Space Grant “SPHERES Experts Network”...
Transcript of Space Grant “SPHERES Experts Network”...
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SPHERES
Massachusetts Institute of Technology
Space Systems Laboratory
Space Grant “SPHERES Experts Network” Proposal
Presented by Prof. Jeffrey Hoffman, MIT
Director, Massachusetts Space Grant
October 2012
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SPHERES
MIT Space Systems Laboratory 2
What is SPHERES?
• A Facility of the ISS National Laboratory with three nano-satellites designed by
MIT to research estimation, control, and autonomy algorithms
• By working aboard
ISS under crew
supervision, it provides
a risk-tolerant
environment
• The satellites can be
reused
– Replenishable
consumables
– Multiple test sessions
assigned per year
• If anything goes wrong,
reset and try again!
If you can’t bring the space environment to the laboratory,
take the laboratory to space!
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SPHERES
MIT Space Systems Laboratory 3
What is SPHERES for?
• In the future we expect multiple satellites to work together to accomplish tasks that
are not currently possible
• Formation Flight
– Many satellites aligned to
create giant space telescopes
• Docking
– Autonomously create large
spacecraft for interplanetary
travel
– Repair and resupply old
spacecraft
– Reuse parts of old spacecraft
• Close proximity operations
– Inspect broken satellites and
other space objects
Many minds are better than one,
but they are harder to control (literally)!
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SPHERES
MIT Space Systems Laboratory 4
What is Zero Robotics
• A competition designed to allow Middle- and
High-school students unprecedented
access to the International Space Station
through SPHERES
• Teams of students work to program the
SPHERES satellite to win an MIT-designed
game
• The teams go through multiple elimination
rounds; the top teams see their code tested
aboard the ISS
If SPHERES is so “risk tolerant”, why can’t grade-school
students use it? … they can!
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SPHERES
MIT Space Systems Laboratory 5
What is Zero Robotics…
from space!
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SPHERES
MIT Space Systems Laboratory 6
Space Grant
“SPHERES Expert Network”: What
For Science
• Students know how to program
science algorithms on
SPHERES
– Estimation, control, autonomy
– Formation flight, docking
• Help with existing research
– Join forces with MIT, NASA
ARC, and other current
SPHERES researchers
• May propose new research
• Will test their code aboard
ISS
For Zero Robotics
• Outreach region’s high-schools
– Recruit between 15-25 High
Schools from the state/region
– Provide learning opportunities for
the HS students
• Seminars at the university
• Video conferences
– Help establish regional “events”
within state and neighboring
states
– Help MIT team support online
– Pre-test the game of that year
Objective: create a nationwide network of engineering
students who are experts on SPHERES research
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SPHERES
MIT Space Systems Laboratory 7
Space Grant
“SPHERES Expert Network”: Who/how
• Undergraduate or graduate students in a technical university within the SG state
– Must be in an engineering field related to SPHERES / Zero Robotics (aero/astro, computer
science, robotics, astrophysics, or similar)
– Must remain a student from selection and into the next full Zero Robotics cycle (Sep-Jan)
• May be a senior who continues to graduate school within the state
– Should demonstrate interest both in SPHERES research and general outreach abilities
• Application – Basic personal and school information
– Proposal for SPHERES research
• As part of existing MIT/NASA research or new proposal
• May be research to enhance Zero Robotics (game development, ISS experience improvements, etc)
• Plan for tests aboard the ISS (why micro-gravity with SPHERES?)
– Commitment to outreach for Zero Robotics and help during competition
• Timeline – Mar 2013 Application opens
– Jun/Jul 2013 2 Week “SPHERES Crash Course” at MIT
– Aug 2013 Zero Robotics Game Testing (online)
– Sep 13 – Jan 14 Zero Robotics Fall Tournament
– Feb 14 – Apr 14 Research Programming
– May/Jun 14 ISS Research Tests
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SPHERES
MIT Space Systems Laboratory 8
Space Grant
“SPHERES Expert Network”: Proposal
• Create a $10,000 grant for the students
– MIT (SPHERES Grant) will provide $5,000
– Participating SG’s should provide the other $5,000
• Hope to have 10 State SG’s participate in 2013-14
– May consider more based on demand
• $10k grant will cover (inclusive)
– Travel costs to MIT crash course
– Materials to support Zero Robotics
– The rest for student educational and research expenses (managed by student)
• MIT will provide in addition
– Housing for 2-week “SPHERES Crash Course” (MIT dorm)
– Zero Robotics website and game access
– Tools required for SPHERES research programming
– Guidance to “SPHERES Experts” throughout the year
– Availability of SPHERES hardware at MIT
– Work with NASA to have astronaut time for SPHERES Experts research on ISS
• Participating State Space Grant’s will provide in addition
– Selection process to find SPHERES Expert grantee
