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Autonomous robotic systems are key to planetary exploration. A facility
including virtual/physical environments for validation and verification
is described.
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... The VDI 2206 Standard [20] highlights that several macro-cycles might occur to increase the maturity of the system. This approach is foreseen as the V&V method in [21] with the recognition of robotic and autonomous systems complexity in planetary robotics. ...
In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution to reduce weight, costs, and development time in robotic planetary missions. With standardized interfaces and multi-functional elements, this modular approach is planned to be used more often in sustainable exploration activities on the Moon and Mars. The German multi-robot research project “Autonomous Robotic Networks to Help Modern Societies (ARCHES)” has explored this concept with the use of various collaborative robotic assets which have their capabilities extended by the MMI. Different scientific payloads, engineering infrastructure modules, and specific purpose tools can be integrated to and manipulated by a robotic arm and a standardized electromechanical docking-interface. Throughout the MMI’s design and implementation phase the performed preliminary tests confirmed that the different systems of the robotic cooperative team such as the Docking Interface System (DIS), the Power Management System (PMS), and the Data Communication System (DCS) functioned successfully. During the summer of 2022 a Demonstration Mission on Mount Etna (Sicily, Italy) was carried out as part of the ARCHES Project. This field scenario allowed the validation of the robotics systems in an analogue harsh environment and the confirmation of enhanced operations with the application of this modular method. Among the numerous activities performed in this volcanic terrain there are the efficient assembling of the Low Frequency Array (LOFAR) network, the energy-saving and reduced complexity of a detached Laser Induced Breakdown Spectroscopy (LIBS) module, and the uninterrupted powered operation between modules when switching between different power sources. The field data collected during this analogue campaign provided important outcomes for the modular robotics application. Modular and autonomous robots certainly benefit from their versatility, reusability, less complex systems, reduced requirements for space qualification, and lower risks for the mission. These characteristics will ensure that long duration and complex robotic planetary endeavours are not as challenging as they used to be in the past.
... a flexible simulation environment that allows models and real hardware to be combined and compared in a plug and play mode, a service to run field trials, and a data archive of the results acquired. Although built for space activities, the facility has been designed to be flexible so that it could also be used to support autonomy, verification and validation in other sectors [9] Figure 2: The concept of HRAF ...
The Harwell Robotic and Autonomy Facility (HRAF) activities funded by the European Space Agency (ESA) aim to provide advanced capabilities to support the development and testing of complex autonomous systems for the exploration of our Solar System. The outcome of one of these activities is a a flexible simulation environment allowing models and real hardware to be combined, compared and tested in a plug and play mode. HRAF has carried out three pilot studies on the use of simulation concepts. This paper presents experiences from Pilot 3, in particular from the task of developing a Federation specialized for space exploration scenarios. The first scenario is concerned Image generation and HIL configurations. In many cases the same functionality is provided as MIL, PIL and HIL and federates can be exchanged between executions. The federation can also be run locally or distributed between ESA and contractor sites. Preliminary conclusions are that a baseline federation has been successfully developed, which can be reused and form a starting point for future experiments, and that the SpaceFOM was helpful in this integration. Some challenges experienced include how to integrate reused and complex Matlab/Simulink models in federations and how to integrate existing hardware with particular timing requirements. Some feedback to SISO is also planned for the SpaceFOM standard.
... Iron bird facility's main purpose is to support the team during design and validation. Fig. 2 shows the system engineering V diagram and where to use an iron bird [12]. Iron birds are being used for validation and verification on the system and sub-system level. ...
Airborne systems are becoming more and more complex, making it harder to meet the volatile requirements of complex systems or sub-systems. Test infrastructures are inevitably inheriting product complexity. Iron bird test rigs need real actuators, hydraulic pumps, piping, loading systems which make their development and operation resource intensive. As for systems itself, digital twin technologies may help us also tackle the complexity of test infrastructures. An iron bird is one of the essential test infrastructures required by system designers as well as the certification authorities to test an airborne system on the ground. It is an integrated test rig for hydraulic, mechanical, and flight control systems. Being the last station before the flight testing, iron birds are the most complex and expensive ground-based test system. Creating an iron bird in a digital environment will undoubtedly provide important advantages in many ways. Achieving the required fidelity in virtualizing such a complex test infrastructure is a challenge, which can only be tackled using digital twin technologies such as the internet of things to collect data, big data, scalable architecture approaches to data collection, processing and modeling, and artificial intelligence. This article will present the conceptual design of a virtual iron bird that adapts digital twin technologies.
... @BULLET ESA Phobos study – The LARAD design is core to the design for the proposed Phobos Sample Return Mission and in particular its robotic arm. @BULLET ESA SAMPLER project – Low gravity sampling is being investigated by Airbus DS. @BULLET HRAF projects – LARAD has been identified as a potential platform used as part of the ESA HRAF [13] activities. ...
