Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Design Principles for the Development of Space Technology Maturation Laboratories.

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Design Principles for the Development of Space Technology Maturation Laboratories Aboard the International Space Station Thesis Defense Alvar Saenz-Otero May 4, 2005

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Committee Members Prof. David W. MillerChair –MIT Space Systems Laboratory Prof. Jonathan P. HowMember –MIT Space Systems Laboratory Prof. Eric FeronMember –MIT Laboratory for Information & Decision Systems Javier de Luis, PhDMember –Payload Systems Inc. Prof. Brian WilliamsMember/Minor Advisor –MIT Space Systems Laboratory / Minor Advisor Prof. Jeffrey A. HoffmanReader –MIT Man Vehicle Laboratory Prof. Dava NewmanReader –MIT Man Vehicle Laboratory/Technology Policy Program

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Motivation Extract the design methodologies behind two decades of research at the MIT SSL in the design of facilities for dynamics and control experiments –What are the common design elements? –Which elements eased the technology maturation process? –Can these apply to future experiments? –Is there a facility for microgravity research equivalent to wind-tunnels for aeronautics research? National Research Council calls for the institutional management of science aboard the ISS in 1999 –Promote the infusion of new technology for ISS research –Provide scientific and technical support to enhance research activities –Selected science use on the basis of their scientific and technical merit by peer review Problem Statement

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Approach / Outline Create a design methodology for the development of micro-gravity laboratories for the research and maturation of space technologies –Review of  g and remote research facilities The conjunction of –The International Space Station –The MIT SSL Laboratory Design Philosophy present a perfect low-cost environment for the development and operation of facilities for space technology research Build and operate SPHERES using the MIT SSL Laboratory Design Philosophy for operations aboard the ISS –Description –Iterative Research –Support Multiple Scientists Design Principles that guide the design of a research facility for space technology maturation utilizing the ISS The application of the principles to review SPHERES indicates the Design Principles and frameworks present a valid methodology for the development of research facilities for maturating space technologies aboard the ISS Problem Statement Chapter Conclusions & Contributions Results Experimentation Hypothesis Objective Motivation & Other Facilities ISS & Facility Characteristic SPHERES Design Principles & Frameworks Evaluations Conclusions/ Contributions 1 2 3 4 5 6 7 SSL Design Philosophy

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Outline Chapter Conclusions Results Experimentation Hypothesis Objective Motivation & Other Facilities ISS & Facility Characteristic SPHERES Design Principles & Frameworks Evaluations Conclusions 1 2 3 4 5 6 7 SSL Design Philosophy Motivation / Approach  -g and Remote Research Facilities The International Space Station MIT SSL Laboratory Design Philosophy SPHERES: from testbed to laboratory –Description –Iterative Research Process –Supporting Multiple Scientists Design Principles Application of Principles Contributions

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Space based –Shuttle Middeck –Shuttle Payload –ISS –Free Flyer 3(5)~  hw  $$ 6   sw ~  $$$ 6  hw ~  $$$ 6~  sw ~  $$$  -g Research Facilities In-house –Simulation –Air table –Robot Cars –Helium Balloons –6 DOF Robot Arms –Robot Helicopters Literature Research 3 rd Party Ground based –Flat Floor –Drop Towers –Neutral Buoyancy Tank –RGA (KC-135)  g Dur. Mis Dur. DOFDyn.Exp.Ops.DataAcc.Cost 6  s-ymo-y  $ 3(5)~  m-hmo-y  $ 3(5)  hmo-y  $ 4(6)  hmo-y  $$ 6  hmo-y  $$$ 4(6)  hmo-y  ~  $$ 6  ~ h-ww  ~  $$$$ 6   h-ww  ~  $$$$ 6   h-ymo-y  ~  $$$$ 6  mo-ymo-y  $$$$$ ISS - NASA JSFC RGO KC-135 - NASA MIT SSL/ACL EnvironmentOperations

