d2.9: og5-d2 design definition file - h2020 peraspera · 2017. 10. 26. · sirom d2.9:...

SIROM D2.9: OG5-D2_Design Definition File

Doc. No. D2.9

Revision 1

Date 11-07-2017

PUBLIC

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730035.

SIROM

D2.9: OG5-D2_Design Definition File

Doc. No.: D2.9 Revision: 1 Date: 11-07-2017

Grant Agreement No.: 730035

Name Company Date

Written I. Elduayen SENER 11-07-2017

Checked M. Ubierna SENER 11-07-2017

Accepted E. Urgoiti SENER 11-07-2017

Authorised J. Viñals SENER 11-07-2017

File: D2.9 OG5-D2_Design Definition File_rev1.docx Pages: 63

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DOCUMENT CHANGE RECORD

REVISION _ __________

DATE

________

SECTION / PARAGRAPH AFFECTED

_______________________

REASON OF CHANGE/ REMARKS

______________________________

0 20-06-2017 All Initial release

1 11-07-2017 Revised version according to PDR RIDs

6.1.2 7.5.1.1 RID 1: OG5-208

9 RID 2: OG5-209

10.2 Figure 10-1 Figure 10-2 RID 3: OG5-210

7.2 RID 4: OG5-266

10.2 RID 5: OG5-267

10.4.3 RID 6: OG5-268

10.4.3 RID 7: OG5-269

10.3 RID 8: OG5-270

7.5.1.3 RID 9: OG5-271

6.1.1 6.1.2 RID 10: OG5-272

8.2 RID 11: OG5-273

8.3.3 RID 12: OG5-274

11.1 RID 13: OG5-275

5.1 RID 14: OG5-314

6.2.1 RID 15: OG5-315

6.3 RID 16: OG5-316

7.5 RID 17: OG5-317

7.6.2 RID 18: OG5-318

7.6.4 RID 19: OG5-319

8.2 RID 21: OG5-321


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10.4.3 RID 23: OG5-323

4 RID 24: OG5-339

6.1.1 6.1.2 6.1.3 7.6.4.4 10.1 10.2

D 2.1 RID 3: OG5-217


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TABLE OF CONTENTS

SIROM ........................................................................................................................... 1

D2.9: OG5-D2_DESIGN DEFINITION FILE ................................................................................ 1

1 INTRODUCTION AND SCOPE .......................................................................................... 6

2 REFERENCES ............................................................................................................ 7

2.1 APPLICABLE DOCUMENTS ............................................................................................. 7 2.2 REFERENCE DOCUMENTS .............................................................................................. 7

3 ACRONYMS LIST ........................................................................................................ 8

4 REQUIREMENTS ......................................................................................................... 9

5 SYSTEM CONFIGURATION ............................................................................................ 13

5.1 PROPOSED DESIGN ................................................................................................... 13 5.2 PRODUCT TREE ...................................................................................................... 14

5.2.1 SIROM ........................................................................................................... 14 5.2.2 Orbital APM.................................................................................................... 14 5.2.3 Planetary APM ................................................................................................ 15 5.2.4 Orbital EE ...................................................................................................... 15 5.2.5 Planetary EE ................................................................................................... 16

6 OPERATIONAL DESCRIPTION ........................................................................................ 17

6.1 SIROM .............................................................................................................. 17 6.1.1 Mating stages.................................................................................................. 17 6.1.2 Mating Connection sequence and related TM/TC timing ............................................. 17 6.1.3 Telemetries and telecommands ........................................................................... 19

6.2 APM ................................................................................................................ 20 6.2.1 Orbital APM.................................................................................................... 21 6.2.2 Planetary APM ................................................................................................ 22

6.3 FAILURE DETECTION ISOLATION AND RECOVERY (FDIR) ............................................................. 27 6.3.1 Failure Detection Isolation Analysis ...................................................................... 27 6.3.2 FDIR Design and Implementation .......................................................................... 28 6.3.3 Electrical parameters limit for FDIR Design ............................................................. 29

7 SIROM .................................................................................................................... 30

7.1 GENERAL DESCRIPTION ............................................................................................... 30 7.2 COORDINATE SYSTEM ................................................................................................ 30 7.3 ENVELOPE AND VOLUME PROPERTIES ................................................................................. 31

7.3.1 General envelope dimensions .............................................................................. 31 7.3.2 Pockets envelope dimensions .............................................................................. 32 7.3.3 Latches envelope dimensions .............................................................................. 33

7.4 INTERFACE DEFINITION TO APM...................................................................................... 34 7.5 MECHANICAL IF ...................................................................................................... 34

7.5.1 Capture mechanism .......................................................................................... 35 7.5.2 Guiding ......................................................................................................... 35

7.6 RESOURCE CONNECTION ............................................................................................. 36 7.6.1 Connection mechanism ...................................................................................... 36 7.6.2 Electrical IF .................................................................................................... 36 7.6.3 Data IF .......................................................................................................... 38 7.6.4 Thermal IF ..................................................................................................... 39

7.7 DUST PROTECTION ................................................................................................... 42 7.8 SIROM CONTROLLER ................................................................................................ 43

8 APM ...................................................................................................................... 44


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8.1 GENERAL DESCRIPTION ............................................................................................... 44 8.2 ORBITAL APM ....................................................................................................... 44

8.2.1 Orbital APM Design Concepts .............................................................................. 44 8.2.2 Test scenario overview ...................................................................................... 45 8.2.3 Orbital APM Design Description ............................................................................ 45

8.3 PLANETARY APM .................................................................................................... 45 8.3.1 Planetary APM Design Concepts ........................................................................... 45 8.3.2 Test Scenario Overview ..................................................................................... 47 8.3.3 Primary APM Design Description ........................................................................... 47 8.3.4 Auxiliary APM Design Description ......................................................................... 49

8.4 APM CONTROLLER .................................................................................................. 49

9 END EFFECTOR ........................................................................................................ 50

10 CONTROLLERS ......................................................................................................... 51

10.1 APM AND SIROMS CONFIGURATION FOR ORBITAL OR PLANETARY MISSIONS: ........................................ 51 10.2 APM AND SIROMS CONFIGURATION OF THE ORBITAL SCENARIO FOR OG6 DEMONSTRATION ......................... 52 10.3 APM AND SIROMS CONFIGURATION OF THE PLANETARY SCENARIO FOR OG6 DEMONSTRATION ...................... 58 10.4 SIROM CONTROLLER (INTERFACE CONTROLLER) .................................................................... 59

10.4.1 Summary of the SIROM Controller ..................................................................... 60 10.4.2 Functional Description ................................................................................... 60 10.4.3 Physical Description....................................................................................... 60 10.4.4 System Design Constraints ............................................................................... 61

11 TECHNICAL BUDGET .................................................................................................. 62

11.1 MASS BUDGET........................................................................................................ 62 11.2 POWER BUDGET...................................................................................................... 62

12 INTERFACE CONTROL DRAWINGS .................................................................................. 63


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1 INTRODUCTION AND SCOPE

This document describes the SIROM design. This document DDF (Design Definition File) is public.

a. The DDF shall contain a brief description of the product and of the main technical requirements throughout its life cycle phases.

b. The DDF shall contain the description of the system or product design documentation, based on the product tree.


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2 REFERENCES

2.1 Applicable Documents

AD Title Reference

[AD01] ANNEX 1 (part A) - Research and Innovation action NUMBER — 730035 — SIROM

[AD02] SRC_Guidelines_Space_Robotics_Technologies (COMPET-4-2016)_SYSTEM

--

[AD03] PRSPR-ESA-T3.1-TN-D3.1-Compendium of SRC activities (for call 1)-v1.8_0

--

Table 2-1. Applicable Documents

2.2 Reference Documents

RD Title Reference

[RD01] KO MoM SIROM-MM-001

[RD02] PM1 MoM SIROM-MM-002

[RD03] OG5-D0_Reviews Data Packages WP1 D1.1

[RD04] OG5-D1_System Requirement Specification WP1

D1.2

[RD05] OG5-D2_Design Justification File WP1 D1.3

[RD06] OG5-D1_Multidisciplinary Simulation outcomes

D1.4

[RD07] OG5-D0_Progress Report_M3 D7.3

[RD08] PM2 MoM SIROM_MM_03_PM2_MoM_rev1

[RD09] OG5-D6_Consortium Website D6.3

[RD10] OG5-D2_Interface Control Document D2.14

[RD11] OG5-D0_Progress Report_M6 D7.4

[RD12] OG5-D2_Design Justification File WP2 D2.10

Table 2-2. Reference Documents


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3 ACRONYMS LIST

Acronyms Meaning

AIT Assembly Integration and Test

APM Active Payload Module

CAN Controller Area Network

CDR Critical Design Review

DDF Design Definition File

DJF Design Justification File

EE End-Effector

EGSE Electrical Ground Support Equipment

EMI Electromagnetic Interference

FDIR Failure Detection Isolation and Recovery

I/F Interface

KO Kick-Off

LSS Layer Setting Services

M&C Monitoring and Control

MoM Minutes of Meeting

PM Progress Meeting

PCB Printed Circuit Board

SRR System Requirements Review

NCR Non Conformance Report

OBC On Board Computer

OG Operational Grant

RCOS Robot Control Operating Software

RfD Request for Deviation

RfW Request for Waiver

RoD Review of Design

SIROM Standard Interface for Robotic Manipulation

SpW SpaceWire

TBC To Be Confirmed

TBD To Be Decided

TC Telecommands

TM Telemetries

Table 3-3. Acronyms list


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4 REQUIREMENTS

Requirement ID Requirement Verification

paragraph

SIROM-SYS-10 IF Functions

The SIROM standard robotic IF shall consist of • A common mechanical housing • a mechanical IF building block • an electrical IF building block • a data IF building block • a thermal IF building block • an IF controller • a SIROM IF SW / FW • Guiding aids to support the mating process (depends on manipulator way of working)

5

SIROM-SYS-20 IF basic layout

The SIROM standard robotic IF shall consist of two identical functional units. The mating process and the establishment of the power, data, thermal and mechanical connecting is realized between the two functional units.

5

SIROM-SYS-30 End effector conf

The SIROM end effector shall consist of • a mechanical IF to the Manipulator used in the OG 6 testfield • a mechanical IF to a SIROM IF • a electrical IF to the robotic system power bus • a data IF to the robotic system data bus • a electrical IF to the power bus of the electrical IF of the SIROM IF • a data IF to the data bus of the data IF of the SIROM IF

5.2

SIROM-SYS-40 APM conf

The SIROM APM shall consist of: • APM housing • APM payload • APM controller • APM SW / FW • APM routing between the SIROM standard IF electrical, data, and thermal lines • Mounting provisions for at least two SIROM standard IF • Guiding aids to support mating and de-mating process

5.2

SIROM-FUNC-10 IF Functions

The SIROM standard robotic IF shall enabling the following functionalities • to couple APM´s with each other • to couple the APM with the spacecraft platform mechanically and spacecraft data and power bus • to couple with a compatible robotic manipulator • to exchange data through a compatible robotic manipulator between the servicer and the APM • to supply the APM with power while coupled to the manipulator

5

SIROM-FUNC-30 IF Functions-POW

The SIROM standard IF shall be capable to transfer 150 W ( TBC) electrical energy (power) to the attached APM

7.6.2


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Requirement ID Requirement Verification paragraph

SIROM-FUNC-40 IF Functions-DATA

The SIROM standard IF shall be capable to transfer data at a rate of at least 100Mbit/s (TBC) to the attached APM and vice versa.

