Robotics and Autonomy Test Facility- Hardware Verification needs

Elie AllouisElie.Allouis@astrium.eads.net

HRAF Workshop – 28/02/2012

Content

Content Introduction and scope of the study Robotics System in Future Missions The Verification and Validation (V&V) Process Robotic System V&V Needs Facilities Addressing the V&V needs Next Steps Preliminary findings for an ESA - HRAF

Introduction and Scope

Recognising the need of specific verification and validation (V&V) activities for Exploration robotic systems

Beyond the needs of typical orbiters and spaceborne systems

Feasibility study for a dedicated European facility providing support for the V&V of Autonomous and Robotic systems

Verification – the system fulfils the requirements Validation – the requirements fulfils the mission needs

Introduction and Scope

Task 1 Identification of the system-level verification needs for

(roving) platforms as stand-alone system as part of landed robotic exploration missions

Identification of verification needs for different categories of payloads to be integrated on robotic platforms

Identification of verification needs for integrated (roving) platforms

Then; Matching needs Vs existing facility and perform a gap

analysis Propose a number of facility options complementary to

existing facilities

Robotic System in Future Exploration Missions

Identifying Future Robotic Systems To make any future facility relevant to a range of systems

Robotic/Autonomous System

Mobile Platform Manipulator Static Platform

Rover

Hopper

Aerobot

Subsurface – Active Penetrator

Submarine

Payload Deployment

Sample Collection

Object manipulation (e.g. Sample Cache)

Surface Lander

Passive Penetrator

Payload Automation

systems

Robotic System in Future Exploration Missions Identifying Future Missions needs

Including inputs from the Robotics and Automation DossierNeeds

Mission type Mobility Manipulation Platform / Payload Automation System

Robotic systems

Identified Short /medium term applicationsSoil sampling on the Moon None High Low Robot manipulators/ sampling

systemsDemonstrating locomotion on Moon High Low Medium Small roverSample return from NEO None Medium High Robot manipulators/ sampling

systemsRoving Mars for Exobiology High HIgh High RoverDeploying payload from stationary Martian Platforms

None High High Small Robot arm

Deploying instrument from mobile Martian Platforms

High High High Small rover, small robot arm

Fetching cached samples on Mars High High High Small rover, small robot armSample manipulation on an MSR lander None High High Robot armExamples of Potential Medium to Long Term ApplicationsCollaborative Platforms for Science or Exploration N/A N/A High Various with homogeneous or

heterogeneous systemsPassive Science Penetrators None None High Autonomous penetrator - Moon.

Mars, Europa, enceladus…Active Penetrators High Low High Autonomous mobile penetrator -

Mars, Europa…Mars Hopper for Regional Science Investigation High High High Hopper platform, robot

arm/sampleing system e.g. Leicester concept

Multi-platform Hazardous location investigation High Medium High 2+ RoversRover - Feeder for Moon ISRU unit High High High ISRU Lander +feeder roverRover - for Landing Site preparation High None High Rover - Moon or Mars

The Verification and Validation Process

Purpose V&V of a robotic and autonomous system is a complex and

multi-domain problem Only successful when all the hardware, software,

environment and their respective interactions are shown to meet the specifications, as well as being functionally fit for purpose.

Three main aspects need to be verified at various, if not all, levels of integration:

Electrical design, function and interfaces Mechanical, thermal design, function and interfaces Operation – platform and payload, validation of autonomy

The Verification and Validation Process

Development and Validation Building blocks

Flight SoftwareFlight Software

Numerical Models

Numerical Models

Hardware Breadboards

Hardware Breadboards

Eg. Mars yardEg. Mars yard

Flight Hardware

Flight Hardware

EnvironmentEnvironment

Mission Elements Development and Testing Elements

Autonomy AlgorithmsAutonomy Algorithms

The Verification and Validation Process Integration stages

Some V&V activities happen at all level of integration

Mission Phases Similarly, V&V happens across the mission:

Development Stage – increases confidence in design solutions Qualification stage – formal proof that the design fulfils requirement Confidence tests – builds confidence in the robotic/autonomous system Acceptance stage – proves the H/W, S/W correspond to qualified design Pre-launch stage – proves the system is flight worthy for launch and ops Post-launch – e.g. in-orbit/on-surface commissioning

Verification/ Integration Level Example LocationPart Solar cell Industry/SupplierSubassembly Solar Cells String Industry/SupplierAssembly Solar Cells Strings Industry/SupplierComponent Solar Panel Industry/Supplier

Subsystem Power, Locomotion Supplier or Systems Integrator

Element/Vehicle Rover, lander, orbiter Prime/Systems Integrator

Segment Surface (rover+lander), Orbiting (orbiter+return capsule)

Prime/Systems Integrator

Mission ExoMars, Sample Fetch Rover Not currently performedProgramme MSR (multi-mission) Not currently performed

Robotic System V&V Needs The verification strategy will be highly dependent on the actual

mission and system.