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Remote Research Facilities Antarctic Research –Scientific research is primary directive [NRC], [Elzinga, ‘93], [Burton, ‘04] –International system [SCAR] –Development of shared facilities in a harsh environment [Ashley, ’04] Ocean Exploration Research –Multiple types of research vessels [Penzias, ’73] –Concentrate on conducting an experiment, not data analysis [Cunningham, ’70] –Similarities with space challenges Literature Research Past Space Stations CrewDuration –Salyut2-6~1y (2x) International cooperation, EVA’s –Skylab [Belew, ’77] 3<1y Science driven: solar exp., physiology –Space Lab [Emond, ’00] 7~2w International coop. aboard shuttle –Mir [NASA], [Burrough, ‘98] 3~15y Tech. research, Earth & space sciences, biology, life support, shuttle docking, ISS Phase I Space stations do provide a unique environment for microgravity research Allow the researcher to be in-location with facilities to conduct specific experiments WHOI BAS Skylab - [Belew] MIR - NASA How do you design and build experiments to operate remotely under a microgravity environment?

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES The International Space Station Experiment Operation Types –Observation –Exposure –Iterative Experiments Hypothesis The purpose of the ISS is to provide an “Earth orbiting facility that houses experiment payloads, distributes resource utilities, and supports permanent human habitation for conducting research and science experiments in a microgravity environment.” [ISSA IDR no. 1, Reference Guide, March 29, 1995] Major areas of study –Educational –Pure Science –Technology Special Resources of the ISS –Crew Provide oversight of experiments, reducing the risk of using new technologies –Communications Reduce the costs and improve the availability of data for researchers on the ground –Long-term experimentation Enables taking many individual steps to slowly mature a technology –Power Reduces the launch requirements (mass and cost) for missions to provide basic utilities –Atmosphere / Benign environment Reduces cost and complexity of developing test facilities (e.g., thermal, radiation protection)

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES MIT SSL Laboratory Design Philosophy (1) Lessons learned from past experiments –MODE - Middeck 0-g Dynamics Experiment STS-48 (‘91): fluid slush and jointed truss structures STS-62 (‘94): truss structures, pre-DLS –DLS - Dynamics Load Sensor MIR: crew motion sensors –MACE - Middeck Active Controls Experiment STS-67 (‘95): robust, MCS algorithms for space structures ISS Expedition 1 (‘00): neural networks, non-linear & adaptive control Hypothesis MODE DLS MACE

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES MIT SSL Laboratory Design Philosophy (1) Lessons learned from past experiments –MODE - Middeck 0-g Dynamics Experiment Modular, generic equipment, hardware reconfiguration –DLS - Dynamics Load Sensor Extended investigations –MACE - Middeck Active Controls Experiment Multiple investigators, human observability, iterative research, risk tolerant environment, SW reconfiguration Hypothesis MODE DLS MACE

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES MIT SSL Laboratory Design Philosophy (2) The identification of these features led to the development of MIT SSL Laboratory Design Philosophy –Based on the need to demonstrate control and dynamics algorithms, these features guide the design of a laboratory such that the results provided in the laboratory validate the algorithms themselves, and not the capabilities of the facility Hypothesis

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES Design SPHERES is... –A testbed for formation flight Allow reconfigurable control algorithms Perform array capture, maintenance and retargeting maneuvers Enable testing of autonomy tasks Ensure traceability to flight systems Design for operation in the KC-135, shuttle middeck, and ISS –Design guided by the SSL Laboratory Design Philosophy Sub-systems designed to accommodate specific features Experimentation

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES Overview SPHERES is... –A testbed for formation flight SPHERES free-flier units –Up to 5 independent units with propulsion, power, communications, metrology, and data processing –Sensors and actuators provide full state vector (6DOF) Laptop unit –Standard PC laptop serves as a base station Metrology –Five external metrology transmitters create frame of reference Communications –Satellite-to-satellite (STS) –Satellite-to-laptop (STL) Upload program Download data Thrusters Ultrasound Sensors Pressure Regulator Battery Pressure Gauge Control Panel Experimentation

