1 00:00:03,750 --> 00:00:02,149 go ahead 2 00:00:06,070 --> 00:00:03,760 good afternoon and welcome back to our 3 00:00:07,269 --> 00:00:06,080 astronaut initiative ideas synthesis 4 00:00:09,669 --> 00:00:07,279 workshop 5 00:00:11,749 --> 00:00:09,679 um our session this afternoon is on the 6 00:00:14,070 --> 00:00:11,759 crude mission systems 7 00:00:16,070 --> 00:00:14,080 and we really encourage those out there 8 00:00:17,590 --> 00:00:16,080 to participate you can send your inputs 9 00:00:19,990 --> 00:00:17,600 into twitter 10 00:00:21,990 --> 00:00:20,000 at the hashtag asteroid crew and then 11 00:00:23,670 --> 00:00:22,000 you can follow online as well 12 00:00:25,990 --> 00:00:23,680 at the asteroid initiative and then at 13 00:00:27,589 --> 00:00:26,000 www.nasa.gov 14 00:00:30,310 --> 00:00:27,599 asteroid workshop 15 00:00:31,349 --> 00:00:30,320 i really thank everybody for 16 00:00:33,190 --> 00:00:31,359 making 17 00:00:35,270 --> 00:00:33,200 the presentations available 18 00:00:37,910 --> 00:00:35,280 we had 22 total submittals and we'll 19 00:00:39,030 --> 00:00:37,920 talk about 13 of those today 20 00:00:40,549 --> 00:00:39,040 i'm going to talk a little bit about 21 00:00:42,470 --> 00:00:40,559 what we've been doing 22 00:00:44,869 --> 00:00:42,480 on the nasa side relative to the crude 23 00:00:48,229 --> 00:00:44,879 mission segment before we get started 24 00:00:50,069 --> 00:00:48,239 so uh we've had a team off working 25 00:00:52,389 --> 00:00:50,079 the mission concept for the 26 00:00:54,310 --> 00:00:52,399 redirect crew segment 27 00:00:56,069 --> 00:00:54,320 for about 10 months and that has been a 28 00:00:58,069 --> 00:00:56,079 multi-center team 29 00:01:00,229 --> 00:00:58,079 with participation from the johnson 30 00:01:02,630 --> 00:01:00,239 space center the goddard space flight 31 00:01:04,310 --> 00:01:02,640 center the glenn research center of 32 00:01:06,070 --> 00:01:04,320 kennedy space center 33 00:01:08,149 --> 00:01:06,080 the marshall space flight center and the 34 00:01:10,149 --> 00:01:08,159 langley research center and we've been 35 00:01:11,750 --> 00:01:10,159 focusing on putting together the concept 36 00:01:13,030 --> 00:01:11,760 we're very excited today though to hear 37 00:01:14,950 --> 00:01:13,040 your ideas 38 00:01:17,109 --> 00:01:14,960 i think you've seen the overall mission 39 00:01:18,390 --> 00:01:17,119 concept where we would send orion out to 40 00:01:20,630 --> 00:01:18,400 the asteroid 41 00:01:23,030 --> 00:01:20,640 and we would render with the robotic 42 00:01:24,710 --> 00:01:23,040 asteroid redirect vehicle spacecraft we 43 00:01:26,390 --> 00:01:24,720 would perform two 44 00:01:28,630 --> 00:01:26,400 spacewalks of approximately four hours 45 00:01:30,230 --> 00:01:28,640 in duration with two crew members 46 00:01:32,230 --> 00:01:30,240 we would get the samples as shown in the 47 00:01:33,429 --> 00:01:32,240 lower right hand slide 48 00:01:34,710 --> 00:01:33,439 with the astronauts performing the 49 00:01:36,069 --> 00:01:34,720 spacewalks and then return those in 50 00:01:37,350 --> 00:01:36,079 orion 51 00:01:39,429 --> 00:01:37,360 one of the things we've found as we've 52 00:01:40,710 --> 00:01:39,439 worked through this this mission is 53 00:01:42,230 --> 00:01:40,720 orion is 54 00:01:43,270 --> 00:01:42,240 kind of the perfect vehicle for this 55 00:01:45,990 --> 00:01:43,280 flight 56 00:01:47,590 --> 00:01:46,000 we've uh we've strived to make this a 57 00:01:49,830 --> 00:01:47,600 very affordable mission 58 00:01:52,069 --> 00:01:49,840 and so our approach has been to to 59 00:01:54,710 --> 00:01:52,079 utilize a lot of hardware in existence 60 00:01:56,389 --> 00:01:54,720 which we'll talk a little bit about and 61 00:01:58,389 --> 00:01:56,399 to try to minimize changes to orion 62 00:02:00,870 --> 00:01:58,399 orion is an ongoing program that's under 63 00:02:03,670 --> 00:02:00,880 development but what we found is orion 64 00:02:05,830 --> 00:02:03,680 is very capable even though it wasn't 65 00:02:06,709 --> 00:02:05,840 intended to do spacewalks as its primary 66 00:02:08,389 --> 00:02:06,719 mission 67 00:02:10,150 --> 00:02:08,399 we can actually do spacewalks using 68 00:02:12,309 --> 00:02:10,160 orion as the airlock 69 00:02:13,990 --> 00:02:12,319 we also are trying to minimize changes 70 00:02:15,350 --> 00:02:14,000 to the space launch system which is 71 00:02:18,150 --> 00:02:15,360 under development 72 00:02:19,750 --> 00:02:18,160 and uh it's a perfect vehicle a perfect 73 00:02:21,430 --> 00:02:19,760 rocket to provide 74 00:02:23,430 --> 00:02:21,440 the launch platform for ryan to go to 75 00:02:24,869 --> 00:02:23,440 this distant retrograde orbit meet up 76 00:02:27,110 --> 00:02:24,879 with the asteroid and then execute the 77 00:02:29,270 --> 00:02:27,120 space walks so we've spent a lot of time 78 00:02:30,390 --> 00:02:29,280 as we have developed the mission 79 00:02:33,110 --> 00:02:30,400 uh 80 00:02:35,990 --> 00:02:33,120 striving to be very affordable and using 81 00:02:38,630 --> 00:02:36,000 a very low cost approach and i'll talk a 82 00:02:40,150 --> 00:02:38,640 little bit about that 83 00:02:42,390 --> 00:02:40,160 of course here's the eva scenario you 84 00:02:45,830 --> 00:02:42,400 can see this graphic that shows 85 00:02:48,150 --> 00:02:45,840 uh two astronauts uh working from 86 00:02:51,350 --> 00:02:48,160 one working from a boom platform 87 00:02:53,589 --> 00:02:51,360 to uh to open up the the bag then closes 88 00:02:55,110 --> 00:02:53,599 the asteroid and perform the space walks 89 00:02:57,670 --> 00:02:55,120 and i show this graphic because a lot of 90 00:02:59,830 --> 00:02:57,680 the discussion today will will focus on 91 00:03:02,229 --> 00:02:59,840 on the space walks on the tools on 92 00:03:04,229 --> 00:03:02,239 anchoring techniques on potential 93 00:03:06,149 --> 00:03:04,239 robotic ways that we could execute the 94 00:03:09,990 --> 00:03:06,159 spacewalk and so a lot of the session 95 00:03:15,509 --> 00:03:13,030 here we uh we show some of our concepts 96 00:03:17,350 --> 00:03:15,519 and this shows affordability in terms of 97 00:03:20,149 --> 00:03:17,360 some of the things that we've developed 98 00:03:22,309 --> 00:03:20,159 to execute the space walks 99 00:03:25,509 --> 00:03:22,319 we have four kits that would go into 100 00:03:27,350 --> 00:03:25,519 orion to help augment the capability the 101 00:03:29,910 --> 00:03:27,360 first on the left-hand side of the chart 102 00:03:32,149 --> 00:03:29,920 is the eva servicing and recharge kits 103 00:03:33,670 --> 00:03:32,159 which are the suit itself is to derive 104 00:03:36,470 --> 00:03:33,680 from the shuttle 105 00:03:38,550 --> 00:03:36,480 modified aces but we would use 106 00:03:40,070 --> 00:03:38,560 servicing techniques that we use on 107 00:03:41,430 --> 00:03:40,080 space station today we leverage those 108 00:03:43,110 --> 00:03:41,440 capabilities 109 00:03:44,390 --> 00:03:43,120 to uh to service the suits in between 110 00:03:46,309 --> 00:03:44,400 evas 111 00:03:47,990 --> 00:03:46,319 on the next column you can see some of 112 00:03:49,750 --> 00:03:48,000 the tools that we might use and these 113 00:03:51,589 --> 00:03:49,760 leverage heritage from both shuttle and 114 00:03:52,550 --> 00:03:51,599 space station 115 00:03:54,070 --> 00:03:52,560 and then 116 00:03:55,030 --> 00:03:54,080 our communication plan would leverage a 117 00:03:57,190 --> 00:03:55,040 lot of the 118 00:03:58,710 --> 00:03:57,200 advanced exploration system suit work 119 00:04:00,149 --> 00:03:58,720 that we're doing today 120 00:04:02,149 --> 00:04:00,159 in addition to when we bring the 121 00:04:03,030 --> 00:04:02,159 vehicles together the dock system worked 122 00:04:04,630 --> 00:04:03,040 it's 123 00:04:06,070 --> 00:04:04,640 being developed for the space station 124 00:04:08,149 --> 00:04:06,080 for a commercial crew 125 00:04:10,710 --> 00:04:08,159 and then even in terms of repressing 126 00:04:12,309 --> 00:04:10,720 orion after we depressed the cabin and 127 00:04:14,869 --> 00:04:12,319 executed an eva when we repressed the 128 00:04:16,789 --> 00:04:14,879 cabin we would use a very simple 129 00:04:18,629 --> 00:04:16,799 pressurized container 130 00:04:21,030 --> 00:04:18,639 developed from the shuttle or the space 131 00:04:23,510 --> 00:04:21,040 station nitrogen oxygen recharge a 132 00:04:24,629 --> 00:04:23,520 similar concept to repress the cabin 133 00:04:26,710 --> 00:04:24,639 with air so 134 00:04:29,110 --> 00:04:26,720 we're putting together these very simple 135 00:04:30,710 --> 00:04:29,120 techniques to to do an early mission 136 00:04:31,590 --> 00:04:30,720 with orion 137 00:04:32,950 --> 00:04:31,600 and then 138 00:04:34,469 --> 00:04:32,960 the first part of our session today is 139 00:04:36,629 --> 00:04:34,479 going to focus on 140 00:04:38,469 --> 00:04:36,639 how we feed forward it's very important 141 00:04:40,390 --> 00:04:38,479 as we put this mission together 142 00:04:42,870 --> 00:04:40,400 in an affordable fashion that it leads 143 00:04:44,469 --> 00:04:42,880 to future exploration missions and 144 00:04:47,430 --> 00:04:44,479 we see this mission 145 00:04:49,270 --> 00:04:47,440 in three different dimensions one is 146 00:04:51,510 --> 00:04:49,280 uh maybe in the near term we're going to 147 00:04:53,189 --> 00:04:51,520 continue to work in cis lunar space 148 00:04:55,270 --> 00:04:53,199 with extended duration missions in cis 149 00:04:57,749 --> 00:04:55,280 lunar space you see on the left-hand 150 00:04:59,670 --> 00:04:57,759 side a kind of a notional exploration 151 00:05:01,990 --> 00:04:59,680 augmentation module that we would 152 00:05:03,670 --> 00:05:02,000 fly up after the first mission and could 153 00:05:05,590 --> 00:05:03,680 do extended duration 154 00:05:07,749 --> 00:05:05,600 spacewalks stay at the asteroid a little 155 00:05:09,590 --> 00:05:07,759 longer or do other science 156 00:05:11,670 --> 00:05:09,600 in system or space 157 00:05:12,550 --> 00:05:11,680 the middle graphic shows a potential 158 00:05:14,390 --> 00:05:12,560 path 159 00:05:16,870 --> 00:05:14,400 to uh to spiral down to low little orbit 160 00:05:18,230 --> 00:05:16,880 and do operations in the lunar vicinity 161 00:05:20,390 --> 00:05:18,240 and then of course our ultimate 162 00:05:22,950 --> 00:05:20,400 destination is mars putting together 163 00:05:26,070 --> 00:05:22,960 a combined spacecraft to go 164 00:05:28,629 --> 00:05:26,080 traverse to mars in the 20 30 time frame 165 00:05:31,270 --> 00:05:28,639 so uh with that i think we'll take our 166 00:05:34,950 --> 00:05:31,280 first presenter we'll follow 167 00:05:34,960 --> 00:05:39,830 is it shown here on the charts whoops 168 00:05:46,230 --> 00:05:41,270 somehow we're having a little graphic 169 00:05:50,830 --> 00:05:48,550 so again you can follow along online at 170 00:05:54,629 --> 00:05:50,840 the nasa.gov ashford workshop in the 171 00:05:57,749 --> 00:05:54,639 hashtag and we'll get into our series of 172 00:05:59,749 --> 00:05:57,759 discussions we had 22 rfi outputs again 173 00:06:01,749 --> 00:05:59,759 and we we have 13 today 174 00:06:03,749 --> 00:06:01,759 those were selected for the merits for 175 00:06:05,990 --> 00:06:03,759 this mission extensibility to future 176 00:06:07,189 --> 00:06:06,000 missions which will be the first topic 177 00:06:09,029 --> 00:06:07,199 that we'll cover and then design 178 00:06:11,350 --> 00:06:09,039 maturity 179 00:06:13,350 --> 00:06:11,360 and then our first presenter is from 180 00:06:14,870 --> 00:06:13,360 from the boeing corporation 181 00:06:16,230 --> 00:06:14,880 mike rafferty and he's going to talk a 182 00:06:18,309 --> 00:06:16,240 little bit about an exploration 183 00:06:20,469 --> 00:06:18,319 augmentation module 184 00:06:30,230 --> 00:06:20,479 and how we would use that to augment the 185 00:06:35,510 --> 00:06:32,469 well thank you steve and thanks to the 186 00:06:37,189 --> 00:06:35,520 lpi and to nasa for inviting us to speak 187 00:06:38,469 --> 00:06:37,199 we really appreciate the opportunity to 188 00:06:40,150 --> 00:06:38,479 talk 189 00:06:41,749 --> 00:06:40,160 i'm actually presenting matt duggins 190 00:06:43,909 --> 00:06:41,759 charts matt wasn't able to make it today 191 00:06:45,270 --> 00:06:43,919 so i'm kind of a stand in for matt so 192 00:06:47,510 --> 00:06:45,280 hopefully you'll be 193 00:06:49,110 --> 00:06:47,520 patient with me on questions and details 194 00:06:51,670 --> 00:06:49,120 a little bit 195 00:06:55,029 --> 00:06:51,680 uh what i'm going to talk about today is 196 00:06:57,270 --> 00:06:55,039 an idea for an asteroid exploration 197 00:06:59,189 --> 00:06:57,280 module so this is really directly 198 00:07:02,230 --> 00:06:59,199 addressing extensibility 199 00:07:04,070 --> 00:07:02,240 and the basic idea is 200 00:07:05,830 --> 00:07:04,080 the asteroid mission is really the first 201 00:07:08,230 --> 00:07:05,840 step of many steps that we're going to 202 00:07:09,589 --> 00:07:08,240 take in exploration with mars really 203 00:07:10,870 --> 00:07:09,599 being the ultimate destination that 204 00:07:12,870 --> 00:07:10,880 we're after 205 00:07:14,710 --> 00:07:12,880 the asteroid mission 206 00:07:16,710 --> 00:07:14,720 we want to configure in such a way that 207 00:07:19,749 --> 00:07:16,720 we'll be able to feed forward into the 208 00:07:21,430 --> 00:07:19,759 mars mission as best as possible so 209 00:07:23,189 --> 00:07:21,440 that's really what the whole idea behind 210 00:07:25,589 --> 00:07:23,199 extensibility is about 211 00:07:27,029 --> 00:07:25,599 and so the the idea behind the asteroid 212 00:07:29,110 --> 00:07:27,039 exploration module is that this is 213 00:07:31,749 --> 00:07:29,120 something that will really enhance 214 00:07:33,990 --> 00:07:31,759 the extensibility to 215 00:07:35,749 --> 00:07:34,000 subsequent missions to mars 216 00:07:37,430 --> 00:07:35,759 and other destinations 217 00:07:39,189 --> 00:07:37,440 but it also has direct benefits to the 218 00:07:41,110 --> 00:07:39,199 asteroid mission as well 219 00:07:43,270 --> 00:07:41,120 so i'm going to get into mostly the 220 00:07:44,629 --> 00:07:43,280 benefits to the asteroid mission 221 00:07:46,710 --> 00:07:44,639 maybe if there's time we'll talk a 222 00:07:48,390 --> 00:07:46,720 little bit about more extensibility 223 00:07:51,189 --> 00:07:48,400 benefits as well i'm going to go over 224 00:07:52,469 --> 00:07:51,199 three different concepts 225 00:07:54,390 --> 00:07:52,479 and i'm going to just give you a 226 00:07:56,150 --> 00:07:54,400 highlight of what they are on the next 227 00:07:58,950 --> 00:07:56,160 few pages 228 00:08:02,309 --> 00:07:58,960 but before i do that why focus on this 229 00:08:04,230 --> 00:08:02,319 kind of thing so the basic idea behind 230 00:08:06,070 --> 00:08:04,240 this kind of extensibility is to try to 231 00:08:08,469 --> 00:08:06,080 improve for the asteroid missions try to 232 00:08:09,909 --> 00:08:08,479 improve the safety of the mission 233 00:08:12,230 --> 00:08:09,919 as we all know this is a very 234 00:08:14,790 --> 00:08:12,240 challenging mission it's going to have 235 00:08:16,469 --> 00:08:14,800 very tight timelines on its performance 236 00:08:18,390 --> 00:08:16,479 and execution 237 00:08:20,550 --> 00:08:18,400 the the performance of the vehicles 238 00:08:22,950 --> 00:08:20,560 themselves are very close to what we 239 00:08:26,309 --> 00:08:22,960 need to execute the mission so anything 240 00:08:28,469 --> 00:08:26,319 that we can do to improve those margins 241 00:08:30,150 --> 00:08:28,479 both in terms of time and system 242 00:08:31,909 --> 00:08:30,160 capability are going to improve the 243 00:08:33,110 --> 00:08:31,919 safety for the crew 244 00:08:35,430 --> 00:08:33,120 the second thing they're going to do is 245 00:08:37,269 --> 00:08:35,440 they're going to improve the 246 00:08:39,509 --> 00:08:37,279 probability of mission success the 247 00:08:41,029 --> 00:08:39,519 chance that we're going to be successful 248 00:08:42,630 --> 00:08:41,039 in accomplishing all the objectives of 249 00:08:44,710 --> 00:08:42,640 the mission as well and a lot of that is 250 00:08:49,829 --> 00:08:44,720 done through the addition of 251 00:08:53,430 --> 00:08:49,839 capabilities like airlock capability or 252 00:08:55,509 --> 00:08:53,440 additional supplies additional gas fuel 253 00:08:57,670 --> 00:08:55,519 the ability to maneuver 254 00:09:00,550 --> 00:08:57,680 food and water and and things for the 255 00:09:02,790 --> 00:09:00,560 crew to allow them to stay longer 256 00:09:03,509 --> 00:09:02,800 all these things are very important 257 00:09:04,550 --> 00:09:03,519 for 258 00:09:13,030 --> 00:09:04,560 the 259 00:09:14,310 --> 00:09:13,040 missions is really directly relevant as 260 00:09:15,670 --> 00:09:14,320 well 261 00:09:16,870 --> 00:09:15,680 so what i'm going to do next is just 262 00:09:17,990 --> 00:09:16,880 kind of walk you through each of these 263 00:09:20,230 --> 00:09:18,000 three different options that we've 264 00:09:22,070 --> 00:09:20,240 looked at at boeing 265 00:09:23,190 --> 00:09:22,080 the first one is really an international 266 00:09:24,790 --> 00:09:23,200 option this is something that we've 267 00:09:28,310 --> 00:09:24,800 looked at together with a company called 268 00:09:30,150 --> 00:09:28,320 the nergia in russia and uh they are 269 00:09:31,670 --> 00:09:30,160 experts on spacecraft they were one of 270 00:09:33,430 --> 00:09:31,680 our partners on the international space 271 00:09:35,030 --> 00:09:33,440 station so they have a lot of experience 272 00:09:37,990 --> 00:09:35,040 we have a lot of experience working with 273 00:09:40,470 --> 00:09:38,000 them and this concept that we're showing 274 00:09:42,070 --> 00:09:40,480 here is really a derivative of a new 275 00:09:44,310 --> 00:09:42,080 module that they're working on for space 276 00:09:45,509 --> 00:09:44,320 station called the science power module 277 00:09:48,710 --> 00:09:45,519 spm 278 00:09:50,949 --> 00:09:48,720 so the idea here is to build a version 279 00:09:52,150 --> 00:09:50,959 so we would test the spm first on the 280 00:09:53,670 --> 00:09:52,160 iss 281 00:09:55,350 --> 00:09:53,680 and then we would build a version the 282 00:09:57,110 --> 00:09:55,360 russians would build a version of the 283 00:09:59,030 --> 00:09:57,120 spm that would be geared towards the 284 00:10:01,509 --> 00:09:59,040 asteroid mission and would be used for 285 00:10:03,430 --> 00:10:01,519 that mission specifically 286 00:10:04,389 --> 00:10:03,440 so there's a there's a timing sequence 287 00:10:05,750 --> 00:10:04,399 there 288 00:10:08,069 --> 00:10:05,760 and it would depend on whether the 289 00:10:10,389 --> 00:10:08,079 timing worked out for when 290 00:10:12,949 --> 00:10:10,399 the asteroid mission would be executed 291 00:10:14,389 --> 00:10:12,959 in the relationship with the iss mission 292 00:10:15,509 --> 00:10:14,399 that they already have planned and on 293 00:10:17,590 --> 00:10:15,519 the books 294 00:10:18,790 --> 00:10:17,600 but the basic idea is build another copy 295 00:10:20,870 --> 00:10:18,800 of what they're doing there a few 296 00:10:23,350 --> 00:10:20,880 modifications 297 00:10:24,949 --> 00:10:23,360 to enhance its use on the asteroid 298 00:10:26,470 --> 00:10:24,959 mission 299 00:10:28,949 --> 00:10:26,480 but this would be something that would 300 00:10:30,389 --> 00:10:28,959 require that we have a negotiation in 301 00:10:31,670 --> 00:10:30,399 agreement with the russians that they 302 00:10:33,350 --> 00:10:31,680 would do this 303 00:10:34,949 --> 00:10:33,360 but it would bring international 304 00:10:36,230 --> 00:10:34,959 participation into the program very 305 00:10:38,150 --> 00:10:36,240 important 306 00:10:39,910 --> 00:10:38,160 okay our second option is really based 307 00:10:41,750 --> 00:10:39,920 on equipment that we have this residual 308 00:10:43,509 --> 00:10:41,760 from the space shuttle program so this 309 00:10:46,389 --> 00:10:43,519 is u.s equipment 310 00:10:48,550 --> 00:10:46,399 there's an orbiter airlock that was part 311 00:10:50,069 --> 00:10:48,560 of the shuttle program actually there 312 00:10:52,710 --> 00:10:50,079 were two of them 313 00:10:56,310 --> 00:10:52,720 and we have these uh storage residual 314 00:10:59,990 --> 00:10:56,320 assets at nasa in kennedy space center 315 00:11:01,829 --> 00:11:00,000 and so if you look at the part um 316 00:11:03,030 --> 00:11:01,839 i'm going to test out the little 317 00:11:05,190 --> 00:11:03,040 pointer here 318 00:11:07,030 --> 00:11:05,200 that way that is bright isn't it so this 319 00:11:09,750 --> 00:11:07,040 being the capture spacecraft here and 320 00:11:11,750 --> 00:11:09,760 you can see the asteroid captured here 321 00:11:13,350 --> 00:11:11,760 this is actually the orbiter airlock 322 00:11:15,030 --> 00:11:13,360 here and what we've done is we've 323 00:11:17,350 --> 00:11:15,040 augmented the orbiter airlock with some 324 00:11:20,870 --> 00:11:17,360 additional systems to allow it to be 325 00:11:23,670 --> 00:11:20,880 able to exist in cis lunar space and be 326 00:11:27,670 --> 00:11:25,990 be on its own okay and then it would 327 00:11:29,509 --> 00:11:27,680 have a docking interface that would then 328 00:11:32,069 --> 00:11:29,519 dock to the spacecraft and would dock to 329 00:11:33,590 --> 00:11:32,079 the orion it would allow this to be used 330 00:11:35,190 --> 00:11:33,600 for an airlock 331 00:11:36,870 --> 00:11:35,200 and wood 332 00:11:39,990 --> 00:11:36,880 would be additional capability that we 333 00:11:42,470 --> 00:11:40,000 could store supplies and and relieve the 334 00:11:46,310 --> 00:11:42,480 requirement on the on the orion to have 335 00:11:47,430 --> 00:11:46,320 to do that that uh eva 336 00:11:49,590 --> 00:11:47,440 okay 337 00:11:50,629 --> 00:11:49,600 this the third option that we looked at 338 00:11:52,629 --> 00:11:50,639 also 339 00:11:54,629 --> 00:11:52,639 looks at um 340 00:11:57,430 --> 00:11:54,639 residual acids that we have and there's 341 00:11:59,590 --> 00:11:57,440 actually two variants of this one one is 342 00:12:01,590 --> 00:11:59,600 we use a residual 343 00:12:03,350 --> 00:12:01,600 node asset that we have from the iss 344 00:12:04,389 --> 00:12:03,360 program 345 00:12:06,150 --> 00:12:04,399 another 346 00:12:08,389 --> 00:12:06,160 way to do that would be to have the 347 00:12:10,310 --> 00:12:08,399 italians who built the nodes for the iss 348 00:12:12,790 --> 00:12:10,320 program build a new or lighter one and 349 00:12:14,629 --> 00:12:12,800 the real the trade there is the the one 350 00:12:15,990 --> 00:12:14,639 that we have is a little bit heavier 351 00:12:17,829 --> 00:12:16,000 they could build a newer one but it 352 00:12:20,870 --> 00:12:17,839 costs more money so it's a it's a 353 00:12:23,190 --> 00:12:20,880 capability versus cost kind of a trade 354 00:12:25,430 --> 00:12:23,200 and then we would augment that with a 355 00:12:27,269 --> 00:12:25,440 bus capability that would allow the it's 356 00:12:29,110 --> 00:12:27,279 essentially taking spacecraft systems 357 00:12:30,310 --> 00:12:29,120 and allowed that this node would be able 358 00:12:31,829 --> 00:12:30,320 to operate 359 00:12:35,110 --> 00:12:31,839 so the reason that you want to have 360 00:12:36,470 --> 00:12:35,120 nodes is because for future missions 361 00:12:39,269 --> 00:12:36,480 it's going to be very important to be 362 00:12:41,110 --> 00:12:39,279 able to dock multiple spacecraft to 363 00:12:43,350 --> 00:12:41,120 where where we have the asteroid or 364 00:12:46,949 --> 00:12:43,360 wherever we go to next in our next step 365 00:12:49,269 --> 00:12:47,750 so 366 00:12:50,790 --> 00:12:49,279 i went through the three concepts that 367 00:12:52,069 --> 00:12:50,800 we have at a really high level i know 368 00:12:53,910 --> 00:12:52,079 i'm probably getting a little bit 369 00:12:55,590 --> 00:12:53,920 shorter on time so 370 00:12:56,629 --> 00:12:55,600 what this chart tries to do is really 371 00:12:58,069 --> 00:12:56,639 just go through what are all the 372 00:12:59,750 --> 00:12:58,079 capabilities 373 00:13:01,910 --> 00:12:59,760 that we're looking for 374 00:13:04,790 --> 00:13:01,920 from the mission and 375 00:13:06,790 --> 00:13:04,800 it shows that you can meet most of what 376 00:13:09,030 --> 00:13:06,800 you need with just the orion and you 377 00:13:10,550 --> 00:13:09,040 pick up some really significant ones if 378 00:13:12,310 --> 00:13:10,560 you add 379 00:13:14,230 --> 00:13:12,320 an exploration module so this is really 380 00:13:15,350 --> 00:13:14,240 talking to benefits to the asteroid 381 00:13:16,870 --> 00:13:15,360 mission 382 00:13:19,110 --> 00:13:16,880 but of course one of the primary 383 00:13:21,670 --> 00:13:19,120 benefits is to what comes after the 384 00:13:22,629 --> 00:13:21,680 asteroid mission 385 00:13:24,150 --> 00:13:22,639 and so 386 00:13:26,870 --> 00:13:24,160 in summary 387 00:13:29,110 --> 00:13:26,880 improving safety for the crew 388 00:13:31,670 --> 00:13:29,120 improving success for the mission for 389 00:13:34,310 --> 00:13:31,680 the asteroid mission and then 390 00:13:37,750 --> 00:13:34,320 being able to support uh future missions 391 00:13:41,350 --> 00:13:40,069 so how'd i do on time we've got time for 392 00:13:47,110 --> 00:13:41,360 questions excellent yes we have some 393 00:13:51,670 --> 00:13:49,350 so we uh we do have time for a few 394 00:13:53,509 --> 00:13:51,680 questions if we have any questions uh 395 00:13:54,389 --> 00:13:53,519 virtual questions or questions here in 396 00:13:56,310 --> 00:13:54,399 the room 397 00:13:58,230 --> 00:13:56,320 uh you could address those to mike or 398 00:14:00,790 --> 00:13:58,240 myself or mark mcdonald 399 00:14:04,389 --> 00:14:00,800 who has served as our concept analysis 400 00:14:08,629 --> 00:14:06,389 well i had one question for you mike 401 00:14:10,710 --> 00:14:08,639 so did you uh consider the delivery of 402 00:14:12,949 --> 00:14:10,720 these elements to the dro and if so what 403 00:14:14,949 --> 00:14:12,959 launch vehicle did you assume yes what 404 00:14:17,670 --> 00:14:14,959 we looked at mark is that 405 00:14:19,590 --> 00:14:17,680 these are fairly large elements so sls 406 00:14:20,710 --> 00:14:19,600 would be the logical way to deliver 407 00:14:22,949 --> 00:14:20,720 these 408 00:14:24,470 --> 00:14:22,959 it would be possible maybe to look at 409 00:14:26,470 --> 00:14:24,480 delivery to low earth orbit and then 410 00:14:28,710 --> 00:14:26,480 using some kind of a tug to move but 411 00:14:30,470 --> 00:14:28,720 that's actually probably more expensive 412 00:14:33,509 --> 00:14:30,480 and would take longer 413 00:14:37,990 --> 00:14:33,519 than just a direct injection with sls 414 00:14:42,150 --> 00:14:40,550 any other questions 415 00:14:44,230 --> 00:14:42,160 and for those of you online we hope that 416 00:14:45,670 --> 00:14:44,240 you can submit your questions as well to 417 00:14:47,269 --> 00:14:45,680 our moderator and they will forward 418 00:14:57,269 --> 00:14:47,279 those to us so please participate where 419 00:15:02,069 --> 00:14:59,750 is there a concept of operations for 420 00:15:03,670 --> 00:15:02,079 automatic rendezvous and docking prior 421 00:15:05,750 --> 00:15:03,680 to the orion 422 00:15:07,750 --> 00:15:05,760 actually arriving 423 00:15:09,750 --> 00:15:07,760 the asteroid space sure 424 00:15:11,110 --> 00:15:09,760 yeah michelle i think um that many of 425 00:15:12,389 --> 00:15:11,120 the systems that are going to be needed 426 00:15:14,470 --> 00:15:12,399 for the spacecraft 427 00:15:16,710 --> 00:15:14,480 to rendezvous with the asteroid are the 428 00:15:19,110 --> 00:15:16,720 same kinds of systems that you would 429 00:15:21,110 --> 00:15:19,120 want um to be able to rendezvous between 430 00:15:22,790 --> 00:15:21,120 two spacecraft in fact if you think 431 00:15:24,230 --> 00:15:22,800 about it rendezvous between two 432 00:15:26,069 --> 00:15:24,240 spacecraft is actually a little bit 433 00:15:27,990 --> 00:15:26,079 easier than it is what we're trying to 434 00:15:30,870 --> 00:15:28,000 do with the asteroid mission because the 435 00:15:32,550 --> 00:15:30,880 asteroid mission is a tougher target 436 00:15:34,470 --> 00:15:32,560 whereas two spacecraft we actually 437 00:15:37,110 --> 00:15:34,480 control them both with the asteroid 438 00:15:39,110 --> 00:15:37,120 mission we only control one of them 439 00:15:40,870 --> 00:15:39,120 so we would use the same systems so even 440 00:15:43,030 --> 00:15:40,880 though they're residual hardware you 441 00:15:45,910 --> 00:15:43,040 could outfit with 442 00:15:47,910 --> 00:15:45,920 distance yes yeah we would we would 443 00:15:49,670 --> 00:15:47,920 retrofit there would need to be modif 444 00:15:51,430 --> 00:15:49,680 modifications made to this residual 445 00:15:53,110 --> 00:15:51,440 hardware in any case so yes we'd 446 00:15:55,430 --> 00:15:53,120 retrofit it 447 00:15:57,430 --> 00:15:55,440 so mike i have a question so um it looks 448 00:15:58,949 --> 00:15:57,440 like from your concept you could execute 449 00:15:59,670 --> 00:15:58,959 this in a number of different ways you 450 00:16:02,949 --> 00:15:59,680 could 451 00:16:04,550 --> 00:16:02,959 the reference redirect mission that 452 00:16:05,590 --> 00:16:04,560 we've talked about flying the crew up 453 00:16:08,389 --> 00:16:05,600 first 454 00:16:09,509 --> 00:16:08,399 and then you can fly perhaps this 455 00:16:11,110 --> 00:16:09,519 airlock 456 00:16:13,269 --> 00:16:11,120 tunnel adapter up as a second is that 457 00:16:14,470 --> 00:16:13,279 kind of what yeah i think so steve i 458 00:16:16,150 --> 00:16:14,480 think there are different options for 459 00:16:18,389 --> 00:16:16,160 how the mission could be done you could 460 00:16:20,470 --> 00:16:18,399 separate the launches of these elements 461 00:16:22,389 --> 00:16:20,480 you could even look at launching one of 462 00:16:24,629 --> 00:16:22,399 these elements together with the 463 00:16:26,470 --> 00:16:24,639 asteroid redirect spacecraft if you used 464 00:16:27,749 --> 00:16:26,480 sls because it's large enough to be able 465 00:16:29,269 --> 00:16:27,759 to launch both 466 00:16:31,350 --> 00:16:29,279 probably so 467 00:16:32,710 --> 00:16:31,360 and your your plan would be mike to use 468 00:16:34,790 --> 00:16:32,720 the international docking system 469 00:16:36,470 --> 00:16:34,800 standard just yes sure yeah that's 470 00:16:40,310 --> 00:16:36,480 already in development 471 00:16:44,389 --> 00:16:40,320 for iss and for uh for orion so we would 472 00:16:44,399 --> 00:16:48,230 any other questions before we 473 00:16:55,189 --> 00:16:50,710 okay thanks thanks mike appreciate it 474 00:17:00,389 --> 00:16:57,910 so our uh our next uh presentation is 475 00:17:01,749 --> 00:17:00,399 from douglas ross from lockheed barn 476 00:17:05,029 --> 00:17:01,759 corporation 477 00:17:07,429 --> 00:17:05,039 and doug's presentation uh is going to 478 00:17:09,350 --> 00:17:07,439 talk about an orion mission kit 479 00:17:11,750 --> 00:17:09,360 that consists of a 480 00:17:13,429 --> 00:17:11,760 concept called a pantry module that 481 00:17:16,230 --> 00:17:13,439 and a robotic arm 482 00:17:19,029 --> 00:17:16,240 that they would add to uh to augment the 483 00:17:20,949 --> 00:17:19,039 initial mission concept doug thank you 484 00:17:22,789 --> 00:17:20,959 good afternoon and i appreciate the 485 00:17:24,549 --> 00:17:22,799 opportunity to talk with you 486 00:17:25,829 --> 00:17:24,559 i'm from lockheed martin and we've 487 00:17:28,549 --> 00:17:25,839 looked at a few 488 00:17:30,310 --> 00:17:28,559 options that could either help this 489 00:17:32,549 --> 00:17:30,320 mission or again 490 00:17:38,230 --> 00:17:32,559 help prove out technologies and 491 00:17:42,390 --> 00:17:39,990 as an introduction 492 00:17:45,270 --> 00:17:42,400 both the asteroid retrieval vehicle and 493 00:17:47,350 --> 00:17:45,280 orion will need accommodation for 494 00:17:49,110 --> 00:17:47,360 the human interaction 495 00:17:50,950 --> 00:17:49,120 that will occur 496 00:17:53,029 --> 00:17:50,960 at the asteroid 497 00:17:56,390 --> 00:17:53,039 and so that will need to be factored 498 00:17:59,029 --> 00:17:56,400 into both of those designs of course 499 00:18:00,470 --> 00:17:59,039 the orion mission kit