Transcript Approved for public release, distribution unlimited. Mission DEOS Deutsche Orbitale Servicing Mission Verifying Space Robotic Technologies for a More Sustainable Orbital Infrastructure T.

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Mission DEOS
Deutsche Orbitale Servicing Mission
Verifying Space Robotic Technologies for a More Sustainable Orbital
Infrastructure
T. Kaupisch, T. Wolf, D. Reintsema, B. Sommer
German Aerospace Center (DLR) Space Administration
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Slide 2.
[VIDEO]
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Slide 3.
Technological Challenge
Localize, recognize and observe
- Pivotal questions: Where is the client satellite? Is
this the one we wanted to visit?
- Localization: Move from a coarsely know absolute
position to an accurate relative distance to the
client
- Recognition: Requires active and/or passive
sensors (laser, radar, camera) depending on
illumination conditions and the combination of
sensor data
- Challenges:
(1) Detect the satellites physical status, (damages,
structure,…)
(2) Determine relative position, orientation and
motion
Bild © NASA
Bild © ESA
Slide 4.
Technological Challenge
Localize, recognize and observe
- Laser Optical Sensors: 3D-LIDAR
- General maturity proven by ISS-mission
Autonomous Transfer Vehicle (ATV)
- Changes to cope with non-cooperative targets
- Space-qualification of components
- Optical Sensors: Zoom-Camera System
- Replace several cameras needed for different
operating ranges
- field-of-view changer with fixed zoom settings
- highly robust and accurate
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Slide 5.
Technological Challenge
Navigation and close approach
- Pivotal question: How do we safely navigate the
servicer to a parking position close enough to
reach the client with a manipulator?
- Challenges:
 Determine widely autonomous navigation
technique for a safe approach
 Detection of relative position, attitude and
motion estimation by sensors
 Process large amount of data produced by the
sensors and transform it to navigational
commands by algorithms
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Slide 6.
Technological Challenge
Navigation and close approach
- Hardware: Multi-Core CPUs
- Provide sufficient computing power using
COTS PowerPC P4080
- Utilize redundant resources to achieve fault
tolerance by implementing effective FDIR
strategies
- Software: Avionics and Data-Handling
- Interaction between classical satellite system
tasks and payload functions rises
- Component-based design and time & space
partitioning
Slide 7.
Technological Challenge
Capture and berthing
- Pivotal question: How can we capture
a non-cooperative, free floating and
tumbling satellite without causing any
damage?
- Challenge:
 Synchronize manipulator and client
motion
 Grasp a structural element of the
client
 Stabilize the coupled satellites by
slowing down manipulator
movement and thus relative motion
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Slide 8.
Technological Challenge
Capture and berthing
- Manipulator Camera with Illumination
- Observation of client motion
- Identification of dynamic parameters
- Motion estimation
- Manipulator Arm
- Path-planning
- Path-control including visualsurveillance
- Decay the motion between servicer
and client
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Slide 10.
Conclusion and Outlook
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-
DEOS will prove the capabilities of Germany’s space robotics technologies
-
It shall demonstrate and verify techniques to maintain, refuel and repair
malfunctioning (non-cooperative, even tumbling) satellites
-
DEOS approach shall explore the mandatory techniques to remove inoperable
satellites and space debris
-
The building blocks and key technologies needed for this are identified and
consequently developed in a technology program.
-
Examples for that are new approaches regarding on-board software and
hardware, sensors and a robotic manipulator
-
DEOS shall provide the prerequisites for the establishment and operation of
future OOS logistics infrastructures with different lifetime of bus & P/L
-
New modular concepts to build satellites will lead to a more sustainable orbital
infrastructure
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Slide 11.
Thanks for your attention!
Thomas Wolf
DLR Space Agency
E-Mail: [email protected]
The DEOS project is performed on behalf of the Space Administration of the German Aerospace Center, DLR, funded by
the Federal Ministry of Economy and Technology within the framework of Germany’s National Space Program.