National Aeronautics and Space Administration
Small Business Innovation Research 2001 Program Solicitation

TOPIC H5 Space Assembly, Inspection and Maintenance

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H5.01 Automated Rendezvous, Docking and Capture
H5.02 Robotics Assistance, Assembly, Maintenance, and Servicing

One goal of the space assembly, inspection and maintenance topic is to enable a much more robust set of options for affordable implementation of ambitious new modular space exploration systems and missions. Another goal is to drive down the cost of human exploration missions and campaigns beyond low Earth orbit. Objectives. The objectives of this topic include the following: (1) Developing and validating technologies for the space assembly of large systems -- including both science mission systems (e.g., observatories) and human operational systems. (2) Enabling autonomous and/or telepresence systems inspection. (3) Advancing remote or shared control of these capabilities in near-Earth and interplanetary space. (4) Developing and validating the capability to extend the life and reduce the costs if a new generation of space systems through repair, refueling, upgrades and re-use of components from one system to another. (5) Minimizing the impact of space system failures by enabling easy access for repair -- thus reducing system-level functional redundancy (and associated costs). (6) Enabling a reduction in the total mass launched to orbit for given mission architectures. (7) Establishing a foundation for profitable commercial development of space applications of these technologies in the mid- to far-term.

H5.01 Automated Rendezvous, Docking and Capture
Lead Center: JSC
Participating Center(s): GSFC, MSFC

In support of future robotic and human missions beyond low Earth orbit, the need for automated rendezvous and docking has been identified. This subtopic addresses hardware and software technologies necessary to develop a robust automated guidance, navigation, and control (GN&C) capability bringing together two vehicles from initially large distances (> 1000 kilometers) around a remote planet and docking them. The "target" vehicle may be orbiting the planet for several years prior to the rendezvous. The "chaser" vehicle may begin the rendezvous after completing orbital insertion from an interplanetary cruise phase or after launching from the surface of the planet.

Because of intended use for future human missions, the rendezvous and docking capability must be low risk ensuring a very high level of mission success. The proposed system should be modular and adaptable to smaller robotic missions in order to validate the technology and spread the investment and experience base.

Innovations are sought to solve the following technology challenges:

• Spacecraft self-determination of orbits around remote astronomical bodies (including the Moon and Mars at a minimum) and supporting the initial phase of rendezvous operations when spacecraft to spacecraft ranges are possibly very large. Innovative technologies may include ground terrain tracking methodologies or possibly deployment of land based or orbiting nav and communication aids when cost effective or necessary. Alternative strategies are additionally sought
• A minimum relative navigation sensor suite addressing spacecraft-to-spacecraft ranges of 100 kilometers through docking including relative attitude control during the final 100 meters of the approach.
  

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H5.02 Robotics Assistance, Assembly, Maintenance, and Servicing
Lead Center: JSC
Participating Center(s): KSC

Proposals are solicited for innovative concepts that improve robotic capabilities as well as the human's ability to interact with and control robotic systems while minimizing the workload to EVA and IVA astronauts as well as ground operators.

Robotic Manipulators, End-Effectors, and Joints
Proposals are sought which include improvements to robotic joints, actuators, end-effectors, tools, and mechanisms. Proposals should address issues associated with space compatibility. Specific areas of interest include the following:

Technologies or systems that provide a reduction to the weight and or volume of robotic systems such as:

• Reduced scale high power-to-weight ratio actuators including but not limited to magnestostrictive motors and synthetic muscles
• Miniaturized actuator control and drive electronics
• Miniaturized sensing systems for manipulator position, rate, acceleration, force and torque

Robotic systems that accommodate existing EVA tools including but not limited to anthropomorphic systems and multi-fingered dexterous end-effectors.

Planetary robotic mobility systems and devices; robots will be needed to work with and to transport humans and equipment on a planetary surface. Examples include novel rover drive systems, suspension systems, and manipulator systems.

Compact low power devices for site setup, operation, and planetary surface exploration. Novel mechanisms are needed to enable human exploration and habitation of planetary bodies. Examples include site clearing and setup devices, equipment deployment devices, sample collection and manipulation devices, and the actuation components for these devices.

Human/Robotic Interface
Proposals that improve operator efficiency via advanced displays, controls and telepresence interfaces and improve the ability of humans and computers to seamlessly control robotic systems are sought. Specific technology requirements include the following:

• Tactile feedback devices that provide operator awareness of contact between work space objects and the robot structure. Key aspects of this technology are ergonomics and safety.
• Force feedback devices that provide operator awareness of manipulator and payload inertia, gripping force, and forces and moments due to contact with external objects. Key aspects of this technology are ergonomics and safety.
• Stereographic display systems that provide high-fidelity depth perception, field of view, and high resolution.
• Tracking position and orientation of user appendages (i.e., head, arms, fingers, eyes) for the purpose of providing motion commands to the robot. Key aspects of this technology are to free the operator of any exoskeletons or devices attached to the body which impede or restrict the operator's movements.
• Innovative miniaturized display hardware for use with Helmet Mounted Display (HMD) systems that project data in a Head Up Display (HUD) format. Emphasis is placed on compact, low mass hardware that can be used with HMD displays and efficiently display data (graphical and alphanumeric) without detracting from the HMD displayed video.

Intelligent Autonomous Systems

• Artificial intelligence based systems and architectures with provision for crew oversight.

Proposals are solicited for innovative concepts which will increase the functionality and robustness of extravehicular robotic (EVR) systems for science and operations. One example of such a robot is an EVA Robotic Assistant for planetary surface exploration. This robot should be able to follow a geologist, carry his tools and samples, provide video documentation of his activities plus real-time video for remote viewing and be commandable via a combination of gesture/voice by the geologist. Innovative concepts in machine vision, as well as in other non-vision forms of sensing and perception, which can provide the necessary input for the robotic system to function under a wide variety of operating conditions are required. Some specific technology needs to enable this EVA Robotic Assistant are:

• Small, low power machine vision systems for tracking a moving, articulated object such as a geologist exploring a planetary surface on foot. The tracker should not encumber the geologist by requiring him to wear special targets or beacons.
• Aided dead-reckoning and landmark navigation to keep a record, referenced to the terrain, of where the geologist is now and where he has been. Systems which do not require emplacement of external beacons are needed.
• Machine vision techniques for real-time image registration to create mosaics suitable for human viewing are needed. Mosaic construction must take into account camera motion and changes in lighting over extended periods of either several hours of EVA activity or a subsequent return to a previously visited location. This is intended to let the crew back in the habitat see what the geologist sees or to look around as if they were there.

Another example of an EVR is a mobile, remotely controlled video camera platform capable of transmitting video to its operator. For planetary surface exploration, this could be a scout intended to locate sites for follow-up EVA. For in-space operations, this could be an AERCam used to provide video views of the exterior of the International Space Station or a future Space Solar Power Satellite to inspect for damage, plan or supervise repair work, etc. Specific technology needs include:

• Supervised and traded control systems which allow for seamless human/robot interaction. The ability to accommodate both planned and unplanned human and autonomous operations within a task is essential.
• Model based landmark navigation to allow a mobile camera platform to find its way around the outside of a large satellite without requiring the addition of expensive external beacons including the ability to update the model of the satellite exterior as it changes.
• Machine vision techniques, including the construction of image mosaics, for detection of unspecified changes in objects being inspected under changing lighting and viewing conditions.
• Virtual reality interfaces that make it practical to operate such a robotic camera platform in close proximity to a large satellite when the operator has the view from the camera platform but no views of the platform.

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