7.6.3

SIROM-FUNC-60 IF Functions-LOCK

The SIROM IF shall be unlockable by command from robotic control system.

6.1

SIROM-FUNC-70 IF Functions-STATUS

Open/locked state of the SIROM IF shall be detectable via status data or visual inspection from outside (TBC)

6.1.3

SIROM-FUNC-80 IF Functions-ORIENT

The relative module orientation of the SIROM IF shall be detectable via visual inspection from outside (TBC).

7

SIROM-FUNC-90 IF Functions-FAIL-TOL

The IF shall consider functionalities enabling the following capabilities: One failure tolerance shall be as basic for the redundancy concept.

6.1 7.6.2 7.6.3


The SIROM IF shall provide symmetry to allow multiple degree reconfiguration about an axis.

7.2


The SIROM IF shall be designed from dissimilar materials in case metallic materials are used.

SIROM-IF-40 IF-CONF

The SIROM IF consist of two identical functional units SIROM_A and SIROM_B. The mating process will be performed between these two functional units.

6.1

SIROM-IF-50 IF-Mass The SIROM IF consist of two identical functional units SIROM_A and SIROM_B. The mass of one functional unit shall be not more than 1,5 kg.

11.1

SIROM-IF-60 IF-Vol The SIROM IF consist of two identical functional units SIROM_A and SIROM_B The volume of one functional unit shall fit in a cylinder with a diameter of 120mm and a height of 30 mm

12

SIROM-ELEC-IF-10 ELEC-IF-SHORT-C

The SIROM IF shall be protected against short circuits. Short circuits in a SIROM interface shall not impact the power bus lines.

7.6.2

SIROM-ELEC-IF-40 ELEC-IF-POW-TR

The SIROM power IF shall transfer electrical power in both directions.

7.6.2

SIROM-ELEC-IF-50 ELEC-IF-ELEC-CYK

The SIROM Electrical IF can be opened and closed 10000 (TBC) times.

SIROM-DATA-IF-40 DATA-IF-DUPLEX

The SIROM data IF shall provide duplex communication abilities.

7.6.3

SIROM-DATA-IF-50 DATA-IF-SFT

The SIROM data IF shall provide single failure tolerance 7.6.3


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SIROM-DATA-IF-60 DATA-IF-PROT

The SIROM data IF shall support one or a combination of high-bandwidth data transfer protocols employed by Large System Integrators in current space systems or envisaged for use in next generation space systems. The protocols in question include: Ethernet (including variations, such as EtherCAT, TTEthernet), SpaceWire (and its variations, e.g. SpW-D, SpW-R, SpW-FDIR), SpaceFibre with the preference to be given to the SpaceWire and CAN bus interfaces for data transfer and control of APMs.

7.6.3

SIROM-DATA-IF-70 DATA-IF-TIMELN

The data transfer protocol adopted shall be capable of deterministic behaviour; where the delivery time of a message can be determined prior to the message being sent within specific bounds.

SIROM-DATA-IF-80 DATA-IF-REL

The data transfer protocol of the SIROM data IF adopted shall provide a level of reliability adequate to envisaged applications.

7.6.3

SIROM-DATA-IF-90 DATA-IF-SCAL

The data transfer protocol adopted shall enable network scalability

7.6.3

SIROM-DATA-IF-100 DATA-IF-RECONF

The data transfer protocol adopted shall allow for the dynamic reconfiguration of the robotic system (e.g. inclusion/exclusion of nodes, topology change resulting from failures).

7.6.3

SIROM-DATA-IF-120 DATA-IF-LOSS

The physical data IF connections shall have a maximum signal attenuation loss of 2dB as data passes through them.

7.6.3

SIROM-THERM-IF-20 THERM-IF-CYK

The SIROM thermal IF can be coupled and un-coupled 1000 (TBC) times during service life

SIROM-THERM-IF-40 THERM-IF-STRUC

The SIROM thermal IF shall be connected thermally to the module structure

7.6

SIROM-EF-10 EF-MECH

The end-effector shall support the mechanical IF of the manipulator used within the OG6 test field

9

SIROM-EF-20 EF-ELEC

The end-effector shall support the electrical IF 9

SIROM-EF-30 EF-DAT

The end-effector shall Support the data IF 9

SIROM-EF-50 EF-DATA-POWER

End-effector shall enable transfer of power and data through the manipulator and the standard-IF to a module or a module compound

9

SIROM-EF-60 EF-MECH-IF

The end-effector shall be compatible to the manipulator used for the verification and demonstration tests and compliant with the standard-IF

9


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SIROM-APM-10 APM-N-IF

Each SIROM AP module shall consist of at least two standard interfaces

5.2

SIROM-APM-20 APM-PAYLOAD

One SIROM APM shall include an operational optical sensor (as payload) in visible spectrum (i.e. in 0.7-0.4 µm wavelength range) for Earth observation and/or in-orbit inspection.

8

SIROM-APM-30 APM-MASS

The complete APM mass shall not exceed 5.5 kg ( without SIROM IF )

11.1

SIROM-APM-40 APM-VOL

The complete APM Volume shall not bigger than a cube of 150mm x 150 mm x 150 mm ( without SIROM IF )

SIROM-APM-50 APM-PAYLOAD

One SIROM APM shall include a power storage system (battery pack) (as payload) with the following characteristics: • Voltage: 44.4 V • Capacity: 5-20 Ah (TBC) • Type: lithium-ion polymer

6.2.2, 8.3


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5 SYSTEM CONFIGURATION

5.1 Proposed design

SIROM is a device provided by four IFs with capabilities to transfer loads, data, power and heat. The generic design is divided in blocks that envelope each IF achieving a compact design. Data, Power and Thermal IFs are located in a plate called Connectors Plate, while Mechanical IF is on its own. SIROM must match another SIROM in one flange (SIROM standard IF is androgynous and coupling is done between two functional units), whereas an APM will be fixed in the other. The idea is being capable of constructing a modular and scalable structure that will connect the APM to any spacecraft platform mechanically and provide data, power and thermal coupling.

As seen in document [RD05], modular construction using SIROM shall be done with a single SIROM connection between the elements, or two elements can be connected by several SIROMs in parallel. On the other hand SIROM is scalable as depending on the mission objectives different dimensions or capabilities may be required.

The shape of SIROM is a cylinder of 120 mm diameter and 30 mm high. Those are the dimensions of the housing where IFs must be placed. Furthermore, the connection between SIROM and the robotic arm is made by an End Effector, which must ensure the functionality of SIROM IFs. In Figure 5-1 a conceptual design is presented.

Figure 5-1: SIROM conceptual design


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5.2 Product tree

In this section product trees for each system of OG5 will be shown. Those are:

- SIROM - Orbital APM - Planetary APM - Orbital End Effector - Planetary End Effector

5.2.1 SIROM

SIROM Product Tree is divided in five sections as shown in Figure 5-2.

- A main structure that holds the main body, the lower face where the APM is attached, the Mechanical IF and the Connectors Plate.

- Mechanical connection (a.k.a Mechanical IF) involves a capture mechanism (formed by hooks, sensors and actuators) and a guiding system to correct misalignments.

- Due to the harsh environment, a dust protector is needed. It is formed by the sealing, the cover lids, and the cover mechanisms.

- A resource connection (a.k.a Connectors Plate) where Data, Power and Thermal IFs are implemented. This implementation consists in a couple of connectors (N+R) for each IF. This Connectors Plate is moved by the connection mechanism, which is formed by the plate itself, sensors and actuators.

- SIROM Controller shall implement control of the SIROM activity.

Figure 5-2: SIROM Product Tree

5.2.2 Orbital APM

Orbital APM Product Tree is divided in sections shown in Figure 5-3.

- It has a connection with 2 SIROMS (SIROM A at one side, SIROM B at the other). - The APM housing is responsible of enveloping every part. - APM Payload is the proper payload of the APM, which will define each APM functionality. - APM Controller shall implement control of the APM activity.

SIROM

SIROM Controller

Resource connection

Fluid connectors

Data connectors

Power connectors

Connection mechanism

Connectors plate

Actuators

Sensors

Dust protection

Cover mechanism

Cover lidsSealing

Mechanical connection

GuidingCapture

mechanism

Actuators

Sensors

Pockets

Capture hooks

Main structure

Attachment to other IFs

Power connectors

Data connectors

Fluid connectors

Attachment to Mech IF

Attachment to APM

Main body


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- Power, Data & Thermal lines coming from SIROM A towards SIROM B shall be inside the APM.

Figure 5-3: Orbital APM Product Tree

5.2.3 Planetary APM

Planetary APM Product Tree is divided in sections shown in Figure 5-4.

- It has a connection with 2 SIROMS (SIROM A at one side, SIROM B at the other). - The APM housing is responsible of enveloping every part. - APM Payload is the proper payload of the APM, which will define each APM functionality. - APM Controller shall implement control of the APM activity. - Power, Data & Thermal lines coming from SIROM A towards SIROM B shall be inside the

APM.

Figure 5-4: Planetary APM Product Tree

5.2.4 Orbital EE

As specified before OG5 also includes an EE that plays the part of the link between SIROM and robotic arm. It shall ensure Electrical IF and Data IF connection. In Figure 5-5 is presented its product tree.

Orbital APM

SIROM A IF APM housing APM payload APM ControllerPower, Data & Thermal lines

SIROM B IF

Planetary APM

SIROM A IF APM housing APM payloadAPM

controller

Power, Data & Thermal

linesSIROM B IF


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Figure 5-5: Orbital EE Product Tree

5.2.5 Planetary EE

As specified before OG5 also includes an EE that plays the part of the link between SIROM and robotic arm. It shall ensure Electrical IF and Data IF connection. In Figure 5-6 is presented its product tree.

Figure 5-6 Planetary EE Product Tree

Orbital EE

Robotic Arm

Harness

Power Data

SIROM A IF

Planetary EE

Robotic Arm

Harness

Power Data

SIROM A IF


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6 OPERATIONAL DESCRIPTION

OG5 operations consist on two different aspects:

- Mating one SIROM to another to provide Mechanical, Power, Data and Thermal coupling between the robotic arm and the APM (or between two APMs).

- Once connection is made, receiving and complying commands from the OBC (or from another APM) and transmitting data from the APM to the OBC (or to another APM).

6.1 SIROM

6.1.1 Mating stages

The mating phase consists on a two-staged connection as follows:

- First stage (latching):

It includes guiding from the robotic arm misalignments to controlled and reduced misalignments using a capture mechanism to reduce the separation distance between SIROMs. Capture range is defined to allow capture before the contact of the guiding petals occurs to be able to use the position mode of the robotic arm. This stage starts when the Ready-to-capture status is detected by the robotic arm and ends when the Latched status is detected by the SIROM. Initially, only one SIROM is active and performs the mechanical coupling of its three capture hooks (latches). After that, the other SIROM actuates its three capture hooks (latches).

- Second stage (connecting Control, Data, PWR and thermal IFs):

It is done by a second mechanism that provides the functional connection from a position driven by the design of the previous stage. This stage starts when the Latched status is detected by the SIROM and ends when the Connected status is detected by the SIROM. For this second stage, some requirements have to be fulfilled, as there are constraints in the minimum temperature range that Thermal IF connectors have to reach in order to make the connection. Thus, temperature monitoring will be provided. That minimum temperature is -40 ºC

6.1.2 Mating Connection sequence and related TM/TC timing

In this paragraph, mating sequence between SIROM A and SIROM B will be described. Every command is delivered via CAN Bus. First mechanical connection is defined, and then the Connectors Plate connection.