– Help with outreach for Zero Robotics (led by grantee)
– Communications channels between grantee and MIT
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SPHERES
MIT Space Systems Laboratory 9
Contact Information
• MIT Investigators – Prof. David W. Miller, PI
– Alvar Saenz Otero, Lead Scientist
• MIT Science Team – Jacob Katz (PhD)
– Sreeja Nag (MS)
– Sonny Thai (MS)
– Swati Mohan (PhD, alum)
• MAP – Katie Magrane, Director
• AFS – Javier de Luis
– Jim Francis
– Jaime Ramirez
– John Merk
• Top Coder – Ira Heffan
– Mike Lydon
– Ambi del Villar
• NASA ARC – Bruce Yost, Program Manager
– Andres Martinez, Project Manager
– Steve Ormsby, Operations Lead
• Acknowledgements – NASA HQ & Education Office
– Dr. Lorna Finman
– Astronaut Gregory Chamitoff
http://ssl.mit.edu/spheres
http://zerorobotics.mit.edu
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SPHERES
MIT Space Systems Laboratory 10
Upcoming SPHERES Programs
• VERTIGO - 2012-Oct
– Vision Based Navigation
• RINGS - 2012-Dec
– Electro Magnetic Formation Flight
• Slosh - 2013-Jul
– Fluid Slosh CFD model validation
• InSPIRE 2 - 2013-Jul, 2014-Jan, 2015-Jan
– Docking Ports
– Multi-port adapter
– Manipulator Arms
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SPHERES
MIT Space Systems Laboratory 11
VERTIGO Overview
• Visual Estimation and Relative Tracking for Inspection of Generic Objects
• Perform spacecraft vision based navigation in a
microgravity environment
• Enable other researchers to perform follow on
vision based navigation research
• What are the Goggles?
• A hardware upgrade to the SPHERES satellites:
• 2 Stereo Cameras
• 1.2 GHz Linux CPU
• Illuminating LED Lights
• 802.11 WiFi Connection
• Lithium Battery
(ISS Nikon Camera battery)
• Textured stickers to “simplify”
image processing
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SPHERES
MIT Space Systems Laboratory 12
VERTIGO Hardware
Expansion Possibilities– Removable Optics Mount
• Interface: USB 2.0, 12V Unregulated, RS232 x2,
1Gbps Ethernet
– 802.11n USB WiFi Card• Offboard processing, communications and sensor
resources
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SPHERES
MIT Space Systems Laboratory 13
RINGS Overview
• Purpose of RINGS:
– Demonstrate EMFF for the first time in full 6 DOF micro-gravity
– Mature EMFF control algorithms in 6 DOF
– Demonstrate a hybrid EMFF/Wireless Power Coupling Design
• Electromagnetic Formation
Flight (EMFF)
– Apply force and torque on
SPHERES
– Use electromagnetic
interactions modeled as
magnetic dipoles
• Wireless Power Transfer (WPT)
– Inductively coupled coils at
resonance to improve power
coupling
Force Torque
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SPHERES
MIT Space Systems Laboratory 14
RINGS Flight Hardware
Fan
Ring Housing
Support Structure
Electronics Box
LCD Display
SPHERE
CO2 Tank
Battery
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SPHERES
MIT Space Systems Laboratory 15
Slosh Hardware
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SPHERES
MIT Space Systems Laboratory 16
InSPIRE 2 Overview
• Full project called “MEDUSA”
– Starting November 2012 (expected)
• Hardware Upgrades
– 2013: UDP & “multiport” development (MEDUSA)
– 2013: Launch UDP
– 2014: Launch HALO
– 2014: NRL develop arms
– 2015: (early) launch arms
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SPHERES
MIT Space Systems Laboratory 17
Space Grant
“SPHERES Expert Network”: Proposal
• Create a $10,000 grant for the students
– MIT (SPHERES Grant) will provide $5,000
– Participating SG’s should provide the other $5,000
• Hope to have 10 State SG’s participate in 2013-14
– May consider more based on demand
• $10k grant will cover (inclusive)
– Travel costs to MIT crash course
– Materials to support Zero Robotics
– The rest for student educational and research expenses (managed by student)
• MIT will provide in addition
– Housing for 2-week “SPHERES Crash Course” (MIT dorm)
– Zero Robotics website and game access
– Tools required for SPHERES research programming
– Guidance to “SPHERES Experts” throughout the year
– Availability of SPHERES hardware at MIT
– Work with NASA to have astronaut time for SPHERES Experts research on ISS
• Participating State Space Grant’s will provide in addition
– Selection process to find SPHERES Expert grantee
– Help with outreach for Zero Robotics (led by grantee)
– Communications channels between grantee and MIT
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SPHERES
MIT Space Systems Laboratory 18
Space Grant
“SPHERES Expert Network”: Who/how
• Undergraduate or graduate students in a technical university within the SG state
– Must be in an engineering field related to SPHERES / Zero Robotics (aero/astro, computer
science, robotics, astrophysics, or similar)
– Must remain a student from selection and into the next full Zero Robotics cycle (Sep-Jan)
• May be a senior who continues to graduate school within the state
– Should demonstrate interest both in SPHERES research and general outreach abilities
• Application – Basic personal and school information
– Proposal for SPHERES research
• As part of existing MIT/NASA research or new proposal
• May be research to enhance Zero Robotics (game development, ISS experience improvements, etc)
• Plan for tests aboard the ISS (why micro-gravity with SPHERES?)
