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Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory

Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory. S pace C onstruction & O rbital U tility T ransport. SCOUT System: Two SCOUT spacecraft Docking Module (DM) eXtended Mission Pallet (XMP) Closed-cabin atmospheric system for EVA

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Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory

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  1. Human/Robot Hybrids forDeep Space EVA David L. AkinMary L. BowdenUMd Space Systems Laboratory

  2. Space Construction & Orbital Utility Transport • SCOUT System: • Two SCOUT spacecraft • Docking Module (DM) • eXtended Mission Pallet (XMP) • Closed-cabin atmospheric system for EVA • Proposed element of the Orbital Aggregation & Space Infrastructure Systems (OASIS) program • Designed to operate with proposed Gateway Station at the Earth-Moon L1 Point

  3. SCOUT Major Design Constraints • Task/ human arm interaction • Worksite attach/ control • Zero pre-breathe • Shirt-sleeve operation • Operating Pressure: 8.3 psi • RMS attach fitting • IBDM w/ internal hatch opening • Accommodate 5% Japanese female to 95% American Male • Escape system placement

  4. Basic SCOUT Dimensions 1.50 0.87 2.00 0.75 0.70 r = 0.33 0.34 1.85 0.82 Rear View Bottom View Side View All dimensions in meters

  5. Exterior Features External Camera Lights External Camera Single Hydrazine Helmet w/ HUD IBDM Nitrogen Quad Hydrazine Triad Handrail Star Tracker Human AX-5 Arms UHF Task Arms Ka-Band Radiator Mini-Workstation Radiator Tool Posts Grapple Arm Escape System RMS Grapple Fixture Laser Rangefinder Front View Rear View

  6. Internal Volume Constraints • Major volume requirements designed into the cabin layout • Minimal volume required to accommodate a 95% American male • Volume dimensions are 0.72m x 0.71m x 0.172m • Internal components placed around this volume • Minimal volume required for a controlled tumble • Volume is a sphere with f1.22m • Needed to flip over within SCOUT

  7. Internal Layout Touch Screen Monitors Hand Controllers Internal Camera CO2/Air System Pressure Control Storage Box Escape Hatch Keyboard Fire Extinguisher Waste Collection System Computers Foot restraint location(s) Isometric View Front View Rear View

  8. Vehicle Mass/Power Breakdown

  9. Transition from Earth to L1 4 1 SCOUT ISS L1 Gateway 3 2 5 Crew Transfer Vehicle SEP #2 & SCOUT SEP #1 & Gateway Not to Scale • Test Mission at ISS • SEP#1 travels with Gateway on autonomous spiral to L1 • SEP#2 travels with SCOUT system • After SCOUT and Gateway Station are stable • Crew Transfer vehicle brings first crew for 6 month mission Lin, Frank. Lunar L1 Gateway & SEP Design Briefing. 02 Nov 2001.

  10. Nominal Missions • Nominal six-month mission consists of 15 sorties per SCOUT • Eleven hours spent in the pod for eight hours of work • Total SCOUT hours for two pods: 240 working hours and 330 hours inside the pod • End of life occurs at 600 sorties (20 years) Example Sortie

  11. XMP / Docking Module • eXtended Mission Pallet (XMP) • Supports off-site extended sorties • Attaches between SCOUT and tow-vehicle • Provides off-site refueling/ recharging • Shirt-sleeve atmosphere allows passage from SCOUT to tow-vehicle • Docking Module (DM) • Attach points for two SCOUT vehicles • One port for connection to Gateway • Storage for 6 months of propellant • Spare batteries • Life support regeneration need [Conceptual Design]

  12. Docking Module Power System • Triple Junction Crystalline Solar Arrays: • Advanced radiation protection • Consistent with OASIS design • Is = 1394W/m2 • ρpower = 250W/kg • ηeff = 40%

  13. Avionics Top-Level Block Diagram Communication/ Video System Attitude Sensors Life Support Sensors Propulsion System Power Distribution Astronaut Interface Firewire Data Bus Thermal Control Firewire Data Bus CompactPCI Bus Robotic Control FDCC FDCC FDCC Computer Display Solid State Recorder Solid State Recorder Computer Display Legend: FDCC - Flight & Data Control Computer - Primary Avionics Components - Critical Crew Survival Systems - Flight Control Systems - Mission Systems

  14. Communication Block Diagram Video System VideoDisplays Antenna Switch Antenna Switch Diplexer Diplexer Flight computers Crew Interface - Hand Controllers - Switches - Voice Power Amplifier FDCC FDCC FDCC Transponder Sensor Data Gimbaled Ka-Band UHF Omni