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Support Multiple Scientists –Guest Scientist Program Information Exchange SPHERES Core Software GSP Simulation Standard Science Libraries –Expansion port –Portability –Schedule flexibility Reconfiguration and Modularity –Generic satellite bus –Science specific equipment: on-board beacon and docking face –Generic Operating System –Physical Simulation of Space Environment Operation with three units Operation in 6DOF Two communications channels –Software interface to sensors and actuators –Hardware expansion capabilities –FLASH memory and bootloader Facilitate Iterative Research –Multi-layered operations plan –Continuous visual feedback –Families of tests –Easy repetition of tests –Direct link to ISS data transfer system –De-coupling of SW from NASA safety Support of Experiments –Data Collection and Validation Features Layered metrology system Flexible communications: real-time & post- test download Full data storage 32 bit floating point DSP No precision truth measure –Redundant communications channels –Test management & synchronization –Location specific GUI’s –Re-supply of consumables –Operations with three satellites –Software cannot cause a critical failure SPHERES Features to Meet the MIT SSL Laboratory Design Philosophy Experimentation

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES "Research is the methodical procedure for satisfying human curiosity. It is more than merely reading the results of others' work; it is more than just observing one's surroundings. The element of research that imparts its descriptive power is the analysis and recombination, the "taking apart" and "putting together in a new way," of the information gained from one's observations." [Beach] Four major steps which support the iterative process: 1) Test execution (science time: allow enough time) 2) Data collection and delivery to researcher (overhead time: minimize) 3) Data evaluation and algorithm modification (science time: allow enough time) 4) Modification to tests and new program upload (overhead time: minimize) [Gauch] Hypothesis H i DesignExperimentTrue State of Nature New DataPrevious Data DeductionModel of H i Induction New Hypothesis H i+1 Noise + Problem Statement Initial Modeling Hardware Test Data evaluation Technology Maturation Implementation & Test Setup 4 2 Initial Implementation Theoretical Model  Data Collection 3 The initial modeling and implementation is not part of the iterative research process 1 Initial Setup Science Time Overhead Time Algorithm Modifications SPHERES: Iterative Research Process Scientific Method Steps –Design –Deduction –Experimentation –Induction –New Hypothesis New Hypothesis Deduction Induction Experiment Design Experimentation

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Steps 1, 2, 4 Hardware Test Data evaluation Technology Maturation Implementation & Test Setup 4 Theoretical Model  Data Collection 3 1 Algorithm Modification 2 Experimentation Continuous visual feedback Families of tests Easy repetition of tests Location specific GUI’s Re-supply of consumables FLASH memory and bootloader Optional real-time data display Debug real-time data One-key commands Satellite status summary Program and test numbers, timing Initialization Data recording status Communications status Single key test start/stop

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Step 3 Hardware Test Data evaluation Technology Maturation Implementation & Test Setup 4 Theoretical Model  Data Collection 3 1 Algorithm Modification 2 Guest Scientist Program –Standard Science Libraries Multi-layered, multi-environment operations plan Experimentation Analyze data SPHERES provides Matlab functions Collect data files Update algorithms with CCS C or C++ Compile new program image

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Step 3 Data evaluation Technology Maturation Theoretical Model  3 Algorithm Modification Guest Scientist Program –Standard Science Libraries Multi-layered, multi-environment operations plan –Simulation: science time determined by researcher Experimentation All these tests are performed at the researcher home facility using their own computers. Initial Algorithm Development Researcher Simulation Test Researcher Data Analysis Researcher Deployment to Hardware Tests Implementation & Setup Hours 1 Data Collection Minutes 23 4 debug Hardware Test Implementation & Test Setup 4 Data Collection 1 2

