Spacecraft Micro Robot (formerly known as the PSA)
March 4, 2000
Principle Investigator Yuri Gawdiak Computational Sciences Division
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4/27/00
Ames Research Center 1
Context Shuttle Mission 89 Flight: “ One astronaut, Andy Thomas, will undertake several hundred research runs involving 26 different science projects in five disciplines. The projects are provided by 33 principle investigators from the U.S., Canada, Germany and the U.K.” Date: July 6, 1998
Computational Sciences Division
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4/27/00
Ames Research Center 2
International Space Station S97-10537 (June 1, 1997) --- This digital artist’s concept shows the International Space Station after assembly is completed in 2003. The completed station will be powered by almost an acre of solar panels and have a mass of almost 1 million pounds. The pressurized volume of the station will be roughly equivalent to the space inside two jumbo jets. Station modules are being provided by the U.S., Russia, Europe and Japan. Canada is providing a mechanical arm and "Canada hand." In total, 16 countries are cooperating to provide a state-of-the-art complex of laboratories in the weightless environment of Earth orbit. The first piece of the station is scheduled to launch in June 1998, beginning a challenging five-year, 45-flight sequence of assembly in orbit.
Date: July 6, 1998
Computational Sciences Division
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4/27/00
Ames Research Center 3
Spacecraft Micro Robot (SMR) Spacecraft Micro Rob
Evolutionary Capabilities • Crew Personal Data Assistant • Personal Video Conferencing • Virtual Principle Investigator • Environment & Inventory Monitoring
Revolutionary Capabilities • Health Monitoring • Collaborative Fault Isolation & Recovery • Sensor Quality Control • Integrated Payload Support
Computational Sciences Division
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PI Lead: Yuri Gawdiak
4/27/00
Ames AmesResearch ResearchCenter Center 4
Spacecraft Micro Robot (SMR) Environment Monitoring
Oxygen:................15% Nitrogen:...............79% Carbon Dioxide:....05% Other:....................01% Temperature:........68F Pressure:..............14lbs Humidity:...............50%
Drawing provided by Boris Rabin
Space Station Module
Computational Sciences Division
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4/27/00
Ames Research Center 5
Spacecraft Micro Robot (SMR) Technical Challenges:
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Navigation & Control Propulsion Orientation Identification Mapping Tracking
Collaborative Applications Intelligent Personal Agents Just-In-Time-Training Virtual Scientist (PI-In-a-Box) Fault Detection & Isolation Inventory Tracking & Control
Models Simulations Planning, Priority Mmgnt Execution/Re-evaluations
Integrated External System/Payload Interfaces
SMR Hardware Architecture
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Model-Based Diagnosis & Recovery
Technical Approach: The SMR platform will be built with COTS components based on the Personal Advisory System technologies currently being built for Space Station – The platform will include onboard processing system that will support intranet applications and communications, a sensor suite, human crew I/O, and navigation and mobility components (microfans, gyro, etc.) Computational Sciences Division
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Ames Research Center 6
One G Testbed ■ ■ ■ ■ ■ ■ ■
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Computational Sciences Division
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COTS Hardware VxWorks OS Pump-driven air bearing Ducted Fan Propulsion FOG inertial meas. Unit Wireless ethernet Onboard vision processing for visual tracking and depth measurements Offboard processing for – speech recognition – Sequence execution & Fault diagnosis
Ames Research Center 7
Visibility Planning
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Utilize Generalized Voronoi Graph search Approximate 3D world using simple geometric primitives (cubes, spheres, cylinders) Generate visually admissable highways Use SRI SVS Engine for Crew tracking Computational Sciences Division
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Ames Research Center 8
Dynamic Simulator
Computational Sciences Division
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4/27/00
Ames Research Center 9
KC-135 µG Simulator ■
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Computational Sciences Division
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4/27/00
Target acceleration in all axis < .01G Duration of 20-25 secs. Test coordination with JSC/Reduced Gravity Office
Ames Research Center 10
µG Hardware Testbed CMOS Cam. Stereo Nav. Pair
TMS320C6201 DSP MPC555 Audio I/O
SVGA LCD w/ TS
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RF Network A/D,PWM, Pwr
Environmental Sensors
Propulsion Control
Inertial Sensors
Power Mgmt
Utilized DSP for speed vision processing, embedded auto. PowerPC for control Recent DSP devel. may eliminate MPC555 Computational Sciences Division
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4/27/00
Ames Research Center 11
Primary High-Level Control Modules (laptop server)
from SMR state database
vocabulary / grammar
context / user profile
Path Planning Expert
Speech Understanding / Synthesis
Dialogue Manager
models
state database (SMR & world)
from SMRExecutiv e
Planner GUI / Joystick
Tele-operation Manager
Mission Manager
plan database goal database
from/to SMR plan database 12/16/99 version 1.0
Computational Sciences Division
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4/27/00
Ames Research Center 12
Primary Lower-Level Control Modules (SMR) to laptop state database
State Estimator
state database (SMR & world)
SMR Hardware models
Smart Monitors
Reactive Planner (repair / task decomposition)
plan database
Executive
Low-level Controllers
Sensors (cameras, proximity, IMU, etc...)
Actuators
from/to laptop plan database to laptop Planner
12/16/99 version 1.0
Computational Sciences Division
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4/27/00
Ames Research Center 13
Spacecraft Micro Robot (SMR) ■
Major Milestones – FY98 Concept Development (not funded by 632-30) – FY99 » » » » » » »
Feasibility Evaluations Concept Mockup Completion Initial engineering testbed developed Model and simulation initiated for Intelligent Executive development Path planning prototype developed Initial Natural Language syntax and interface developed Detailed Design Concept completed for 175% six-axis prototype
– FY 00 KC 135 Flight » 175% sized prototype » Microgravity flight demonstrations of command, control and navigation » Beta intelligent executive operational Computational Sciences Division
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Ames Research Center 14
