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William F Church

Publications and source records attributed to William F Church.

A High-Reliability Photoelectric Detection System for Mars Sample Return’s Orbiting Sample

The Mars Sample Return campaign is an endeavor of unprecedented technological complexity and coordination that attempts to answer fundamental questions about the habitability of Mars by returning the first samples of Martian material to Earth for analysis. The third mission in the campaign consists of the NASA-provided Capture, Containment, and Return System (CCRS) onboard the European Space Agency’s Earth Return Orbiter, which will retrieve the Orbiting Sample (OS) container from its orbit around Mars. Retrieving a passive sample container from a planetary orbit has never been attempted by any spacecraft and requires the development of new technology to succeed in this ambitious task. This paper introduces the high-reliability Capture Sensor Suite (CSS), a novel optical detection system that provides CCRS with the capability to autonomously detect the OS as it is captured. This article will discuss the challenges and requirements for the fault-tolerant design of the CSS.

planetary sampling↗

Implementation of Field-Oriented Control in Joint Actuator Electronics for Satellite-Servicing Robotics

NASA’s OSAM-1 (On-orbit Servicing, Assembly, and Manufacturing 1) is a robotic spacecraft designed to extend the life of a satellite. Launching in 2026, the OSAM-1 servicer will use a robotic arm to grasp, refuel, and relocate Landsat 7. In order to accomplish the various servicing operations, including the critical auto-grapple capturing operation, the robot arm uses active compliance and visual servo control loops. These sophisticated control algorithms are enabled by the high performance Joint Control Boards (JCBs). At the core of the robot arm control architecture, the JCBs employ field-oriented control (FOC) to accurately commutate and efficiently control joint actuator torque. FOC offers numerous benefits over other current control methods, allowing the JCBs to achieve the high bandwidth and performance required by the outer control loops. As an added benefit, a torque feed-forward term allows the FOC loop to simulate microgravity actuator performance during ground testing. In this paper, a FOC implementation for space robotics applications and an end-to-end actuator calibration process are discussed.

Sam Zhao↗