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 On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission Automation and Robotics in the German Space Program Unmanned on-orbit servicing (OOS), ROKVISS and the TECSAS mission Bernd Sommer, Michael Turk German Aerospace Center, DLR Space Management - General Technologies and Robotics Königswinterer Straße 522-524 53227 Bonn/Germany Phone: +49(228) 447-542 E-mail: bernd.sommer@dlr.de ASTRA 2004 ESA/ESTEC, Noordwijk, The Netherlands 1 Table of Contents On-Orbit Servicing -Vision -Application areas -The Challenge -Activities with respect to OOS -OOS/OOA Contributions The ROKVISS Mission -Objectives -Mission Scenario -Robotic External O/B Unit -Schedule The TECSAS Mission -Objectives -Mission Profile & Reference Scenario -Partners -Spacecraft Composition -Schedule -The Mission 2 1 1
Vision On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission Unmanned exploration of the cold planets, interplanetary bodies and matter Unmanned exploration of the hot planets Manned and unmanned exploration of Jupiter and it s moons Sun probes Orbital infrastructures Mars station Manned Base on the back side of the moon for astronomy 3 Application areas On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission Communication Navigation Disaster Management Agriculture Planning Weather Forecast 4 2 2
The Challenge Why did OOS not yet get off the ground??? Feasibility Reliability Risks Maturity Nobody did it before!! We would if you would have!! Agencies Pathfinder Precursor Facilitator 5 The Challenge The OOS challenge Legislation Politics Regulation Technology Military 6 3 3
Roadmap Demonstration TECSAS Phase B TECSAS Phase C/D/E/F Concomitant Activities Technology Verification ROKVISS OOS Roadmap & Outlook Co-Operative & Modular Design Technology Development OLEV Mission (ORL) Support OOS & OOA Infrastructure Setup Full ORC Service Roll-Out Changes to Policy & Regulations OOS Business Evolution (& OOA) International Agency Co-Operation International Industrial Collaboration 5 Years t 7 OOS/A Contributions OOS & OOA Contribution to Future Space Exploration & Resource Utilization Culture & Mindset Enabling Technologies Commercialization Public Goods 8 4 4
Robotic Komponents Verification on ISS ROKVISS M. Turk German Aerospace Center, DLR, Bonn W. Paetsch, K. Landzettel, W. Naumann, J. Dalcolmo EADS-ST, DLR-OP,KT, vh&s 9 Objectives SPACE FLIGHT QUALIFICATION of DLR s highly integrated, light-weight robotic joint-elements for their application in free space environment TELE PRESENCE operational mode verification - Direct operator involvement into the control loop - Up-and down-link round trip time of less than 500 ms - Tele-presence operations performed during direct link contact phases (approximately 5 7 minutes). TELE OPERATION mode verification AUTOMATIC OPERATION MODES verification for new robotic control modes for. Direct radio contact phases, high level robot commands to be executed on board Repeated verification of joint parameters in a realistic free space mission environment 10 5 5
ROKVISS Mission Scenario Robotic External Unit (outside the Russian Service Module) On-board Computer (inside the Russian Service Module) ISS Ground station TSUP, Moscow Russian Standard Ground Link Link TSUP - GSOC ROKVISS, Direct Link (S-Band) (4 Mbit/s downlink, 256 kbit/s uplink) Antenna and Robotic Ground Station at GSOC / Weilheim 11 Robotic External O/B Unit (during thermal vacuum test) Experiment contour Still camera Illumination Robot (2 joints) Stereo camera Power Distribution Unit, Video Processing Unit Base plate 12 6 6
ROKVISS Schedule Start of Project Delivery of Technology Model Delivery of Flight Model Launch (Progress M) Installation of ROKVISS (EVA) Start of Operational Phase End of Project November `01 March `04 November `04 December `04 January `05 (tbc) January `05 (tbc) January `06 13 Mission schedule of ROKVISS Operational for appr. 1 year - Example for the first 10 weeks of the mission 14 7 7
Technology Satellite for demonstration and verification of Space system TECSAS 15 On-Orbit Servicing (OOS), ROKVISS and the TECSAS mission Objectives TEChnology SAtellite for demonstration and verification of a Servicing system Mission statement : TECSAS shall demonstrate the availability and advanced maturity of the technologies necessary for: Approach and rendezvous Inspection fly around Formation flight Capture Stabilization/calibration of the coupled satellite pair Flight maneuvers with the coupled satellite pair Manipulation of the target satellite Active ground control via tele-presence Passive ground control during autonomous operations Thrust control for disposal or de-orbiting De-coupling of the compound 16 8 8
Mission Profile Mission profile (1) 17 Mission Profile Mission profile (2) 18 9 9
Partners TECSAS partners on Agency Level MoU on A&R and OOS MoU on A&R and TECSAS Deutsches Zentrum für Luft-und Raumfahrt Federal Space Agency of Russia 19 Partners Contributions to TECSAS Federal Space Agency of Russia German Aerospace Center + + Chaser Satellite Launcher Launch Services Ground Station Manipulator Control S/W S/W Approach Sensors Communications Ground Stations Mission Operations Simulation S/W S/W Ground Tests Tests Target Satellite LIDAR LIDAR System (?) (?) Manipulator Hand Hand (?) (?) Ground Stations Control S/W S/W Operations Ground Tests Tests 20 10 10
MULTI-PURPOSE ORBITAL BOOST PLATFORM 21 S/C Composition SPACECRAFT COMPOSITION 22 11 11
Schedule TECSAS Phase B Study logic: Existing design features Nov.04 Jan. 05 Mar. 05 Dec. 05 Compatibility analysis Mission Mission & PM SRR Existing concept via Concept PDR System Spec K/O CSA contribution Mission & System Requirements Freeze of concept 23 Schedule TECSAS Phase C/D: PDR K/O Detailed design Phase Existing design features March06 December 06 March 08 October 08 DDR H/W & S/W Development phase SSTR Elements assembly integration & test ETR Mission & System Requirements Freeze of design System Test March 09 PSR 24 12 12
Schedule TECSAS Phase E: March 09 PSR K/O Integration of P/L on launcher Launch preparations Ground system c/o June 09 FRR July 09 On-Orbit operations August 09 September 09 MAR De-orbiting of chaser 25 The Mission TECSAS Phase A TECSAS Phase A 26 13 13