Astrobee Overview, Current and future science using free flying robots on the ISS. The Astrobee Facility and Research Opportunities
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Astrobee↗
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Astrobee Facility: Astrobee Working Group
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Jose V Benavides↗
Astrobee: Five years of Completed, Current, and Future Research on the International Space Station using Free Flying Robots.
After five years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 160 Test Sessions logging over 1200 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team currently maintains two identical free-flying Astrobee robots and a Docking Station for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Using ambient air on the ISS, propelled by battery-operated fans, Astrobee is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing the need for astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be tele-operated from the ground. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. The Astrobee Team and Guest Scientists have completed research including Astrobatics maneuvers, RFID and sound sensing capabilities, Gecko materials studies, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots is investigating new docking capabilities through software only research as well as testing new docking hardware installed on the Astrobees. The Astrobee Team and other researchers at NASA Ames continue to explore robotics applications for future NASA missions such as Gateway and potential experiments involving human-robot interactions. Continued advanced mapping resolution capabilities, and high-resolution panoramic imagery also remains areas of research. Exciting in development research involves docking for rendezvous proximity operation (CLINGERS), multi resolution 3D scanning (MRS), space debris removal in microgravity (REACCH). This presentation will mainly focus on completed research over the past year and current science being performed on the Astrobees. This presentation will also focus on how a Guest Scientist/Researcher progresses from conception to running their science on the Astrobees on the ISS, as well as discuss the Astrobee Facility resources available for supporting ground testing and real-time ISS operations.
Astrobee↗
Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station
After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.
Astrobee↗
Astrobee: Improving Capabilities for Free Flying Robotic Technology Demonstrations
The Astrobee Project has completed three years operating inside the ISS. Three Astrobee Free Flyers reached the ISS in April 2019 and are currently hosting a variety of users. During this time, Astrobee has advanced the state of the art in free-flying robots on ISS, operated over 100 sessions, logged over 750 hours of free-flyer operation, and made several capability improvements. Astrobee’s primary objective is to provide a highly flexible and capable free-flying robotic research platform to enable future guest scientist investigations. However, Astrobee is also demonstrating the feasibility of intra-vehicular robots (IVR) for performing key caretaking functions within exploration vehicles as part of NASA’s Moon-to-Mars exploration strategy. IVR capabilities will be especially vital during uncrewed mission phases. For example, current plans call for the lunar Gateway to be uncrewed >85% of the time. Astrobee’s baseline implementation supports free-flying camera and sensor survey use cases. Astrobee guest scientists can deploy software updates and hardware payloads to extend its capabilities. Astrobee is continuously improving its navigation robustness, general flight software maturity, and ISS interior maps, both through the baseline Astrobee operations and with the help of the ISAAC project. Astrobee began with mapping, localization, and operations in the Japanese Experiment Module (JEM), and has expanded to mapping in Node 2 and the US Lab. Astrobee has improved localization and operational robustness through improved mapping processes, algorithm updates (Soussan 2022) that reduce the occurrences of lost localization as well as developed recovery techniques to return to a good localization fix when loss of localization does occur. Future guest science experiments currently in development could demonstrate cargo transfer, fault isolation, free flyer and stationary robot collaboration, microgravity fluid transfer, and new docking mechanisms, among others. This presentation will focus on 1) Astrobee technical capabilities 2) What Astrobee can provide to a guest science experiment 3) Astrobee’s recent improvements 4) Possibilities for using Astrobee for future investigations. Soussan, R., Kumar, V., Coltin, B. and Smith, T. (2022) AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot, Proc. Int. Conf. Rob. Autom. (ICRA) [to appear]
Astrobee↗
Astrobee's Multi-year Activities at the International Space Station's Japanese Experimental Module
