Orbital Express: A New Chapter In Space Tracey M Espero The Boeing Company

Orbital Express Overview Orbital Express (OE) Demonstration System is to demonstrate the operational utility, cost effectiveness, and technical feasibility of autonomous techniques for on-orbit satellite servicing The specific objectives of OE are to develop and demonstrate on orbit: An autonomous guidance, navigation, and control system Autonomous rendezvous, proximity operations, and capture Orbit fluid transfer between a depot/serviceable satellite and a servicing satellite Component transfer and verified operation of the component A nonproprietary satellite servicing interface specification http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_03.pdf

OE Vehicles Introduction ASTRO: Autonomous Space Transfer and Robotic Orbiter Servicing satellite NEXTSat/CSC: Next Generation Satellite/Commodity Spacecraft Functions as the satellite being serviced by ASTRO and as a supply depot for ASTRO http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_03.pdf

Orbital Express Vehicles ASTRO (Servicer) NEXTSat (Client) Capture (Docking) & Fluid Transfer Interfaces Robotic Arm 14 April 2006 1 Dec. 2005 http://www.aviationweek.com/aw/generic/story_channel.jsp?channel=space&id=news/aw060506p1.xml

ASTRO Servicing Vehicle AC-3 ORU Battery ORU Container Container Battery FTAPS Fill and Drain Manipulator Arm GPS Antenna- #2 TDRSS Antenna- #2 CrossLink Antenna SGLS Antenna- #2 Boeing Spacecraft Separation Ring MDR Thrusters X Z Y Starsys Fluid Coupler NGST Active Capture System BATC

NEXTSat Client/Commodities Vehicle Sensor Targets Capture Mechanism FTS Vis-Star Target Probe Fixture Assy Sep System I/F Ring Crosslink ORU Interface Assy

Major Mission Objectives On-Orbit demonstration of technologies required to support autonomous on-orbit servicing of satellites Perform autonomous fluid transfer Transfer of propellant in a 0-g environment Perform autonomous ORU transfer Component replacement Battery Transfer Computer Transfer Perform autonomous rendezvous and capture of a client satellite Direct Capture Free-Flyer Capture http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_03.pdf

Mission Plan Mission Duration: ~90 days Certified Spacecraft Life: 1 year Mission Phases: Launch & Activation Checkouts Core bus subsystems Servicing subsystems Robotic Arm, Capture, Fluid Transfer Advanced Technology Demonstrations Execution of 8 Scenarios http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_03.pdf

Mission Timeline

OE Launch from Cape Canaveral Orbit: 492-km circular 46-deg inclination ASTRO Dimensions: 69”x70”, span 220” Power: 1560 watts On-orbit fueled weight: ~2,400 lb NEXTSat: Dimensions: 38.7in long Power: 500 watts Mass: 500 lbs (224 kg) March 8, 2007 OE Launch from Cape Canaveral http://boeingmedia.com/imageDetail.cfm?id=14750 http://www.aviationweek.com/aw/generic/story_channel.jsp?channel=space&id=news/aw060506p1.xml

Autonomous Operations Autonomous Mission Manager Implements operations requirements by using sequences and related information in a database Ability to plan missions dynamically Command subsystems within the vehicle management system Monitor systems and diagnose their failures Database executed fully autonomously, but with high level of input from ground team into database creation Controls starting, interruption, managing Authority-To-Proceeds, aborting of sequences; and enables human supervision of the sequences running autonomously Executive Sequencer Monitor Contingency Responder Resource Predictor/Ground Communicator Autonomous mission controllers use man-machine collaborative autonomy, which allows systems to be implemented with variable levels of autonomy Ground Segment Assemble and verify sequences for upload Displays status of Mission Manager and next planned event http://www.draper.com/technology/autosys/autonomous.htm http://www.draper.com/publications/explorations/summer.pdf

Fluid Transfers The Northrop Grumman-provided hardware demonstrates autonomous transfer of hydrazine propellant, a type of liquid rocket fuel, to and from the NextSat spacecraft, in addition to providing the propulsion needed for six-degree-of-freedom vehicle control. Multiple types of fluid transfers are demonstrated Total of 24 tests are planned 6 at lowest level of autonomy 5 at middle level of autonomy 24 at highest level of autonomy Demonstration plan sets a foundation for the operational system Transfer from commodity station simulated Transfer to client satellite simulated Capability leads to the autonomous replenishment of fuel to existing satellites, allowing more flexibility and extension of life End-to-End Test http://media.primezone.com/noc/gallery/display?o=189&pkgid=1727&max=9&start=45 http://www.irconnect.com/noc/press/pages/news_releases.mhtml?d=82422

Orbital Express Demonstration Manipulator System MDA developed the Orbital Express Autonomous Robotic Manipulator System comprising the following space and ground elements: Small next generation Robotic arm on ASTRO with avionics and autonomous vision system Grapple fixtures and vision target for Free-Flyer Capture and ORU transfer Mating interface camera and lighting system Standard, non-proprietary ORU containers and mating interfaces Proximity-Ops lighting system Autonomous Software Robotic Ground Segment Length 3m Mass 71kg Volume 65cm x 49cm x 186cm Power 131 watts DOF 6 Manipulator Arm Specifics http://sm.mdacorporation.com/what_we_do/oe_7.html

