8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
Automation and Robotics in the German Space ProgramUnmanned on-orbit servicing (OOS) & the TECSAS mission
BERND SOMMER German Aerospace Centre (DLR)
Space Management, General Technologies and [email protected]
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Vision
Mission of the Agency
On-Orbit Servicing
Projects & Missions
Outlook
Table of Contents
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Vision
8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Sun probes
Orbital infrastructures
Manned Baseon the back side of the moonfor astronomy
Unmanned explorationof the “hot” planets
Unmannedexploration of Jupiterand it’s moons
Mars station
Unmanned exploration of the“cold” planets, interplanetary bodies and matter
A&R Vision
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
NavigationCommunication
Disaster Management
Disaster Management
Weather Forecast
Weather Forecast
Agriculture Planning
Agriculture Planning
Applications
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Mission of the Agency
8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Manned/Unmanned Science & Exploration
Missions
Exclusive responsibility for
Space oriented activities
Precursor & pathfinderfor
Earth oriented activities
Operation of an orbital infrastructure for weather
forecasts, telecommunication, navigation, agriculture
planning, disaster handling etc.
§Legislation Politics
Regulation Military
Facilitate Commercialization !
Agency Role of DLR
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Three parallel corridors for OOS:Three parallel corridors for OOS:
TECSAS
End-to-end System Engineering
& Demonstration
Market analyses & Private public partnership (PPP)-
ventures
Subsystem & Component Development and
Qualification
CX-OLEV
ROKVISS
VITAL
Programmatic emphasis
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
On-Orbit Servicing
8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
0
5
10
15
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25
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Year 1 Year 2 Year 3 Year 4 Year 5 Year 6 Year 7
No.
Fai
lure
s
• Source: Frost & Sullivan• 65% Infant mortality (Year 1 checkout) of all OOS failures as
expected! • 16% in Year 3: Higher Than Subsequent Years due to the growth of
year 1 problems, so these are associated with infant mortality. • Av. 5% Failures year 3+: constant random failures• No data available post-year 7 as no GEO platform has functioned
beyond this - all 15 year life platforms are new!• New Long-life Platforms May Be Responsible for Increased Infant
Mortality Due to Flawed Design Philosophy (According to Insurance Company Analyses)
Propagation
Study OOS II ©2004JKIC&DLR1990-1995: 25% In-Orbit Failures (GEO) of 540 M€ Total Cost (75% Launch)1996-2003: 66% In-Orbit Failures (GEO) of 5.000 M€ Total Cost (34% Launch)Today: 1.000 M€ Insurance Claims p.a. (50% In-Orbit Failures)
Failure Breakdown:Approximately 40% Power, 20% AOCS, 20% Payload, 20% Other
GEO Telco Satellite Failure Statistics
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Service Events
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2
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2008 2009 2010 2011 2012 2013 2014 2015
Year
100
120
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180
MotionManipulationObservation
Revenues
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100
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500
2008 2009 2010 2011 2012 2013 2014 2015
Year
MotionManipulationObservation
Service Events
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2008 2009 2010 2011 2012 2013 2014 2015
Year
GEOMEOLEOLEO-SSO
Revenues
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2008 2009 2010 2011 2012 2013 2014 2015
Year
GEOMEOLEOLEO-SSO
Market Potential- selected figures
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
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
Big Question
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
New Design Philosophy:
•Create Serviceability -> cooperative design
•Handle Lifetime of Bus & P/L separately
• Include comprehensive Failure Detection/Diagnostics
•Consider Failure Propagation
“Availability” Does Not Necessarily Mean“Reliability via Redundancy” A. Ellery
Technology
Challenge
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Legislation Politics
Regulation Military
§§
Technology
The OOS challenge“S2S” Business
System & Business Engineering Solution?
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Website:www.on-orbit-servicing.com
Further Information on
52 Participants from 11 Countries
70 Participants from 11 Countries
International Workshops OOSwww.JKIC.de
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
• Currently envisioned missions and applications with OOS relevance• Technology needs derived from these application scenarios• Technical developments to provide the means OOS • Progressive logistics on-orbit and on-ground, i. e. infrastructure
elements, transportation, operations, etc.• Potential role of ISS in the OOS context• Civil versus potential military applications • Alternatives to OOS• Economic issues, market potential & commercialization implications • Additional drivers and soft-factors (political, regulatory, structural,
psychological etc.)• Future programmatic orientation of agencies and industries and new
technology trends for space A&R, satellite design and operations.