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Step 3 Data evaluation Technology Maturation Theoretical Model  3 Algorithm Modification Guest Scientist Program –Standard Science Libraries Multi-layered, multi-environment operations plan –Simulation: science time determined by researcher –SSL Off-site Tests: science time determined by researcher and SSL availability (days/weeks/months) Experimentation Performed at the MIT SSL facilitiesPerformed at the researcher’s home facility. Initial Algorithm Development Researcher Algorithm Translation Days Hardware Test 20 minutes Data Collection Hours Maturation Algorithm Modification Hours 2 4 Data Analysis Researcher Integration to flight code 41 debug Verification Deployment to ISS 4 Simulation Test Researcher 1 Data Collection Minutes 2 3 Hardware Test Implementation & Test Setup 4 Data Collection 1 2

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Step 3 Data evaluation Technology Maturation Theoretical Model  3 Algorithm Modification Experimentation Performed at the MIT SSL facilitiesPerformed at the researcher’s home facility Initial Algorithm Development Researcher Algorithm Translation Days Hardware Test 20 minutes Data Collection Minutes Maturation/ deployment to ISS Algorithm Modification Minutes 12 4 Data Analysis Travel Time 3 debug Guest Scientist Program –Standard Science Libraries Multi-layered, multi-environment operations plan –Simulation: science time determined by researcher –SSL Off-site: science time determined by researcher and SSL availability (days/weeks/months) –SSL On-site: science time determined by availability / residence at SSL facilities (days/weeks/months) Hardware Test Implementation & Test Setup 4 Data Collection 1 2

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Step 3 Data evaluation Technology Maturation Theoretical Model  3 Algorithm Modification Experimentation Researcher’s home facility / MIT SSL Maximum 4 days total operations Researcher Remote Location (e.g. hotel)KC-135 Researcher’s home facility / MIT SSL Initial Algorithm Development Researcher Hardware Test 20 seconds Data Collection Hours Maturation or deployment to ISS Algorithm Modification Minutes 12 4 Data Analysis 24-72 Hours 3 Visual Analysis 60 seconds 3 Guest Scientist Program –Standard Science Libraries Multi-layered, multi-environment operations plan –Simulation: science time determined by researcher –SSL Off-site: science time determined by researcher and SSL availability (days/weeks/months) –SSL On-site: science time determined by availability / residence at SSL facilities (days/weeks/months) –KC-135 RGA: science time determined by parabola time (~60s), and length of stay at remote location (1-3 days) Hardware Test Implementation & Test Setup 4 Data Collection 1 2

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Step 3 Data evaluation Technology Maturation Theoretical Model  3 Algorithm Modification Experimentation Limited to length of travel to MSFC Researcher Remote Location (e.g. hotel) MSFC Flat Floor Researcher’s home facility / MIT SSL Initial Algorithm Development Researcher Hardware Test 10 minutes Data Collection Hours Maturation or deployment to ISS Algorithm Modification Minutes 1 2 4 Data Analysis Days 3 Visual Analysis minutes 3 Data Collection Minutes 2 Data Analysis Few Hours 3 Algorithm Modification Minutes 4 Guest Scientist Program –Standard Science Libraries Multi-layered, multi-environment operations plan –Simulation: science time determined by researcher –SSL Off-site: science time determined by researcher and SSL availability (days/weeks/months) –SSL On-site: science time determined by availability / residence at SSL facilities (days/weeks/months) –KC-135 RGA: science time determined by parabola time (~60s), and length of stay at remote location (1-3 days) –MSFC: science time determined by test operations (minutes), work day (hours) and length of stay at remote location (days) Hardware Test Implementation & Test Setup 4 Data Collection 1 2

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES ISS ISS Laptop Minutes 4 Program Load Minutes 4 Maximum total time: 2 Hours 6DOF Test 30 minutes 1 Astronaut feedback Minutes Data in Laptop 1 2 Preview analysis Minutes 1 Video ISS Server Minutes 2 PSI  STP  JSC Total overhead: ~2 days To JSC 1 Day 4 ISS Server 1 Day 4 Performed at the researcher’s home facility. Initial Algorithm Development Researcher Maturation Algorithm Modification GND: Hours ISS: 2 weeks cycle 4 Data Analysis 2 week cycle 3 Data Collection Minutes 2 Total overhead: Hours or 2 weeks cycle Simulation Test Researcher 1 SPHERES: Iterations ISS Steps MIT SSL Hardware Test 20 minutes Data Collection Hours 2 Integration to flight code Days 41 debug Verification Days 4 Total overhead: Days JSC  STP  PSI Data Download 2-3 days Video Delivery ~1 week 2 Experimentation

