An Overview of Space Robotics Activities at the Canadian Space Agency
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1 An Overview of Space Robotics Activities at the Canadian Space Agency
2 30 Years of Space Exploration Canadarm on Space Shuttle Mobile Servicing System (including Canadarm 2 & Dextre) on ISS Vision system on ISS (e.g. TriDAR DTO) Robotics Refueling Mission (RRM) Lidar and MET station on Phoenix APXS on MSL OSIRIS-Rex/OLA Continuously looking at potential contributions
3 International Context Global Exploration Strategy 2007 Human and science exploration beyond LEO Moon, Mars, Asteroid, Lagrange's Point Int'l Space Expl. Coord. Group (ISECG) Mainly human exploration but include science objectives Extend human presence beyond LEO Long-term goal: human on Mars ISS Expert Working Group (IEWG) Looking at space exploration beyond LEO Discussion on next steps for exploration in the current economic context 3
4 Exploration Core Program Created in 2007 Ensure Canada readiness to participate in missions Shape and determine Canada contributions Reduce risk and develop operational capabilities Strong focus on prototyping and analogue deployments Include science and operation aspects Performed in collaboration Industry, academia, international partners 3-Year $110M Stimulus funds added as part of 2009 Government s Economic Action Plan
5 ExCore Program Mini-corer Norcat Microscope MDA Next Vision Syst. 1: Neptec
6 Next Generation Canadarm Next Generation Small Canadarm (NGSC) Next Generation Large Canadarm (NGLC) Proximity Operations Station Testbed (POST) Mission Operations Station (MOS) Semi- Autonomous Docking System (SADS)
7 Prototypes at work
8 Mars Exploration Science Rover (MESR) Teleoperation enabled 250 kg vehicle 70 kg payload 0.4 km/h nominal speed 6 WD, 4 independent steering Solar panel (329 W max) Vision system integrated
9 Lunar Exploration Light Rover (LELR) ECHO Teleoperation & semi-autonomy Human upgradable 900 kg vehicle 300 kg payload 15 km/h max speed >15 km range Light mobility tasks Science, in-situ resource utilization
10 Artemis Junior Teleoperation & full-autonomy 460 kg vehicle 150 kg payload 4 km/h max speed Deployed in NASA led Hawaii 2012 deployment with the RESOLVE package and drill
11 Juno (upgraded) Teleoperation & full-autonomy 300 kg vehicle 275 kg payload 13 km/h max speed (4 speed ranges) Compliant wheels and metal tracks Tandem configuration
12 Symphony: Operations and Simulation Organizationally neutral core framework Maximizes reuse between missions A tool to plan, validate, execute and monitor integrated operations to support multiple analogue missions A component-based architecture that allows instruments and rovers to plug-in and allow the contractors to concentrate on their system specific needs Simulation plug-in based on Vortex Technology Real-time multibody dynamics Contact dynamics Terramechanics models Symphony Framework Vortex Simulation SDK Deployment Worksite System Mechanisms Controller Plugin Controller Plugin Controller Plugin Worksite EMF System Plugin EMF System Plugin EMF System Plugin System Run SimEngine Thread PEVT View plugin Java JVortex c++ JVxViewer Vx VHL VxReflexion VxOsg Java c++ VxSim
13 Scientific Deployments An Analogue Mission to Discover Genesis of Methane on Mars Image credit: University of Toronto Impacts and Ice (I 2 ): Lunar Sample Return from the South Pole-Aitken Basin Image credit: University of Western Ontario Mars Methane Mission Signatures of Life in Freshwater Environments
14 Technology Deployments RESOLVE ISRU mission with NASA in Hawaii in 2010 Mars Sample Return with Rex at Flagstaff in 2010 RESOLVE ISRU mission with NASA in Hawaii in 2012
15 ExCore Infrastructure Analogue Terrain RIF ExDOC PCCS ESF
16 ExCore: An Integrated Program MDA Neptec ESI UWO ExDOC NORCAT MDA Tech. Dev. & Integration Tests Science Operations Analogue Missions
17 Lunar Prospecting & Science Analogue Mission Aligned with RESOLVE potential mission on the Moon Various concepts of operation Teleoperation Autonomy
18 Mars Sample Return Analogue Mission Aligned with potential future contributions to Mars missions Strong science focus Remote autonomous operations Samples selection and manipulation
19 Final Remarks Exploration Core exists since 2007 CSA active in developing terrestrial prototypes for space exploration Strong involvement from Cdn industry and academia Strong analogue missions program Contributing to int'l space missions International collaboration is key
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