NOTE 1: Here below, it is assumed that SIROM B is isolated and has no power source to retract its latches or lift its Connector Plate. So, SIROM-SIROM coupling is designed to be redundant even in that case. After the coupling is done and SIROM B has been powered, SIROM B will also retract its 3 latches.


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Figure 6-1. Example showing Connection between SIROM A and B.

- The OBC commands to connect SIROM A to SIROM B. - The robotic arm places SIROM A in front of SIROM B (“ready to capture” position). This

is done in position mode with the robotic arm accuracy. - SIROM A Controller receives feedback from OBC that “ready to capture” position is

reached. - SIROM A Controller commands latches’ actuators to start moving and the latching

process starts. - “Captured” state is achieved by SIROM A sensors. SIROM A latches still have not made

contact with SIROM B pockets. - SIROM A Controller sends that information to OBC. - OBC commands the robotic arm to be controlled in impedance mode. - SIROM A Controller receives validation from OBC. - SIROM A Controller commands latches to continue retracting. When a force or a torque

superior to 10 N or 0.5 Nm is sensed by the robotic arm sensors, it starts moving (or rotating) toward SIROM B until the force and torque values are under the mentioned ones (10 N or 0.5 Nm). Meanwhile, latches continue retracting.

- While approximating SIROM A and SIROM B, the guiding petals correct possible misalignments by contacting the guide counterpart of the opposite SIROM.

- Both SIROM faces make contact and, after latches preloading, “latched” position is achieved.

- SIROM A Controller sends that information to OBC (for housekeeping).

At this point, SIROM A and SIROM B are mechanically connected, and the IF is compliant to loads arising to 200 N and 40 Nm. Now, connection of the other 3 IFs (Power, Data and Thermal) starts.

- SIROM A and SIROM B temperature sensors determine that minimum temperature to provide a safe Thermal IF coupling has been reached.

- SIROM A Controller sends command to SIROM Connector Plate’s motors to start moving

- The rotation of the 3 spindles produces the following movements: o SIROM A Connectors Plate approaches to SIROM B o SIROM A dust cover is opened o SIROM B Connectors Plate approaches SIROM A o SIROM B dust cover is opened

- Connectors get connected and sensors provide to each SIROM Controller “connected” status.

- SIROM A Controller sends feedback to OBC.

At this point, SIROM A and SIROM B mechanical, power, data and thermal coupling is realized. However, still SIROM B latches have to move and latch onto SIROM A pockets.

- The OBC commands SIROM B Controller to retract SIROM B latches. - “Captured” state is achieved by SIROM B sensors. SIROM B latches still have not made

contact with SIROM A pockets.

AP

M-1

SIR

OM

B

SIR

OM

SIR

OM

A

AP

M-2

SIR

OM

SIR

OM

Robotic arm OBC


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- SIROM B Controller sends that information to OBC to ensure that the robotic arm is still in impedance mode.

- SIROM B Controller receives validation from OBC. - SIROM B Controller commands latches to continue retracting. - Latches continue retracting until they make contact on SIROM A pockets. After latches

preload, SIROM B sensors detect “latched” position. - SIROM B Controller sends feedback to OBC, and the connection process is finished.

The demating process is similar to the mating process described above with minor differences as, for example, the existence of SIROM A “disconnected” status communication to OBC (just for housekeeping) right before SIROM A Controller commands the capture mechanisms to unlatch.

6.1.3 Telemetries and telecommands

SIROM Controller TM messages will include, at least (the following list is TBC):

- SIROM Controller Operating Status: [Ok/Error/etc] - Sensors Data:

o Ready-to-capture Status: [Ready/Not ready] o Captured Status: [Captured/Not captured] o Latched Status: [Unlatched/Latched] o Connected: [Connected/Disconnected]

- PWR IF Status: [On/Off] - Data IF Status: [Ok//Error] - Thermal IF Status: [Ok (inside T margins)/Unavailable/Error]

SIROM Controller TC messages will include, at least (the following list is TBC):

- Command to Latch/Unlatch and Connect/Disconnect: - Commands to initiate the PWR IF. - Commands to initiate the Data IF.

SIROM Controller does not control the Thermal IF. SIROM Thermal IF is a path to allow heat transfer, but it is not a radiator/heater. Thus, it is the APM final user who has to provide that radiation/heating system and its control. That way, SIROM Controller will provide availability status and the user will decide whether to initialize the heat transfer or not.

After finishing the process above, the OBC has communication with APM and can:

- Send any command via CAN Bus - Perform Network management activies (Master handover to manage sub-CAN

networks, SpW Management, etc.) - Perform Redundancy management


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6.2 APM

Figure 6-2. Test concept for Orbital validation in OG6 facilities with APM-1 and APM-2.

Figure 6-3. Test concept for Planetary validation in OG6 facilities with P-APM and Aux-APM.


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6.2.1 Orbital APM

6.2.1.1 APM-1

6.2.1.1.1 Introduction to the concept

The Orbital APM-1 Payload is a camera, which will take pictures of the OG6 environment. Commanded by the OBC-1 (OG6), it will ensure SIROM functionality. This camera’s operation will demonstrate:

- SIROM capability to transfer Power loads (SIROM Power IF is in charge of switching on the camera)

- SIROM capability to transfer Data loads: o The camera will receive commands through data connectors o The camera will send to the OBC the pictures taken.

6.2.1.1.2 Architecture

As seen in Figure 6-2 APM-1 system is formed by 3 main bodies

- A SIROM IF in the top part of the APM-1: It is the SIROM that will make the coupling with the robotic arm.

- APM-1: Is the body that houses the payload (camera) that will be used for taking pictures. Once pictures are taken, they will be sent in data packages via SpW to the OBC through the bottom part of the APM-1.

- Bottom part SIROM: Is the SIROM that initially will be coupled to APM-2 upper SIROM. Is an active IF.

6.2.1.2 APM-2

6.2.1.2.1 Introduction to the concept

As agreed during SRR splinter meetings with OG6 and PSA, the Orbital APM-2 will have no payload. It will be just a dummy but with a full SIROM IF that will be permanently connected to the OBC in order to allow for APM-1 data retrieval with the OBC (even when the robotic arm is not connected to the APM-1 through the EE).

6.2.1.2.2 Architecture

As seen in Figure 6-3 APM-2 system is formed by 3 main bodies

- A SIROM IF in the top part of the APM-2: It is the unique active SIROM of the system. It will provide connection between APM-2 and APM-1. It will also be connected to the OBC, and camera data packages will be retrieved through its Data IF.

- APM-2: This body has the same dimensions of APM-1, but it will not hold any payload. It’s functionality is to sustain the upper SIROM and make the demonstration more realistic.

- Bottom part SIROM: This SIROM is a non-active IF that will be permanently attached to the

Target S/C


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6.2.1.3 Functional description

OG6 Orbital demonstration will be based in the following activities:

- APM-1 payload is commanded to take a picture - The robotic arm EE couples to APM-1 upper SIROM - APM-1 lower SIROM detaches from APM-2 upper SIROM - Robotic arm lifts APM-1 and detaches it - The picture is sent to the OBC

In any case the idea of substituting the current payload with a sensor provided by OG4 is under consideration. That to be performed, maybe some extra functionality would be added to the orbital testing, depending of which kind of sensor is finally introduced.

6.2.1.4 Design constraints

6.2.1.4.1 Production Constraints

Being APMs test items that are not meant to be space qualified:

- Structures will be designed with simple structural elements - Hardware must be COTS where possible.

6.2.1.4.2 Operational constraints

- APM-1: Due to dimensions and requirements limitations (mass, power, data rate…) other possible payloads have been discarded in favor of the camera.

- APM-2: Not applicable as no payload is foreseen in APM-2

6.2.2 Planetary APM

6.2.2.1 Primary APM

6.2.2.1.1 Introduction of the concept

The concept of the Primary Automated Payload Module [P-APM] is to have a payload autonomous in term of power and control.

The main mission of the P-APM is charging batteries (Auxiliary APM) by harnessing solar power. P-APM is also equipped with optical sensor. The data from the optical sensor can be streamed to the EGSE or stored onboard for later retrieval.

P-APM can also dissipate heat into environment, providing limited cooling capability to itself and the Auxiliary APMs connected on it.

6.2.2.1.2 Functional Description

The three main activities of the P-APM are the following:

Deploy a motorized solar panel in order to capture - and track - photovoltaic energy for

charging the internal battery or the battery within the Aux-APM, through and


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Record on local storage and stream data from the optical sensor mounted on top of the

solar equipment mast.

Provide a limited cooling infrastructure that allows to dissipate its own heat but will also

support cooling of the interfaced

This implies an autonomous system able to control its own equipment (solar, sensors, storage) but also be able to communicate with external systems and payloads.

The P-APM demonstrator architecture design contains different parts in order to achieve the mission described above, as shown in the following figure.

Figure 6-4. P-APM Demonstrator Prototype Principle

This block diagram depicts the P-APM system principle with the different elements:

SIROM interfaces (with multiples instances)

Cooling system with the radiator elements.

The so-called ‘Brain’ box represents the P-APM controller and all the elements involved in

the control, monitoring and communications activities.

Sun-Tracker with the different elements for capturing and following solar energy, but also

the Optical Sensor that will generate the data.

Internal Battery will ensure the P-APM autonomy in terms of power

6.2.2.1.3 Functional Architecture


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The detailed architecture of the P-APM is presented in the following figure.

Figure 6-5. P-APM Functional Architecture

The architecture consists in five main groups:

The Control group (Blue): this is the collection of bus involved in the control of the different

electronic devices. These elements are interconnected through various protocol interfaces:

SPI, I2C, SpaceWire, PWM, USB, Ethernet, EtherCAT, CAN,..

The Power group (Orange): this is the power distribution wiring from the power generating

solar panel to the internal battery, but also for the different internal devices (motors, and the

output through the SIROM interface.

The Data group (Yellow): this covers the data traffic generated by the optical sensors, the

streaming over USB (or Ethernet), the main Single Board Computer (SBC) local storage to

SSD drive(s), the WiFi interface and the SpaceWire connection pass-through of the SIROM

interface.

The Thermal group (Green): this is the passive dissipation of the heating components

(Battery, SBC, MPTT,..)

The Mechanical group: this covers the mechanical assemblage and support of all the P-

APM elements and design, ensuring a fastened and power efficient structure. This also

includes the Mast supporting the solar panel and the mechanism ensuring its deployment.

These groups coexist and interacts together in order to provide a full autonomous P-APM in terms of control, power and thermal aspects.


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6.2.2.2 Auxiliary APM

The Aux-APM is basically a battery pack, which is capable of supplying to SIROM devices power (i.e. power discharge) or to be able to charge itself from SIROM equally autonomously. The mode of operation is controllable by the platform master (Rover, ground station or a primary APM) through SIROM command control port.

The Aux-APM will have two SIROM ports which the mechanical interfaces on each of them are controlled via a dedicated SIROM I/F controller.

The thermal operating conditions are controllable via SIROM thermal controller (TBC).

The Aux-APM should be able to seamlessly switch between IDLE, CHARGE, DISCHARGE modes of operation via a command from the SIROM master. Also, Aux-APM should be able to measure, compute and construct necessary telemetries (such as state of charge, number of charge/discharge cycles, total energy stored, total energy discharged, state-of-health, etc.) (TBD).

