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SPHERES
Massachusetts Institute of Technology
Space Systems Laboratory
Space Grant “SPHERES Experts Network” Proposal
Presented by Prof. Jeffrey Hoffman, MIT
Director, Massachusetts Space Grant
October 2012
SPHERES
MIT Space Systems Laboratory 2
What is SPHERES?
• A Facility of the ISS National Laboratory with three nano-satellites designed by
MIT to research estimation, control, and autonomy algorithms
• By working aboard
ISS under crew
supervision, it provides
a risk-tolerant
environment
• The satellites can be
reused
– Replenishable
consumables
– Multiple test sessions
assigned per year
• If anything goes wrong,
reset and try again!
If you can’t bring the space environment to the laboratory,
take the laboratory to space!
SPHERES
MIT Space Systems Laboratory 3
What is SPHERES for?
• In the future we expect multiple satellites to work together to accomplish tasks that
are not currently possible
• Formation Flight
– Many satellites aligned to
create giant space telescopes
• Docking
– Autonomously create large
spacecraft for interplanetary
travel
– Repair and resupply old
spacecraft
– Reuse parts of old spacecraft
• Close proximity operations
– Inspect broken satellites and
other space objects
Many minds are better than one,
but they are harder to control (literally)!
SPHERES
MIT Space Systems Laboratory 4
What is Zero Robotics
• A competition designed to allow Middle- and
High-school students unprecedented
access to the International Space Station
through SPHERES
• Teams of students work to program the
SPHERES satellite to win an MIT-designed
game
• The teams go through multiple elimination
rounds; the top teams see their code tested
aboard the ISS
If SPHERES is so “risk tolerant”, why can’t grade-school
students use it? … they can!
SPHERES
MIT Space Systems Laboratory 5
What is Zero Robotics…
from space!
SPHERES
MIT Space Systems Laboratory 6
Space Grant
“SPHERES Expert Network”: What
For Science
• Students know how to program
science algorithms on
SPHERES
– Estimation, control, autonomy
– Formation flight, docking
• Help with existing research
– Join forces with MIT, NASA
ARC, and other current
SPHERES researchers
• May propose new research
• Will test their code aboard
ISS
For Zero Robotics
• Outreach region’s high-schools
– Recruit between 15-25 High
Schools from the state/region
– Provide learning opportunities for
the HS students
• Seminars at the university
• Video conferences
– Help establish regional “events”
within state and neighboring
states
– Help MIT team support online
– Pre-test the game of that year
Objective: create a nationwide network of engineering
students who are experts on SPHERES research
SPHERES
MIT Space Systems Laboratory 7
Space Grant
“SPHERES Expert Network”: Who/how
• Undergraduate or graduate students in a technical university within the SG state
– Must be in an engineering field related to SPHERES / Zero Robotics (aero/astro, computer
science, robotics, astrophysics, or similar)
– Must remain a student from selection and into the next full Zero Robotics cycle (Sep-Jan)
• May be a senior who continues to graduate school within the state
– Should demonstrate interest both in SPHERES research and general outreach abilities
• Application – Basic personal and school information
– Proposal for SPHERES research
• As part of existing MIT/NASA research or new proposal
• May be research to enhance Zero Robotics (game development, ISS experience improvements, etc)
• Plan for tests aboard the ISS (why micro-gravity with SPHERES?)
– Commitment to outreach for Zero Robotics and help during competition
• Timeline – Mar 2013 Application opens
– Jun/Jul 2013 2 Week “SPHERES Crash Course” at MIT
– Aug 2013 Zero Robotics Game Testing (online)
– Sep 13 – Jan 14 Zero Robotics Fall Tournament
– Feb 14 – Apr 14 Research Programming
– May/Jun 14 ISS Research Tests
SPHERES
MIT Space Systems Laboratory 8
Space Grant
“SPHERES Expert Network”: Proposal
• Create a $10,000 grant for the students
– MIT (SPHERES Grant) will provide $5,000
– Participating SG’s should provide the other $5,000
• Hope to have 10 State SG’s participate in 2013-14
– May consider more based on demand
• $10k grant will cover (inclusive)
– Travel costs to MIT crash course
– Materials to support Zero Robotics
– The rest for student educational and research expenses (managed by student)
• MIT will provide in addition
– Housing for 2-week “SPHERES Crash Course” (MIT dorm)
– Zero Robotics website and game access
– Tools required for SPHERES research programming
– Guidance to “SPHERES Experts” throughout the year
– Availability of SPHERES hardware at MIT
– Work with NASA to have astronaut time for SPHERES Experts research on ISS
• Participating State Space Grant’s will provide in addition