The Astrobee free-flying robots recently completed their third successful year of operations, housed in the Japanese Experimental Module (JEM) on the International Space Station. We summarize the three years of operation, giving special attention to JAXA's 1st and 2nd Kibo Robot Programming Challenge (RPC) and the mapping processes and tools that make Astrobees' autonomous operation possible. The JEM is an ever changing, dynamic environment where light settings, cargo, payloads, and crew members constantly move and interact with one another. The 1st JAXA Kibo RPC event, a collaboration between JAXA and NASA, was held in 2020. Students from several countries in the Asia-Pacific region competed in programming challenges with a simulated Astrobee. The finalists were then invited to run their code on an actual Astrobee in the JEM. For the final round, students programmed Astrobee to visit three different locations to obtain data that would instruct the robot to complete a final task with the participation of ISS crew. The first competition was a tremendous success, leading to an equally successful 2nd JAXA Kibo RPC in 2021 with even larger participation. The 3rd JAXA Kibo RPC will occur in 2022 expanding further to incorporate US participants. These activities led to several firsts in Astrobee’s history: operation of an Astrobee free-flying robot without crew supervision in preparation for on-orbit operations, autonomous image acquisition towards updates of the navigation map, non-NASA code running on the robot (both from JAXA and participating students), two heterogeneous free-flying robots from two different space agencies working together (Int-Ball and Astrobee) during the final event in 2020, the first payload using Astrobee, and having Astrobee controlled from a non-NASA location (Tsukuba Space Center). The preparation towards these activities involved constant evaluation of the different components of Astrobee's systems, specially mapping and localization. The paper describes the evolution of these systems such as the improvements made in localization to reduce localization drift by using graph-based optimization instead of the extended Kalman Filter localizer. Additionally, it reports on the mapping process and analysis tools created to validate map consistency across different activities in the constantly changing JEM environment. These enhancements have enabled the Astrobee facility to successfully execute over 100 ISS activities supporting over a dozen researchers and partners around the world.
Astrobee↗
Lessons Learned from Astrobee Operations on the International Space Station
Since its launch in 2019, NASA has been operating three Astrobee free-flying robots providing an autonomous and adaptable research platform aboard the International Space Station (ISS). These robots have not only facilitated a myriad of national and international research endeavors in microgravity but have also served as a STEM outreach platform for student competitions aboard the ISS. Amidst its extensive operational tenure, spanning over five years and exceeding 1200 hours of cumulative free-flyer operation as of April 2024, the Astrobee robots have encountered software and hardware anomalies. Despite its inherent design for on-orbit repair or replacement, certain anomalies have proven to be complex, necessitating remote resolution via software and firmware updates or, in extreme cases, hardware replacements or the return of faulty units to NASA's ground facilities for repair. Such challenges underscore the delicate balance between the autonomous functionality of Astrobee and the occasional need for human intervention to maintain optimal performance. One recurring point of failure identified during Astrobee's operational lifespan has been the SD card, a critical component utilized by the different Astrobee processors and the Dock Station. The occurrence of SD card anomalies, both on orbit and within ground units, has provided invaluable insights into the improvement of Astrobee's systems and mitigation to future faults. This presentation will focus on four key areas: 1. Overview of Faults and Anomalies: A comprehensive examination of the diverse array of faults and anomalies encountered by Astrobee and its associated systems both in orbit and on the ground. From software glitches to hardware malfunctions, this section provides insights into the challenges faced during Astrobee's operational tenure. 2. Resolution Processes and Procedures: An in-depth discussion of the methodologies and procedures implemented to resolve the encountered anomalies. This includes remote troubleshooting, software patches, firmware updates, and, when necessary, the logistics involved in hardware replacements or down-massing for repair. 3. Implementation of Software Updates and Hardware Upgrades: A detailed exploration of the strategies employed to mitigate the risk of recurring anomalies through the implementation of software updates and hardware upgrades. This section highlights the iterative nature of Astrobee's development, emphasizing the continuous pursuit of robustness and reliability. 4. Lessons Learned and Future Directions: Reflecting on the insights gained from addressing anomalies, this section examines the lessons learned and outlines future directions for enhancing Astrobee's robustness and resilience. It underscores the iterative nature of space exploration and the importance of adaptability and continuous improvement in the pursuit of scientific discovery. Through a nuanced examination of Astrobee's operational challenges and the strategies employed to overcome them, this presentation sheds light on the complexities of operating autonomous robotic systems in the ISS environment. It underscores NASA's commitment to pushing the boundaries of exploration and innovation while navigating the inherent challenges of space exploration.