6.2.2.2.1 Functional Description

The main functionalities of the Aux-APM controller can be organized in three main management functions:

- SIROM I/F Controller: The necessary block for the mechanical SIROM functions.

- SIROM Thermal Controller: The necessary heating and cooling functionality for the

temperature conditions during battery charge, discharge and storage operational modes.

- Battery Pack: The battery cells grouped in series and parallel configurations to store the

required electrical energy until the platform needs.

- Battery Balancing Circuitry: The circuitry which eliminates the charge/discharge

characteristic differences between the cells which are inherent due to process. This

functionality is needed for missions which imposes deep depth-of-discharge levels and/or

large number of charge/discharge cycles.

- AUX-APM Controller: The circuitry which measures or computes the state of operation (i.e.

current flow, battery voltage, battery impedance, bus voltage, battery pack temperature,

depth of discharge (or state of charge), operation mode command from SIROM bus, charge

counting etc. to produce the necessary outputs for the power circuity. This subsystem

should also have its own power supply to self-power which could be equally supplied from

bus or battery.

- Power Circuitry: the circuitry based on solid state switches which are clocked from the

AUX-APM controller to control the direction of flow of power.

- Battery Protection Circuitry: The overcurrent limitation circuity which hard limits the current

drawn out from the batteries. The soft limits could be programmed to AUX-APM controller.

This protection circuitry also includes a thermal protection circuit which monitors the

temperature of the battery pack at some points and controls a switch on the current return

path.

- Bus protection Circuitry: The overcurrent limitation circuitry which hard limits the current

drawn out from the SIROM power bus. The soft limits could be programmed to AUX-APM

controller.

6.2.2.2.2 Product Tree

The AUX-APM has two main product groups: AUX-APM Hardware and AUX-APM Software.


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The AUX-APM Hardware has further one level of products:

Battery pack

Battery Balancing

Battery Protection Board

Bus protection Board

Power Board

AUX-APM controller

SIROM I/F Controller

SIROM Thermal Controller

The AUX-APM Software is all the code developed for executing the control algorithm the power circuit in all operating modes, and interfacing with SIROM data bus.

Figure 6-6. Product Tree

6.2.2.3 System Design Constraints

6.2.2.3.1 Production Constraints

These APMs are, after all, test items, and are not made to space grade standards. This is means that:

Structures need to be designed using structural elements like plates, tubes and different

type of connections.

Hardware must be COTS where possible.

6.2.2.3.2 Operational Constraints

P-APM needs to be foldable back to stowed configuration. This can be done either automatically or by hand, depending on the design complexity.

Due to its size, and hence (low) available capacity, there are limited choices of applications for Aux APM.

6.2.2.3.3 Transportation and Storage Constraints

The storage temperature of the Aux-APM is -50ºC / 90ºC (TBC)


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6.2.2.3.4 Maintainability Constraints

APMS need to be easily maintainable, especially during the test campaign, on the field, in harsh environments (Morocco, Tenerife, Utah…). They need to be easily upgradeable, and controllable without using SIROM Ifs.

These APM’s are on offs so replacement is not possible!

6.3 Failure Detection Isolation and Recovery (FDIR)

The purpose of this section is to address inputs for the SIROM FDIR, including:

- Inputs to the detection of the failure, identification of the cause, controlling the effect and recovering SIROM integrity.

- Inputs to the identification of the means to recover the nominal or degraded functionality, w.r.t. the project dependability policy.

- A list of actions and recommendations.

FDIR aspects will be detailed at CDR together with other risk assessments identified in the Risk Management Plan (D2.2) and the Critical Item List (D2.7).

This section should be seen as a living text that will be updated following the progressing design and development of the project.

The analysis is composed of a detection of the failure, an identification of the failure, a control of the impact in the mission and the recovery action to be performed in order to guarantee the mission integrity.

At SIROM/APM level, the FDIR implementation means acquiring and monitoring sensors and parameters and monitoring the SIROM normal operation. This monitoring information will be sent via TM (through CAN) to OG1/OG2 level (S/C level).

At OG1/OG2 level, this monitoring information will be received and, in case an out of limit or an unexpected response is detected, an event will be generated at OG1/OG2 level. This event will trigger a recovery action in order to isolate the failure and allow failure compensation at OG1/OG2 level.

6.3.1 Failure Detection Isolation Analysis

The mission failures can be divided in the following cases:

- APMs specific failures: o Battery or payload degraded performance (due to failure, overcharge, undercharge…) o Battery degraded performance due to temperature excursion outside operational

temperature range

- SIROM specific failures: o Motors and sensors (position and temperature sensors) failures o Electronic boards processing failures (memory, watchdog, SpW/CAN communications,

processor errors, etc.) o Harness failures o Housekeeping failures o Control loop execution failures (commanding to mechanism)


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- SIROM and APM failures:

o Electronic boards degraded performance due to failure o Electronic boards degraded performance due to temperature excursion outside operational

temperature range o Electronic boards do not switch ON/OFF when commanded to

6.3.2 FDIR Design and Implementation

The FDIR design is composed of several monitoring parameters and recovery actions. Each monitored parameter has associated limits (between brackets) and events shall be triggered when the limits are exceeded.

The recovery actions shall be automatically triggered when the associated event is generated.

- Monitoring: o Battery/payload voltage (min, max) o Battery current (max discharge current, max charge current) o Payload current (max current) o Battery temperature (min, max) o Battery end of charge (EOC) voltage (min, max) o Bus current (max) o Electronic boards current (min, max) o Electronic boards temperature (min, max) o Electronic boards state (ON, OFF) o Memory checksums (TBC) o SpW/CAN communications (errors detected after sending Packets) o Housekeeping values (depends on HK sensor measured, if any) o Motor current (max) o Position sensors (ON, OFF) o Temperature sensors (min, max)

- FDIR actions

o If Electronic boards/batteries max level is exceeded, send command to power OFF the Electronic boards/batteries

o If Electronic boards/batteries min level is crossed, send command to power OFF the Electronic boards/batteries

o If battery voltage exceeds the max value, switch ON units to reduce battery voltage (TBC)

o If battery voltage goes below the min value, switch OFF units to reduce battery voltage (TBC)

o Other actions should be taken by OG1/OG2 depending on FDIR strategy defined: None (no action) Go to Safe mode (only in case of a non-recoverable failure) Go to Wait mode Go to Standby mode Switch to redundant

Some of the aspects mentioned above have been already included in section 6.2.2.


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6.3.3 Electrical parameters limit for FDIR Design

Regarding Electrical IF, the values of intervention for the limitation will be defined later. However, typical values are:

- Imax = +10% of Inominal. - Vmin = -20% of Vnominal.

In case of intervention for each limit (I > Imax OR V < Vmin), the switch is forced to OFF condition in Latch mode. Cancelling the Latch condition (i.e. restoring the ON condition) requires an external command, otherwise the OFF condition is maintained.

The intervention time for current-limit protection is instantaneous, but the latch condition will be delayed for more than 3ms (TBD). I.e.: when the attached payload requires an I higher than Imax, for at least 3ms the switch remains in ON mode and the current is limited to Imax, but later the switch is forced to OFF mode (unless I returns lower than Imax before switch's being forced to OFF mode). However, the intervention time is directly dependent from the thermal resistance of the switch device and thus it depends on its Case size.

The intervention time for under-voltage protection is no less than 25/30s (TBD). I.e.: the switch is

forced to OFF no less than 25/30s after V becomes lower than Vmin.


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7 SIROM

7.1 General description

The SIROM primary objective is the realization of a standard robotic IF consisting of: a mechanical IF, an electrical IF, a data IF, a thermal IF, and an IF controller. All of them will be contained in the SIROM mechanical housing, except the IF controller (and its associated harness) which will be placed inside the APM housing.

7.2 Coordinate system

The coordinate system selected for the SIROM envelope is shown in Figure 7-1 .The coordinate center is on the center point of the SIROM diameter of SIROM Bottom Plate.

- Axis X goes from the coordinate center towards one latch, perpendicularly to the androgyny plane of SIROM Connectors Plate

- Axis Y is the androgyny axis of SIROM Connectors Plate - Axis Z goes from SIROM Bottom Plate towards SIROM Contact Plate

Figure 7-1: SIROM coordinate system. Left: Front view. Right: Top view.

It must be mentioned that androgyny was promoted in front of symmetry at SIROM individual level, but in any case, SIROM is compliant to SIROM-FUNC-100 requirement if multiple SIROMs are used. Symmetry can be achieved if SIROM is repeated several times in all desired positions/rotations in parallel configurations as agreed as an outcome of the trade-off document [RD05], but this could add complexity to the overall configuration.


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7.3 Envelope and volume properties

7.3.1 General envelope dimensions

At this preliminary design stage, all the SIROM and APM dimensions are TBC.

As shown in Figure 7-1, SIROM general envelope dimensions are:

- Base: 120 mm diameter - Height: 30 mm

On the other hand, SIROM Controller is located inside APM envelope. Dimensions are shown in Figure 7-2.

- Thickness: 30 mm (5 mm x 6) - Height: 120 mm - Wide: 120 mm

These SIROM Controller dimensions are just an estimate for an example of a possible FM (Flight Model) SIROM Controller. The SIROM Controller that will be used in OG6 tests will be smaller and lighter. A FM SIROM Controller dimensions are larger because the following design and environmental aspects have to be taken into account when designing for a FM:

- Redundancy - Launch loads - Vacuum - Radiation resistance - Temperature ranges

For the OG6 Demonstration model, the dimensions of the SIROM Controller prototype are specified in the DJF [RD12].


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Figure 7-2: SIROM Controller dimensions. Left: Bottom view. Right: Front View.

7.3.2 Pockets envelope dimensions

The following table shows the evolution in time of the position inaccuracy specification of the robotic arm when it is in Position mode.

Robotic arm position inaccuracies

SRD

(SIROM-MECH-IF-50)

SIROM-TN-003

(OG5-OG6-F-4-3-V0.1)

After OG6 last inputs

Displacement +/- 5 mm (TBC) +/- 5 mm +/- 1 mm

Angular (parallelism of surfaces: Rotation in X, Y)

1 deg (TBC) +/-1 deg 0.5 deg

Angular (rotation in Z axis)

TBD +/-1 deg 0.5 deg

Angular (overall rotation in X, Y, Z)

- - 0.7 deg

Table 7-4. Evolution of the Robotic arm position inaccuracy specification.

The pockets of the SIROM were dimensioned taking this numbers into account. Some margins were added to the size of the pockets in order to take into consideration the latches positioning tolerances inside the SIROM and any difference in position inaccuracy that may exist between


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OG6 robotic arms and the definitive robotic arms that will be actually used in the Orbital and the Planetary Tracks.

The preliminary design of the pockets were made with the numbers shown in the following table.

Position inaccuracies

Inaccuracy of OG6 robotic arm

Margin Total inaccuracy for SIROM

pockets dimensioning

Displacement +/- 1 mm +/- 4 mm +/- 5 mm

Angular (rotation in X, Y, Z axis)

+/- 0.5 deg/each axis +/- 1 deg/each axis +/- 1.5 deg/each axis

Table 7-5. Total inaccuracies taken into account for pockets dimensioning.

