura&ons&energystorage•  Perchonhandrails•  Autonomousdocking

•  Replaceablemodules

•  Upgradeablesoiware•  ISSICD&Safety

Docking Sta3on Key Requirements

• Freeflyeranddockmustbeabletocompleteallphysicalconnec&onswithoutcrewassistance

• ARtargettoassistfreeflyerlocaliza&onduringdockapproach

• Rechargebaleries• Providefreeflyerwithhighbandwidthwiredconnec&ontoISSLAN

• Dockprovidestwofreeflyerberths• ISSICD&Safety

Ground Data Systems Key Requirements

•  GroundControl•  ManualControl

•  Planauthoring•  Plancontrol(select,upload,run,pause,abort,skip)

•  ProvidePIsaccesstosciencedata•  Soiwareinstall(guestscience)•  Monitormul&plerobots

•  Iden&fyfreeflyerbeingcontrolled•  RemoteTerminate•  Real-&metelemetrydisplay

•  2Dand/or3Dtelemetryvisualiza&on

•  Simula&onforplanvisualiza&on

•  Controlsta&onhealth&status•  Providedatastorage•  MinimalUItrainingforCrewandOperatorySta&ons

•  Upgradablehardware/soiware•  ISSICD

ISS Free Flyer Science: SPHERES Today, Astrobee Tomorrow

GoogleTalkJoseV.Benavides

Presenta=on Outline

• FreeFlyerEvolu+on• SPHERESFacilityOverview• SPHERESGuestScien+stProgram• AstrobeeOverview• AstrobeeGuestScienceExamples• HowtoU+lizetheSPHERES/AstrobeeFacili+es• PDST&EProcess

SmartSPHERES

SPHERESPSAAeroCAM AstroBee

RINGS

SLOSH

Interact

UDP/HALO

Tether

ZeroRobo+csVer+go

1996-2002 2000-2008 2006-2017 2018

Propulsion GNCVisualNav Automa+onHumanRobotInterac+on

In-spaceManufacturing

Avionics

Free Flyer Evolu=on

SPHERES Facility

–  AFacilityoftheISSNa+onalLaboratorywiththreeIVAnano-satellitesdesignedbyMITtoresearches+ma+on,control,andautonomyalgorithms

–  InstalledonISSin2006–  ManagedbyARCsinceFall2010–  ByworkingaboardISSundercrewsupervision,it

providesarisktolerantTestbedEnvironmentforDistributedSatellite&Free-flyingControlAlgorithms

•  Forma+onflight,•  Docking,•  Closeproximityopera+ons

–  Ifanythinggoeswrong,resetandtryagain!–  Thesatellitescanbereused

ü  Replenishableconsumablesü  Mul+pletestsessionsassignedperyear

Sco5KellyworkingwithSPHERESintheKibolab

SPHERES ISS National Lab Facility •  Program Executive: Jason Crusan (HQ) •  Program Manager: Jose Benavides (ARC / TI) •  Chief Engineer: Jonthan Barlow (ARC / TI) •  Operations Lead: Aric Katterhagen (ARC / TI)

131+TestSessions(Over700hrs)&45+individualISSCrewMembershaveoperatedSPHERES(manymul+ple+mes)-oneofthemostusedandpopularISSNa+onalLabFacili+es

SPHERES Guest Scien=st Program

•  TheSPHERESprogram(andAstrobee)welcomesscien+stfromaroundtheworld.•  Contac+ngapartyaboveinaddi+ontoreadingabouttheGSPinthepdfsontheSPHEREShomepagecanassistyouingecngstarted.TheGSPInterfaceDocumentsareupdatedasneededsokeepcheckingback.

hdps://www.nasa.gov/spheres/guest-scien+st-program•  AlsoavailablefordownloadbelowistheSPHERESSimulator.It'shostedbytheISSSPHERESprojectonSourceForge.

•  NOTE:Theseprocesses(thisandthefollowingslide)arealsobeingdevelopedforAstrobeesoconInuetofollowtheAstrobeehomepage(seelastslide).

• Thereareseveralavenueswhichcanleadtointegra+ngscienceontheSPHEREFacility:

• ISSTechnologyDemonstra+onOffice• CASIS(CenterfortheAdvancementof

ScienceInSpace)• Defense(DOD)/DARPA/• SPHERESPM/Engineering/Ops/POCs(JoseBenavides/JonathanBarlow/AricKaderhagen)•  ESA??