Workshop results and synthesis on the workshop website: http://www.on-orbit-servicing.com/workshop_2004/index04.html.
Scope of the Workshops
http://www.on-orbit-servicing.com/workshop_2004/index04.html
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Unmanned on-orbit servicing (OOS) & the TECSAS mission•R O A D M A P •O O S & •S A T E L L I T E • S E R V I C I N G•S U M M A R Y TIMEFRAME (as of 2004)•TOPIC 0-5 YEARS 5-10 YEARS 10-20 YEARS
•GENERAL Paving the way for OOSGrass-roots private sector
Paving the way for OOSGrass-roots private sectorMore complex missionsDecreasing costTrade for programs and advocacy
Focus on increasing mission availability, flexibility and efficiency.3 classes of space infrastructure elements:*Non-cooperative*Partly cooperative*Fully cooperative •Corresponding OOS will be available to all classes.
•BUSINESS DEVELOPMENT
Generating economic benefits from on-orbit servicingOOS is an emerging business that needs to establish its credibility through demonstration/operational missions. The first operational mission will likely be the Hubble Servicing Mission.•The space community will start to consider OOS as part of future programs.
Entrepreurial/commercial successes.Link to private equity
OOS will evolve as an integral part of space industry and business landscape.
Roadmap 1
8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
•DEMONSTRATION MISSIONS
Missions for which the main objective is to demonstrate and verify the capabilities of on-orbit servicing.The level of complexity of the mission will increase from rendez-vous without contact to capturing and docking of non-cooperative satellites.Manipulations, refuelling and component exchange will be done only for satellites/spacecrafts designed to be serviceable (e.g. Hubble, Orbital Express).
•OPERATIONAL MISSIONS
Missions that are responding to a need expressed by a customer.
Missions that are responding to a need expressed by a customer.
OOS will be established as part of operational missions.
•CONCOMITANT ACTIVITIES
Activities beyond the technical development to create the proper environment for the development of on- orbit servicing. We could expect a series of developments that will impact OOS.
Activities beyond the technical development to create the proper environment for the development of on- orbit servicing. We could expect a series of developments that will impact OOS.
Proper environment estasblished for OOS & OOA.
Roadmap 2
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Projects & Missions
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
ROKVISS ROBOTICS COMPONENT VERIFICATION ON ISSG. Hirzinger, K. Landzettel, D. Reintsema, C. Preusche,
A. Albu-Schäffer, B. Rebele, M. Turk
iSAIRAS 2005, MunichSession 2b - Orbital Missions
ROKVISS26-01-05
Results and lessons learnedafter 8 months of operation:
8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
ConeXpresscross-section
Device
ConeXpresscross-section
Latching
Illumination(segmented,ring-shaped)
Illumination(segmented,ring-shaped)
CaptureTool
Camera Camera
ClientNozzle
S / C
uppersensor
arrangement
lowersensor
arrangement
Motor Motor
Deployable /Retractable
Boom
Motor Motor
Dev
ice
Latc
hing
CameraControl
Electronics
Docking PayloadControl Unit
(„Docking“ RTU)
© Kayser-Threde GmbH © DLR-RM
• Licence agreement between DLR and Orbital Recovery Limited, GB• PPP between DLR Space Management and industry•Kayser-Threde is payload prime contractor of Orbital Recovery Ltd.
Docking module is based on DLR-RM’s captured tool (CT)• Further subcontractors are von Hoerner-System GmbH for the vision system
and SpaceTech GmbH, Immenstaad responsible for the client support mechanism
Docking module of CX-OLEV with DLR Capture Tool
© Orbital Recovery Ltd.
