H2020 Space Robotic SRC- OG4

Transcription

1 H2020 Space Robotic SRC- OG4 2 nd PERASPERA workshop Presentation by Sabrina Andiappane Thales Alenia Space France This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No

2 Presentation outline I3DS general presentation Project description Consortium Activities On-going activities Use-case definition Interactions with the other OGs Interfaces Conclusion 2

3 SRC Objective and Context The objective: enhance EU industry competitiveness for future robotic missions by preparing key building blocks for operation in space environments OG4 mission: realise a suite of perception sensors that will allow localisation and map-making for robotic inspection of orbital assets and for planetary surface exploration Harmonised and modular suite of sensors with common interface 3

4 What is I3DS? «Integrated 3D Sensors Suite» A smart collection of building blocks Set of exteroceptive & proprioceptive sensors organised as modular building blocks Design of a generic platform able to implement multiple sensors building blocks Subsets to be defined according to the application: Planetary mission: rover Non-cooperative target capture: debris removal Cooperative rendezvous: servicing, spacetug Modular approach: inter-changeable items scalable design standard I/F vs satellite/rover platform Connected to the satellite platform through an ICU for data concentration & pre-processing 4

5 Bridge Front-end What is inside I3DS? A common set of various sensors DATA INSTR. TIME I3DS ICU Pre-processing Power, Thermal Control Stereo Camera HR Camera TIR Camera HF RADAR TOF/LIDAR Star Tracker Contact unit IMU Illumination Devices Pattern Projection A stereoscopic camera working in visual & near infrared bands A high resolution camera with zoom capabilities A thermal infrared micro bolometer camera A very high frequency radar A laser TOF (Time Of Flight) camera (LIDAR) A star-tracker A contact unit (with force & torque sensor and tactile sensor) An IMU (Inertial Measurement Unit) A wide angle and a focused illumination devices A pattern projection device An ICU (Instrument Control Unit) consisting in a collection of interface boards and preprocessing boards A new generation On-Board Computer consisting in a LEON processor upgraded with multiple DSPs, designed for rad-hard applications 5

6 OG4 Consortium TAS-UK: ICU development Sensor provider for IMU SINTEF: Interface engineering Sensor provider for illumination capabilities Software development for I3DS TAS-E: Responsible of the OBC and software drivers TAS-I: Responsible for the planetary system requirement and validation TAS-F: Consortium leader Interface management Responsible of the two orbital systems requirements and validation UoC: Responsible of the pre-processing algorithms TERMA: Sensor provider for TOF camera and the Star Tracker PIAP: Sensor provider for the contact unit - force and torque sensor and tactile sensors Responsible of the physical housing of I3DS COSINE: Sensor provider for VIS/NIR, TIR vision and HR camera sensors HERTZ: Sensor provider for the HF Radar 6

7 OG4 interface key people Project Coordinator (TAS-F): Brice DELLANDREA Interface Manager (TAS-F): Sabrina ANDIAPPANE Interface Engineer (SINTEF): Kristoffer NYBORG GREGERTSEN 7

8 Kick-Off Meeting FA & Final Presentation SRR + ICD Workshop PDR + ICD Check-Out CDR TRR Work packages T 0 T 0 + 3m T 0 + 9m T m T m T m WP1 WP2 WP3 WP4 WP5 Technical specification and use-case definition Technology review Use-case definition Requirements specs Preliminary design of I3DS Requirements breakdown Performance analysis GNC modeling of a validation scenario Development and improvement of the whole I3DS I3DS and peripheral blocks development Simplified GNC algorithms implementation Manufacturing, integration and tests preparation Mechanical integration of I3DS platforms System integration tests Use-cases demonstration, analyse and exploitation of the results Final tests Lessons learnt WP6 - Dissemination WP7 - Management 8

9 Work logic To have a top down approach for design: System requirements Functional requirements Sensors requirements To have a bottom up approach for validation Test each sensor individually Test at system level for one selected scenario to validate the coherence of the sensor suite 9

10 Use-case definition Answer to two main scenarios: Orbital robotics applications Planetary robotics applications Analyse of the potential use-case for space In parallel of this activity: the technology review by sensors 10

11 Orbital Use-Case General mission steps Close-range Rendezvous and Capture Phasing: reach a lower orbit to catch up the target ground control Far-range Approach: reach a fly-by position to have the target in the FoV absolute navigation Medium-range Approach: reach a safe position close to the target (<100m) relative navigation Inspection: near-circular trajectory around the target for inspection and estimation observation Close-range Approach: relative motion toward the target along the capture axis high precision relative navigation Capture: grasping and docking with the target robotic arm motion 11

