Experimentos da ISS para encontrar soluções para limpar detritos orbitais e reparar satanãlites danificados
Astrobee éuma equipe de três robôs em forma de cubo que ajudam os astronautas a realizar tarefas rotineiras de forma auta´noma ou por controle remoto , como fazer inventa¡rio, documentar experimentos ou mover carga...
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)
Astrobee éuma equipe de robôs voadores em forma de cubo que ajudam os astronautas a realizar tarefas rotineiras de forma auta´noma ou por controle remoto. Uma colaboração internacional de pesquisa entre pesquisadores do MIT e da Agência Espacial Alema£ usou essa plataforma para testar um conjunto de algoritmos para permitir um encontro com um alvo em queda. Crédito: Instituto de Tecnologia de Massachusetts
Em 2002, a Agência Espacial Europanãia lançou o Envisat, o maior satanãlite civil (na anãpoca) a ir para a a³rbita baixa da Terra (LEO). Por uma década, ele observou nosso planeta e enviou dados valiosos sobre o clima da Terra, rastreando o declanio do gelo marinho do artico e muito mais, atéescurecer em 2012. Uma das teorias predominantes para seu desaparecimento éque simplesmente ficou sem combustavel . Amedida que a LEO se torna mais lotada, o Envisat éum exemplo do tamanho de um a´nibus escolar de uma área crescente de preocupação no domanio espacial: detritos orbitais e o risco cada vez maior de interromper missaµes de satanãlite ativas que produziriam resultados que variam de inconvenientes a catastra³ficos para a sociedade moderna .
Mas como vocêalcana§a um objeto não cooperativo caindo no espaço mais rápido do que uma bala em alta velocidade? Uma colaboração de pesquisa internacional entre o MIT e a Agência Espacial Alema£ (DLR) completou uma sanãrie de experimentos a bordo da Estação Espacial Internacional (ISS) que iluminou um possível caminho a seguir para ajudar a resolver essa questão.
"Se pudanãssemos reabastecer ou reparar esses corpos em queda que são funcionais, seria muito útil para a redução de detritos orbitais, desde que possamos alcana§a¡-los. Mas um encontro de proximidade édifacil de fazer se vocênão fizer isso. saber exatamente como seu alvo estãose movendo", diz Keenan Albee SM '19, Ph.D. candidato em aerona¡utica e astrona¡utica que ajudou a liderar o projeto. “Na³s montamos um conjunto de algoritmos que descobrem como o alvo estãocaindo e, junto com outras ferramentas que nos permitem levar em conta a incerteza, podemos produzir um plano para nos levar ao alvo, apesar da quedaâ€.
Para testar seus algoritmos em microgravidade, a equipe usou os robôs Astrobee da NASA a bordo da ISS como banco de testes . Astrobee éuma equipe de três robôs em forma de cubo que ajudam os astronautas a realizar tarefas rotineiras de forma auta´noma ou por controle remoto , como fazer inventa¡rio, documentar experimentos ou mover carga, usando seu sistema de propulsão de ventilador elanãtrico, bem como suas ca¢meras embutidas e sensores para se deslocarem pela estação e realizarem as suas tarefas. A primeira rodada de experimentos de microgravidade a bordo da ISS em junho de 2021 testou esse conjunto de algoritmos individualmente e em conjunto para permitir um encontro auta´nomo bem-sucedido de um roba´ Astrobee "Chaser" com um Astrobee "Target" em queda, que foram aprimorados e testados novamente em uma segunda sessão bem-sucedida em fevereiro de 2022.
A equipe do projeto do MIT écomposta por pesquisadores do Laborata³rio de Sistemas Espaciais (SSL) e do Laborata³rio de Astrodina¢mica, Roba³tica e Controles Espaciais (ARCLab), incluindo Albee, Charles Oestreich SM '21 e o investigador principal Richard Linares, Professor de Desenvolvimento de Carreira da Boeing em Aerona¡utica e Astrona¡utica. A equipe do DLR inclui o investigador principal Roberto Lampariello, a estudante de pós-graduação Caroline Specht e o estudante de pós-graduação Hrishik Mishra.
