1. SCOUT University of Maryland Space Systems Design Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory

2. SCOUT University of Maryland Space Systems Design Space Construction & Orbital Utility Transport SCOUT System: –Two SCOUT spacecraft –Docking Module (DM) –eXtended Mission Pallet (XMP) Closed-cabin atmospheric system for EVA Proposed element of the Orbital Aggregation & Space Infrastructure Systems (OASIS) program Designed to operate with proposed Gateway Station at the Earth-Moon L1 Point

3. SCOUT University of Maryland Space Systems Design SCOUT Major Design Constraints Task/ human arm interaction Worksite attach/ control Zero pre-breathe Shirt-sleeve operation Operating Pressure: 8.3 psi RMS attach fitting IBDM w/ internal hatch opening Accommodate 5% Japanese female to 95% American Male Escape system placement

4. SCOUT University of Maryland Space Systems Design Basic SCOUT Dimensions 0.34 0.82 1.85 1.50 0.75 r = 0.33 0.70 2.00 0.87 Rear View Side View Bottom View All dimensions in meters

5. SCOUT University of Maryland Space Systems Design Exterior Features RMS Grapple FixtureEscape System IBDM Star Tracker Ka-Band UHF Radiator Grapple Arm Laser Rangefinder Radiator Nitrogen Quad Hydrazine Triad Single Hydrazine Handrail Helmet w/ HUD Human AX-5 Arms Tool Posts External Camera Task Arms Mini-Workstation Front ViewRear View Lights External Camera

6. SCOUT University of Maryland Space Systems Design Internal Volume Constraints Major volume requirements designed into the cabin layout –Minimal volume required to accommodate a 95% American male Volume dimensions are 0.72m x 0.71m x 0.172m Internal components placed around this volume –Minimal volume required for a controlled tumble Volume is a sphere with  1.22m Needed to flip over within SCOUT

7. SCOUT University of Maryland Space Systems Design Internal Layout Front View Rear View Isometric View Foot restraint location(s) Storage Box Internal Camera Escape Hatch Pressure Control CO2/Air System Waste Collection System Hand Controllers Computers Touch Screen Monitors Keyboard Fire Extinguisher

8. SCOUT University of Maryland Space Systems Design Vehicle Mass/Power Breakdown SystemAllotted Mass (kg)Actual Mass (kg)Power (W) Loads, Structures, and Mechanisms 850796240 Life Support and Human Factors 275235295 Avionics200190295 Power, Propulsion, and Thermal 67563385 Total20001850915

9. SCOUT University of Maryland Space Systems Design Transition from Earth to L1 1.Test Mission at ISS 2.SEP#1 travels with Gateway on autonomous spiral to L1 3.SEP#2 travels with SCOUT system 4.After SCOUT and Gateway Station are stable 5.Crew Transfer vehicle brings first crew for 6 month mission Lin, Frank. Lunar L1 Gateway & SEP Design Briefing. 02 Nov 2001. Crew Transfer Vehicle ISS SCOUT L 1 Gateway SEP #1 & Gateway SEP #2 & SCOUT Not to Scale 1 5 32 4

10. SCOUT University of Maryland Space Systems Design Nominal Missions Nominal six-month mission consists of 15 sorties per SCOUT –Eleven hours spent in the pod for eight hours of work –Total SCOUT hours for two pods: 240 working hours and 330 hours inside the pod –End of life occurs at 600 sorties (20 years) Example Sortie TimeActivity 00:30:00Travel to worksite 01:00:00Worksite Translation 03:00:00Work Period 1 03:15:00Break 1 05:15:00Work Period 2 05:45:00Break 2 – Lunch TimeActivity 07:45:00Work Period 3 08:00:00Break 3 10:00:00Work Period 4 10:30:00Travel to Gateway 11:00:00Dock to Gateway 11:00:00Total Sortie Time

11. SCOUT University of Maryland Space Systems Design XMP / Docking Module eXtended Mission Pallet (XMP) –Supports off-site extended sorties –Attaches between SCOUT and tow-vehicle –Provides off-site refueling/ recharging –Shirt-sleeve atmosphere allows passage from SCOUT to tow- vehicle Docking Module (DM) –Attach points for two SCOUT vehicles –One port for connection to Gateway –Storage for 6 months of propellant –Spare batteries –Life support regeneration need [Conceptual Design]

12. SCOUT University of Maryland Space Systems Design Triple Junction Crystalline Solar Arrays: –Advanced radiation protection –Consistent with OASIS design –I s = 1394W/m 2 –ρ power = 250W/kg –η eff = 40% Docking Module Power System Total Power Output5000W Surface Area/ Panel4.5m 2 (1 x 4.5m) Mass/ Panel10kg

13. SCOUT University of Maryland Space Systems Design Avionics Top-Level Block Diagram Robotic Control Communication/ Video System Propulsion System Attitude Sensors Astronaut Interface Life Support Sensors Firewire Data Bus FDCC CompactPCI Bus Thermal Control Power Distribution Computer Display Solid State Recorder Legend: FDCC - Flight & Data Control Computer - Primary Avionics Components - Critical Crew Survival Systems - Flight Control Systems - Mission Systems

14. SCOUT University of Maryland Space Systems Design Communication Block Diagram UHF Omni Gimbaled Ka-Band Transponder Sensor Data Video System Crew Interface - Hand Controllers - Switches - Voice Flight computers Power Amplifier FDCC Video Displays Antenna Switch Diplexer Antenna Switch Diplexer

