Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission RRM Phase 2 Overview Rory Casey

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission RRM Phase 2 objectives are follow-on to the original RRM objectives to advance robotic servicing technology using innovative robotic tools and techniques to demonstrate on-orbit servicing by remotely manipulating legacy satellite interfaces that were not designed to be manipulated robotically Robotic Tools WCT, SCT, MFT, ENT Task Boards TB1, TB2 – Various Demonstration Interfaces Phase 1 MFT Adapters PMA, ACA, TVA, TCA Coolant Valve Panel Robotic Refueling Mission (RRM) is proving robotic satellite-servicing for legacy spacecraft 2

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission RRM Phase 1 (STS-135) – Structure, 4 Tools, 2 Task Boards – Mission Objective - Demonstrate Robotic Refueling capabilities. Success - January Flowed ~0.3 Liter Ethanol through the System – Other Objectives – Cut Wires; Remove Caps; Cut and Fold MLI; Manipulate Fasteners, Connectors, Plugs General Success. Un-Fasten/Re-fasten Velcro-secured MLI & Cut Ground Wire not attempted due to time constraints RRM Phase 2A (HTV-4, 8/4/2013) Resupply-1 – RRM On-Orbit Transfer Cage (ROTC) is mechanically fastened to JEM Airlock Slide Table (also compatible w/ JOTI) – Task Board 3 with (4) tool adapters to mate with mechanical and electrical interfaces (then de-mate), pressure test system – Multi-Function Tool (MFT from Phase 1) will be used for TB3 operations RRM Phase 2B (ATV5 – NET June 2014 ) Resupply-2 – VIPIR Visual Inspection Poseable Invertebrate Robot tool Articulating, deployable, borescope close-up inspection camera (34-inch length) – Task Board 4 with (1) Adapter, VIPIR Tube path with internal inspection target and Solar Cell Experiment MFT/Adapter mates with SMA Receptacle Array and Verifies Continuity RRM History 3

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission  RRM On-orbit Transfer Cage Facilitates RRM ORU Exchange between JEM & SPDM – IVA crew installs Transfer Cage to JEM Airlock Slide Table, attaches ORUs (Task Boards and Tool) – Upon Return to JEM, IVA Removes and Stows ORUs, Detaches and Stows Transfer Cage – Transfer Cage Can Attach Directly to the JEM Airlock Slide Table or to JOTI. Together, Provide a Structural Base to React SPDM Loads during ORU Exchange – Transfer Cage Can Maximize JEM Airlock Hardware Throughput and Minimize IVA time & Airlock Cycles Can accommodate an All OUT, All IN exchange - TB3, TB4 & VIPIR Inspection Tool OUT; TB2 & Safety Cap Tool IN Or Staged Exchange – depending on ORU arrival; Crew, Air Lock & SPDM Availability RRM Resupply 4

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission RRM Priorities – Phase 2 PriorityTaskDescription 1 Coolant Valve Panel Using existing robotic tools and new unique adapters, mechanically capture, remove, translate and install a coolant line hose and bayonet into an open service line port 2Vent Panel Using existing robotic tools and new unique adapters, mechanically capture, remove, translate and install a vent plug into an open vent port, verify environment seal 3 Electrical Port Using existing robotic tools and new unique adapters, mechanically capture, remove, translate and a)Stow an electrical loop back plug b)Install an electrical plug and check for electrical continuity 4 Tube Inspection a)Using new robotic tools, mechanically capture, remove, translate and install a robotic, zoom/focus camera inspection tool onto an open tube b)Deploy and articulate a stowed flexible close-up inspection camera into the tube 5Solar Cell Environmentally expose new technology solar cells for a minimum of 1 year duration and return the experiment to earth for post mission materials analysis and data retrieval 6 SMA Connector Using robotic tools, capture, remove, translate and install and latch a blind mate SMA plug into a recessed SMA receptacle box and check for electrical continuity 7 Vision Tasks Using robotic cameras visually capture images of representative spacecraft components and targets under various lighting conditions and angular positions Now On Orbit 5