12 Orbital Use-Case General sensors configuration Capture sensors: - High-Resolution camera - Local illumination - Pattern projection - Contact unit Medium-range sensors: - HF Radar - Thermal camera - TOF camera - LIDAR Close-range sensors: - Stereo camera - Wide illumination Absolute sensors: - IMU - Star trackers 12

13 Orbital Use-Case Different validation scenarios/sub-cases Validation scenarios including a servicer spacecraft Cooperative rendezvous and capture On-orbit servicing Module replacement Refueling Life extension module Structure assembly Space station Interplanetary vehicle De-orbitation of end-of-life satellite Non-cooperative rendezvous and capture Space debris Drifting satellite/launcher stage Medium and small debris Celestial bodies Asteroid Comet Planet Each scenario requires a different set of sensors among the I3DS suite! 13

14 Bridge Front-end I3DS for orbital use-case DATA INSTR. TIME I3DS ICU Pre-processing Stereo Camera HR Camera TIR Camera HF RADAR TOF/LIDAR Star Tracker Contact unit IMU A stereoscopic camera for visual recognition A high resolution camera when up close A thermal infrared camera for shape recognition A very high frequency radar for relative distance measurement A laser TOF (Time Of Flight) camera for relative distance measurement A star-tracker A contact unit for docking or capture An IMU Illumination Devices Pattern Projection A wide angle illumination device A pattern projection device for debris 14

15 Planetary use-case two main scenarios Exploration on Mars Exploration on Moon South Pole Illumination conditions 15

16 Planetary Use-Case General missions steps Different phases of the mission have been identified with functions assessment with the constraints and sensors identifications Rendezvous with other planetary asset/s Sample / Canister Transfer (i.e. from ground to rover, from rover to lander) or Interfaces Mating Autonomous science while traversing Localisation w.r.t. planetary asset Fine arm positioning * Not the exhaustive list only a few examples Imagery and video acquisition while traversing Relative localisation Stereo Camera Accurate estimation ToF Robustness to loss of sight Lidar Precision, accuracy Relative localisation precision and accuracy Stereo Camera on robotic arm Short Range ToF F/T Sensor Stereo Camera NIR Camera TIR Camera HR Camera Pattern projector ToF 16

17 Bridge Front-end I3DS for planetary use-case I3DS Stereo Camera DATA ICU HR Camera TIR Camera TOF/LIDAR INSTR. TIME Pre-processing Contact unit IMU Illumination Devices Pattern Projection 17

18 I3DS = Operational Grant n 4 Operational Grant 4 among 6 other OGs in the frame of H2020 Strategic Research Cluster on Space Robotics Technologies Each OG deals with different aspects of a robot systems Each OG has a defined scope and set of deliverables Each OG is part of an overall system OG1 ESROCOS design the Robot Control Operating Software Software requirements Validation requirements OG6 FACILITATORS provide facilities to the different other OGs in order to do the integration and the validation OG2 ERGO elaborate the Robot Guidance Control OG4 Sensors requirements I/F definition OG5 SIROM develop a set of interfaces (mechanical, data, electrical and thermal) that will allow coupling of payload to platform or robot manipulators or to other payload No integration of all the OGs foreseen at the end of this H2020 but all interfacing shall be planned ahead OG3 INFUSE develop the Data Fusion framework building block 18

19 Kick-Off Meeting FA & Final Presentation SRR + ICD Workshop PDR + ICD Check-Out CDR TRR Work packages interactions T 0 T 0 + 3m T 0 + 9m T m T m T m WP1 WP2 WP3 WP4 WP5 Technical specification and use-case definition Preliminary design of I3DS Development and improvement of the whole I3DS Manufacturing, integration and tests preparation Use-cases demonstration, analyse and exploitation of the results OG4 & OG5 interface to be frozen Validation Requirements to OG6 Sensors specs and data samples to OG3 Detailed simulated data samples to OG3 Actual data samples to OG3 Tests at OG6 Cross-validation with intermediate GNC algorithm to/from OG3 19

20 Conclusion Excellent opportunity for high-scale system integration and roadmap convergence between prime & suppliers given by this H2020 Unique opportunity to have so many entities working together towards a same goal Thank you! 20