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations ISS Steps 1, 2, 4 Direct link to ISS data transfer system De-coupling of SW from NASA safety Physical Simulation of Space Environment –Operation with three units –Operation in 6DOF –Two communications channels ISS ISS Laptop Minutes 4 Program Load Minutes 4 Maximum total time: 2 Hours 6DOF Test 30 minutes 1 Astronaut feedback Minutes Data in Laptop 1 2 Preview analysis Minutes 1 Video ISS Server Minutes 2 Crew ISS Laptop SPHERES (3) Beacons (5) Courtesy Boeing Co Experimentation Hardware Test Data evaluation Technology Maturation Implementation & Test Setup 4 Theoretical Model  Data Collection 3 1 Algorithm Modification s 2

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: More Iterative Research Features Software (Appendix C) –Generic Operating System –Software cannot cause a critical failure –Test management & synchronization HWDSP/BIOSSPHERES CoreGSP Comm IMU Global Met. SW Interrupts Standard Science Libraries Tasks HW Interrupts Controller Propulsion Housekeeping Comm IMU Global Met Propulsion GSP Background Task Control Met. (IMU) Background Task Test Init Controllers Estimators Maneuvers Mixers Met. (Global) GSP Metrology Task Metrology Task SPHERES Met. Task Hidden Interfaces User-accessible Interface Terminators Math Utilities

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: More Iterative Research Features Avionics (Appendix B) –Layered metrology system –32 bit floating point DSP Communications (Appendix D) –Flexible communications: real-time & post-test download –Full data storage DSP Memory Buses Serial Lines Digital I/O signals Analog signals Micro Processor (C6701 DSP) Metrology Avionics FPGA Communications Avionics (PIC MCU’s) A2D US/IR 12x STL RF STS RF Watchdog Control Panel PowerPropulsion Solenoids Amplifiers Accelerometers Gyroscopes Expansion Port Battery Packs Beacon HWI COMM Rx CLK (BIOS) CLK Comm TDMA Mgr SWI COMM Tx PRD (BIOS) Fast Housekeeping Telemetry TSK COMM Mgr DataComm STLDataComm STS CP Monitor Priority receive data, put into RX pipes enable transmission SWI send packets to DR2000 when enabled manage state of health packets manage background telemetry packets prepare TX packets; process RX packets process large data transmissions initialize commports

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Supporting Multiple Scientists Families of testsSoftware, Operations Guest Scientist Program –Information ExchangeOperations –SPHERES Core SoftwareSoftware –GSP SimulationOperations Expansion portAvionics, Software PortabilitySystem Schedule flexibilityOperations Current Programs Mass IDARD Future Programs TethersMOSRMulti-stage TPFTPF Experimentation NASA

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: A Laboratory SPHERES is... –A testbed for satellite formation flight –The SPHERES implementation satisfies all four groups of the philosophy Laboratory: a place providing opportunity for experimentation, observation, or practice in a field of study –Therefore, by following the SSL Laboratory Design Philosophy, SPHERES is… A separated spacecraft laboratory! –It is a reconfigurable and modular laboratory which supports conducting  -g iterative experiments by multiple investigators LABORATORY Experimentation Terrestrial Planet FinderMOSRSPECSOrbital Express NASA DARPA NASA

