Electromagnetically Actuated Systems for Modular, Self-Assembling and Self-Reconfigurable Space Structures
- 1. ESA ACT Science Coffee MARCH 2022
- 3. SPACE EXPLORATION INITIATIVE COMMUNITY 5 0 + G R A D U A T E S T U D E N T S , S T A F F , A N D F A C U L T Y S E A N A U F F I N G E R M I S S I O N I N T E G R A T O R X I N L I U A R T S C U R A T O R M A G G I E C O B L E N T Z S P A C E G A S T R O N O M Y S A N D S F I S H S T A F F D E S I G N E R E L I S E O ’ H A R A A D M I N I S T R A T I O N S A N A S H A R M A S T A F F D E S I G N E R J A M I E M I L L I K E N S T A F F E N G I N E E R J O E P A R A D I S O M E D I A L A B A D V I S O R M A R I A Z U B E R M I T V P F O R R E S E A R C H D A V A N E W M A N M E D I A L A B D I R E C T O R A R I E L E K B L A W F O U N D E R & D I R E C T O R A L B E R T A N T O S C A P R O G R A M M A N A G E R C I A R R A O R T I Z S P A C E S U I T I N T E R N N A D I A K A H N L U N A R P O L I C Y L E A D
- 4. SPACE SUITS & MOBILITY SELF-ASSEMBLY ZERO-G 3D PRINTING MUSIC VR & AR MUSIC SPACE SILK ZERO- G SELF ASSEMBLY MICRO-G EXERCISE SOFT ROBOTICS SWARM ROBOTS SPACE SUITS
- 5. SPACE ARCHITECTURE SPACE SUITS & MOBILITY ROBOTICS & AI SPACE FOOD MUSIC VR & AR ASTRONAUT BIO- SENSORS PERSONAL HOLODECK MICRO-G EXERCISE MUSIC & THE ARTS
- 7. OUR LAUNCH PIPELINE A D L U N A A D A S T R A
- 9. Artist’s render courtesy of TU Dortmund PhD Committee TESSERAE: Tessellated Electromagnetic Space Structures for the Exploration of Reconfigurable Adaptive Environments
- 11. I M A G E C R E D I T : E S A
- 14. KILOBOTS R U B E N S T E I N , M I C H A E L , A L E J A N D R O C O R N E J O , A N D R A D H I K A N A G P A L . " P R O G R A M M A B L E S E L F - A S S E M B L Y I N A T H O U S A N D - R O B O T S W A R M . " S C I E N C E 3 4 5 , N O . 6 1 9 8 ( 2 0 1 4 ) : 7 9 5 - 7 9 9 . PEBBLES G I L P I N , K Y L E , A R A K N A I A N , A N D D A N I E L A R U S . " R O B O T P E B B L E S : O N E C E N T I M E T E R M O D U L E S F O R P R O G R A M M A B L E M A T T E R T H R O U G H S E L F - D I S A S S E M B L Y . " I N R O B O T I C S A N D A U T O M A T I O N ( I C R A ) , 2 0 1 0 I E E E I N T E R N A T I O N A L C O N F E R E N C E O N , P P . 2 4 8 5 - 2 4 9 2 . I E E E , 2 0 1 0 . LILY ROBOT H A G H I G H A T , B A H A R , E T A L . " L I L Y : A M I N I A T U R E F L O A T I N G R O B O T I C P L A T F O R M F O R P R O G R A M M A B L E S T O C H A S T I C S E L F - A S S E M B L Y . " I N R O B O T I C S A N D A U T O M A T I O N ( I C R A ) , 2 0 1 5 I E E E I N T E R N A T I O N A L C O N F E R E N C E O N , P P . 1 9 4 1 - 1 9 4 8 . I E E E , 2 0 1 5 .
