Resilient Space Robotics: Towards the Autonomy of Space Missions

空间机器人技术是国际空间探索和利用计划的一个不可分割的组成部分，从空间机械手到行星漫游者，通常是受约束的、移动的和灵活的。这种多学科系统应当能够在恶劣的外层空间环境中可靠地运行，以完成空间任务，包括在轨服务、行外探索和深空探索。自主性对于未来的空间机器人系统尤其重要，因为它们必须在距离地球数百万英里的地方，在部分了解的环境中协同操作，同时处理干扰，通信延迟以及快速，复杂和频繁的任务，所有这些都使遥操作变得不切实际。因此，除了先进的技术外，还应当有能够捕捉空间机器人系统独特特征的智能制导、导航和控制方法，以使其能够长期可靠地自主运行。机动性、非完整性和对称性只是空间机器人系统的几个关键特征，这些特征被当前基于几何的框架严格捕获，以提供有效的控制结构。在这个NSERC提案中，PI将建立在他在几何动力学和欠驱动，约束多体系统控制方面的发现以及尖端空间技术的经验基础上，以扩展现有的微分几何框架，并系统地解决与空间系统自主性相关的剩余挑战。该研究将涉及识别和建模现实的非标称条件，包括干扰，不确定性和灵活性，并开发新的几何GN&C方法，以补救其不利影响，促进空间任务的强大自主性。空间机器人技术是在轨服务方案的一个基本要素，用于维护现有卫星系统，并保证其不间断的服务，从地球观测和天气预报到电信、全球导航系统和军事监视。在这项研究中提供的GN&C技术将极大地帮助创建一个有效的在轨服务计划，以维持对加拿大人的安全、安保和日常生活至关重要的卫星服务。该研究计划还为太空探索任务提供了实用的自主解决方案，这对下一代加拿大公民和科学家至关重要。在目前的研究方案中接受指导的高素质人员将接触加拿大空间部门的实际问题，并掌握解决问题和批判性思维的技能。事实上，这种指导将提高HQP的就业能力，并培养下一代知识渊博的空间工程师，这将通过对空间和教育行业的贡献而对加拿大经济产生重大影响。

An inseparable component of international space exploration and exploitation programs is space robotics, ranging from space manipulators to planetary rovers, and typically being constrained, mobile and flexible. Such multidisciplinary systems ought to reliably perform operations in hostile outer space environments to accomplish space missions, including on-orbit servicing, extraplanetary exploration and deep-space exploration. Autonomy is particularly essential for future space robotic systems, since they must collaboratively operate millions of miles away from the Earth, in partially understood environments, while dealing with disturbances, communication delays, and fast, complex and frequent missions, all of which render teleoperation impractical. In addition to advanced technologies, intelligent Guidance, Navigation and Control (GN&C) methodologies, capable of capturing unique characteristics of space robotic systems, should thus be in place to enable their long-term and reliable autonomous performance.******Mobility, nonholonomicity and symmetry are only a few key characteristics of space robotic systems rigorously captured by current geometry-based frameworks to offer effective control structures. In this NSERC proposal the PI will build upon his discoveries in geometric dynamics and control of underactuated, constrained multibody systems and experience with cutting-edge space technologies to extend the existing differential geometric frameworks and systematically address the remaining challenges associated with the autonomy of space systems. The research will involve identifying and modelling realistic off-nominal conditions, including disturbance, uncertainty and flexibility, and developing novel geometric GN&C methodologies that remediate their adverse effects to facilitate robust autonomy of space missions.******Space robotics is an essential element of the on-orbit servicing program for maintaining existing satellite systems and guaranteeing their uninterrupted services ranging from Earth observations and weather forecasting to telecommunication, global navigation system and military surveillance. The enabling GN&C technologies provided in this research will immensely help create an effective on-orbit servicing program to sustain satellite services that are vital to the safety, security and day-to-day lives of Canadians. The research program also offers practical autonomy solutions for space exploration missions that are crucial for the next generation of Canadian citizens and scientists. The Highly Qualified Personnel (HQP) who are mentored in the current research program will be exposed to real-world problems in the Canadian space sector and provided with skills in problem solving and critical thinking. Indeed, such mentorship will increase the employability of the HQP and train the next generation of knowledgeable space engineers that will greatly impact the Canadian economy by contributing to both space and education industry.