Astrobee↗
Lessons Learned from Astrobee Operations on the International Space Station
Since its launch in 2019, NASA has been operating three Astrobee free-flying robots providing an autonomous and adaptable research platform aboard the International Space Station (ISS). These robots have not only facilitated a myriad of national and international research endeavors in microgravity but have also served as a STEM outreach platform for student competitions aboard the ISS. Amidst its extensive operational tenure, spanning over five years and exceeding 1200 hours of cumulative free-flyer operation as of April 2024, the Astrobee robots have encountered software and hardware anomalies. Despite its inherent design for on-orbit repair or replacement, certain anomalies have proven to be complex, necessitating remote resolution via software and firmware updates or, in extreme cases, hardware replacements or the return of faulty units to NASA's ground facilities for repair. Such challenges underscore the delicate balance between the autonomous functionality of Astrobee and the occasional need for human intervention to maintain optimal performance. One recurring point of failure identified during Astrobee's operational lifespan has been the SD card, a critical component utilized by the different Astrobee processors and the Dock Station. The occurrence of SD card anomalies, both on orbit and within ground units, has provided invaluable insights into the improvement of Astrobee's systems and mitigation to future faults. This presentation will focus on four key areas: 1. Overview of Faults and Anomalies: A comprehensive examination of the diverse array of faults and anomalies encountered by Astrobee and its associated systems both in orbit and on the ground. From software glitches to hardware malfunctions, this section provides insights into the challenges faced during Astrobee's operational tenure. 2. Resolution Processes and Procedures: An in-depth discussion of the methodologies and procedures implemented to resolve the encountered anomalies. This includes remote troubleshooting, software patches, firmware updates, and, when necessary, the logistics involved in hardware replacements or down-massing for repair. 3. Implementation of Software Updates and Hardware Upgrades: A detailed exploration of the strategies employed to mitigate the risk of recurring anomalies through the implementation of software updates and hardware upgrades. This section highlights the iterative nature of Astrobee's development, emphasizing the continuous pursuit of robustness and reliability. 4. Lessons Learned and Future Directions: Reflecting on the insights gained from addressing anomalies, this section examines the lessons learned and outlines future directions for enhancing Astrobee's robustness and resilience. It underscores the iterative nature of space exploration and the importance of adaptability and continuous improvement in the pursuit of scientific discovery. Through a nuanced examination of Astrobee's operational challenges and the strategies employed to overcome them, this presentation sheds light on the complexities of operating autonomous robotic systems in the ISS environment. It underscores NASA's commitment to pushing the boundaries of exploration and innovation while navigating the inherent challenges of space exploration.
Astrobee↗
Astrobee Robot Software: A Modern Software System for Space
Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This paper presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot. The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). The software runs on three interconnected smart phone class processors. We present the software approach, infrastructure required, and main software components. The Astrobee Robot Software embrace modern software practices while respecting flight constraints. The paper concludes with the lessons learned, including examples usage of the software. Several research teams are already using the Astrobee Robot Software to develop novel projects that will fly on Astrobee.
Astrobee↗
Recovering from On-orbit Anomalies on the Astrobee Free Flyers and its Systems
Since 2019, NASA has been operating three Astrobee free flying robots on board the International Space Station (ISS) providing an autonomous and flexible research platform for national and international payload developers in microgravity and serving as a robotic assistant for astronauts on the ISS. During its use on the ISS, in particular with over 750 hours of free-flyer operation as of March 2022, Astrobee and its Docking Station have encountered multiple software and hardware anomalies. These anomalies were either resolved remotely via software and firmware updates, or, where not possible, with hardware replacements on orbit or by the return of the faulty unit to NASA’s ground facilities for its repair. Despite being inherently designed to be repaired or replaced on orbit, Astrobee and its systems can still suffer anomalies that would be complex enough to disassemble, cause risks of hardware damage, or use excessive crew time to perform the repair in orbit. That was the case for the anomaly the Astrobee unit ‘Honey’ encountered, reason why it needed to be down-massed for repair. One of the most common points of failure was found to be the SD card, which is used for the different Astrobee processors and for the Dock Station. Other comparable SD card anomalies were found also on the Astrobee ground units, which provided useful data in the effort of upgrading their systems. This presentation will focus on 1) The overview of the different faults and anomalies on Astrobee and its systems on orbit and on the ground 2) The processes and procedures implemented to resolve the anomalies 3) The implementation of software updates and hardware upgrades in order to reduce the risk on returning anomalies 4) The lessons learned in increasing Astrobee’s robustness and resilience to such anomalies.