– Selection process to find SPHERES Expert grantee
– Help with outreach for Zero Robotics (led by grantee)
– Communications channels between grantee and MIT
SPHERES
MIT Space Systems Laboratory 9
Contact Information
• MIT Investigators – Prof. David W. Miller, PI
– Alvar Saenz Otero, Lead Scientist
• MIT Science Team – Jacob Katz (PhD)
– Sreeja Nag (MS)
– Sonny Thai (MS)
– Swati Mohan (PhD, alum)
• MAP – Katie Magrane, Director
• AFS – Javier de Luis
– Jim Francis
– Jaime Ramirez
– John Merk
• Top Coder – Ira Heffan
– Mike Lydon
– Ambi del Villar
• NASA ARC – Bruce Yost, Program Manager
– Andres Martinez, Project Manager
– Steve Ormsby, Operations Lead
• Acknowledgements – NASA HQ & Education Office
– Dr. Lorna Finman
– Astronaut Gregory Chamitoff
http://ssl.mit.edu/spheres
http://zerorobotics.mit.edu
SPHERES
MIT Space Systems Laboratory 10
Upcoming SPHERES Programs
• VERTIGO - 2012-Oct
– Vision Based Navigation
• RINGS - 2012-Dec
– Electro Magnetic Formation Flight
• Slosh - 2013-Jul
– Fluid Slosh CFD model validation
• InSPIRE 2 - 2013-Jul, 2014-Jan, 2015-Jan
– Docking Ports
– Multi-port adapter
– Manipulator Arms
SPHERES
MIT Space Systems Laboratory 11
VERTIGO Overview
• Visual Estimation and Relative Tracking for Inspection of Generic Objects
• Perform spacecraft vision based navigation in a
microgravity environment
• Enable other researchers to perform follow on
vision based navigation research
• What are the Goggles?
• A hardware upgrade to the SPHERES satellites:
• 2 Stereo Cameras
• 1.2 GHz Linux CPU
• Illuminating LED Lights
• 802.11 WiFi Connection
• Lithium Battery
(ISS Nikon Camera battery)
• Textured stickers to “simplify”
image processing
SPHERES
MIT Space Systems Laboratory 12
VERTIGO Hardware
Expansion Possibilities– Removable Optics Mount
• Interface: USB 2.0, 12V Unregulated, RS232 x2,
1Gbps Ethernet
– 802.11n USB WiFi Card• Offboard processing, communications and sensor
resources
SPHERES
MIT Space Systems Laboratory 13
RINGS Overview
• Purpose of RINGS:
– Demonstrate EMFF for the first time in full 6 DOF micro-gravity
– Mature EMFF control algorithms in 6 DOF
– Demonstrate a hybrid EMFF/Wireless Power Coupling Design
• Electromagnetic Formation
Flight (EMFF)
– Apply force and torque on
SPHERES
– Use electromagnetic
interactions modeled as
magnetic dipoles
• Wireless Power Transfer (WPT)
– Inductively coupled coils at
resonance to improve power
coupling
Force Torque
SPHERES
MIT Space Systems Laboratory 14
RINGS Flight Hardware
Fan
Ring Housing
Support Structure
Electronics Box
LCD Display
SPHERE
CO2 Tank
Battery
SPHERES
MIT Space Systems Laboratory 15
Slosh Hardware
SPHERES
MIT Space Systems Laboratory 16
InSPIRE 2 Overview
• Full project called “MEDUSA”
– Starting November 2012 (expected)
• Hardware Upgrades
– 2013: UDP & “multiport” development (MEDUSA)
– 2013: Launch UDP
– 2014: Launch HALO
– 2014: NRL develop arms
– 2015: (early) launch arms
SPHERES
MIT Space Systems Laboratory 17
Space Grant
“SPHERES Expert Network”: Proposal
• Create a $10,000 grant for the students
– MIT (SPHERES Grant) will provide $5,000
– Participating SG’s should provide the other $5,000
• Hope to have 10 State SG’s participate in 2013-14
– May consider more based on demand
• $10k grant will cover (inclusive)
– Travel costs to MIT crash course
– Materials to support Zero Robotics
– The rest for student educational and research expenses (managed by student)
• MIT will provide in addition
– Housing for 2-week “SPHERES Crash Course” (MIT dorm)
– Zero Robotics website and game access
– Tools required for SPHERES research programming
– Guidance to “SPHERES Experts” throughout the year
– Availability of SPHERES hardware at MIT
– Work with NASA to have astronaut time for SPHERES Experts research on ISS
• Participating State Space Grant’s will provide in addition
– Selection process to find SPHERES Expert grantee
– Help with outreach for Zero Robotics (led by grantee)
– Communications channels between grantee and MIT
SPHERES
MIT Space Systems Laboratory 18
Space Grant
“SPHERES Expert Network”: Who/how
• Undergraduate or graduate students in a technical university within the SG state
– Must be in an engineering field related to SPHERES / Zero Robotics (aero/astro, computer
science, robotics, astrophysics, or similar)
– Must remain a student from selection and into the next full Zero Robotics cycle (Sep-Jan)
• May be a senior who continues to graduate school within the state
– Should demonstrate interest both in SPHERES research and general outreach abilities
• Application – Basic personal and school information
– Proposal for SPHERES research
• As part of existing MIT/NASA research or new proposal
• May be research to enhance Zero Robotics (game development, ISS experience improvements, etc)
• Plan for tests aboard the ISS (why micro-gravity with SPHERES?)
