User-Centered Design

The successful introduction and acceptance of novel technological tools are only possible if end users are completely integrated in the design process. However, obtaining such integration of end users is not obvious, as end‐user organizations often do not consider research toward new technological aids as their core business and are therefore reluctant to engage in these kinds of activities. This chapter explains how this problem was tackled in the ICARUS project, by carefully identifying and approaching the targeted user communities and by compiling user requirements. Resulting from these user requirements, system requirements and a system architecture for the ICARUS system were deduced. An important aspect of the user‐centered design approach is that it is an iterative methodology, based on multiple intermediate operational validations by end users of the developed tools, leading to a final validation according to user‐scripted validation scenarios

Candidate landing sites and possible traverses at the south pole of the Moon for the LUVMI-X rover

Lunar volatiles, such as water, are a crucial resource for future exploration, and their exploitation should enable the use of the Moon as a platform for even more remote destinations. As water is most likely to be found in the form of ice at the lunar poles (where surface temperatures can be as low as 40K, i.e. below the H2O temperature of sublimation in vacuum, 110K), multiple upcoming missions target the south pole (SP) cold traps. PSRs (Permanently Shadowed Regions) are especially cold enough to capture and retain volatiles but present challenging access conditions (rough topography, low illumination, low temperatures, limited Earth visibility).Funded by the EU program Horizon 2020, Space Applications Services developed the LUVMI-X rover (LUnar Volatiles Mobile Instrument eXtended), aimed at sampling and analysing lunar volatiles in the polar regions, including within a PSR. The LUVMI-X nominal payload includes an instrumented drill, the Volatiles Sampler (VS), along with a mass spectrometer, the Volatiles Analyser (VA), for surface and subsurface volatile detection and characterisation. A LIBS and a radiation detector are also included. Deployable and propellable surface science payloads are in development for inaccessible sites (e.g., some of the PSRs). This solar-powered rover has an autonomy of one or two Earth nights and can drill down to 20cm in the lunar regolith. The goal of this paper is to find suitable landing sites & traverses" paths for this rover project, that are both scientifically interesting and technically reachable.Available remote sensing imagery for the lunar SP was downloaded from the PDS or corresponding instruments" websites and added into a Geographic Information System (GIS). LUVMI-X scientific objectives and technical specifications were then translated into a list of criteria and computed in our GIS using reclassifications, buffers, and intersections. Using our GIS, reclassified data were overlaid with different weights to define and rank areas meeting the compulsory criteria. A global analysis was led to select the landing sites, followed by a local analysis (based on higher resolution data) for the establishment of traverses.The global GIS analysis allowed us to identify six regions of interest (ROI), which were compared with previous SP ROI from the literature (Lemelin, 2014; Flahaut, 2020). The identified ROI were further ranked based on areas and statistics on Sun and Earth visibilities, Diviner average surface temperatures, and H/water ice signatures (LPNS, LEND, M3).A prime ROI located between Shackleton and the Shoemaker/Faustini ridge was selected for traverse analysis. Four landing ellipses of 2x2km were located and ranked inside the ROI. Way Points (WP) were then identified to include the following scientific interests in each traverse: a boulder casting shadows, a PSR to throw a propellable payload in, an accessible PSR to go into, etc. As several WP are possible, Earth visibility was used to select the best ones. WP were then connected by using slope maps (LOLA DEM at 5m/px: avoid slopes over 20°), Earth & Sun visibilities (avoid no-go zones) and the LROC NAC mosaics at 1m/px (avoid boulders and craters), constituting a tentative traverse

LUVMI: an innovative payload for the sampling of volatiles at the Lunar poles

The ISECG identifies one of the first exploration steps as in situ investigations of the moon or asteroids. Europe is developing payload concepts for drilling and sample analysis, a contribution to a 250kg rover as well as for sample return. To achieve these missions, ESA depends on international partnerships. Such missions will be seldom, expensive and the drill/sample site selected will be based on observations from orbit not calibrated with ground truth data. Many of the international science community’s objectives can be met at lower cost, or the chances of mission success improved and the quality of the science increased by making use of an innovative, low mass, mobile robotic payload following the LEAG recommendations. LUVMI provides a smart, low mass, innovative, modular mobile payload comprising surface and subsurface sensing with an in-situ sampling technology capable of depth-resolved extraction of volatiles, combined with a volatile analyser (mass spectrometer) capable of identifying the chemical composition of the most important volatiles. This will allow LUVMI to: traverse the lunar surface prospecting for volatiles; sample subsurface up to a depth of 10 cm (with a goal of 20 cm); extract water and other loosely bound volatiles; identify the chemical species extracted; access and sample permanently shadowed regions (PSR). The main innovation of LUVMI is to develop an in situ sampling technology capable of depth-resolved extraction of volatiles, and then to package within this tool, the analyser itself, so as to maximise transfer efficiency and minimise sample handling and its attendant mass requirements and risk of sample alteration. By building on national, EC and ESA funded research and developments, this project will develop to TRL6 instruments that together form a smart modular mobile payload that could be flight ready in 2020. The LUVMI sampling instrument will be tested in a highly representative environment including thermal, vacuum and regolith simulant and the integrated payload demonstrated in a representative environment

Design and Development of a Relocatable Robotic Arm for Servicing On-Orbit Modular Spacecraft

