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Project Number: 730035

Project Acronym: SIROM Project title: Standard Interface for Robotic Manipulation of Payloads in Future Space Missions

Summary for publication

Period covered by the report: from 01/11/2016 to 28/02/2019

Ref. Ares(2019)2928144 - 02/05/2019

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1. Explanation of the work carried out by the beneficiaries and Overview of the progress

2. Objectives

The specific objectives for the SIROM project are:

The main objective is to develop a standard interface that considers a set of connections that allow coupling of payload to manipulators and payload to other payload.

Objective verified in WP4 and WP5:

SIROM WP4 orbital testing at AIRBUS – FACILITATORs WP5 orbital testing at DLR

The realization of a modular reconfigurable system depends, among other things, on interfaces, that includes mechanical interfaces connecting the blocks to one other, electrical interface for power transmission, thermal (fluid flow) interfaces for heat regulation and interfaces to transmit data throughout the satellite.

Objective verified in WP2, WP3 and WP4:

SIROM Mechanical IF showing the Connectors plate where the connectors for the rest of IFs are included.

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Multi-functional “Intelligent” interface will be considered to interconnect building blocks and also to connect to the satellite with a servicer.

Objective verified in WP4 and WP5:

Connection to satellite representing via EGSE

The standard interface will require standardization and modularization of the different components in an integrated form (where mechanical, thermal/fluid flow, electrical, data connections are combined) or a separated form. The standard interface shall allow building up large clusters of modules. APMs are considered for demonstration, validation and verification of all properties of the standard interface. An end-effector for a robotic manipulator will be designed according to the layout of the standard interface.

Objective verified in WP2, WP3 and WP4:

Orbital APMs and End Effector assembled to the robotic arm

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Planetary APMs

The Modular Interface will take into account long duration missions, no logistics support and missions composed of multiple payloads and architectures. Main benefits:

- Improve operational capacity

- Reduced logistics with common and modular spares

- Common maintenance standards

- IF architecture flexibility: common infrastructure needed to support the modular design

- Mission flexibility (configuration changes)

- Standardizes mechanical, data, electrical, thermal Interfaces

- Keep existing standards where applicable

- Introduce in the design aspects related to interchangeability and interoperability

The standard interfaces will allow to develop the SRC end goals. The output of this development will address the Future Low-cost EXchangeable/EXpandable/EXtendable SATellite, which targets the demonstration of robotics servicing technology.

Objective verified by means of the SIROM System Requirement Specification (WP1 & WP2 deliverables) where all the SIROM performance and functional requirements are defined. The verification and fulfilment of this SRS is included in the Verification Control Document (WP2, WP3, WP4 and WP5 deliverables).

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3. Explanation of the work carried per WP

3.1.1 Work Package 1 - Technology Review & System Requirements

The Technology Review was performed by Strathclyde University in cooperation with DFKI to obtain a survey of the existing technologies relevant for the standard IF of payload modules, identifying at least functional performances, current TRL vs. required TRL, preliminary evaluation of possibilities and expense for design and TRL improvement documentation.

AIRBUS DS Gmbh was in charge of the System Requirements Specification taken as reference the User Requirements (R01, R02 …) from ANNEX 5 – USER Requirements of PRSPR-ESA-T3.1-TND3.1-Compendium of SRC activities (for call 1)-v1.8_0, for General block sets, Functional, standard IF, Mechanical IF, Data IF, Electrical IF, Thermal IF, IF controller, end-effector and APM.

SENER has been in charge of:

Systems engineering task to process the design, development and verification of a space system as an integrated system able to fulfil the objectives of a mission within acceptable technical and programmatic frames. This task has been a transversal activity along the entire project with application (outputs/inputs) within WP2 to WP5, both inclusive.

Interface Engineering to other OGs to interact with the different OGs in terms of timing and coordination efforts.

Multidisciplinary design and modelling process has been performed by Strathclyde University to define the methods used to control and manage the different SIROM disciplines.

3.1.2 Work package 2 - Preliminary Design and Modelling

The objectives of this task was to provide the Preliminary Design and modeling for the standard IF, APMs and the end-effector of the robotic manipulator required for the reference test implementations:

SIROM COMPONENTS DESCRIPTION and OPERATIONAL DESCRIPTION. DESIGN DETAIL DEFINITION, JUSTIFICATION & ANALYSIS (SENER):

o ORBITAL APM (SENER)

o PLANETARY APM (SA): PRIMARY APM / AUXILIARY APM

o END EFFECTOR (LEONARDO)

o EGSE (TELETEL)

o SIROM CONTROLLER (SA)

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o APM AND END-EFFECTOR CONCEPT AND TRADE-OFFS (DFKI)

o SIROM DATA IF PRELIMINARY DESIGN AND MODELLING (AIRBUS DS Ltd)

o SIROM THERMAL IF TRADE-OFF (MAGSOAR)

3.1.3 Work package 3 - Detailed design of Reference implementation and related test setup

The objectives of this task was to provide the Detailed Design of the Reference Implementation, Modular Interfaces, APMs and End-Effector and to develop the Test Design and Test Plan for each Reference Implementation.