SPHERES Guest Scien=st Program

PIMsprovideintegraIonleadershipduringallphasesofthepayload’slifecycle•  Strategic–facilitatedefini+onofISSintegra+onrequirements,products,andscheduledevelopmenttoensurethatanISScompa+blepayloadisbuilt;supportmanifestprocess(payloaddatacollec+onandfeasibilityassessments)

•  Tac+cal–representPDintereststoIncrementandFlight-specificteamstoensurethatintegra+onandopera+onsrequirementsareaddressed;coordinateverifica+onsubmidalsandpayloadCer+ficateofFlightReadiness(CoFR)

•  Opera+ons–coordinatepayloadresupplyorreturnrequirements;coordinateverifica+onsubmidalsandpayloadCoFRduringpayloadlife+meon-orbit

•  Post-flight–coordinatevehiclede-integra+onrequirements;assurereturnofpayloadhardware/samplesfromthelandingsitetothePD;supportLessonsLearnedsubmidals

RequirementsDefiniIon(Design,Development,Test,Safety,

andVerificaIon)

SRR CDR

MissionIntegraIon(IncrementPlanning)

RealTimeOperaIons(Research)

PostFlightOps(H/W,DataReturn)

Strategic TacIcal OperaIons

ReturnLaunch

Post-flight

ManifestApproved

PDR

SPHERES Guest Scien=st Program

• CurrentSPHERESHardwareonISS• [Thisslideneedstobeupdatedwithphotos}

• Threesats• Halo• DP• VERTIOG• Tether-Slosh• ZR

Astrobee Overview

•  ThreefreeflyersonISSstar+ngspring2018•  Dockingsta+onforrechargeandwiredcommunica+on•  Builtinperchingarmusingpayloadinterface•  6totalcamerasforvariouspurposes,includingonecellphoneclassHDcamera.•  Mainpurposes:

• Hostguestsciencepayload(GSPpayloads)•  ServeasmobilecameraforISSsitua+onalawareness•  Serveasmobilesensorplasorm

•  FirstGSPPayloads•  REALMRFIDreader•  ZeroRobo+csHighSchoolandMiddleSchoolcompe++ons

• GuestScienIstopportuniIesasearlyasfall2018

Astrobee Overview

Astrobee Guest Science Examples

• ExamplesofPoten+alScience•  REALM(currentprojectinworks)•  RFIDApplicator(Phase1SBIR)•  OtherRFIDcapabili+es•  ZeroRobo+cs(currentuserofSPHERES)•  AllothercurrentandpastusersofSPHERES

•  VBN•  EMFstudies•  Docking•  Human-Robo+cinterac+on(Interact)•  FluidDynamics•  Tether

•  FreeFlyerswithGecko-InspiredAdhesiveAppendages•  CO2Monitors•  CrewRadia+onExposureModeling•  3Dcamerapayloads

Astrobee Guest Science Examples

• ExamplesofPoten+alScienceCon+nued• OrbitalRobotControlforEnhancedAutonomy• In-SpaceRendezvousandServicing• ComponentswithExo+cDynamics• Forma+onFlightbeyondwhatSPHEREShasdone• Robo+cManipula+on• Human-RobotInterac+onbeyondwhatInteracthasdone

How to U=lize the SPHERES Or Astrobee Facili=es

• Fromahighleveltherearefourmainwaystou+lizethecurrentSPHERESFacilityorFutureAstrobeeFacility.SomeexamplesaremoreapplicabletooneresearchFacilityovertheother.

• Fromeasiesttomoreresourceintense•  Sotwareonlyscience(u+lizeexis+ngsotware)•  Sotwareonlyscience(testnewsotware)•  Useexis+ngsotwarewithexis+nghardware•  Createnewsotwareforusewithexis+nghardware•  Createnewsotwareandnewhardware

• Regardlessofthepath,thereisageneralpathtoworkingwiththeISSprogramthat,dependingonthefundingandsupportoftheproject,theNASAAmesSPHERES/Astrobeeteamcanhelpwith.

PD ST&E Process (How is this applicable to SPHERES & Astrobee?)

Tes=ng Resources Available

• {PHOTOSofthelabsatARC}• 

Ques=ons?

SPPHERES/Astrobee Social Media

hdp://www.nasa.gov/sphereshdps://twider.com/NASA_SPHEREShdps://cms.nasa.gov/astrobee