could include a 500 00:18:03,270 --> 00:18:00,480 pantry module 501 00:18:05,350 --> 00:18:03,280 or a robotic arm system or both to help 502 00:18:08,789 --> 00:18:05,360 the exploration 503 00:18:09,750 --> 00:18:08,799 and support mission flexibility 504 00:18:11,830 --> 00:18:09,760 and 505 00:18:13,990 --> 00:18:11,840 finally i'll talk a little bit about the 506 00:18:17,190 --> 00:18:14,000 human friendly features that will likely 507 00:18:19,029 --> 00:18:17,200 need to be incorporated into the arv 508 00:18:21,190 --> 00:18:19,039 in upfront 509 00:18:23,430 --> 00:18:21,200 design and hardware flexibility that 510 00:18:28,150 --> 00:18:23,440 will make that a 511 00:18:32,310 --> 00:18:30,710 first the orion mission kit increased 512 00:18:35,029 --> 00:18:32,320 stowage 513 00:18:36,390 --> 00:18:35,039 we've looked at a few options 514 00:18:38,630 --> 00:18:36,400 that 515 00:18:41,029 --> 00:18:38,640 could allow additional stowage on the 516 00:18:45,350 --> 00:18:41,039 front end of orion and i'll show you one 517 00:18:47,029 --> 00:18:45,360 of those that has been looked at 518 00:18:49,830 --> 00:18:47,039 the redirect mission will require 519 00:18:50,710 --> 00:18:49,840 attachment between orion and arv prior 520 00:18:53,270 --> 00:18:50,720 to 521 00:18:56,310 --> 00:18:53,280 extra vehicular activity 522 00:18:58,549 --> 00:18:56,320 current baseline is the the nds will not 523 00:19:01,669 --> 00:18:58,559 need a pressurized tunnel 524 00:19:03,590 --> 00:19:01,679 the mission may require extra stowage 525 00:19:05,430 --> 00:19:03,600 for the spacewalks 526 00:19:06,710 --> 00:19:05,440 and there are several considerations on 527 00:19:09,750 --> 00:19:06,720 how to do that 528 00:19:11,990 --> 00:19:09,760 the orion launch mass is very important 529 00:19:14,390 --> 00:19:12,000 entry system mass needs to be 530 00:19:17,110 --> 00:19:14,400 within the acceptable range 531 00:19:19,190 --> 00:19:17,120 tool volume pressurized sewage volume 532 00:19:21,270 --> 00:19:19,200 docking requirements sampling plan and 533 00:19:23,029 --> 00:19:21,280 probably several others 534 00:19:24,789 --> 00:19:23,039 lockheed martin has investigated several 535 00:19:27,270 --> 00:19:24,799 variations 536 00:19:30,310 --> 00:19:27,280 both pressurized and unpressurized 537 00:19:32,870 --> 00:19:30,320 one method of accommodation would be 538 00:19:35,270 --> 00:19:32,880 an external stowage module 539 00:19:37,590 --> 00:19:35,280 which would give up to two and a half 540 00:19:39,029 --> 00:19:37,600 cubic meters of space 541 00:19:41,350 --> 00:19:39,039 again could be pressurized or 542 00:19:43,190 --> 00:19:41,360 unpressurized 543 00:19:46,470 --> 00:19:43,200 this would be jettisoned prior to 544 00:19:50,470 --> 00:19:48,630 and 545 00:19:52,710 --> 00:19:50,480 it would attach to the top of the crew 546 00:19:55,590 --> 00:19:52,720 module below the trust and i'll show 547 00:19:59,430 --> 00:19:55,600 that in in the next page here 548 00:20:06,789 --> 00:19:59,440 uses the existing attachment interface 549 00:20:11,990 --> 00:20:09,510 this is what we envisioned 550 00:20:13,750 --> 00:20:12,000 uh it sits right underneath the launch 551 00:20:16,310 --> 00:20:13,760 abort system truss 552 00:20:18,950 --> 00:20:16,320 and during launch it it's attached to 553 00:20:21,190 --> 00:20:18,960 both orion and the truss so that the 554 00:20:26,149 --> 00:20:21,200 abort system could pull it off in the 555 00:20:31,190 --> 00:20:28,549 and i did want to point out that this is 556 00:20:33,990 --> 00:20:31,200 one concept it just shows that the space 557 00:20:38,630 --> 00:20:34,000 is available and there are several 558 00:20:42,230 --> 00:20:40,470 a few features 559 00:20:45,750 --> 00:20:42,240 it would provide 560 00:20:48,070 --> 00:20:45,760 forward mounted storage which would be 561 00:20:52,149 --> 00:20:48,080 very useful and and appropriately placed 562 00:20:55,510 --> 00:20:52,159 for the eva activities 563 00:20:59,750 --> 00:20:55,520 could be pressurized up to 23 cargo 564 00:21:05,110 --> 00:21:02,149 and like i said it would be closer to 565 00:21:09,270 --> 00:21:05,120 the asteroid and if it's unpressurized 566 00:21:10,470 --> 00:21:09,280 it makes it easier to get at those tools 567 00:21:12,789 --> 00:21:10,480 when 568 00:21:15,430 --> 00:21:12,799 if it were used with the orion hatch it 569 00:21:16,390 --> 00:21:15,440 could be open to either the crew cabin 570 00:21:17,669 --> 00:21:16,400 or 571 00:21:19,430 --> 00:21:17,679 as a 572 00:21:26,070 --> 00:21:19,440 or the space so it could be a small 573 00:21:30,630 --> 00:21:27,909 before i leave that 574 00:21:32,630 --> 00:21:30,640 last topic i do want to mention 575 00:21:35,270 --> 00:21:32,640 that the docking 576 00:21:37,590 --> 00:21:35,280 systems could be such that the active 577 00:21:39,669 --> 00:21:37,600 side were on the front of the 578 00:21:42,630 --> 00:21:39,679 of the module 579 00:21:43,510 --> 00:21:42,640 and a passive interface on the aft end 580 00:21:47,430 --> 00:21:43,520 so 581 00:21:49,590 --> 00:21:47,440 after the asteroid activity this module 582 00:21:50,710 --> 00:21:49,600 could be left there at the asteroid for 583 00:21:54,470 --> 00:21:50,720 future 584 00:21:57,510 --> 00:21:54,480 available 585 00:21:59,510 --> 00:21:57,520 the next chart here another potential 586 00:22:01,590 --> 00:21:59,520 for the the orion mission kit is a 587 00:22:03,830 --> 00:22:01,600 robotic manipulator 588 00:22:05,029 --> 00:22:03,840 uh lockheed martin and mcdonald 589 00:22:06,870 --> 00:22:05,039 associates 590 00:22:09,590 --> 00:22:06,880 have collaborated on a few studies in 591 00:22:10,830 --> 00:22:09,600 the past and looked at various 592 00:22:13,510 --> 00:22:10,840 arm 593 00:22:15,990 --> 00:22:13,520 combinations and 594 00:22:17,430 --> 00:22:16,000 there are some possibilities that could 595 00:22:19,430 --> 00:22:17,440 be used here 596 00:22:22,149 --> 00:22:19,440 and they could be mounted either on the 597 00:22:24,549 --> 00:22:22,159 the orion service module or the arv 598 00:22:26,549 --> 00:22:24,559 depending on on what 599 00:22:28,470 --> 00:22:26,559 made the most sense and and gave the 600 00:22:31,830 --> 00:22:28,480 most flexibility and and 601 00:22:34,630 --> 00:22:31,840 essentially had the most mass available 602 00:22:36,549 --> 00:22:34,640 there are some restrictions 603 00:22:38,390 --> 00:22:36,559 of course it could not be mounted to 604 00:22:40,789 --> 00:22:38,400 orion directly 605 00:22:42,549 --> 00:22:40,799 and would have to consider 606 00:22:44,149 --> 00:22:42,559 structural mounting aspects make sure 607 00:22:46,310 --> 00:22:44,159 that it was 608 00:22:47,909 --> 00:22:46,320 it was appropriate for launch loads 609 00:22:53,270 --> 00:22:47,919 and you'll hear more about this in an 610 00:22:57,029 --> 00:22:56,230 for human-friendly arv design 611 00:23:01,110 --> 00:22:57,039 the 612 00:23:03,430 --> 00:23:01,120 asteroid will require handholds 613 00:23:05,830 --> 00:23:03,440 platforms docking grapple points 614 00:23:10,230 --> 00:23:05,840 for the astronauts and we saw some of 615 00:23:11,669 --> 00:23:10,240 that yesterday in in steve stitch's nbl 616 00:23:13,270 --> 00:23:11,679 charts 617 00:23:15,350 --> 00:23:13,280 he showed some of those some of those 618 00:23:17,590 --> 00:23:15,360 ideas in work 619 00:23:19,190 --> 00:23:17,600 design flexibility and simplicity those 620 00:23:21,190 --> 00:23:19,200 will be key 621 00:23:23,909 --> 00:23:21,200 adapt to changing human interaction 622 00:23:27,909 --> 00:23:23,919 requirements both before launch and 623 00:23:31,909 --> 00:23:30,310 if simplicity and flexibility are 624 00:23:32,870 --> 00:23:31,919 designed in upfront 625 00:23:33,750 --> 00:23:32,880 it will 626 00:23:36,870 --> 00:23:33,760 allow 627 00:23:41,269 --> 00:23:36,880 the adaptation of the of the activity 628 00:23:43,990 --> 00:23:41,279 the evas potentially less scripted work 629 00:23:45,830 --> 00:23:44,000 and things can be adjusted 630 00:23:47,990 --> 00:23:45,840 when preempted by new 631 00:23:49,909 --> 00:23:48,000 new priorities 632 00:23:52,070 --> 00:23:49,919 lockheed martin has been fortunate to 633 00:23:55,430 --> 00:23:52,080 work with nasa on several human-rated 634 00:23:58,310 --> 00:23:55,440 mission planning and in crew operations 635 00:23:59,430 --> 00:23:58,320 including hst service missions 636 00:24:01,830 --> 00:23:59,440 eva 637 00:24:05,029 --> 00:24:01,840 operations and tool development for 638 00:24:07,669 --> 00:24:05,039 shuttle and iss operations missions 639 00:24:08,789 --> 00:24:07,679 as well as the orion development 640 00:24:11,190 --> 00:24:08,799 and 641 00:24:12,549 --> 00:24:11,200 refinement of the tool mock-ups 642 00:24:14,950 --> 00:24:12,559 early 643 00:24:19,990 --> 00:24:14,960 will be crucial and i was glad to see 644 00:24:25,350 --> 00:24:22,710 designing for safety and flexibility 645 00:24:28,630 --> 00:24:25,360 of course these will be 646 00:24:31,269 --> 00:24:28,640 crucial for for this mission and arv 647 00:24:33,269 --> 00:24:31,279 will need to be designed so that it's 648 00:24:36,230 --> 00:24:33,279 it's friendly and safe for the 649 00:24:40,789 --> 00:24:38,070 this will of course involve more 650 00:24:42,549 --> 00:24:40,799 rigorous review and procedures 651 00:24:44,230 --> 00:24:42,559 and additional testing 652 00:24:45,990 --> 00:24:44,240 so all of that will need to be factored 653 00:24:51,029 --> 00:24:46,000 in 654 00:24:53,430 --> 00:24:51,039 are shown there 655 00:24:54,310 --> 00:24:53,440 there are key documents out i'm sure 656 00:24:59,750 --> 00:24:54,320 that 657 00:25:01,510 --> 00:24:59,760 all those and those are available 658 00:25:03,750 --> 00:25:01,520 there are many lessons learned on 659 00:25:05,269 --> 00:25:03,760 designing for efficiency human safety 660 00:25:06,950 --> 00:25:05,279 advanced planning operational 661 00:25:09,990 --> 00:25:06,960 flexibility that should be 662 00:25:15,750 --> 00:25:12,789 i believe that a flexible approach 663 00:25:17,110 --> 00:25:15,760 for mass savings will will actually help 664 00:25:19,669 --> 00:25:17,120 this mission 665 00:25:22,310 --> 00:25:19,679 allow for different attach points 666 00:25:23,269 --> 00:25:22,320 different configuration options 667 00:25:25,669 --> 00:25:23,279 and 668 00:25:30,310 --> 00:25:25,679 as things change 669 00:25:34,310 --> 00:25:31,750 in summary 670 00:25:37,029 --> 00:25:34,320 lockheed martin's drawn on many lessons 671 00:25:39,830 --> 00:25:37,039 learned working with nasa 672 00:25:42,789 --> 00:25:39,840 on crude space missions and designing 673 00:25:45,269 --> 00:25:42,799 spacecraft and tools for astronauts 674 00:25:50,149 --> 00:25:45,279 there are several options which can 675 00:25:54,310 --> 00:25:52,470 an adaptable design and mission planning 676 00:25:57,590 --> 00:25:54,320 flexibility i think will be extremely 677 00:25:59,190 --> 00:25:57,600 important for arm as the development 678 00:26:02,390 --> 00:25:59,200 goes forward 679 00:26:05,990 --> 00:26:04,470 will enable several things including 680 00:26:06,710 --> 00:26:06,000 late adjustments 681 00:26:09,909 --> 00:26:06,720 to 682 00:26:12,070 --> 00:26:09,919 nominal and contingency eva plans it 683 00:26:13,269 --> 00:26:12,080 will increase human safety 684 00:26:15,990 --> 00:26:13,279 and allow 685 00:26:19,269 --> 00:26:16,000 potentially greater achievements with 686 00:26:25,269 --> 00:26:20,870 and that's all i have are there any 687 00:26:28,710 --> 00:26:27,029 i have one question well i think we have 688 00:26:32,149 --> 00:26:28,720 a question in the room mark sorry 689 00:26:36,070 --> 00:26:34,070 hi good afternoon just a quick question 690 00:26:38,549 --> 00:26:36,080 on the pantry module 691 00:26:39,909 --> 00:26:38,559 did you say that 692 00:26:43,029 --> 00:26:39,919 that could be either pressurized or 693 00:26:44,789 --> 00:26:43,039 non-pressurized if you leave it behind 694 00:26:47,590 --> 00:26:44,799 it could be 695 00:26:49,510 --> 00:26:47,600 there are options for both and you'd 696 00:26:51,029 --> 00:26:49,520 want to consider 697 00:26:53,430 --> 00:26:51,039 the long-term 698 00:26:54,630 --> 00:26:53,440 plan what you're going to do with it 699 00:26:55,909 --> 00:26:54,640 i would say if you're going to leave it 700 00:26:57,350 --> 00:26:55,919 behind it would probably be 701 00:26:59,430 --> 00:26:57,360 unpressurized 702 00:27:01,029 --> 00:26:59,440 okay so it could be both okay so you'd 703 00:27:04,230 --> 00:27:01,039 have a so you'd have to have some type 704 00:27:07,029 --> 00:27:04,240 of repressurization kit or would you 705 00:27:08,390 --> 00:27:07,039 rely on the orion 706 00:27:11,269 --> 00:27:08,400 yeah i think 707 00:27:15,110 --> 00:27:11,279 options exist for both okay yeah okay 708 00:27:15,120 --> 00:27:19,110 any other questions 709 00:27:22,549 --> 00:27:21,269 but did you have a in your concepts 710 00:27:24,549 --> 00:27:22,559 design did you come up with a mass 711 00:27:26,710 --> 00:27:24,559 estimate for the pantry module and and 712 00:27:28,710 --> 00:27:26,720 if so the estimate the performance of 713 00:27:31,190 --> 00:27:28,720 being able to have orion deliver it does 714 00:27:33,510 --> 00:27:31,200 that work out well i think that would be 715 00:27:35,350 --> 00:27:33,520 a challenge that's a good question the 716 00:27:38,789 --> 00:27:35,360 mass estimate for this particular 717 00:27:41,669 --> 00:27:38,799 concept was in the 300 kilogram range 718 00:27:43,909 --> 00:27:41,679 but i don't believe that accounted for 719 00:27:45,430 --> 00:27:43,919 the docking systems which of course you 720 00:27:46,549 --> 00:27:45,440 would need to add in 721 00:27:48,389 --> 00:27:46,559 and 722 00:27:50,470 --> 00:27:48,399 you wouldn't necessarily need all that 723 00:27:52,310 --> 00:27:50,480 capability that was factored in so it 724 00:27:56,549 --> 00:27:52,320 could could be lighter 725 00:28:03,510 --> 00:27:59,510 about questions uh from online joe yeah 726 00:28:07,590 --> 00:28:05,350 so in your presentation you stated that 727 00:28:09,909 --> 00:28:07,600 the mission does not need a pressurized 728 00:28:10,710 --> 00:28:09,919 tunnel why is that the case 729 00:28:13,110 --> 00:28:10,720 well 730 00:28:16,710 --> 00:28:13,120 it's because the crew does not need to 731 00:28:19,029 --> 00:28:16,720 transfer between orion and the arv 732 00:28:21,909 --> 00:28:19,039 there's nothing for them to go to 733 00:28:23,990 --> 00:28:21,919 it could be pressurized for 734 00:28:25,269 --> 00:28:24,000 easier crew access 735 00:28:29,430 --> 00:28:25,279 internally 736 00:28:33,110 --> 00:28:31,110 let's see doug did you have a did you 737 00:28:35,430 --> 00:28:33,120 have an estimate of how much stowage 738 00:28:37,590 --> 00:28:35,440 capacity in terms of tools and things 739 00:28:40,310 --> 00:28:37,600 like that i mean you had maybe 20 740 00:28:41,590 --> 00:28:40,320 somewhat ctb's but right 741 00:28:43,269 --> 00:28:41,600 did you 742 00:28:45,350 --> 00:28:43,279 scope how many 743 00:28:48,630 --> 00:28:45,360 kilograms of tools 744 00:28:52,470 --> 00:28:48,640 i'm not sure that would probably be more 745 00:28:53,909 --> 00:28:52,480 a driver for the total orion launch mass 746 00:28:56,870 --> 00:28:53,919 would determine that 747 00:29:00,870 --> 00:28:58,149 so we have one more question from the 748 00:29:02,789 --> 00:29:00,880 room speaking of that um i think i saw 749 00:29:04,230 --> 00:29:02,799 the mda presentation you're referring to 750 00:29:05,350 --> 00:29:04,240 this morning 751 00:29:07,190 --> 00:29:05,360 it was 752 00:29:07,990 --> 00:29:07,200 very interesting or is it on the agenda 753 00:29:14,789 --> 00:29:08,000 there 754 00:29:17,750 --> 00:29:14,799 so one this morning that had a robotic 755 00:29:21,110 --> 00:29:17,760 manipulation robotic arm okay it may be 756 00:29:23,269 --> 00:29:21,120 similar and can you speak to stowage 757 00:29:27,269 --> 00:29:23,279 with regard to that 758 00:29:30,710 --> 00:29:27,279 stowage of an arm yeah well 759 00:29:32,870 --> 00:29:30,720 i think it would probably be best 760 00:29:34,870 --> 00:29:32,880 left or held until 761 00:29:38,389 --> 00:29:34,880 the mda presentation but 762 00:29:40,950 --> 00:29:38,399 um if the stowage were on the outside of 763 00:29:43,430 --> 00:29:40,960 the the 764 00:29:45,430 --> 00:29:43,440 orion crew module it would be 765 00:29:46,470 --> 00:29:45,440 probably along the length externally 766 00:29:53,350 --> 00:29:46,480 stowed 767 00:29:59,029 --> 00:29:53,360 in this space as well although it would 768 00:30:03,190 --> 00:30:00,549 see doug i have one more question you 769 00:30:05,430 --> 00:30:03,200 know we've worked pretty hard 770 00:30:07,510 --> 00:30:05,440 with our mission concept to try to 771 00:30:09,110 --> 00:30:07,520 not impact the orion design the 772 00:30:10,149 --> 00:30:09,120 structure 773 00:30:14,070 --> 00:30:10,159 and 774 00:30:17,590 --> 00:30:14,080 have you guys done 775 00:30:20,149 --> 00:30:17,600 a look at is this a big impact 776 00:30:23,190 --> 00:30:20,159 to the structure in terms of 777 00:30:25,510 --> 00:30:23,200 launch loads or any other kind of 778 00:30:27,190 --> 00:30:25,520 mission scenarios in terms of 779 00:30:29,269 --> 00:30:27,200 executing the mission 780 00:30:31,350 --> 00:30:29,279 as far as a pantry module yes to my 781 00:30:33,350 --> 00:30:31,360 knowledge adding a pantry module like 782 00:30:36,470 --> 00:30:33,360 this would not 783 00:30:39,269 --> 00:30:36,480 affect the orion design and that's one 784 00:30:40,470 --> 00:30:39,279 of the the benefits of it the space is 785 00:30:43,350 --> 00:30:40,480 available 786 00:30:44,789 --> 00:30:43,360 and could be used with with minimal to 787 00:30:47,669 --> 00:30:44,799 no impact 788 00:30:51,350 --> 00:30:47,679 okay thank you right 789 00:30:53,029 --> 00:30:51,360 any other questions for doug 790 00:30:58,389 --> 00:30:53,039 thank you very much doug thank you thank 791 00:31:02,470 --> 00:31:00,630 see our next presentation is that 792 00:31:05,110 --> 00:31:02,480 jonathan robel 793 00:31:11,350 --> 00:31:05,120 i believe he's an online presenter uh 794 00:31:11,360 --> 00:31:16,230 we'll try one more time jonathan 795 00:31:21,190 --> 00:31:18,710 how about uh let's we'll move along and 796 00:31:23,430 --> 00:31:21,200 we'll uh we'll pick that back up 797 00:31:26,870 --> 00:31:23,440 a little later in our program 798 00:31:28,710 --> 00:31:26,880 how about uh aaron parness from the john 799 00:31:30,789 --> 00:31:28,720 jeff propulsion lab erin 800 00:31:33,029 --> 00:31:30,799 let's move to that presentation and hey 801 00:31:34,389 --> 00:31:33,039 can you guys hear me oh okay are you 802 00:31:37,990 --> 00:31:34,399 there 803 00:31:40,149 --> 00:31:38,000 yeah sorry sorry about that aaron uh 804 00:31:41,590 --> 00:31:40,159 let's go go ahead jonathan 805 00:31:43,830 --> 00:31:41,600 in your presentation you have two 806 00:31:45,350 --> 00:31:43,840 presentations actually the first 807 00:31:47,350 --> 00:31:45,360 we'll discuss anchoring sample 808 00:31:49,190 --> 00:31:47,360 acquisition and 809 00:31:50,870 --> 00:31:49,200 in-situ resource utilization approaches 810 00:31:52,630 --> 00:31:50,880 for asteroids 811 00:31:54,070 --> 00:31:52,640 and then that's the first presentation 812 00:31:56,389 --> 00:31:54,080 so if you're ready we have the 813 00:31:58,549 --> 00:31:56,399 presentation called up 814 00:32:00,789 --> 00:31:58,559 brilliant thanks 815 00:32:01,909 --> 00:32:00,799 um 816 00:32:04,310 --> 00:32:01,919 sorry i'm just getting a little bit of 817 00:32:05,909 --> 00:32:04,320 feedback here 818 00:32:18,070 --> 00:32:05,919 okay 819 00:32:20,230 --> 00:32:18,080 yeah it is a pleasure uh to be 820 00:32:22,710 --> 00:32:20,240 presenting at the asteroid initiative 821 00:32:25,110 --> 00:32:22,720 idea synthesis workshop as you said i'm 822 00:32:27,590 --> 00:32:25,120 dr jonathan robel a senior research 823 00:32:29,430 --> 00:32:27,600 scientist at honeybee robotics 824 00:32:31,669 --> 00:32:29,440 and our flight systems group located in 825 00:32:33,669 --> 00:32:31,679 longmont colorado 826 00:32:36,149 --> 00:32:33,679 today i'll be presenting as you said on 827 00:32:39,909 --> 00:32:36,159 honeybee robotics technologies for crew 828 00:32:40,630 --> 00:32:39,919 systems for asteroid exploration 829 00:32:42,389 --> 00:32:40,640 and 830 00:32:43,669 --> 00:32:42,399 as i'm presenting remotely again please 831 00:32:45,269 --> 00:32:43,679 let me know if the audio is coming 832 00:32:46,789 --> 00:32:45,279 through clearly 833 00:32:49,029 --> 00:32:46,799 as the schedule has me down for two 834 00:32:51,029 --> 00:32:49,039 sequential talks on cruise systems i'll 835 00:32:52,389 --> 00:32:51,039 be rolling that into one that covers 836 00:32:58,789 --> 00:32:52,399 both anchoring 837 00:33:01,669 --> 00:32:59,830 no 838 00:33:03,269 --> 00:33:01,679 all right 839 00:33:05,509 --> 00:33:03,279 so before i begin i'd like to provide a 840 00:33:08,950 --> 00:33:05,519 bit of background on honeybee robotics 841 00:33:11,029 --> 00:33:08,960 founded in 1983 by steve gorvin and 842 00:33:13,430 --> 00:33:11,039 chris chapman honeybee robotics 843 00:33:15,509 --> 00:33:13,440 spacecraft mechanisms corporation is a 844 00:33:17,669 --> 00:33:15,519 privately owned small business committed 845 00:33:19,830 --> 00:33:17,679 to developing high reliability 846 00:33:21,990 --> 00:33:19,840 mechanical and electromechanical systems 847 00:33:22,789 --> 00:33:22,000 for the us government as well as long 848 00:33:24,870 --> 00:33:22,799 run 849 00:33:27,269 --> 00:33:24,880 sorry as well as our for the private 850 00:33:29,669 --> 00:33:27,279 aerospace and space texas 851 00:33:31,669 --> 00:33:29,679 we have offices in pasadena california 852 00:33:36,950 --> 00:33:31,679 longmont colorado 853 00:33:36,960 --> 00:33:40,950 wow bad feedback 854 00:33:44,549 --> 00:33:42,389 we are celebrating 30 years of 855 00:33:48,470 --> 00:33:44,559 developing space systems and this has 856 00:33:50,310 --> 00:33:48,480 included a number of nasa missions 2003 857 00:33:53,350 --> 00:33:50,320 mars exploration rover where we worked 858 00:33:56,470 --> 00:33:53,360 on the rock abrasion tool 2007 mars 859 00:33:58,310 --> 00:33:56,480 phoenix lander working on the tega 860 00:33:59,190 --> 00:33:58,320 dust cover and icy soil acquisition 861 00:34:02,149 --> 00:33:59,200 device 862 00:34:03,990 --> 00:34:02,159 2011 mars science laboratory a robotic 863 00:34:05,430 --> 00:34:04,000 sample manipulation system as well as 864 00:34:07,509 --> 00:34:05,440 the dust removal 865 00:34:09,750 --> 00:34:07,519 tool and defector 866 00:34:11,750 --> 00:34:09,760 we currently have six gadgets on mars 867 00:34:14,470 --> 00:34:11,760 and have successfully completed over 300 868 00:34:16,069 --> 00:34:14,480 excavations on the martian surface 869 00:34:18,550 --> 00:34:16,079 we believe this work is helping pave the 870 00:34:21,030 --> 00:34:18,560 way for human exploration of mars and we 871 00:34:23,990 --> 00:34:21,040 hope to support both robotic and human 872 00:34:31,990 --> 00:34:24,000 exploration of asteroids 873 00:34:35,990 --> 00:34:33,750 at this workshop honeybee is presenting 874 00:34:38,389 --> 00:34:36,000 a number of topic areas uh including 875 00:34:40,310 --> 00:34:38,399 topic two asteroid redirection systems 876 00:34:43,190 --> 00:34:40,320 topic three asteroid deflection 877 00:34:45,270 --> 00:34:43,200 demonstration topic four asteroid 878 00:34:47,109 --> 00:34:45,280 uh capture systems and topic five 879 00:34:51,030 --> 00:34:47,119 pre-systems for asteroid exploration and 880 00:34:53,829 --> 00:34:52,470 partnerships 881 00:34:56,950 --> 00:34:53,839 so 882 00:34:59,510 --> 00:34:56,960 technologies in these other topic areas 883 00:35:02,150 --> 00:34:59,520 but focus on topic five for this session 884 00:35:03,670 --> 00:35:02,160 crew systems for asteroid exploration 885 00:35:05,589 --> 00:35:03,680 many of these technologies can see dual 886 00:35:06,950 --> 00:35:05,599 purpose which is why i'm going this 887 00:35:08,550 --> 00:35:06,960 route 888 00:35:10,150 --> 00:35:08,560 the way we see our technologies they 889 00:35:11,750 --> 00:35:10,160 enable us to interact with the asteroid 890 00:35:14,390 --> 00:35:11,760 in different ways from helping us to 891 00:35:16,069 --> 00:35:14,400 better see it if you will to touching it 892 00:35:26,150 --> 00:35:16,079 and anchoring with it 893 00:35:30,310 --> 00:35:27,829 oops sorry 894 00:35:32,710 --> 00:35:30,320 flying through this thing 895 00:35:35,589 --> 00:35:32,720 the controls 896 00:35:37,670 --> 00:35:35,599 so in regards to seeing 897 00:35:39,109 --> 00:35:37,680 the asteroid 898 00:35:41,349 --> 00:35:39,119 we have developed laser induced 899 00:35:43,750 --> 00:35:41,359 breakdown spectroscopy instrumentation 900 00:35:44,390 --> 00:35:43,760 as well as 3d lidar well the focus of 901 00:35:47,109 --> 00:35:44,400 this 902 00:35:49,109 --> 00:35:47,119 of the application for these was proc 903 00:35:51,109 --> 00:35:49,119 out proxops and 904 00:35:53,270 --> 00:35:51,119 acquisition of composition information 905 00:35:55,030 --> 00:35:53,280 prior to engaging the asteroid 906 00:35:56,470 --> 00:35:55,040 we believe that a portable lid system 907 00:35:58,630 --> 00:35:56,480 can be very useful 908 00:36:00,790 --> 00:35:58,640 tool as a handheld or crew deployed 909 00:36:02,630 --> 00:36:00,800 system 910 00:36:05,349 --> 00:36:02,640 when exploring the surface 911 00:36:07,990 --> 00:36:05,359 libs works by using a laser to vaporize 912 00:36:10,630 --> 00:36:08,000 and ionize surface material and when the 913 00:36:12,230 --> 00:36:10,640 plasma puff that you create cools and 914 00:36:13,990 --> 00:36:12,240 recombines it will emit a spectrum 915 00:36:15,750 --> 00:36:14,000 reflecting its composition 916 00:36:17,670 --> 00:36:15,760 this allows identification of surface 917 00:36:20,230 --> 00:36:17,680 materials without collecting them in 918 00:36:21,990 --> 00:36:20,240 this way astronauts can identify 919 00:36:24,829 --> 00:36:22,000 and selectively collect materials from 920 00:36:31,510 --> 00:36:29,430 surface uh we also been working um 921 00:36:33,910 --> 00:36:31,520 on technologies for impacting uh the 922 00:36:36,230 --> 00:36:33,920 asteroid well not a crew system directly 923 00:36:37,990 --> 00:36:36,240 impact our technology would be useful 924 00:36:39,910 --> 00:36:38,000 uh prior to engaging with the asteroid 925 00:36:41,430 --> 00:36:39,920 for determining its composition 926 00:36:43,829 --> 00:36:41,440 furthermore it may provide a fresh 927 00:36:51,190 --> 00:36:43,839 crater for crews to explore and expose 928 00:36:51,200 --> 00:36:58,069 and in regards to touching the asteroid 929 00:37:03,510 --> 00:36:59,670 we 930 00:37:05,349 --> 00:37:03,520 originally designed for a touch and go 931 00:37:07,349 --> 00:37:05,359 surface sampler 932 00:37:08,790 --> 00:37:07,359 with a drill and sample collection unit 933 00:37:11,270 --> 00:37:08,800 would be lowered by tethers of the 934 00:37:13,030 --> 00:37:11,280 asteroid surface these can also serve as 935 00:37:15,190 --> 00:37:13,040 crew operated tools 936 00:37:17,750 --> 00:37:15,200 much work will have to go to tailoring 937 00:37:19,270 --> 00:37:17,760 the sample collection instruments 938 00:37:20,630 --> 00:37:19,280 to the expected surface type and 939 00:37:22,390 --> 00:37:20,640 composition 940 00:37:24,310 --> 00:37:22,400 or alternatively the crew will be could 941 00:37:26,150 --> 00:37:24,320 be outfitted with a quiver of tools to 942 00:37:28,390 --> 00:37:26,160 cover a wide array of sample collection 943 00:37:31,109 --> 00:37:28,400 environments so pairing that quiver of 944 00:37:33,670 --> 00:37:31,119 tools with a libs instrument or other 945 00:37:36,310 --> 00:37:33,680 rock identification system can help 946 00:37:40,950 --> 00:37:36,320 astronauts select the correct tool for 947 00:37:45,030 --> 00:37:43,430 honeybee has also done work 948 00:37:47,190 --> 00:37:45,040 for harpoon sampling and another 949 00:37:49,270 --> 00:37:47,200 technology it's another technology 950 00:37:51,270 --> 00:37:49,280 worked on for robotic sample acquisition 951 00:37:53,750 --> 00:37:51,280 the arp probe 952 00:37:55,349 --> 00:37:53,760 which would bring a sample back to an 953 00:37:57,270 --> 00:37:55,359 orbiting spacecraft providing 954 00:38:00,230 --> 00:37:57,280 composition information before the 955 00:38:02,150 --> 00:38:00,240 parent craft engages the asteroid 956 00:38:05,670 --> 00:38:02,160 this harpoon and drilling technology 957 00:38:09,589 --> 00:38:05,680 leads us to one of honeybees strengths 958 00:38:13,829 --> 00:38:11,349 honeybee robotics has a long history 959 00:38:14,870 --> 00:38:13,839 with robotic drilling and sample 960 00:38:16,150 --> 00:38:14,880 collection 961 00:38:18,230 --> 00:38:16,160 a number of our technologies are 962 00:38:20,310 --> 00:38:18,240 suitable to the crew systems aspect of 963 00:38:23,270 --> 00:38:20,320 the asteroid initiative these include 964 00:38:24,310 --> 00:38:23,280 the pneumatic approaches to sample 965 00:38:26,150 --> 00:38:24,320 collection 966 00:38:27,510 --> 00:38:26,160 which is a robust method for sample 967 00:38:28,630 --> 00:38:27,520 collection 968 00:38:30,150 --> 00:38:28,640 and 969 00:38:32,710 --> 00:38:30,160 as well as mobile institute water 970 00:38:34,630 --> 00:38:32,720 extractor system which will allow the 971 00:38:36,310 --> 00:38:34,640 selective collection of water focusing 972 00:38:38,310 --> 00:38:36,320 on drills 973 00:38:41,030 --> 00:38:38,320 numerous robotic and handheld drills 974 00:38:42,790 --> 00:38:41,040 support the many tasks astronauts 975 00:38:44,710 --> 00:38:42,800 will need to do 976 00:38:46,310 --> 00:38:44,720 on the surface drilling is often the 977 00:38:48,230 --> 00:38:46,320 method of choice for penetrating hard 978 00:38:50,630 --> 00:38:48,240 rocks and in a vast majority of 979 00:38:51,910 --> 00:38:50,640 applications drilling employs turning of 980 00:38:53,910 --> 00:38:51,920 a hardened bit 981 00:38:55,829 --> 00:38:53,920 forced into the rock abrading small 982 00:38:58,230 --> 00:38:55,839 particles once the drill bit becomes 983 00:39:00,069 --> 00:38:58,240 dull however the rate at which the drill 984 00:39:01,829 --> 00:39:00,079 bit penetrates the rock drops 985 00:39:03,589 --> 00:39:01,839 dramatically unless an ever increasing 986 00:39:05,430 --> 00:39:03,599 downward force 987 00:39:07,670 --> 00:39:05,440 in the case of vertical drilling 988 00:39:09,349 --> 00:39:07,680 is applied and that's creating higher 989 00:39:11,589 --> 00:39:09,359 and higher frictional heat the amount of 990 00:39:13,349 --> 00:39:11,599 this downward force is referred to as 991 00:39:15,430 --> 00:39:13,359 weight on bit 992 00:39:17,910 --> 00:39:15,440 and in a low gravity environment weight 993 00:39:19,190 --> 00:39:17,920 on bit can be severely limited 994 00:39:21,829 --> 00:39:19,200 and must be provided by either 995 00:39:24,230 --> 00:39:21,839 spacecraft thrusters or an anchored base 996 00:39:25,910 --> 00:39:24,240 for the drill to push or rather pull 997 00:39:28,310 --> 00:39:25,920 against 998 00:39:30,069 --> 00:39:28,320 rotary percussive drilling action can be 999 00:39:32,790 --> 00:39:30,079 employed to circumvent the need for 1000 00:39:33,589 --> 00:39:32,800 prohibitively high weight on bit 1001 00:39:35,670 --> 00:39:33,599 and 1002 00:39:37,990 --> 00:39:35,680 progressive or hammer systems while they 1003 00:39:40,230 --> 00:39:38,000 consume more power reduce the required 1004 00:39:42,950 --> 00:39:40,240 weight on bit by an order of magnitude 1005 00:39:44,310 --> 00:39:42,960 especially in hard rocks honeybee has 1006 00:39:45,750 --> 00:39:44,320 extensive experience with both 1007 00:39:47,430 --> 00:39:45,760 approaches 1008 00:39:49,670 --> 00:39:47,440 now the feasibility of drilling into 1009 00:39:51,829 --> 00:39:49,680 small bodies with low weight on bit 1010 00:39:53,589 --> 00:39:51,839 has been tested using relevant analog 1011 00:39:55,990 --> 00:39:53,599 rocks as stand-ins for the likely 1012 00:39:57,430 --> 00:39:56,000 asteroid surface materials 1013 00:39:59,030 --> 00:39:57,440 such testing demonstrates the 1014 00:40:01,109 --> 00:39:59,040 