SIROM COMPONENTS DESCRIPTION and DESIGN DETAIL DEFINITION, JUSTIFICATION & ANALYSIS (SENER):

o OPERATIONAL DESCRIPTION (SENER)

o Mechanical IF (SENER)

o Data Interface (Taken over by SA – Initially assigned to TELETEL)

o Electrical Interface (LEONARDO)

o Thermal Interface (MAGSOAR

SIROM CONTROLLER (SA)

ORBITAL APM (SENER): APM-1, APM-2, APM CONTROLLER AND PAYLOAD.

PLANETARY APM (SA): PRIMARY APM / AUXILIARY APM

END EFFECTOR (LEONARDO)

Initial definition of the Test setup design and test plan (AIRBUS DS Gmbh)

3.1.4 Work package 4 - Manufacturing, Assembly and Integration of reference implementation and test equipment

This WP has been managed as follows:

The table below shows the total number of hardware items manufactured within the scope of the SIROM project:

   SIROM I/F  SIROM Adapter  SIROM dummy 

Orbital  3  1    

Planetary  1 

Common Orb&Pla (for EE) 1    

Spare SIROM  1    

TOTAL  5  1  1 

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Note: Orbital SIROMs have been reused for the planetary scenario.

SIROM IF

SIROM Dummy

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Orbital APM-1

Orbital APM-2

Planetary P-APM

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Planetary A-APM

External Harness

End-Effector

EGSE

Test Set up (Robotic Lab Bremen)

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Test setup realization for orbital scenario: AIRBUS DS Gmbh has been in charge to realize and perform the end-to-end test of the OG 5 developments (standard IF, APM, and end-effector). The integrated standard IF, APM´s and end-effector included manuals and EGSE were supplied by the respective partners. The test was performed successfully on week 6 / 2019 with attendance of SENER, AIRBUS DS, DFKI and SA.

Power and Data Verification: SA has been in charge to perform the tests of verification of the power and data transfer through SIROM interface. This has been performed on week 4/2019 at SA.

Preliminary Planetary Tests: In parallel to the MAIT phase, SA and DFKI performed initial tests of the planetary scenario to check main aspects of the validation scenario including interfaces, transport and manipulation of planetary APMs with the Sherpa TT Rover and its manipulator arm, as well as initial visual servoing and alignment in preparation for SIROM connection. These tests were performed in June 2018 at DFKI.

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3.1.5 Work package 5 - Execution of test, demonstration and correlation of test results

The objective has been the verification and validation tests on test platforms provided by OG 6 to validate the Hardware / Software components developed and manufactured within the scope of SIROM and to show their performance within the two demonstration scenarios:

Orbital: Module Satellite Servicing has been performed successfully at DLR in week 7 /2019 with attendance of DLR, SENER, AIRBUS DS and SA.

Planetary: This test has been de-scope due to non-availability of Sherpa in time. This test has been substituted by alternative testing at SA facilities focusing on the management of power transfer between batteries and video data transmission through SpW

Orbital Scenario demo at DLR (OG6 Facilitators)

Planetary Scenario demo at SA

3.1.6 Work package 6 - Dissemination and Exploitation

Main objective of this WP is to strengthen the International and European visibility of the project and divulge the new knowledge gained with research activities within the scientific and industrial community of Europe and internationally. This has been coordinated by Strathclyde University, with contributions from the rest of the partners. Main topics performed:

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Creation of a clear easy-to-access website (http://www.h2020-sirom.eu/).

Elaboration of the dissemination plan.

Organization and participation of the consortium in conferences and events related to the theme of the project.

Elaboration of the exploitation plan.

All of the deliverables produced in this WP are PUBLIC access.

3.1.7 Work package 7 - Management and Quality Assurance

SENER as project coordinator has been in charge of the administrative and programmatic management of SIROM projects with contributions from the rest of the partners.

3.2 Impact

3.2.1 European competitiveness and innovative actions in Space Robotics

Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, re-fueling, re-pairing, up-grading, transporting, rescuing and orbital debris removal, and for planetary scenario missions. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed.

European countries like Germany (e.g. DEOS) and Italy (e.g. SPIDER) invested to evolve the satellite servicing technology. Also ESA is supporting this strategy by initiating programs like `CAPTARE` A number of manned on orbit servicing missions e.g. Hubble servicing were successfully accomplished but unmanned, fully autonomous, servicing missions have not been done yet. Robotic servicing of a cooperative satellite is still an open research area facing many technical challenges. The SIROM project is a cornerstone to lower the gap between existing IF technology and the needs of satellite servicing in orbit and for planetary scenario missions.

