National Technical University of AthensMechanical Engineering DepartmentControl 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

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Who we are Who we are -- CSLabCSLab

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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

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Who we are Who we are –– Space Space RobiticsRobitics

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>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

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

IntroductionIntroduction

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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

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

MotivationMotivation

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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

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Selection CriteriaSelection Criteria

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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

Which terrestrial MNTs are prefered?

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Identified Terrestrial Identified Terrestrial MNTsMNTs

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Statistics

European R&D and industry very competitive

Per country:21%19%17%9%8%

7%4%3%3%2%

Classified per Space A&R subsystem

> 100 interesting MNTs

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Space A&RSpace A&R

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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

Classification

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011 9

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

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011 10

Identified Problems (II)

Power and Propulsion have special demands

OBDH and AOCS because of extremely complicated dynamics

Sensors for Rendezvous and Docking

Chassis should be lightweight.

Cabling problem (NASA – Orbital Express)

Large Actuators which lead to the necessity of integration

Sensors for high flexibility and dexterity

Power Production and Storage is large and massive

OBDH lack terrestrial computer capabilities

Structure properties can be enhanced. Cabling.

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Replacements & RoadmapsReplacements & Roadmaps

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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 possibleMainly qualitatively Difficulty to assess the modification process by entities

(cost, time, alteration of characteristics)

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Prominent Replacements (I)Prominent Replacements (I)

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Expected ImpactCurrently ReplacementMass and volume reductionReduced EMIReduced power losses

Hi eff. (>98%) DC/DC Piezotransformer (Noliac – DK)

Less CablesWireless automationDesign flexibilityIncreased freedom of motion

Wireless PowerWISA Power (ABB - D)

Active cooling on the spotLess power neededBetter thermal controlHigher efficiency

Active coolingTE Peltier Coolers (Micropelt - D)

DC/DC Converters

Cables

Thermal Mgmt

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Prominent Replacements (II)Prominent Replacements (II)

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Expected ImpactCurrently Replacement

IMUs

Lenses

3D Cameras

Mass and volume reductionShock ResistantPower consumption

Motion Tracking InsrumentButterfly Gyro (IMEGO - SE)

AutofocusNo moving partsSmall designStabilization Control

Variable focus lensesLiquid Lenses(Varioptic - FR)

RT Depth Calculation 3D Camera (Mesa Imaging - CH)

Reduced Mass and VolumeNo 3D SW algorithmAutonomous navigationLower Power reqs.

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Prominent Replacements (III)Prominent Replacements (III)

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Expected ImpactCurrently Replacement

Cables and Strucutre

OBDHArchitecture

Actuators

Mass and volume reductionModularity & FlexibilityDistributed SensorsProtected harnessesWire in Composite (BeruF1 – GB)

SoC PackageRF Rx and TxLow PowerLess CablesWiseNET & icyflex (CSEM - CH)

Linear Actuator (KATAKA - DK)

Novel Actuation MethodLinear ActuationVolume needed for linear actuation method

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011 15

Roadmaps

Sensor IslandsStructureOBDHAOCSNavigation & DockingActuators

Systematic methodology for introducing MNT to a high system level at the two selected scenarios

Problems

- Space solar cells more efficient than terrestrial

- Hydrogen Fuel Cells cannot be used in space A&R

- Motor elements (Magnets and materials)

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Roadmaps: Sensor Islands

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- Less Cables- Power Harvesting- Integrated Electronics- Computational Autonomy- Wireless Communication- Increased Functionality

Mass Volume Power Comp. FuncModerate Moderate High High High

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Roadmaps: Navigation

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Mass Volume Power Comp. FuncHigh High High High High

- Lower consumption (electrical & computational)

- Multiple and/or redundant computational units

- Upgraded navigational capabilities

- Combination with Sensor Islands

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Roadmaps: Structure

Mass Volume Power Comp. FuncLow Low Medium Low High

- Mass and Volume Reduction

- Increased functionality- Decentralized Sensors- Combination with Sensor

Islands

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

SummarySummary

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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

ESA and Europe: Can be independent and competitive Large financial impact

Highest impacts: Sensor Island concept Improved sensing capabilities Decentralized architecture Integrated and efficient electronics Novel chassis with improved characteristics

NTUA – Mech. Eng. Dept. – Control Systems LabSpinning-in of Terrestrial μSystems for Space A&R

ESA, ESTEC, The NetherlandsASTRA 2011, 13/4/2011

Questions ?Questions ?

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More information:http://csl-ep.mech.ntua.gr

Contact:Prof. Evangelos Papadopoulosegpapado@central.ntua.gr

Iosif S. Paraskevasisparas@mail.ntua.gr

Thaleia Flessatflessa@mail.ntua.gr