Orbital Express Demonstration Manipulator System Functions Autonomous Free-Flyer Capture of Client Satellite Robotic Arm on ASTRO will drive autonomously using highly-reliable vision feedback from a camera at its tip to capture NEXTSat Autonomous Positioning of Client Satellite for Mating Following capture, the Arm will position the client satellite at the mating interface between the spacecraft, allowing the ASTRO Capture System to close around NEXTSat Autonomous Video Survey of Client Spacecraft Robotic System will be used to perform a visual inspection of the spacecraft for spacecraft status and situational awareness Sites for video inspection include deployment mechanisms, antennae, ORU mating interfaces, cameras, and solar arrays Autonomous ORU Transfer The standard ORU container may contain batteries, a new flight computer, science instruments, or any other replaceable component OE Robotic System will demonstrate transfer of a battery and a replacement flight computer to and from the client satellite Autonomy OE has been designed to operate under four levels of supervised autonomy, and will demonstrate servicing operations under each increasingly challenging level http://sm.mdacorporation.com/what_we_do/oe_4.html

ORU Transfers ORU = Orbital Replacement Unit ORU can be a science instrument, a subsystem component, or a heat shield; anything that is replaceable on-orbit Standard interfaces for all ORUs Boeing: ASTRO interface Ball: NEXTSat interface MDA: ORU interface Transfer two types of components Batteries often limit life of satellites Computers become obsolete in a short time Demonstration plan sets a foundation for the operational system Total of 11 transfers planned 1 at lowest autonomy, 2 at middle, and 8 at highest level of autonomy Transfer from commodity station simulated Transfer to client satellite simulated ORU http://www.boeing.com/ids/advanced_systems/orbital/pdf/arcss_briefing_2006-02-04.pdf http://sm.mdacorporation.com/what_we_do/oe_3.html http://sm.mdacorporation.com/what_we_do/oe_4.html

Unmated Operations Autonomous Guidance, Navigation, & Control Fully-autonomous guidance software performs demate, separation, departure, rendezvous, proximity operations, and capture Fully-autonomous attitude software points vehicle in require directions during each segment of approach and separation Onboard guidance sequencer progresses through translation and pointing modes during approach and separation Functionally-redundant rendezvous sensors track target from over 200 km to capture Fully-autonomous navigation filters sort and weight data from multiple sources GN&C performs internal sanity checks and executes rendezvous abort if thresholds exceeded OE Rendezvous GN&C system is capable of autonomous rendezvous from 200 km to capture http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_06.pdf http://www.boeing.com/ids/advanced_systems/orbital/pdf/argn_briefing_2006-01-25.pdf

Unmated Operations Autonomous Rendezvous & Capture Sensor Suite Provides real-time, critical relative state information about the client satellite seamlessly across the entire mission scenario Patented Vis-STAR tracking algorithm provides robust tracking from point source to capture Algorithms are nearly sensor independent Mission reliability is enhanced through redundant sensors which can operate across a broad range of viewing conditions (in various lighting conditions, with clear space and cluttered earth backgrounds) NFOV and WFOV visible sensors covering ranges from zero meters to hundreds of kilometers An infrared sensor for viewing even in complete darkness An independent laser-based imaging tracker activates during final approach and capture operations http://www.boeing.com/ids/advanced_systems/orbital/pdf/arcss_briefing_2006-02-04.pdf

Free-Flyer Capture Robotic Arm on ASTRO will drive autonomously using highly-reliable vision feedback from a camera at its tip to capture NEXTSat Berthing requires the advanced robotic arm to grapple NEXTSat from a distance of 1.5 m and position it within the capture envelope http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_18.pdf http://sm.mdacorporation.com/what_we_do/oe_4.html http://sm.mdacorporation.com/what_we_do/oe_2.html

Orbital Express Capture System Subsystems support two critical functions Shock-less separation of the two OE spacecraft after launch Capture and mating of the spacecraft prior to servicing Starsys designed and delivered the capture and mating system for the Orbital Express spacecraft Capture and mating system extends from the servicing spacecraft and grasps the client spacecraft Duration = 10 sec Tolerance in satellite positioning is a 5.1-in.-long and 5.5-in.-dia. cylinder Then retracts creating a structurally robust connection between the two craft that allows for fluid and electrical connections, and component replacement http://www.starsys.com/?id=22 http://www.boeing.com/ids/advanced_systems/orbital/pdf/arcss_briefing_2006-02-04.pdf http://www.aviationweek.com/aw/generic/story_channel.jsp?channel=space&id=news/aw060506p1.xml

Current Mission Status Launch & Early Activation checkouts complete FTS Activation in prep for 1st fluid transfer ARCSS checkouts OEDMS deployed! OEDMS Video Recording Complete OEDMS Checkouts Prep for first scenario next week http://www.boeing.com/ids/advanced_systems/orbital/updates.html

Summary Orbital Express is demonstrating the technologies required for on-orbit servicing Currently orbiting test bed for potential servicing scenarios Plenty of spacecraft life after baseline mission is complete Potential VIP visit for FISO members to KAFB for a servicing scenario