Para testar o conjunto de algoritmos selecionados pela equipe TumbleDock/ROAM, primeiro
o roba´ “Chaser†Astrobee (amarelo) observa o movimento de um roba´ “Target†em queda
(azul) usando sua ca¢mera de tempo de voo. Usando dados coletados de suas ca¢meras,
sensores lidar e unidade de medição inercial a bordo, o Chaser desenvolve um modelo do
estado do Target. A partir daa, o Chaser criara¡ uma trajeta³ria a seguir, corrigindo erros de
referaªncia usando um controle robusto. Uma vez que a trajeta³ria écompletada, o roba´
Chaser atinge um “ponto de acasalamento†com o roba´ Target. O resultado: um encontro
bem sucedido. Crédito: Imagem de fundo cortesia da NASA. Ilustração do MIT AeroAstro
O projeto TumbleDock/ROAM
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Primeiro, as equipes de pesquisa do MIT e DLR identificaram uma sanãrie de algoritmos, incluindo localização e mapeamento simulta¢neos (SLAM), identificação do sistema, planejamento de movimento on-line e controle preditivo de modelo para testar nos robôs auta´nomos e na plataforma de software do Astrobee para permitir o encontro auta´nomo. Em seguida, eles trabalharam para desenvolver o software e o hardware necessa¡rios para experimentar na plataforma Astrobee. O software de voo de ca³digo aberto do Astrobee, desenvolvido pela NASA Ames, foi aprimorado com a interface de teste do MIT, o Astrobee Science Application Package, para permitir experimentos de autonomia de baixo navel. O projeto TumbleDock/ROAM foi o primeiro de uma sanãrie de colaborações de pesquisa do SSL/ARCLab a usar essa interface para testes de algoritmos em a³rbita.
Trabalhando em uma sala de controle do campus do MIT, a equipe comandou a primeira rodada de testes de microgravidade com o Astrobee. Um Astrobee serviu como o "Chaser", com o objetivo de realizar um encontro auta´nomo com outro Astrobee atuando como o "Alvo" em queda. Usando dados das ca¢meras do Astrobee, sensores lidar e unidade de medição inercial a bordo, o Chaser observador desenvolveu um modelo do movimento e das propriedades inerciais do alvo em queda, que então informou uma otimização de trajeta³ria baseada em programação não linear para alcana§ar um "ponto de acasalamento", fixado em o quadro do alvo rotativo. Essa trajeta³ria foi então rastreada usando controle preditivo de modelo robusto. O resultado: um encontro bem sucedido.
Apa³s a primeira rodada de testes, a equipe continuou a refinar seu software com base nas lições aprendidas ao ver seu trabalho operando em um banco de testes real. De acordo com os alunos, ver seu experimento operar em um banco de testes real, em vez de uma simulação, éum divisor de a¡guas.
"Eu acho que émuito importante para os jovens robóticos e engenheiros realmente sujarem as ma£os em um sistema fasico, porque vocêvaª as interações reais entre os corpos no campo e ganha uma nova compreensão sobre parametros que vocêpode não ter pensado que eram importantes, mas exigem muito quantidades de afinação", diz Specht. “Trabalhar a matemática e simula¡-la éuma coisa, mas realmente coloca¡-la em um sistema real e ver como isso funciona no mundo real éuma experiência completamente diferente, e abre sua mente para muitas possibilidades diferentesâ€.
Apa³s a primeira sessão de teste, a equipe TumbleDock/ROAM trabalhou em estreita colaboração com a NASA e a DLR para fazer mais melhorias em seu sistema. A DLR desenvolveu aprimoramentos no sistema de localização padrãodo Astrobee que complementaram atualizações adicionais criadas pela equipe da NASA Ames, com o MIT continuando o trabalho na integração do sistema e outras revisaµes de algoritmo. A sessão de teste final em fevereiro de 2022 colocou essas melhorias na estimativa da orientação do alvo, rastreando com segurança o plano de movimento para o alvo com garantias de robustez e trabalhando com o sistema de localização amadurecido do Astrobee para o teste, produzindo várias manobras de encontro bem-sucedidas com diferentes planos de movimento .
“Como o Astrobee éum sistema tão novo, tivemos muito mais oportunidades de colaborar mais de perto com os engenheiros da NASA Ames durante todo o processo do que teraamos de outra formaâ€, diz Oestreich. "Tivemos alguns casos de uso aºnicos para o sistema deles, então foi um desafio interessante trabalhar juntos e colocar todos no mesmo ciclo."