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission RRM Phase 2 – Augmentation Overview RRM Top Panel RRM Front Panel RRM Outboard Panel RemoveReplace WithPhase 2 Delivery -Task Board 3 (TB3)A Task Board 2 (TB2)Task Board 4 (TB4)B Safety Cap Tool (SCT)(VIPIR)B SCT ToolVIPIR Tool 2 1 TB3 TB2TB4 6

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission Task Board 3 (TB3) Layout Overview PTS: Provides the plumbing required to demonstrate an on- orbit seal of a robotically installed vent plug (VPA) Coolant Line Adapter (CLA) Pressure Test System (PTS); MFT Valve Interface (MVI) Vent Panel Wire Harness Adapter (WHA) Vent Plug Adapter (VPA) Electrical Plug Adapter (EPA) Continuity Indicator (COIN) COIN LEDs COIN: Provides the circuit required to demonstrate an on- orbit connection of a robotically installed electrical plug (WHA) Pressure Gauge Always OFF Power 6 Circuits COIN LEDs 7

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission Task Board 4 (TB4) Layout Overview – Front Side TB4 Platform Assembly QJ Passive Solar Cell Experiment Assembly (Exposure) COIN BCA BCA-R Test Port Panel (TPP) Spring Tether Assembly TASK BOARD 4 8

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission Task Board 4 (TB4) Layout Overview – Back Side Active QJ/TJ Solar Cell Experiment Array (Data Collection) On Orbit Configuration Active Solar Cell Experiment Protective Cover (IVA Removeable) Launch/IVA Configuration TB4 Bare Board Assembly ( ) 9

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission VIPIR System Design Overview VIPIR Tool Assembly Electro-Mechanical Mechanism provides storage, deployment, and actuation mechanisms for the Video Borescope Assembly (VBA) “Snake Camera” VIPIR Electronics Box (VEB) Provides VIPIR Motor Controller, Power Conditioning, Camera Selector Electronics, Lighting, and Heater Electronics VIPIR Support Structure (VSS) Provides universal RRM stowage interfaces and supporting structure for VIPIR Tool Assembly and VIPIR Vision System 10

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission RRM Configuration Phase 1 (On-Orbit) ⇨ Phase 2 RRM Phase 1 ConfigurationRRM Phase 2 Configuration Task Board 3 (TB3) Task Board 4 (TB4) VIPIR ToolTask Board 2 (TB2) SCT Tool Open Task Board 11

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission Transfer Cage and Mounted TB3 12

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission The Japanese Experiment Module (JEM) Airlock includes a Slide Table mechanism used to transfer in/outside of JEM ORUs/payloads to interface with JEM-RMS RRM On-orbit Transfer Cage ROTC and JSC’s JEM ORU Transfer Interface (JOTI) enable ORUs to be exchanged in the same manner but using the SPDM robot JEM Airlock – Transfer IVA crew installs RRM-P2 Hardware JEM high fidelity trainer at JAXA (IVA Position)JEM high fidelity trainer at JAXA with Flight ROTC 13

Satellite Servicing Capabilities Office This document is subject to export controls under the Export Administration Regulations (EAR) and may not be disclosed without prior permission from NASA Robotic Refueling Mission JEM Air Lock Slide Table Configuration Envelope Compatibility and EVR Access TB4 Top Assembly fits within the JEM Slide Table allowable payload envelope of 54.3” x 32.7” x 25.5” (per NASDA-ESPC-2903) when installed on the ROTC structure for both the nominal and contingency configurations Provides both sufficient reach and access by both the OTCM and SPDM when installed on ROTC structure OTCM SDGF clearance envelopes per SSP 42004, Part 1, Rev J Figure C Micro Conical Fitting clearance envelopes per SSP 42004, Part 1, Rev J Figure D Previous MAGIK analysis (ref MAGIK AI-3031) performed and confirmed that it is kinematically feasible to remove TB4 from ROTC and install TB2 on ROTC 32.7” 25.5” 54.3” TB4 installed onto Outboard Panel of ROTC on JEM Slide Table (Nominal Configuration) TB4 installed onto Top Panel of ROTC on JEM Slide Table (Secondary Configuration) 14