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Results Design Principles for  -g Laboratories Aboard the ISS These principles were derived from the implementation of the MIT SSL Laboratory Design Philosophy in SPHERES for operations specifically aboard the ISS –The principles encompass all features of the philosophy following the four main groups presented above –The principles incorporate the special resources of the ISS The following seven principles capture the underlying and long enduring fundamentals that are always (or almost always) valid [Crawley] for space technology maturation laboratories: –Principle of Iterative Research –Principle of Enabling a Field of Study –Principle of Optimized Utilization –Principle of Focused Modularity –Principle of Remote Operation & Usability –Principle of Incremental Technology Maturation –Principle of Requirements Balance

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Studies the “depth” of the research Results Concept Hypothesis Technology Maturation Conception Science Time Overhead Time Experiment Implement Experiment Operation Data Collection Data Analysis  Experiment Design Facility Design Principle of Iterative Research A laboratory allows investigators to conduct multiple cycles of the iterative research process in a timely fashion Three iteration loops: 3 –Modify the hypothesis about the goals and performance requirements for the technology. New Hypothesis Deduction Induction –Modify the experiment design to allow for comparison of different designs. 2 Design 1 Experiment –Repeat the test to obtain further data.

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Iterative Research Composed of three elements: –Data collection and analysis tools Collection bandwidth, precision, accuracy Transfer rate, availability –Enable reconfiguration To allow the three feedback loops to be closed –Flexible operations plan Flexible time between iterations –Too little time prevents substantial data analysis –Too much time creates problems with resources and institutional memory Maximize number of iterations possible Results good bad good bad MACE MACE-II DLS Effective Iterative Research Ineffective Iterative Research Shuttle ISS MIR RGA Time between iterations  i Number of iterations MODE-Reflight 0 n>>1 smalllarge

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Results Principle of Enabling a Field of Study A laboratory provides the facilities to study a substantial number of the research areas which comprise a field of study –Every facility must be part of a clearly defined field of study The objective of a facility must clearly indicate what field of study it will cover –The study of multiple topics requires multiple experiments to be performed Individual scientists perform research on one or a few areas The work on individual topics collectively covers the field of study Therefore multiple investigators, who perform experiments in their specific area of expertise within the field, must be supported –The laboratory must facilitate bringing together the knowledge from the specific areas to mature understanding of the field of study Enable collaborative research Covers the “breath” of the research, how much of a field of study can be covered by the facility

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Enabling a Field of Study The methods to evaluate the efficiency of a laboratory can be compared to the methods used to determine the efficiency of product platforms –Product platform evaluations compare the cost of developing a new product with respect to the original product [Meyer] –Laboratories compare the cost of testing specific areas (k i ) in its facilities (with initial cost K lab ) compared to creating original facilities for each area (K i ) –Laboratories promote covering multiple areas (m/n) Results % of field of study covered Increased cost per area of study 0%25%50%75%100% Fractional cost of Laboratory 1 Expensive area

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Remote Operation & Usability A remotely operated laboratory, such as one which operates aboard the ISS, must consider the fact that remote operators perform the everyday experiments while research scientists, who do not have direct access to the hardware, are examining data and creating hypotheses and experiments for use with the facility Remote facilities are remote because they offer a limited resource that the researcher cannot obtain in their location Therefore the operations and interface of a remote facility must –Enable effective communications between operator and research scientist –Enable prediction of results –Ultimately: create a virtual presence of the scientist through the operator Research Scientists –have little or no experience on the operational environment –are unable to modify the experiment in real- time –are usually an expert in the field but not in implementation –may not have direct contact with the facility Operators –are usually not an expert in the specific field –are an inherent part of the ‘feedback’ loop to provide researchers with results and information –are a limited resource Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Functional Requirements Engineering Requirements Management Requirements Science Requirements Mission Objective Enabling a Field of Study Iterative Research Optimized Utilization Focused Modularity Req’s Balance Remote Operation Technology Maturation Facility Design Results Design Framework How to use the principles in a laboratory design –Step 1 - Identify a Field of Study Select a large enough area in the field of study that the experiment can support technology maturation, but not so large that it is impossible to identify a clear set of science requirements –Step 2 - Identify Main Functional Requirements Identify data, reliability, and schedule requirements to enhance the iterative research process Define representative environment and utilization of the ISS –Step 3 - Refine Design Identify opportunities for modularity to help both the project and the ISS program Determine requirements for remote operations –Step 4 - Review Requirements and Design Balance requirements 1234