The raise of orbital robotics opens a new horizon of possibilities for upcoming space missions. In the context of a global space sustainability, this paper deals with the design, development and testing of a new generation of robotic manipulator for on-orbit maintenance and servicing. This device tackles especially modular missions related to assembly and reconfiguration of modular satellites, coupled with the paradigm of standardization of spacecraft featuring standard interconnects. This robotic system benefits from an innovative multidisciplinary design for performing manipulation and relocation tasks over compatible spacecraft structures. The proposed robotic manipulator is experimentally evaluated on a representative ground demonstrator in a laboratory environment

Command and Control Systems for Search and Rescue Robots

The novel application of unmanned systems in the domain of humanitarian Search and Rescue (SAR) operations has created a need to develop specific multi-Robot Command and Control (RC2) systems. This societal application of robotics requires human-robot interfaces for controlling a large fleet of heterogeneous robots deployed in multiple domains of operation (ground, aerial and marine). This chapter provides an overview of the Command, Control and Intelligence (C2I) system developed within the scope of Integrated Components for Assisted Rescue and Unmanned Search operations (ICARUS). The life cycle of the system begins with a description of use cases and the deployment scenarios in collaboration with SAR teams as end-users. This is followed by an illustration of the system design and architecture, core technologies used in implementing the C2I, iterative integration phases with field deployments for evaluating and improving the system. The main subcomponents consist of a central Mission Planning and Coordination System (MPCS), field Robot Command and Control (RC2) subsystems with a portable force-feedback exoskeleton interface for robot arm tele-manipulation and field mobile devices. The distribution of these C2I subsystems with their communication links for unmanned SAR operations is described in detail. Field demonstrations of the C2I system with SAR personnel assisted by unmanned systems provide an outlook for implementing such systems into mainstream SAR operations in the future

DexROV: Enabling effective dexterous ROV operations in presence of communication latency

Subsea interventions in the oil & gas industry as well as in other domains such as archaeology or geological surveys are demanding and costly activities for which robotic solutions are often deployed in addition or in substitution to human divers - contributing to risks and costs cutting. The operation of ROVs (Remotely Operated Vehicles) nevertheless requires significant off-shore dedicated manpower to handle and operate the robotic platform and the supporting vessel. In order to reduce the footprint of operations, DexROV proposes to implement and evaluate novel operation paradigms with safer, more cost effective and time efficient ROV operations. As a keystone of the proposed approach, manned support will in a large extent be delocalized within an onshore ROV control center, possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation and semi-autonomous capabilities, leveraging human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial in the Mediterranean sea

Data fusion framework for planetary and orbital robotics applications

In space robotics, a wide range of sensor data fusion methods are required to accomplish challenging objectives for exploration, science and commercial purposes. This includes navigation for planetary and guidance for orbital robotics, scientific prospecting, and on-orbit servicing. In Fuse provides a comprehensive data fusion framework or toolset to fuse and interpret sensor data from multiple sensors. This project represents an optimal approach to develop software for robotics: a standardized and comprehensive development environment for industrial applications, with particular focus on space applications where components can be connected, tested offline, evaluated and deployed in any preferred robotic framework, including those devised for space or terrestrial applications. This paper discusses the results of verification and validation of data fusion methods for robots deployed in orbital and planetary scenarios using data sets collected in simulation and outdoor analogue campaigns

Design and Integration of a Multi-arm Installation Robot Demonstrator for orbital large Assembly

Space facilities for orbital exploitation and exploration missions are increasingly requiring larger structure to extend their capabilities. Dimensions of future scientific outposts, solar stations and telescopes undoubtedly matter to expand our horizons, power our planet or explore the universe. Due to the foreseen large structures for such applications, a single self-deploying piece contained in standard launcher fairings might become inadequate. Another approach is that large structures could be broken down into standard modules that will be built in-orbit. Assembling large structure in space is particularly challenging but the raise of key enablers as standard interconnects and advanced robotics opens a new horizon for such applications. It is assumed here that the large spacecraft structure and modules are equipped with standard interconnects (SI) that allow them to be mated to each other and to the robot system for manipulation/transport/installation, or to allow the robot system to move across them. This paper introduces the concept of a novel Multi-Arm Robot (MAR) dedicated to on-orbit large telescope assembly, its ground equivalent laboratory demonstrator design and preliminary hardware integration. The MAR is a modular robot composed of three robotic subsystems - a torso and two symmetrical 7-degree of freedom (DOF) anthropomorphic arms with non-spherical wrists - that are functionally independent and can be connected by the means of Standard Interconnects. The modular approach of the MAR reduces the complexity of the different robotic appendages and offers a set of robotic configuration that extends the range of possible operations and provides an intrinsic system redundancy that reduces the overall mission risk. To assess the MAR concept, a Technology Readiness Level (TRL) 4 ground demonstrator, has been designed to provide a framework that allows the multi-arm robot to execute its overall scope of operations in a ground laboratory environment. It comprises a testbed (dummy spacecraft structure, home base, storage area and mobile payloads) offering a space representative environment, a mission control center (computer, simulator and electrical/data support equipment) supervising the MAR's tasks, and a gravity compensation system (gantry crane and offloading system) for supporting the robot under 1-g

Demonstrator Design of a Modular Multi-arm Robot for On-orbit Large Telescope Assembly

The development of building blocks, and standard interconnects in particular, enables promising perspectives for the assembly of large structures on-orbit. By coupling these standard interconnects with dexterous arms, it is now possible to imagine orbital robots assembling, in-situ, modular structures to emancipate from launcher constraints. Such a mission scenario and related concept of operations are proposed within the ESA MIRROR project. It involves a modular multi-arm installation robot to address this challenge. This paper deals with the design of a fully representative breadboard for this innovative robot in order to prove its concept and abilities. This demonstrator features a ground equivalent robotic system, a testbed and necessary ground support equipments