NASA Satellite Servicing Evolu2on
Future In-Space OperaGons (FISO) Teleconference
01-11-17
Benjamin B. Reed
Deputy Program Manager
Satellite Servicing Projects Division
NASA’s Goddard Space Flight Center
benjamin.b.reed@nasa.gov
40+ Years of On-Orbit Servicing
1973
2016
2
Satellite Servicing Capabili2es
Servicing provides capabilities for
resilient architectures.
Remote Inspec2on
Relocate
Replace
Repair
Refuel
Replenish
Assemble
3
Servicing Supports Na2onal Goals
Na#onal Space Policy 2010:
Energize compe22ve domes2c industries to parGcipate in
global markets and advance the development of satellite
manufacturing and satellite based services
Increase assurance and resilience of mission-essen2al
func2ons enabled by commercial, civil, scienGfic, and naGonal
security spacecraV and supporGng infrastructure
Pursue human and roboGc iniGaGves to develop innovaGve
technologies and foster new industries
Servicing is aligned with America’s space objec2ves.
4
How we do business
Commercial
Owners, Operators, Insurers
Stakeholders
Department of
Interior
USGS
Con$nuous
Needs
Assessment
Nascent
Servicing
Industry
NASA
Science
SpacecraV Manufacturing
Industry
NASA
ExploraGon
Other Government
Agencies
Department of
Commerce
NOAA
Technology &
Capability
Infusion
Satellite Servicing
CapabiliGes Office
Projects
Raven
Project
Technologies
RelaGve
NavigaGon System
Servicing
Avionics
5
How we do business
Commercial
Owners, Operators, Insurers
Stakeholders
Nascent
Servicing
Industry
NASA
Science
Department of
Interior
USGS
SpacecraV Manufacturing
Industry
NASA
ExploraGon
Other Government
Agencies
Department of
Commerce
NOAA
Con$nuous
Needs
Assessment
Technology &
Capability
Infusion
Satellite Servicing
CapabiliGes Office
Projects
RoboGc Refueling
Mission 1, 2, 3
Raven
Project
RelaGve
NavigaGon System
Technologies
WFIRST
LUVOIR
FarIR
Asteroid Redirect
Mission
CooperaGve Servicing
Aids
Fluid Transfer
System
Servicing
Avionics
Robot Arm and
SoVware
Studies
Restore-L Servicing
Mission
Near Earth Object
Detector
Tool and Tool Drive
System
20-Meter
Landers
EMC - tug
EMC - MAV
6
How we do business
Commercial
Owners, Operators, Insurers
Stakeholders
Nascent
Servicing
Industry
NASA
Science
Department of
Interior
USGS
SpacecraV Manufacturing
Industry
NASA
ExploraGon
Other Government
Agencies
Department of
Commerce
NOAA
Con$nuous
Needs
Assessment
Technology &
Capability
Infusion
Satellite Servicing
CapabiliGes Office
Projects
RoboGc Refueling
Mission 1, 2, 3
Raven
Project
Robot Arm and
SoVware
Studies
WFIRST
LUVOIR
FarIR
Asteroid Redirect
Mission
CooperaGve Servicing
Aids
Fluid Transfer
System
Servicing
Avionics
RelaGve
NavigaGon System
Technologies
Restore-L Servicing
Mission
Near Earth Object
Detector
Tool and Tool Drive
System
20-Meter
Landers
EMC - tug
EMC - MAV
7
Technology Demonstra2on Mission
The Restore-L Mission will:
1. Demonstrate a national satellite servicing capabilities
2. Advance essential technologies for NASA and National goals
3. Kick-start a new U.S. commercial servicing industry
8
Mission Objec2ves
Autonomous Grasp
TeleroboGc Refuel
& Relocate
Autonomous
Rendezvous
9
Mated Opera2ons: Refueling & Reloca2on
Client: USGS Landsat 7
NASA servicing payload
Vendor supplied spacecraV bus
10
Restore-L Technology PorRolio
rela2ve naviga2on system
Sensor suite (visible, infrared, lidar)
Algorithms (range, bearing, pose)
SpaceCube processor
servicing avionics & soOware