Taking this into account, pockets dimensions are shown in Figure 7-3. Dimensions are:

- Width: 18,2 mm - Height: 17,5 mm - Depth: 30,5 mm

Figure 7-3: Pockets dimensions. Left: Top view. Right: Detail and section.

7.3.3 Latches envelope dimensions

Latches envelope dimensions are understood as the space they occupy in their whole stroke. In Figure 7-4 those dimensions are shown. Global dimensions:

- Height: 27,06 mm - Wide: 34,63 mm


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Figure 7-4: Latches envelope dimensions. Front view.

7.4 Interface definition to APM

The SIROM is bolted (3xM5) on its lower side to the EE or to the APM. The functional IF between SIROM and APM will consist on:

- 4 Data IF connectors (CAN: 1N+1R; SpW: 1N+1R) - 2 Power IF connectors (1N+1R) - 2 holes for the tubing of the Thermal IF

The 6 connectors mentioned above are fixed with bolts to the SIROM bottom plate, which will be bolted to the APM via the 3x M5 bolts mentioned above.

7.5 Mechanical IF

The Mechanical IF is responsible of providing SIROM berthing capability against another SIROM and proving compliant to loads arising during operations once attachment is made.

A clear advantage of the SIROM design is that it is capable of withstanding robotic arm positioning inaccuracies. The SIROM mechanical connection provides capability to berthing an opposite SIROM placed with errors of +/-5 mm in all translation axes. The SIROM is able to cope with those errors occurring simultaneously in all axes. Moreover, it can stand deviations in rotation of the mating surfaces of +/-1.5 º in all rotation axes that may also occur simultaneously. So, there are two main aspects to be mentioned:

- Capture mechanism: It captures the opposite SIROM in the range defined above - Guiding: It provides correction of the misalignment while approaching.

After OG6 discussions (at DLR, DFKI and GMV) and according to OG5-OG6 PDR splinter meeting, OG6 visual servo experts can achieve, with camera and markers, an accuracy of: +/-1 mm for the x,y,z translation and 0.5 deg for rotational angle (around x,y,z) and 0.7 deg for the overall angle. These values are representative of realistic Orbital and Planetary environments. The SIROM design is therefore compliant with realistic Orbital and Planetary environments.

Envelope of the latch movement


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7.5.1 Capture mechanism

The capture mechanism is based in 3 capture hooks that engage in the opposite SIROM pockets and retract approaching both SIROMs with the robotic arm’s help.

7.5.1.1 Capture hooks (latches)

SIROM berthing is achieved by a system of 3 latches, 120 º between them. Each latch consists in a four-bar-linkage moved by its own motor.

On the 6.1 point has been mentioned that the latching is done in the first stage. However, this first stage can be divided in three steps as well:

- Latches move from ready to capture position to captured position - Captured status has been detected by sensors and latches continue retracting then

towards latched position.. - Latched status has been detected by sensors and latches have finished retracting.

In the first step, when latched, the latches do not need to withstand any force as there is not contact between latches and pockets yet.

In the second step, the latches withstand a force of 10 N and a torque of 0,5 Nm. When sensors detect that loads are superior, the robotic manipulator moves (or rotates) approaching both SIROMs. Meanwhile, latches continue retracting.

In the third step, after the Contact Plates have made contact, the latches continue retracting and start to deflect to produce a preload, so Mechanical IF withstands a force of 200 N and a torque of 40 Nm.

7.5.1.2 Capture sensors

Capture sensors will be placed just in one latch, as the 3 of them are actuated at the same time it is understood that they will be moving equally. 3 sensors will be necessary. The sensors are for:

- Latched status. Sensor detects that latches have been preloaded. - Captured status. No contact has still been made, but sensor detect SIROM B pockets

are inside SIROM A latches envelope. - Ready to capture position. When SIROM A decoupling from SIROM B sensor detects

the latch cannot clash with the SIROM B envelope, so that no collision will exist during the decoupling.

7.5.1.3 Actuators

As defined above, each mechanism is actuated by its own motor and a gear system. Due to space limitations it is possible that the rear part of the motors, including their harness outlet, may protrude out of the 30mm dimension (especially for the FM motors).

7.5.2 Guiding

Guiding of the union of two SIROMs is achieved by 3 guiding petals (6 semi-petals), 120 º between them. The two guiding semi-petals are positioned at each side of the latching mechanism. When


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getting closer during, guiding petals of SIROM A make contact with guide counterparts of SIROM B. That way, androginy is maintained.

Depending of the initial misalignment of the coupling, guiding petals of SIROM A and guide counterparts of SIROM B will contact later or before, but they are designed to correct the worst case robotic arm positioning error: +/- 5 mm (all axes) and +/- 1.5 º (all axes).

7.6 Resource connection

As mentioned in the SIROM product tree (see 5.2.1), the “resource connection” encompasses the other 3 IFs (Power, Data and Thermal). Thus, in this chapter, first the connection mechanism will be explained and later each IF will have its own section.

7.6.1 Connection mechanism

7.6.1.1 Connectors Plate

The Connectors Plate is the base of the connection mechanism. It is responsible of holding Power, Data and Thermal connectors, and moving them in translational motion towards the opposite SIROM’s Connectors Plate.

The Connectors Plate is a triangular shaped plate, and its translational movement is achieved by 3 spindles arranged in each corner of the triangle. The Plate has 2 main positions:

- Connected: Connectors of SIROM A are coupled to connectors of SIROM B. - Disconnected: The Connectors Plate is on the lowest position of its stroke.

7.6.1.2 Actuators

Connectors Plate actuation is achieved by a motor and a gear system.

7.6.1.3 Sensors

The sensors are the final elements of the connection mechanism. As commented on the connection sequence (see 6.1.2) and above (see 7.6.1.1), there will be 4 sensors (2N+2R) for two positions of the Connectors Plate:

- Connected: Connectors of SIROM A are coupled to connectors of SIROM B. - Disconnected: The Connectors Plate is on the lowest position of its stroke.

7.6.2 Electrical IF

Electrical IF (i.e. Power IF) is responsible of providing power to SIROM Controller and APM Controller and it is placed in the Connectors Plate. A power source shall be mounted in the Platform (satellite or rover) or APM, and cables will reach SIROM IF. As the APM may need up to 150 W, SIROM Electrical IF connectors must be compliant with those values. In addition, the Electrical IF will be protected against short circuits. The connectors selected are Dsubminiature ESA/ESCC 3401/002 DEMA with 9 contacts, Shell size E (Standard density).

The Connectors Plate is populated with one male and one female connector achieving an androgynous Electrical IF and redundancy at the same time.


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The design of the SIROM electrical interface is based on the custom requirements, which are hereafter described together with the proposed solutions.

1. Transfer electrical power in both directions:

The SIROM Electrical interface is a bi-directional electronics switch controlled by external command.

2. Supply payloads with at least 150W (TBC) of electrical power:

The electrical power transfer at +100Vdc line is designed for 120W (TBC) in both directions.

The transfer electrical power at +24Vdc line is designed for 30W (TBC) in both directions.

3. Shall provide on/off switching capabilities:

The interface will be commanded by a single logical ON/OFF command at low level (ie: 5Vdc ). This command operates both lines and is referred to the return, which is common to +24Vdc and +100Vcd lines (TBC). Separated ON/OFF commands are possible, but in this case power supply returns shall be separated (one for the +24Vdc line and another for the +100Vdc line).

If required, switch opened or closed contact solution for the command ON/OFF is possible, but in this case internal supply for the switch sensor (independent from the +24Vdc and +100Vdc lines) is required.

Insulation for the ON/OFF command by means of an opto device is also possible, if required.

Two signal status for the switches conditions will be provided for external monitoring. They are at same level of the ON/OFFcommand, active high 5V (TBC) or opto isolated, if required. If isolation is required to maintain separation between different lines, it may be necessary to define an external source for the status monitors.

4. Opened and closed 10000 (TBC) times

The minimum number of open and close operation shall be 10000 times.

5. No short circuits The main interface are protected by internal current limiter (Imax) and under voltage (Vmin) circuits. The values of intervention for the limitation will be defined later. However, typical values are:

- Imax = +10% of Inominal. - Vmin = -20% of Vnominal.

In case of intervention for each limit (I > Imax OR V < Vmin), the switch is forced to OFF condition in Latch mode. Cancelling the Latch condition (i.e. restoring the ON condition) requires an external command, otherwise the OFF condition is maintained.

The intervention time for current-limit protection is instantaneous, but the latch condition will be delayed for more than 3ms (TBD). I.e.: when the attached payload requires an I higher than Imax, for at least 3ms the switch remains in ON mode and the current is limited to Imax, but later the switch is forced to OFF mode (unless I returns lower than Imax before switch's being forced to OFF mode). However, the intervention time is directly dependent from the thermal resistance of the switch device and thus it depends on its Case size.


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The intervention time for under-voltage protection is no less than 25/30s (TBD). I.e.: the switch is

forced to OFF no less than 25/30s after V becomes lower than Vmin.

The Overvoltage Protection will be included into the SIROM Electrical IF (i.e. in the Power electronics). The overvoltage protection level will be:

- 24 Vdc live: +20% (i.e. protection open above 28.8 Vdc) - 100 Vdc line: +15%. (i.e. protection open above 115 Vdc)

These are typical values for Space Power electronics.

6. No surge

No surge conditions are expected because no one internal capacitance and power supply are foreseen in the attached payload.

7. Electro-magnetic compatible

No one filter is provided for electromagnetic compatibilities because no EMI generator is present in the electrical interface electronics.

If an EMI filter is required, a common returns between +24Vdc and +100Vdc lines is not possible, and separate returns shall be implemented. This consideration is valid also for possible EMI filter on command and status lines.

7.6.3 Data IF

Data IF is responsible of providing communication between SIROMs and OBC. This is understood in two communication types. One the one hand it holds Control: commands for monitoring and controlling the SIROM and the APM, and on the other hand it ensures data transfer: transmission of the data obtained (e.g. images taken) by the APM. It is located on the Connectors Plate and, as for the Electrical IF, a pair of connectors are provided for each communication type achieving androgyny and redundancy. The connectors selected are Micro-miniature D-type ESA/ESCC 3401/029 MDM with 9 contacts.

The Connectors Plate is populated with:

- Data transfer (via SpW): The data interface will be dedicated to the transfer of information from or to a payload device, such as an imaging sensor. The data interface (data transfer) for SIROM will be based on the commonly used SpaceWire protocol (ECSS-E-ST-50-12C). To reach this conclusion a trade off activity was undertaken to gauge the most appropriate solution based on factors such as timeliness, reliability, current and next generation spacecraft. Furthermore, the potential complex tasks that were required of SIROM meant that a SpaceWire variation called SpaceWire Network Discovery and Configuration Protocol (previously known as SpaceWire Plug and Play) was most suited to the application. For SpW, one male and one female connector achieving an androgynous Electrical IF and redundancy at the same time. Requirement SIROM-DATA-IF-60 DATA-IF-PROT is fulfilled, but R6.6 is not. SpaceWire has been chosen over Ethernet or EtherCat due to being the best actual proven technology for data transferring in space systems


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- Control (via CANbus/CANopen): The DATA interface mentioned above will be dedicated to the transfer of information from or to a payload device, such as an imaging sensor. However, a separate communication link is needed to interface with the SIROM controller. The controller is an embedded system housed within SIROM that controls low level functionality of the device. This includes but not exclusive to, controlling the latching motors, detecting a successful latching operation and monitoring the electrical, thermal interfaces. The communication protocol selected was CANbus/CANopen. For CANbus/CANopen, one male and one female connector achieving an androgynous Electrical IF and redundancy at the same time

7.6.4 Thermal IF

The thermal IF is responsible to provide SIROM with the appropriate means for heat exchange between two APMs. SIROM thermal IF itself is not providing power dissipation in any case. It will consist in a fluid loop between SIROM A and SIROM B. Male and female couplings shall be mounted in the connectors’ plate (androgynous design philosophy). This plate should be provided with two temperature sensors to control the temperature before mating in order to protect the connectors.

