1. Robotics and Autonomy Test Facility - Hardware Verification needs Elie Allouis Elie.Allouis@astrium.eads.net HRAF Workshop – 28/02/2012

2. Content  Content  Introduction and scope of the study  Robotics System in Future Missions  The Verification and Validation (V&V) Process  Robotic System V&V Needs  Facilities Addressing the V&V needs  Next Steps  Preliminary findings for an ESA - HRAF

3. Introduction and Scope  Recognising the need of specific verification and validation (V&V) activities for Exploration robotic systems  Beyond the needs of typical orbiters and spaceborne systems  Feasibility study for a dedicated European facility providing support for the V&V of Autonomous and Robotic systems  Verification – the system fulfils the requirements  Validation – the requirements fulfils the mission needs

4. Introduction and Scope  Task 1  Identification of the system-level verification needs for (roving) platforms as stand-alone system as part of landed robotic exploration missions  Identification of verification needs for different categories of payloads to be integrated on robotic platforms  Identification of verification needs for integrated (roving) platforms  Then;  Matching needs Vs existing facility and perform a gap analysis  Propose a number of facility options complementary to existing facilities

5. Robotic System in Future Exploration Missions  Identifying Future Robotic Systems  To make any future facility relevant to a range of systems

6. Robotic System in Future Exploration Missions  Identifying Future Missions needs  Including inputs from the Robotics and Automation Dossier Needs Mission type MobilityManipulation Platform / Payload Automation System Robotic systems Identified Short /medium term applications Soil sampling on the MoonNoneHighLowRobot manipulators/ sampling systems Demonstrating locomotion on MoonHighLowMediumSmall rover Sample return from NEONoneMediumHighRobot manipulators/ sampling systems Roving Mars for ExobiologyHighHIghHighRover Deploying payload from stationary Martian Platforms NoneHigh Small Robot arm Deploying instrument from mobile Martian Platforms High Small rover, small robot arm Fetching cached samples on MarsHigh Small rover, small robot arm Sample manipulation on an MSR landerNoneHigh Robot arm Examples of Potential Medium to Long Term Applications Collaborative Platforms for Science or Exploration N/A HighVarious with homogeneous or heterogeneous systems Passive Science PenetratorsNone HighAutonomous penetrator - Moon. Mars, Europa, enceladus… Active PenetratorsHighLowHighAutonomous mobile penetrator - Mars, Europa… Mars Hopper for Regional Science InvestigationHigh Hopper platform, robot arm/sampleing system e.g. Leicester concept Multi-platform Hazardous location investigationHighMediumHigh2+ Rovers Rover - Feeder for Moon ISRU unitHigh ISRU Lander +feeder rover Rover - for Landing Site preparationHighNoneHighRover - Moon or Mars

7. The Verification and Validation Process  Purpose  V&V of a robotic and autonomous system is a complex and multi-domain problem  Only successful when all the hardware, software, environment and their respective interactions are shown to meet the specifications, as well as being functionally fit for purpose.  Three main aspects need to be verified at various, if not all, levels of integration:  Electrical design, function and interfaces  Mechanical, thermal design, function and interfaces  Operation – platform and payload, validation of autonomy

8. The Verification and Validation Process  Development and Validation Building blocks

9. The Verification and Validation Process  Integration stages  Some V&V activities happen at all level of integration  Mission Phases  Similarly, V&V happens across the mission:  Development Stage – increases confidence in design solutions  Qualification stage – formal proof that the design fulfils requirement  Confidence tests – builds confidence in the robotic/autonomous system  Acceptance stage – proves the H/W, S/W correspond to qualified design  Pre-launch stage – proves the system is flight worthy for launch and ops  Post-launch – e.g. in-orbit/on-surface commissioning Verification/ Integration Level ExampleLocation PartSolar cellIndustry/Supplier SubassemblySolar Cells StringIndustry/Supplier AssemblySolar Cells StringsIndustry/Supplier ComponentSolar PanelIndustry/Supplier SubsystemPower, Locomotion Supplier or Systems Integrator Element/VehicleRover, lander, orbiter Prime/Systems Integrator Segment Surface (rover+lander), Orbiting (orbiter+return capsule) Prime/Systems Integrator MissionExoMars, Sample Fetch RoverNot currently performed ProgrammeMSR (multi-mission)Not currently performed

10. Robotic System V&V Needs  The verification strategy will be highly dependent on the actual mission and system.  However, in the context of exploration robotics, three main aspects of V&V can be identified:  At Payload level - verifying and validating the payload or instrumentation against scientific requirements  At Robotic system level - to ensure performance criteria are met  At Integrated System level - where integration and operation of the integrated system are demonstrated to meet the necessary requirements and its fitness to fulfil the mission.

11. Robotic System V&V Needs  Model Philosophy  Validation through a series of increasingly integrated models e.g. ExoMars

12. Payload V&V Needs  Categories  Long range - e.g. PanCam  Proximity - e.g Ground Penetrating Radar  Contact – e.g. Rock Abrasion Tool, MOMA  Payload Support System – e.g. Sample Preparation System  Verification Needs  At unit level, the operation of the payload is assessed and a number of functional test are performed to:  Evaluate its performance and evaluate its noise and sensitivity levels  Calibrate the payload output, whether it is a sensor output or a mechanism  At subsystem to platform level:  Emphasis on electrical and data interfaces  Payload/platform interactions in all mission modes, FDIR, etc  At mission level  Planning and rehearsal of operation sequences  Better performed on fully representative platform to identify issues not anticipated at unit level

13. Facilities Addressing V&V Needs  Identify what kind of facilities address the V&V needs across phases  Categories

14. Facilities Addressing V&V Needs DRAFT  Payload

15. Facilities Addressing V&V Needs  Unit and Sub-systems Level DRAFT

16. Facilities Addressing V&V Needs  System/Platform Level DRAFT

17. Facilities Addressing V&V Needs  Integrated System Level DRAFT

18. Next Steps  Collate updated European facilities capabilities  Perform a matching of facility Vs need up to mission level validation  Perform a gap analysis and propose facility options  To be consolidated with the Software and Autonomy Facility Activity

19. Preliminary Findings  Building on a good pan-European capability  Wide range of existing European facilities address already a number of V&V activities from component to subsystems level.  However, a few concepts are being identified to enhance future robotic exploration developments  “Virtual Integration”  i.e. subsystems/payload virtually integrated and tested (operation, comms, data) through a network/web interface prior to real integration – cuts debugging and integration/validation time  Integrated system Operation  i.e build practical experience of real payload operation on a realistic platform – build knowledge of platform and payload ops and limitations  Field testing infrastructure  Operation of integrated system in a real environment to develop critical operational scenarios  Planetary protection  Development of key PP integration or Robotic AIV procedures

20. Open Discussion  Based on your experience:  While some existing facilities can address sub-systems validation, can you identify a missing facility that would address system-level validation (i.e. greater integration level, scale, complexity)?  Can you identify specific activities or hardware that would facilitate system-level validation of robotic systems?

21. Elie Allouis Elie.Allouis@astrium.eads.net HRAF Workshop – 28/02/2012 Robotics and Autonomy Test Facility - Hardware Verification needs