In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 Canadian Activities in Intelligent Robotic Systems - An Overview Jean-Claude Piedbœuf and Erick Dupuis ASTRA 2004, ESTEC, The Netherlands November 2-4, 2004 1 Canada in Space Robotics Space Shuttle Remote Manipulator Space Vision System (Neptec) Mobile Servicing System for ISS 2 1 1
2 nd Hubble Servicing Mission February 1997 Replace scientific instruments Replace degraded units Gyro, Guidance Sensors, ) Human-in-the-loop 3 Vision Systems for Space Key Canadian technology for space robotics New generation (target free) Laser Camera System (Neptec) robust versus lighting condition tested on Space Shuttle 2001 Object Recognition and Pose Estimation(MD- Robotics) based on natural features LIDAR System (Optech) 4 2 2
Neptec Collision Avoidance & Pose Estimation system (CAPE) Real-time tracking system of payloads and spacecraft Uses any 3D sensor (LCS, Stereo cameras, LIDAR) Outputs 6DOF pose of target(s) and/or sensor and detects potential collisions Compensates for sensor motion Does not require cooperative targets (Model based) 5 Autonomous Robotics & Ground Operation R&D platform to test advance concepts for autonomous robotics and ground operation Applications: increase autonomy MSS ground control On-orbit robotics Planetary rovers. Implementation on CART SPDM likes operation On-orbit servicing Implementation on Mars mobile platform 6 3 3
On-Orbit Robotics Hardware-in-the-loop simulation of spacecrafts servicing Capture of a floating object SARAH end-effector for satellite maintenance MDR ORPE for automatic capture Battery box manipulation MDR End-Effector for satellite capture 7 Modeling & Simulation Simulation required for Operation & predictive control Training and on board training Real-Time Implementation Hardware-in-the-Loop Verification Contact Dynamics 8 4 4
MDR On-Orbit Safety Monitor On-Orbit incidences in the past (Flight 7A) elbow ~10 cm from an ISS s antenna. Detected by the ground. (Flight 9A) SSRMS elbow joint close to contacting the shuttle cargo bay door. (Flight 11A) MT hits an antenna assembly Causes MT The crew/operator unaware of proximity Clearance view, geometry, worload On-Orbit Safety Monitoring Provide better situation awareness Provide independent monitoring capability to detect possible safety hazard 9 Boom Elbow Joint Shoulder Joint Boom Canadarm-2 Payload On-Board Training: SMP 1 st exp: Psycho-motor skills Free Flyer Capture: most complex task Canadarm-2 RT simulation on laptop First test in May 2003 10 5 5
SMP 2 (April 2005) Cognitive skills 3D mental representation of objects in space Anticipation of dynamics & planning Using Dextre & Canadarm-2: 50 dof Visual rendering: 20 Hz on same CPU SGDL Rendering Tech.: Solid modeling, projective geometry, cast shadow, exact 3D visualization, cast shadow, compact 11 Planetary Exploration Moon and Mars Phoenix mission Meteorological station Participation to international missions NASA: Phoenix, drilling, automation ESA: Aurora, ExoMars India: Moon payload 12 6 6
Planetary Exploration R&D Long Range Autonomous Navigation (target km range) LIDAR + Simultaneous Localisation and Mapping Guidance over long distances Reactive Autonomy: CORTEX Mars Orbit Rendezvous Add ADCS to simulator 13 Lidar-Based Autonomous Planetary Landing System LAPS 8 x12 1/50 th Scale Mars model (photo) 3-D point cloud + draped image 14 Dynamic Platform Stabilization Hazard Avoidance Navigation Dynamic Test Bed Independent Verification & Validation Real time Guidance & Control 7 7
Mars Exploration Micro-Robots Feasibility Electronics survival, thermal control Power and comm. subsystems Locomotion (hopping and flight) Proof-of-concept demo electronics Science Payloads Analyse SAR data for analogue environments of Mars on Earth Laser induced fluorescence on analogue materials 15 Reliable Networked Autonomy XipLink: (Xiphos Tech. Inc.) Aircraft Tasking high-performance, commercial release of the CCSDS SCPS-TP protocol, enabling Internet-standard communications to spacecraft and other wireless systems. Q-Cards: low-cost, fault-tolerant, networkable devices for control and data acquisition On ISS and satellites Q5 to flight on SpaceQuest s AprizeSat-2 Flight management system Autonomous flight control and data network UAV access to databases Payload Control 16 Payload Monitoring 8 8
In Situ Resource Utilization Identification Access/Exploration Mining Product Waste Processing Beneficiation 17 Norcat Technology Adaptation Existing Mining Technology Planetary Exploration Technology 18 9 9
Advanced Astronaut Medical Support: ADAMS A U T O N O M O U S Smart Sensors & Diagnostic Tools Patient Patient Simulator Smart Sensors Event Database Baseline Database Decision Tree Protocol Generic Database Trend Analysis M O D E Semi-Automated Voice-Activated Technology CMO Medical Team Treatment Algorithm Differential Diagnosis LEO & Moon Missions- Ground Control 19 Terrestrial Paradigm - Tertiary Center Medical Autonomy A. Diagnosis B. Monitoring C. Treatment D. Training NEEMO-7 on Aquarius Demonstrate and assess new telemedecine technologies 20 10 10
SARAH: Robotic Hand SARAH: Self-Adapting Robotic Auxiliary Hand Developed by Université Laval/MD Robotics 3 fingers/3 phalanges Only 1 dof to close fingers Fingers reconfigurable: Cylindrical, spherical and planar grasps Terrestrial version: 2 motors Dextre version: no motor 21 Conclusion Strong Canadian expertise in space robotics Canada is maintaining expertise Very active in technology development Through industry and internally Open to collaboration 22 11 11
Demos Autonomous capture Questions? SARAH: Dextre end-effector A glass of wine 23 12 12