  15. Worksite Interaction • Heads-Up Display (HUD) • Used for display of pertinent information dealing with • Flight control • Robotic control • General SCOUT system • Hand Controllers • Two 3-DOF controllers used for translation and rotation control of • Manual flight • Operation of the task arms • AX-5 Arm and Glove Sensors • Used to control task arms • Activated/deactivated by voice command • Voice Recognition • System utilizes pre-allocated communications hardware with the FDCCs to process voice commands • Allows for both coarse and fine control of dexterous manipulators HUD Hand Controllers

  16. Dexterous Manipulator Design • Task Arm • Modeled after 8 DOF Ranger Telerobotic Shuttle Experiment arm • Trade study found two arms to be the best choice • One arm did not provide the ability to grasp the hardware being removed while removing bolts and latches • Three arms brought a concern about the interference of the arms with each other and with the human arms due to intersecting work envelopes • Uses interchangeable end effectors for task completion • Max 8 end effectors on SCOUT • End effectors needed will be predetermined prior to sortie • Grapple Arm • Modified version of the task arm • Longer due to reach concerns for grappling • Only has a pitch joint at end effector connection • Uses universal grappling end effector that will be designed to be used on a predetermined worksite

  17. Overall Structural Design • Hexagonal Pressure Hull • Load-bearing aluminum panels incorporating Micrometeoroid (MM) and Orbital Debris (OD) protection • Stringers to transfer panel loads and serve as hard attachment points for Shuttle launching • Outer Frame • Load-bearing aluminum panels with MM and OD protection • House external tanks and electronics • Back panel hinged for Li-Ion Battery replacement and Power Distribution Unit (PDU) servicing • Main mechanisms • International Berthing and Docking Mechanism (IBDM) • Dexterous Manipulators • Remote Manipulator System (RMS)

  18. Tank and Thruster Placement • 16, 1N Nitrogen thrusters • For contamination-critical sites • 4 quads • 16, 6N Hydrazine thrusters • For non-sensitive sites • 4 triads • 4 singles Nitrogen Propellant Tanks Nitrogen Pressurant Tank * One on each side Hydrazine Propellant Tank * One on each side

  19. SCOUT Power Requirements • Base-Load Power Requirements: • Loads assumed constant throughout 13hr sortie (includes reserve) • Loads assumed safety-critical • Peak-Load Power Requirements (for 2hr work period): • Loads vary throughout work period • Loads not safety-critical

  20. SCOUT Battery Placement • Located near Power Distribution Units (PDUs) • Accessible via EVA to fix/replace: • 1 spare stored in docking module • 3 batteries replaced once a year • Hinged back panel • EVA handrails • PDUs • Li-Ion Batteries

  21. Costing • Cost based on heuristic formulas at the vehicle level for both SCOUTs, the docking module, and the XMP • SCOUTs • Non-recurring Cost ($M) = $1180 Million • 1st Unit Production = $87 Million • 2nd Unit Production = $70 Million • Docking Module • Non-recurring Cost ($M) = $260 Million • 1st Unit Production = $71 Million • XMP • Non-recurring Cost ($M) = $142 Million • 1st Unit Production = $35 Million Total = $1850 Million

  22. Summary • SCOUT represents a revolutionary advance in EVA capabilties for low earth orbit and beyond • Direct integration of robotic and EVA capabilities expands range of feasible applications • Analysis shows that a single SCOUT sortie can perform ISS servicing currently requiring 2 EVA and 1 IVA crew • L1 Gateway basing provides ideal location for extended sorties performing servicing in geostationary orbit, lunar orbit, other libration points (EM and ES) • Extends human presence throughout the Earth-Moon system

  23. Avionics Aaron Hoskins Will Miller Oliver Sadorra Greg Stamp Crew Systems Katy Catlin Avi Edery John Hintz Andrew Long Alexandra Langley Loads, Structures, and Mechanisms Justin Richeson Eric Rodriguez Ernest Silva Yudai Yoshimura Mission Planning and Analysis Chris Bowen Wendy Frank Kirstin Hollingsworth Sadie Michael Jackie Reilly Power, Propulsion, Thermal Cagatay Aymergen Matt Beres Nathan Moulton Christopher Work Systems Integration Meghan Baker Tom Christy Jesse Colville Robyn Jones Lynn Pierson The SCOUT Team

  24. For More Information http://www.ssl.umd.eduhttp://spacecraft.ssl.umd.edu

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