feasibility of drilling into a small 1015 00:40:02,230 --> 00:40:01,119 body with low weight on bit but it's 1016 00:40:04,950 --> 00:40:02,240 dependent on the strength of the 1017 00:40:07,030 --> 00:40:04,960 materials comprised in the small body 1018 00:40:09,270 --> 00:40:07,040 drilling in low strength materials such 1019 00:40:11,030 --> 00:40:09,280 as plaster or limestone is feasible 1020 00:40:13,510 --> 00:40:11,040 using a commercial valve commercially 1021 00:40:15,829 --> 00:40:13,520 available drill with a 1.6 millimeter 1022 00:40:17,829 --> 00:40:15,839 diameter bit with as little as 5 1023 00:40:19,030 --> 00:40:17,839 newton's weight on bit plaster and 1024 00:40:21,349 --> 00:40:19,040 limestone 1025 00:40:23,670 --> 00:40:21,359 have an unconfined compressive strength 1026 00:40:25,030 --> 00:40:23,680 of 8 megapascals and 40 megapascals 1027 00:40:27,030 --> 00:40:25,040 respectively which would be 1028 00:40:28,150 --> 00:40:27,040 representative of materials of a c-type 1029 00:40:31,510 --> 00:40:28,160 asteroid 1030 00:40:32,470 --> 00:40:31,520 however higher strength materials 1031 00:40:34,710 --> 00:40:32,480 such as those that would be 1032 00:40:36,150 --> 00:40:34,720 representative of an s-type asteroid 1033 00:40:40,470 --> 00:40:36,160 cannot be drilled under those same 1034 00:40:42,630 --> 00:40:40,480 conditions for instance 120 megapascal 1035 00:40:45,030 --> 00:40:42,640 basalt is representative of the upper 1036 00:40:46,790 --> 00:40:45,040 range of an s-type asteroid 1037 00:40:48,390 --> 00:40:46,800 and cannot be penetrated with low weight 1038 00:40:50,630 --> 00:40:48,400 on bit this is not to say that it's 1039 00:40:52,069 --> 00:40:50,640 infeasible to drill an s-type asteroid 1040 00:40:53,589 --> 00:40:52,079 but it does indicate that the drilling 1041 00:40:54,790 --> 00:40:53,599 system must be designed with the target 1042 00:40:55,829 --> 00:40:54,800 material 1043 00:40:57,750 --> 00:40:55,839 in mind 1044 00:41:04,069 --> 00:40:57,760 have sufficient anchoring and should be 1045 00:41:07,750 --> 00:41:05,990 we've also done work what we call 1046 00:41:10,150 --> 00:41:07,760 inhaling it 1047 00:41:13,349 --> 00:41:10,160 many terrestrial applications 1048 00:41:14,790 --> 00:41:13,359 use vacuum cleaners for picking up dirt 1049 00:41:16,150 --> 00:41:14,800 and collecting 1050 00:41:18,150 --> 00:41:16,160 material 1051 00:41:19,589 --> 00:41:18,160 the principle here lies in creating a 1052 00:41:21,589 --> 00:41:19,599 lower pressure at the back end of a 1053 00:41:23,349 --> 00:41:21,599 pickup hose and at the front and thereby 1054 00:41:25,589 --> 00:41:23,359 forcing the outside air to flow in and 1055 00:41:27,190 --> 00:41:25,599 lost particles along the way 1056 00:41:29,270 --> 00:41:27,200 now such a system will not work in the 1057 00:41:31,670 --> 00:41:29,280 vacuum space however one can create a 1058 00:41:33,510 --> 00:41:31,680 differential pressure by injecting gas 1059 00:41:35,829 --> 00:41:33,520 into the regolith and then guiding those 1060 00:41:38,390 --> 00:41:35,839 gas as it escapes from the regulate 1061 00:41:40,150 --> 00:41:38,400 into appropriate pickup tubes 1062 00:41:41,670 --> 00:41:40,160 as shown left we rely on injecting 1063 00:41:43,589 --> 00:41:41,680 pressurized gas into the top two 1064 00:41:45,430 --> 00:41:43,599 centimeters of regolith and then capture 1065 00:41:47,910 --> 00:41:45,440 the regolith propelled upwards by the 1066 00:41:50,710 --> 00:41:47,920 escaping gas into a transfer tube 1067 00:41:52,790 --> 00:41:50,720 pneumatic approach can be ideally 1068 00:41:54,630 --> 00:41:52,800 suited for obtaining both small and 1069 00:41:55,910 --> 00:41:54,640 small small samples for scientific 1070 00:41:58,230 --> 00:41:55,920 analysis 1071 00:42:00,150 --> 00:41:58,240 as well as bulk samples for mining or 1072 00:42:02,309 --> 00:42:00,160 processing of resources 1073 00:42:04,630 --> 00:42:02,319 and the working gas could be supplied by 1074 00:42:07,109 --> 00:42:04,640 electrolyzing water into hydrogen oxygen 1075 00:42:08,390 --> 00:42:07,119 so not incurring the mass burden for 1076 00:42:10,150 --> 00:42:08,400 launch 1077 00:42:12,790 --> 00:42:10,160 for bulk regulate 1078 00:42:15,109 --> 00:42:12,800 mining a potential approach might be 1079 00:42:16,950 --> 00:42:15,119 to use a system that has been 1080 00:42:17,910 --> 00:42:16,960 initially developed for lunar regolith 1081 00:42:20,069 --> 00:42:17,920 mining 1082 00:42:22,309 --> 00:42:20,079 the pneumatic regolith miner is a 1083 00:42:23,990 --> 00:42:22,319 similar to a conventional vacuum cleaner 1084 00:42:25,750 --> 00:42:24,000 however instead of creating suction at 1085 00:42:28,230 --> 00:42:25,760 the nozzle mouth a compressed gas is 1086 00:42:30,390 --> 00:42:28,240 injected again and moves the captured 1087 00:42:32,230 --> 00:42:30,400 soil in the nozzle up the tube 1088 00:42:33,430 --> 00:42:32,240 through the cyclone separator into a 1089 00:42:36,069 --> 00:42:33,440 soil bin 1090 00:42:38,150 --> 00:42:36,079 shown right is a pneumatic excavator 1091 00:42:40,950 --> 00:42:38,160 integrated into the nasa ames research 1092 00:42:42,790 --> 00:42:40,960 center k10 mini platform 1093 00:42:44,870 --> 00:42:42,800 a system has been successfully tested in 1094 00:42:48,230 --> 00:42:44,880 a three meter long bed filled with a 1095 00:42:49,990 --> 00:42:48,240 grc-1 soil simulant within a 3.5 meter 1096 00:42:52,710 --> 00:42:50,000 vacuum chamber 1097 00:42:53,750 --> 00:42:52,720 we think that this could be a very 1098 00:42:55,270 --> 00:42:53,760 useful 1099 00:42:57,349 --> 00:42:55,280 tool in the 1100 00:42:58,870 --> 00:42:57,359 cruise quiver as they 1101 00:43:02,470 --> 00:42:58,880 touch down on the surface and try to 1102 00:43:06,550 --> 00:43:05,030 honeybees also done work 1103 00:43:09,670 --> 00:43:06,560 snare 1104 00:43:10,790 --> 00:43:09,680 items 1105 00:43:12,630 --> 00:43:10,800 this has been 1106 00:43:14,950 --> 00:43:12,640 mostly focused in grappling with 1107 00:43:18,550 --> 00:43:14,960 spacecraft in orbit 1108 00:43:21,510 --> 00:43:20,390 or 1109 00:43:22,630 --> 00:43:21,520 satellite 1110 00:43:25,109 --> 00:43:22,640 deorbit 1111 00:43:27,270 --> 00:43:25,119 and our lasso technology can be used to 1112 00:43:30,150 --> 00:43:27,280 either anchor to protrusions on the 1113 00:43:31,990 --> 00:43:30,160 surface that are near part that are 1114 00:43:34,630 --> 00:43:32,000 maybe part of a much larger boulder or 1115 00:43:36,309 --> 00:43:34,640 the bulk of the asteroid 1116 00:43:37,430 --> 00:43:36,319 much like slinging a horn when rock 1117 00:43:39,109 --> 00:43:37,440 climbing 1118 00:43:40,950 --> 00:43:39,119 and in this case the technology can be 1119 00:43:42,150 --> 00:43:40,960 used for either crew or spacecraft 1120 00:43:43,990 --> 00:43:42,160 anchoring 1121 00:43:44,870 --> 00:43:44,000 basically what you have is a lasso as 1122 00:43:47,750 --> 00:43:44,880 the name 1123 00:43:49,990 --> 00:43:47,760 implies that cinches down 1124 00:43:51,750 --> 00:43:50,000 on a protrusion protruding rocker in 1125 00:43:53,430 --> 00:43:51,760 this case in the series of images that 1126 00:43:54,790 --> 00:43:53,440 would be the 1127 00:43:56,390 --> 00:43:54,800 thruster 1128 00:43:59,829 --> 00:43:56,400 cone the bell 1129 00:44:04,710 --> 00:44:01,910 now as i mentioned earlier it's 1130 00:44:07,349 --> 00:44:04,720 important to be able to 1131 00:44:09,270 --> 00:44:07,359 produce downward forces weight on bit 1132 00:44:11,109 --> 00:44:09,280 and other 1133 00:44:12,630 --> 00:44:11,119 downward forces and honeybee robotics is 1134 00:44:14,470 --> 00:44:12,640 a number of technologies to support the 1135 00:44:16,470 --> 00:44:14,480 ability of astronauts 1136 00:44:18,550 --> 00:44:16,480 to explore the surface of a captured 1137 00:44:20,630 --> 00:44:18,560 asteroid prospect for resources and 1138 00:44:22,790 --> 00:44:20,640 samples and this micro and gravity 1139 00:44:25,670 --> 00:44:22,800 microgravity environment anchoring their 1140 00:44:26,710 --> 00:44:25,680 astronauts and equipment is crucial 1141 00:44:28,710 --> 00:44:26,720 and 1142 00:44:30,630 --> 00:44:28,720 honeybee has a long history of anchoring 1143 00:44:33,270 --> 00:44:30,640 and has developed a number of approaches 1144 00:44:35,190 --> 00:44:33,280 including hard rock drilling 1145 00:44:37,190 --> 00:44:35,200 and hammering for setting anchors and 1146 00:44:39,430 --> 00:44:37,200 we've done preliminary feasibility tests 1147 00:44:42,069 --> 00:44:39,440 yielding interesting results 1148 00:44:44,470 --> 00:44:42,079 testing was performed with a 3.8 1149 00:44:46,790 --> 00:44:44,480 millimeter nail and traditional hammer 1150 00:44:49,670 --> 00:44:46,800 as well as an off-the-shelf nail gun on 1151 00:44:50,710 --> 00:44:49,680 eight megapascal plaster 40 megapascal 1152 00:44:53,430 --> 00:44:50,720 limestone 1153 00:44:55,670 --> 00:44:53,440 as well as 120 megapascal basalt so 1154 00:44:57,589 --> 00:44:55,680 capturing the cns type 1155 00:44:59,990 --> 00:44:57,599 asteroids 1156 00:45:01,510 --> 00:45:00,000 the nail did not penetrate the base salt 1157 00:45:03,270 --> 00:45:01,520 or limestone but managed to penetrate 1158 00:45:05,430 --> 00:45:03,280 plaster which we would expect and the 1159 00:45:06,870 --> 00:45:05,440 nail gun however on the other hand 1160 00:45:09,109 --> 00:45:06,880 was powerful enough to drive a short 1161 00:45:10,630 --> 00:45:09,119 nail into all three rock types now this 1162 00:45:12,950 --> 00:45:10,640 type of research is made possible by 1163 00:45:15,270 --> 00:45:12,960 honeybees test facilities in pasadena 1164 00:45:17,750 --> 00:45:15,280 where a large library of rock samples 1165 00:45:19,270 --> 00:45:17,760 allows testing of drills and anchoring 1166 00:45:21,349 --> 00:45:19,280 schemes 1167 00:45:23,109 --> 00:45:21,359 in a variety of configurations and with 1168 00:45:24,950 --> 00:45:23,119 a lot of instrumentation 1169 00:45:27,190 --> 00:45:24,960 now honeybee has also worked on fluid 1170 00:45:29,510 --> 00:45:27,200 anchors that allows anchoring to 1171 00:45:31,589 --> 00:45:29,520 featured surfaces with the benefit that 1172 00:45:32,950 --> 00:45:31,599 the anchor deployment does not exert any 1173 00:45:35,030 --> 00:45:32,960 force 1174 00:45:38,150 --> 00:45:35,040 that would be required it would require 1175 00:45:40,950 --> 00:45:38,160 a reaction by the spacecraft 1176 00:45:43,030 --> 00:45:40,960 or the crew in the fluid anchor approach 1177 00:45:45,670 --> 00:45:43,040 a wetting fluid such as foam cement 1178 00:45:47,910 --> 00:45:45,680 epoxy is injected onto a surface or into 1179 00:45:49,670 --> 00:45:47,920 the soil by a hollow spike beneath the 1180 00:45:51,430 --> 00:45:49,680 foot pad 1181 00:45:53,030 --> 00:45:51,440 and if applied to the surface the goal 1182 00:45:54,950 --> 00:45:53,040 of the fluid anchor is to inject an 1183 00:45:57,109 --> 00:45:54,960 adhesive cushion between the rock 1184 00:45:58,710 --> 00:45:57,119 surface and the spacecraft footbed or 1185 00:46:01,270 --> 00:45:58,720 crew anchor pad 1186 00:46:02,230 --> 00:46:01,280 and in turn provide an anchor uh once it 1187 00:46:03,990 --> 00:46:02,240 sets 1188 00:46:05,750 --> 00:46:04,000 if injected into the ground the fluid 1189 00:46:07,990 --> 00:46:05,760 would go deeper into the loose gravel or 1190 00:46:11,030 --> 00:46:08,000 soil allowing the anchor to 1191 00:46:13,270 --> 00:46:11,040 gauge a large larger volume of asteroid 1192 00:46:15,349 --> 00:46:13,280 material forming a composite footing 1193 00:46:17,190 --> 00:46:15,359 glue mixed with soil or gravel 1194 00:46:19,750 --> 00:46:17,200 the self-opposing multi-mode anchor 1195 00:46:21,270 --> 00:46:19,760 which is shown on this slide 1196 00:46:22,710 --> 00:46:21,280 allows payloads and equipment to be 1197 00:46:25,910 --> 00:46:22,720 securely anchored to the surface with 1198 00:46:30,550 --> 00:46:25,920 minimal applied force mostly using the 1199 00:46:33,829 --> 00:46:32,390 so we've presented a number of 1200 00:46:35,910 --> 00:46:33,839 technologies that we think will be 1201 00:46:36,950 --> 00:46:35,920 enabling for our cruise systems to 1202 00:46:38,630 --> 00:46:36,960 explore 1203 00:46:41,109 --> 00:46:38,640 the asteroid and 1204 00:46:42,390 --> 00:46:41,119 interact with it and as well a large 1205 00:46:43,910 --> 00:46:42,400 goal of asteroid initiative is to 1206 00:46:45,270 --> 00:46:43,920 capture and return an asteroid to the 1207 00:46:46,790 --> 00:46:45,280 earth facility 1208 00:46:49,589 --> 00:46:46,800 with their extensive background in 1209 00:46:51,270 --> 00:46:49,599 spacecraft mechanism and mechatronics 1210 00:46:53,990 --> 00:46:51,280 honeybee robotics is also excited to 1211 00:46:55,510 --> 00:46:54,000 support the direct capture phase 1212 00:46:57,030 --> 00:46:55,520 with that i'd like to conclude my talk 1213 00:46:59,510 --> 00:46:57,040 and open it for questions unless they're 1214 00:47:00,790 --> 00:46:59,520 being held to the end of the session and 1215 00:47:02,150 --> 00:47:00,800 i also encourage you to visit our 1216 00:47:04,309 --> 00:47:02,160 website listed at the bottom of this 1217 00:47:06,550 --> 00:47:04,319 page to further explore 1218 00:47:09,990 --> 00:47:06,560 any of our technologies and to contact 1219 00:47:11,190 --> 00:47:10,000 us thank you 1220 00:47:14,470 --> 00:47:11,200 there any questions in the room or 1221 00:47:18,470 --> 00:47:16,550 it's very hard to see with the light so 1222 00:47:19,750 --> 00:47:18,480 i did have one question for you 1223 00:47:21,829 --> 00:47:19,760 on your 1224 00:47:24,870 --> 00:47:21,839 pneumatic drill where you use the the 1225 00:47:25,990 --> 00:47:24,880 vacuum technology to to capture the the 1226 00:47:27,670 --> 00:47:26,000 dust 1227 00:47:30,309 --> 00:47:27,680 how much does a tool like that weigh and 1228 00:47:31,910 --> 00:47:30,319 how big is it 1229 00:47:33,670 --> 00:47:31,920 i knew i'd get a question that was going 1230 00:47:34,790 --> 00:47:33,680 to be a mess 1231 00:47:36,470 --> 00:47:34,800 and 1232 00:47:38,870 --> 00:47:36,480 the thought i had on that is it's really 1233 00:47:41,109 --> 00:47:38,880 going to depend on the application 1234 00:47:43,349 --> 00:47:41,119 like i said 1235 00:47:46,230 --> 00:47:43,359 what you're going to be drilling into 1236 00:47:48,150 --> 00:47:46,240 how you're going to be anchoring in 1237 00:47:50,230 --> 00:47:48,160 and then of course what you drill into 1238 00:47:51,430 --> 00:47:50,240 determines what material it is you're 1239 00:47:54,069 --> 00:47:51,440 collecting 1240 00:47:56,390 --> 00:47:54,079 so i unfortunately i'd say probably the 1241 00:47:59,030 --> 00:47:56,400 best answer to that is a parametric 1242 00:47:59,910 --> 00:47:59,040 study but 1243 00:48:05,349 --> 00:47:59,920 if you 1244 00:48:07,829 --> 00:48:05,359 scenario 1245 00:48:10,069 --> 00:48:07,839 i'll let you off the hook thank you much 1246 00:48:12,710 --> 00:48:10,079 you're welcome let's see joe do we have 1247 00:48:14,630 --> 00:48:12,720 any uh any questions virtual questions 1248 00:48:16,230 --> 00:48:14,640 on this present 1249 00:48:18,870 --> 00:48:16,240 well let's see i i have a question 1250 00:48:22,390 --> 00:48:18,880 jonathan i'm i'm intrigued by uh 1251 00:48:23,270 --> 00:48:22,400 by yourself opposing multi-mode anchor 1252 00:48:25,109 --> 00:48:23,280 and 1253 00:48:27,670 --> 00:48:25,119 you know there's a lot of debate 1254 00:48:30,390 --> 00:48:27,680 as to the consistency of an asteroid 1255 00:48:31,910 --> 00:48:30,400 uh ranging from a solid 1256 00:48:33,270 --> 00:48:31,920 rock material 1257 00:48:35,109 --> 00:48:33,280 to um 1258 00:48:37,670 --> 00:48:35,119 what's kind of called as a rubble pile 1259 00:48:40,950 --> 00:48:37,680 or almost a sand pile 1260 00:48:42,309 --> 00:48:40,960 or some theories are some asteroids may 1261 00:48:45,030 --> 00:48:42,319 be almost like a 1262 00:48:47,270 --> 00:48:45,040 dried mud like consistency 1263 00:48:49,190 --> 00:48:47,280 how do you envision the anchoring system 1264 00:48:53,109 --> 00:48:49,200 working in a variety of 1265 00:48:57,270 --> 00:48:55,589 well i think it depends how the the 1266 00:48:59,109 --> 00:48:57,280 mission evolves 1267 00:49:00,710 --> 00:48:59,119 and what asteroids targeted my 1268 00:49:02,309 --> 00:49:00,720 understanding 1269 00:49:03,589 --> 00:49:02,319 is that as you move towards the larger 1270 00:49:06,710 --> 00:49:03,599 asteroids 1271 00:49:09,030 --> 00:49:06,720 uh with the lower spin rates 1272 00:49:12,470 --> 00:49:09,040 the chances are you're counting 1273 00:49:14,390 --> 00:49:12,480 encountering a rubble pile um 1274 00:49:17,589 --> 00:49:14,400 there's the smaller ones and faster spin 1275 00:49:20,870 --> 00:49:17,599 rates should likely fly apart 1276 00:49:22,390 --> 00:49:20,880 so i think as the i think is the uh 1277 00:49:24,630 --> 00:49:22,400 the mission evolves 1278 00:49:27,990 --> 00:49:24,640 you would hopefully have some ability to 1279 00:49:29,589 --> 00:49:28,000 tailor the um 1280 00:49:31,670 --> 00:49:29,599 teller the anchoring approach to what 1281 00:49:33,510 --> 00:49:31,680 you expect to find or 1282 00:49:36,710 --> 00:49:33,520 as i've mentioned earlier for the crew 1283 00:49:40,309 --> 00:49:38,870 you kind of bring with you a quiver of 1284 00:49:43,270 --> 00:49:40,319 tools so 1285 00:49:44,870 --> 00:49:43,280 maybe if this opposing anchor 1286 00:49:47,990 --> 00:49:44,880 comes into 1287 00:49:50,150 --> 00:49:48,000 contact with a very 1288 00:49:52,790 --> 00:49:50,160 well consolidated or let's say solid 1289 00:49:55,270 --> 00:49:52,800 surface that's really not amenable to 1290 00:49:57,829 --> 00:49:55,280 just kind of sticking a shovel into it 1291 00:49:59,670 --> 00:49:57,839 and slowly you know a pick into it and 1292 00:50:01,990 --> 00:49:59,680 slowly anchoring in 1293 00:50:04,230 --> 00:50:02,000 maybe you can use a foaming anchor you 1294 00:50:06,870 --> 00:50:04,240 know a liquid anchor 1295 00:50:09,030 --> 00:50:06,880 in conjunction 1296 00:50:10,630 --> 00:50:09,040 so the idea would be to create something 1297 00:50:13,109 --> 00:50:10,640 that overlaps enough where you don't 1298 00:50:17,670 --> 00:50:13,119 have any holes in your 1299 00:50:23,270 --> 00:50:19,510 okay thanks uh thanks jonathan and i 1300 00:50:26,150 --> 00:50:23,280 think we do have uh one online question 1301 00:50:28,710 --> 00:50:26,160 when wendy or joe 1302 00:50:34,630 --> 00:50:31,990 yes um so the question is 1303 00:50:36,710 --> 00:50:34,640 since most asteroid capture systems have 1304 00:50:38,069 --> 00:50:36,720 a centralized hub 1305 00:50:40,710 --> 00:50:38,079 have you given any thought to how you 1306 00:50:42,150 --> 00:50:40,720 might sample the rock from that point 1307 00:50:46,790 --> 00:50:42,160 and then make that accessible to the 1308 00:50:51,109 --> 00:50:48,710 i think that that could 1309 00:50:52,390 --> 00:50:51,119 leverage some of the i guess marsupial 1310 00:50:55,270 --> 00:50:52,400 designs 1311 00:50:58,230 --> 00:50:55,280 where we um 1312 00:50:59,190 --> 00:50:58,240 had done work with this smaller craft 1313 00:51:02,069 --> 00:50:59,200 that would 1314 00:51:04,309 --> 00:51:02,079 fly ahead to uh 1315 00:51:06,710 --> 00:51:04,319 the asteroid surface to give composition 1316 00:51:09,670 --> 00:51:06,720 information ahead of the 1317 00:51:12,470 --> 00:51:09,680 bulk interaction and so 1318 00:51:14,790 --> 00:51:12,480 i think you could probably adapt those 1319 00:51:20,790 --> 00:51:16,630 ferrying 1320 00:51:24,790 --> 00:51:22,630 okay okay thanks jonathan 1321 00:51:31,190 --> 00:51:24,800 any other questions okay you're welcome 1322 00:51:35,510 --> 00:51:33,910 so our next presentation is from aaron 1323 00:51:38,069 --> 00:51:35,520 harness 1324 00:51:41,030 --> 00:51:38,079 from the jet propulsion lab 1325 00:51:43,670 --> 00:51:41,040 and aaron's presentation will discuss 1326 00:51:46,710 --> 00:51:43,680 self-anchoring microgravity 1327 00:51:49,030 --> 00:51:46,720 thrill for use to sample the asteroid 1328 00:51:51,349 --> 00:51:49,040 erin 1329 00:51:53,190 --> 00:51:51,359 yeah thank you very much uh i actually 1330 00:51:54,470 --> 00:51:53,200 also have back-to-back uh brief 1331 00:51:57,670 --> 00:51:54,480 presentations 1332 00:52:00,230 --> 00:51:57,680 uh the first one is more on a short-term 1333 00:52:03,670 --> 00:52:00,240 uh development project it's a tool that 1334 00:52:05,190 --> 00:52:03,680 might be used uh eva uh during the crude 1335 00:52:06,870 --> 00:52:05,200 portion of the mission 1336 00:52:08,950 --> 00:52:06,880 you can see a prototype of that tool 1337 00:52:12,069 --> 00:52:08,960 here it's a coring drill 1338 00:52:13,349 --> 00:52:12,079 and it uses an anchor to uh latch onto 1339 00:52:14,950 --> 00:52:13,359 the rock to 1340 00:52:16,710 --> 00:52:14,960 address the the problems we were just 1341 00:52:19,030 --> 00:52:16,720 hearing about in the prior presentation 1342 00:52:20,870 --> 00:52:19,040 of of that weight on bit 1343 00:52:22,390 --> 00:52:20,880 since it's very difficult to test in 1344 00:52:24,390 --> 00:52:22,400 zero gravity here on the surface of the 1345 00:52:26,950 --> 00:52:24,400 earth we test it in these different 1346 00:52:29,270 --> 00:52:26,960 configurations to try and cancel out the 1347 00:52:31,030 --> 00:52:29,280 effects of gravity so it's supporting 1348 00:52:33,430 --> 00:52:31,040 itself upside down there drilling into 1349 00:52:35,349 --> 00:52:33,440 the ceiling on the vertical wall where 1350 00:52:38,069 --> 00:52:35,359 we lift the rock up off the floor and 1351 00:52:40,069 --> 00:52:38,079 then drill into it 1352 00:52:42,470 --> 00:52:40,079 so to elaborate on the problem this is 1353 00:52:43,910 --> 00:52:42,480 itecawa that you see so there are big 1354 00:52:45,190 --> 00:52:43,920 rocks there that you might want to 1355 00:52:47,030 --> 00:52:45,200 sample from 1356 00:52:49,349 --> 00:52:47,040 but if you're using a typical drill like 1357 00:52:51,270 --> 00:52:49,359 the one on the curiosity rover you need 1358 00:52:53,990 --> 00:52:51,280 50 to 100 newtons 1359 00:52:56,230 --> 00:52:54,000 of force into that rock 1360 00:52:57,750 --> 00:52:56,240 and on a surface like irakawa where 1361 00:52:59,430 --> 00:52:57,760 there's so little gravity that means you 1362 00:53:01,750 --> 00:52:59,440 would have to land over a million 1363 00:53:03,750 --> 00:53:01,760 kilograms to react that force just with 1364 00:53:04,870 --> 00:53:03,760 gravity so we've got to come up with 1365 00:53:06,390 --> 00:53:04,880 another way 1366 00:53:08,069 --> 00:53:06,400 the problem gets worse if you've got an 1367 00:53:09,990 --> 00:53:08,079 astronaut who's pulling the trigger on 1368 00:53:12,150 --> 00:53:10,000 the drill you really don't want him to 1369 00:53:14,309 --> 00:53:12,160 start spinning around the drill bit 1370 00:53:16,470 --> 00:53:14,319 which is just as likely in zero gravity 1371 00:53:17,670 --> 00:53:16,480 as as the drill is to spin in the 1372 00:53:19,430 --> 00:53:17,680 borehole 1373 00:53:21,589 --> 00:53:19,440 so our approach is similar we're gonna 1374 00:53:24,230 --> 00:53:21,599 we're gonna anchor to the surface that 1375 00:53:26,630 --> 00:53:24,240 we want to sample from uh this is a free 1376 00:53:28,710 --> 00:53:26,640 body diagram of our gripper 1377 00:53:30,710 --> 00:53:28,720 it shows some some claws that are 1378 00:53:32,950 --> 00:53:30,720 grappling the surface of that rock and 1379 00:53:35,829 --> 00:53:32,960 that's what uh 1380 00:53:38,309 --> 00:53:35,839 redirects the forces and torques of the 1381 00:53:39,510 --> 00:53:38,319 sample back into the surface so you can 1382 00:53:41,109 --> 00:53:39,520 literally 1383 00:53:43,270 --> 00:53:41,119 push the button on this drill and tell 1384 00:53:46,069 --> 00:53:43,280 it to go and it's hands free all the 1385 00:53:47,990 --> 00:53:46,079 forces are closed loop in that in that 1386 00:53:50,309 --> 00:53:48,000 rock 1387 00:53:53,030 --> 00:53:50,319 so the way we do our anchoring uh is 1388 00:53:54,790 --> 00:53:53,040 using technology called micro spines was 1389 00:53:56,630 --> 00:53:54,800 originally developed for wall climbing 1390 00:53:59,589 --> 00:53:56,640 robots and we've been working to adapt 1391 00:54:01,750 --> 00:53:59,599 it for microgravity it's a sharp hook as 1392 00:54:03,829 --> 00:54:01,760 you can see in the lower left picture 1393 00:54:05,910 --> 00:54:03,839 that's embedded inside some kind of 1394 00:54:08,829 --> 00:54:05,920 frame with a compliant mechanism behind 1395 00:54:11,430 --> 00:54:08,839 it so it's basically a lot of claws on 1396 00:54:12,790 --> 00:54:11,440 springs and we use these in big arrays 1397 00:54:15,349 --> 00:54:12,800 so the gripper i'm going to show you in 1398 00:54:18,790 --> 00:54:15,359 a minute has 250 of these 1399 00:54:20,549 --> 00:54:18,800 distributed in a circle around the drill 1400 00:54:22,549 --> 00:54:20,559 our path to flight design which is shown 1401 00:54:24,710 --> 00:54:22,559 on the right there doesn't use any 1402 00:54:27,030 --> 00:54:24,720 rubber materials it's an all metal 1403 00:54:29,190 --> 00:54:27,040 design so it uses extension springs 1404 00:54:30,630 --> 00:54:29,200 instead of these flexures 1405 00:54:33,750 --> 00:54:30,640 in order to grip the surface and there 1406 00:54:36,150 --> 00:54:33,760 it is holding 30 pounds uh in a vertical 1407 00:54:38,470 --> 00:54:36,160 orientation on that's basalt vesicular 1408 00:54:41,030 --> 00:54:38,480 basalt 1409 00:54:44,230 --> 00:54:41,040 so you can see hopefully uh online as 1410 00:54:46,710 --> 00:54:44,240 well this movie of of one of these toes 1411 00:54:47,910 --> 00:54:46,720 gripping they're opportunistic so you 1412 00:54:50,230 --> 00:54:47,920 don't have to predict where the 1413 00:54:53,349 --> 00:54:50,240 roughness is on the surface you just put 1414 00:54:55,190 --> 00:54:53,359 them all down and and tell it to squeeze 1415 00:54:57,430 --> 00:54:55,200 and as they drag along the surface you 1416 00:54:59,829 --> 00:54:57,440 get a few of them to catch so in that 1417 00:55:02,710 --> 00:54:59,839 way it's also probabilistic in that you 1418 00:55:04,789 --> 00:55:02,720 don't need every single hook to catch in 1419 00:55:08,870 --> 00:55:04,799 fact with about 10 percent of the toes 1420 00:55:10,789 --> 00:55:08,880 engaging we can support 100 newtons 1421 00:55:12,710 --> 00:55:10,799 and most of the rocks i think all the 1422 00:55:13,910 --> 00:55:12,720 rocks we anticipate seeing are going to 1423 00:55:15,670 --> 00:55:13,920 be rough 1424 00:55:18,150 --> 00:55:15,680 the smooth rocks we see on earth are 1425 00:55:21,030 --> 00:55:18,160 usually processed by liquid water 1426 00:55:22,630 --> 00:55:21,040 either in a river or through glacial uh 1427 00:55:25,349 --> 00:55:22,640 sort of movements if we found very 1428 00:55:28,230 --> 00:55:25,359 smooth rocks that would be a remarkable 1429 00:55:31,349 --> 00:55:28,240 thing in and of itself 1430 00:55:33,030 --> 00:55:31,359 so here's a video um let's see 1431 00:55:39,990 --> 00:55:33,040 oh 1432 00:55:44,950 --> 00:55:42,710 there we go here it's going 1433 00:55:46,630 --> 00:55:44,960 so this is a video again the drill is 1434 00:55:47,589 --> 00:55:46,640 supporting its own weight so it's got 1435 00:55:49,589 --> 00:55:47,599 about 1436 00:55:52,069 --> 00:55:49,599 i think it's 3 kilograms in this 1437 00:55:54,710 --> 00:55:52,079 configuration plus the weight on bit 1438 00:55:57,589 --> 00:55:54,720 which in this case is 50 70 newtons or 1439 00:55:59,990 --> 00:55:57,599 so that is a basalt that's a vesicular 1440 00:56:02,470 --> 00:56:00,000 basalt that we're drilling into 1441 00:56:05,030 --> 00:56:02,480 it's a rotary percussive drill we 1442 00:56:07,109 --> 00:56:05,040 actually just took a bosch hammer drill 1443 00:56:09,030 --> 00:56:07,119 and hacked it apart and put our own 1444 00:56:11,109 --> 00:56:09,040 motor controllers on there 1445 00:56:12,390 --> 00:56:11,119 as a proof of concept 1446 00:56:15,030 --> 00:56:12,400 the depth at which you're going to be 1447 00:56:16,390 --> 00:56:15,040 able to drill and the the the width of 1448 00:56:18,069 --> 00:56:16,400 your borehole is going to be just 1449 00:56:19,430 --> 00:56:18,079 dependent on the power 1450 00:56:22,630 --> 00:56:19,440 and the length of travel that you want 1451 00:56:24,150 --> 00:56:22,640 to put into the mechanism 1452 00:56:26,150 --> 00:56:24,160 and you can see this is sped up about 1453 00:56:29,750 --> 00:56:26,160 eight times but we progress at about one 1454 00:56:32,950 --> 00:56:29,760 inch per minute in this type of basalt 1455 00:56:34,950 --> 00:56:32,960 using a typical carbide bit 1456 00:56:36,150 --> 00:56:34,960 so it's a coring bit so 1457 00:56:38,549 --> 00:56:36,160 that's the whole point you get to 1458 00:56:40,710 --> 00:56:38,559 collect a sample you can see one of the 1459 00:56:42,230 --> 00:56:40,720 instances of our sample i'm sorry i 1460 00:56:43,990 --> 00:56:42,240 should have a scale bar on there that's 1461 00:56:59,349 --> 00:56:44,000 a 1462 00:57:01,510 --> 00:56:59,359 puts in 1463 00:57:04,309 --> 00:57:01,520 these clips on their way up the the wall 1464 00:57:05,990 --> 00:57:04,319 in yosemite an astronaut might do that 1465 00:57:08,230 --> 00:57:06,000 onto the surface so that he or she could 1466 00:57:10,870 --> 00:57:08,240 later come back and and clip into that 1467 00:57:13,750 --> 00:57:10,880 boulder as a secure point 1468 00:57:16,390 --> 00:57:13,760 so to cap off the status of this so far 1469 00:57:18,630 --> 00:57:16,400 it's a self-contained unit um it's 1470 00:57:20,710 --> 00:57:18,640 robotic so you we have a set it and 1471 00:57:22,549 --> 00:57:20,720 forget it mentality that the astronaut 1472 00:57:25,190 --> 00:57:22,559 would would place the drill and then 1473 00:57:27,670 --> 00:57:25,200 wait five minutes or do some other task 1474 00:57:30,069 --> 00:57:27,680 and and come back and collect the sample 1475 00:57:32,630 --> 00:57:30,079 and we've designed it to be operable 1476 00:57:34,150 --> 00:57:32,640 with a big glove so this is one of our 1477 00:57:37,109 --> 00:57:34,160 interns who helped a lot with this 1478 00:57:39,589 --> 00:57:37,119 program and he's got four sets of gloves 1479 00:57:41,750 --> 00:57:39,599 on um so the path forward we're looking 1480 00:57:44,309 --> 00:57:41,760 to to start to collaborate with the crew 1481 00:57:47,670 --> 00:57:44,319 systems office uh specifically uh and 1482 00:57:49,670 --> 00:57:47,680 anyone else that that's interested um 1483 00:57:51,510 --> 00:57:49,680 to to take this to the next level we we 1484 00:57:55,109 --> 00:57:51,520 think it's kind of a proof of concept 1485 00:57:56,950 --> 00:57:55,119 now uh and and we need to up the trl 1486 00:57:57,990 --> 00:57:56,960 so i'll take any questions you have on 1487 00:57:59,430 --> 00:57:58,000 on this 1488 00:58:03,750 --> 00:57:59,440 uh tool 1489 00:58:03,760 --> 00:58:07,750 any questions in the rumor online 1490 00:58:13,750 --> 00:58:11,829 i i do have one question uh yeah 1491 00:58:15,270 --> 00:58:13,760 back on the drill concept 1492 00:58:17,589 --> 00:58:15,280 uh how much 1493 00:58:20,150 --> 00:58:17,599 torque is required in the motor 1494 00:58:22,630 --> 00:58:20,160 to actually perform that operation 1495 00:58:25,990 --> 00:58:22,640 yeah so you know it's something we 1496 00:58:27,670 --> 00:58:26,000 should have measured um it's it's a 22 1497 00:58:29,829 --> 00:58:27,680 volt battery and 1498 00:58:32,630 --> 00:58:29,839 well 1499 00:58:35,030 --> 00:58:32,640 i'm not exactly sure but uh i think we 1500 00:58:36,549 --> 00:58:35,040 can get those numbers for you 1501 00:58:38,309 --> 00:58:36,559 of course that's also going to depend on 1502 00:58:39,990 --> 00:58:38,319 the speed at which you want to drill and 1503 00:58:41,670 --> 00:58:40,000 and the loads that you're applying and 1504 00:58:44,870 --> 00:58:41,680 like the weight on bit yeah i was kind 1505 00:58:46,549 --> 00:58:44,880 of curious was it kind of of the same 1506 00:58:47,670 --> 00:58:46,559 variety that you might use on an 1507 00:58:49,829 --> 00:58:47,680 astronaut's 1508 00:58:51,430 --> 00:58:49,839 pistol rule yeah i think it i think it 1509 00:58:53,430 --> 00:58:51,440 would be very similar to that all of 1510 00:58:55,270 --> 00:58:53,440 those usually have four or five stage 1511 00:58:57,190 --> 00:58:55,280 little planetary gearbox in there and 1512 00:58:58,870 --> 00:58:57,200 the motor is substantial so it's it's a 1513 00:59:00,549 --> 00:58:58,880 fair bit of torque because you could 1514 00:59:02,390 --> 00:59:00,559 maybe see a concept where you could take 1515 00:59:04,230 --> 00:59:02,400 a device like this 1516 00:59:05,510 --> 00:59:04,240 and maybe use one of these pistol grip 1517 00:59:07,030 --> 00:59:05,520 tools and 1518 00:59:09,670 --> 00:59:07,040 yeah that would certainly be a mass 1519 00:59:12,549 --> 00:59:09,680 savings as well i think that you could 1520 00:59:14,710 --> 00:59:12,559 the gripper itself only weighs uh 1.2 1521 00:59:17,589 --> 00:59:14,720 kilograms right now most of the weight 1522 00:59:19,430 --> 00:59:17,599 is in that drill apparatus so that would 1523 00:59:21,270 --> 00:59:19,440 be where the savings would be okay thank 1524 00:59:22,789 --> 00:59:21,280 you i believe you just answered my 1525 00:59:25,430 --> 00:59:22,799 question which is your current prototype 1526 00:59:28,069 --> 00:59:25,440 is battery powered uh yes it is 1527 00:59:30,829 --> 00:59:28,079 but lithium polymer batteries so not 1528 00:59:32,710 --> 00:59:30,839 it's not path to flight yeah 1529 00:59:34,470 --> 00:59:32,720 yeah see i think there's a question here 1530 00:59:37,030 --> 00:59:34,480 in the front 1531 00:59:39,030 --> 00:59:37,040 yeah oh yeah thanks um you've shown a 1532 00:59:40,549 --> 00:59:39,040 drill application but on the screen of 1533 00:59:42,390 --> 00:59:40,559 course there's another application one 1534 00:59:44,309 --> 00:59:42,400 can imagine all kinds of 1535 00:59:46,950 --> 00:59:44,319 applications for this can you talk a 1536 00:59:49,990 --> 00:59:46,960 little bit about the letting go part two 1537 00:59:52,150 --> 00:59:50,000 so sure uh yeah so the the little 1538 00:59:53,670 --> 00:59:52,160 climbing robot there uh 1539 00:59:55,510 --> 00:59:53,680 photoshopped on the bottom that's what 1540 00:59:57,670 --> 00:59:55,520 i'm gonna talk about next 1541 00:59:59,829 --> 00:59:57,680 it is a gripper that's meant to grip and 1542 01:00:00,950 --> 00:59:59,839 release many times we've tested that in 1543 01:00:03,109 --> 01:00:00,960 the lab 1544 01:00:04,150 --> 01:00:03,119 out to several hundred cycles 1545 01:00:05,750 --> 01:00:04,160 um 1546 01:00:07,670 --> 01:00:05,760 because you have so many of these toes 1547 01:00:08,710 --> 01:00:07,680 if you lose a few of them if a few of 1548 01:00:10,950 --> 01:00:08,720 them break 1549 01:00:13,190 --> 01:00:10,960 it's no big deal you're you're counting 1550 01:00:17,109 --> 01:00:13,200 on this probability anyways so 1551 01:00:20,069 --> 01:00:17,119 um we have a an act an actuator to to 1552 01:00:22,710 --> 01:00:20,079 release those claws from the surface 1553 01:00:24,870 --> 01:00:22,720 so uh i will talk about that in the next 1554 01:00:26,470 --> 01:00:24,880 one how that happens but it's an active 1555 01:00:28,309 --> 01:00:26,480 release and and 1556 01:00:30,710 --> 01:00:28,319 we make sure that actuators power fully 1557 01:00:35,990 --> 01:00:30,720 enough to actually break the the claws 1558 01:00:41,270 --> 01:00:37,990 any other questions 1559 01:00:43,589 --> 01:00:41,280 let's go on your second pixel great 1560 01:00:47,109 --> 01:00:43,599 uh let's see is somebody else gonna swap 1561 01:00:51,589 --> 01:00:49,349 so this is a mobile robot with micro 1562 01:00:53,990 --> 01:00:51,599 spline anchors 1563 01:00:54,870 --> 01:00:54,000 yeah so this is addressing sort of some 1564 01:00:59,030 --> 01:00:54,880 of the 1565 01:01:00,390 --> 01:00:59,040 initiative uh looking a little bit more 1566 01:01:02,069 --> 01:01:00,400 long-term 1567 01:01:04,630 --> 01:01:02,079 this would be a limbed robot that could 1568 01:01:06,870 --> 01:01:04,640 provide a permanent presence exploring 1569 01:01:09,030 --> 01:01:06,880 the surface of of an asteroid 1570 01:01:12,309 --> 01:01:09,040 demonstrating um 1571 01:01:14,390 --> 01:01:12,319 uh orbit uh alteration techniques 1572 01:01:16,710 --> 01:01:14,400 collecting samples or preparing that 1573 01:01:17,990 --> 01:01:16,720 asteroid for for crew 1574 01:01:19,349 --> 01:01:18,000 interaction 1575 01:01:21,829 --> 01:01:19,359 um 1576 01:01:23,910 --> 01:01:21,839 this was actually the the initial part 1577 01:01:27,829 --> 01:01:23,920 of the work this is a movie so let me 1578 01:01:30,630 --> 01:01:28,950 um 1579 01:01:31,670 --> 01:01:30,640 so this is a rock climbing robot we 1580 01:01:33,670 --> 01:01:31,680 developed 1581 01:01:34,630 --> 01:01:33,680 uh we think it's the first rock climbing 1582 01:01:36,470 --> 01:01:34,640 robot 1583 01:01:39,670 --> 01:01:36,480 that's been built for for natural rock 1584 01:01:41,190 --> 01:01:39,680 here it is climbing upside down 1585 01:01:43,030 --> 01:01:41,200 this is some of the early work on these 1586 01:01:46,069 --> 01:01:43,040 hand actuated grippers so there's 1587 01:01:48,630 --> 01:01:46,079 there's two actuation uh methods that 1588 01:01:52,470 --> 01:01:48,640 are controlling over 750 of these 1589 01:01:55,670 --> 01:01:52,480 independent claws well three per toe 1590 01:01:57,190 --> 01:01:55,680 and so the first actuator 1591 01:01:59,510 --> 01:01:57,200 is shown here 1592 01:02:01,510 --> 01:01:59,520 pulling those claws off the surface and 1593 01:02:03,430 --> 01:02:01,520 so that's how we would release 1594 01:02:04,710 --> 01:02:03,440 the second actuator actually squeezes 1595 01:02:06,150 --> 01:02:04,720 those claws 1596 01:02:07,190 --> 01:02:06,160 inwards as you're seeing in the video 1597 01:02:08,710 --> 01:02:07,200 right there 1598 01:02:10,870 --> 01:02:08,720 and that's what loads them all up that's 1599 01:02:13,349 --> 01:02:10,880 what allows them to opportunistically 1600 01:02:14,789 --> 01:02:13,359 find those rough spots to grip 1601 01:02:17,029 --> 01:02:14,799 so you might be able to see some of 1602 01:02:18,789 --> 01:02:17,039 those stretching out now rocks typically 1603 01:02:21,349 --> 01:02:18,799 have a fractal roughness so you need to 1604 01:02:23,510 --> 01:02:21,359 conform at multiple length scales so the 1605 01:02:25,910 --> 01:02:23,520 individual hooks are doing sort of 1606 01:02:27,510 --> 01:02:25,920 millimeter scale stuff we have 16 of 1607 01:02:29,349 --> 01:02:27,520 those in a carriage and then of course 1608 01:02:32,069 --> 01:02:29,359 the limb of the robot itself has some 1609 01:02:34,150 --> 01:02:32,079 ability to conform to the surface 1610 01:02:36,309 --> 01:02:34,160 these are omni-directional anchors so we 1611 01:02:37,910 --> 01:02:36,319 can tug on them uh directly away from 1612 01:02:41,510 --> 01:02:37,920 the surface or directly along the 1613 01:02:43,750 --> 01:02:41,520 surface everything uh in between 1614 01:02:46,309 --> 01:02:43,760 and uh you can see the robot's got 1615 01:02:49,109 --> 01:02:46,319 stereo cameras on the front there we're 1616 01:02:51,029 --> 01:02:49,119 also building in some force sensing into 1617 01:02:52,710 --> 01:02:51,039 the grippers so that we know whether or 1618 01:02:54,789 --> 01:02:52,720 not we have a good grip 1619 01:02:56,549 --> 01:02:54,799 we're also trying to learn how that grip 1620 01:02:58,230 --> 01:02:56,559 is distributed because there are some 1621 01:03:00,470 --> 01:02:58,240 techniques you could use if you if you 1622 01:03:02,470 --> 01:03:00,480 say only have the top of your gripper 1623 01:03:04,309 --> 01:03:02,480 engaged in the bottom of another gripper 1624 01:03:06,150 --> 01:03:04,319 you can use the body of that robot to do 1625 01:03:08,710 --> 01:03:06,160 a squeeze you see rock climbers putting 1626 01:03:11,270 --> 01:03:08,720 themselves into all kinds of crazy uh 1627 01:03:13,109 --> 01:03:11,280 configurations to take advantage of the 1628 01:03:15,510 --> 01:03:13,119 the grips that that are available to 1629 01:03:18,069 --> 01:03:15,520 them uh we'd like to get this robot to a 1630 01:03:20,390 --> 01:03:18,079 point where it's able to do that as well 1631 01:03:22,710 --> 01:03:20,400 now this robot was originally built 1632 01:03:25,029 --> 01:03:22,720 about uh 10 years ago 1633 01:03:26,950 --> 01:03:25,039 uh brett kennedy was the original 1634 01:03:29,029 --> 01:03:26,960 builder i got to jpl a few years ago 1635 01:03:30,710 --> 01:03:29,039 nobody was using it and so we we sort of 1636 01:03:31,510 --> 01:03:30,720 hacked it apart and added the grippers 1637 01:03:35,270 --> 01:03:31,520 on 1638 01:03:37,349 --> 01:03:35,280 degrees of freedom three active joints 1639 01:03:39,910 --> 01:03:37,359 per limb so that's not enough to do 1640 01:03:42,549 --> 01:03:39,920 really complex topographies right now 1641 01:03:44,470 --> 01:03:42,559 we're currently in the process of um 1642 01:03:46,309 --> 01:03:44,480 upgrading those limbs to six active 1643 01:03:48,230 --> 01:03:46,319 degrees of freedom so that we can do 1644 01:03:50,789 --> 01:03:48,240 things like plane changes and curving 1645 01:03:54,069 --> 01:03:50,799 surfaces i actually was out crawling 1646 01:03:55,910 --> 01:03:54,079 around in a in a cave in the desert um 1647 01:03:57,349 --> 01:03:55,920 a couple of weeks ago and and we had a 1648 01:03:59,430 --> 01:03:57,359 gripper and we were hanging the gripper 1649 01:04:01,270 --> 01:03:59,440 on the ceiling of the cave so my dream 1650 01:04:03,109 --> 01:04:01,280 to become a famous youtube star is to 1651 01:04:06,950 --> 01:04:03,119 get the robot to go around in circles 1652 01:04:08,069 --> 01:04:06,960 inside the inside the lava tube there 1653 01:04:09,750 --> 01:04:08,079 you can see a little bit more of the 1654 01:04:11,430 --> 01:04:09,760 drill here and the in the operation but 1655 01:04:14,150 --> 01:04:11,440 i'm gonna i think i'm gonna skip ahead 1656 01:04:16,150 --> 01:04:14,160 in the interest of time 1657 01:04:17,910 --> 01:04:16,160 so as i mentioned we we do have a path 1658 01:04:20,069 --> 01:04:17,920 to flight this isn't always going to be 1659 01:04:21,190 --> 01:04:20,079 a rapid prototype and rubber band kind 1660 01:04:23,109 --> 01:04:21,200 of system 1661 01:04:25,349 --> 01:04:23,119 this is the diagram of that path to 1662 01:04:26,549 --> 01:04:25,359 flight prototype that we built it's got 1663 01:04:28,309 --> 01:04:26,559 the extension springs those are 1664 01:04:30,390 --> 01:04:28,319 protected inside a housing so that 1665 01:04:32,710 --> 01:04:30,400 debris and dust and things don't get in 1666 01:04:34,950 --> 01:04:32,720 there and clog up the works but again it 1667 01:04:38,069 --> 01:04:34,960 is it is a probabilistic system so if 1668 01:04:41,589 --> 01:04:38,079 you lose one or two it's no big deal you 1669 01:04:42,950 --> 01:04:41,599 have a power in numbers so here's that 1670 01:04:44,870 --> 01:04:42,960 testing in all the different 1671 01:04:45,990 --> 01:04:44,880 orientations about 30 pounds in each 1672 01:04:48,069 --> 01:04:46,000 direction 1673 01:04:50,549 --> 01:04:48,079 we've tested on other kinds of samples 1674 01:04:52,309 --> 01:04:50,559 we use the mars drilling suite of rocks 1675 01:04:53,910 --> 01:04:52,319 and we get more than 60 newtons on all 1676 01:04:55,510 --> 01:04:53,920 of those we've also tested on some 1677 01:04:57,510 --> 01:04:55,520 granular surfaces 1678 01:04:59,829 --> 01:04:57,520 the idea would be to to really anchor to 1679 01:05:02,470 --> 01:04:59,839 the boulders put in permanent anchor 1680 01:05:04,069 --> 01:05:02,480 points and then kind of tiptoe across 1681 01:05:05,829 --> 01:05:04,079 the loose stuff and get to another 1682 01:05:06,789 --> 01:05:05,839 boulder and if you look at itakawa and 1683 01:05:08,549 --> 01:05:06,799 the other 1684 01:05:10,470 --> 01:05:08,559 asteroids that looks like a feasible 1685 01:05:12,710 --> 01:05:10,480 concept of operations 1686 01:05:14,390 --> 01:05:12,720 so the overall benefits we think this 1687 01:05:15,990 --> 01:05:14,400 technology can enable 1688 01:05:17,670 --> 01:05:16,000 alternative capture techniques if you're 1689 01:05:19,029 --> 01:05:17,680 going to grab a boulder off the surface 1690 01:05:20,789 --> 01:05:19,039 for instance 1691 01:05:23,029 --> 01:05:20,799 this could help 1692 01:05:25,510 --> 01:05:23,039 it could enable new kinds of deflection 1693 01:05:28,870 --> 01:05:25,520 capabilities you can position reflectors 1694 01:05:30,870 --> 01:05:28,880 or explosives or uh thrusters um at 1695 01:05:32,309 --> 01:05:30,880 strategic locations instead of just 1696 01:05:34,069 --> 01:05:32,319 where they fall down 1697 01:05:37,109 --> 01:05:34,079 uh you can get a lot of science return 1698 01:05:39,109 --> 01:05:37,119 by you know traversing large areas but 1699 01:05:40,549 --> 01:05:39,119 positioning your your instruments very 1700 01:05:43,349 --> 01:05:40,559 precisely and acquiring these core 1701 01:05:45,270 --> 01:05:43,359 samples and really my my favorite 1702 01:05:46,710 --> 01:05:45,280 version of this is as a precursor to a 1703 01:05:48,549 --> 01:05:46,720 crude mission 1704 01:05:50,470 --> 01:05:48,559 where the robot is sort of scouting out 1705 01:05:52,710 --> 01:05:50,480 locations of interest but also setting 1706 01:05:54,870 --> 01:05:52,720 up a network of cables that you've 1707 01:05:56,150 --> 01:05:54,880 tested so you know that they're secure 1708 01:05:57,910 --> 01:05:56,160 so that when the astronauts get there 1709 01:05:59,430 --> 01:05:57,920 they don't have to worry about 1710 01:06:02,230 --> 01:05:59,440 the safety problems they can worry about 1711 01:06:04,309 --> 01:06:02,240 the exploration problems 1712 01:06:12,309 --> 01:06:04,319 so again thanks for your time i'm happy 1713 01:06:16,870 --> 01:06:14,549 i'm just curious what the face the 1714 01:06:18,870 --> 01:06:16,880 initial face pressure for that gripper 1715 01:06:20,630 --> 01:06:18,880 would be against the surface 1716 01:06:24,470 --> 01:06:20,640 yeah it's a good question it actually 1717 01:06:26,150 --> 01:06:24,480 doesn't require any preload 1718 01:06:28,710 --> 01:06:26,160 those 1719 01:06:30,069 --> 01:06:28,720 carriages of claws are spring-loaded so 1720 01:06:41,109 --> 01:06:30,079 the 1721 01:06:43,510 --> 01:06:41,119 doesn't require any significant force 1722 01:06:45,750 --> 01:06:43,520 and it doesn't tend to push itself away 1723 01:06:47,589 --> 01:06:45,760 it comes down and scrapes along because 1724 01:06:50,950 --> 01:06:47,599 of the kinematics of those 1725 01:06:55,190 --> 01:06:50,960 carriages so it tends to self-grip 1726 01:07:01,990 --> 01:06:56,549 any other questions in the room or 1727 01:07:05,589 --> 01:07:04,069 not so much a question but as a comment 1728 01:07:07,349 --> 01:07:05,599 but everyone seems to really enjoy the 1729 01:07:08,870 --> 01:07:07,359 videos i think your robot's pretty thank 1730 01:07:10,470 --> 01:07:08,880 you thank you 1731 01:07:12,150 --> 01:07:10,480 yeah you can go to youtube and see it 1732 01:07:14,390 --> 01:07:12,160 and you get the the most interesting 1733 01:07:16,710 --> 01:07:14,400 comments there sometimes 1734 01:07:19,349 --> 01:07:16,720 well i hope we help your youtube career 1735 01:07:21,190 --> 01:07:19,359 ah thank you thank you thank you and i 1736 01:07:22,630 --> 01:07:21,200 think one thing this will you know a lot 1737 01:07:24,470 --> 01:07:22,640 of promise maybe on the drill for the 1738 01:07:26,390 --> 01:07:24,480 asteroid yeah mission something that 1739 01:07:28,150 --> 01:07:26,400 intrigues us i think as we think about 1740 01:07:29,510 --> 01:07:28,160 it and then personally maybe i can 1741 01:07:31,270 --> 01:07:29,520 become a rock climber app with your 1742 01:07:37,510 --> 01:07:31,280 devices so thank you very much yeah 1743 01:07:43,430 --> 01:07:41,029 so let's see our next presentation uh is 1744 01:07:44,870 --> 01:07:43,440 paul fulford from 1745 01:07:46,470 --> 01:07:44,880 mda 1746 01:07:48,870 --> 01:07:46,480 he's going to talk about robotic 1747 01:07:50,950 --> 01:07:48,880 manipulators eva tools 1748 01:07:53,029 --> 01:07:50,960 and collaboration between humans and 1749 01:07:56,470 --> 01:07:53,039 robotics 1750 01:08:02,470 --> 01:07:58,710 the first slide is just an introduction 1751 01:08:05,589 --> 01:08:02,480 to mda in our past 1752 01:08:06,630 --> 01:08:05,599 and maybe just an overarching theme that 1753 01:08:09,270 --> 01:08:06,640 the 1754 01:08:12,069 --> 01:08:09,280 acquisition or or capture of an asteroid 1755 01:08:13,349 --> 01:08:12,079 is not dissimilar at all to capturing a 1756 01:08:16,070 --> 01:08:13,359 spacecraft 1757 01:08:18,070 --> 01:08:16,080 uh be it cooperative or uncooperative 1758 01:08:20,709 --> 01:08:18,080 as early as 1981 1759 01:08:22,070 --> 01:08:20,719 the first canadarm or srms flew on board 1760 01:08:24,550 --> 01:08:22,080 the shuttle 1761 01:08:26,870 --> 01:08:24,560 and did a whole series of different uh 1762 01:08:28,950 --> 01:08:26,880 complex operations in in terms of 1763 01:08:31,269 --> 01:08:28,960 capturing very large both cooperative 1764 01:08:34,070 --> 01:08:31,279 and uncooperative spacecraft 1765 01:08:35,590 --> 01:08:34,080 as well as manipulating uh eva 1766 01:08:38,229 --> 01:08:35,600 crew 1767 01:08:41,030 --> 01:08:38,239 on the leftmost side you can see 1768 01:08:42,950 --> 01:08:41,040 servicing the hubble space telescope 1769 01:08:45,990 --> 01:08:42,960 and then through the years and into the 1770 01:08:48,630 --> 01:08:46,000 2000s we extended different capabilities 1771 01:08:50,390 --> 01:08:48,640 for the canadarm or the 1772 01:08:53,110 --> 01:08:50,400 shuttle manipulator for its return to 1773 01:08:56,309 --> 01:08:53,120 flight we added appendages to do 1774 01:08:58,149 --> 01:08:56,319 a survey of the underside which would be 1775 01:08:59,349 --> 01:08:58,159 quite similar to to that of an asteroid 1776 01:09:02,470 --> 01:08:59,359 mission 1777 01:09:04,309 --> 01:09:02,480 we've provided sensors for the xss-11 1778 01:09:05,990 --> 01:09:04,319 satellite rendezvous mission and 1779 01:09:09,510 --> 01:09:06,000 provided the robots for the orbital 1780 01:09:12,390 --> 01:09:10,390 through 1781 01:09:14,470 --> 01:09:12,400 this last decade and in fact in in the 1782 01:09:16,470 --> 01:09:14,480 last few years the canadian space 1783 01:09:17,910 --> 01:09:16,480 agency's funded 1784 01:09:21,430 --> 01:09:17,920 significant development on the next 1785 01:09:23,189 --> 01:09:21,440 generation canadarm so we have 1786 01:09:24,630 --> 01:09:23,199 different products that that i'll show 1787 01:09:27,269 --> 01:09:24,640 in a few minutes 1788 01:09:30,870 --> 01:09:27,279 and of recent we've been doing a number 1789 01:09:33,110 --> 01:09:30,880 of studies in part with lockheed martin 1790 01:09:36,630 --> 01:09:33,120 trying to figure out how we can 1791 01:09:38,149 --> 01:09:36,640 adapt our robots for 1792 01:09:42,070 --> 01:09:38,159 the physical characteristics of the 1793 01:09:45,510 --> 01:09:43,349 so 1794 01:09:47,189 --> 01:09:45,520 along the theme of 1795 01:09:49,189 --> 01:09:47,199 this is really no different than than 1796 01:09:50,550 --> 01:09:49,199 addressing any other type of 1797 01:09:52,550 --> 01:09:50,560 space vehicle 1798 01:09:55,110 --> 01:09:52,560 that this slide just breaks down the 1799 01:09:57,590 --> 01:09:55,120 concept of operations from you need to 1800 01:09:59,750 --> 01:09:57,600 meet you need to prepare the ev 1801 01:10:01,350 --> 01:09:59,760 a crew for egress 1802 01:10:04,070 --> 01:10:01,360 the crew need to translate be it on 1803 01:10:05,270 --> 01:10:04,080 their own or with robots 1804 01:10:07,110 --> 01:10:05,280 to secure 1805 01:10:09,270 --> 01:10:07,120 the work site 1806 01:10:10,390 --> 01:10:09,280 then to conduct different 1807 01:10:16,229 --> 01:10:10,400 tasks 1808 01:10:21,430 --> 01:10:19,270 in terms of capability in canada and at 1809 01:10:23,990 --> 01:10:21,440 mda there are many high 1810 01:10:26,229 --> 01:10:24,000 trl systems 1811 01:10:29,110 --> 01:10:26,239 that include 1812 01:10:31,110 --> 01:10:29,120 the the functions to capture and birth 1813 01:10:35,270 --> 01:10:31,120 either an orion 1814 01:10:37,270 --> 01:10:35,280 to an arv or an arv to an orion 1815 01:10:38,870 --> 01:10:37,280 the functions of translating crew 1816 01:10:41,830 --> 01:10:38,880 positioning 1817 01:10:45,350 --> 01:10:41,840 and providing the the static stability 1818 01:10:47,510 --> 01:10:45,360 or support when working 1819 01:10:49,510 --> 01:10:47,520 to provide both astronaut and and tool 1820 01:10:51,270 --> 01:10:49,520 stabilization 1821 01:10:55,030 --> 01:10:51,280 uh to do uh 1822 01:10:58,149 --> 01:10:55,040 pre-site uh work and post site so the 1823 01:11:00,870 --> 01:10:58,159 idea of 1824 01:11:01,750 --> 01:11:00,880 doing preparatory or precursor or triage 1825 01:11:04,950 --> 01:11:01,760 work 1826 01:11:07,830 --> 01:11:04,960 with robotics and after eva to continue 1827 01:11:09,590 --> 01:11:07,840 on doing so perhaps to follow on aaron's 1828 01:11:11,830 --> 01:11:09,600 presentation 1829 01:11:13,350 --> 01:11:11,840 a robotic arm could continue to do say 1830 01:11:15,750 --> 01:11:13,360 deep drilling 1831 01:11:21,189 --> 01:11:15,760 after the eva 1832 01:11:26,950 --> 01:11:23,830 this slide i'd like to say the 1833 01:11:28,550 --> 01:11:26,960 today's off nominal will be tomorrow's 1834 01:11:31,030 --> 01:11:28,560 nominal and 1835 01:11:33,350 --> 01:11:31,040 what i mean by that is 1836 01:11:35,030 --> 01:11:33,360 a lot of the operations to date on the 1837 01:11:37,030 --> 01:11:35,040 shuttle and on the space station are 1838 01:11:39,750 --> 01:11:37,040 heavily scripted 1839 01:11:41,910 --> 01:11:39,760 extremely rehearsed well prepared 1840 01:11:43,830 --> 01:11:41,920 all of the what-if scenarios have been 1841 01:11:45,510 --> 01:11:43,840 rehearsed the neutral buoyancy lab tests 1842 01:11:47,750 --> 01:11:45,520 the validation of all of these 1843 01:11:49,910 --> 01:11:47,760 operations as we get further and further 1844 01:11:51,270 --> 01:11:49,920 away from home 1845 01:11:52,870 --> 01:11:51,280 i think it's really important to 1846 01:11:55,270 --> 01:11:52,880 understand that we need to 1847 01:11:56,229 --> 01:11:55,280 abstract those operations up up one 1848 01:11:59,189 --> 01:11:56,239 level 1849 01:12:02,070 --> 01:11:59,199 higher and be prepared for anything and 1850 01:12:03,669 --> 01:12:02,080 having lots of margin gives you 1851 01:12:05,430 --> 01:12:03,679 lots of room to be prepared but we don't 1852 01:12:08,229 --> 01:12:05,440 actually have the luxury of that given 1853 01:12:09,990 --> 01:12:08,239 the size of the spacecraft but what 1854 01:12:12,310 --> 01:12:10,000 robotic systems can do 1855 01:12:14,070 --> 01:12:12,320 is they can provide flexibility 1856 01:12:16,070 --> 01:12:14,080 adaptability 1857 01:12:18,310 --> 01:12:16,080 why don't we try this why don't we try 1858 01:12:21,110 --> 01:12:18,320 that so so just to give you some ideas 1859 01:12:22,550 --> 01:12:21,120 from the past in the upper left corner 1860 01:12:23,990 --> 01:12:22,560 is a thermal blanket repair on the 1861 01:12:26,950 --> 01:12:24,000 shuttle 1862 01:12:29,030 --> 01:12:26,960 that was unplanned and the crew members 1863 01:12:31,189 --> 01:12:29,040 on a portable foot restraint on the end 1864 01:12:33,990 --> 01:12:31,199 of the robotic arm 1865 01:12:35,830 --> 01:12:34,000 the middle one is the 1866 01:12:37,430 --> 01:12:35,840 additional boom sensor that was on 1867 01:12:39,430 --> 01:12:37,440 critical path for shuttle return to 1868 01:12:40,470 --> 01:12:39,440 flight after the last disaster 1869 01:12:43,189 --> 01:12:40,480 and 1870 01:12:44,149 --> 01:12:43,199 was used until the retirement to inspect 1871 01:12:46,550 --> 01:12:44,159 the 1872 01:12:48,229 --> 01:12:46,560 heating tiles underneath 1873 01:12:49,990 --> 01:12:48,239 the one on the right 1874 01:12:52,630 --> 01:12:50,000 was affectionately called the fly 1875 01:12:55,350 --> 01:12:52,640 swatter which i think had to do with um 1876 01:12:58,470 --> 01:12:55,360 just adding an adapted tool to the end 1877 01:13:00,550 --> 01:12:58,480 effector the robot arm to support uh 1878 01:13:03,350 --> 01:13:00,560 deployment of communications 1879 01:13:05,110 --> 01:13:03,360 in the bottom left is the most recent 1880 01:13:06,950 --> 01:13:05,120 robotic refueling mission with goddard 1881 01:13:09,030 --> 01:13:06,960 space flight center 1882 01:13:11,189 --> 01:13:09,040 on the international space station where 1883 01:13:13,030 --> 01:13:11,199 the whole premise of that work is to 1884 01:13:15,590 --> 01:13:13,040 look at uncooperative 1885 01:13:16,830 --> 01:13:15,600 unstructured unplanned type operations 1886 01:13:19,669 --> 01:13:16,840 anything 1887 01:13:22,310 --> 01:13:19,679 from cutting wires to removing both 1888 01:13:24,709 --> 01:13:22,320 captive and non-captive bolts to cutting 1889 01:13:26,870 --> 01:13:24,719 thermal blankets 1890 01:13:29,110 --> 01:13:26,880 the the middle bottom is just to support 1891 01:13:31,189 --> 01:13:29,120 science and and sometimes certain 1892 01:13:33,270 --> 01:13:31,199 instruments things didn't go as planned 1893 01:13:35,030 --> 01:13:33,280 or the situation changed so so you could 1894 01:13:37,110 --> 01:13:35,040 use a robotic arm to 1895 01:13:39,750 --> 01:13:37,120 to orient or locate a different 1896 01:13:43,189 --> 01:13:39,760 spacecraft and then on the the bottom 1897 01:13:45,830 --> 01:13:43,199 right is to survey solar rays 1898 01:13:47,830 --> 01:13:45,840 it's in the crew where it's actually not 1899 01:13:49,110 --> 01:13:47,840 favorable or appropriate to send an eba 1900 01:13:52,070 --> 01:13:49,120 crew member 1901 01:13:52,080 --> 01:13:55,510 okay i'll just leave it there 1902 01:13:58,870 --> 01:13:57,830 so in terms of our latest and greatest 1903 01:14:01,669 --> 01:13:58,880 concepts 1904 01:14:03,750 --> 01:14:01,679 since 2008 we've been working with 1905 01:14:05,590 --> 01:14:03,760 lockheed martin funded by the canadian 1906 01:14:07,430 --> 01:14:05,600 space agency 1907 01:14:08,630 --> 01:14:07,440 and combining the technologies we 1908 01:14:10,149 --> 01:14:08,640 developed for the next generation 1909 01:14:11,510 --> 01:14:10,159 canadarm 1910 01:14:13,030 --> 01:14:11,520 trying to figure out 1911 01:14:16,550 --> 01:14:13,040 different ways to 1912 01:14:18,070 --> 01:14:16,560 adapt our systems for future missions 1913 01:14:19,750 --> 01:14:18,080 and what you can see 1914 01:14:22,709 --> 01:14:19,760 up in the top 1915 01:14:23,750 --> 01:14:22,719 is our next generation canadarm concept 1916 01:14:27,030 --> 01:14:23,760 that has 1917 01:14:28,870 --> 01:14:27,040 extendable passive booms so 1918 01:14:30,470 --> 01:14:28,880 by anchoring either end of the of the 1919 01:14:33,189 --> 01:14:30,480 robot 1920 01:14:35,350 --> 01:14:33,199 and commanding the joints 1921 01:14:38,149 --> 01:14:35,360 through that actuation you're 1922 01:14:40,390 --> 01:14:38,159 you're extending or retracting the booms 1923 01:14:41,830 --> 01:14:40,400 which better storage 1924 01:14:43,510 --> 01:14:41,840 now we're looking at lighter weight 1925 01:14:44,709 --> 01:14:43,520 systems 1926 01:14:46,310 --> 01:14:44,719 to answer 1927 01:14:48,070 --> 01:14:46,320 one of the questions earlier from one of 1928 01:14:49,990 --> 01:14:48,080 the earlier presentations 1929 01:14:52,630 --> 01:14:50,000 we're studying the orion vehicle 1930 01:14:54,310 --> 01:14:52,640 there there's three possible areas right 1931 01:14:57,430 --> 01:14:54,320 now to date 1932 01:14:58,950 --> 01:14:57,440 one is the pantry module one is called a 1933 01:15:01,750 --> 01:14:58,960 a sim bay 1934 01:15:02,870 --> 01:15:01,760 which is on the exterior of the service 1935 01:15:04,630 --> 01:15:02,880 module 1936 01:15:05,910 --> 01:15:04,640 and then there's a possibility for 1937 01:15:07,590 --> 01:15:05,920 additional room 1938 01:15:09,750 --> 01:15:07,600 inside the 1939 01:15:11,590 --> 01:15:09,760 the service module as well each have 1940 01:15:13,110 --> 01:15:11,600 have their own unique constraints we're 1941 01:15:14,709 --> 01:15:13,120 trying to study them all 1942 01:15:16,229 --> 01:15:14,719 and come up with a solution that could 1943 01:15:18,470 --> 01:15:16,239 potentially work in them all depending 1944 01:15:20,390 --> 01:15:18,480 on the scenario and so far it's looking 1945 01:15:21,350 --> 01:15:20,400 favorable in terms of 1946 01:15:23,030 --> 01:15:21,360 volume 1947 01:15:27,189 --> 01:15:23,040 we would still need to study mass and 1948 01:15:31,750 --> 01:15:28,470 in terms of 1949 01:15:35,590 --> 01:15:31,760 tools and aids 1950 01:15:38,630 --> 01:15:35,600 both the robots that canada have built 1951 01:15:41,030 --> 01:15:38,640 and the tools that canada have built 1952 01:15:42,070 --> 01:15:41,040 have accommodated a wide variety of 1953 01:15:44,229 --> 01:15:42,080 tools 1954 01:15:46,709 --> 01:15:44,239 developed not only in canada but but 1955 01:15:48,870 --> 01:15:46,719 around the world 1956 01:15:51,110 --> 01:15:48,880 the robotic refueling mission is one 1957 01:15:53,270 --> 01:15:51,120 example where there's tools developed at 1958 01:15:55,590 --> 01:15:53,280 goddard space flight center 1959 01:15:59,350 --> 01:15:55,600 that the robots can adapt to and the 1960 01:16:01,110 --> 01:15:59,360 whole idea of having a multi-purpose 1961 01:16:03,110 --> 01:16:01,120 robotic system that's flexible and 1962 01:16:05,430 --> 01:16:03,120 adaptable 1963 01:16:07,590 --> 01:16:05,440 modular reconfigurable all of those 1964 01:16:09,910 --> 01:16:07,600 attributes i think will lend themselves 1965 01:16:11,669 --> 01:16:09,920 quite well and we've done a lot of 1966 01:16:13,350 --> 01:16:11,679 different operations to date and we'll 1967 01:16:14,550 --> 01:16:13,360 continue to do so 1968 01:16:16,470 --> 01:16:14,560 some of the more novel ones with the 1969 01:16:18,550 --> 01:16:16,480 next generation canadarm 1970 01:16:20,390 --> 01:16:18,560 have also dealt with satellite refueling 1971 01:16:23,189 --> 01:16:20,400 and the transport 1972 01:16:25,830 --> 01:16:23,199 burning of fluids and stuff 1973 01:16:27,110 --> 01:16:25,840 this is my last slide 1974 01:16:28,630 --> 01:16:27,120 and 1975 01:16:30,470 --> 01:16:28,640 for those that weren't at the morning 1976 01:16:32,709 --> 01:16:30,480 session this could be considered a 1977 01:16:35,750 --> 01:16:32,719 little cheeky but 1978 01:16:38,390 --> 01:16:35,760 it's also showing mda's concept for 1979 01:16:39,590 --> 01:16:38,400 an alternate idea for capturing of an 1980 01:16:42,310 --> 01:16:39,600 asteroid 1981 01:16:45,430 --> 01:16:42,320 and this image is intended to represent 1982 01:16:47,990 --> 01:16:45,440 uh the cooperative efforts between 1983 01:16:49,910 --> 01:16:48,000 a robot and the eva crew you can 1984 01:16:51,750 --> 01:16:49,920 actually see that other structure where 1985 01:16:54,390 --> 01:16:51,760 crew can climb all over 1986 01:16:56,390 --> 01:16:54,400 those robotic limbs and you can have a 1987 01:16:59,110 --> 01:16:56,400 manipulator mounted to the orion vehicle 1988 01:17:00,470 --> 01:16:59,120 or to the arv and and provide tools 1989 01:17:02,630 --> 01:17:00,480 provide 1990 01:17:03,750 --> 01:17:02,640 stability platforms to do different 1991 01:17:05,510 --> 01:17:03,760 survey 1992 01:17:07,990 --> 01:17:05,520 camera views uh 1993 01:17:10,070 --> 01:17:08,000 whatever is required 1994 01:17:18,390 --> 01:17:10,080 and with that i'll i'll take any 1995 01:17:22,390 --> 01:17:20,550 traditionally the canada canada arm has 1996 01:17:24,229 --> 01:17:22,400 been operated by an iba crew member in 1997 01:17:25,590 --> 01:17:24,239 support of eva crew and what i haven't 1998 01:17:27,110 --> 01:17:25,600 seen here 1999 01:17:28,870 --> 01:17:27,120 under the premise that this mission 2000 01:17:31,830 --> 01:17:28,880 would have two crew members on board 2001 01:17:34,229 --> 01:17:31,840 who's operating the robot 2002 01:17:36,149 --> 01:17:34,239 and you know hearkening to the european 2003 01:17:37,910 --> 01:17:36,159 robotic arm which at one point in time 2004 01:17:40,390 --> 01:17:37,920 had an eva 2005 01:17:41,510 --> 01:17:40,400 uh operated capability on it is that 2006 01:17:44,470 --> 