NASA

Satellite Servicing Evolu2on

Future In-Space OperaGons (FISO) Teleconference
01-11-17
Benjamin B. Reed
Deputy Program Manager
Satellite Servicing Projects Division
NASAs Goddard Space Flight Center
benjamin.b.reed@nasa.gov

40+ Years of On-Orbit Servicing

1973

2016
2

Satellite Servicing Capabili2es

Servicing provides capabilities for
resilient architectures.
Remote Inspec2on
Relocate
Replace
Repair


Refuel
Replenish
Assemble

Servicing Supports Na2onal Goals

Na#onal Space Policy 2010:

Energize compe22ve domes2c industries to parGcipate in

global markets and advance the development of satellite
manufacturing and satellite based services

Increase assurance and resilience of mission-essen2al

func2ons enabled by commercial, civil, scienGc, and naGonal
security spacecraV and supporGng infrastructure

Pursue human and roboGc iniGaGves to develop innovaGve

technologies and foster new industries

Servicing is aligned with Americas space objec2ves.

4

How we do business
Commercial
Owners, Operators, Insurers

Stakeholders
Department of
Interior
USGS

Con$nuous
Needs
Assessment

Nascent
Servicing
Industry

NASA
Science

SpacecraV Manufacturing
Industry

NASA
ExploraGon

Other Government
Agencies

Department of
Commerce
NOAA

Technology &
Capability
Infusion

Satellite Servicing
CapabiliGes Oce
Projects
Raven
Project

Technologies

RelaGve
NavigaGon System

Servicing
Avionics

How we do business
Nascent
Servicing
Industry

Commercial
Owners, Operators, Insurers

Stakeholders

NASA
Science

Department of
Interior
USGS

SpacecraV Manufacturing
Industry

NASA
ExploraGon

Other Government
Agencies

Department of
Commerce
NOAA

Con$nuous
Needs
Assessment

Technology &
Capability
Infusion

Satellite Servicing
CapabiliGes Oce
Projects
RoboGc Refueling
Mission 1, 2, 3

Raven
Project

RelaGve
NavigaGon System

Technologies

WFIRST

LUVOIR

FarIR

Asteroid Redirect
Mission

CooperaGve Servicing
Aids

Fluid Transfer
System

Servicing
Avionics

Robot Arm and

SoVware
Studies

Restore-L Servicing
Mission

Near Earth Object

Detector

Tool and Tool Drive

System

20-Meter

Landers

EMC - tug

EMC - MAV

How we do business
Nascent
Servicing
Industry

Commercial
Owners, Operators, Insurers

Stakeholders

NASA
Science

Department of
Interior
USGS

SpacecraV Manufacturing
Industry

NASA
ExploraGon

Other Government
Agencies

Department of
Commerce
NOAA

Con$nuous
Needs
Assessment

Technology &
Capability
Infusion

Satellite Servicing
CapabiliGes Oce
Projects
RoboGc Refueling
Mission 1, 2, 3

Raven
Project

Robot Arm and

SoVware
Studies

WFIRST

LUVOIR

FarIR

Asteroid Redirect
Mission

CooperaGve Servicing
Aids

Fluid Transfer
System

Servicing
Avionics

RelaGve
NavigaGon System

Technologies

Restore-L Servicing
Mission

Near Earth Object

Detector

Tool and Tool Drive

System

20-Meter

Landers

EMC - tug

EMC - MAV

Technology Demonstra2on Mission

The Restore-L Mission will:
1. Demonstrate a national satellite servicing capabilities
2. Advance essential technologies for NASA and National goals
3. Kick-start a new U.S. commercial servicing industry

Mission Objec2ves

Autonomous Grasp

TeleroboGc Refuel
& Relocate

Autonomous
Rendezvous

Mated Opera2ons: Refueling & Reloca2on

Client: USGS Landsat 7

NASA servicing payload

Vendor supplied spacecraV bus

10

Restore-L Technology PorRolio

rela2ve naviga2on system

Sensor suite (visible, infrared, lidar)

