Resilient Space Robotics: Towards the Autonomy of Space Missions

空间机器人是国际空间探索和开发计划中不可分割的组成部分，从空间机械手到行星漫游车，它们通常是受限的、可移动的和灵活的。这种多学科系统应可靠地在恶劣的外层空间环境中开展行动，以完成空间任务，包括在轨服务、行星外探索和深空探索。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部分理解的环境中协作操作，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，除先进技术外，还应采用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，使其能够长期可靠地自主运行。移动性、非完整性和对称性只是空间机器人系统的几个关键特征，目前基于几何的框架严格捕捉了这些特征，以提供有效的控制结构。在NSERC的这项建议中，PI将基于他在几何动力学和欠驱动、受限多体系统控制方面的发现，以及尖端空间技术的经验，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。这项研究将涉及确定和模拟现实的非名义条件，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，以促进空间飞行任务的强大自主性。空间机器人是在轨服务计划的重要组成部分，用于维护现有的卫星系统，并确保其从地球观测和天气预报到电信、全球导航系统和军事监视的不间断服务。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、保障和日常生活至关重要的卫星服务。该研究项目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。在目前的研究计划中接受指导的高素质人员(HQP)将接触到加拿大航天部门的现实世界问题，并获得解决问题和批判性思维的技能。事实上，这种指导将增加HQP的就业能力，并培养下一代知识渊博的空间工程师，他们将通过对空间和教育行业的贡献而极大地影响加拿大经济。

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.