Additionally, in order to define a proper thermal IF, some considerations have to be taken into account at a higher system level:

7.6.4.1 Selection of the heat transportation mean

During the trade-off analysis in the preliminary design stage, different means for heat exchange have been considered: conduction, radiation, magnetic induction and fluid exchange (with and without phase change). Fluid exchange (without phase change) between two APMs has been selected as the preferred option for the heat transportation mean due to the large amount of heat to be exchanged (up to 2.5 kW) between APMs.

7.6.4.2 Preliminary System Definition

The thermal IF of the SIROM will consist in a connector for fluid exchange between two APMs. The thermal IF shall be capable of heat transfer of 2 to 2.5 kW (SIROM-THERM-IF-10) with a temperature jump not larger than 10K (SIROM-THERM-IF-30) with the environmental requirements specified in the project.

A typical thermal management system including SIROM thermal IF is depicted in the figure below:


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Figure 7-5: Conceptual design of two APMs connected by SIROM IF and their thermal management system.

SIROM Thermal IF will consist in two interface definitions:

- An external IF which allows connection between two SIROM IFs. A male-female configuration will be adopted in order to allow connectivity and operation.

- An internal IF which provides integration of the fluid connector in the thermal IF with the thermal management system of the APM. This IF is intentionally left open in order to allow design flexibility to the engineering design of the thermal management system and its interfaces.

In order to comply with previous requirements, a minimum mass flow of the engineering fluid which transports the heat has to be exchanged between the APMs. The amount of heat exchanged by the engineering fluid, when considering stationary ideal conditions, can be calculated as:

�̇� = �̇� · ∫ 𝐶𝑝 · 𝑑𝑇𝑇ℎ𝑜𝑡

𝑇𝑐𝑜𝑙𝑑

Where: q is the heat exchanged m is the mass flow Thot is the temperature of the hot source Tcold is the temperature of the cold source Cp is the specific heat capacity of the fluid, which may be considered temperature dependent

Several engineering fluids were considered for the thermal exchange. The properties of the fluids to be considered during the design of the thermal IF are listed in the table below. Fluid NOVEC 7200, which covers the temperature range of interest, is selected as baseline for the SIROM during Preliminary Design stage.


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Working fluid Composition Fluid Temperature

range [Cº]

Density [kg/m3]

Specific Heat (J/kgK)

Dynamic viscosity [cSt]

Novec 7200 ethoxy-nonafluorobutane

(C4F9OC2H5)

-110 to 50 850,57 1220 0,247

Dynalene Hydrocarbon blend -112 to 163 850,57 1796,2 0,595

Syltherm XLT Silicone polymer -100 to 260 855,274 1772 0,955

Therminol VLT

* High flammable

Methylcyclohexane/ Trimethylpentane

Mixture

-115 to 175 742,032 1953,116 0,955

H-Galden ZT85

Hydrofluoropolyether -80 to 70 1631,46 1248,1 0,533

Table 7-6: Proposed Fluid for low temperature

In order to be compliant with the heat exchange requirement (2-2.5 kW), a minimum mass flow has to be assured at the SIROM IF connectors. That mass flow needed will depend on the operational temperature and physical properties of the fluid, the size of the hydraulic diameter of the connectors and the speed of the fluid. As a preliminary design limitation, a maximum speed of 5 m/s has been considered inside the fluid connector. That would reduce pressure drop in the connector limiting the impact of the incorporation of the SIROM Thermal IF in the fluid pumping system requirements. Within the actual constrains of the project, a minimum size of the hydraulic diameter to allow heat exchange in all the operational temperature range has been estimated in:

∅𝒎𝒊𝒏 > 𝟔. 𝟓 𝒎𝒎

If other fluids, operational speeds and temperature conditions are considered, the connector minimum hydraulic diameter could be relaxed. As an example, the influence of the temperature in the minimum hydraulic diameter is plotted in the figure below for various engineering fluids for an ideal heat exchange of 2000 W:

Figure 7-6: Tube diameter vs temperature to transfer 2000W


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7.6.4.3 Thermal Interface Definition

The thermal IF will consist in an external interface (connecting two SIROMs), an internal interface (connecting the interface with the means of heat transport inside the APMs like heat pipes) and the flexible means (if needed) of connection between the internal and external interfaces. The definition of the Internal interface to the APMs thermal management system is left open intentionally to allow a higher degree of flexibility into the overall system design.

One of the critical elements on the thermal IF is the fluid connector. No space proven solution or commercial connectors which only require relative straight-forward adaptations fulfill all the SIROM requirements identified during the state of the art and trade-off analysis. Most options have a very low level of maturity and the connectors are bulky and massive. Therefore, MAGSOAR will manufacture and test a new fluid connector for space applications compliant with SIROM standard IF requirements.

A technology plan and an additional tests campaign have been defined for the development of the thermal IF up to TRL4 at the end of the SIROM project.

The preliminary design specifications for that connector have been defined and are listed below:

Heat transfer capacity >2000W

Operational temperature range [-110ºC to 50ºC]

Connection temperature range [-40ºC to 70ºC] (TBC)

Footprint, outer diameter < 18 mm L<30mm (TBC)

Equivalent Hydraulic diameter ≥6.5mm

Nominal fluid speed in the connector ≤ 5m/s

Connection stroke ≤14mm (TBC)

Connection forces limited to 200N to connect each pair of connectors (male-female) (TBC)

Fluid pressure in the system ≤ 10bars

Compatible with various working fluids

Lifetime > 1000 cycles

Self-latching feature is desirable to minimize the detent torque required for the actuation motors of the retractable plate of the plate of the SIROM IF, and in the end, minimize the weight of the overall system. The connector will be manufactured in space qualified materials and following qualified manufacturing and assembly procedures as far as possible.

7.6.4.4 Connection procedure: Temperature sensors

Fluid connectors should not be connected at temperatures below -40ºC in order to not damage the elastomeric seals. SIROM IF shall be equipped with thermal sensors implemented in the connectors plate and read out by the SIROM controller.

7.7 Dust protection

Dust protection system is responsible of protecting the whole SIROM against dust contamination. It consists of 3 cover lids and its movement is produced simultaneously with the Connectors Plate. They are positioned right below the Contact Plate and they prevent dust from contaminating SIROM interiors.


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Figure 7-7. Dust cover in open and closed positions (opening movement of the3 lids shown with black arrows).

7.8 SIROM Controller

SIROM Controller information has been shown in chapter 10 together with APM Controller.


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8 APM

8.1 General description

In general terms, an APM (Active Payload Module) is a container with integrated subsystem or payload components, which can be used to fulfil a certain task (e.g. special sensor equipment or enhanced computation power). Additionally a servicing robot can “communicate” with an APM attached through its manipulator due to the data transfer capability of the SIROM.

APMs are integral part of the SIROM development program. They are conceptualized, designed and built with a main purpose of providing realistic operational environment for testing and verification of the SIROM interface. This process of test and verification is envisaged to be done through realistic orbital and robotic planetary exploration scenarios, in which APMs play central role.

Two APMs for each track (two for Orbital and two for Planetary) will be developed for testing the SIROM IF in OG6 facilities.

8.2 Orbital APM

The two Orbital APMs developed for testing the SIROM IF in OG6 facilities in OG6 will be different:

- APM-1 will have two SIROMs and a Payload (camera) - APM-2 will have one SIROM and one SIROM dummy (only mechanical IF without Data,

Power or Thermal IFs) and no payload.

8.2.1 Orbital APM Design Concepts

8.2.1.1 APM-1

APM-1 of Orbital Test is the active APM of the demonstration. It will be equipped with the optical sensor that is the payload of the APM. That payload is a camera. APM-1 will be used for demonstrating the following SIROM capabilities:

- Power IF: The coupling must prove that the expected power runs through the connectors, as the camera will need that electrical power to switch on and operate.

- Data IF: o Image retrieval: The coupling must prove that the SpW retrieves the expected

data package. This data package will be the picture taken by the camera o Control: The coupling must prove that the control of the APM is successful

8.2.1.2 APM-2

APM-2 of Orbital Test is the non-active APM of the demonstration. It is not be equipped with any payload as it will not be used for any specific aspect. It will have an upper SIROM that is meant to be connected to the OBC. When APM-1 lower SIROM couples with APM-2 upper SIROM, data will be transmitted to the OBC through that APM-2 upper SIROM.


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8.2.2 Test scenario overview

The idea of using APMs is guaranteeing a more realistic scenario. However APMs are just systems to help the demonstration of SIROM Interfaces. According to that, their design will not be space qualified but the essential for complying with the tests.

On the other hand, there may be different payloads that could be suitable for a demonstration of these characteristics, but from OG5 it was stated that an optical sensor could serve as the best. Nevertheless, it is under consideration to substitute the current payload with a sensor provided by OG4. In that case, maybe some extra functionality would be added to the orbital testing, depending of which kind of sensor is finally introduced.

8.2.3 Orbital APM Design Description

8.2.3.1 APM-1

APM-1 consists of:

- Housing: Is responsible of enveloping every part. - APM-1 Payload: Is the proper payload of the APM, the camera - APM Controller: Implements control of the APM activity. It is inside the chosen camera, so

there will not be a specific board. - Power, Data & Thermal lines: Coming from upper SIROM towards lower SIROM shall be

inside the APM-1.

8.2.3.2 APM-2

- Housing: Is responsible of enveloping every part. - APM-2 Payload: Not applicable as no payload is foreseen for this APM-2. - APM Controller: Not applicable as no payload is foreseen for this APM-2. - Power, Data & Thermal lines: Not foreseen as the upper SIROM is the unique active

element of the SIROM(active)+APM-2+SIROM(dummy) system. Data will be retrieved directly from upper SIROM.

8.3 Planetary APM

The two Planetary APMs developed for testing the SIROM IF in OG6 facilities will be different:

- Primary APM - Auxiliary APM

8.3.1 Planetary APM Design Concepts

8.3.1.1 Primary APM Concept

Primary APM (P-APM) is conceptualized as stand-alone unit with predefined level of power and control autonomy. The main mission of the P-APM is to provide support to the robotic exploration in the shadowed areas in search of volatiles, by providing charged battery modules to be used by the rover, or other APMs.


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Battery modules are to be charged by harnessing the available solar energy. For maximum efficiency of the charging process, the solar panel is going to be mounted on rotative platform, so it can be automatically dynamically positioned in optimal position relative to the sun, throughout the day.

P-APM is also going to be equipped with optical sensor which can provide situational awareness to the mission control on Earth. The data from the optical sensor can be streamed real-time or stored onboard for later retrieval, through SIROM IF.

P-APM can also dissipate heat into environment, providing limited cooling capability to itself and other APMs (or rover) connected on it.

Figure 8-1. Primary APM – Preliminary Design, stowed configuration.

There are two configurations of the P-APM:

Stowed – Configuration for transport. In this configuration P-APM takes least volume, and is

most resistant to the environment. However, in this configuration, it cannot perform its

function, and it is envisaged that in this configuration it should be either in off, or standby

mode.