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principles Applied to SPHERES Success –Enables iterative research (demonstrated) Fulfills the three parts of the Principle of Iterative Research: successful data management, flexible operations plan, and enable multiple levels of repetitions and iterations –Supports multiple scientists (demonstrated) The GSP has enabled at least six groups to participate in SPHERES –Utilizes most ISS resources correctly (designed, expected) Designed to utilize the crew, telemetry, long-term experimentation, and benign environment features –Balances generic and specific equipment (demonstrated) The satellite bus implemented by the SPHERES units provides generic equipment The expansion port allows integration of science specific equipment –Creates a remote laboratory environment (demonstrated in ground, expected in ISS) The portability and custom interfaces create a remote laboratory outside of the main SSL facilities –Allows incremental technology maturation up to TRL 6 (expected) Creates the necessary representative environment to satisfy the definition of TRL 5 and TRL 6 Recommendations –Design/Eval: Improve use of ISS power sources While power consumption is minimal (~50W), none comes from the ISS resource –Design: Imbalance in resources allocated to metrology sub-system development vs. power/expansion Allocation of resources (esp. man power) to metrology prevented improved design of power/expansion –Eval: Minimal modularity from ISS perspective While modular from DSS perspective, provides no generic equipment for ISS use Conclusions

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Contributions: Principles Identified the fundamental characteristics of a laboratory for space technology maturation –Formalized the need for a laboratory to support iterative research Based on the definition of the scientific method Called for reduced dependency on DOE –Identified the need to enable research on a field of study Requires support of multiple scientists in most cases –Advocate the use of the ISS as a wind-tunnel-like environment for  g research Established a set of principles to guide the design of research laboratories for space technology maturation aboard the International Space Station –Enables the use of the ISS to incrementally mature space technologies –Developed a design framework –Developed an evaluation framework to respond in part to the NRC institutionalization of science aboard the ISS Calls for a change in attitude towards the use of resources aboard the ISS: don’t treat as costs to minimize; treat as added value, so maximize their correct use Conclusions

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Contributions: SPHERES Designed, implemented, and operated the SPHERES Laboratory for Distributed Satellite Systems –Multiple researchers can advance metrology, control, and autonomy algorithms Up to TRL 5 or TRL 6 maturation –Demonstrates the implementation of miniature embedded systems to support research by multiple scientists Developed a real-time operating system with modular and simple interfaces –Demonstrates the ability to create generic equipment –Enables future expansion through both hardware and software –Approaches virtual presence of the scientists in a remote location Present the operator with the necessary initial knowledge and feedback tools to be an integral part of the research process Conclusions

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Questions?

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Optimized Utilization A well-designed laboratory considers all the resources available and optimizes their use with respect to the research needs Understand the resources and limitations of the ISS –Crew –Power sources –Data telemetry –Long-term experimentation –Benign Environment / Atmosphere Determine the needs of the research –Allow flexibility in the needs of the laboratory; maximize the ability to use available resources Realize which resources do not provide a benefit to the research Iterate this process to ensure all available resources are utilized as best as possible Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Optimized Utilization Using the resources of the ISS provides a value to the laboratory –Based on the Taguchi values –Using a resource should not be a “cost” to minimize Utilize crew ~12h per month Minimize power req. Maximize % of power from ISS 100kbps-400kbps bandwidth is best Lifetime ~1-5y

