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OG6 - Validation Platforms and Field Tests:FACILITATORS

PERASPERA workshop - Tenerife

OG6 goals

1. Set common reference scenarios for all OGs

2. Providing specification and interface descriptions of the testing platforms/analogues

3. providing the necessary models and parameters for simulating the testing platforms/analogues

4. providing representative datasets (images, sensors observations/ measurements) to be used during the design of the OG prior to the full/final technology testing after TRRs (Test Readiness Review)

5. providing testing platforms/analogues during integration and testing activities

6. maintaining quality & consistency of the platforms/analogues across the whole duration of the OG

7. Providing all needed monitoring, measuring and recording means during the test execution

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FACILITATORS approach

Our approach:

1. Providing the best available facilities within Europe that can offer full coverage for OGs validation in the most relevant environments for both orbital and planetary scenarios, leveraging on already existing laboratories.

These facilities are also valid to support the future of SRC where full mission scenarios will be tested.

2. Making available these facilities with flexibility, so that the needs of the specific OGs (that will only be known at project kick-off) and of the PSA can be covered

3. Organizing these facilities in a federation that will share common interfaces and that can serve the space robotics community beyond the implementation of the building blocks. Such federation aims at being the European reference network for validation facilities

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FACILITATORS facilities & consortium

The consortium has been setup such that all the actors are proprietary of the best facilities across Europe, used in state-of-the-art space robotics programs (Exomars, DEOS,…)

4 partners:

– Small consortium

– Experience in ground validation of external technologies, earth analogue campaigns, ESA and H2020 projects coordination

– Industries (end users) and research centres

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FACILITATORS impact

The expected impact of FACILITATORS within the PERASPERA operational grants

Validating the common building blocks in the most relevant environments

Ensuring coherence among the different building blocks

Include facilities that are prepared to host future building blocks

Moreover, FACILITATORS has impacts that go beyond the PERASPERA operational grants

Create a federation of facilities available to European space robotics community

– The federation core network nodes are part of the consortium

– Other nodes can be included in the future

Strengthening the competitiveness of European space robotics development chain, by setting and making available common interfaces and standards

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FACILITATORS coordination w/ other OGs

Support and coordination must be given along all the OG’s lifetime. Key elements are:

Common ICD based on agreed validation scenarios, participation in other OGs test plans’ definition

Integration engineer and being core part of the integration board

Offer early integration tests, already identified in the proposal

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FACILITATORS – support to validation

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The FACILITATORS facilities have been selected so that they can host the validation of ALL building blocks in BOTH scenarios (blue elements in pictures below):

Datasets/models are prepared before TRR

Substantial effort devoted to interface with other OGs along all project

Facilities are upgraded (mock-ups, specific sensors, instrumentation of earth analogue site)

Short co-location before TRR ensures early integration

Allocation of facilities to each OG will ensure their availability and on-site support

Each OG is tested separately, nonetheless the facilities are prepared to host early integration tests in order to maximise the grants outputs, pending other OGs agreement

ORBITAL FACILITIES - GMV

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Platform-art:

– robotic facility with 2 robotic arms, controllable illumination conditions, high accuracy calibration. Rendez-vous and formation flying orbital scenarios

ORBITAL FACILITIES - DLR

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Light Weight robot

– 7DoF manipulator with serial revolute joints

OOS-SIM

– Robotic HIL simulation for proximity operations including contact

PLANETARY FACILITIES - DLR

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Planetary Exploration Lab

– Testing facility for navigation and locomotion system

– Digital Surface Model

ExoMars Breadboard

– Mobile system (ph B2 ExoMars mission)

PLANETARY FACILITIES - DFKI

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ARTEMIS rover

– Autonomous navigation and manipulation demonstrator

Field test trials execution in Rio Tinto (or Tenerife)

– Experience in several projects

PLANETARY FACILITIES – AIRBUS DS

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Bridget rover

– Workhorse for ExoMars. Extensively used as R&D platform

Stevenage Mars Yard

– Large indoor facility used in ExoMars GNC development

Space-representative processors

Integration tests

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A number of early integration tests have been identified and will be proposed to the other OGs:

OG3 + OG4: sensor fusion using the data coming from the inspection sensor suite from OG4, for example using platform-art facility at GMV

OG2+OG1: autonomous system running on top of RCOS hosted on the ARTEMIS DFKI rover (with the high quality or lab-quality level software)

OG2+OG5 autonomous system using, within its mission, the modular interfaces developed in OG5, either with the ARTEMIS DFKI rover or with the OOS-SIM from DLR

OG2+OG3+OG4: Use OG2 Earth analogue mission to host OG4 sensors, and use the data to feed OG3 algorithms with the ARTEMIS DFKI rover.

Conclusions

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FACILITATORS brings together the best facilities for testing space robotics technologies

The facilities offer flexibilities in testing the OGs outputs

FACILITATORS is a first step for ensuring coherence between OGs, early integration tests are also proposed

The federetion of facilities will continue beyond the Project end and will be available for future projects

Visit our website h2020-facilitators.gmv.com

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