However, in the context of exploration robotics, three main aspects of V&V can be identified:

At Payload level - verifying and validating the payload or instrumentation against scientific requirements

At Robotic system level - to ensure performance criteria are met At Integrated System level - where integration and operation of the

integrated system are demonstrated to meet the necessary requirements and its fitness to fulfil the mission.

Payload

Robotic System / Platform

Integrated system

Robotic System V&V Needs Model Philosophy

Validation through a series of increasingly integrated models e.g. ExoMars Development Phase Qualification Phase Acceptance Phase

Rover VehicleLPM

Integrated VehicleBB

TinSAT

Rover ModuleSTM

Rover VehicleGTM

Rover ModuleATB

Subsystem Level

Vehicle Level

Element/Mission Level

Rover VehiclePFM(IST)

Mobility Development Electrical, Software & Functional Qualification

Qualification Review

Flight Acceptance

Review

Antenna Patterns

Egress & Drilling Development

Structure QualificationTMM Validation

Functional ConfidenceRehearse AIT Procedures

Acceptance Testing

Rover VehicleETM(ISST)

Rover VehicleSTM

Functional & Software Qualification

Rover VehicleETM(IST)

Rover ModuleGTM

Rover VehiclePFM

OBSW VerificationDrilling Stability

P/L Functional Interface Qualification

Acceptance TestingEMC Qualification

Rover VehiclePFM(ISST)

Acceptance Testing

Rover VehicleHSVF

Software DevelopmentChar. OBC Sim in NSVF

Rover VehicleNSVF

Subset of Functional & Software Qualification

Rover VehicleFVB(ISST)

GNC Algorithms Performance Qualification

Confidence Phase

ISST = Integrated Subsystem TestIST = Integrated System Test

Payload V&V Needs Categories

Long range - e.g. PanCam Proximity - e.g Ground Penetrating Radar Contact – e.g. Rock Abrasion Tool, MOMA Payload Support System – e.g. Sample Preparation System

Verification Needs At unit level, the operation of the payload is assessed and a number of functional test

are performed to: Evaluate its performance and evaluate its noise and sensitivity levels Calibrate the payload output, whether it is a sensor output or a mechanism

At subsystem to platform level: Emphasis on electrical and data interfaces Payload/platform interactions in all mission modes, FDIR, etc

At mission level Planning and rehearsal of operation sequences Better performed on fully representative platform to identify issues not

anticipated at unit level

Facilities Addressing V&V Needs Identify what kind of facilities address the V&V needs across phases

Categories

Robotic Verification Facilities

Mechanical

Component and Unit Level

Subsystems and Payload

Integrated systems

Electrical

Planetary Environment

Test Infrastructure

Specialist Hazard

Facilities

Lighting

Terrain

Soil and Rocks

Dust

Gravity

Thermal

Vacuum

Modelling and Simulation

Sub-system Control

Laser

Same as SubSystem and Payload

- Larger Scale

Control and Operation Field-testing

Radiation

High Voltage

Chemical

Planetary Protection

Sensing and data

Acquisition

Data storage

Communication and Network

Localisation

On-Board Sensors

Sub-systems Models

Mechanical and Dynamic

Integrated system

Operation scheduling

Integrated system

Operation execution

Data storage

Communication and Network

Surface Environment

External Motion capture

Virtual Integration

Virtual Integration

Virtual Operation

Integration Infrastructure

Specialist Integration

Remote Testing Control

Field-Testing Infrastructure

-Same as test Infrastructure,

ruggedised

Same as Component

-Larger Scale

GNC

Autonomy

Facilities Addressing V&V Needs

Terrain

Payload classification Comments

Haz

ardo

us a

nd

Spec

ialis

t

Ligh

ting

Topo

logy

Visu

al P

rope

rtie

s

Dyn

amic

s

Soil

and

rock

ban

ks

Dust

Virt

ual i

nteg

ratio

n Re

mot

e O

pera

tion

and

field

test

ing

Long Range PanCam(WAC+HRC) Panoramic Camera

System

remote LIBS e.g. as on MSL) Proximity

Raman LIBS Spectroscopy Mossbauer Spec Ground Penetrating Radar e.g. WISDOM IR Imaging Spectrometer MicrOmega X-Ray diffractometer /

fluorescence Mars-XRD

Contact Rock Abrasion Tool e.g. RAT Mole e.g. PLUTO Ma_MISS IR Borehole

Spectrometer (in drill)