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Focused Modularity A modular facility identifies those aspects of specific experiments that are generic in nature and allows the use of these generic components to facilitate as yet unforeseen experiments. Such a facility is not designed to support an unlimited range of research, but is designed to meet the needs of a specific research area. During development of a facility identify the generic components but ensure that the initial research goals are met –The original immediate research should not be compromised –The experiment generic components can become part of a larger array of generic elements that brought together create a laboratory environment Do not try to design a “do-everything” system –The generic equipment should be identified after the design of the original experiment; the original design should not be to create generic equipment Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Focused Modularity Metric / Evaluation –Evaluate each major component (sub-system) of the testbed using the following truth table: –Determine the cost difference between making a sub-system modular or not Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Incremental Technology Maturation A successful ISS laboratory for technology maturation allows technology maturation to transition smoothly between 1-g development and the microgravity operational environment in terms of cost, complexity, and risk. Technology maturation is essential to advancement of space technologies Need to provide “smooth” path –Current “Technology Readiness Levels” (TRL) results on steep increases from ground tests (TRL 1-4) to space environment demonstrations (TRL 5-7) and flight operations (TRL 8-9) –Jump in complexity between TRL’s creates high-risk environments; cost of potential loss is very high –Use human presence in space to reduce risk TRL 1-2:Basic principles & concept TRL 3-4:Proof-of-concept & laboratory breadboard TRL 5: Component validation in relevant environment TRL 6: System prototype demonstration in relevant environment TRL 7: System prototype demonstration in space environment (usually skipped due to cost) TRL 8: Flight system demonstration in relevant environment TLR 9: Mission Operations TRL 1 2 3 4 5 6 7 8 9 Complexity Risk Cost Now with ISS ISS Projects Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Incremental Technology Maturation Metric/Evaluation: –Use TRL definitions to determine how close the facility allows a technology to reach a representative (TRL 5/6) and/or space environment (TRL 7) –Evaluate the cost of using the ISS as compared to testing the technology directly in a space environment Define a cost for the risk: Define a total cost for each step: Determine success of using ISS: GND ISS Flight $1 Risk1 $2 Risk2 $3 Risk3 Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Principle of Requirements Balance The requirements of a laboratory are balanced such that one requirement does not drive the design in a way that it hinders the ability to succeed on other requirements; further, the hard requirements drive the majority of the design, while soft requirements enhance the design only when possible. –All the previous principles will create different, but not necessarily independent, requirements A successful project balances all its requirements so that no single one overshadows all others Balancing the requirements ensures that all the other principles are accounted for and met as best as possible/viable –There are hard and soft requirements Hard requirements are usually set at the start of a project to determine the goals that must be met; they are mostly quantitative Soft requirements are features desired by the scientists but which do not necessarily have a specific value or which are not essential for the success of the mission –Maximize the ratio of hard requirements to soft requirements Minimize the chance of bloating the facility with unused features Results

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES SPHERES: Iterations Efficacy Simulation: multiple iterations, flexible turnaround SSL Off-site: multiple iterations, with turnaround of days SSL On-site: multiple iterations with hours-to-days between iterations KC-135: several iterations with fixed one-day period KC-135: one iteration between each campaign MSFC: perform multiple iterations with flexibility in hours/days MSFC: one iteration between each campaign ISS: expected multiple iterations with turnaround in increments of two weeks MSFC-2 Simulation Effective Iterative Research Ineffective Iterative Research Time between iterations  i Number of iterations KC-135-2 KC-135-1 MSFC-1 ISS SSL-on SSL-off

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Evaluation Framework –Created to allow a member of the NGO or NASA team to evaluate a design to determine: Correct utilization of the ISS Technology advancement Mission scope –Based on six principles: Iterative Research Enabling a Field of Study Optimized Utilization Requirements Balance solely part of the design framework Evaluation Framework

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Design Principles for the Development of Space Technology Maturation Laboratories.

Similar presentations

Presentation on theme: "Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Design Principles for the Development of Space Technology Maturation Laboratories."— Presentation transcript:

Similar presentations

About project

Feedback

Log in

Auth with social network:

Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Design Principles for the Development of Space Technology Maturation Laboratories.

Similar presentations

Presentation on theme: "Space Systems LaboratoryMassachusetts Institute of Technology SPHERES Design Principles for the Development of Space Technology Maturation Laboratories."— Presentation transcript:

Similar presentations

About project

Feedback