01:17:41,520 something that you would consider 2007 01:17:46,950 --> 01:17:44,480 hosting on on this mission as well 2008 01:17:48,870 --> 01:17:46,960 uh yeah yes so under consideration is 2009 01:17:49,990 --> 01:17:48,880 the whole cherry picker idea where there 2010 01:17:51,990 --> 01:17:50,000 would be a 2011 01:17:53,430 --> 01:17:52,000 control console as part of the portable 2012 01:17:55,270 --> 01:17:53,440 foot restraint 2013 01:17:56,550 --> 01:17:55,280 that's under consideration 2014 01:17:58,070 --> 01:17:56,560 um 2015 01:17:59,430 --> 01:17:58,080 and i'm not sure if everyone is aware 2016 01:18:01,669 --> 01:17:59,440 but the majority of the robotic 2017 01:18:04,550 --> 01:18:01,679 operations on the iss are now done on 2018 01:18:06,470 --> 01:18:04,560 the ground so there's also ground-based 2019 01:18:07,430 --> 01:18:06,480 operations where if anything they're 2020 01:18:09,990 --> 01:18:07,440 done 2021 01:18:11,590 --> 01:18:10,000 when the crew is asleep 2022 01:18:16,390 --> 01:18:11,600 to 2023 01:18:19,590 --> 01:18:16,400 on the station so 2024 01:18:21,270 --> 01:18:19,600 um given the locations here uh it would 2025 01:18:23,270 --> 01:18:21,280 be quite feasible especially using 2026 01:18:25,030 --> 01:18:23,280 different varying levels of autonomy you 2027 01:18:27,189 --> 01:18:25,040 can have direct tail operation you can 2028 01:18:29,270 --> 01:18:27,199 have scripts you can have scripts with 2029 01:18:31,189 --> 01:18:29,280 supervisory control 2030 01:18:32,950 --> 01:18:31,199 um all those different types of uh 2031 01:18:34,950 --> 01:18:32,960 autonomy i think would support that as 2032 01:18:36,870 --> 01:18:34,960 well so you could have it on the ground 2033 01:18:39,110 --> 01:18:36,880 if it made sense you could have it in 2034 01:18:40,470 --> 01:18:39,120 the orion vehicle you could also have a 2035 01:18:42,310 --> 01:18:40,480 cherry picker 2036 01:18:44,470 --> 01:18:42,320 type eva crew member commanding and 2037 01:18:45,910 --> 01:18:44,480 controlling 2038 01:18:48,070 --> 01:18:45,920 there might be some combination where 2039 01:18:49,510 --> 01:18:48,080 you use the ground to move it to some 2040 01:18:50,709 --> 01:18:49,520 position and then maybe the crew does 2041 01:18:51,990 --> 01:18:50,719 some fine 2042 01:18:54,550 --> 01:18:52,000 you know 2043 01:18:55,510 --> 01:18:54,560 inch left or inch ride or whatever other 2044 01:18:57,110 --> 01:18:55,520 questions 2045 01:19:00,470 --> 01:18:57,120 what do you think are the worst load 2046 01:19:04,070 --> 01:19:01,830 what what do you think are the worst 2047 01:19:05,910 --> 01:19:04,080 load cases when you're uh when you're 2048 01:19:07,350 --> 01:19:05,920 designing an arm like that for for this 2049 01:19:11,510 --> 01:19:07,360 mission 2050 01:19:13,669 --> 01:19:11,520 uh stopping a large mass 2051 01:19:15,669 --> 01:19:13,679 that would be the worst scenario either 2052 01:19:17,990 --> 01:19:15,679 either 2053 01:19:21,830 --> 01:19:18,000 stopping its rate or its linear or all 2054 01:19:25,750 --> 01:19:21,840 six degree of freedom translation 2055 01:19:27,510 --> 01:19:25,760 um that's that's tied to time so 2056 01:19:29,590 --> 01:19:27,520 what its rate is how quickly the arm can 2057 01:19:32,229 --> 01:19:29,600 move how quickly it can capture and then 2058 01:19:36,709 --> 01:19:32,239 decelerate it to a zero velocity those 2059 01:19:40,709 --> 01:19:38,870 any other questions i think there's one 2060 01:19:42,310 --> 01:19:40,719 in the back i'll just 2061 01:19:44,070 --> 01:19:42,320 help you with the answer also to say 2062 01:19:46,470 --> 01:19:44,080 that uh probably the highest load case 2063 01:19:48,310 --> 01:19:46,480 would be testing it on the ground 2064 01:19:50,229 --> 01:19:48,320 right that ends up usually lots of time 2065 01:19:51,990 --> 01:19:50,239 being the driver you end up flying a 2066 01:19:54,470 --> 01:19:52,000 heavier arm because you wanted a 1g 2067 01:19:55,830 --> 01:19:54,480 testable or not i know it's a classic 2068 01:19:58,390 --> 01:19:55,840 trade that 2069 01:20:01,510 --> 01:19:58,400 roboticists have to make 2070 01:20:03,669 --> 01:20:01,520 yeah and it's worth noting that 2071 01:20:05,030 --> 01:20:03,679 many of our manipulators can't support 2072 01:20:08,390 --> 01:20:05,040 their own 2073 01:20:14,470 --> 01:20:08,400 mass in 1g environment we have different 2074 01:20:14,480 --> 01:20:20,629 thank you very much sir thank you 2075 01:20:24,870 --> 01:20:22,870 so our next presentation uh this is a 2076 01:20:26,870 --> 01:20:24,880 virtual presentation uh 2077 01:20:28,550 --> 01:20:26,880 the presenter is dave aiken he's from 2078 01:20:30,229 --> 01:20:28,560 the university of maryland 2079 01:20:31,990 --> 01:20:30,239 and dave's going to talk about a 2080 01:20:34,229 --> 01:20:32,000 free-flying camera for asteroid 2081 01:20:35,270 --> 01:20:34,239 inspection tether systems to anchor the 2082 01:20:37,110 --> 01:20:35,280 crew and 2083 01:20:39,750 --> 01:20:37,120 space utility vehicle 2084 01:20:42,070 --> 01:20:39,760 um dave are you online 2085 01:20:44,950 --> 01:20:42,080 i am online however i don't see anything 2086 01:20:48,629 --> 01:20:44,960 on uh adobe connect except click here 2087 01:20:52,070 --> 01:20:50,310 do you have the slides yourself the 2088 01:20:53,430 --> 01:20:52,080 slides are up here in the room in 2089 01:20:55,350 --> 01:20:53,440 houston 2090 01:21:03,750 --> 01:20:55,360 okay let me just uh go 2091 01:21:08,229 --> 01:21:05,350 um 2092 01:21:10,870 --> 01:21:08,239 so what i'm going to talk about today 2093 01:21:13,030 --> 01:21:10,880 are you ready we are ready thanks 2094 01:21:14,950 --> 01:21:13,040 okay what i'm going to talk about today 2095 01:21:16,950 --> 01:21:14,960 are three different appropriate 2096 01:21:19,030 --> 01:21:16,960 technologies that we've been detesting 2097 01:21:20,629 --> 01:21:19,040 here in the space systems lab 2098 01:21:22,709 --> 01:21:20,639 at the university of maryland that i 2099 01:21:25,110 --> 01:21:22,719 think would have rare utility 2100 01:21:26,390 --> 01:21:25,120 in an asteroid mission 2101 01:21:35,270 --> 01:21:26,400 the 2102 01:21:38,390 --> 01:21:35,280 um 2103 01:21:43,430 --> 01:21:38,400 we actually developed this for 2104 01:21:47,910 --> 01:21:44,149 the 2105 01:21:52,470 --> 01:21:50,709 inspire program which is an outgrowth of 2106 01:21:54,310 --> 01:21:52,480 the spheres 2107 01:21:56,790 --> 01:21:54,320 and it was called exospheres and the 2108 01:21:59,990 --> 01:21:56,800 intent is to come up with 2109 01:22:01,590 --> 01:22:00,000 a small free flying vehicle 2110 01:22:04,070 --> 01:22:01,600 that is 2111 01:22:05,830 --> 01:22:04,080 capable of being certified to 2112 01:22:07,510 --> 01:22:05,840 operationally 2113 01:22:09,510 --> 01:22:07,520 and routinely 2114 01:22:11,910 --> 01:22:09,520 do sorties around the outside of 2115 01:22:13,750 --> 01:22:11,920 international space station 2116 01:22:15,430 --> 01:22:13,760 we actually have teamed up teamed up 2117 01:22:17,750 --> 01:22:15,440 with arizona state 2118 01:22:19,110 --> 01:22:17,760 and looked at the utility of a vehicle 2119 01:22:20,790 --> 01:22:19,120 of this class 2120 01:22:21,910 --> 01:22:20,800 at an asteroid 2121 01:22:23,510 --> 01:22:21,920 as 2122 01:22:25,510 --> 01:22:23,520 adjunct to a human 2123 01:22:27,830 --> 01:22:25,520 mission to do things like do 2124 01:22:29,350 --> 01:22:27,840 magnetometer surveys and 2125 01:22:30,750 --> 01:22:29,360 close inspection 2126 01:22:33,830 --> 01:22:30,760 mapping and 2127 01:22:37,270 --> 01:22:33,840 photomosaicing and issues like that 2128 01:22:40,709 --> 01:22:37,280 it's a 50 kilogram cold gas vehicle 2129 01:22:42,790 --> 01:22:40,719 using co2 as the propellant 2130 01:22:45,110 --> 01:22:42,800 we sized it for 2131 01:22:47,270 --> 01:22:45,120 an eight hour sortie at international 2132 01:22:48,149 --> 01:22:47,280 space station it has about 40 meters per 2133 01:22:51,110 --> 01:22:48,159 second 2134 01:22:53,830 --> 01:22:51,120 delta v capability total 2135 01:22:56,229 --> 01:22:53,840 we wanted it to be easily recon uh 2136 01:22:59,350 --> 01:22:56,239 figurable for particular missions 2137 01:23:00,310 --> 01:22:59,360 so the 50 kilogram vehicle is the poor 2138 01:23:02,070 --> 01:23:00,320 vehicle 2139 01:23:03,990 --> 01:23:02,080 and there are fittings on each end for 2140 01:23:04,830 --> 01:23:04,000 what we call amps which are advanced 2141 01:23:07,990 --> 01:23:04,840 mission 2142 01:23:09,990 --> 01:23:08,000 packages so you can dock into one on the 2143 01:23:12,070 --> 01:23:10,000 front and one on the back 2144 01:23:13,430 --> 01:23:12,080 we can also use that for additional 2145 01:23:16,070 --> 01:23:13,440 capability 2146 01:23:17,350 --> 01:23:16,080 in terms of more propellant and power 2147 01:23:21,030 --> 01:23:17,360 for longer 2148 01:23:24,229 --> 01:23:21,040 duration or longer distance missions 2149 01:23:26,390 --> 01:23:24,239 the configuration the top image shows is 2150 01:23:27,750 --> 01:23:26,400 our space station inspection 2151 01:23:28,870 --> 01:23:27,760 configuration 2152 01:23:31,990 --> 01:23:28,880 with 2153 01:23:33,750 --> 01:23:32,000 basically a suite of cameras 2154 01:23:36,070 --> 01:23:33,760 both for navigation and for close 2155 01:23:40,310 --> 01:23:36,080 inspection of the external structure of 2156 01:23:43,270 --> 01:23:40,320 station this would also be viable on uh 2157 01:23:44,870 --> 01:23:43,280 asteroidal uh photomosaicing and the 2158 01:23:46,229 --> 01:23:44,880 arizona state folks have come up with a 2159 01:23:48,950 --> 01:23:46,239 lot of other 2160 01:23:51,590 --> 01:23:48,960 instrumentation that could be put into 2161 01:23:55,350 --> 01:23:51,600 emission packages the system is capable 2162 01:23:58,629 --> 01:23:55,360 of being based externally refueling and 2163 01:24:00,950 --> 01:23:58,639 resupplying autonomously outside 2164 01:24:02,709 --> 01:24:00,960 we can also change out the mission 2165 01:24:04,390 --> 01:24:02,719 packages by itself 2166 01:24:05,510 --> 01:24:04,400 so you don't have to bring it in and 2167 01:24:07,350 --> 01:24:05,520 play with it 2168 01:24:09,350 --> 01:24:07,360 it's it basically is good for multiple 2169 01:24:12,709 --> 01:24:09,360 sorties 2170 01:24:14,950 --> 01:24:12,719 so we have a prototype not shown here 2171 01:24:17,189 --> 01:24:14,960 which is 2172 01:24:19,990 --> 01:24:17,199 running on our air bearing table and we 2173 01:24:21,430 --> 01:24:20,000 have a duplicate version called euclid 2174 01:24:24,950 --> 01:24:21,440 which works in our neutral buoyancy 2175 01:24:28,310 --> 01:24:24,960 facility and gives us the ability to do 2176 01:24:29,350 --> 01:24:28,320 fairly high fidelity extended navigation 2177 01:24:31,750 --> 01:24:29,360 and 2178 01:24:33,669 --> 01:24:31,760 mobility studies 2179 01:24:35,510 --> 01:24:33,679 so this would basically go with the crew 2180 01:24:37,189 --> 01:24:35,520 to the asteroid and give the ability to 2181 01:24:39,030 --> 01:24:37,199 do a lot of interaction 2182 01:24:42,070 --> 01:24:39,040 locally 2183 01:24:43,830 --> 01:24:42,080 we also think this is extendable to 2184 01:24:46,070 --> 01:24:43,840 sampling 2185 01:24:46,870 --> 01:24:46,080 under an air force program we developed 2186 01:24:55,030 --> 01:24:46,880 a 2187 01:24:58,070 --> 01:24:55,040 centimeters long seven degrees of 2188 01:24:59,910 --> 01:24:58,080 freedom and five kilograms total mass 2189 01:25:02,709 --> 01:24:59,920 and it's capable of simple sampling 2190 01:25:04,790 --> 01:25:02,719 instrument placement and uh 2191 01:25:07,910 --> 01:25:04,800 tasks such as that 2192 01:25:09,270 --> 01:25:07,920 um and so that i should say i'm on page 2193 01:25:10,709 --> 01:25:09,280 three now 2194 01:25:13,830 --> 01:25:10,719 if you didn't figure that out so that 2195 01:25:15,990 --> 01:25:13,840 would be a useful tool as well 2196 01:25:18,070 --> 01:25:16,000 on page four 2197 01:25:20,550 --> 01:25:18,080 we were interested in restraining 2198 01:25:21,830 --> 01:25:20,560 mobility at asteroidal gravitational 2199 01:25:24,070 --> 01:25:21,840 levels 2200 01:25:27,030 --> 01:25:24,080 so this is a concept of 2201 01:25:29,030 --> 01:25:27,040 a three-point restraint to fixed 2202 01:25:31,430 --> 01:25:29,040 locations uh 2203 01:25:33,189 --> 01:25:31,440 and being able to have programmable 2204 01:25:34,709 --> 01:25:33,199 tension in the cables 2205 01:25:37,430 --> 01:25:34,719 to be able to 2206 01:25:40,870 --> 01:25:37,440 adjust the downforce to whatever is 2207 01:25:42,470 --> 01:25:40,880 appropriate for the task you're doing 2208 01:25:44,709 --> 01:25:42,480 you can see patterns down here that 2209 01:25:46,390 --> 01:25:44,719 we've looked at for handoffs between 2210 01:25:48,629 --> 01:25:46,400 cables to be able to maintain a 2211 01:25:50,229 --> 01:25:48,639 three-point restraint 2212 01:25:52,470 --> 01:25:50,239 throughout 2213 01:25:54,629 --> 01:25:52,480 effectively if you have depending on the 2214 01:25:55,910 --> 01:25:54,639 size of the asteroid and the the length 2215 01:25:58,310 --> 01:25:55,920 of the cables 2216 01:26:00,470 --> 01:25:58,320 and the topology 2217 01:26:03,590 --> 01:26:00,480 you can cover the surface of an asteroid 2218 01:26:05,750 --> 01:26:03,600 with a sort of a restrained approach 2219 01:26:07,590 --> 01:26:05,760 page five 2220 01:26:08,870 --> 01:26:07,600 shows some underwater testing that we've 2221 01:26:11,669 --> 01:26:08,880 done 2222 01:26:13,270 --> 01:26:11,679 uh in our neutral buoyancy facility 2223 01:26:15,910 --> 01:26:13,280 so the test subject here is on a 2224 01:26:18,870 --> 01:26:15,920 treadmill we were actually interested 2225 01:26:20,070 --> 01:26:18,880 more or less as an ancillary research 2226 01:26:22,950 --> 01:26:20,080 topic 2227 01:26:23,830 --> 01:26:22,960 of how low can you go in gravitational 2228 01:26:25,030 --> 01:26:23,840 level 2229 01:26:28,870 --> 01:26:25,040 and still 2230 01:26:30,310 --> 01:26:28,880 um reasonably use a walking or 2231 01:26:33,030 --> 01:26:30,320 other 2232 01:26:35,030 --> 01:26:33,040 two-legged gait for mobility 2233 01:26:36,629 --> 01:26:35,040 so what we have are three cables to the 2234 01:26:38,310 --> 01:26:36,639 test subject 2235 01:26:41,270 --> 01:26:38,320 if you look carefully at the image you 2236 01:26:43,510 --> 01:26:41,280 can see little round dots on his legs 2237 01:26:45,669 --> 01:26:43,520 and a green light that's showing through 2238 01:26:48,310 --> 01:26:45,679 about his belly button 2239 01:26:50,709 --> 01:26:48,320 that is a 12 camera equal assist motion 2240 01:26:53,590 --> 01:26:50,719 tracking system we have in the tank 2241 01:26:55,910 --> 01:26:53,600 so we can get sub-centimeter resolution 2242 01:26:58,149 --> 01:26:55,920 at 50 to 100 hertz on an effectively 2243 01:27:00,709 --> 01:26:58,159 unlimited number of targets 2244 01:27:01,910 --> 01:27:00,719 and that allows us to get very fine data 2245 01:27:04,390 --> 01:27:01,920 on uh 2246 01:27:06,870 --> 01:27:04,400 details of gate as a function of gravity 2247 01:27:09,350 --> 01:27:06,880 and which is basically the same as 2248 01:27:11,110 --> 01:27:09,360 uh the level of downforce you dial in on 2249 01:27:12,950 --> 01:27:11,120 the restraint system 2250 01:27:16,470 --> 01:27:12,960 uh 2251 01:27:19,030 --> 01:27:16,480 so with verify that this system works 2252 01:27:21,830 --> 01:27:19,040 and uh i think that it's uh 2253 01:27:23,350 --> 01:27:21,840 now actually we've talked about i i have 2254 01:27:24,790 --> 01:27:23,360 do a lot of collaborative stuff with the 2255 01:27:27,189 --> 01:27:24,800 folks in uh 2256 01:27:29,510 --> 01:27:27,199 the astronomy and space sciences uh 2257 01:27:31,110 --> 01:27:29,520 division here michael o'hearn from the 2258 01:27:33,030 --> 01:27:31,120 deep impact probe 2259 01:27:34,229 --> 01:27:33,040 and jessica sunshine and those folks and 2260 01:27:35,910 --> 01:27:34,239 they actually 2261 01:27:37,750 --> 01:27:35,920 are concerned that there's not going to 2262 01:27:40,550 --> 01:27:37,760 be a that most of these are going to be 2263 01:27:42,390 --> 01:27:40,560 loose aggregates rather than uh rocks 2264 01:27:44,229 --> 01:27:42,400 so that's an issue that's beyond my 2265 01:27:45,270 --> 01:27:44,239 opinion 2266 01:27:47,350 --> 01:27:45,280 uh 2267 01:27:49,430 --> 01:27:47,360 slide six 2268 01:27:53,030 --> 01:27:49,440 represents uh 2269 01:27:54,870 --> 01:27:53,040 uh an an instantiation of about 20 years 2270 01:27:57,510 --> 01:27:54,880 of research 2271 01:27:59,510 --> 01:27:57,520 on single person what we call space 2272 01:28:01,270 --> 01:27:59,520 utility vehicles 2273 01:28:03,590 --> 01:28:01,280 largely to prevent them from being 2274 01:28:05,430 --> 01:28:03,600 called man in a can which i think is 2275 01:28:08,870 --> 01:28:05,440 probably one of the reasons why no one's 2276 01:28:13,189 --> 01:28:11,350 one approach we've taken from after a 2277 01:28:16,229 --> 01:28:13,199 lot of 2278 01:28:18,390 --> 01:28:16,239 trades is to unlike say flexcraft which 2279 01:28:20,390 --> 01:28:18,400 is out of nasa marshall 2280 01:28:23,270 --> 01:28:20,400 to basically incorporate 2281 01:28:25,669 --> 01:28:23,280 hard suit ax5 type elements 2282 01:28:27,350 --> 01:28:25,679 that allow us to maintain both 2283 01:28:29,910 --> 01:28:27,360 particulate and 2284 01:28:31,669 --> 01:28:29,920 to a lesser extent radiation shielding 2285 01:28:35,910 --> 01:28:31,679 while providing 2286 01:28:38,950 --> 01:28:35,920 the occupant with eyes and hands on task 2287 01:28:40,310 --> 01:28:38,960 so it's actually a hybrid system between 2288 01:28:47,510 --> 01:28:40,320 the 2289 01:28:51,830 --> 01:28:49,270 so we've looked at this for a variety of 2290 01:28:53,189 --> 01:28:51,840 tasks again if you have shifting 2291 01:28:55,510 --> 01:28:53,199 particulate 2292 01:28:56,790 --> 01:28:55,520 structure to the asteroids you're 2293 01:28:58,790 --> 01:28:56,800 approaching 2294 01:29:01,990 --> 01:28:58,800 this would be far safer than going up to 2295 01:29:04,310 --> 01:29:02,000 it in a soft suit or hybrid suit 2296 01:29:06,550 --> 01:29:04,320 in terms of making sure that you don't 2297 01:29:10,070 --> 01:29:06,560 get trapped or you don't get uh 2298 01:29:11,510 --> 01:29:10,080 have problems with uh 2299 01:29:12,790 --> 01:29:11,520 impact 2300 01:29:16,070 --> 01:29:12,800 the 2301 01:29:17,910 --> 01:29:16,080 this 2302 01:29:19,830 --> 01:29:17,920 would make a great deal of sense as the 2303 01:29:21,270 --> 01:29:19,840 asteroid exploration module people have 2304 01:29:23,189 --> 01:29:21,280 been talking about 2305 01:29:25,110 --> 01:29:23,199 so the idea is rather than have it just 2306 01:29:27,669 --> 01:29:25,120 be a module that has an airlock it would 2307 01:29:30,390 --> 01:29:27,679 be one that would support an airlock or 2308 01:29:32,790 --> 01:29:30,400 be usable as an airlock would probably 2309 01:29:35,270 --> 01:29:32,800 have a pair of suit ports 2310 01:29:36,709 --> 01:29:35,280 so you don't have to lock out on nominal 2311 01:29:40,709 --> 01:29:36,719 operations 2312 01:29:43,510 --> 01:29:40,719 and provide a variety of robotic and uh 2313 01:29:45,990 --> 01:29:43,520 wall mounted uh suit manipu 2314 01:29:48,470 --> 01:29:46,000 arms for manipulation 2315 01:29:49,990 --> 01:29:48,480 uh so that you don't actually do an eva 2316 01:29:51,189 --> 01:29:50,000 unless it's something that particularly 2317 01:29:54,149 --> 01:29:51,199 needs 2318 01:30:01,270 --> 01:29:54,159 the mobility or extra 2319 01:30:04,950 --> 01:30:03,590 so in 2320 01:30:07,510 --> 01:30:04,960 that's pretty much what i was going to 2321 01:30:09,270 --> 01:30:07,520 say and slide seven 2322 01:30:11,189 --> 01:30:09,280 uh that you could launch it with the 2323 01:30:13,830 --> 01:30:11,199 retrieval mission it 2324 01:30:15,430 --> 01:30:13,840 could orion could dock to it and use it 2325 01:30:17,990 --> 01:30:15,440 as an air lock 2326 01:30:18,950 --> 01:30:18,000 also through the suit ports 2327 01:30:21,430 --> 01:30:18,960 you could 2328 01:30:23,750 --> 01:30:21,440 detach from orion and use it in 2329 01:30:25,189 --> 01:30:23,760 preflight mode with the coal gas 2330 01:30:28,390 --> 01:30:25,199 thruster system 2331 01:30:30,070 --> 01:30:28,400 or use it at like a small mmsev 2332 01:30:32,470 --> 01:30:30,080 with one person inside supporting the 2333 01:30:34,709 --> 01:30:32,480 person in a suit 2334 01:30:37,350 --> 01:30:34,719 and the nice thing about a vehicle like 2335 01:30:38,709 --> 01:30:37,360 this because of the dexter's robotics 2336 01:30:41,350 --> 01:30:38,719 after the 2337 01:30:43,990 --> 01:30:41,360 orion leaves you can use it in either 2338 01:30:46,550 --> 01:30:44,000 autonomous or tally operated mode uh to 2339 01:30:47,669 --> 01:30:46,560 continue the exploration um actually if 2340 01:30:49,189 --> 01:30:47,679 you get 2341 01:30:51,030 --> 01:30:49,199 10 tickets there before the crew does 2342 01:30:53,430 --> 01:30:51,040 you could tell they operated to start 2343 01:30:55,910 --> 01:30:53,440 the sample collection process and have a 2344 01:30:58,629 --> 01:30:55,920 case of samples ready when this uh crew 2345 01:31:01,990 --> 01:30:58,639 gets there so by my timer i'm about at a 2346 01:31:03,750 --> 01:31:02,000 time uh the last slide is just a way of 2347 01:31:06,149 --> 01:31:03,760 contacting me if anybody has any 2348 01:31:09,189 --> 01:31:06,159 interest or whatever and if i have time 2349 01:31:11,430 --> 01:31:09,199 i'd be happy to take questions 2350 01:31:12,709 --> 01:31:11,440 any questions in the room 2351 01:31:15,030 --> 01:31:12,719 yeah i think we have time for one 2352 01:31:17,750 --> 01:31:15,040 question yes 2353 01:31:20,470 --> 01:31:17,760 or maybe one question from online 2354 01:31:21,910 --> 01:31:20,480 well i have one question on your uh 2355 01:31:24,070 --> 01:31:21,920 portable camera system the first 2356 01:31:26,310 --> 01:31:24,080 technology you discussed does that 2357 01:31:28,629 --> 01:31:26,320 technology have the capability to be 2358 01:31:31,030 --> 01:31:28,639 refueled robotically 2359 01:31:31,990 --> 01:31:31,040 um so that it can be reused time after 2360 01:31:33,350 --> 01:31:32,000 time 2361 01:31:35,270 --> 01:31:33,360 or do you have to bring it inside to 2362 01:31:37,189 --> 01:31:35,280 re-service it with human interaction 2363 01:31:38,709 --> 01:31:37,199 yeah we have a 2364 01:31:40,950 --> 01:31:38,719 service 2365 01:31:43,189 --> 01:31:40,960 system designed 2366 01:31:45,189 --> 01:31:43,199 actually the the particular design we 2367 01:31:46,310 --> 01:31:45,199 have is for station but it's adaptable 2368 01:31:48,149 --> 01:31:46,320 to anything 2369 01:31:50,149 --> 01:31:48,159 so that 2370 01:31:51,990 --> 01:31:50,159 when you dock to it 2371 01:31:54,149 --> 01:31:52,000 fluid couples couplings are made 2372 01:31:56,629 --> 01:31:54,159 electrical couplings are made and you 2373 01:31:57,430 --> 01:31:56,639 can recharge the batteries and resupply 2374 01:31:58,950 --> 01:31:57,440 the 2375 01:32:00,390 --> 01:31:58,960 coal gas system 2376 01:32:03,350 --> 01:32:00,400 while you're docked 2377 01:32:05,350 --> 01:32:03,360 beautiful what so you said that the 2378 01:32:07,669 --> 01:32:05,360 excursion vehicle was 50 kilograms 2379 01:32:09,990 --> 01:32:07,679 what's the mass of the docking 2380 01:32:11,270 --> 01:32:10,000 system and resurfacing 2381 01:32:13,510 --> 01:32:11,280 um 2382 01:32:15,750 --> 01:32:13,520 right now it's probably about 200 2383 01:32:19,750 --> 01:32:15,760 kilograms but most of that 2384 01:32:21,990 --> 01:32:19,760 was a long uh was basically um 2385 01:32:24,870 --> 01:32:22,000 enough propellant to do something like 2386 01:32:27,189 --> 01:32:24,880 50 sorties on space station 2387 01:32:28,229 --> 01:32:27,199 uh so it's basically most of the mass is 2388 01:32:30,470 --> 01:32:28,239 in uh 2389 01:32:32,470 --> 01:32:30,480 co2 canisters 2390 01:32:35,030 --> 01:32:32,480 so if you had a smaller number of 2391 01:32:37,350 --> 01:32:35,040 sorties planned you could uh pare down 2392 01:32:39,430 --> 01:32:37,360 the docking station considerably right 2393 01:32:41,350 --> 01:32:39,440 the actual interface is about 20 2394 01:32:42,629 --> 01:32:41,360 kilograms 2395 01:32:45,350 --> 01:32:42,639 thank you 2396 01:32:47,189 --> 01:32:45,360 any other questions 2397 01:32:53,030 --> 01:32:47,199 thank you very much doctor thanks dave 2398 01:32:58,070 --> 01:32:55,590 so our next presentation is rob mueller 2399 01:32:59,990 --> 01:32:58,080 from the kennedy space center and rob's 2400 01:33:02,390 --> 01:33:00,000 uh presentation is entitled 2401 01:33:04,229 --> 01:33:02,400 electrodynamic dust shield 2402 01:33:07,430 --> 01:33:04,239 pneumatic regolith wraith and a 2403 01:33:08,950 --> 01:33:07,440 percussive evacuation shovel so 2404 01:33:11,189 --> 01:33:08,960 looking forward to hearing 2405 01:33:13,270 --> 01:33:11,199 great thank you good afternoon 2406 01:33:16,070 --> 01:33:13,280 i'd like to start by acknowledging uh my 2407 01:33:20,149 --> 01:33:16,080 co-investigators here dr carlos kaye and 2408 01:33:22,149 --> 01:33:20,159 dr jim montevani they're both in the 2409 01:33:23,750 --> 01:33:22,159 swamp works which is an innovation lab 2410 01:33:25,430 --> 01:33:23,760 that we have at kennedy space center 2411 01:33:26,870 --> 01:33:25,440 it's part of the surface systems office 2412 01:33:29,430 --> 01:33:26,880 it's dedicated to 2413 01:33:31,590 --> 01:33:29,440 lean development and 2414 01:33:34,229 --> 01:33:31,600 providing new technologies for human and 2415 01:33:35,669 --> 01:33:34,239 robotic space exploration 2416 01:33:40,870 --> 01:33:35,679 so 2417 01:33:43,430 --> 01:33:40,880 three technologies uh in our portfolio 2418 01:33:44,470 --> 01:33:43,440 of technology development because they 2419 01:33:46,629 --> 01:33:44,480 seem to be 2420 01:33:48,470 --> 01:33:46,639 rather relevant to the asteroid 2421 01:33:50,470 --> 01:33:48,480 initiative when the rfi came out we 2422 01:33:53,350 --> 01:33:50,480 looked at what we had going on we said 2423 01:33:55,270 --> 01:33:53,360 well these technologies seem like they 2424 01:33:57,990 --> 01:33:55,280 would be very useful 2425 01:33:59,910 --> 01:33:58,000 for a crew 2426 01:34:02,229 --> 01:33:59,920 asteroid mission 2427 01:34:05,189 --> 01:34:02,239 where the crew needs to to have some 2428 01:34:06,390 --> 01:34:05,199 help and possibly make the mission safer 2429 01:34:08,950 --> 01:34:06,400 because 2430 01:34:10,390 --> 01:34:08,960 we have never done this before and so we 2431 01:34:12,950 --> 01:34:10,400 need to make sure we don't get the 2432 01:34:15,030 --> 01:34:12,960 astronauts into situations with the the 2433 01:34:17,030 --> 01:34:15,040 regolith and and the rocks and the 2434 01:34:18,629 --> 01:34:17,040 abrasiveness 2435 01:34:19,830 --> 01:34:18,639 one of the biggest problems in apollo 2436 01:34:20,709 --> 01:34:19,840 was a dust 2437 01:34:22,709 --> 01:34:20,719 so 2438 01:34:25,669 --> 01:34:22,719 this is in in many of the talks this 2439 01:34:28,229 --> 01:34:25,679 morning you've heard that dust does 2440 01:34:30,950 --> 01:34:28,239 exist on asteroids and it's held down by 2441 01:34:33,910 --> 01:34:30,960 van der waals forces and the combined 2442 01:34:36,229 --> 01:34:33,920 forces of billions of small particles 2443 01:34:38,070 --> 01:34:36,239 is actually quite high so 2444 01:34:40,390 --> 01:34:38,080 the same forces electrostatic and van 2445 01:34:41,990 --> 01:34:40,400 der waals can stick to your eva suit and 2446 01:34:43,669 --> 01:34:42,000 cause problems 2447 01:34:49,350 --> 01:34:43,679 so 2448 01:34:51,830 --> 01:34:49,360 called the electrodynamic dust shield 2449 01:34:53,590 --> 01:34:51,840 and this is a series of electrodes 2450 01:34:55,750 --> 01:34:53,600 embedded in a material 2451 01:34:58,070 --> 01:34:55,760 and it could be used for visors optical 2452 01:34:59,750 --> 01:34:58,080 devices viewports transparent electrodes 2453 01:35:01,350 --> 01:34:59,760 on film plastic or glass so you can 2454 01:35:03,510 --> 01:35:01,360 imagine it could be used on the visor of 2455 01:35:05,669 --> 01:35:03,520 the eva suit could be used on camera 2456 01:35:08,229 --> 01:35:05,679 lenses it could be used on sensors 2457 01:35:09,990 --> 01:35:08,239 anything that could be spoofed by dust 2458 01:35:12,629 --> 01:35:10,000 or obscured 2459 01:35:14,550 --> 01:35:12,639 by dust or regoliths 2460 01:35:16,229 --> 01:35:14,560 in general would would be used this 2461 01:35:19,750 --> 01:35:16,239 technology would be useful 2462 01:35:21,910 --> 01:35:19,760 uh we've also been working to embed this 2463 01:35:23,669 --> 01:35:21,920 if you look at the the upper right here 2464 01:35:25,910 --> 01:35:23,679 let's see if this mouse works so 2465 01:35:27,910 --> 01:35:25,920 everybody online can see it 2466 01:35:29,990 --> 01:35:27,920 on the upper right this is actually the 2467 01:35:32,149 --> 01:35:30,000 electrodynamic dust shield 2468 01:35:34,950 --> 01:35:32,159 printed onto a fabric 2469 01:35:36,709 --> 01:35:34,960 and so not only does it work on a solid 2470 01:35:39,350 --> 01:35:36,719 piece of glass which is what you see 2471 01:35:41,350 --> 01:35:39,360 here in the on the top left and then in 2472 01:35:43,990 --> 01:35:41,360 the middle you see it's dirty and then 2473 01:35:46,229 --> 01:35:44,000 you flick the switch and it cleans it 2474 01:35:48,550 --> 01:35:46,239 that square is is cleaned 2475 01:35:49,270 --> 01:35:48,560 by the embedded electrodes you can also 2476 01:35:54,310 --> 01:35:49,280 put 2477 01:35:56,229 --> 01:35:54,320 flexible film and we've tested this if 2478 01:35:58,709 --> 01:35:56,239 you look in the bottom right here in a 2479 01:36:00,629 --> 01:35:58,719 reduced gravity flight so the trl 2480 01:36:03,030 --> 01:36:00,639 progression is significant and we're 2481 01:36:05,510 --> 01:36:03,040 almost ready to to go with this now in 2482 01:36:06,790 --> 01:36:05,520 fact it's going on missy x to station in 2483 01:36:09,109 --> 01:36:06,800 a couple years 2484 01:36:11,510 --> 01:36:09,119 next opportunity and at that point we 2485 01:36:13,669 --> 01:36:11,520 will say it's a trl 2486 01:36:15,990 --> 01:36:13,679 nine maybe eight or nine 2487 01:36:18,149 --> 01:36:16,000 uh so this is an exciting technology i 2488 01:36:19,830 --> 01:36:18,159 do have a video let's see if we get 2489 01:36:22,310 --> 01:36:19,840 lucky here 2490 01:36:24,950 --> 01:36:22,320 and we did so here's the video i hope 2491 01:36:27,669 --> 01:36:24,960 you can see it online and this is the 2492 01:36:29,270 --> 01:36:27,679 results of the reduced gravity test 2493 01:36:30,470 --> 01:36:29,280 flight what you see there's a vacuum 2494 01:36:32,870 --> 01:36:30,480 chamber 2495 01:36:35,109 --> 01:36:32,880 which was uh on loan from langley and 2496 01:36:36,629 --> 01:36:35,119 the crew is from kennedy and so with a 2497 01:36:38,470 --> 01:36:36,639 collaborative effort between the two 2498 01:36:40,550 --> 01:36:38,480 space centers we tested this and you can 2499 01:36:42,229 --> 01:36:40,560 see those electrodes starting to work 2500 01:36:44,390 --> 01:36:42,239 now they're not on all the time they 2501 01:36:46,070 --> 01:36:44,400 just pulse and every time they pulse 2502 01:36:48,709 --> 01:36:46,080 you'll see the dust moving so right now 2503 01:36:50,229 --> 01:36:48,719 you see that spiral pattern the spiral 2504 01:36:52,390 --> 01:36:50,239 is is the electrodes and then they 2505 01:36:54,470 --> 01:36:52,400 pulsed it again and now it's clean 2506 01:36:56,070 --> 01:36:54,480 so it's very efficient and if you look 2507 01:36:57,990 --> 01:36:56,080 at this in slow motion on the mic under 2508 01:37:00,149 --> 01:36:58,000 a microscope it's pretty cool because 2509 01:37:01,990 --> 01:37:00,159 it's like ripples in a pond if you throw 2510 01:37:03,830 --> 01:37:02,000 a rock into a pond and the ripples move 2511 01:37:05,750 --> 01:37:03,840 concentrically outwards that's exactly 2512 01:37:08,870 --> 01:37:05,760 what it does to dust and it just moves 2513 01:37:10,550 --> 01:37:08,880 the dust sideways off of your optics so 2514 01:37:12,390 --> 01:37:10,560 that's one exciting technology we'd like 2515 01:37:14,790 --> 01:37:12,400 to present today 2516 01:37:16,550 --> 01:37:14,800 