International Space Station↗
Astrobee Free Flyers: Integrated and Tested. Ready for Launch!
As of March 2019, four Astrobee free-flying robots have been integrated, tested and shipped to NASA’s Johnson Space Center, Texas, ready to be launched to space. Two of these Astrobee units (Honey and Bumble) will be launched to the International Space Station (ISS) on April 17, 2019, on the Cygnus NG-11 (Northrop Grumman) cargo resupply spacecraft from the Mid-Atlantic Regional Spaceport (MARS) launch facility, at NASA's Wallops Flight Facility, in Virginia, while the third unit (Queen) will be launched in mid-July 2019, with the cargo resupply mission Space-X 18, from Cape Canaveral, at NASA’s Kennedy Space Center. The primary purpose of the Astrobee system is to provide an autonomous and flexible platform for research on zero-g free-flying robotics, with the ability to accommodate guest researchers looking to utilize the unique capabilities of this platform in the microgravity of low earth orbit, and to advance the state of the art of guest science software and research payloads, which range from gecko-inspired adhesives for perching on smooth surfaces, to augmented reality interfaces to help astronauts and robots work together effectively, to RFID reader, performing inventory of RFID tagged items inside the ISS. Astrobee will also serve utility functions, such as free-flying cameras to record video and provide assistance during astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. In this paper we will give an overview of the status of the Astrobee system, which includes the docking station already launched and mounted in the JAXA JEM module of the ISS, the Astrobee robots, the Astrobee robotic arms, the ground data system (GDS) and the development of the several guest science payloads.
Carlino, Roberto↗
Astrobee Operations on the Iss: Gui’S Impact on the Operators’ Cognitive Load
The Astrobee free-flying robots have completed their fifth successful year of operations housed in the Japanese Experimental Module (JEM) on the International Space Station (ISS). In this paper, we introduce two Graphical User Interfaces (GUI) used to operate and monitor in real-time the Astrobee free-flying robots onboard the ISS and report on the impact these GUIs have in the operator’s cognitive load. A review of the state-of-the-art GUI design for remotely teleoperated scenarios with minimal time delay is presented and the study’s conclusion used to determine the elements and recommendations to create an interface that minimizes its impact on the overall performance of an operator during an activity at the ISS. The Ground Data System (GDS) is one of the two GUIs in the study: it contains several tabs, each of which displays a different set of controls for specific tasks e.g. Overview, Run Plan, Teleoperate, Guest Science; some also display video and a three-dimensional (3D) representation of the ISS and robot based on the Astrobee’s telemetry. Most tabs enable a single operator-robot connection, however some of its tabs are capable to monitor and control up to three Astrobees simultaneously. The GDS Helper is a text-based user interface created to facilitate commanding and monitoring of an Astrobee robot directly from an SSH session. In full interactive mode it displays a maximum of 5 sections: general commanding, feedback/ack, telemetry, guest science commanding, and data, all in one view. In batch mode, it enables complex command scripting while retaining some interactive capabilities. A comparative analysis between these GUIs is carried out at an analogous ISS environment at the NASA Ames Research Center’s Granite Lab and its results presented. While GDS is able to provide an operator with control and situational awareness via its video and 3D displays, its several tabs may introduce an overwhelming amount of information confusing and delaying the operator especially during time-sensitive maneuvers where the operator may need to switch back and forth between them. GDS helper in the other hand does not provide video or 3D displays thus not allowing an operator to attain situational awareness, however it provides the operator with a design displaying commonly used data in a single window, enabling the operator to understand the state of the robot at a glance and control it through a commands entered via keyboard instead of a combination of mouse clicks and keyboard input. The results of the experiments measure the cognitive load across several operators maneuvering Astrobee to accomplish tasks ranging from fully manual to supervised activities. A GUI combining a single window displaying data along video and a 3D display is expected to reduce the operator’s cognitive load.