15. SCOUT University of Maryland Space Systems Design Worksite Interaction Heads-Up Display (HUD) –Used for display of pertinent information dealing with Flight control Robotic control General SCOUT system Hand Controllers –Two 3-DOF controllers used for translation and rotation control of Manual flight Operation of the task arms AX-5 Arm and Glove Sensors –Used to control task arms –Activated/deactivated by voice command Voice Recognition –System utilizes pre-allocated communications hardware with the FDCCs to process voice commands –Allows for both coarse and fine control of dexterous manipulators HUD Hand Controllers

16. SCOUT University of Maryland Space Systems Design Dexterous Manipulator Design Task Arm –Modeled after 8 DOF Ranger Telerobotic Shuttle Experiment arm Trade study found two arms to be the best choice –One arm did not provide the ability to grasp the hardware being removed while removing bolts and latches –Three arms brought a concern about the interference of the arms with each other and with the human arms due to intersecting work envelopes Uses interchangeable end effectors for task completion –Max 8 end effectors on SCOUT –End effectors needed will be predetermined prior to sortie Grapple Arm –Modified version of the task arm Longer due to reach concerns for grappling Only has a pitch joint at end effector connection Uses universal grappling end effector that will be designed to be used on a predetermined worksite

17. SCOUT University of Maryland Space Systems Design Overall Structural Design Hexagonal Pressure Hull –Load-bearing aluminum panels incorporating Micrometeoroid (MM) and Orbital Debris (OD) protection –Stringers to transfer panel loads and serve as hard attachment points for Shuttle launching Outer Frame –Load-bearing aluminum panels with MM and OD protection –House external tanks and electronics –Back panel hinged for Li-Ion Battery replacement and Power Distribution Unit (PDU) servicing Main mechanisms –International Berthing and Docking Mechanism (IBDM) –Dexterous Manipulators –Remote Manipulator System (RMS)

18. SCOUT University of Maryland Space Systems Design Tank and Thruster Placement 16, 1N Nitrogen thrusters –For contamination-critical sites –4 quads 16, 6N Hydrazine thrusters –For non-sensitive sites –4 triads –4 singles Nitrogen Pressurant Tank * One on each side Hydrazine Propellant Tank * One on each side Nitrogen Propellant Tanks

19. SCOUT University of Maryland Space Systems Design Base-Load Power Requirements: –Loads assumed constant throughout 13hr sortie (includes reserve) –Loads assumed safety-critical Peak-Load Power Requirements (for 2hr work period): –Loads vary throughout work period –Loads not safety-critical SCOUT Power Requirements SystemPower Required (W) Loads, Structures, and Mechanisms240 Life Support and Human Factors295 Avionics295 Power, Propulsion, and Thermal85 Total915 Arm/ Type OperationTime (hr)Power Required (W) Task/ Max Draw (2)0.22000 Task/ Maneuvering (2)0.8400 Task/ Position Hold (2)0.8200 Grapple/ Maneuvering0.2250

20. SCOUT University of Maryland Space Systems Design SCOUT Battery Placement Located near Power Distribution Units (PDUs) Accessible via EVA to fix/replace: –1 spare stored in docking module –3 batteries replaced once a year Hinged back panel EVA handrails PDUs Li-Ion Batteries

21. SCOUT University of Maryland Space Systems Design Costing Cost based on heuristic formulas at the vehicle level for both SCOUTs, the docking module, and the XMP SCOUTs –Non-recurring Cost ($M) = $1180 Million –1 st Unit Production = $87 Million –2 nd Unit Production = $70 Million Docking Module –Non-recurring Cost ($M) = $260 Million –1 st Unit Production = $71 Million XMP –Non-recurring Cost ($M) = $142 Million –1 st Unit Production = $35 Million Total = $1850 Million

22. SCOUT University of Maryland Space Systems Design Summary SCOUT represents a revolutionary advance in EVA capabilties for low earth orbit and beyond Direct integration of robotic and EVA capabilities expands range of feasible applications Analysis shows that a single SCOUT sortie can perform ISS servicing currently requiring 2 EVA and 1 IVA crew L1 Gateway basing provides ideal location for extended sorties performing servicing in geostationary orbit, lunar orbit, other libration points (EM and ES) Extends human presence throughout the Earth- Moon system

23. SCOUT University of Maryland Space Systems Design The SCOUT Team Avionics –Aaron Hoskins –Will Miller –Oliver Sadorra –Greg Stamp Crew Systems –Katy Catlin –Avi Edery –John Hintz –Andrew Long –Alexandra Langley Loads, Structures, and Mechanisms –Justin Richeson –Eric Rodriguez –Ernest Silva –Yudai Yoshimura Mission Planning and Analysis –Chris Bowen –Wendy Frank –Kirstin Hollingsworth –Sadie Michael –Jackie Reilly Power, Propulsion, Thermal –Cagatay Aymergen –Matt Beres –Nathan Moulton –Christopher Work Systems Integration –Meghan Baker –Tom Christy –Jesse Colville –Robyn Jones –Lynn Pierson

24. SCOUT University of Maryland Space Systems Design

25. SCOUT University of Maryland Space Systems Design For More Information http://www.ssl.umd.edu http://spacecraft.ssl.umd.edu