the next technology we'd like to suggest 2517 01:37:18,870 --> 01:37:16,560 could be useful in a mission like this 2518 01:37:20,550 --> 01:37:18,880 is a pneumatic regolith rake now you've 2519 01:37:22,709 --> 01:37:20,560 already heard today about 2520 01:37:24,390 --> 01:37:22,719 doing things with pneumatics 2521 01:37:26,950 --> 01:37:24,400 this was a technology that we developed 2522 01:37:29,669 --> 01:37:26,960 in collaboration with honeybee robotics 2523 01:37:31,910 --> 01:37:29,679 uh in under an sbir contract and we've 2524 01:37:34,390 --> 01:37:31,920 since taken in our lab to the next level 2525 01:37:36,550 --> 01:37:34,400 for this kind of application and so what 2526 01:37:37,430 --> 01:37:36,560 this does is uh 2527 01:37:39,030 --> 01:37:37,440 people 2528 01:37:41,990 --> 01:37:39,040 always have a problem with pneumatics 2529 01:37:44,470 --> 01:37:42,000 and vacuum and rightfully so but what 2530 01:37:46,790 --> 01:37:44,480 the key to this technology is the gas 2531 01:37:48,470 --> 01:37:46,800 never actually goes out into the vacuum 2532 01:37:50,870 --> 01:37:48,480 and is lost the gas 2533 01:37:53,109 --> 01:37:50,880 makes a small jet and creates a hole 2534 01:37:54,790 --> 01:37:53,119 imagine taking your garden hose and 2535 01:37:57,189 --> 01:37:54,800 pointing it downward in your garden into 2536 01:37:59,430 --> 01:37:57,199 the mud and it goes straight down does a 2537 01:38:01,109 --> 01:37:59,440 u-turn comes right back into your face 2538 01:38:04,070 --> 01:38:01,119 and that's exactly what this technology 2539 01:38:05,910 --> 01:38:04,080 does it goes the gas goes straight down 2540 01:38:08,870 --> 01:38:05,920 and it digs a hole 2541 01:38:11,910 --> 01:38:08,880 pneumatically and it traps the little 2542 01:38:14,070 --> 01:38:11,920 granules of regolith in the gas flow and 2543 01:38:15,590 --> 01:38:14,080 then it brings it back up and you 2544 01:38:17,030 --> 01:38:15,600 capture it in a concentric tube so 2545 01:38:18,790 --> 01:38:17,040 there's an annulus inside the 2546 01:38:20,629 --> 01:38:18,800 cross-section of the tube and then you 2547 01:38:22,870 --> 01:38:20,639 capture that regulates pneumatically and 2548 01:38:25,030 --> 01:38:22,880 we've had very high efficiencies a 2549 01:38:26,629 --> 01:38:25,040 thousand to one and higher in in a 2550 01:38:28,470 --> 01:38:26,639 reduced gravity environment in a vacuum 2551 01:38:30,550 --> 01:38:28,480 so what we thought we'd do is if you 2552 01:38:34,790 --> 01:38:30,560 look at this picture here 2553 01:38:37,109 --> 01:38:34,800 it's a series of pneumatic tubes that 2554 01:38:39,910 --> 01:38:37,119 can actually capture each tube can 2555 01:38:41,590 --> 01:38:39,920 capture regolith and now if you take 2556 01:38:43,590 --> 01:38:41,600 lunar regulators as an analog the 2557 01:38:45,750 --> 01:38:43,600 particles are typically under 100 2558 01:38:48,070 --> 01:38:45,760 microns between 20 and 100 microns 80 2559 01:38:50,229 --> 01:38:48,080 percent are between 20 and 100 and 20 2560 01:38:51,830 --> 01:38:50,239 percent are under 20 micron the rest 2561 01:38:54,709 --> 01:38:51,840 only five percent of the rocks on the 2562 01:38:56,950 --> 01:38:54,719 moon are are actually bigger than 100 2563 01:38:58,629 --> 01:38:56,960 microns so that's the distribution of 2564 01:39:00,229 --> 01:38:58,639 the particles now i don't know if an 2565 01:39:03,270 --> 01:39:00,239 asteroid will be like that but let's 2566 01:39:04,470 --> 01:39:03,280 assume it is then most of the regular 2567 01:39:05,910 --> 01:39:04,480 sample that you want is actually a 2568 01:39:09,189 --> 01:39:05,920 granular material 2569 01:39:11,750 --> 01:39:09,199 the rest are rocks so we can kill two 2570 01:39:13,910 --> 01:39:11,760 birds with one stone by having a rake by 2571 01:39:15,990 --> 01:39:13,920 taking these tubes making a rake out of 2572 01:39:17,910 --> 01:39:16,000 them mounting them on a handle and then 2573 01:39:20,149 --> 01:39:17,920 the regolith will be captured by the 2574 01:39:21,189 --> 01:39:20,159 tubes and the rocks will be captured by 2575 01:39:23,510 --> 01:39:21,199 the rake 2576 01:39:25,430 --> 01:39:23,520 and the nice thing about this design is 2577 01:39:26,790 --> 01:39:25,440 you can put it on a handle and if you 2578 01:39:29,350 --> 01:39:26,800 look at that video of the asteroid 2579 01:39:31,590 --> 01:39:29,360 initiative with a crew going up the pole 2580 01:39:33,189 --> 01:39:31,600 and cutting open the bag you really 2581 01:39:35,510 --> 01:39:33,199 don't want to get too close to that 2582 01:39:36,870 --> 01:39:35,520 regolith until you know what's in it so 2583 01:39:39,030 --> 01:39:36,880 you could reach out with a rake and 2584 01:39:41,030 --> 01:39:39,040 capture a sample and that would be one 2585 01:39:42,950 --> 01:39:41,040 enhancement for your mission 2586 01:39:46,229 --> 01:39:42,960 another technology we have is a 2587 01:39:48,950 --> 01:39:46,239 percussive excavation shovel and so 2588 01:39:50,390 --> 01:39:48,960 percussion reduces reaction forces 2589 01:39:51,910 --> 01:39:50,400 biggest problem in outer space and 2590 01:39:55,030 --> 01:39:51,920 reduce gravity is you have no reaction 2591 01:39:56,950 --> 01:39:55,040 force so you try to dig and you don't 2592 01:39:59,030 --> 01:39:56,960 dig you don't penetrate if you had a 2593 01:40:00,470 --> 01:39:59,040 robot if you had a front end loader like 2594 01:40:01,750 --> 01:40:00,480 you have here on a construction site and 2595 01:40:02,950 --> 01:40:01,760 you put it on the moon and you push the 2596 01:40:05,109 --> 01:40:02,960 bucket of the front end loader into the 2597 01:40:06,470 --> 01:40:05,119 soil the machine would do a push-up it 2598 01:40:08,870 --> 01:40:06,480 would not penetrate the soil because 2599 01:40:11,270 --> 01:40:08,880 there's not enough reaction force from 2600 01:40:13,350 --> 01:40:11,280 the actual weight of the machine in that 2601 01:40:15,590 --> 01:40:13,360 reduced gravity environment so what we 2602 01:40:18,629 --> 01:40:15,600 found is that because it's a dry 2603 01:40:20,870 --> 01:40:18,639 granular material if you use percussion 2604 01:40:23,189 --> 01:40:20,880 the little particles are actually 2605 01:40:25,430 --> 01:40:23,199 for lack of a better word jiggled around 2606 01:40:27,189 --> 01:40:25,440 and it creates a bow wake and then by 2607 01:40:29,109 --> 01:40:27,199 creating this bow wick you reduce the 2608 01:40:29,990 --> 01:40:29,119 excavation forces now it's a trade-off 2609 01:40:31,189 --> 01:40:30,000 because 2610 01:40:33,270 --> 01:40:31,199 and the reason they don't do this here 2611 01:40:35,270 --> 01:40:33,280 on earth is because it takes more energy 2612 01:40:36,390 --> 01:40:35,280 so but you have energy in space you have 2613 01:40:38,149 --> 01:40:36,400 plenty of sunlight 2614 01:40:39,910 --> 01:40:38,159 but you don't have reaction force so 2615 01:40:41,910 --> 01:40:39,920 this is a trade-off a simple mechanical 2616 01:40:43,910 --> 01:40:41,920 trade-off by using more energy to use 2617 01:40:45,830 --> 01:40:43,920 percussion you can reduce the excavation 2618 01:40:49,030 --> 01:40:45,840 force and we found it's very 2619 01:40:52,070 --> 01:40:49,040 scale-dependent it's it's very 2620 01:40:54,310 --> 01:40:52,080 small implements have up to 90 2621 01:40:56,229 --> 01:40:54,320 force reduction reaction force reduction 2622 01:40:57,750 --> 01:40:56,239 the larger implements we've only been 2623 01:40:58,470 --> 01:40:57,760 getting 50 percent 2624 01:40:59,750 --> 01:40:58,480 so 2625 01:41:01,270 --> 01:40:59,760 it's it's very much 2626 01:41:02,629 --> 01:41:01,280 scale dependent we're still learning a 2627 01:41:05,189 --> 01:41:02,639 lot about that but we thought if we took 2628 01:41:07,510 --> 01:41:05,199 this mechanism and forgive the the 2629 01:41:10,629 --> 01:41:07,520 cartoon here but we just photoshopped 2630 01:41:12,709 --> 01:41:10,639 this onto a shovel and we think if we 2631 01:41:14,870 --> 01:41:12,719 could make a percussive shovel that 2632 01:41:18,629 --> 01:41:14,880 would be very useful to an astronaut on 2633 01:41:20,950 --> 01:41:18,639 orbit or actually at an asteroid 2634 01:41:22,390 --> 01:41:20,960 so in conclusion 2635 01:41:23,830 --> 01:41:22,400 we think that astronauts working with 2636 01:41:25,669 --> 01:41:23,840 asteroid regolith will need protection 2637 01:41:27,590 --> 01:41:25,679 from dust and dust mitigation for 2638 01:41:30,070 --> 01:41:27,600 payloads and instruments we think that 2639 01:41:32,709 --> 01:41:30,080 just as harrison schmidt said in apollo 2640 01:41:35,109 --> 01:41:32,719 he said dust and regolith are the number 2641 01:41:37,669 --> 01:41:35,119 one challenge of going back to planetary 2642 01:41:39,669 --> 01:41:37,679 surface and we think that's correct 2643 01:41:41,590 --> 01:41:39,679 and so with the electrodynamic dust 2644 01:41:43,030 --> 01:41:41,600 shields at trl6 now and it's it should 2645 01:41:45,030 --> 01:41:43,040 be available from mission infusion after 2646 01:41:47,030 --> 01:41:45,040 it's gone up on missy x 2647 01:41:48,790 --> 01:41:47,040 and then the pneumatic regolith rake is 2648 01:41:50,310 --> 01:41:48,800 is a lower trl that's just something 2649 01:41:51,830 --> 01:41:50,320 we've been done in the lab and when we 2650 01:41:54,070 --> 01:41:51,840 haven't pursued it much it's just 2651 01:41:57,350 --> 01:41:54,080 opportunistic and that's trl3 the 2652 01:42:00,310 --> 01:41:57,360 percussive excavation shovel is at trl4 2653 01:42:03,030 --> 01:42:00,320 and so i'd like to thank the space 2654 01:42:04,950 --> 01:42:03,040 technology mission directorate at nasa 2655 01:42:06,470 --> 01:42:04,960 the game changing division under the 2656 01:42:08,550 --> 01:42:06,480 human robotics systems project for 2657 01:42:10,470 --> 01:42:08,560 funding this work because 2658 01:42:13,750 --> 01:42:10,480 this is a technology push 2659 01:42:16,070 --> 01:42:13,760 and many times people have a trouble 2660 01:42:18,149 --> 01:42:16,080 with technology push because they can't 2661 01:42:19,910 --> 01:42:18,159 see how it will be applied but this is a 2662 01:42:22,709 --> 01:42:19,920 perfect example of something we 2663 01:42:25,590 --> 01:42:22,719 developed and now the application has 2664 01:42:27,430 --> 01:42:25,600 arrived and we're ready and so or we 2665 01:42:29,109 --> 01:42:27,440 could be ready if if we were asked to be 2666 01:42:31,189 --> 01:42:29,119 ready so this is a good example of 2667 01:42:33,669 --> 01:42:31,199 technology push meeting technology pull 2668 01:42:35,830 --> 01:42:33,679 in a mission and we think it's it's a 2669 01:42:38,149 --> 01:42:35,840 great model on how to operate inside 2670 01:42:39,750 --> 01:42:38,159 nasa so thanks for your attention 2671 01:42:49,030 --> 01:42:39,760 any questions 2672 01:42:52,870 --> 01:42:51,270 um yes like a question on the 2673 01:42:55,189 --> 01:42:52,880 electrodynamic 2674 01:42:58,229 --> 01:42:55,199 dust shield 2675 01:43:00,790 --> 01:42:58,239 now would that be incorporated 2676 01:43:03,350 --> 01:43:00,800 in the suit or like i guess i'm a little 2677 01:43:05,189 --> 01:43:03,360 confused on how that would 2678 01:43:07,669 --> 01:43:05,199 would that be incorporated in the suit 2679 01:43:09,510 --> 01:43:07,679 on the fabric right okay so on the 2680 01:43:11,270 --> 01:43:09,520 fabric we're looking at actually 2681 01:43:13,430 --> 01:43:11,280 printing it you know the 2682 01:43:16,390 --> 01:43:13,440 the eva suit is is actually several 2683 01:43:18,790 --> 01:43:16,400 suits right it's a layered approach and 2684 01:43:20,470 --> 01:43:18,800 so this would be the outer garment 2685 01:43:23,189 --> 01:43:20,480 and i was actually looking at it out in 2686 01:43:25,189 --> 01:43:23,199 the lobby earlier on it's an and i 2687 01:43:28,310 --> 01:43:25,199 quizzed the guy pretty good 2688 01:43:30,870 --> 01:43:28,320 and he said it's a teflon covered aramid 2689 01:43:34,709 --> 01:43:30,880 fiber and that's as far as i got with 2690 01:43:36,149 --> 01:43:34,719 that uh but so if it's a teflon covered 2691 01:43:38,550 --> 01:43:36,159 fabric that's what you see there is a 2692 01:43:40,390 --> 01:43:38,560 teflon covered fabric and we're trying 2693 01:43:43,109 --> 01:43:40,400 to it's very difficult because to get 2694 01:43:45,990 --> 01:43:43,119 these these electrode patterns to stick 2695 01:43:47,590 --> 01:43:46,000 to teflon is is almost impossible so 2696 01:43:49,430 --> 01:43:47,600 we've we've been experimenting with that 2697 01:43:51,189 --> 01:43:49,440 and we have managed to get it to work so 2698 01:43:53,350 --> 01:43:51,199 the vision is that you would print it 2699 01:43:56,070 --> 01:43:53,360 directly onto the fabric 2700 01:43:57,830 --> 01:43:56,080 and and then use it as the outer garment 2701 01:44:00,310 --> 01:43:57,840 that that's the vision now we're not 2702 01:44:03,430 --> 01:44:00,320 there yet and it's not proven yet but 2703 01:44:05,510 --> 01:44:03,440 that that is we've done little swatches 2704 01:44:07,350 --> 01:44:05,520 fabric swatches like this 2705 01:44:09,669 --> 01:44:07,360 so it looks like you could incorporate 2706 01:44:11,830 --> 01:44:09,679 this to different if not the hosts who 2707 01:44:12,629 --> 01:44:11,840 maybe different sections of it 2708 01:44:15,750 --> 01:44:12,639 and 2709 01:44:18,629 --> 01:44:15,760 the the mass or the required 2710 01:44:20,950 --> 01:44:18,639 weight of this would that be dramatic or 2711 01:44:22,390 --> 01:44:20,960 the mass is negligible negligible and 2712 01:44:24,390 --> 01:44:22,400 the power people always ask about power 2713 01:44:25,750 --> 01:44:24,400 when they see this next one yeah so i'll 2714 01:44:27,830 --> 01:44:25,760 preempt that 2715 01:44:29,270 --> 01:44:27,840 it's it's uh 2716 01:44:32,950 --> 01:44:29,280 let's see let me get this right it's 2717 01:44:35,750 --> 01:44:32,960 it's low current high voltage 2718 01:44:39,350 --> 01:44:35,760 so it's low power but it is high voltage 2719 01:44:47,350 --> 01:44:39,360 but low current typically that's pretty 2720 01:44:51,830 --> 01:44:49,350 on the same chart you show an 2721 01:44:54,070 --> 01:44:51,840 application for a viewport or optical 2722 01:44:57,590 --> 01:44:54,080 devices would that affect the 2723 01:45:00,550 --> 01:44:57,600 transmission of light through the 2724 01:45:02,870 --> 01:45:00,560 optical device yeah great question 2725 01:45:04,709 --> 01:45:02,880 this is um dr carlos kaye is the 2726 01:45:06,310 --> 01:45:04,719 principal investigator on this and and i 2727 01:45:08,149 --> 01:45:06,320 i myself have quizzed him on this and 2728 01:45:10,470 --> 01:45:08,159 said well don't you lose something 2729 01:45:12,950 --> 01:45:10,480 because if the the vision for this too 2730 01:45:14,310 --> 01:45:12,960 is you put it on on a solar power a 2731 01:45:17,510 --> 01:45:14,320 photovoltaic 2732 01:45:19,350 --> 01:45:17,520 farm in say in an arizona desert and 2733 01:45:21,750 --> 01:45:19,360 then it would self-clean itself actually 2734 01:45:23,830 --> 01:45:21,760 this technology was developed for mars 2735 01:45:26,470 --> 01:45:23,840 it never did fly on mars because of the 2736 01:45:28,149 --> 01:45:26,480 trl issues but it was originally 2737 01:45:30,149 --> 01:45:28,159 designed for the solar panels for mars 2738 01:45:32,149 --> 01:45:30,159 which which was a show stopper until the 2739 01:45:34,629 --> 01:45:32,159 dust devils came and cleaned them off 2740 01:45:40,870 --> 01:45:37,510 carlos tells me that it's 95 2741 01:45:43,109 --> 01:45:40,880 translucent so you lose 5 percent 2742 01:45:44,550 --> 01:45:43,119 for that blockage from each electrode 2743 01:45:45,669 --> 01:45:44,560 and he tells me 2744 01:45:47,510 --> 01:45:45,679 that's pretty good and we're also 2745 01:45:48,709 --> 01:45:47,520 talking to the camera manufacturers on 2746 01:45:50,550 --> 01:45:48,719 wouldn't they be interested in having 2747 01:45:51,910 --> 01:45:50,560 this what they do today is they have a 2748 01:45:53,910 --> 01:45:51,920 little cmos chip in there and they just 2749 01:45:55,270 --> 01:45:53,920 they vibrate it they have a pizza 2750 01:45:57,109 --> 01:45:55,280 electric vibrator and they just vibrate 2751 01:45:58,550 --> 01:45:57,119 and shake the dust off because it's 2752 01:46:04,310 --> 01:45:58,560 internal to the camera but this could be 2753 01:46:07,109 --> 01:46:05,750 so we're going to do one more question 2754 01:46:08,229 --> 01:46:07,119 and then we're going to move on so if we 2755 01:46:10,550 --> 01:46:08,239 could go ahead and do this one here in 2756 01:46:14,470 --> 01:46:12,870 wendy go ahead just this one in front 2757 01:46:16,790 --> 01:46:14,480 here yeah 2758 01:46:19,669 --> 01:46:16,800 for the percussive shovel is there a 2759 01:46:21,669 --> 01:46:19,679 relationship between the granular size 2760 01:46:23,430 --> 01:46:21,679 and the frequency 2761 01:46:25,109 --> 01:46:23,440 of the percussion 2762 01:46:27,750 --> 01:46:25,119 yeah so 2763 01:46:30,950 --> 01:46:27,760 percussion is tricky 2764 01:46:34,470 --> 01:46:30,960 and it it is very dependent on the 2765 01:46:35,910 --> 01:46:34,480 granular medium you're operating in 2766 01:46:37,910 --> 01:46:35,920 and 2767 01:46:40,390 --> 01:46:37,920 what's interesting is well first of all 2768 01:46:42,709 --> 01:46:40,400 it has to be a dry granular medium 2769 01:46:45,750 --> 01:46:42,719 so it cannot be 2770 01:46:46,709 --> 01:46:45,760 wet like a clay type of soil no it will 2771 01:46:48,550 --> 01:46:46,719 not work 2772 01:46:49,270 --> 01:46:48,560 because the particles stick stick with 2773 01:46:53,750 --> 01:46:49,280 the 2774 01:46:55,030 --> 01:46:53,760 but in a planetary environment 2775 01:46:56,870 --> 01:46:55,040 the regolith 2776 01:46:58,550 --> 01:46:56,880 is a good 2777 01:47:00,149 --> 01:46:58,560 candidate for percussive excavation 2778 01:47:01,990 --> 01:47:00,159 because of this particle size 2779 01:47:03,990 --> 01:47:02,000 distribution 2780 01:47:05,750 --> 01:47:04,000 if if you go on the premise that 2781 01:47:08,310 --> 01:47:05,760 regolith is crushed rock 2782 01:47:11,669 --> 01:47:08,320 from a high energy impact then that's 2783 01:47:14,709 --> 01:47:11,679 just basic physics and geology 2784 01:47:16,470 --> 01:47:14,719 and so turns out in most places 2785 01:47:19,830 --> 01:47:16,480 regolith is in that particle size 2786 01:47:22,070 --> 01:47:19,840 distribution of of 100 microns and below 2787 01:47:23,270 --> 01:47:22,080 so that's a pretty nice granular medium 2788 01:47:24,709 --> 01:47:23,280 and then what we've seen when we dig 2789 01:47:26,709 --> 01:47:24,719 with these percussive shovels there's 2790 01:47:28,550 --> 01:47:26,719 this thing called the brazil nut effect 2791 01:47:30,149 --> 01:47:28,560 the brazil nut effect is where when you 2792 01:47:32,470 --> 01:47:30,159 buy a 2793 01:47:34,470 --> 01:47:32,480 jar of nuts and you open it up the 2794 01:47:36,950 --> 01:47:34,480 brazil nuts are always at the top 2795 01:47:39,189 --> 01:47:36,960 the brazil nuts float to the top as they 2796 01:47:41,430 --> 01:47:39,199 get shaken in transportation 2797 01:47:43,510 --> 01:47:41,440 so when you do percussive excavation in 2798 01:47:46,149 --> 01:47:43,520 a regular simulant which we have a 2799 01:47:48,149 --> 01:47:46,159 basaltic regulation in our lab you see 2800 01:47:50,870 --> 01:47:48,159 the darker particles the bigger 2801 01:47:52,629 --> 01:47:50,880 particles float to the top 2802 01:47:54,470 --> 01:47:52,639 and and you see this brazil nut effect 2803 01:47:56,629 --> 01:47:54,480 so it's classic granular mechanics that 2804 01:47:58,629 --> 01:47:56,639 work and and so 2805 01:48:00,950 --> 01:47:58,639 i think your question is very good but 2806 01:48:03,350 --> 01:48:00,960 it does depend on what you're digging in 2807 01:48:05,350 --> 01:48:03,360 but turns out that planetary regolith is 2808 01:48:08,070 --> 01:48:05,360 a pretty good granular material for this 2809 01:48:14,070 --> 01:48:09,590 thank you very much rob 2810 01:48:19,350 --> 01:48:16,629 so our next presentation is from doyle 2811 01:48:20,950 --> 01:48:19,360 tiles from atk space systems 2812 01:48:24,149 --> 01:48:20,960 and the doyle's talk will be on 2813 01:48:25,830 --> 01:48:24,159 telescope telescoping booms for the 2814 01:48:28,390 --> 01:48:25,840 translation by the astronauts and eba 2815 01:48:29,669 --> 01:48:28,400 tools on the asteroid 2816 01:48:31,270 --> 01:48:29,679 well thank you very much for the 2817 01:48:33,830 --> 01:48:31,280 opportunity and i'd also also like to 2818 01:48:35,750 --> 01:48:33,840 thank jose guerrero who led our rfi 2819 01:48:40,070 --> 01:48:35,760 response as well as ken steele provided 2820 01:48:44,550 --> 01:48:42,550 atk space systems provides small 2821 01:48:46,229 --> 01:48:44,560 spacecraft as well as integrated thermal 2822 01:48:48,310 --> 01:48:46,239 systems 2823 01:48:50,229 --> 01:48:48,320 as well as other components and 2824 01:48:52,870 --> 01:48:50,239 engineering services to most the major 2825 01:48:56,390 --> 01:48:52,880 nasa centers including goddard jsc and 2826 01:49:01,270 --> 01:48:59,350 for the obligatory capabilities chart 2827 01:49:04,149 --> 01:49:01,280 we have 25 years of experience 2828 01:49:05,590 --> 01:49:04,159 supporting eva tools for hubble 2829 01:49:06,950 --> 01:49:05,600 servicing 2830 01:49:09,830 --> 01:49:06,960 from the deploy mission all the way 2831 01:49:12,950 --> 01:49:09,840 through the fifth servicing mission 2832 01:49:15,430 --> 01:49:12,960 a lot of these tools and tasks were not 2833 01:49:17,030 --> 01:49:15,440 designed to to be 2834 01:49:17,910 --> 01:49:17,040 eva serviceable 2835 01:49:20,550 --> 01:49:17,920 but we 2836 01:49:22,310 --> 01:49:20,560 designed special tools to be able to 2837 01:49:24,790 --> 01:49:22,320 allow their astronauts to perform very 2838 01:49:26,790 --> 01:49:24,800 complex tasks 2839 01:49:28,950 --> 01:49:26,800 and then we supported the space shuttle 2840 01:49:31,589 --> 01:49:28,960 program as well as international space 2841 01:49:33,109 --> 01:49:31,599 station for both tools and deployable 2842 01:49:35,669 --> 01:49:33,119 booms 2843 01:49:38,070 --> 01:49:35,679 and more recently we've supported uh evr 2844 01:49:40,390 --> 01:49:38,080 tools both for the robotic refueling 2845 01:49:42,709 --> 01:49:40,400 mission as well as for the darpa phoenix 2846 01:49:45,030 --> 01:49:42,719 mission and you see some examples here 2847 01:49:46,629 --> 01:49:45,040 for those tools that are either flying 2848 01:49:48,310 --> 01:49:46,639 in the case of robotic refueling mission 2849 01:49:49,750 --> 01:49:48,320 or being developed for the phoenix 2850 01:49:52,390 --> 01:49:49,760 mission 2851 01:49:55,669 --> 01:49:52,400 and lastly our pasadena office has spent 2852 01:49:57,990 --> 01:49:55,679 16 years supporting jpl and developing 2853 01:50:00,709 --> 01:49:58,000 sample acquisition and handling systems 2854 01:50:02,390 --> 01:50:00,719 we supported the mars science lab chemin 2855 01:50:04,470 --> 01:50:02,400 instrument development 2856 01:50:06,070 --> 01:50:04,480 as well as we've been doing planetary 2857 01:50:08,629 --> 01:50:06,080 drill technology 2858 01:50:10,950 --> 01:50:08,639 and we have specifically looked at deep 2859 01:50:12,550 --> 01:50:10,960 drilling we're actually able to drill 2860 01:50:14,629 --> 01:50:12,560 we've shown in the field to go down to 2861 01:50:17,589 --> 01:50:14,639 10 meters and we have a system that can 2862 01:50:19,830 --> 01:50:17,599 go to 20 meters operating on 60 watts of 2863 01:50:24,709 --> 01:50:19,840 power with a single bit all the way down 2864 01:50:28,629 --> 01:50:26,470 so we tried to put together all the 2865 01:50:30,470 --> 01:50:28,639 things that would be needed by the crew 2866 01:50:32,550 --> 01:50:30,480 obviously there needs to be translation 2867 01:50:34,390 --> 01:50:32,560 to get out to the asteroid 2868 01:50:36,629 --> 01:50:34,400 atk has developed a telescoping boom 2869 01:50:39,189 --> 01:50:36,639 which i'll talk about a little bit more 2870 01:50:41,510 --> 01:50:39,199 we've also supported the the trouble 2871 01:50:43,350 --> 01:50:41,520 servicing missions with translation aids 2872 01:50:45,270 --> 01:50:43,360 that fit to the carriers that allow 2873 01:50:46,790 --> 01:50:45,280 astronauts to be able to move out to the 2874 01:50:48,629 --> 01:50:46,800 hubble 2875 01:50:50,629 --> 01:50:48,639 and then you also need restraints and 2876 01:50:52,550 --> 01:50:50,639 we're saying to use the existing foot 2877 01:50:56,149 --> 01:50:52,560 restraints that are available 2878 01:50:58,390 --> 01:50:56,159 and then lastly you need to have a tool 2879 01:51:00,870 --> 01:50:58,400 uh the sample storage and a toolbox to 2880 01:51:02,310 --> 01:51:00,880 carry all those tools 2881 01:51:04,550 --> 01:51:02,320 so we've elaborated something that we 2882 01:51:07,990 --> 01:51:04,560 developed for proposal for a lunar 2883 01:51:11,430 --> 01:51:09,669 i'll give a little bit more detail about 2884 01:51:13,990 --> 01:51:11,440 the telescoping boom 2885 01:51:16,629 --> 01:51:14,000 this is a design that flew both on the 2886 01:51:19,189 --> 01:51:16,639 shuttle as well as supported the space 2887 01:51:22,470 --> 01:51:19,199 station and it's a 2888 01:51:23,669 --> 01:51:22,480 build building process 2889 01:51:25,830 --> 01:51:23,679 we can 2890 01:51:28,229 --> 01:51:25,840 hold many cycles on this thing it can 2891 01:51:29,990 --> 01:51:28,239 allow a lot of force to be able to 2892 01:51:32,310 --> 01:51:30,000 deploy and retract it 2893 01:51:34,470 --> 01:51:32,320 you can also limit that force 2894 01:51:36,870 --> 01:51:34,480 it can be made out of either metal or 2895 01:51:38,550 --> 01:51:36,880 composites 2896 01:51:41,189 --> 01:51:38,560 and it has a high torsion and bending 2897 01:51:42,709 --> 01:51:41,199 strength and the design is very scalable 2898 01:51:45,430 --> 01:51:42,719 to go anything from three inches 2899 01:51:47,430 --> 01:51:45,440 diameter all the way up to 30 inches 2900 01:51:49,430 --> 01:51:47,440 and it's already been proven to be eva 2901 01:51:55,830 --> 01:51:49,440 safe and you can add things to it 2902 01:51:59,750 --> 01:51:57,990 so for the toolbox what we tried to do 2903 01:52:02,790 --> 01:51:59,760 is think of all the tools that we might 2904 01:52:05,430 --> 01:52:02,800 need and try to cram them all in there 2905 01:52:07,109 --> 01:52:05,440 and what we're showing is basically 2906 01:52:09,030 --> 01:52:07,119 the toolbox that you can open on either 2907 01:52:10,149 --> 01:52:09,040 side and it has multiple shelves on each 2908 01:52:12,629 --> 01:52:10,159 side 2909 01:52:14,709 --> 01:52:12,639 so on the top sections you'll see that 2910 01:52:17,510 --> 01:52:14,719 we tried to fit all the basic tools that 2911 01:52:18,950 --> 01:52:17,520 would be used to actually remove rocks 2912 01:52:20,790 --> 01:52:18,960 and so forth 2913 01:52:22,390 --> 01:52:20,800 into those two sections and down down 2914 01:52:24,149 --> 01:52:22,400 the bottom we said all the sample 2915 01:52:28,790 --> 01:52:24,159 acquisition systems as well as the 2916 01:52:32,790 --> 01:52:30,629 so to get into a little bit more detail 2917 01:52:33,910 --> 01:52:32,800 about the tools that might be used uh 2918 01:52:35,189 --> 01:52:33,920 one of the things we're doing is 2919 01:52:37,430 --> 01:52:35,199 leveraging a lot of the tools we 2920 01:52:39,109 --> 01:52:37,440 developed for hubble servicing 2921 01:52:41,109 --> 01:52:39,119 and other missions 2922 01:52:43,109 --> 01:52:41,119 and on the the first one there the rock 2923 01:52:45,109 --> 01:52:43,119 capture clamp that was actually a 2924 01:52:46,629 --> 01:52:45,119 connector tool that was developed for 2925 01:52:48,790 --> 01:52:46,639 hubble servicing 2926 01:52:51,510 --> 01:52:48,800 what we're calling the rock crack pick 2927 01:52:53,430 --> 01:52:51,520 is actually for manipulating small 2928 01:52:55,270 --> 01:52:53,440 fasteners that we had to remove for 2929 01:52:57,510 --> 01:52:55,280 special tasks 2930 01:52:59,830 --> 01:52:57,520 and then your typical hammer and chisel 2931 01:53:02,550 --> 01:52:59,840 kind of tools that you might need 2932 01:53:05,589 --> 01:53:02,560 the rock lift jack tool is actually a 2933 01:53:07,589 --> 01:53:05,599 tool that was used for hubble in which 2934 01:53:09,910 --> 01:53:07,599 we might not have a handrail in the 2935 01:53:11,669 --> 01:53:09,920 right location we could actually attach 2936 01:53:13,750 --> 01:53:11,679 this handrail so we're saying we can use 2937 01:53:15,270 --> 01:53:13,760 that same technology to be able to grab 2938 01:53:18,950 --> 01:53:15,280 a rock that might be somewhat attached 2939 01:53:21,750 --> 01:53:19,830 and then 2940 01:53:24,870 --> 01:53:21,760 needing to do anchoring you can use you 2941 01:53:27,030 --> 01:53:24,880 know your typical rock climbing tools 2942 01:53:28,870 --> 01:53:27,040 or you can have specialized tools like 2943 01:53:31,350 --> 01:53:28,880 this anchor clap which is clamp which is 2944 01:53:33,350 --> 01:53:31,360 also leveraged from hubble servicing 2945 01:53:35,189 --> 01:53:33,360 to be able to go into a crack that might 2946 01:53:37,189 --> 01:53:35,199 exist in the asteroid and be able to 2947 01:53:39,830 --> 01:53:37,199 climb anchor in 2948 01:53:43,030 --> 01:53:39,840 as well as the gripper type the tool 2949 01:53:43,910 --> 01:53:43,040 that aaron was showing earlier 2950 01:53:45,669 --> 01:53:43,920 and then 2951 01:53:47,430 --> 01:53:45,679 the contact surface sampling if you had 2952 01:53:49,669 --> 01:53:47,440 some loose particles on the surface and 2953 01:53:51,910 --> 01:53:49,679 you wanted to collect those 2954 01:53:54,709 --> 01:53:51,920 this is using a tool that was actually 2955 01:53:57,030 --> 01:53:54,719 used for the lunar missions 2956 01:53:58,550 --> 01:53:57,040 and and giving it a light nice long 2957 01:54:00,470 --> 01:53:58,560 broom so that you can hold it out far 2958 01:54:02,550 --> 01:54:00,480 away so you don't get the dust on the 2959 01:54:04,629 --> 01:54:02,560 crew member 2960 01:54:06,470 --> 01:54:04,639 and then uh i think steve set me up 2961 01:54:08,470 --> 01:54:06,480 pretty well here earlier 2962 01:54:11,350 --> 01:54:08,480 of having a drill that actually is 2963 01:54:13,430 --> 01:54:11,360 driven by the pistol grip tool 2964 01:54:15,750 --> 01:54:13,440 and uh the size of the drill will depend 2965 01:54:18,070 --> 01:54:15,760 on uh how deep do you want to go into 2966 01:54:20,070 --> 01:54:18,080 the asteroid as well as how many samples 2967 01:54:21,109 --> 01:54:20,080 do you want to collect um 2968 01:54:22,629 --> 01:54:21,119 and uh 2969 01:54:24,149 --> 01:54:22,639 we were leveraging a lot of the 2970 01:54:25,830 --> 01:54:24,159 technology that was done from our 2971 01:54:29,109 --> 01:54:25,840 science lab as well as being developed 2972 01:54:31,669 --> 01:54:29,119 for the mars 2020 mission 2973 01:54:34,790 --> 01:54:31,679 and then lastly to actually uh collect 2974 01:54:36,310 --> 01:54:34,800 those samples and seal them 2975 01:54:38,149 --> 01:54:36,320 again we're leveraging stuff that's 2976 01:54:40,790 --> 01:54:38,159 being developed for the mars 2020 2977 01:54:42,390 --> 01:54:40,800 mission both by atk jpl and several 2978 01:54:44,229 --> 01:54:42,400 other contractors 2979 01:54:45,669 --> 01:54:44,239 and then lastly you need to put those 2980 01:54:49,189 --> 01:54:45,679 samples into some kind of storage 2981 01:54:52,550 --> 01:54:50,390 so the goddard folks would be 2982 01:54:54,310 --> 01:54:52,560 disappointed me with me if i didn't have 2983 01:54:56,149 --> 01:54:54,320 an animation so 2984 01:54:58,550 --> 01:54:56,159 i'm going to show the the actual 2985 01:55:00,390 --> 01:54:58,560 drilling test now either the 2986 01:55:02,229 --> 01:55:00,400 gripper could be on the drill already or 2987 01:55:06,070 --> 01:55:02,239 it could be separated and you could 2988 01:55:08,790 --> 01:55:06,080 mount it and then put on on the drill 2989 01:55:09,830 --> 01:55:08,800 showing here that we would activate the 2990 01:55:11,589 --> 01:55:09,840 gripper 2991 01:55:13,350 --> 01:55:11,599 to be able to 2992 01:55:15,270 --> 01:55:13,360 make sure that the drill is already 2993 01:55:17,270 --> 01:55:15,280 