Deployed – Operational configuration. In this configuration P-APM sits safely on flat and

horizontal surface, with deployed solar panel and functional rotative platform, pointing the

panels to the sun.

8.3.1.2 Auxiliary APM Concept

Figure 8-2. Auxiliary APM Concept Figure.


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Auxiliary APM (Aux-APM) is conceptualized as battery pack which would be used to extend power autonomy of the rover while in the shadowed areas, and/or to power other APMs.

Aux-APM is to be charged by P-APM, described above, and then transported by the rover, to be used where needed.

Aux-APM is comprised of an external chassis [1] on which two standard interfaces [2] are mounted. The battery stack [3] and the electronic circuit boards [4] are encased and sealed inside chassis. One LED which shows the Aux-APM status and one extra alternative control port (USB) will be visible from the exterior.

8.3.2 Test Scenario Overview

In theory, presented APM concepts reflect proposed robotic exploration mission. In practice, these APMs are support equipment for the test and verification campaign of the SIROM interfaces. As such, their designs need to refer to the test scenario, and requirements derived from it. This is the short overview of the Planetary Track test scenario:

There are many different planetary exploration scenarios which can showcase different aspects of SIROM future applications and design solutions. Scenario which was chosen as the most representative of the imminent future planetary exploration missions is search for volatiles.

Robotic missions for finding volatiles, and their potential extraction for use as resources for energy production, propellant, life support etc. is also considered to be major milestone for future manned space exploration.

Main search for volatiles is going to be focused on the polar areas of Moon and Mars, especially in permanently shadowed craters, where local (freezing) temperatures allow for volatiles to persist. This is why the chosen test scenario revolves around supporting robotic exploration of the shadowed areas (craters), where specific power and control and navigation requirements apply.

8.3.3 Primary APM Design Description

P-APM consists of:

Main platform - Provides structural foundation of the whole unit. Also serves as a shock

absorber when the APM is dropped from the Rover to the ground.

Central structural element – Central element of the APM, also an axis of the rotation for the

Rotative platform. It includes:

o Interface to Rover

o Rotative platform motor and position control assembly

Rotative platform – Structural element which supports solar panel subassemblies. It rotates

around Central structural element. Solar panel subassemblies are:

o Mast subassembly

o Photovoltaic subassembly

o Optical Sensors

Hardware casing – Provides structural support and protection against environment for the

APM’s hardware. It includes:

o 2x SIROM Interfaces

o APM’s hardware

o Radiator subassembly


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The mast shown in figure below is bi-stable structure - essentially split tube, which has two stable configurations, one when rolled, and second when deployed into a mast.

Figure 8-3. Left: Primary APM in stowed configuration. Right: When deployed P-APM shall expose cca 2m2 surface area of the solar panel to the sun.


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Figure 8-4. Detail of the deployed P-APM, showing main components.

Figure 8-5. Rotative platform follows the position of the sun throughout the day. P-APM should be positioned in such manner that Hardware casing faces the North.

8.3.4 Auxiliary APM Design Description

Structurally speaking, Aux-APM is a container, with two SIROM interfaces on its opposing sides. This container provides protection to the battery pack and charging controller board(s).

Aux-APM is designed in such way to provide maximum charge capacity in relatively small format, as defined by the top-level requirements.

8.4 APM Controller

APM Controller information has been shown in chapter 10 together with SIROM Controller.


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9 END EFFECTOR

The SIROM End Effector is an adapter which allows to install the SIROM I/F into the output flange of the Robotic Arms which are used to test the SIROM I/F capabilities in the two reference scenarios, namely "Orbital" (DLR's arm) and "Planetary" (DFKI's arm).

Furthermore, it also implement some features to easy the test itself, like an additional camera (and a sustain for a further camera) to see the SIROM while docking each other, a mechanical misalignment compensation assembly, and a Force Torque sensor.

Figure 9-1 and Figure 9-2 show the sketches of the overall concept with indication of the main components.

DLR Robotic

Arm

Flat change master

FWA-050-0P-0E

by Schunk

End Effector

Core

Flat change adapter

FWA-050-0P-0E

by Schunk

SIROM I/F

End Effector

Figure 9-1: End Effector when installed onto the DLR Robotic Arm

For orbital demonstration, no extra F/T sensor is needed as the DLR Robotic Arm already limits the torques to 0,5 Nm and the forces to 10 N. This was clarified by DLR in OG5-OG6 PDR splinter meeting.

DFKI Robotic

Arm

Mechanical misalignment compensation

AGE-F-XY-063-2 by Schunk

End Effector

Core

SIROM I/F

End Effector

Flange adapter

Flange adapter

Force / Torque sensor

Nano 85 SI-950-40 by Schunk

Flange adapter

Figure 9-2: End Effector when installed onto the DFKI Robotic Arm


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10 CONTROLLERS

10.1 APM and SIROMs configuration for Orbital or Planetary Missions:

In this chapter main internal aspects of the SIROM Controllers and APM Controllers wiring and PCBs system are deployed.

Figure 10-1: APM and SIROMs configuration for Orbital or Planetary Missions

According to the figure, the description of the system is the next.

- SpW cable goes from: o SIROM A to APM Controller o SIROM B to APM Controller o SIROM A to SIROM B o APM Controller to Camera

- Power cable goes from: o SIROM A to SIROM A Controller. SIROM A Controller powers:

SIROM A: 1 Connector Plates motor SIROM A: 3 latches (one motor per latch)

o SIROM A to APM Controller. APM Controller powers: Payload NOTE: If any OG4 I3DS sensors are eventually installed on the APM, they

could be connected to the APM Controller for Power supply.


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o SIROM B to SIROM B Controller. SIROM B Controller powers: SIROM B: 1 Connectors Plate motor SIROM B: 3 latches (one motor per latch)

o SIROM B to APM Controller. APM Controller powers: Camera

o SIROM A to SIROM B - Sensors TM cables go from:

o SIROM A sensors to SIROM A Controller. The sensors are: SIROM A: 3 sensors of one latch of SIROM A (just one latch is going to be

provided with sensors, as the 3 latches move simultaneously)

Ready to capture

Captured

Latched SIROM A: 2 sensors of the Connectors Plate

Connected

Disconnected SIROM A: 1 temperature sensor for the Thermal IF connectors

o SIROM B sensors to SIROM B Controller. The sensors are: SIROM B: 3 sensors of one latch of SIROM B (just one latch is going to be


Ready to capture

Captured

Latched SIROM B: 2 sensors of the Connectors Plate

Connected

Disconnected SIROM B: 1 temperature sensor for the Thermal IF connectors

- CAN Bus cable goes from: o SIROM A to SIROM A Controller o SIROM A to APM Controller o SIROM B to SIROM B Controller o SIROM B to APM Controller o SIROM A to SIROM B

NOTE:

- Every cable and connector of the diagram above is duplicated (N+R)

10.2 APM and SIROMs configuration of the Orbital Scenario for OG6 Demonstration

The main differences of the APM and SIROMs configuration of the Orbital scenario for OG6 demonstrator (with OG5’s EGSE + OG6’s OBC) with respect to the configuration shown in section 10.1 (OT mission configuration) are:

- For Orbital APM-1: o In the demonstration the payload is a camera. Meanwhile, in the real mission case it

could be any other device. o In the demonstration the APM Controller (TBC) will be implemented inside the

camera, as the camera is provided with a SpaceWire port which can be used for performing control. In fact, that port enables both control and files transmission. Both (control and files transfer) are performed by OG6 OBC.

o SIROM A and SIROM B Controllers are in charge of providing power to the camera.


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- For Orbital APM-2: o No payload is foreseen o The only active SIROM is the upper one. The lower SIROM will be just a dummy

hold to the S/C

In

Figure 10-2 is shown the display of the SIROM A, APM-1 and SIROM B system.

SIROM (E/E, A, B) Controller


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Figure 10-2: APM-1 and SIROMs configuration for OG6 Orbital Demonstration

According to that figure, the description of the system is the next. - SpW cable goes from:

o OBC to EE o EE to SIROM A o SIROM A to Camera (through APM Controller) o SIROM B to Camera (through APM Controller) o SIROM A to SIROM B

- Power cable goes from: o EGSE (OG5) to EE o EE to SIROM_EE Controller. SIROM_EE Controller powers:

SIROM_EE: 1 Connectors Plate motor SIROM_EE: 3 latches (one motor per latch)

o EE to SIROM_EE o SIROM_EE to SIROM A o SIROM A to SIROM A Controller. SIROM A Controller powers:




o SIROM EE sensors to SIROM EE Controller. The sensors are:



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SIROM EE: 3 sensors of one latch of SIROM EE (just one latch is going to be provided with sensors, as the 3 latches move simultaneously)

Ready to capture

Captured

Latched SIROM EE: 2 sensors of the Connectors Plate

Connected

Disconnected SIROM EE: 1 temperature sensor for the Thermal IF connectors



Ready to capture

Captured


Connected




Ready to capture

Captured


Connected


- CAN Bus cable goes from: o EGSE (OG5) to EE o EE to SIROM EE Controller o EE to SIROM EE o SIROM EE to SIROM A o SIROM A to SIROM A Controller o SIROM B to SIROM B Controller o SIROM A to SIROM B


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In

Figure 10-2 is shown the display of the SIROM A, APM-2 and SIROM B system.



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Figure 10-3: APM-2 and SIROMs configuration for OG6 Orbital Demonstration


o SIROM A to OBC (through APM upper connectors) - Power cable goes from:

o OBC to APM upper connectors o APM upper connectors to SIROM A Controller. SIROM_A Controller powers:

SIROM_A: 1 Connectors Plate motor SIROM_A: 3 latches (one motor per latch)

o APM upper connectors to SIROM A - Sensors TM cables go from:



Ready to capture

Captured


Connected


- CAN Bus cable goes from: o EGSE (OG5) to APM upper connectors


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o APM upper connectors to: SIROM A SIROM A Controller

10.3 APM and SIROMs configuration of the Planetary Scenario for OG6 Demonstration

Figure 10-4: Aux-APM and SIROMs configuration for OG6 Planetary Demonstration


o EGSE (OG5) to EE o EE to SIROM A o SIROM A to APM Controller o SIROM B to APM Controller o SIROM A to SIROM B

- Power cable goes from: o EGSE (OG5) to EE o EE to SIROM_EE Controller. SIROM_EE Controller powers:

SIROM_EE: 1 Connectors Plate motor SIROM_EE: 3 latches (one motor per latch)

o EE to SIROM_EE o SIROM_EE to SIROM A o SIROM A to SIROM A Controller. SIROM A Controller powers:






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o SIROM EE sensors to SIROM EE Controller. The sensors are: SIROM EE: 3 sensors of one latch of SIROM EE (just one latch is going to

be provided with sensors, as the 3 latches move simultaneously)

Ready to capture

Captured

Latched SIROM EE: 2 sensors of the Connectors Plate

Connected

Disconnected SIROM EE: 1 temperature sensor for the Thermal IF connectors



Ready to capture

Captured


Connected




Ready to capture

Captured


Connected


- CAN Bus cable goes from: o EGSE (OG5) to EE o EE to SIROM EE Controller o EE to SIROM EE o SIROM EE to SIROM A o SIROM A to SIROM A Controller o SIROM B to SIROM B Controller o SIROM A to SIROM B

10.4 SIROM Controller (Interface Controller)

This section provides the technical definition of the Interface Controller for the Standard Interface for Robotic Manipulation (SIROM) based on the technical requirements. Further information (drawings) is provided in section 12.