Algorithms (range, bearing, pose)
SpaceCube processor

servicing avionics & soOware

SpaceCube processor
Video DistribuGon & Storage Unit

robot arm & soOware

NASA Servicing Arm 7 DoF
Robot Electronics Unit
Robot Flight SoVware

tool drive system & tools

Advanced Tool Drive System

SophisGcated servicing tools
(gripper, blanket cufer, wire cufer, cap
removal, & nozzle tool) and adapters

propellant transfer system
Propellant Transfer Assembly
Zero-g uid ow meter
Hose management system

coopera2ve servicing
aids
Rendezvous decals
CooperaGve Servicing Valve

6/10/16

11

Technology Development Timeline

Robo2c Tools and

Tool Drive

Fluid Transfer

2012

2013

Proximity Sensors &

Algorithms

Zero-G
3-DOF
Capture 6-DOF auto
tracking

Real-Gme SpaceCube
6-DOF pose 1.0 (MISSE-7)
of HST

2014

Closed Loop
TesGng

Contact
Refueling
Dynamics Procedure
ValidaGon ValidaGon

SpaceCube 2.0 STPH4

2015

2016

Closed Loop
TesGng 2

Remote
control
w/ oxidizer

2017

2018

Autonomous tracking of
spacecraL
(Raven)

Receipt Engineering arm

of 7-DoF
w/ ight-like
Eng Arm
algorithms

Flight processor
execuGng robot
control algorithms

Comprehensive
Refueling Tasks

High-speed,
Fault-tolerant
Compu2ng

2011

RROxiTT

Dexterous Robo2cs

Real-Gme 6-DOF
pose of HST

HST SM4 tes#ng

Rendezvous &
Prox Ops System

2010

RRM refueling demo

2005-09

SpaceCube
driving
Eng. Arm

Receipt of
7-DoF space
qualied Arm

Real-$me processing of
natural feature vision
algorithms on a
SpaceCube 2.0 (Raven)

Four RRM tool Oxidizer Tool InspecGon Next-gen refueling

tools
on-orbit validaGon validaGon
tool on orbit

Gripper
Tool

Oxidizer seal-less pump

evaluaGon

Ethanol
refueling Hose tests in
on orbit zero-g, NBL

Oxidizer
Transfer

Propellant Transfer Cryo & Xenon transfer

(RRM-3)
system

12

12

Restore-L Mission Context

RESTORE-L Advancement

Technologies

CapabiliGes

Enabled Missions

RelaGve NavigaGon Sensors

and Algorithms
Advanced Avionics

Remote InspecGon

Servicing RoboGcs

Legacy Rendezvous

Servicing Tools
Propellant Transfer
Mission Autonomy Manager
Berthing System

Commercial
Servicing

ARRM
Capture Module

US Fleet Servicing

Journey to Mars

Legacy Capture
Legacy Refueling
Client RelocaGon

Other SSPD Projects

Vision System

Cryogen Transfer
CooperaGve Servicing Aids
Xenon Transfer
Modular Components

Repair

Coopera$ve
Servicing

On-Orbit
Assembly

Replenish
Replace
Assemble

Orbit Debris Mi$ga$on

13

Capabili2es Map
Assemble

Replace

(legacy
instrument/box)

Replenish
(cryogen)

Repair

Technical
Complexity

Restore-L
Replace

(cooperaGve)

Relocate

Refuel

(chemical)

Remote
InspecGon

Market Size
14

Technology
Development
15

ARM Mission Highlights

16

Robo2cs Facili2es

West Virginia Robo#c Technology Center

Servicing Technology Center

Robo#cs Opera#ons Center

17

Coopera2ve Servicing Ac2vi2es

Coopera2ve Servicing technologies
reduce risk, cost, and complexity
of servicing missions
NASA is developing CooperaGve Servicing Aids to
further enable satellite servicing on future
missions
~ 6 satellites in orbit now have rendezvous decals
The CooperaGve Servicing Valve (CSV) will be the
rst product of this eort. The design will be at
TRL 6 in 2017 and will y on ISS in 2018
- The CSV requires no caps or wires, greatly reducing
operaGons Gme

MulGple missions currently in development are

analyzing how to incorporate these technologies

18

What Will The Next 40 Years Hold?

2013

2053

19

19

20 Meter?
Robo$c arms

Astronauts

ArGsts Concept. NASA/SSPD