Space ROS: An Open-Source Framework for Space Robotics and Flight Software
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Space Robotics↗
Engineering topics
Brian Roberts
Publications and source records attributed to Brian Roberts.
Grappling Spacecraft
This article provides a survey overview of the techniques, mechanisms, algorithms, and test and validation strategies required for the design of roboticgrappling vehicles intended to approach and grapple free-flying client satellites. We concentrate on using a robotic arm to grapple a free-floating spacecraft, as distinct from spacecraft docking and berthing, where two spacecraft directly mate with each other. Robotic grappling of client spacecraft is a deceptively complex problem: It entails designing a robotic system that functions robustly in the visually stark, thermally extreme orbital environment,operating near massive and extremely expensive yet fragile client hardware,using relatively slow flight computers with limited and laggy communica-tions. Spaceflight robotic systems are challenging to test and validate priorto deployment and extremely expensive to launch, which significantly limitsopportunities to experiment with new techniques. These factors make thedesign and operation of orbital robotic systems significantly different fromthose of their terrestrial counterparts, and as a result, only a relative handfulof systems have been demonstrated on orbit. Nevertheless, there is increas-ing interest in on-orbit robotic servicing and assembly missions, and grap-pling is the core requirement for these systems. Although existing systemssuch as the Space Station Remote Manipulator System have demonstratedextremely reliable operation, upcoming missions will attempt to expand thetypes of spacecraft that can be safely and dependably grappled and berthed.
Carl Glen Henshaw↗
Space Robot Operating System (Space ROS)
Space Robot Operating System (Space ROS) is an open-source software framework for flight-quality robotic and autonomous space systems. It combines the benefits of open-source software and flight software best-practices into a single framework. Space ROS is predicated on ROS2 and is therefore reusable, modular and adoptable. As an open-source framework, it is accessible to the global space community. Space ROS is intended to be compliant with NASA flight software engineering practices in order to facilitate meeting mission and safety standards. Space ROS has fault management and real-time capabilities at its core.
Will Chambers↗
Lessons for Future In-Space Telerobotic Servicing from Robotic Refueling Mission
The Robotic Refueling Mission (RRM) was a multi-phased technology development effort by the National Aeronautics & Space Administration (NASA) and the Canadian Space Agency (CSA). The program leveraged the existing robotic systems and expertise of the International Space Station (ISS) program and the tool design and satellite servicing expertise of NASA’s Exploration & In-space Services (NExIS) Projects Division at Goddard Space Flight Center (GSFC) to evaluate new hardware and techniques for on-orbit telerobotic servicing. Between 2011 and 2021, two external ISS payloads housed over a dozen robotic tools and adapters designed to service a variety of existing and novel satellite interfaces. Robot operators at NASA’s Johnson Space Center (JSC) and CSA used the Special Purpose Dexterous Manipulator (SPDM) to retrieve and operate these tools for tasks such as cutting wires or multi-layer insulation blanketing, removing valve caps, mating electrical connectors, transferring fluids, and performing visual inspections inside a vehicle. Each phase of RRM involved years of preparation. Tool and interface designs were prototyped and evaluated using both NASA and Canadian ground robotic systems. Procedures were developed by GSFC engineers and vetted in partnership with JSC and CSA robot operators. GSFC engineers were trained to provide real-time support during on-orbit operations. These preparatory efforts and the successful on-orbit evaluations yielded an array of lessons for future in-space telerobotic missions. Designing robotic tools for the space environment requires special consideration of materials, indicators, and differences between ground and flight use cases and environments. When there is a limited window for on-orbit operations, devoting time and high-fidelity hardware to ground testing can be critical. Needs during potential troubleshooting are more essential to camera view quality, frame rate, and position requirements more than nominal operations. Detailed hardware manuals, nominal and contingency procedures, along with clearly defined operations team roles and protocols are vital for efficiency. RRM also demonstrated how the ISS can be utilized to increase the technology readiness levels required for future missions and led to additional technology partnerships between NExIS and the ISS program. The lessons from RRM are currently being applied to designs, operations concepts, and ground test methodology for missions such as On-orbit Servicing, Assembly, and Manufacturing1(OSAM-1)and Mars Sample Return.
Zakiya Tomlinson↗
Lessons for Future In-Space Telerobotic Servicing from Robotic Refueling Mission
Note: Presentation contains videos in slide 3,5,8 and best when used as a slide show.
robotic servicing↗
The Space Superhighway: Space Infrastructure for the 21st Century
This paper introduces a concept for space infrastructure developed with input from multiple U.S. government agencies called the Space Superhighway, which could support civil, commercial, and national security space activities. The Space Superhighway is a commercial-first space infrastructure that contains three primary components: regional hubs, a sustainable transportation network, and Earth-to-orbit logistics. Civil, commercial, and national security space sectors could use this common infrastructure to support missions such as satellite servicing, Earth science, and space domain awareness, among others. It utilizes a commercial-first, “infrastructure-as-a-service” approach which contains industry-owned and operated assets with government anchor tenants for commercial services, enabling extended mission lifetime, on-orbit repair, maneuver without regret, and debris mitigation and removal. The Space Superhighway is the space infrastructure needed for the 21st century.
space superhighway↗