– Commitment to outreach for Zero Robotics and help during competition
• Timeline – Mar 2013 Application opens
– Jun/Jul 2013 2 Week “SPHERES Crash Course” at MIT
– Aug 2013 Zero Robotics Game Testing (online)
– Sep 13 – Jan 14 Zero Robotics Fall Tournament
– Feb 14 – Apr 14 Research Programming
– May/Jun 14 ISS Research Tests
SPHERES
MIT Space Systems Laboratory 19
BACKUP
SPHERES
MIT Space Systems Laboratory 20
2011 ISS Finals
SPHERES
MIT Space Systems Laboratory 21
HS Tournament Schedule
2D Simulation Competition
2D Ground Demonstration
3D Simulation Elimination
3D Alliance Semi-Finals
ISS Finals!
September
October
November
December
Registration
Alliance creation
Virtual
Finals
Note: Due to ISS availability, the 2011 ISS Finals may take place in January
April - Sep
SPHERES
MIT Space Systems Laboratory 22
TPF Orbital Express
Phase 1 Science Objectives
• Develop a platform to demonstrate and validate metrology, control, autonomy,
and artificial intelligence algorithms for distributed satellite systems (DSS)
• Demonstrate different configurations of DSS
– Rendezvous and docking algorithms • Servicing missions
• Space assembly
– Autonomous formation flight • Optical telescopes (Stellar Imager), space based radar
• Approved by SERB May 2008: Fractionated Spacecraft (DARPA)
• Provide a representative environment for the demonstrations
– 6 DOF
– Long duration m-g
ESA DARPA JPL
Darwin
– Full satellite simulation
– Allow science “payloads”
SPHERES
MIT Space Systems Laboratory 23
Research Progress:
Docking & Rendezvous
• Phase 1 Final Objective
– Mature autonomous docking algorithms
to a semi-cooperative docking target
tumbling with nutating motion to TRL 6 to
aid with servicing and assembly
missions
– Autonomous • No human intervention with high success rates
– Semi-cooperative • Target can communicate but has no actuation
capabilities (simulated)
– Nutating • Two rotational vectors at different periods
– TRL 6 • System demonstration in a representative
environment
– Servicing • Dock precisely to enable the transfer of
consumables and/or rendezvous closely to enable
satellite inspeciation
– Assembly • Demonstrate autonomous systematic assembly of
a complex spacecraft using multiple components
with some s/c acting as “tugs”
• Progress
– Global estimation complete
– Docking to a tumbling cooperative target
– Initial Path Planning completed • Docked to a fixed target
• Remaining
– Direct relative estimation
– Robust controllers (LQR, Hinf, etc)
– Further plume impingement work
– Path planning & collision avoidance • To rotating and semi-cooperative targets
• Nutating target
– Obstacle avoidance • On-line autonomous avoidance
• Reaction maneuver planning
– Inspection • Full plane capture sequencing
– Assembly • Assembly sequence with cooperative targets
• Assembly with unknown initial conditions
– Integrated tests to reach TRL6
wikipedia.com
SPHERES
MIT Space Systems Laboratory 24
Research Progress:
Formation & Fractionated Flight
• Phase 1 Final Objective
– Demonstrate feasibility of coarse
formation flight control for separated
space telescopes and radar
– Create an architecture of distributed
modules that enable all major spacecraft
hardware to function as network-
addressable and shareable devices.
– Coarse control • Thruster based relative position and attitude
control of the spacecraft to within ±5 millimeters
• Later to be coupled with precision optical control
for space telescopes
– Separated space telescopes & radar • Telescopes: TPF/DARWIN and SI designs
• Usually rotating formations
• Either maximize coverage or resolution
• Allow re-shape of formation to switch between
coverage/resolution modes
– Distributed Modules • Demonstrate the ability of multiple modules to
create a virtual single spacecraft by autonomously
aligning themselves, showing the ability to change
their geometry, and avoid collision between each
other, while maintaining communications and
sharing their devices.
• Progress
– 3-Satellite formation flight
demonstrations • Rotations and plane changes
• Off-line path planning maneuvers
• Initial communications design
– 2-Sat fractionation demos
• Remaining
– Advanced controls • Non-linear and fuel-optimized
• Fuel balancing
– Space telescope & Radar • Off-axis combiner demonstration
• Capture maneuvers
• Control optimized for optical capture
– Fractionation • 3-Satellite tests (all parts)
• Optimal initialization
• Reconfiguration (geometry, metrology,
architecture)
• Obstacle Avoidance