Beyond the current ExoMars programme, the European Space Agency (ESA) is investigating a range of technology developments and exploration mission opportunities leading to a future Mars Sample Return Mission (MSR), a critical next step in the exploration of Mars. To fulfil their scientific objectives, all of these missions require an arm with a long reach capable of performing a variety of tasks in stringent environmental conditions, such as low gravity sampling and precise sample handling and insertion. As part of a CREST-2 project supported by the UK Space Agency (UKSA), a consortium of UK companies has developed LARAD, a Lightweight Advanced Robotic Arm Demonstrator to address some of the underlying challenges related to both the design as well as operation of long arms. Challenges such as performing payload deployment and sample return operations for future missions. The 15kg terrestrial demonstrator is a 2m-long arm with 6 degrees of freedom. This arm is capable of deploying a payload with a mass up to 6kg or operating a 4kg end-effector at 2m. It is using cutting edge technologies on both the hardware and software levels. The mechanical structure of the arm has been manufactured using an array of new processes such as optimised 3D printed titanium Additive Layer Manufactured (ALM) joints, Titanium/Silicon carbide metallic composites, and 3D printed harness routing drums. A modular joint design has been produced, featuring three mechanical sizes of joints, each with integrated low-level communication and motor drive. The electronics, software, and sensors used in the joints are common across all sizes, increasing modularity. To achieve precise positioning, very high resolution absolute position sensing is used on-board. The arm uses novel collision avoidance and path-planning strategies combined with classical control loops. The On-board Control System's state machine combines different control strategies/modes (i.e. joint trajectory tracking, direct motor control, autonomous placement) depending on the high-level user operation requirements. The On-Board Software (OBSW) is based on Robot Operating System (ROS), enabling a flexible software approach. This project provides a unique and representative platform to plan and rehearse science operations with full mass payload and instruments, unlike typical planetary arm developments that require scaled-mass end-effector. This paper describes the current state-of-the-art in planetary robotics and provides an overview of the top-level architecture, implementation and laboratory testing phases for the LARAD robotic arm.
https://www.sciencedirect.com/science/article/abs/pii/S0094576523003909
In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution to reduce weight, costs, and development time in robotic planetary missions. With standardized interfaces and multi-functional elements, this modular approach is planned to be used more often in sustainable exploration activities on the Moon and Mars. The German multi-robot research project "Autonomous Robotic Networks to Help Modern Societies (ARCHES)" has explored this concept with the use of various collaborative robotic assets which have their capabilities extended by the MMI. Different scientific payloads, engineering infrastructure modules, and specific purpose tools can be integrated to and manipulated by a robotic arm and a standardized electromechanical docking-interface. Throughout the MMI's design and implementation phase the performed preliminary tests confirmed that the different systems of the robotic cooperative team such as the Docking Interface System (DIS), the Power Management System (PMS), and the Data Communication System (DCS) functioned successfully. During the summer of 2022 a Demonstration Mission on Mount Etna (Sicily, Italy) was carried out as part of the ARCHES Project. This field scenario allowed the validation of the robotics systems in an analogue harsh environment and the confirmation of enhanced operations with the application of this modular method. Among the numerous activities performed in this volcanic terrain there are the efficient assembling of the Low Frequency Array (LOFAR) network, the energy-saving and reduced complexity of a detached Laser Induced Breakdown Spectroscopy (LIBS) module, and the uninterrupted powered operation between modules when switching between different power sources. The field data collected during this analogue campaign provided important outcomes for the modular robotics application. Modular and autonomous robots certainly benefit from their versatility, re-usability, less complex systems, reduced requirements for space qualification, and lower risks for the mission. These characteristics will ensure that long duration and complex robotic planetary endeavours are not as challenging as they used to be in the past.
Chapter 6 offers a systematic, thorough discussion on mission operations and autonomy. Section 6.1 introduces the background and 6.2 sets the context of the topic by introducing the basic concepts of mission operations, processes and procedures, and typical operation modes of planetary robotic systems. Section 6.3 discusses the first step in developing the mission operation software, that is, how to establish the on-ground and onboard software architecture for a given mission operation. The following three sections investigate the main design aspects or core technologies in mission operations: Section 6.4 discusses the planning and scheduling (P&S) techniques and representative design solutions that can enable high level of autonomy; Section 6.5 presents the technology that allows reconfiguration of autonomous software within mission operation; and Section 6.6 covers various tools and techniques for validation and verification of autonomous software. To demonstrate the practicality of the theoretical principles, Section 6.7 presents a design example of mission operation software for Mars rovers. The last Section 6.8 of the chapter describes some over-the-horizon R&D ideas in achieving autonomous operations and systems for future planetary robotic missions.
