National Aeronautics and Space Administration
Small Business Innovation Research & Technology Transfer 2003 Program Solicitations
TOPIC F5 Space Assembly, Inspection and Maintenance
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F5.01 Automated Rendezvous and Docking and Capture
F5.02 Robotics for Crew Assistance, and for On-orbit/Planetary Assembly, Maintenance and Servicing
F5.03 Structural Concepts, Materials, and Assembly for Modular Systems
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. The objectives of this topic include 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 tele-presence 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, and 7) establishing a foundation for profitable commercial development of space applications of these technologies in the mid- to far-term. The space program can enrich society by directly enhancing the quality of education. Terrestrial applications of technologies developed for space have saved many lives, made possible medical breakthroughs, created countless jobs, and yielded diverse other tangible benefits for Americans. The further commercial development of space will yield still more jobs, technologies, and capabilities to benefit people the world over in their everyday lives. A goal of NASA is therefore to share the experience, the excitement of discovery, and the benefits of human space flight with all.
F5.01 Automated Rendezvous and Docking and Capture
Lead Center: JSC
Participating Center(s): MSFC
In support of future robotic and human missions, the need for additional automation in 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 to mate two vehicles from initially large distances (> 1000 kilometers). 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. 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.
For the purposes of this solicitation, the International Space Station (ISS) is the target vehicle. Proposed solutions should not impact trajectory control operations for current or planned space vehicles visiting the ISS (ie: Shuttle, Soyuz, Progress, ATV, HTV). The proposed system may include active components on the target vehicle if a high level of mission success can be ensured. Preferred solutions do not require extravehicular activity (EVA) to install hardware on the external surfaces of the target spacecraft.
Innovations are currently sought to solve the following specific technology challenges:
- Definition and development of a small lightweight relative navigation system addressing spacecraft-to-spacecraft ranges of 100 kilometers to less than 100 meters. This system should provide precision relative state position and velocity data needed for trajectory control and be capable of supporting trajectory operations for various rendezvous and proximity operations mission profiles, including circumnavigation of the target and final separation and departure operations.
- Definition and development of a small lightweight relative navigation system providing position/velocity trajectory control and relative attitude control during the final 100 meters of the approach through mating.
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F5.02 Robotics for Crew Assistance, and for On-orbit/Planetary Assembly, Maintenance and Servicing
Lead Center: JSC
Participating Center(s): MSFC
Proposals are sought which include improvements to robotic joints, actuators, end-effectors, mobility devices and mechanisms for planetary and orbital aid to human explorers. Proposals should address issues associated with environmental compatibility. Specific areas of interest include the following:
- Novel drive systems, suspension systems and manipulator systems.
- 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 magnetostrictive motors and synthetic muscles.
- Miniaturized actuator control and drive electronics.
- Miniaturized sensing systems for manipulator position, rate, acceleration, force and torque.
- Robotic systems that can grapple, manipulate and operate existing EVA tools while maintaining a small, human sized form factor.
- Compact low power devices for operation with, as well as site setup and preparation for, human presence both in orbital and planetary surface exploration. Examples include site clearing and setup devices, equipment deployment and retrieval devices, sample collection and manipulation devices, and the actuation components for these devices.
- Free flyer docking and recharge mechanisms
Proposals are solicited for innovative, integrated, sensor concepts that serve to maximize functionality, minimize weight, size, cost and failure probability, or increase mission performance or versatility of Extra-Vehicular Robots (EVR). Categories of EVR include, but are not limited to, semi-autonomous robot for assisting human exploration of planetary surfaces, free-flyers for external inspection of manned spacecraft and humanoid robots for external servicing of manned spacecraft.
A robot to assist human exploration of planetary surfaces might carry tools and samples for a field geologist, capture video/snapshots for him and transmit them to a base location for viewing or scout ahead to locate sites for follow-up EVA. Some specific technology needs are:
- Free flyer docking and recharge mechanisms Small, low power machine vision systems for tracking a moving, articulated object such as a geologist exploring a planetary surface on foot in order to keep the robot's cameras pointed at the geologist, record his activities, etc.
- An aided dead reckoning/landmark navigation system to keep a record, referenced to the terrain, of where the geologist, or the robot, is now and where they have been.
A free-flying, remotely controlled imaging platform capable of transmitting images to its operator could provide images on demand of the exterior of the Space Shuttle, the International Space Station or a future Space Solar Power Satellite to inspect for damage, plan or supervise repair work, etc. Technology needs include:
- Model based landmark navigation to allow a free-flying camera platform to find its way around the outside of the ISS without requiring expensive external beacons, including the ability to update the model as it changes.
- Machine vision techniques, including construction of image mosaics, for detection of unspecified changes in objects being inspected under diverse or changing lighting/viewing conditions.