Astrobee↗
Astrobee Robot Software: Enabling Mobile Autonomy on the ISS
Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This slides presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot.The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). We present the software approach, infrastructure required, and main software components.
Fluckiger, Lorenzo↗
Astrobee: A New Tool for ISS Operations
Astrobee is a new class of free-flying robots that operate in the interior of the International Space Station (ISS). In addition to providing a research platform for zero-g free-flying robotics (replacing the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES)), Astrobee improves the efficiency of ISS operations by providing flight and payload controllers with a mobile camera/sensor platform. The Astrobee system consists of three robots, a docking station, and a ground data system. Development began in late 2014, and Astrobee will launch to ISS in late 2018. This paper provides an overview of the capabilities of the Astrobee system, the concept of operations for ISS operations support, and the challenges of operating a free-flying robot within the constraints of the ISS environment.
Astrobee↗
Astrobee: A New Tool for ISS Operations
Astrobee is a new class of free-flying robots that operate in the interior of the International Space Station (ISS). In addition to providing a research platform for zero-g free-flying robotics (replacing the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES)), Astrobee improves the efficiency of ISS operations by providing flight and payload controllers with a mobile camera/sensor platform. The Astrobee system consists of three robots, a docking station, and a ground data system. Development began in late 2014, and Astrobee will launch to ISS in late 2018. This paper provides an overview of the capabilities of the Astrobee system, the concept of operations for ISS operations support, and the challenges of operating a free-flying robot within the constraints of the ISS environment.
ISS↗
Astrobee Guest Science Guide
The Astrobee Research Facility will maintain three identical free-flying Astrobee robots on the ISS. After the Astrobees are launched and commissioned in 2018, they will replace the SPHERES robots that have been operating on the ISS since 2006 (Fig. 2). Over the years, the SPHERES have been among the most-used payloads on the ISS, supporting dozens of experiments from a variety of guest scientists. In the next section, we'll talk about past SPHERES experiments as possible inspiration for your future research on Astrobee. Compared to SPHERES, the Astrobee robots will offer many new capabilities and will require less astronaut time to support, so we hope the new facility will be able to fly experiments much more often.
Benavides, Jose↗
Astrobee On-Orbit Commissioning
The Astrobee free flying robots operate in the interior of the International Space Station (ISS) under supervisory control of a ground operator or ISS crew. They replace the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as research platforms for zero-g free-flying robotics. Astrobee also provides a tool for improving the efficiency of ISS operations as a mobile camera/sensor platform available to flight and payload controllers. The Astrobee system consists of three robots with perching arms, a docking station, and a ground data system. Development began in late-2014, and flight hardware has been deployed to ISS on several launches starting in November 2018 and concluding in October 2019. Shortly after the first two robots arrived on ISS in April, we began a series of "commissioning" activities to validate both space and ground segments. We plan to complete commissioning and become an operational facility available to guest scientists by the end of 2019. This paper provides an overview of the Astrobee system, a description of the on-orbit activities, and commissioning results.
ISS↗
Astrobee ISS Free Flyers: Overview and Enabling Technologies
The Astrobee robots began operations on the International Space Station (ISS) in April of 2019. These 32-cm-wide, 9-kg, cube-shaped free flyers are capable of autonomously traversing the US Orbital Segment of ISS and performing tasks to assist astronauts in their day-to-day activities. The Astrobee Facility also provides an on-orbit testbed for guest scientists desiring to try new technologies in zero-g. This presentation will provide an overview of the Astrobee system and some of its key enabling technologies, including propulsion, navigation, and human interfaces. Additional information and publications can be found on the Astrobee website: https://www.nasa.gov/astrobee.
Astrobee↗