anchored to the surface the crew member 2994 01:55:20,149 --> 01:55:17,280 could actually even let go 2995 01:55:22,950 --> 01:55:20,159 and then could drive the actual drill 2996 01:55:25,189 --> 01:55:22,960 with the pgt the sizing of the motor and 2997 01:55:27,990 --> 01:55:25,199 battery power should be adequate for a 2998 01:55:30,390 --> 01:55:28,000 typical eva activity and this is showing 2999 01:55:31,910 --> 01:55:30,400 a coring drill as the flutes are going 3000 01:55:33,669 --> 01:55:31,920 around the outside the core is being 3001 01:55:35,990 --> 01:55:33,679 collected on the inside 3002 01:55:36,950 --> 01:55:36,000 as you get to the end the core breaks 3003 01:55:38,790 --> 01:55:36,960 off 3004 01:55:41,510 --> 01:55:38,800 and then you can pull all of that back 3005 01:55:44,310 --> 01:55:41,520 into your sample tube 3006 01:55:45,669 --> 01:55:44,320 and then the astronaut would actually 3007 01:55:46,870 --> 01:55:45,679 could go around just different areas of 3008 01:55:50,070 --> 01:55:46,880 the asteroid 3009 01:55:51,510 --> 01:55:50,080 collect uh multiple samples and then be 3010 01:55:54,390 --> 01:55:51,520 able to actually 3011 01:55:57,189 --> 01:55:54,400 take the sample container and put it 3012 01:55:59,030 --> 01:55:57,199 either back into the toolbox or into 3013 01:56:02,470 --> 01:55:59,040 some other separate container that to be 3014 01:56:02,480 --> 01:56:05,990 so that's all i have 3015 01:56:06,000 --> 01:56:09,910 any questions 3016 01:56:15,189 --> 01:56:12,709 i had one for you can you elaborate on 3017 01:56:17,030 --> 01:56:15,199 how your telescoping tube is articulated 3018 01:56:19,270 --> 01:56:17,040 to extend and whether or not you've 3019 01:56:21,830 --> 01:56:19,280 considered the ability to add planetary 3020 01:56:24,550 --> 01:56:21,840 joints or other joints for bends in the 3021 01:56:26,790 --> 01:56:24,560 mechanism uh yes this one is actually 3022 01:56:29,830 --> 01:56:26,800 it's electronically driven however it 3023 01:56:32,790 --> 01:56:29,840 can be hand manipulated as well 3024 01:56:35,109 --> 01:56:32,800 and yes there actually are uh examples 3025 01:56:37,910 --> 01:56:35,119 where we've done uh articulating joints 3026 01:56:39,589 --> 01:56:37,920 i think the shuttle version actually had 3027 01:56:42,709 --> 01:56:39,599 two joints 3028 01:56:42,719 --> 01:56:46,149 other other questions 3029 01:56:46,159 --> 01:56:53,990 okay thanks dole appreciate it 3030 01:56:58,870 --> 01:56:56,229 so our next presenter is uh john lymer 3031 01:57:01,189 --> 01:56:58,880 from space systems loral 3032 01:57:03,350 --> 01:57:01,199 and his topic is arv 3033 01:57:05,830 --> 01:57:03,360 with robotic manipulators 3034 01:57:08,629 --> 01:57:05,840 uh and how that would be used to birth 3035 01:57:11,189 --> 01:57:08,639 the spacecraft and assist tv crew during 3036 01:57:13,350 --> 01:57:11,199 a spacewalk thanks steve 3037 01:57:15,669 --> 01:57:13,360 uh good afternoon i'm representing space 3038 01:57:18,310 --> 01:57:15,679 systems sorel this afternoon also known 3039 01:57:20,790 --> 01:57:18,320 as ssl as you can tell by our stylish 3040 01:57:22,870 --> 01:57:20,800 new logo on the bottom corner there 3041 01:57:24,709 --> 01:57:22,880 after we joined forces with mda you can 3042 01:57:26,550 --> 01:57:24,719 see that that logo looks suspiciously 3043 01:57:28,790 --> 01:57:26,560 like the mda one 3044 01:57:31,510 --> 01:57:28,800 anyway many of you people will remember 3045 01:57:33,589 --> 01:57:31,520 me as a very very long time fixture at 3046 01:57:35,430 --> 01:57:33,599 the mba office in toronto where we have 3047 01:57:36,390 --> 01:57:35,440 the robotics and automation division 3048 01:57:38,149 --> 01:57:36,400 there 3049 01:57:40,070 --> 01:57:38,159 i was chief engineer for all the space 3050 01:57:41,109 --> 01:57:40,080 station robotics the canadarm2 the 3051 01:57:43,030 --> 01:57:41,119 dexter 3052 01:57:45,750 --> 01:57:43,040 as well as orbital express and some of 3053 01:57:47,270 --> 01:57:45,760 the medical robots we have in clinical 3054 01:57:49,750 --> 01:57:47,280 trials right now 3055 01:57:50,950 --> 01:57:49,760 when we joined forces with 3056 01:57:52,470 --> 01:57:50,960 ssl 3057 01:57:55,510 --> 01:57:52,480 i move from toronto 3058 01:57:58,070 --> 01:57:55,520 where it's snowing today to palo alto 3059 01:57:59,109 --> 01:57:58,080 where it's not going to snow ever 3060 01:58:01,830 --> 01:57:59,119 and 3061 01:58:05,350 --> 01:58:01,840 in palo alto we have a very large ssl 3062 01:58:06,950 --> 01:58:05,360 factory there where we have 3000 3063 01:58:08,709 --> 01:58:06,960 very highly skilled engineers and 3064 01:58:11,030 --> 01:58:08,719 technicians where we make 3065 01:58:13,510 --> 01:58:11,040 the biggest the most powerful geo 3066 01:58:14,870 --> 01:58:13,520 communication satellites in the world 3067 01:58:17,270 --> 01:58:14,880 and so what we're doing is we're 3068 01:58:18,870 --> 01:58:17,280 combining the expertise in our toronto 3069 01:58:20,870 --> 01:58:18,880 office where we do robotics as well as 3070 01:58:22,550 --> 01:58:20,880 our pasadena office which is known for 3071 01:58:24,790 --> 01:58:22,560 the mars robots and 3072 01:58:25,830 --> 01:58:24,800 and now the darpa phoenix dextrous 3073 01:58:27,589 --> 01:58:25,840 robots 3074 01:58:29,430 --> 01:58:27,599 and we're creating a center of 3075 01:58:31,270 --> 01:58:29,440 excellence if you like in palo alto 3076 01:58:33,510 --> 01:58:31,280 where we have a very unique combination 3077 01:58:35,430 --> 01:58:33,520 of a complete spacecraft manufacturing 3078 01:58:36,709 --> 01:58:35,440 and design facility 3079 01:58:39,510 --> 01:58:36,719 and then all of this autonomous 3080 01:58:41,990 --> 01:58:39,520 capability from these other offices so 3081 01:58:45,109 --> 01:58:42,000 that now we can offer the us government 3082 01:58:46,950 --> 01:58:45,119 a complete turnkey and and spacecraft 3083 01:58:49,589 --> 01:58:46,960 plus robotic system 3084 01:58:51,910 --> 01:58:49,599 for in space we can also offer the us 3085 01:58:53,990 --> 01:58:51,920 government autonomous vehicles and 3086 01:58:55,910 --> 01:58:54,000 underwater vehicles as well 3087 01:58:58,229 --> 01:58:55,920 so that's our plan over the next year 3088 01:59:00,790 --> 01:58:58,239 we're going to grow a new 3089 01:59:03,990 --> 01:59:00,800 facility there basically 3090 01:59:07,669 --> 01:59:05,589 um and so 3091 01:59:09,109 --> 01:59:07,679 one of the very first offerings out of 3092 01:59:13,270 --> 01:59:09,119 that division 3093 01:59:15,510 --> 01:59:13,280 is a response to this ar the the arm rfi 3094 01:59:17,830 --> 01:59:15,520 and we're offering a complete spacecraft 3095 01:59:20,149 --> 01:59:17,840 solution so that handles all of the 3096 01:59:21,510 --> 01:59:20,159 phases of the mission including the crew 3097 01:59:22,870 --> 01:59:21,520 support phase that we're talking about 3098 01:59:24,790 --> 01:59:22,880 this afternoon 3099 01:59:28,070 --> 01:59:24,800 and as we described on the last day of 3100 01:59:28,950 --> 01:59:28,080 september our vehicle has is a two-part 3101 01:59:30,790 --> 01:59:28,960 system 3102 01:59:33,030 --> 01:59:30,800 the first part is a 3103 01:59:33,910 --> 01:59:33,040 high-powered solar electric propulsion 3104 01:59:36,790 --> 01:59:33,920 tug 3105 01:59:38,870 --> 01:59:36,800 it runs at 50 kilowatts and for us 3106 01:59:41,270 --> 01:59:38,880 that's just the next incremental step in 3107 01:59:43,270 --> 01:59:41,280 what we're doing on on geosats 3108 01:59:44,790 --> 01:59:43,280 we've got 30 kilowatt systems flying and 3109 01:59:47,589 --> 01:59:44,800 have been flying 3110 01:59:50,149 --> 01:59:47,599 35 kilowatt systems in the pipe and 50 3111 01:59:52,470 --> 01:59:50,159 kilowatt for us is is the next step 3112 01:59:56,470 --> 01:59:52,480 we'll couple that with some 3113 01:59:58,470 --> 01:59:56,480 electric thrusters 40 kilowatts of those 3114 02:00:00,149 --> 01:59:58,480 and a whole lot of xenon and you've got 3115 02:00:01,750 --> 02:00:00,159 enough delta v here to do pretty much 3116 02:00:04,149 --> 02:00:01,760 anything you need running around the 3117 02:00:06,709 --> 02:00:04,159 solar system between asteroids 3118 02:00:09,350 --> 02:00:06,719 um we've decided to make this a separate 3119 02:00:11,430 --> 02:00:09,360 tug so that it can do other things so 3120 02:00:13,270 --> 02:00:11,440 we can get whatever we need to the 3121 02:00:15,030 --> 02:00:13,280 asteroid and bring it back and all that 3122 02:00:17,510 --> 02:00:15,040 but we can also do other missions too 3123 02:00:19,510 --> 02:00:17,520 this tug is separable it can join on to 3124 02:00:21,669 --> 02:00:19,520 other modules or other vehicles or other 3125 02:00:23,430 --> 02:00:21,679 types of vehicles to do other missions 3126 02:00:25,350 --> 02:00:23,440 throughout the solar system 3127 02:00:27,270 --> 02:00:25,360 so that's that idea the front end of 3128 02:00:30,070 --> 02:00:27,280 this thing is a robotic servicing 3129 02:00:32,070 --> 02:00:30,080 spacecraft which has all the dexterity 3130 02:00:33,990 --> 02:00:32,080 of the robots but also the sixth degree 3131 02:00:36,709 --> 02:00:34,000 of freedom maneuvering and and the 3132 02:00:38,310 --> 02:00:36,719 relative navigation sensing and the and 3133 02:00:39,910 --> 02:00:38,320 the fault tolerant computing so that we 3134 02:00:43,189 --> 02:00:39,920 don't run into things and all that kind 3135 02:00:45,910 --> 02:00:43,199 of stuff so that it it can be designed 3136 02:00:48,310 --> 02:00:45,920 first for the asteroid capture mission 3137 02:00:49,910 --> 02:00:48,320 but also again later for other things 3138 02:00:51,830 --> 02:00:49,920 satellite service thing is an obvious 3139 02:00:53,350 --> 02:00:51,840 one that everyone knows that mda has 3140 02:00:55,350 --> 02:00:53,360 been interested in for years and 3141 02:00:56,550 --> 02:00:55,360 continues to be interested in along with 3142 02:00:57,350 --> 02:00:56,560 other folks 3143 02:00:59,109 --> 02:00:57,360 and 3144 02:01:00,950 --> 02:00:59,119 most of the technology that's needed for 3145 02:01:03,350 --> 02:01:00,960 that for satellite servicing is also 3146 02:01:05,589 --> 02:01:03,360 applicable to this asteroid mission so 3147 02:01:07,430 --> 02:01:05,599 the id our idea is let's build these 3148 02:01:10,310 --> 02:01:07,440 modular blocks that we can take the 3149 02:01:12,310 --> 02:01:10,320 pieces of and then use for here but also 3150 02:01:14,950 --> 02:01:12,320 use them in other parts of the other 3151 02:01:19,430 --> 02:01:17,109 so just to go into the the 3152 02:01:21,350 --> 02:01:19,440 crew support part of this 3153 02:01:23,830 --> 02:01:21,360 the front end of this vehicle the the 3154 02:01:26,470 --> 02:01:23,840 separable vehicle uh as you can see in 3155 02:01:28,310 --> 02:01:26,480 this image is joined with the orion 3156 02:01:31,109 --> 02:01:28,320 vehicle when it shows up 3157 02:01:32,950 --> 02:01:31,119 um has two sets of robotics on it you 3158 02:01:34,950 --> 02:01:32,960 can see the very long one that's a 13 3159 02:01:37,750 --> 02:01:34,960 meter robot and then there's a set of 3160 02:01:39,990 --> 02:01:37,760 three um slightly more dexterous robots 3161 02:01:42,870 --> 02:01:40,000 they're about three meters apiece so 3162 02:01:45,830 --> 02:01:42,880 going into the longer robot first 3163 02:01:48,149 --> 02:01:45,840 the idea there is it's long enough that 3164 02:01:50,310 --> 02:01:48,159 it can reach out and touch the asteroid 3165 02:01:51,750 --> 02:01:50,320 or or almost touch the asteroid or place 3166 02:01:53,910 --> 02:01:51,760 instruments towards the asteroid before 3167 02:01:55,669 --> 02:01:53,920 we even capture it or deflect it so that 3168 02:01:56,790 --> 02:01:55,679 we can get a clue of what it is we're 3169 02:01:58,950 --> 02:01:56,800 dealing with 3170 02:01:59,910 --> 02:01:58,960 um and then once we do capture it which 3171 02:02:02,790 --> 02:01:59,920 could be 3172 02:02:04,950 --> 02:02:02,800 a bag or any of the solutions we heard 3173 02:02:06,870 --> 02:02:04,960 this morning which could be helped by 3174 02:02:08,390 --> 02:02:06,880 this 13 meter arm it's long enough that 3175 02:02:10,470 --> 02:02:08,400 it can actually reach most of the 3176 02:02:13,270 --> 02:02:10,480 surface area of the of the type of 3177 02:02:15,669 --> 02:02:13,280 asteroid we're talking about 3178 02:02:17,589 --> 02:02:15,679 uh it can also 3179 02:02:19,109 --> 02:02:17,599 help the crew 3180 02:02:23,030 --> 02:02:19,119 gain access to the surface of that 3181 02:02:25,030 --> 02:02:23,040 asteroid once it's back in moon orbit 3182 02:02:26,709 --> 02:02:25,040 one of the other benefits of this is 3183 02:02:28,790 --> 02:02:26,719 that because the robots are all on the 3184 02:02:30,950 --> 02:02:28,800 arv which is just one solution and we 3185 02:02:32,149 --> 02:02:30,960 heard earlier in this session we've 3186 02:02:34,550 --> 02:02:32,159 heard different solutions about where 3187 02:02:37,189 --> 02:02:34,560 those robots can be 3188 02:02:38,950 --> 02:02:37,199 is that we don't have to burden 3189 02:02:41,270 --> 02:02:38,960 the orion vehicle with the robots if we 3190 02:02:43,510 --> 02:02:41,280 put them on the arv 3191 02:02:44,709 --> 02:02:43,520 or at least our servicing vehicle and of 3192 02:02:47,270 --> 02:02:44,719 course they're available for other 3193 02:02:51,030 --> 02:02:47,280 missions 3194 02:02:53,270 --> 02:02:51,040 also it will allow a very low impact 3195 02:02:55,669 --> 02:02:53,280 birthing if we like for example if the 3196 02:02:57,109 --> 02:02:55,679 asteroid turns out to be nothing but a 3197 02:02:58,870 --> 02:02:57,119 dust bunny 3198 02:03:01,030 --> 02:02:58,880 then when the 3199 02:03:03,109 --> 02:03:01,040 orion comes to dock rather than having 3200 02:03:04,870 --> 02:03:03,119 the impulsive docket forces we can reach 3201 02:03:06,950 --> 02:03:04,880 out with the arm very very gently and do 3202 02:03:07,830 --> 02:03:06,960 a very gentle birthing which can of 3203 02:03:10,070 --> 02:03:07,840 course 3204 02:03:13,589 --> 02:03:10,080 cause a lot less disturbance to the 3205 02:03:17,350 --> 02:03:14,629 and then 3206 02:03:19,669 --> 02:03:17,360 the second set of robots which are the 3207 02:03:21,750 --> 02:03:19,679 three more dexterous robots and just see 3208 02:03:23,109 --> 02:03:21,760 if this 3209 02:03:26,790 --> 02:03:23,119 oh there we go 3210 02:03:28,550 --> 02:03:26,800 um so these three robots down here 3211 02:03:29,589 --> 02:03:28,560 a very similar sort of intention with 3212 02:03:30,709 --> 02:03:29,599 those 3213 02:03:33,350 --> 02:03:30,719 in that 3214 02:03:35,030 --> 02:03:33,360 they can handle instruments uh prior to 3215 02:03:36,709 --> 02:03:35,040 the crew 3216 02:03:38,229 --> 02:03:36,719 doing their sorties 3217 02:03:39,910 --> 02:03:38,239 they can 3218 02:03:41,750 --> 02:03:39,920 do very repetitive type things for 3219 02:03:44,790 --> 02:03:41,760 example a ram and spec you could do a 3220 02:03:46,790 --> 02:03:44,800 complete survey of some area at one m 3221 02:03:49,350 --> 02:03:46,800 one millimeter type increments 3222 02:03:51,669 --> 02:03:49,360 that was chosen by the ground 3223 02:03:53,189 --> 02:03:51,679 scientists prior to the crew going out 3224 02:03:56,629 --> 02:03:53,199 getting information 3225 02:03:58,629 --> 02:03:56,639 uh the crew can then go and do more uh 3226 02:04:01,109 --> 02:03:58,639 related science with those 3227 02:04:02,390 --> 02:04:01,119 or once the crew or the prospectors 3228 02:04:03,589 --> 02:04:02,400 they'll call them prospectors for now 3229 02:04:05,750 --> 02:04:03,599 because that's really what they're doing 3230 02:04:07,990 --> 02:04:05,760 once they pick interesting spots then 3231 02:04:09,430 --> 02:04:08,000 these arms can handle the the very 3232 02:04:12,149 --> 02:04:09,440 tedious 3233 02:04:13,510 --> 02:04:12,159 exercise of analyzing them or 3234 02:04:15,990 --> 02:04:13,520 positioning instruments around them or 3235 02:04:17,350 --> 02:04:16,000 collecting samples or anything like that 3236 02:04:18,470 --> 02:04:17,360 as we heard a bit earlier today 3237 02:04:21,430 --> 02:04:18,480 controlled from the ground because 3238 02:04:23,270 --> 02:04:21,440 there's no reason that we can't do 3239 02:04:25,510 --> 02:04:23,280 control of all of these robots from the 3240 02:04:27,030 --> 02:04:25,520 ground uh with a set of scientists 3241 02:04:29,350 --> 02:04:27,040 looking over somebody's shoulder saying 3242 02:04:31,030 --> 02:04:29,360 yeah i want that i want that and and we 3243 02:04:33,589 --> 02:04:31,040 can go and do it 3244 02:04:35,510 --> 02:04:33,599 um and so really what these robots are 3245 02:04:37,189 --> 02:04:35,520 about is assisting the crew taking the 3246 02:04:39,430 --> 02:04:37,199 repetitive 3247 02:04:41,510 --> 02:04:39,440 tasks associated with prospecting away 3248 02:04:43,830 --> 02:04:41,520 from the crew so that they can go and do 3249 02:04:45,430 --> 02:04:43,840 smarter things and and pick better sites 3250 02:04:48,390 --> 02:04:45,440 and look at interesting things to look 3251 02:04:50,550 --> 02:04:48,400 at later and that sort of thing 3252 02:04:52,229 --> 02:04:50,560 so the benefit of these two sets of 3253 02:04:54,390 --> 02:04:52,239 robots that we're talking about today is 3254 02:04:56,310 --> 02:04:54,400 that they already exist so in the top 3255 02:04:59,189 --> 02:04:56,320 right corner there you see the 13 meter 3256 02:05:01,589 --> 02:04:59,199 arm it was designed and built to capture 3257 02:05:03,990 --> 02:05:01,599 the hubble space telescope back in the 3258 02:05:05,430 --> 02:05:04,000 mid 2000s when there was a fear that the 3259 02:05:07,669 --> 02:05:05,440 hubble space telescope was going to 3260 02:05:09,430 --> 02:05:07,679 enter the atmosphere and and make it to 3261 02:05:12,229 --> 02:05:09,440 the ground basically and we were going 3262 02:05:13,589 --> 02:05:12,239 to do a robotic rescue mission 3263 02:05:14,709 --> 02:05:13,599 so that arm 3264 02:05:16,310 --> 02:05:14,719 has 3265 02:05:18,310 --> 02:05:16,320 bits and pieces stolen from the other 3266 02:05:20,390 --> 02:05:18,320 space station arms 3267 02:05:22,470 --> 02:05:20,400 the joints are from the dexter robot the 3268 02:05:24,470 --> 02:05:22,480 motors are the redundantly wound motors 3269 02:05:26,310 --> 02:05:24,480 from the canadarm2 3270 02:05:27,750 --> 02:05:26,320 and the end effector is from the space 3271 02:05:29,589 --> 02:05:27,760 shuttle arm 3272 02:05:31,589 --> 02:05:29,599 and we can replace that with any other 3273 02:05:33,510 --> 02:05:31,599 end effector because unless asteroids 3274 02:05:35,990 --> 02:05:33,520 come with grapple fixtures attached in 3275 02:05:38,390 --> 02:05:36,000 which case our capture problem is solved 3276 02:05:41,270 --> 02:05:38,400 we can put something a little more 3277 02:05:43,910 --> 02:05:41,280 appropriate for this mission on there 3278 02:05:47,350 --> 02:05:43,920 the electronics have been updated 3279 02:05:48,790 --> 02:05:47,360 canadarm2 uses 186s and 386s believe it 3280 02:05:50,310 --> 02:05:48,800 or not 3281 02:05:51,910 --> 02:05:50,320 we've upgraded the avionics on this 3282 02:05:54,790 --> 02:05:51,920 particular one to 3283 02:05:57,270 --> 02:05:54,800 red 750fx's which means you can do 3284 02:05:59,589 --> 02:05:57,280 more advanced control algorithms and 3285 02:06:02,069 --> 02:05:59,599 most importantly we've got a natural 3286 02:06:05,030 --> 02:06:02,079 feature based machine vision algorithm 3287 02:06:06,229 --> 02:06:05,040 running on that thing what it means is a 3288 02:06:09,109 --> 02:06:06,239 scientist 3289 02:06:11,189 --> 02:06:09,119 on his screen can say i want you to move 3290 02:06:13,270 --> 02:06:11,199 me there and he puts his cursor 3291 02:06:15,350 --> 02:06:13,280 somewhere or his mouse with his mouse 3292 02:06:18,149 --> 02:06:15,360 and the arm can go there 3293 02:06:19,990 --> 02:06:18,159 that's a very powerful way of 3294 02:06:21,910 --> 02:06:20,000 graphically commanding robots to do 3295 02:06:24,229 --> 02:06:21,920 things you want to do 3296 02:06:27,910 --> 02:06:24,239 for the dextrous arms we're proposing 3297 02:06:29,350 --> 02:06:27,920 copies of the darpa phoenix friend arms 3298 02:06:32,470 --> 02:06:29,360 they were designed for satellite 3299 02:06:34,390 --> 02:06:32,480 servicing they're they're very dexterous 3300 02:06:36,310 --> 02:06:34,400 and and they would 3301 02:06:38,149 --> 02:06:36,320 be perfectly capable of doing this kind 3302 02:06:40,709 --> 02:06:38,159 of a job 3303 02:06:42,870 --> 02:06:40,719 and so for my final slide 3304 02:06:44,790 --> 02:06:42,880 i just want to remind folks that robots 3305 02:06:47,030 --> 02:06:44,800 are not here to replace people 3306 02:06:48,709 --> 02:06:47,040 especially highly skilled people what 3307 02:06:50,950 --> 02:06:48,719 they're here to do is extend their 3308 02:06:52,709 --> 02:06:50,960 capabilities and make them 3309 02:06:54,229 --> 02:06:52,719 allow them to do things that they 3310 02:06:55,750 --> 02:06:54,239 couldn't do before and we've proven this 3311 02:06:57,830 --> 02:06:55,760 again and again 3312 02:06:59,350 --> 02:06:57,840 with a robot with the crew using the 3313 02:07:01,109 --> 02:06:59,360 best of them both 3314 02:07:03,270 --> 02:07:01,119 you can do pretty amazing things and i 3315 02:07:05,350 --> 02:07:03,280 think this is a perfect example of where 3316 02:07:15,990 --> 02:07:05,360 we can do that 3317 02:07:23,350 --> 02:07:20,550 on the um the 13 meter um 3318 02:07:24,149 --> 02:07:23,360 you i think you use the word soft birth 3319 02:07:27,189 --> 02:07:24,159 yeah 3320 02:07:28,310 --> 02:07:27,199 okay so if that was a 3321 02:07:31,189 --> 02:07:28,320 um 3322 02:07:33,189 --> 02:07:31,199 like a rubble we'll say a sand pile 3323 02:07:35,589 --> 02:07:33,199 how does that work without 3324 02:07:37,430 --> 02:07:35,599 dissipating it or moving it i mean 3325 02:07:40,790 --> 02:07:37,440 yeah the the 3326 02:07:42,709 --> 02:07:40,800 what i have in mind is rather than 3327 02:07:43,910 --> 02:07:42,719 for the docking mechanisms you need a 3328 02:07:46,229 --> 02:07:43,920 certain amount of 3329 02:07:48,229 --> 02:07:46,239 impact or impulse if you like to make 3330 02:07:50,149 --> 02:07:48,239 them to trip them 3331 02:07:51,270 --> 02:07:50,159 and that gets transferred to everything 3332 02:07:54,550 --> 02:07:51,280 in the stack 3333 02:07:56,550 --> 02:07:54,560 in the case of capture and birthing 3334 02:07:58,390 --> 02:07:56,560 the orion would station keep some 3335 02:08:00,149 --> 02:07:58,400 distance away from the 3336 02:08:01,910 --> 02:08:00,159 arv 3337 02:08:03,510 --> 02:08:01,920 for argument's sake let's say six meters 3338 02:08:05,430 --> 02:08:03,520 that's a nice safe 3339 02:08:07,430 --> 02:08:05,440 distance the arm would reach out very 3340 02:08:10,149 --> 02:08:07,440 gently because we can move this arm we 3341 02:08:11,990 --> 02:08:10,159 have the ability to shape the command so 3342 02:08:13,589 --> 02:08:12,000 the acceleration deceleration transfer 3343 02:08:14,950 --> 02:08:13,599 of momentum and all that can be very 3344 02:08:16,629 --> 02:08:14,960 well controlled 3345 02:08:19,910 --> 02:08:16,639 you can move the arm out there 3346 02:08:21,830 --> 02:08:19,920 capture the station kept orion and move 3347 02:08:23,830 --> 02:08:21,840 it very gently into a birthing fixture 3348 02:08:25,109 --> 02:08:23,840 that rather than needing 3349 02:08:27,430 --> 02:08:25,119 force 3350 02:08:29,030 --> 02:08:27,440 to join with can more or less just be 3351 02:08:32,069 --> 02:08:29,040 placed into its capture envelope and 3352 02:08:33,589 --> 02:08:32,079 then the mechanism mechanism just closes 3353 02:08:40,470 --> 02:08:33,599 and there's no 3354 02:08:45,189 --> 02:08:41,830 any other questions in the room or 3355 02:08:45,199 --> 02:08:51,910 thanks john all right 3356 02:08:57,189 --> 02:08:54,709 so our next presenter is frank 3357 02:09:00,069 --> 02:08:57,199 eichstadt if i butchered your name i 3358 02:09:01,189 --> 02:09:00,079 apologize i'm german as well 3359 02:09:03,189 --> 02:09:01,199 um 3360 02:09:03,990 --> 02:09:03,199 and his presentation is from 3361 02:09:05,430 --> 02:09:04,000 airing 3362 02:09:07,109 --> 02:09:05,440 space systems and he's going to talk a 3363 02:09:09,750 --> 02:09:07,119 little bit about their uh 3364 02:09:11,350 --> 02:09:09,760 eva capabilities yeah that's um 3365 02:09:13,430 --> 02:09:11,360 presumably what i would talk about when 3366 02:09:15,830 --> 02:09:13,440 i was asked to write on the topic of 3367 02:09:17,430 --> 02:09:15,840 this rfi i wasn't like really sure 3368 02:09:20,229 --> 02:09:17,440 whether to paint with a big brush or a 3369 02:09:22,550 --> 02:09:20,239 small brushes so i'm 3370 02:09:24,709 --> 02:09:22,560 approaching this topic with a relatively 3371 02:09:26,709 --> 02:09:24,719 large brush because the time that we're 3372 02:09:27,910 --> 02:09:26,719 at in the in the formation of this 3373 02:09:30,069 --> 02:09:27,920 mission 3374 02:09:32,310 --> 02:09:30,079 uh this initiative really 3375 02:09:35,189 --> 02:09:32,320 i think this is the time to pursue 3376 02:09:41,669 --> 02:09:35,199 rather large ideas 3377 02:09:44,790 --> 02:09:43,350 we talk about the concept of tools in 3378 02:09:46,149 --> 02:09:44,800 the upper left-hand corner you'll see an 3379 02:09:48,790 --> 02:09:46,159 image that you're probably all familiar 3380 02:09:51,030 --> 02:09:48,800 with from 2001 a space odyssey where ape 3381 02:09:52,629 --> 02:09:51,040 throws a bone up in the air and before 3382 02:09:55,830 --> 02:09:52,639 before you know it we're looking at 3383 02:09:59,030 --> 02:09:55,840 space stations um the message here is 3384 02:10:01,510 --> 02:09:59,040 that all these pictures that you see 3385 02:10:03,430 --> 02:10:01,520 are essentially tools all the way up to 3386 02:10:05,430 --> 02:10:03,440 the scale of an aircraft carrier or a 3387 02:10:06,470 --> 02:10:05,440 space station 3388 02:10:09,669 --> 02:10:06,480 we're really 3389 02:10:15,270 --> 02:10:09,679 talking in very broad terms about what 3390 02:10:17,030 --> 02:10:15,280 technologies we will apply to let humans 3391 02:10:19,669 --> 02:10:17,040 do the best job possible exploring 3392 02:10:22,310 --> 02:10:19,679 asteroids not only on this mission i 3393 02:10:24,790 --> 02:10:22,320 think but in the larger sense 3394 02:10:26,229 --> 02:10:24,800 what happens later 3395 02:10:29,109 --> 02:10:26,239 this i think 3396 02:10:31,910 --> 02:10:29,119 is expressed as an asteroid exploration 3397 02:10:34,709 --> 02:10:31,920 initiative not necessarily a mission 3398 02:10:36,709 --> 02:10:34,719 and my question to the group in general 3399 02:10:40,310 --> 02:10:36,719 is when are you finished 3400 02:10:43,669 --> 02:10:40,320 um it's very important when you look at 3401 02:10:45,589 --> 02:10:43,679 tools um to know exactly what it is 3402 02:10:47,430 --> 02:10:45,599 you're going to do with these tools 3403 02:10:49,669 --> 02:10:47,440 before you get started i mean i think we 3404 02:10:51,669 --> 02:10:49,679 know at this point we need a toolbox 3405 02:10:53,589 --> 02:10:51,679 what it's full of is going to depend on 3406 02:10:54,870 --> 02:10:53,599 what we intend to accomplish at these 3407 02:10:57,669 --> 02:10:54,880 asteroids 3408 02:10:59,510 --> 02:10:57,679 and without knowing what we're going to 3409 02:11:02,470 --> 02:10:59,520 accomplish we have to really start off 3410 02:11:05,350 --> 02:11:02,480 with very general uh capabilities like 3411 02:11:06,390 --> 02:11:05,360 drilling like picking like grabbing 3412 02:11:09,830 --> 02:11:06,400 and as 3413 02:11:11,510 --> 02:11:09,840 we learn more as we 3414 02:11:13,350 --> 02:11:11,520 penetrate 3415 02:11:14,870 --> 02:11:13,360 further and further into this quest for 3416 02:11:16,470 --> 02:11:14,880 knowledge about asteroids we're going to 3417 02:11:18,069 --> 02:11:16,480 come to know much more about what kind 3418 02:11:20,629 --> 02:11:18,079 of tools we need 3419 02:11:23,510 --> 02:11:20,639 and on recurring missions i think it's 3420 02:11:24,870 --> 02:11:23,520 important that we build capability as we 3421 02:11:27,350 --> 02:11:24,880 build knowledge 3422 02:11:30,149 --> 02:11:27,360 on what these tools are supposed to do 3423 02:11:33,189 --> 02:11:30,159 that's why i was so refreshed to see 3424 02:11:34,870 --> 02:11:33,199 several concepts today with regards to 3425 02:11:37,030 --> 02:11:34,880 enhancements to the architecture that 3426 02:11:39,189 --> 02:11:37,040 occur over multiple missions 3427 02:11:42,709 --> 02:11:39,199 so that at some point maybe 3428 02:11:45,270 --> 02:11:42,719 we end up with an asteroid repository 3429 02:11:48,069 --> 02:11:45,280 that could satisfy the investigation of 3430 02:11:50,229 --> 02:11:48,079 many asteroids over multiple missions 3431 02:11:53,750 --> 02:11:50,239 and when nasa takes off and does the 3432 02:11:56,950 --> 02:11:53,760 next great thing that this asteroid 3433 02:11:59,030 --> 02:11:56,960 laboratory in lunar orbit continues to 3434 02:12:01,109 --> 02:11:59,040 serve some function and continues to 3435 02:12:03,589 --> 02:12:01,119 allow people to build knowledge not of 3436 02:12:05,350 --> 02:12:03,599 just this first asteroid but of 3437 02:12:08,390 --> 02:12:05,360 subsequent asteroids that might be 3438 02:12:11,830 --> 02:12:08,400 collected at this laboratory 3439 02:12:13,510 --> 02:12:11,840 so in in addressing these unknowns uh we 3440 02:12:14,950 --> 02:12:13,520 need to retire the unknowns 3441 02:12:16,790 --> 02:12:14,960 progressively 3442 02:12:18,950 --> 02:12:16,800 and i think it's going to take more than 3443 02:12:20,790 --> 02:12:18,960 one mission i think this this initial 3444 02:12:23,350 --> 02:12:20,800 mission great we can demonstrate that we 3445 02:12:24,229 --> 02:12:23,360 can go get one we can bust a chunk off 3446 02:12:25,990 --> 02:12:24,239 of it 3447 02:12:27,589 --> 02:12:26,000 but just like you know you don't build 3448 02:12:29,589 --> 02:12:27,599 hubble look at one star i don't think 3449 02:12:31,430 --> 02:12:29,599 you build this architecture to look at 3450 02:12:33,510 --> 02:12:31,440 one rock i think you build an 3451 02:12:35,910 --> 02:12:33,520 architecture that has some 3452 02:12:38,149 --> 02:12:35,920 forward compatibility 3453 02:12:40,229 --> 02:12:38,159 another thing i was asked to look at 3454 02:12:42,229 --> 02:12:40,239 from oceaneering's perspective we have 3455 02:12:43,910 --> 02:12:42,239 worked somewhat with some environmental 3456 02:12:45,910 --> 02:12:43,920 control life support systems we're 3457 02:12:48,390 --> 02:12:45,920 developing a new suit 3458 02:12:50,790 --> 02:12:48,400 and we work a lot with eva tools 3459 02:12:52,310 --> 02:12:50,800 so we're looking at 3460 02:12:54,470 --> 02:12:52,320 architectural approaches that could 3461 02:12:55,830 --> 02:12:54,480 reduce the overall mass of eva 3462 02:12:57,669 --> 02:12:55,840 capability 3463 02:13:00,229 --> 02:12:57,679 and one of those things would be to 3464 02:13:02,069 --> 02:13:00,239 tailor the capacity of eva 3465 02:13:03,990 --> 02:13:02,079 and tailor the capacity of your 3466 02:13:06,229 --> 02:13:04,000 environmental control systems to match 3467 02:13:07,830 --> 02:13:06,239 the number of crew days on a particular 3468 02:13:09,109 --> 02:13:07,840 mission 3469 02:13:11,030 --> 02:13:09,119 another thing that could be done to 3470 02:13:13,990 --> 02:13:11,040 reduce the overall mass of the eva 3471 02:13:14,950 --> 02:13:14,000 system would be to forego the use of a 3472 02:13:17,510 --> 02:13:14,960 plus 3473 02:13:20,790 --> 02:13:17,520 and support your suited subjects using 3474 02:13:23,510 --> 02:13:20,800 umbilicals that are slaved from the 3475 02:13:24,790 --> 02:13:23,520 spacecraft eclipse system itself 3476 02:13:25,990 --> 02:13:24,800 you could then 3477 02:13:28,629 --> 02:13:26,000 consider 3478 02:13:30,950 --> 02:13:28,639 basing those umbilicals on the asteroid 3479 02:13:32,709 --> 02:13:30,960 recovery vehicle rather than on them on 3480 02:13:34,550 --> 02:13:32,719 the orion itself so that once you have 3481 02:13:36,149 --> 02:13:34,560 the umbilicals in place 3482 02:13:39,109 --> 02:13:36,159 they remain in place you don't need to 3483 