- Sensing to minimize the risk of collision between the imaging and target vehicles, such as:
- Small, lower power, range/range-rate sensor
- Small, lower power "ranging" sensor that produces a depth map of the scene
- System on a Chip (SOC) imager that captures InfraRed (IR) images of a scene
A humanoid robot designed to have the dexterity of a space suited astronaut would be capable of operating tools and performing repair on a manned spacecraft that were originally designed for human operation. Specific technology needs include:
- Miniature robust sensors/sensor material for measuring position/strain that are designed for integration into mechanisms versus being an add-on unit.
- Sensors with integrated multiplexing to reduce wire count.
- Pre-tactile sensor components and techniques that fill the gap in object perception between vision and contact sensing.
- Sensor material must be space qualifiable for temperature extremes and out-gassing.
An effective human/robotic interface enables humans and computers to seamlessly control anthropomorphic robotic systems. Proposals are sought which improve the robotic teleoperator's efficiency through advanced display systems, haptic feedback systems and telepresence control interfaces. Specific technology requirements include the following:
- Unencumbering, lightweight teleoperator worn tactile and force feedback devices that provide operator awareness of manipulator and payload inertia, gripping force, and forces and moments due to the robot's contact with external objects.
- Stereographic display systems that provide high-fidelity depth perception, large field of view (>100 degrees Horizontal Field-of-view), and high resolution (<3 arc minutes per pixel).
- 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.
- Techniques for capturing 360 degree video (2pi steradian solid angle) at a work site and redisplaying as a mosaiced virtual environment to the crewmembers back at the base camp. Mosaic construction must take into account camera motion and changes in lighting over extended periods of time.
- Supervised and traded control systems that allow for seamless human/robot interaction. The ability to accommodate both planned and unplanned human and autonomous operations within a task is essential.
- Virtual reality interfaces that make it practical for an IVA astronaut or a suited EVA astronaut to operate on-orbit free-flyer camera platforms and planetary robotic camera platforms.
- Innovative systems that permit control of a robotic system through a combination of gesture and voice commands. Innovative concepts include machine vision, artificial intelligence based systems (with provision for crew oversight), as well as other non-vision forms of sensing and perception that provide command inputs to the robot.
- 3D path planning and intelligent trajectory assessment feedback during teleoperations.
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F5.03 Structural Concepts, Materials, and Assembly for Modular Systems
Lead Center: MSFC
Participating Center(s): GSFC, JPL
Space telescopes to detect distant unknown planets, future manned and robotic missions beyond LEO, and space-based infrastructures such as solar power or radar systems require large structures. The size-constraints, mass-capability, and cost of launching large monolithic structures into space limit the development and realization of these capabilities. If a different design approach using modular building blocks rather than monolithic structures is used, these large space systems become more tractable. Modular systems also enable distributed science or technology applications, using fleets of identical satellites that fly in formations. Other advantages of modular systems include low system impact of a single launch vehicle loss, since modular systems are launched on multiple vehicles at multiple times. Replacement of satellites or modules over the system lifetime is in many cases a more reasonable approach to maintaining a system, and graceful degradation of the system capability can be more readily managed with modular units. Hardware costs of multiple identical units can be reduced through economies of scale. Modular approaches also accommodate cost-phased programs that develop and fly a “pilot” satellite, which can initially prove capability, and then be added to later as demand for capability increases.
This subtopic solicits innovate structural concepts, materials, and assembly techniques that support the development of modular space systems. Structural concepts include inflatable, erectable, deployable or easily connected modules to create large space structures, utilizing membranes, composites, or other material concepts. Modular units can provide reconfigurable structures, such as multiple-energy configurations using cables and linkages, compliant structures or mechanisms that adapt to varying surfaces, or multi-purpose integrated structures, such as load-bearing modular power distribution or thermal management systems.
Topics of interest include construction approaches for deployable modular units that form solar arrays, radiators, or antenna, approaches for large integrated components such as habitation modules or propellant tanks, and approaches for erectable modules that form backbones or support trusses. Modular assembly infrastructure, such as cranes, robotic units, end-effectors, mobile foot restraints, motion bases, assembly fixtures and jigs, and on-orbit storage and maintenance facilities are also of interest. Assembly technologies such as innovative connectors and joining or bonding techniques, module positioning and alignment concepts, component deployment or erection concepts, and component/module inspection and verification techniques are solicited. New materials that enable the packaging, deployment, and structural accuracy of modular units are of interest. Concepts are solicited for smart and multifunctional modular structures, including the use of embedded sensors and actuators. Modeling and structural testing techniques and analyses that support the design of specific modular structural concepts or their assembly are of interest. Structures and materials that support reconfigurable modular architectures are solicited.
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