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10.4.1 Summary of the SIROM Controller

The SIROM I/F controller will be designed for orbital and planetary environments. The main purpose of the SIROM I/F controller is to support locking/unlocking mechanism of the APMs by monitoring sensors and controlling the actuators. The SIROM I/F controller will have a control interface to receive commands and send responses. High level user’s needs of the controller can be listed as:

- To survive in high radiation environment

- To control the actuators

- To monitor the sensors

- To respond the commands

- To send telemetry

10.4.2 Functional Description

The main functionalities of the SIROM I/F controller can be organized in three main management functions:

- Device Management provides an interface to device users to manage the device by using

the CAN bus interface.

- Actuator Management is a functionality expected from the controller to provide means to

control the actuator according to high/low level commands from the device users.

- Sensor Management is a functionality of the device to receive sensor data and use the data

for actuator management if needed.

10.4.3 Physical Description

The SIROM I/F controller is a single electronics board with power, CAN, [TBD] actuator, [TBD] sensor and debug interfaces. The dimensions and the weight of the board for the demonstration is 100x60x60 mm and 162 g, respectively.

10.4.3.1 Product Tree

The SIROM I/F controller product is grouped into 3 main categories; SIROM I/F Controller Board, EGSE and Application Software.

- SIROM I/F Controller Board is the main hardware including Processing Unit, CAN, Power,

Debug, Sensors and Actuators interfaces

- EGSE is the ground support equipment to test the device

- Application Software is the software running on the Processing Unit


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Date 11-07-2017


Figure 10-5 Product Tree

10.4.3.2 Description of Interfaces

The SIROM I/F controller has five interfaces:

- Power: 24 (TBC) V regulated power line

- CAN: Dual CAN bus; nominal and redundant

- Actuator: 24 (TBC) V

- Sensor: 5 (TBC) V

- Debug: Serial debug interface

10.4.4 System Design Constraints

The storage temperature of the SIROM I/F controller is [TBD,TBD].

The operational temperature of the SIROM I/F controller is [TBD,TBD].


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11 TECHNICAL BUDGET

In this section technical budgets of the mass of each OG5 main bodies and power required by OG5 elements are displayed.

11.1 Mass budget

Mass of the OG5 main bodies when tested in OG6 is shown in the next table. Mass margin is 20%.

Body Mass (kg)

SIROM 1,5

Orbital APM-1 1,4

Orbital APM-2 1,3

Planetary P-APM 25,0

Planetary Aux-APM 5,5

Orbital EE 1,2

Planetary EE 3,1

Table 11-7. Mass budget for OG5 main bodies when tested in OG6.

11.2 Power budget

Power consumption of the OG5 main bodies when tested in OG6 is shown in the next table.

Table 11-8. Power budget for OG5 when tested in OG6.

Body State ComponentUnit Power

(W)Quantity

Power

(W)

SIROM Controller

Stand-by

Reporting Status TM 6

TOTAL Stand-by 6

Operation

Motors 7 3 21

Controller (Servo+RPi3+CAN2USB) 5,4 1 5,4

TOTAL Operation 26,4

Orbital APM-1

Stand-by

Camera Stand-by 0,75

TOTAL Stand-by 0,75

Operation

Camera taking pictures 0,24

TOTAL Operation 0,24


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12 INTERFACE CONTROL DRAWINGS

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SIROM-MECHAN-IF -

EC-REA-

SIROM N/A

12

SIROMMECHAN I/F

SIRO

M-ME

CHAN

-IF

8

A

C

B

765

D

E

F

8200 MM

6 75

4321

A

C

B

40

2 3

D

E

1

F

DIN A2-420 x 594

DRAWING No:CHECKED

DESIGNED

NAME SIGNATURE DATE

SCALES:ISO 1101TOLERANCES, AS PERSHAPE AND POSITION

UNE-EN ISO 13920-BFON DRAWING, AS PER UNE-EN 22768-fH,MANUFACTURING TOLERANCES NOT SPICIFIED

REV. D E S C R I P T I O NPROPIETARY DATA: ALL RIGTHS RESERVED, REPRODUCTION OR DISCLOSURE

PERMITTED EXCEPT WITH PRIOR AND EXPRESSED WRITTEN PERMISSIONTO THIRD PARTIES OF THIS DOCUMENT OR ANY PART THEREOF IS NOT

DATE ENGIN. Q. A. MANAG.PROJECT MODEL

CUSTOMER:CI. No:

SHEET No:

PARTLIST No:

A2 TITLE:

6°

120°3x

O 104

CAN Connector F(DATA I/F)

POWER I/F M

POWER I/F F

CAN Connector M(DATA I/F)

THERMAL I/F M

THERMAL I/F FSpW F(DATA I/F)

SpW M(DATA I/F)

X AXIS

Y AXIS

A

O 120

60°TYP.

BB

3046,1

TBD (1)

120

X AXIS

Y AXIS

X AXIS

Z AXIS

C

9,34STROKE=

4,34

3x M5APM I/F

M= Male ConnectorF= Female Connector(1) Extra envelope may be needed. TBC after detail design.

CONNECTORS PLATE

CONTACT PLATE

CAN Connector M(DATA I/F)


SpW M(DATA I/F) SpW F

(DATA I/F)

TOP VIEW

BOTTOM VIEW

POWER I/F M

POWER I/F F

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SIROM-MECHAN-IF -

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SIROM N/A

22

SIROMMECHAN I/F

SIRO

M-ME

CHAN

-IF

8

A

C

B

765

D

E

F

8200 MM

6 75

4321

A

C

B

40

2 3

D

E

1

F

DIN A2-420 x 594

DRAWING No:CHECKED

DESIGNED

NAME SIGNATURE DATE






CUSTOMER:CI. No:

SHEET No:

PARTLIST No:

A2 TITLE:

SECTION B-BSCALE 1:1

14

19,5

95°CONTACT PLATE

VIEW FROM CSCALE 1:1

X AXIS

Z AXIS

(LATCH POSITIONS)

18,06

11,3

6,62

3,88

X AXIS

Y AXISCLOSED DUST COVER

OPEN DUST COVERDETAIL A

SCALE 1:1

8,6

8,6

3 POS.

3 POS.

32,5

32,5

32,5

D

VIEW FROM DSCALE 1:1

X AXIS

Z AXIS

30,5

2

34,625

READY TO CAPTURE

LATCHEDCAPTURED

9

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SIROM N/A

11

SIROMPOWER I/F

SIRO

M-PO

WER

-IF

8

A

C

B

765

D

E

F

8200 MM

6 75

4321

A

C

B

40

2 3

D

E

1

F

DIN A2-420 x 594

DRAWING No:CHECKED

DESIGNED

NAME SIGNATURE DATE






CUSTOMER:CI. No:

SHEET No:

PARTLIST No:

A2 TITLE:

DRIVER PCB CONNECTORS PLATE (REDUNDANT)DRIVER PCB LATCH (REDUNDANT)POWER PCB (DC/DC) (REDUNDANT)

M

F

M= Male ConnectorF= Female Connector

17,87,5

10,9

ANDR

OGINITY

AXIS

39°

15,4

Y AXIS

X AXIS

A

VIEW FROM ASCALE 1:1

120O

9,34STROKE=

CONTACT PLATE

30

Z AXIS

X AXIS

X AXIS

Y AXIS

15,5 15,5

15,1

To Connectors PlateActuators and Sensors(MAIN)To LatchesActuators and Sensors(MAIN)

To APM Controller(REDUNDANT)

To APM Controller(MAIN)

To Connectors PlateActuators and Sensors(REDUNDANT)

To LatchesActuators and Sensors(REDUNDANT)

TO POWER PCB (DC/DC)(MAIN)

To APM Controller (MAIN)

To APM Controller (REDUNDANT)

TO POWER PCB (DC/DC)(REDUNDANT)

SIROM CONTROLLER PCBs:-Power PCBs-Driver PCBs (Latch)-Driver PCBs (Connectors Plate)

M F

F

TBD (1)

2,3

TOP VIEWSCALE 1:1

BOTTOM VIEWSCALE 1:1

(1) Extra envelope may be needed. TBC after detail design.

120

120

POWER I/F M

BACK PANEL PCB (REDUNDANT)


CONNECTORS PLATE

DRIVER PCB CONNECTORS PLATE (MAIN)DRIVER PCB LATCH (MAIN)POWER PCB (DC/DC) (MAIN)

5

POWER I/F F

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SIROM N/A

11

SIROMDATA I/F

SIRO

M-DA

TA-IF

8

A

C

B

765

D

E

F

8200 MM

6 75

4321

A

C

B

40

2 3

D

E

1

F

DIN A2-420 x 594

DRAWING No:CHECKED

DESIGNED

NAME SIGNATURE DATE






CUSTOMER:CI. No:

SHEET No:

PARTLIST No:

A2 TITLE:

POWER PCB (DC/DC) (MAIN)DRIVER PCB LATCH (MAIN)

DRIVER PCB CONNECTORS PLATE (MAIN)

CAN Connector M


ANDR

OGINITY

AXIS

Y AXIS

X AXIS

A


120O

CONTACT PLATE

30

Z AXIS

X AXIS

X AXIS

Y AXIS

To Connectors PlateActuators and Sensors(MAIN)To LatchesActuators and Sensors(MAIN)

To Connectors PlateActuators and Sensors(REDUNDANT)

To LatchesActuators and Sensors(REDUNDANT)

TO POWER PCB (DC/DC)(MAIN)



TO POWER PCB (DC/DC)(REDUNDANT)

SIROM CONTROLLER PCBs:-Power PCBs-Driver PCBs (Latch)-Driver PCBs (Connectors Plate)

TBD (1)

TOP VIEWSCALE 1:1



5,5

21,2

1

12,2

CAN Connector F

15

16,2

BACK PANEL PCB (MAIN)


17,4



9,34STROKE=

2,231,9

120

120

4,4 4,4

30° 30°

5

17,4

5

17,4

SpWConnector F

SpWConnector M

SpWConnector M

SpWConnector F

CAN Connector MCAN Connector F



SpW M(DATA I/F)

SpW F(DATA I/F)

CONNECTORS PLATE

POWER PCB (DC/DC) (REDUNDANT)DRIVER PCB LATCH (REDUNDANT)

DRIVER PCB CONNECTORS PLATE (REDUNDANT)

5

PRELIMI

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SIROM-THERMAL-IF -

EC-REA-

SIROM N/A

11

SIROMTHERMAL I/F

SIRO

M-TH

ERMA

L-IF

8

A

C

B

765

D

E

F

8200 MM

6 75

4321

A

C

B

40

2 3

D

E

1

F

DIN A2-420 x 594

DRAWING No:CHECKED

DESIGNED

NAME SIGNATURE DATE






CUSTOMER:CI. No:

SHEET No:

PARTLIST No:

A2 TITLE:

M F


ANDR

OGINITY

AXIS

Y AXIS

X AXIS

A


120O

CONTACT PLATE

30

Z AXIS

X AXIS

X AXIS

Y AXIS

M F

TBD (1)

TOP VIEWSCALE 1:1



6,8 6,8

9,34STROKE=

4,34

THERMAL I/F M

1,65

6,67

CONNECTORS PLATE

Outer diameter d=11

THERMAL I/F F