WSC Paper RPOC Systems

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Aeroscience Flight Mechanics Division Automated
Rendezvous and Capture Tools and Demonstrations
Karl H. Siebold, Thomas B. Moody, Brian H.
Rishikof, David F. Strack Titan Systems
Corporation Astronautics Engineering Unit
July 19, 2002
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ARC Tools
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ARC Tools

• Targeting Algorithms
• Guidance Algorithms
• Navigation Algorithms
• Control Algorithms
• Mission Vehicle Manager Capabilities
• Sensors (Gyro, Accel., GPS, Laser, etc.)
• Effectors (Jets, Momentum Gyros, etc.)
• Propellant Systems (blow-down, slosh, etc.)
• Communication Systems
• Solar Array Tracking
• FDIR Logic
• Abort Logic
• Direct and Remote Piloting Capabilities
• Crew Interfaces
• Generic Systems (e.g. perfect nav effector)

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ARC Tools

• Generic Robotics Arm Creation Capabilities
• ISS Shuttle Arms Implemented SRMS, SSRMS, SPDM
• Used in Multiple Facilities
• JSC MRMDF, NBL, SSTF, SES, VR-Lab
• JSC KSC DST
• JSC On-orbit ROBOT (on-orbit)
• Control Algorithms
• Hardware Modeling
• Rigid body, Joint flex, Boom flex
• CSA Ada Flight Software JSC modeled FSW
• Error Insertion Capabilities

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ARC Tools

• High and Low Fidelity
• Atmosphere
• Geo-potential
• Ionosphere
• RNP
• Sun/Moon Ephemeris
• Lighting

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ARC Tools
Avionics-in-the-loop Mechanical
Hardware-in-the-loop

• Avionics
• X-38 Avionics
• SAFER Avionics
• AERCam Avionics
• Shuttle Simulators
• Numerous Boards
• GPS
• Signal Generator
• Hand-Controllers
• Button/Switch Boxes
• Displays

• Mechanical Hardware
• MRMDF
• NBL Arm
• SDTS
• EVA Mass Handling

AERCam Autonomous EVA Robotic Camera
Sprint MRMDF Multi-use Remote Manipulator
Development Facility NBL Neutral Buoyancy
Laboratory SAFER Simplified Aid for EVA
Rescue SDTS Six-Degree-of-Freedom Dynamic Test
System
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ARC Tools

• Shuttle Simulators
• CRV Simulators
• Russian TORU Simulator
• SAFER Backpack
• AERCam Vehicle
• ATV Monitoring
• HTV Monitoring and Capture
• Shuttle Robotic Arm Simulator
• Space Station Robotic Arm Simulator
• EVA Mass Handling Simulator
• Combination EVA/Robotics
• Combination Robotics/GNC
• Ground Control Systems

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ARC Tools

• Constellation
• Receiver
• Antennas
• Atmospheric Effects
• Multi-path Blockage
• Interface with H/W
• Models to Drive Signal Generator

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ARC Tools

• Architecture Designed to Support Simulation
  Control
• Numerous Methods for Simulation Monitoring
• Numerous Post Processing Capabilities
• Generic Real Time Fault Insertion
• Manual Input Fault Insertion
• Event Driven Simulation Control and Fault
  Insertion
• Distributed Simulation using High Level
  Architecture (HLA)

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ARC Tools

• Simulate Hardware Crew Displays
• Simulate Crew Computer Displays
• Drive Crew Laptops
• Used On-orbit for Training

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ARC Tools

• Numerous Support Tools
• Orbital
• Proximity Operations
• Robotics
• H/W Support
• Simulation Support

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ARC Tools

• Very High Fidelity Graphics
• Graphics Independent of Simulation
• Multiple Platforms
• Silicon Graphics
• Sun Unix
• PC Linux
• PC Windows

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ARC Tools
Dynamics Key Aspect of Simulations
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ARC Tools

• Most Capture Mechanisms from ISS and Shuttle
• Supports Docking and Berthing

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Trick A Simulation Construction Tool

• Trick is a Generic Simulation Toolkit
• Uses Code Generation Technologies for Automated
  Development
• Provides Automated I/O
• Common Executive with Math Model Plug-Ins
• Distributed and Inter-process Mechanisms
• Highly Configurable with Data Driven Capabilities
• Scheduling
• Multiprocessing
• Real-time Control
• Over 200,000 Lines of C Source Code
• Executive, Dynamics, Math Libraries, Utilities,
  and GUIs
• Portable Across Many UNIX Operating Systems
  RedHat, IRIX, Solaris, etc.

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VrTool DOUG 3D Graphics Tools

• VrTool Is
• Display Builder
• Graphics Renderer
• Simulation Display Driver
• Situational Awareness Display
• Dynamic On-board Ubiquitous Graphics (DOUG) Is
• Simulation Display Driver
• Situational Awareness Display
• Commonality Across Different Facilities and
  Computer System Platforms
• The Tools Are
• Multi-Platform
• C and OpenGL (Widely Supported Computer
  Graphics Standards)
• DOUG SGI, Linux (PC), Windows (PC)
• VrTool SGI, Sun, Linux(PC)
• Multi-Facility
• Used in Rendezvous Proximity Operations and
  Capture Simulation (ATV, HTV, CRV, X-38, Russian
  Vehicle, AERCam)
• Used in the Shuttle Mission Simulator, Systems
  Engineering Simulator, Space Station Training
  Facility, Dynamic Skills Trainer and the Virtual
  Reality (VR) Laboratory
• Used In-Orbit Onboard the Space Station and the
  Space Shuttle

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DOUG View of Space Station
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Trick/DOUG/VrTool Applications Facilities

• Trick and DOUG Facilitate Rapid Development
• Real-Time Human-in-the-Loop / Hardware-in-the-Loop
  Simulations
• Non-Real-Time or Batch Analysis Simulations
• Applications / JSC Facilities (See Next Page for
  Acronym Definitions)
• Robotics / SES, NBL, MRMDF, SDTS, DST, SSTF,
  ROBOT, EVA-VR
• Shuttle / SMS
• SAFER / EVA-VR
• EVA Mass Handling / EVA-VR
• Shuttle and Space Station Docking / SES
• RPOC / Desktop Analysis and CRV Laboratory
• CRV / CRV Laboratory
• X38 / SITF
• AERCam / NSTL

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Application and NASA JSC Facility Acronyms

• CRV Crew Return Vehicle
• DST Dynamic Skills Trainer
• EVA-VR Extravehicular Vehicle Activity Virtual
  Reality Laboratory
• MRMDF Multi-use Remote Manipulator Development
  Facility
• NBL Neutral Buoyancy Laboratory
• NSTL Navigation Systems Technology Laboratory
• ROBOT Robotic On-board Trainer
• SAFER Simplified Aid for EVA Rescue
• SDTS Six-Degree-of-Freedom Dynamic Test System
• SES Systems Engineering Simulator (Dome)
• SITF Software Integration Test Facility
• SMS Shuttle Mission Simulator
• SSTF Space Station Training Facility
• RPOC Rendezvous, Proximity Operations, and
  Capture
• X38 CRV Prototype Vehicle

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Simulation Demonstration

• Examples of Demonstration Views

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GNC/ARC Demos

• CRV Expedited Separation
• HTV Monitoring and Capture Support
• ATV State Monitoring

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Demo - CRV Expedited Departure
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Demo - HTV Monitoring and Capture Support
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Demo - ATV State Monitoring