Published on January 11, 2008
Slide1: Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory Space Construction & Orbital Utility Transport: 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 Slide3: 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 Basic SCOUT Dimensions: 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 Exterior Features: Exterior Features RMS Grapple Fixture Escape 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 View Rear View Lights External Camera Internal Volume Constraints: 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 f1.22m Needed to flip over within SCOUT Internal Layout: 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 Vehicle Mass/Power Breakdown: Vehicle Mass/Power Breakdown Transition from Earth to L1: Transition from Earth to L1 Test Mission at ISS SEP#1 travels with Gateway on autonomous spiral to L1 SEP#2 travels with SCOUT system After SCOUT and Gateway Station are stable Crew Transfer vehicle brings first crew for 6 month mission Lin, Frank. Lunar L1 Gateway & SEP Design Briefing. 02 Nov 2001. Nominal Missions: 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 XMP / Docking Module: 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] Docking Module Power System: Triple Junction Crystalline Solar Arrays: Advanced radiation protection Consistent with OASIS design Is = 1394W/m2 ρpower = 250W/kg ηeff = 40% Docking Module Power System Avionics Top-Level Block Diagram: Avionics Top-Level Block Diagram Slide14: Communication Block Diagram UHF Omni Gimbaled Ka-Band Worksite Interaction: 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 Dexterous Manipulator 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 Overall Structural 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) Tank and Thruster Placement: 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 SCOUT Power Requirements: 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 SCOUT Battery Placement: 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 Costing: 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 1st Unit Production = $87 Million 2nd Unit Production = $70 Million Docking Module Non-recurring Cost ($M) = $260 Million 1st Unit Production = $71 Million XMP Non-recurring Cost ($M) = $142 Million 1st Unit Production = $35 Million Total = $1850 Million Summary: 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 The SCOUT Team: 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 For More Information: For More Information http://www.ssl.umd.edu http://spacecraft.ssl.umd.edu
American Institute of Aeronautics and Astronautics 2 The SCOUT concept was designed to be used at the proposed NASA Gateway space station, located at the
Human/Robot Hybrids for Deep Space EVA David L. Akin Mary L. Bowden UMd Space Systems Laboratory
... (Reference: AIAA2003-6276.SCOUT.pdf) Hard Suit Prototype Hard Suit Prototype ... Earth-Moon Transport Author: Jonathan Hofeller Last modified by:
... AIAA2003-6276.SCOUT.pdf) 2-Dec-04USC 2004 AME 557 Space Exploration ArchitectureHard Suit PrototypeHard Suit Prototype – not enhancedMark III ...