– Commitment to outreach for Zero Robotics and help during competition
• Timeline – Mar 2013 Application opens
– Jun/Jul 2013 2 Week “SPHERES Crash Course” at MIT
– Aug 2013 Zero Robotics Game Testing (online)
– Sep 13 – Jan 14 Zero Robotics Fall Tournament
– Feb 14 – Apr 14 Research Programming
– May/Jun 14 ISS Research Tests
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SPHERES
MIT Space Systems Laboratory 19
BACKUP
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SPHERES
MIT Space Systems Laboratory 20
2011 ISS Finals
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SPHERES
MIT Space Systems Laboratory 21
HS Tournament Schedule
2D Simulation Competition
2D Ground Demonstration
3D Simulation Elimination
3D Alliance Semi-Finals
ISS Finals!
September
October
November
December
Registration
Alliance creation
Virtual
Finals
Note: Due to ISS availability, the 2011 ISS Finals may take place in January
April - Sep
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SPHERES
MIT Space Systems Laboratory 22
TPF Orbital Express
Phase 1 Science Objectives
• Develop a platform to demonstrate and validate metrology, control, autonomy,
and artificial intelligence algorithms for distributed satellite systems (DSS)
• Demonstrate different configurations of DSS
– Rendezvous and docking algorithms • Servicing missions
• Space assembly
– Autonomous formation flight • Optical telescopes (Stellar Imager), space based radar
• Approved by SERB May 2008: Fractionated Spacecraft (DARPA)
• Provide a representative environment for the demonstrations
– 6 DOF
– Long duration m-g
ESA DARPA JPL
Darwin
– Full satellite simulation
– Allow science “payloads”
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SPHERES
MIT Space Systems Laboratory 23
Research Progress:
Docking & Rendezvous
• Phase 1 Final Objective
– Mature autonomous docking algorithms
to a semi-cooperative docking target
tumbling with nutating motion to TRL 6 to
aid with servicing and assembly
missions
– Autonomous • No human intervention with high success rates
– Semi-cooperative • Target can communicate but has no actuation
capabilities (simulated)
– Nutating • Two rotational vectors at different periods
– TRL 6 • System demonstration in a representative
environment
– Servicing • Dock precisely to enable the transfer of
consumables and/or rendezvous closely to enable
satellite inspeciation
– Assembly • Demonstrate autonomous systematic assembly of
a complex spacecraft using multiple components
with some s/c acting as “tugs”
• Progress
– Global estimation complete
– Docking to a tumbling cooperative target
– Initial Path Planning completed • Docked to a fixed target
• Remaining
– Direct relative estimation
– Robust controllers (LQR, Hinf, etc)
– Further plume impingement work
– Path planning & collision avoidance • To rotating and semi-cooperative targets
• Nutating target
– Obstacle avoidance • On-line autonomous avoidance
• Reaction maneuver planning
– Inspection • Full plane capture sequencing
– Assembly • Assembly sequence with cooperative targets
• Assembly with unknown initial conditions
– Integrated tests to reach TRL6
wikipedia.com
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SPHERES
MIT Space Systems Laboratory 24
Research Progress:
Formation & Fractionated Flight
• Phase 1 Final Objective
– Demonstrate feasibility of coarse
formation flight control for separated
space telescopes and radar
– Create an architecture of distributed
modules that enable all major spacecraft
hardware to function as network-
addressable and shareable devices.
– Coarse control • Thruster based relative position and attitude
control of the spacecraft to within ±5 millimeters
• Later to be coupled with precision optical control
for space telescopes
– Separated space telescopes & radar • Telescopes: TPF/DARWIN and SI designs
• Usually rotating formations
• Either maximize coverage or resolution
• Allow re-shape of formation to switch between
coverage/resolution modes
– Distributed Modules • Demonstrate the ability of multiple modules to
create a virtual single spacecraft by autonomously
aligning themselves, showing the ability to change
their geometry, and avoid collision between each
other, while maintaining communications and
sharing their devices.
• Progress
– 3-Satellite formation flight
demonstrations • Rotations and plane changes
• Off-line path planning maneuvers
• Initial communications design
– 2-Sat fractionation demos
• Remaining
– Advanced controls • Non-linear and fuel-optimized
• Fuel balancing
– Space telescope & Radar • Off-axis combiner demonstration
• Capture maneuvers
• Control optimized for optical capture
– Fractionation • 3-Satellite tests (all parts)
• Optimal initialization
• Reconfiguration (geometry, metrology,
architecture)
• Obstacle Avoidance