SpaceCube processor
Video DistribuGon & Storage Unit
robot arm & soOware
NASA Servicing Arm – 7 DoF
Robot Electronics Unit
Robot Flight SoVware
tool drive system & tools
Advanced Tool Drive System
SophisGcated servicing tools
(gripper, blanket cufer, wire cufer, cap
removal, & nozzle tool) and adapters
propellant transfer system
Propellant Transfer Assembly
Zero-g fluid flow meter
Hose management system
coopera2ve servicing
aids
Rendezvous decals
CooperaGve Servicing Valve
6/10/16
11
Technology Development Timeline
Robo2c Tools and
Tool Drive
Fluid Transfer
2012
2013
Proximity Sensors &
Algorithms
3-DOF
Capture
Real-Gme SpaceCube
6-DOF pose 1.0 (MISSE-7)
of HST
Zero-G
6-DOF auto
tracking
Closed Loop
TesGng
Contact
Dynamics
ValidaGon
SpaceCube 2.0 STPH4
Gripper
Tool
2014
Refueling
Procedure
ValidaGon
2016
Closed Loop
TesGng 2
Remote
control
w/ oxidizer
Ethanol
refueling Hose tests in
on orbit zero-g, NBL
Oxidizer
Transfer
2017
2018
Autonomous tracking of
spacecraL
(Raven)
Receipt
of 7-DoF
Eng Arm
Flight processor
execuGng robot
control algorithms
Four RRM tool
Oxidizer Tool
on-orbit validaGon
validaGon
Oxidizer seal-less pump
evaluaGon
2015
Engineering arm
w/ flight-like
algorithms
Comprehensive
Refueling Tasks
High-speed,
Fault-tolerant
Compu2ng
2011
RROxiTT
Dexterous Robo2cs
Real-Gme 6-DOF
pose of HST
HST SM4 tes#ng
Rendezvous &
Prox Ops System
2010
RRM refueling demo
2005-09
SpaceCube
driving
Eng. Arm
Receipt of
7-DoF –space
qualified Arm
Real-$me processing of
natural feature vision
algorithms on a
SpaceCube 2.0 (Raven)
InspecGon Next-gen refueling
tools
tool on orbit
Propellant Transfer Cryo & Xenon transfer
(RRM-3)
system
12
12
Restore-L Mission Context
RESTORE-L Advancement
Technologies
CapabiliGes
Enabled Missions
• RelaGve NavigaGon Sensors
and Algorithms
• Advanced Avionics
Remote InspecGon
• Servicing RoboGcs
Legacy Rendezvous
• Servicing Tools
• Propellant Transfer
• Mission Autonomy Manager
• Berthing System
Commercial
Servicing
ARRM
Capture Module
Legacy Capture
Legacy Refueling
Client RelocaGon
US Fleet Servicing
Journey to Mars
Other SSPD Projects
• Vision System
• Cryogen Transfer
• CooperaGve Servicing Aids
• Xenon Transfer
• Modular Components
Repair
Coopera$ve
Servicing
On-Orbit
Assembly
Replenish
Replace
Assemble
Orbit Debris Mi$ga$on
13
Capabili2es Map
Assemble
Replace
(legacy
instrument/box)
Replenish
(cryogen)
Repair
Technical
Complexity
Restore-L
Replace
(cooperaGve)
Relocate
Refuel
(chemical)
Remote
InspecGon
Market Size
14
Technology
Development
15
ARM Mission Highlights
16
Robo2cs Facili2es
West Virginia Robo#c Technology Center
Servicing Technology Center
Robo#cs Opera#ons Center
17
Coopera2ve Servicing Ac2vi2es
Coopera2ve Servicing technologies
reduce risk, cost, and complexity
of servicing missions
• NASA is developing CooperaGve Servicing Aids to
further enable satellite servicing on future
missions
• ~ 6 satellites in orbit now have rendezvous decals
• The CooperaGve Servicing Valve (CSV) will be the
first product of this effort. The design will be at
TRL 6 in 2017 and will fly on ISS in 2018
- The CSV requires no caps or wires, greatly reducing
operaGons Gme
• MulGple missions currently in development are
analyzing how to incorporate these technologies
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What Will The Next 40 Years Hold?
2013
2053
19
19
20 Meter?
Robo$c arms
Astronauts
ArGst’s Concept. NASA/SSPD