Space Assembly of Large Structural System Architectures (SALSSA)

Dorsey, John T.; Watson, Judith J.

doi:10.2514/6.2016-5481

Cited by 21 publications

(9 citation statements)

References 13 publications

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“…These decompositions were informed by several recent and historical ISA-related papers and studies. [7][8][9][10][11] The results of these evaluations contributed to development of a common nomenclature and a framework of assembly strategies, tasks, and capabilities that can be applied to meet the exploration challenges.…”

Section: On In-space Assemblymentioning

confidence: 99%

In-space Assembly Capability Assessment for Potential Human Exploration and Science Applications

Jefferies

Jones

Arney

et al. 2017

AIAA SPACE and Astronautics Forum and Exposition

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Human missions to Mars present several major challenges that must be overcome, including delivering multiple large mass and volume elements, keeping the crew safe and productive, meeting cost constraints, and ensuring a sustainable campaign. Traditional methods for executing human Mars missions minimize or eliminate in-space assembly, which provides a narrow range of options for addressing these challenges and limits the types of missions that can be performed. This paper discusses recent work to evaluate how the inclusion of in-space assembly in space mission architectural concepts could provide novel solutions to address these challenges by increasing operational flexibility, robustness, risk reduction, crew health and safety, and sustainability. A hierarchical framework is presented to characterize assembly strategies, assembly tasks, and the required capabilities to assemble mission systems in space. The framework is used to identify general mission system design considerations and assembly system characteristics by assembly strategy. These general approaches are then applied to identify potential in-space assembly applications to address each challenge. Through this process, several focus areas were identified where applications of in-space assembly could affect multiple challenges. Each focus area was developed to identify functions, potential assembly solutions and operations, key architectural trades, and potential considerations and implications of implementation. This paper helps to identify key areas to investigate were potentially significant gains in

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Section: On In-space Assemblymentioning

confidence: 99%

In-space Assembly Capability Assessment for Potential Human Exploration and Science Applications

Jefferies

Jones

Arney

et al. 2017

AIAA SPACE and Astronautics Forum and Exposition

View full text Add to dashboard Cite

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“…Subject to carrying capacity of a launch vehicle, these large space structures (LSSs) have to be constructed through on-orbit deployment or assembly. Recently, many researchers have pointed out that on-orbit assembly is the most likely solution to this issue with support from various technologies of space robots and modular structure designs (Dorsey and Watson, 2016;Duan, 2018;She et al, 2019;Wang and Hou, 2014). Some preliminary results (Boning and Dubowsky, 2010;Gong and Macdonald, 2019;Wang et al, 2019) have clearly demonstrated that undesirable vibration may be excited when constructing the LSS, significantly influencing its orbit and attitude motion.…”

Section: Introductionmentioning

confidence: 99%

Active vibration suppression for large space structure assembly: A distributed adaptive model predictive control approach

Wang

Xun³

et al. 2020

Journal of Vibration and Control

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Subject to the limited envelope size and carrying capacity of a rocket, it could be one of the most promising solutions to construct a large space structure through multilaunching and on-orbit assembly. Taking the antenna of the solar power satellite as the research objective, a novel vibration suppression strategy is developed in this article to guarantee high structural stability of the large space structure during on-orbit assembly. The concept of distributed control unit, together with the varying location relationship matrices, reflects the structural characteristics of the large space structure during on-orbit assembly. The explicit expression form of the control unit’s dynamic model is first derived based on the Newmark-β method. Then, the distributed adaptive model predictive controller is proposed to suppress the vibration of the large space structure aroused by weak impact among assembling modules. Through recalculating the control matrices efficiently at each assembly, the proposed controller achieves adaptive updating along with the varying large space structure. The feasibility of the proposed distributed adaptive model predictive controller is investigated in the numerical simulations, and the centralized fast model predictive controller is adopted for better comparison. The results demonstrate that the distributed adaptive model predictive controller can effectively suppress vibration of the large space structure during on-orbit assembly, with good adaptability, robustness, and computation efficiency.

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“…This work is motivated by the problem of in‐space assembly of large structures using robotic assets. The need for constructing structures that are considerably larger than the mass and volume constraints of available launch vehicles has motivated NASA since the 1960s (Belvin et al., ; Dorsey & Watson, ; Komendera & Dorsey, ; Watson, Collins, & Bush, ). In particular, we perform experimental robotics to quantify and understand the feasibility of a recently proposed conceptual architecture for constructing large aperture telescopes where the primary mirror would be on the order of 100 m (Lee et al., ).…”

Section: Introductionmentioning

confidence: 99%

Payload‐centric autonomy for in‐space robotic assembly of modular space structures

Karumanchi

Edelberg

Nash

et al. 2018

Journal of Field Robotics

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The paper addresses the problem of constructing large space structures (∼100 m) by using autonomous robots to assemble modular components in space. We are motivated by the problem of creating space structures at a scale greater than what is feasible with a single self-deploying design. We had two goals in this work. The first was to investigate and demonstrate the feasibility of long-order multitask autonomy. The second was to study the balance between required tolerances in hardware design and robotic autonomy. This paper reports on a payload-centric autonomy paradigm and presents results from laboratory demonstrations of automated assembly of structures using a multilimbed robotic platform. We present results with deployable 20 lb payloads (1 m trusses) that are robotically assembled to form a 3-m diameter kinematically closed loop structure to subcentimeter accuracy. The robot uses its limbs to deploy the stowed modular structural components, manipulate them in free space, and assemble them via dual-arm force control. We report on results and lessons learned from multiple successful end-to-end in-lab demonstrations of autonomous truss assembly with JPL's RoboSimian robot originally developed for the Defense Advanced Research Projects Agency (DARPA). Videos of these demonstrations can be seen at https://goo.gl/muNLJp (JPL, 2017). Each end-to-end run took precisely 26 min to execute with very little variance across runs. We present changes/improvements to the RoboSimian system post-DARPA Robotics Challenge (DRC) (Karumanchi et al., 2016). The new architecture has been improved with a focus on scalable autonomy as opposed to semiautonomy as required at the DRC. K E Y W O R D Sautonomy, dual arm force control, mobile manipulation, space robotics stand the feasibility of the assembly problem of a modular space structure. This is essentially a study of the balance between hardware complexity/tolerances and required autonomous robotic capabilities to achieve subcentimeter assembly.

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Space Assembly of Large Structural System Architectures (SALSSA)

Cited by 21 publications

References 13 publications

In-space Assembly Capability Assessment for Potential Human Exploration and Science Applications

In-space Assembly Capability Assessment for Potential Human Exploration and Science Applications

Active vibration suppression for large space structure assembly: A distributed adaptive model predictive control approach

Payload‐centric autonomy for in‐space robotic assembly of modular space structures

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