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Technology Satellitefor demonstration and verification in Space
TECSAS
TECSAS
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
• Servicer Satellite will be based on Multi-purpose orbital
platform of BSC (MPOP)
• Client Satellite is Quicksat, a CSA micro-satellite
• TECSAS manipulator/robotic system will be based on DLR
elements developed, demonstrated and space qualified
during the ROKVISS mission
•Active vision system will be deployed on the Servicer for
the far and close rendezvous phases.
• Servicer and Client satellites will be put on orbit via a
DNEPR cluster launch
Mission Baseline
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
TECSAS Mission Concept
Launcher: DneprLaunch type: Cluster launch, launch of Servicer- and the client satellite within
a single launch campaign Orbit: Sun synchronous near circular " dusk-dawn" orbit, inclination of
-98°, altitude approximately 650 km. Ground control: Simultaneous control of servicer and client from Bear Lakes
near Moscow , RussiaPreliminary timeline:t0: Launch (end of 2009)t0 + 1 day On-orbit check-out and commissioning of servicer and client
satellitet0 + 6 days: Approach maneuvers before rendezvoust0 + 7 days: Start experiments (German and Canadian in increasing order of
complexity); every time one day experiment one day analysist0 + 31 days: Nominal end of experimentst0 + 32 days: Start time margin (extension of experiment phase due to
problems, malfunctions and/or to repeat experiments etc.)t0 +90 days: Nominal end of missiont0 + 91 days: Mission extension or de-orbiting
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Mission Profile
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
TECSAS Servicer Satellite
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Far rendezvous:Servicer satellite approaches the client satellite up to 300 m Close approach:Servicer satellite approaches the client satellite from 200 m down to working distance Inspection/fly around:Maintain constant relative distance, orient video camera towards the client Formation flight:Maintain relative distance, orientation and velocity of servicer and client satelliteIdentification of behaviour:Identification of dynamic model parameters of servicer and coupled system Flight maneuvers/orbital changes:Perform with coupled satellites a predefined change of orbital parameters Capture:Synchronize the manipulator and client motion. Grasp client with the end effector. Stabilize coupled system via the manipulator arm.Berthing:Move and orient the captured client via manipulator and attach it rigidly to the servicer, release the manipulator.OOS representative task:E.g. plug/unplug electric connectorDecoupling and separation of servicer and client:Bring servicer into and reside in save distance, initiate collision avoidanceDe-orbiting:Put the servicer on pre-defined re-entry trajectory.
Experimental Program
8th International Symposium on Artificial Intelligence, Robotics and Automation in Space5-8 September 2005, Munich Germany
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Outlook
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Perspective of Automation & Robotics
Tasks inside and outside of the International Space Station (ISS) as well as on-orbit servicing of satellites (OOS) and the exploration of the solar system and other celestial bodies will benefit from the enhancement of space system autonomy and the level of automation.
The combination of new information technologies, forward lookingcommunication systems, highly integrated mechatronics and advanced actuators and sensors together with powerful simulationtools will open up a large array of space applications in the future.
The accomplishments of A&R in Space will support key policy goals such as faster economic growth, creation of high quality jobs, industrial competitiveness, international cooperation and collaborations, strong security and defense capabilities and the fight against poverty.
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Unmanned on-orbit servicing (OOS) & the TECSAS mission
Servicing Vehicle (Interavia 5/56)
past futurepresent
Manned & unmanned Servicing/Assembly
Servicing Infrastructure
TECSASHubble ISS
CX-OLEV
DART
XSS-11
Shuttle Inspection
Orbital Express
???JEMHTV
Evolution Routes ??
Automation and Robotics in the German Space Program�Unmanned on-orbit servicing (OOS) & the TECSAS mission �Table of ContentsVisionA&R VisionApplications Mission of the AgencyAgency Role of DLRProgrammatic emphasis On-Orbit ServicingGEO Telco Satellite Failure StatisticsMarket Potential- selected figuresBig QuestionChallengeThe OOS challengeInternational Workshops OOSScope of the WorkshopsRoadmap 1Roadmap 2 Projects & Missions ROKVISSDocking module of CX-OLEV with DLR Capture Tool TECSAS�Mission BaselineTECSAS Mission ConceptMission ProfileTECSAS Servicer Satellite Experimental Program Outlook Perspective of Automation & RoboticsEvolution Routes ??