LMC Life Marker Chip MOMA Mars Organic

Molecule Analyser

Seismometer Payload Support System Sample acquisition Arm Drill Instrument workbench e.g. PAW Deployment Mechanism Sample Preparation System e.g. crusher Sample Handling System e.g. carousel Maintenance Mechanism e.g Lens/dust cleaner Mast Tracking mechanism

DRAFT

Payload

Facilities Addressing V&V Needs Unit and Sub-systems Level

Payload classification Comments Mec

hani

cal

Elec

tric

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Ther

mal

Vacu

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Ligh

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Components and Unit LevelAll componentsComponents exposed to planetary environment

Testing of critical units. More likely at sub-system level

SubSystems and ModelsLocomotion Performance Model (LPM)

Mobility Development

Communication Sub-system Performance Model - (TinSat)

Communication Development

Functional Validation Bench (FVB)

GNC Algorithms Performance Qualification

Electrical Test Model (ETM)

Electrical, software and Functional Qualification

Environmental and Unit testing

Specialist Facility

Planetary Environment Test Infrastructure Modelling and

Simulation Control And Operation Field-testing

DRAFT

Facilities Addressing V&V Needs System/Platform Level

Payload classification Comments Mec

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Elec

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Ther

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Platform LevelNumerical Software Verification Facility (NSVF)

Simulated OBC for S/W developemnt and Hardware in the Loop (HITL) testing

Hybrid Software Verification Facility (HSVF)

Hardware OBC used to characterise OBC simulation in NSVF

Electrical Test Model (ETM)

Functional and Software Qualification

Structural ThermalModel (STM)

Accurate physical representation of the system for mechanical and thermal testing.

Ground Test Model (GTM)

Functional confidence, rehearsal of AIT procedures - Complete functioning hardware build

Proto Flight Model (PFM)

Final Model - Acceptance testing

Environmental and Unit testing

Specialist Facility

Planetary Environment Test Infrastructure Modelling and

Simulation Control And Operation Field-testing

DRAFT

Facilities Addressing V&V Needs Integrated System Level

Payload classification Comments Mec

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Elec

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Ther

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Integrated SystemIntegrated Vehicle/System Breadboard (IVBB)

Platform to support early development of other equipments and Ops

Avionics TestBench (ATB)

Payload Functional Interface Qualification

Structural ThermalModel (STM)

Structure Qualification, TMM validation

Ground Test Model (GTM)

OB S/W verification, payload operation rehearsal

Proto Flight Model (PFM)

Acceptance testing, EMC Qualification

Environmental and Unit testing

Specialist Facility

Planetary Environment Test Infrastructure Modelling and

Simulation Control And Operation Field-testing

DRAFT

Next Steps Collate updated European facilities capabilities

Perform a matching of facility Vs need up to mission level validation

Perform a gap analysis and propose facility options To be consolidated with the Software and Autonomy Facility Activity

Preliminary Findings Building on a good pan-European capability

Wide range of existing European facilities address already a number of V&V activities from component to subsystems level.

However, a few concepts are being identified to enhance future robotic exploration developments

“Virtual Integration” i.e. subsystems/payload virtually integrated and tested (operation,

comms, data) through a network/web interface prior to real integration – cuts debugging and integration/validation time

Integrated system Operation i.e build practical experience of real payload operation on a realistic

platform – build knowledge of platform and payload ops and limitations Field testing infrastructure

Operation of integrated system in a real environment to develop critical operational scenarios

Planetary protection Development of key PP integration or Robotic AIV procedures

Open Discussion Based on your experience:

While some existing facilities can address sub-systems validation, can you identify a missing facility that would address system-level validation (i.e. greater integration level, scale, complexity)?

Can you identify specific activities or hardware that would facilitate system-level validation of robotic systems?

Elie AllouisElie.Allouis@astrium.eads.net

HRAF Workshop – 28/02/2012

Robotics and Autonomy Test Facility- Hardware Verification needs