3.2.2 Promotion and acceleration of breakthrough Space Robotics concepts

A reliable and economically viable space servicing business calls for an innovative space servicing architecture to reduce cost. The availability of exchangeable satellite modules opens the perspective for satellites with upgradable modules; e.g. GPS satellites atomic clock module, this would be a valuable option especially for future satellite cluster systems. A continues enhancement of capabilities of a one of a kind satellite (as in the past Hubble) by an update of the sensor suit according to improvements in sensor technology after launch will extend operational capabilities of valuable space infrastructure assets and could extend their lifetime.

3.2.3 Future markets identification, targeting and enabling actions

Future markets are identified in the area of planned orbit raising to lower launch cost by integrating large orbital assemblies in orbit e.g. as part of post ISS scenario, planned maintenance, planned enhancement. Key factors for a successful evolution of these markets are:

Reducing mission cost

Availability of the enabling technologies

Extension of lifetime for satellites by in-orbit servicing measures, which will enlarge the utilization of the satellite

Reducing of debris by either satellite refueling and satellite repair or by actively

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deorbiting of the satellite

Contributing technical capability for exploration missions

Both factors are positively influenced by SIROM project. On-orbit service or on-orbit assembly business evolution relies on a proven feasibility of the desired operations in orbit. The successful SIROM project will promote the trust of the stakeholder in the feasibility of on orbit servicing.

The future of planetary robotic exploration will be calling upon a range of robotic assets including lander and rovers. Increasingly, these systems will need to interact between themselves and with additional payload elements to perform a range of tasks to fulfil the mission objectives.

3.2.4 Main expect impact from SIROM according to SRC on Space Robotics Technologies

The standard interfaces developed in SIROM will allow on one hand to develop the SRC end goals (such as in OG7 EROSS) but also the future experimentation on deployment of very large structures, mainly for antenna reflectors and active telescope mirrors applications.

4. Update of the plan for exploitation and dissemination of result

The objective of exploitation has been mostly on scientific perspective of the research investigation at the early stage of the project, although it is anticipated shortly after the project’s completion, the major project industrial partners will exploit the commercial benefits of the project too.

Scientific exploitation of the research findings of the SIROM project involves publication of the work in high impact journals or conferences so that funded work can be publicised widely to showcase the European leading research work in space connector. The success indicators include journal and conference paper published in suitable space engineering and mechatronics journals such as IEEE Mechatronics, and conferences such as International Astronautical Congress.

A key mechanism of technical exploitation of the research findings of the SIROM project is through the creation of an effective knowledge exchange platform for researchers, industrialists and other stakeholders to share their latest ideas, findings and knowledge.

The project partners have discussed the exploitation at the project management meetings. All project partners are encouraged to exploit their novel and leading research findings and build on this for future research funding applications. These include application of future space robotics funding from H2020 programme; and potential funding from national government funding bodies.

The SIROM project website (http://www.h2020-sirom.eu/) is the gateway to SIROM research activities and outcomes of the project so far. This is a main location where both public information and private information within the project partners is stored. The project website is kept informative, concise, attractive and easy-to-access and contain project information both intended for the general public in public access area and private information for the partners to access in the members only space. The project website is also the main site to release all project information and research findings.

In SIROM Dissemination section, the following subsections have been created:

Dissemination Announcements: This section publicises the various announcements of the project dissemination activities.

Dissemination Activities: This section includes publications and Conferences papers published; Public engagement activities are also reported here;

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Dissemination and project result documents: This section explains the SIROM Design Definition File (DDF) and SIROM Interface Control Document which have been uploaded for public access.

SIROM News and Events section is updated with the latest project management reports.

A project leaflet has been designed to promote the project and make public aware of this exciting project. It contains the project’s general information, such as project title, project funder, project partners, etc. It includes the project summary, project vision and project innovation as well. The project leaflet is available for download by the public in PDF format from the website. Printed copies are available to distribute to the project events planned and also to external conferences where project partners plan to attend.

Six project newsletters have been prepared and published on the project website to report the project progresses and promote the project dissemination activities. The Newsletters are available for download for further information by the public in PDF format from the website.

To spreading the knowledge among scientific and technical communities in Europe and worldwide, relevant innovative research outcomes and findings through planned activities will be presented at targeted international conferences. High impact and high quality journal papers have been submitted for publication in dedicated peer-reviewed international journals. A member only area has been created within SIROM project website, where project partners can share their paper writing tasks, share draft version of the working paper in order to create an effective and efficient paper publication process.

Important conferences considered for such dissemination are:

a. Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)

b. International Symposium on Artificial Intelligence, Robotics and Automation in Space (i- SAIRAS)

c. International Astronautical Congress (IAC).