- 15. Aerospace Docking + Reconfigurability Saenz-Otero, Alvar, and David W. Miller. "SPHERES: a platform for formation-flight research." In UV/Optical/IR Space Telescopes: Innovative Technologies and Concepts II, vol. 5899, p. 58990O. International Society for Optics and Photonics, 2005. Howard, N. and Nguyen, H.D., National Aeronautics and Space Administration (NASA), 2010. Magnetic capture docking mechanism. U.S. Patent 7,815,149. Nisser, Martin, Dario Izzo, and Andreas Borggraefe. "An electromagnetically actuated, self-reconfigurable space structure." Transactions of the Japan Society for aeronautical and space sciences 14 (2017): 1-9. Underwood, Craig, Sergio Pellegrino, Ben Taylor, Savan Chhaniyara, and Nadjim Horri. "Autonomous Assembly of a Reconfigurable Space Telescope (AAReST)-Rendezvous and docking on a 2D test-bed." In 9th IAA Symposium on Small Satellites for Earth Observation, IAA-B9-0508. 2013. m scale
- 16. TESSERAE: Deployment Scale Bonding Edge Length 5ft Containment Bounding Area X < 2*TESSERAE diameter Inner Diameter 28ft TESSERAE Module Volume 6910ft3
- 17. TESSERAE: Packing for Launch
- 18. MAP OF TESSERAE TECHNICAL PROGRESSION Hardware & Control Software Flight Test Simulation, At-Scale Analysis, and Autonomy/Robotics Integration 1st Gen 2st Gen 3rd Gen
- 19. Self-Assembly Experimental Parameters Testing Parameters: - Circulation - Containment - Seeding - Kinetic Disturbance - Redundant tiles Tests Circulation? Tests Containment? Tests Seeding? Tests Kinetic Disturbance? Tests Redundant Tiles? Gen 1 (parabolic flight) YES YES NO NO NO Gen 2 (Suborbital flight) YES YES YES NO NO Gen 3 (ISS) YES YES YES YES NO Simulation Model YES YES YES YES YES
- 20. Controllable, custom EPMs Rigid-Flex PCB for on demand neighbor interaction sensing and self- assembly control code SuperCap for EPM repulsion pulse Lid and base TESSERAE Tile – ISS platform 30 day mission SCALE BAR: 9.5cm
- 22. TESSERAE Shell: Simulation Modelling Incorporates: - Rigid body physics collisions - Force due to magnetic attraction / magnetostatics - Earth’s magnetic field (toggled) - Control code logic implemented for error handling - 18 input parameters for variable performance sweep - Informed by results from microgravity tests
- 24. TESSERAE : Deployment Flow Selected for AIAA Space Architecture Technical Committee Best Professional Paper 2019/2020 Ekblaw, Ariel, Anastasia Prosina, Dava Newman, and Joseph Paradiso. "Space Habitat Reconfigurability: TESSERAE platform for self- aware assembly." IAC, 2019. Assembly Tasks Finalization Tasks Orbital Operation Reconfigurability, Re-purposing for alternative missions (orbit and surface)
- 26. TESSERAE: EXTENSIBILITY TO OTHER GEOMETRIES I N D I V I D U A L U N I T S C R Y S T A L L I N E P A C K I N G
- 28. Reconfigurable Space Structures using Electromagnets ElectroVoxels Martin Nisser, MIT CSAIL
- 30. Motivation
- 35. Building the ISS (NASA)
- 36. Long-distance missions Earth-Mars example Communication delay: 10-40 mins round trip Resupply delay: ~9 months (Hohmann, every 2 years) Plan locking: 80% of ISS planned in 90s was orbited Hardware permanence: Hardware inside can be baked in or irremovable
- 39. Literature
- 40. Pebbles Distributed Robotics Lab MIT, 2010 M-Blocks Distributed Robotics Lab MIT, 2013 ATRON Modular Robotics Lab USD, 2006 Roombots Biorobotics Laboratory EPFL, 2014 Reconfigurable Robotics
- 41. Tesserae Ekblaw et al. (2018) Free flight & EM docking Underwood et al. (2015) Self-assembly via magnetic flux pinning Shoer and Peck (2007) Equilibrium Shaping Izzo et al. (2007) Space Architecture - Assembly
- 42. Concept Overview
- 46. Pivot (π) Traversal (π/2) Reconfiguration Primitives
- 48. Hardware
- 49. Module
- 50. Array
- 51. CAD / Components
- 52. Simulation
- 53. Pivoting (π /-π)
- 55. Pivoting (π /-π)
- 57. Traversal (π/2)
- 59. Pivoting (π)
- 61. Pivoting (π /-π)