02:13:42,629 --> 02:13:39,119 fly them up on a repeated basis in order 3484 02:13:45,030 --> 02:13:42,639 to have that that light essentially 3485 02:13:47,189 --> 02:13:45,040 low transported mass approach to 3486 02:13:49,589 --> 02:13:47,199 supporting eva 3487 02:13:51,830 --> 02:13:49,599 assuming that both eva crew members are 3488 02:13:53,990 --> 02:13:51,840 operating in a relatively common work 3489 02:13:56,149 --> 02:13:54,000 space you might have a dual user 3490 02:13:59,430 --> 02:13:56,159 umbilical which would be similar to uh 3491 02:14:01,350 --> 02:13:59,440 in um surface supported diving if you 3492 02:14:03,510 --> 02:14:01,360 have one hose going down and splitting 3493 02:14:05,669 --> 02:14:03,520 off to support two divers you end up 3494 02:14:08,470 --> 02:14:05,679 carrying a lot less hose so there are 3495 02:14:11,270 --> 02:14:08,480 there are generic ways that you could 3496 02:14:13,270 --> 02:14:11,280 reduce the overall transported mass to 3497 02:14:15,350 --> 02:14:13,280 support eva in this particular type of 3498 02:14:17,510 --> 02:14:15,360 an operating environment 3499 02:14:19,510 --> 02:14:17,520 and then the question arises do you eva 3500 02:14:21,510 --> 02:14:19,520 or don't you eva and i think 3501 02:14:23,669 --> 02:14:21,520 naturally on the earliest missions when 3502 02:14:25,350 --> 02:14:23,679 you're you're taking your baby steps and 3503 02:14:27,030 --> 02:14:25,360 and you're learning what it is you want 3504 02:14:29,350 --> 02:14:27,040 to be able to do 3505 02:14:31,750 --> 02:14:29,360 eva is going to be extremely important 3506 02:14:34,229 --> 02:14:31,760 but over time i think automation 3507 02:14:36,470 --> 02:14:34,239 technology and robotics is going to 3508 02:14:38,550 --> 02:14:36,480 allow us to do a lot more 3509 02:14:39,990 --> 02:14:38,560 and a lot more detailed exploration as 3510 02:14:41,510 --> 02:14:40,000 we understand what challenges we're 3511 02:14:43,990 --> 02:14:41,520 trying to face 3512 02:14:46,629 --> 02:14:44,000 so at some point in time this might we 3513 02:14:49,109 --> 02:14:46,639 might not have to go to this uh 3514 02:14:50,870 --> 02:14:49,119 asteroid repository with people at all 3515 02:14:52,470 --> 02:14:50,880 or it might become a man tended or a 3516 02:14:55,910 --> 02:14:52,480 robotically tended 3517 02:14:58,709 --> 02:14:55,920 um asteroid laboratory if you will 3518 02:15:00,229 --> 02:14:58,719 and no longer have to host eva 3519 02:15:03,270 --> 02:15:00,239 so if we look at the accelerating 3520 02:15:05,830 --> 02:15:03,280 advancements of extra-vehicular robotics 3521 02:15:08,069 --> 02:15:05,840 and the time frame by which this mission 3522 02:15:09,270 --> 02:15:08,079 might fly we may find that we should be 3523 02:15:12,069 --> 02:15:09,280 designing 3524 02:15:14,950 --> 02:15:12,079 with uh transparency to 3525 02:15:16,550 --> 02:15:14,960 the influx of much much greater robotic 3526 02:15:18,470 --> 02:15:16,560 technology 3527 02:15:21,510 --> 02:15:18,480 within the next 10 to 12 years let's say 3528 02:15:27,189 --> 02:15:24,069 we can then look as as some people have 3529 02:15:29,430 --> 02:15:27,199 described at uh integrating the robotic 3530 02:15:31,510 --> 02:15:29,440 capabilities into the asteroid recovery 3531 02:15:33,350 --> 02:15:31,520 vehicle rather than hosting them on 3532 02:15:35,510 --> 02:15:33,360 board the orion 3533 02:15:37,350 --> 02:15:35,520 i think these particular robotic 3534 02:15:39,990 --> 02:15:37,360 capabilities are going to be tailored to 3535 02:15:41,750 --> 02:15:40,000 this particular work environment and in 3536 02:15:44,149 --> 02:15:41,760 the interest of not 3537 02:15:46,149 --> 02:15:44,159 scarring or changing the orion design to 3538 02:15:48,550 --> 02:15:46,159 any great degree we should really look 3539 02:15:51,430 --> 02:15:48,560 at hosting all of those capabilities on 3540 02:15:56,950 --> 02:15:51,440 the asteroid recovery vehicle to the 3541 02:16:01,350 --> 02:15:59,910 let's see what else i got here 3542 02:16:02,629 --> 02:16:01,360 we talked about 3543 02:16:06,310 --> 02:16:02,639 hosting 3544 02:16:09,030 --> 02:16:06,320 stowage and putting capacity on the 3545 02:16:13,910 --> 02:16:11,750 assets at the asteroid and if we're 3546 02:16:16,870 --> 02:16:13,920 looking for high efficiency packing for 3547 02:16:18,390 --> 02:16:16,880 example someone talked about putting 27 3548 02:16:21,109 --> 02:16:18,400 ctbes 3549 02:16:23,669 --> 02:16:21,119 someplace well ctvs have not 3550 02:16:25,750 --> 02:16:23,679 traditionally been extremely high 3551 02:16:27,109 --> 02:16:25,760 efficiency packaging 3552 02:16:29,589 --> 02:16:27,119 if you look at the lower right hand 3553 02:16:32,469 --> 02:16:29,599 corner you can see the progress vehicle 3554 02:16:34,389 --> 02:16:32,479 uses custom tailored packaging for each 3555 02:16:37,509 --> 02:16:34,399 particular nook and cranny in that 3556 02:16:40,469 --> 02:16:37,519 vehicle to get the maximum amount of 3557 02:16:43,429 --> 02:16:40,479 volume useful volume in terms of you 3558 02:16:46,309 --> 02:16:43,439 know not not space filler or not padding 3559 02:16:48,150 --> 02:16:46,319 not foam but tools so we should really 3560 02:16:50,150 --> 02:16:48,160 be looking for ways to 3561 02:16:52,150 --> 02:16:50,160 increase the efficiency 3562 02:16:54,709 --> 02:16:52,160 of our packaging approaches along the 3563 02:16:56,950 --> 02:16:54,719 left side you'll see some some ad hoc 3564 02:16:58,870 --> 02:16:56,960 highly efficient means of transporting 3565 02:17:00,469 --> 02:16:58,880 things people in other parts of the 3566 02:17:02,950 --> 02:17:00,479 world have a different approach for how 3567 02:17:04,950 --> 02:17:02,960 to be efficient one guy even carrying a 3568 02:17:07,110 --> 02:17:04,960 cow on board his motorcycle it's not 3569 02:17:08,950 --> 02:17:07,120 something i'd suggest we do but i think 3570 02:17:12,150 --> 02:17:08,960 we can become much more efficient than 3571 02:17:14,469 --> 02:17:12,160 we are in packaging 3572 02:17:17,270 --> 02:17:14,479 this this concept was talked about 3573 02:17:19,429 --> 02:17:17,280 earlier the idea of putting some sort of 3574 02:17:22,309 --> 02:17:19,439 a adapter in between 3575 02:17:25,190 --> 02:17:22,319 the um the asteroid recovery vehicle and 3576 02:17:27,110 --> 02:17:25,200 the orion or building capability into 3577 02:17:29,669 --> 02:17:27,120 the asteroid recovery vehicle in this 3578 02:17:32,309 --> 02:17:29,679 case i refer to it as a closet where you 3579 02:17:35,110 --> 02:17:32,319 could cash things it's very important 3580 02:17:36,230 --> 02:17:35,120 that we recognize as people go on these 3581 02:17:38,230 --> 02:17:36,240 missions there are going to be 3582 02:17:40,549 --> 02:17:38,240 contingencies that they have to protect 3583 02:17:42,469 --> 02:17:40,559 against that might be in terms of 3584 02:17:44,469 --> 02:17:42,479 carrying additional food might be in 3585 02:17:46,709 --> 02:17:44,479 terms of carrying additional supplies 3586 02:17:48,309 --> 02:17:46,719 but as you retire the risk during that 3587 02:17:50,309 --> 02:17:48,319 mission during which 3588 02:17:52,629 --> 02:17:50,319 those particular assets are going to be 3589 02:17:53,990 --> 02:17:52,639 of value to you you can say hey we don't 3590 02:17:55,990 --> 02:17:54,000 need this anymore we're going to leave 3591 02:17:58,150 --> 02:17:56,000 this stuff here and it'd be nice to have 3592 02:17:59,830 --> 02:17:58,160 a closet to put it into where you could 3593 02:18:03,429 --> 02:17:59,840 leave it behind for subsequent crew 3594 02:18:07,669 --> 02:18:05,349 we've talked about functional allocation 3595 02:18:09,110 --> 02:18:07,679 amongst various spacecraft i think it's 3596 02:18:11,190 --> 02:18:09,120 also important to look at functional 3597 02:18:13,429 --> 02:18:11,200 allocation among serial missions in a 3598 02:18:14,469 --> 02:18:13,439 overall series and a campaign of 3599 02:18:16,950 --> 02:18:14,479 missions 3600 02:18:19,030 --> 02:18:16,960 and recognize that what we're really 3601 02:18:20,629 --> 02:18:19,040 looking at right now is the challenge of 3602 02:18:23,589 --> 02:18:20,639 getting off the dime 3603 02:18:26,389 --> 02:18:23,599 on exploring asteroids but we need to 3604 02:18:28,950 --> 02:18:26,399 look at this as a multi-decadal thing if 3605 02:18:31,349 --> 02:18:28,960 you really want to achieve efficiencies 3606 02:18:32,950 --> 02:18:31,359 at the broadest level things that might 3607 02:18:34,870 --> 02:18:32,960 not look efficient at a mission by 3608 02:18:37,270 --> 02:18:34,880 mission level may you may realize that 3609 02:18:39,429 --> 02:18:37,280 efficiency after three or four missions 3610 02:18:43,429 --> 02:18:39,439 or over over the course of an entire 3611 02:18:47,750 --> 02:18:46,070 so this really gets down to the point of 3612 02:18:49,589 --> 02:18:47,760 whether we're looking to optimize at a 3613 02:18:51,589 --> 02:18:49,599 very global level 3614 02:18:53,270 --> 02:18:51,599 or whether we're looking to optimize at 3615 02:18:56,629 --> 02:18:53,280 a point mission level 3616 02:18:59,270 --> 02:18:56,639 and uh that you know as the 3617 02:19:02,309 --> 02:18:59,280 thank you as the strategies for this 3618 02:19:03,830 --> 02:19:02,319 entire initiative formulate we need to 3619 02:19:05,429 --> 02:19:03,840 look at 3620 02:19:08,549 --> 02:19:05,439 at what level do we really choose to 3621 02:19:11,830 --> 02:19:08,559 optimize this architecture 3622 02:19:11,840 --> 02:19:15,750 we have time for one or two questions 3623 02:19:15,760 --> 02:19:19,030 go ahead joe 3624 02:19:23,750 --> 02:19:22,150 so the um question was um wondering if 3625 02:19:25,509 --> 02:19:23,760 you could expand on what you mean by 3626 02:19:27,030 --> 02:19:25,519 extending the reach of umbilicals are 3627 02:19:29,910 --> 02:19:27,040 you talking about longer umbilicals or 3628 02:19:32,830 --> 02:19:29,920 what yeah if you had um 3629 02:19:35,990 --> 02:19:32,840 long enough umbilicals that you could 3630 02:19:39,190 --> 02:19:36,000 uh support an eva to the farthest reach 3631 02:19:40,389 --> 02:19:39,200 away from the the uh orion vehicle as 3632 02:19:42,309 --> 02:19:40,399 possible 3633 02:19:44,150 --> 02:19:42,319 and there are some limits to how long 3634 02:19:46,309 --> 02:19:44,160 you can go with umbilicals before you 3635 02:19:47,750 --> 02:19:46,319 run out you just run into too much 3636 02:19:49,750 --> 02:19:47,760 overhead in terms of fluid pressure and 3637 02:19:51,030 --> 02:19:49,760 things like this um 3638 02:19:52,950 --> 02:19:51,040 but that's what i was talking about is 3639 02:19:54,710 --> 02:19:52,960 it extended length umbilical you know 3640 02:19:57,590 --> 02:19:54,720 what that practically 3641 02:20:02,070 --> 02:19:59,830 but i can actually answer that question 3642 02:20:03,670 --> 02:20:02,080 so we did do a trade study on ebay 3643 02:20:05,270 --> 02:20:03,680 umbilical lengths versus going to the 3644 02:20:07,590 --> 02:20:05,280 places to determine 3645 02:20:09,429 --> 02:20:07,600 what the manifested umbilicals were on 3646 02:20:11,110 --> 02:20:09,439 orion versus the if you look at the 3647 02:20:13,030 --> 02:20:11,120 umbilicals that were used in sky lab 3648 02:20:14,469 --> 02:20:13,040 which were rather lengthy and it 3649 02:20:16,389 --> 02:20:14,479 actually turned out that the use of the 3650 02:20:17,990 --> 02:20:16,399 places was lighter weight 3651 02:20:19,830 --> 02:20:18,000 because of the the length of the 3652 02:20:21,830 --> 02:20:19,840 umbilicals the mass of the umbilicals 3653 02:20:23,270 --> 02:20:21,840 and the pressure loss as you talk 3654 02:20:25,190 --> 02:20:23,280 so several of the topics that our 3655 02:20:27,190 --> 02:20:25,200 speaker brought up were the exact trades 3656 02:20:28,830 --> 02:20:27,200 that we were doing so i very much agree 3657 02:20:31,830 --> 02:20:28,840 with some of the questions you were 3658 02:20:36,870 --> 02:20:31,840 posing thank you 3659 02:20:42,950 --> 02:20:39,830 so we have one last presentation before 3660 02:20:45,030 --> 02:20:42,960 we'll take a break and that presentation 3661 02:20:46,469 --> 02:20:45,040 comes from ben reed good friend and 3662 02:20:47,990 --> 02:20:46,479 colleague from the goddard space flight 3663 02:20:49,910 --> 02:20:48,000 center and i think ben's going to talk 3664 02:20:51,429 --> 02:20:49,920 to us about uh some of the things 3665 02:20:53,190 --> 02:20:51,439 they've been working on in terms of eva 3666 02:20:54,230 --> 02:20:53,200 systems and robotics 3667 02:20:57,429 --> 02:20:54,240 up at cod 3668 02:20:59,110 --> 02:20:57,439 thank you steve thank you mark and uh 3669 02:21:01,429 --> 02:20:59,120 well i've got my thank yous out i've got 3670 02:21:02,550 --> 02:21:01,439 the program for the folks that have gone 3671 02:21:04,150 --> 02:21:02,560 before me 3672 02:21:06,950 --> 02:21:04,160 let's see thank you doug for talking 3673 02:21:08,870 --> 02:21:06,960 about the docking system on hst that was 3674 02:21:13,349 --> 02:21:08,880 good working with you on that 3675 02:21:15,590 --> 02:21:13,359 uh paul rrm thank you it was a we could 3676 02:21:17,590 --> 02:21:15,600 not have done it without the dexter and 3677 02:21:19,190 --> 02:21:17,600 ssrms so thank you 3678 02:21:20,309 --> 02:21:19,200 for your help there 3679 02:21:23,270 --> 02:21:20,319 doyle 3680 02:21:25,349 --> 02:21:23,280 pgt all the tools you showed for atk 3681 02:21:27,750 --> 02:21:25,359 built for all the hubble missions it's 3682 02:21:31,349 --> 02:21:27,760 great working with you on that as well 3683 02:21:32,950 --> 02:21:31,359 uh john lymon the 13 meter arm for hrsdm 3684 02:21:35,110 --> 02:21:32,960 it's too bad we weren't able to fly that 3685 02:21:37,110 --> 02:21:35,120 but when the crew came available 3686 02:21:38,830 --> 02:21:37,120 we had to go with uh 3687 02:21:41,990 --> 02:21:38,840 with the the tried and 3688 02:21:43,349 --> 02:21:42,000 true uh and aaron 3689 02:21:45,110 --> 02:21:43,359 looking forward to getting one of your 3690 02:21:48,469 --> 02:21:45,120 tools at the end of one of our robotic 3691 02:21:52,309 --> 02:21:48,479 arms in the uh in the next couple weeks 3692 02:21:54,389 --> 02:21:52,319 okay next chart please let's see 3693 02:21:56,389 --> 02:21:54,399 all right so you all have been heard 3694 02:21:58,790 --> 02:21:56,399 this throughout most of the day 3695 02:22:01,030 --> 02:21:58,800 i was going to talk about the advantages 3696 02:22:03,590 --> 02:22:01,040 that robotics bring 3697 02:22:05,349 --> 02:22:03,600 um to some of the the problems we have 3698 02:22:06,389 --> 02:22:05,359 here right we've got 3699 02:22:08,070 --> 02:22:06,399 um 3700 02:22:10,230 --> 02:22:08,080 we always have mass problems we've got 3701 02:22:12,870 --> 02:22:10,240 limited eva time 3702 02:22:14,950 --> 02:22:12,880 we've got signal uh latency because of 3703 02:22:18,230 --> 02:22:14,960 the the distance to it uh this is this 3704 02:22:20,950 --> 02:22:18,240 is a really hard mission um 3705 02:22:23,670 --> 02:22:20,960 and i am incredibly proud and happy to 3706 02:22:26,150 --> 02:22:23,680 be to be helping any way that that i can 3707 02:22:27,990 --> 02:22:26,160 or that we can at goddard to to help the 3708 02:22:29,670 --> 02:22:28,000 agency do it um 3709 02:22:32,790 --> 02:22:29,680 it's our job to do the tough things and 3710 02:22:35,030 --> 02:22:32,800 by golly when someone chose this 3711 02:22:37,510 --> 02:22:35,040 they were not lacking with hard things 3712 02:22:39,110 --> 02:22:37,520 to do so some of the advantages that 3713 02:22:41,349 --> 02:22:39,120 robotic springs you've already heard 3714 02:22:43,510 --> 02:22:41,359 multiple dissimilar technologies for 3715 02:22:47,910 --> 02:22:43,520 capture 3716 02:22:52,469 --> 02:22:47,920 if it's a a rubble pile as opposed to 3717 02:22:57,270 --> 02:22:54,630 different tools 3718 02:23:00,150 --> 02:22:57,280 that are picked up or let go with a 3719 02:23:04,389 --> 02:23:00,160 on-orbit tool changeout mechanism allows 3720 02:23:06,389 --> 02:23:04,399 to have failure attempts but uh uh with 3721 02:23:07,830 --> 02:23:06,399 still possibility for success it's not 3722 02:23:11,190 --> 02:23:07,840 one and done 3723 02:23:15,270 --> 02:23:12,950 it also allows you once you've got the 3724 02:23:18,309 --> 02:23:15,280 asteroid and you're on the long cruise 3725 02:23:20,230 --> 02:23:18,319 back to earth i believe that's what uh 3726 02:23:23,830 --> 02:23:20,240 several years before we get back is that 3727 02:23:25,830 --> 02:23:23,840 right so during that time rather than um 3728 02:23:29,429 --> 02:23:25,840 just be cruising and having the 3729 02:23:31,429 --> 02:23:29,439 astronauts train for multiple possible 3730 02:23:33,429 --> 02:23:31,439 scenarios once they are 3731 02:23:35,990 --> 02:23:33,439 present with the asteroid 3732 02:23:39,590 --> 02:23:36,000 it allows get ahead work 3733 02:23:41,510 --> 02:23:39,600 we can pick up sampling coring tools 3734 02:23:43,030 --> 02:23:41,520 the drill that we've seen in a couple of 3735 02:23:44,790 --> 02:23:43,040 these talks 3736 02:23:47,830 --> 02:23:44,800 to get a sense for what is the 3737 02:23:50,150 --> 02:23:47,840 consistency what is the chemistry um so 3738 02:23:52,309 --> 02:23:50,160 that we we don't have to waste eva crew 3739 02:23:53,830 --> 02:23:52,319 time for multiple scenarios but rather 3740 02:23:54,790 --> 02:23:53,840 just the one that's going to present 3741 02:23:56,150 --> 02:23:54,800 them 3742 02:23:58,550 --> 02:23:56,160 um 3743 02:24:00,389 --> 02:23:58,560 augmenting eba crew member efficiency we 3744 02:24:01,830 --> 02:24:00,399 talked about that or several people have 3745 02:24:04,230 --> 02:24:01,840 prior to me 3746 02:24:07,429 --> 02:24:04,240 translation aids 3747 02:24:09,750 --> 02:24:07,439 i believe mark it is two eva days with a 3748 02:24:11,830 --> 02:24:09,760 break in between the day off so in that 3749 02:24:13,429 --> 02:24:11,840 day off right they set it up to drill in 3750 02:24:15,429 --> 02:24:13,439 a particular spot but the techniques 3751 02:24:17,110 --> 02:24:15,439 we've seen here today and so they don't 3752 02:24:18,630 --> 02:24:17,120 have to be out there holding the pgt if 3753 02:24:20,150 --> 02:24:18,640 they don't want to if that doesn't make 3754 02:24:22,550 --> 02:24:20,160 sense 3755 02:24:24,550 --> 02:24:22,560 robots don't fatigue as quickly as a 3756 02:24:26,790 --> 02:24:24,560 crew member's arm does and as we heard 3757 02:24:28,870 --> 02:24:26,800 with previous talks let them do the hard 3758 02:24:32,469 --> 02:24:28,880 difficult work that require 3759 02:24:35,110 --> 02:24:32,479 you know a human being present 3760 02:24:36,550 --> 02:24:35,120 so we presently are 3761 02:24:38,309 --> 02:24:36,560 uh 3762 02:24:40,389 --> 02:24:38,319 working to purchase 3763 02:24:43,429 --> 02:24:40,399 an engineering arm 3764 02:24:45,030 --> 02:24:43,439 with a path to flight we are roughly one 3765 02:24:46,550 --> 02:24:45,040 year from receipt of this engineering 3766 02:24:49,270 --> 02:24:46,560 arm you see it here 3767 02:24:50,870 --> 02:24:49,280 and it is from a previous 3768 02:24:53,270 --> 02:24:50,880 most likely will be from a previous 3769 02:24:54,630 --> 02:24:53,280 presenter that you've seen here today 3770 02:24:57,590 --> 02:24:54,640 um 3771 02:24:58,950 --> 02:24:57,600 it does uh we do leverage off of the 3772 02:25:02,230 --> 02:24:58,960 tremendous 3773 02:25:06,870 --> 02:25:02,240 successful heritage of the mars arms 3774 02:25:10,469 --> 02:25:08,150 darpa 3775 02:25:12,309 --> 02:25:10,479 spent a lot of money developing this arm 3776 02:25:15,910 --> 02:25:12,319 and we picked it up from where they left 3777 02:25:20,870 --> 02:25:15,920 off and have continued to uh uh 3778 02:25:22,830 --> 02:25:20,880 uh improve on it before we place this 3779 02:25:25,510 --> 02:25:22,840 this procurement 3780 02:25:26,870 --> 02:25:25,520 um at the end you see the tool drive 3781 02:25:30,790 --> 02:25:26,880 system we'll talk about tools on the 3782 02:25:33,030 --> 02:25:30,800 next chart um and we are working on a uh 3783 02:25:35,510 --> 02:25:33,040 our software system we about half of the 3784 02:25:37,190 --> 02:25:35,520 money we spend on this program you never 3785 02:25:40,150 --> 02:25:37,200 ever get to see and of course that is in 3786 02:25:41,910 --> 02:25:40,160 the software so we have not ignored that 3787 02:25:43,670 --> 02:25:41,920 in the beginning we are 3788 02:25:46,070 --> 02:25:43,680 well on our way towards having a system 3789 02:25:48,469 --> 02:25:46,080 that will be robust to unstructured 3790 02:25:50,230 --> 02:25:48,479 environments um and i don't think you 3791 02:25:55,750 --> 02:25:50,240 get any more in structure than an 3792 02:25:58,309 --> 02:25:56,790 so 3793 02:25:59,750 --> 02:25:58,319 tools you've already seen this tool in a 3794 02:26:02,070 --> 02:25:59,760 couple of charts this is one of the 3795 02:26:04,550 --> 02:26:02,080 tools we have up on 3796 02:26:06,389 --> 02:26:04,560 rrm 3797 02:26:08,870 --> 02:26:06,399 this tool comes from a lot of 3798 02:26:10,550 --> 02:26:08,880 hubble tool heritage 3799 02:26:12,550 --> 02:26:10,560 and 3800 02:26:16,150 --> 02:26:12,560 one thing that 3801 02:26:18,150 --> 02:26:16,160 we were forced to do with rrm which was 3802 02:26:21,429 --> 02:26:18,160 a module that's up on space station now 3803 02:26:22,790 --> 02:26:21,439 is 18 months from concept to launch 3804 02:26:24,870 --> 02:26:22,800 we didn't have a lot of room we didn't 3805 02:26:27,750 --> 02:26:24,880 have a lot of mass but we wanted to do 3806 02:26:28,950 --> 02:26:27,760 lots of things so it forced us to fly 3807 02:26:30,950 --> 02:26:28,960 nothing but 3808 02:26:32,230 --> 02:26:30,960 multi-function tools there is no tool on 3809 02:26:34,230 --> 02:26:32,240 that module 3810 02:26:35,750 --> 02:26:34,240 that does one thing the tool you see in 3811 02:26:37,910 --> 02:26:35,760 the bottom right hand corner here is 3812 02:26:39,349 --> 02:26:37,920 what we call a wire cutter tool which 3813 02:26:42,389 --> 02:26:39,359 guess what 3814 02:26:43,750 --> 02:26:42,399 cuts wire but it also is a parallel jaw 3815 02:26:44,870 --> 02:26:43,760 gripper 3816 02:26:46,870 --> 02:26:44,880 do you see 3817 02:26:49,510 --> 02:26:46,880 here 3818 02:26:52,469 --> 02:26:49,520 and it has a blade that extends out of 3819 02:26:54,550 --> 02:26:52,479 the tip for uh slicing thermal blanket 3820 02:26:58,150 --> 02:26:54,560 tape so this does at least three 3821 02:26:59,830 --> 02:26:58,160 functions um nominal in this tool when 3822 02:27:00,950 --> 02:26:59,840 as designed 3823 02:27:03,590 --> 02:27:00,960 so we think 3824 02:27:05,270 --> 02:27:03,600 as you are limited in mass for the eva 3825 02:27:07,110 --> 02:27:05,280 tools or we are 3826 02:27:11,030 --> 02:27:07,120 that we want all of them to be 3827 02:27:14,710 --> 02:27:13,030 practicing on the ground 3828 02:27:17,990 --> 02:27:14,720 so 3829 02:27:20,309 --> 02:27:18,000 we nasa have uh gotten ourselves into 3830 02:27:23,030 --> 02:27:20,319 situations in the past where things 3831 02:27:26,870 --> 02:27:23,040 didn't go exactly as planned uh such as 3832 02:27:29,990 --> 02:27:26,880 the capturing of satellites for repair 3833 02:27:31,830 --> 02:27:30,000 in the shuttle in the 80s 3834 02:27:34,150 --> 02:27:31,840 so we tried to 3835 02:27:35,190 --> 02:27:34,160 read well the lessons learned from those 3836 02:27:38,070 --> 02:27:35,200 missions 3837 02:27:41,830 --> 02:27:40,070 develop our technology development 3838 02:27:43,510 --> 02:27:41,840 campaign 3839 02:27:46,070 --> 02:27:43,520 with that in mind so we have spent 3840 02:27:49,270 --> 02:27:46,080 tremendous amount of time and effort on 3841 02:27:51,590 --> 02:27:49,280 producing motion simulation platforms 3842 02:27:53,590 --> 02:27:51,600 uh for contact dynamics so you see in 3843 02:27:55,910 --> 02:27:53,600 the bottom here we performed a high 3844 02:27:57,910 --> 02:27:55,920 fidelity near real time i say near real 3845 02:28:00,550 --> 02:27:57,920 time because there was a 20 millisecond 3846 02:28:02,469 --> 02:28:00,560 delay between contact and motion and it 3847 02:28:04,309 --> 02:28:02,479 took us good nine months to drive that 3848 02:28:06,230 --> 02:28:04,319 from 80 millisecond delay to 20 3849 02:28:09,030 --> 02:28:06,240 millisecond delay 3850 02:28:11,750 --> 02:28:09,040 but we are now at about 20 millisecond 3851 02:28:13,910 --> 02:28:11,760 for full 60 degree of freedom contact 3852 02:28:15,830 --> 02:28:13,920 dynamics so that we can 3853 02:28:18,630 --> 02:28:15,840 practice again and again 3854 02:28:20,870 --> 02:28:18,640 autonomous capture either of of course a 3855 02:28:23,270 --> 02:28:20,880 satellite which is 3856 02:28:25,270 --> 02:28:23,280 where we spend a lot of our efforts 3857 02:28:26,389 --> 02:28:25,280 but as well as asteroids you see in the 3858 02:28:28,710 --> 02:28:26,399 top picture 3859 02:28:30,389 --> 02:28:28,720 and with one touch software 3860 02:28:32,150 --> 02:28:30,399 reconfiguration 3861 02:28:35,349 --> 02:28:32,160 it's easy to change the inertial 3862 02:28:37,349 --> 02:28:35,359 properties of the client from 3863 02:28:40,550 --> 02:28:37,359 100 ton to 3864 02:28:43,190 --> 02:28:40,560 10 tons to 1000 tons 3865 02:28:45,030 --> 02:28:43,200 spherical non-spherical 3866 02:28:46,710 --> 02:28:45,040 to see how that would affect your tool 3867 02:28:48,309 --> 02:28:46,720 your capture technique or your drilling 3868 02:28:53,110 --> 02:28:48,319 technique whatever it is you happen to 3869 02:28:56,950 --> 02:28:55,270 we also have a 3870 02:29:06,230 --> 02:28:56,960 a 3871 02:29:09,030 --> 02:29:06,240 bring together modeling techniques to 3872 02:29:10,550 --> 02:29:09,040 simulate what's going to happen 3873 02:29:12,309 --> 02:29:10,560 i won't read all the words on the chart 3874 02:29:14,070 --> 02:29:12,319 i know we're a little behind so i will 3875 02:29:15,910 --> 02:29:14,080 go through this quickly but in the 3876 02:29:18,230 --> 02:29:15,920 bottom right hand corner you see this 3877 02:29:20,630 --> 02:29:18,240 the left-hand image is 3878 02:29:23,190 --> 02:29:20,640 an image that we produced a synthetic 3879 02:29:25,990 --> 02:29:23,200 image of what hubble would look like 3880 02:29:27,670 --> 02:29:26,000 from a camera doing 3881 02:29:29,429 --> 02:29:27,680 autonomous tracking 3882 02:29:32,469 --> 02:29:29,439 during the last hubble mission so this 3883 02:29:34,389 --> 02:29:32,479 is what we trained our cameras against 3884 02:29:36,389 --> 02:29:34,399 and during the mission we used our 3885 02:29:38,710 --> 02:29:36,399 natural feature recognition algorithms 3886 02:29:42,150 --> 02:29:38,720 with the visible camera in the back of 3887 02:29:44,150 --> 02:29:42,160 the shuttle on sts-125 3888 02:29:46,469 --> 02:29:44,160 to autonomously track the two vehicles 3889 02:29:48,150 --> 02:29:46,479 coming together and you see how closely 3890 02:29:49,990 --> 02:29:48,160 they they match each other so this is 3891 02:29:51,429 --> 02:29:50,000 the type of thing that we would do for 3892 02:29:52,710 --> 02:29:51,439 an asteroid mission we put in the 3893 02:29:54,469 --> 02:29:52,720 synthetic imagery and that's what you 3894 02:29:56,950 --> 02:29:54,479 see in the upper right hand of an 3895 02:29:59,030 --> 02:29:56,960 asteroid to train our natural feature 3896 02:30:03,190 --> 02:29:59,040 algorithms against 3897 02:30:08,630 --> 02:30:05,510 so we stand by 3898 02:30:10,230 --> 02:30:08,640 eager to help the agency with whatever 3899 02:30:12,870 --> 02:30:10,240 path it uh 3900 02:30:17,670 --> 02:30:12,880 it decides to go for this mission thanks 3901 02:30:20,550 --> 02:30:18,550 thank you 3902 02:30:24,630 --> 02:30:20,560 we have time for uh one or two questions 3903 02:30:26,870 --> 02:30:25,510 um 3904 02:30:28,309 --> 02:30:26,880 could you say a little bit more about 3905 02:30:29,510 --> 02:30:28,319 the arm that you're getting ready to 3906 02:30:33,429 --> 02:30:29,520 procure 3907 02:30:36,550 --> 02:30:33,439 uh sure it is uh i believe bo correct me 3908 02:30:38,550 --> 02:30:36,560 2.2 meters tip to tip from shoulder out 3909 02:30:40,230 --> 02:30:38,560 to the tip so it's got two one meter 3910 02:30:41,510 --> 02:30:40,240 segments roughly seven degrees of 3911 02:30:42,870 --> 02:30:41,520 freedom 3912 02:30:44,469 --> 02:30:42,880 um 3913 02:30:47,670 --> 02:30:44,479 as you saw at the software there it does 3914 02:30:50,389 --> 02:30:47,680 have collision avoidance 3915 02:30:51,590 --> 02:30:50,399 workarounds for singularities 3916 02:30:53,270 --> 02:30:51,600 because 3917 02:30:56,070 --> 02:30:53,280 we have 3918 02:30:57,750 --> 02:30:56,080 originally developed this arm once we 3919 02:30:59,830 --> 02:30:57,760 took it over from darpa 3920 02:31:01,429 --> 02:30:59,840 for satellite servicing we are very much 3921 02:31:02,710 --> 02:31:01,439 interested in 3922 02:31:05,349 --> 02:31:02,720 um 3923 02:31:07,349 --> 02:31:05,359 compliance control during contact right 3924 02:31:10,389 --> 02:31:07,359 so we're going to go up against a a 3925 02:31:12,710 --> 02:31:10,399 client satellite that's around a 3926 02:31:15,990 --> 02:31:12,720 thousand kilograms maybe two thousand 3927 02:31:17,030 --> 02:31:16,000 maybe four thousand reconfigurable um 3928 02:31:18,150 --> 02:31:17,040 and we're not going to be touching it 3929 02:31:19,990 --> 02:31:18,160 through the center of mass we're going 3930 02:31:22,230 --> 02:31:20,000 to be touching it on the side probably 3931 02:31:24,870 --> 02:31:22,240 where the marmon ring is and so 3932 02:31:27,270 --> 02:31:24,880 being able to autonomously track the tip 3933 02:31:29,110 --> 02:31:27,280 of the arm to reach out and touch it 3934 02:31:31,670 --> 02:31:29,120 and not impart too much loads into it 3935 02:31:32,950 --> 02:31:31,680 before we we close the grasp 3936 02:31:35,590 --> 02:31:32,960 has required 3937 02:31:37,190 --> 02:31:35,600 close coordination between the machine 3938 02:31:40,230 --> 02:31:37,200 vision algorithms 3939 02:31:41,590 --> 02:31:40,240 the camera system the speed of the arm 3940 02:31:42,870 --> 02:31:41,600 we talked about the speed of the arm 3941 02:31:45,190 --> 02:31:42,880 being one of the limiting factors in 3942 02:31:47,830 --> 02:31:45,200 orbit um and the compliance control so 3943 02:31:49,590 --> 02:31:47,840 it doesn't impart too much load um so 3944 02:31:52,550 --> 02:31:49,600 all of that work has been ongoing for 3945 02:31:54,950 --> 02:31:52,560 several years now that has led up to us 3946 02:31:56,790 --> 02:31:54,960 putting in the the put getting the 3947 02:31:59,429 --> 02:31:56,800 paperwork together to go out and 3948 02:32:01,830 --> 02:31:59,439 purchase uh an engineering arm 3949 02:32:03,910 --> 02:32:01,840 we do have a posable alarm in the lab 3950 02:32:05,670 --> 02:32:03,920 now it was delivered since i came to 3951 02:32:07,750 --> 02:32:05,680 houston a couple days ago 3952 02:32:09,349 --> 02:32:07,760 so it's just freshly arrived so it's a 3953 02:32:10,550 --> 02:32:09,359 life-size 3954 02:32:12,950 --> 02:32:10,560 scale 3955 02:32:15,270 --> 02:32:12,960 articulating arm that we will be using 3956 02:32:19,110 --> 02:32:15,280 for reach and access studies over the 3957 02:32:21,429 --> 02:32:19,120 coming weeks months and and years 3958 02:32:23,429 --> 02:32:21,439 and any of you ever in the 3959 02:32:25,110 --> 02:32:23,439 washington dc area encourage you to get 3960 02:32:27,110 --> 02:32:25,120 in touch with me and come on out we'll 3961 02:32:30,230 --> 02:32:27,120 we'll show you what we have in the lab 3962 02:32:31,990 --> 02:32:30,240 we uh we like to give tours don't we bo 3963 02:32:34,950 --> 02:32:32,000 yes 3964 02:32:34,960 --> 02:32:41,750 all right thanks ben thank you very much 3965 02:32:45,429 --> 02:32:43,750 so uh mark and i have been sitting on 3966 02:32:46,710 --> 02:32:45,439 these chairs for 3967 02:32:48,630 --> 02:32:46,720 two and a half hours now so we're going 3968 02:32:49,830 --> 02:32:48,640 to take a break here in houston for 3969 02:32:52,070 --> 02:32:49,840 those uh 3970 02:32:53,510 --> 02:32:52,080 those online are participating via nasa 3971 02:32:54,870 --> 02:32:53,520 tv 3972 02:32:57,670 --> 02:32:54,880 for those in the room here let's try to