Trabalhar em conjunto neste projeto também trouxe benefacios para a agaªncia. A NASA usou partes de dados de seu projeto para melhorar o sistema de localização de base Astrobee e também incorporou alterações no software de ca³digo de voo, fornecendo entradas cruciais para o pipeline de encontro auta´nomo que continuara¡ a beneficiar todos os futuros usuários do Astrobee.
Passando a tocha
O sistema de robôs Astrobee da NASA éprecedido por SPHERES (Synchronized Position Hold, Engage, Reorient Experimental Satellites), pequenas sondas programa¡veis ​​concebidas primeiramente por estudantes do MIT e desenvolvidas posteriormente pelo MIT SSL. Os satanãlites SPHERES foram lana§ados em 2006 e foram operados pela SSL e pela NASA sob os professores David Miller e Alvar Saenz-Otero até31 de dezembro de 2019, quando o Astrobee assumiu como o aºnico banco de testes de roba³tica de microgravidade a bordo da ISS. ROAM, ou Relative Operations for Autonomous Maneuvers, tornou-se o guarda-chuva para projetos de pesquisa SSL que se concentravam no desenvolvimento de sistemas para apoiar operações de proximidade de satanãlite e faz parte do homa´nimo da equipe do projeto TumbleDock/ROAM.
Antes que a equipe TumbleDock/ROAM comandasse seu experimento a bordo
da ISS da Terra, eles realizaram manobras de encontro em simulação.
Crédito: Instituto de Tecnologia de Massachusetts
"Nosso projeto alcana§ou várias estreias em a³rbita tanto para o MIT quanto para o Astrobee, o que érealmente emocionante", diz Albee. "Fomos a primeira carga útil do Astrobee a realizar controle complexo simulta¢neo de vários robôs e os primeiros a realizar planejamento de baixonívele pesquisa de autonomia de controle usando o sistema Astrobee. Tambanãm foi a primeira vez que o SSL comandou uma carga útil da ISS diretamente e em tempo real do campus do MIT."
Além de construir os sistemas, as equipes de pesquisa do MIT e do DLR colaboraram em operações, experimentos e testes, aproveitando o trabalho feito anteriormente no SPHERES para habilitar esse novo aplicativo com o Astrobee. Quando Lampariello conheceu David Miller, o professor Jerome C. Hunsaker e ex-diretor do SSL no MIT, ele propa´s um projeto de pesquisa para testar seu software de planejamento de movimento para alvos rolantes no sistema SPHERES. Essa colaboração inicial acabou levando ao projeto TumbleDock/ROAM no Astrobee.
"Este projeto reaºne o trabalho que meu laboratório fez em planejamento de movimento e o trabalho de percepção que o MIT desenvolveu. Juntos, todos trabalhamos para desenvolver os controles necessa¡rios para testar o hardware", diz Lampariello. "No momento em que executamos os testes a bordo da ISS, tanhamos todo um pipeline de funcionalidades - percepção, previsão de movimento, planejamento e controle - para demonstrar na plataforma Astrobee."
De acordo com Oestreich, o projeto TumbleDock/ROAM não apenas se baseia em uma base de conhecimento e colaboração da SPHERES, mas também em um legado de gerações de trabalhos de pós-graduação em SSL que vieram antes deles.
“Os algoritmos de estimativa de SLAM e alvo, que ajudam no esta¡gio inicial de descobrir como o alvo estãocaindo, foram desenvolvidos por estudantes de pós-graduação em SSL e foram transmitidos por gerações de nosagoraâ€, diz Oestreich. "Foi interessante ver como ele evoluiu nos últimos oito anos de tese em tese, a medida que cada pessoa trabalhou para aprimorar ainda mais suas capacidades, e foi legal poder implementa¡-lo em um novo hardware como o Astrobee."
No processo de construção e refinamento de seu experimento Astrobee, eles descobriram que a interface que desenvolveram poderia ser adaptada e reaproveitada para outras investigações. Olhando para o futuro, a equipe do TumbleDock/ROAM espera tornar o Astrobee tão útil para outros pesquisadores quanto o SPHERES foi para eles. A equipa já executou outro conjunto de experiências, o RElative Satellite sWArming and Robotic Maneuvering (ReSWARM), em colaboração com o Centro Espacial KTH na Suanãcia e o IST da Universidade de Lisboa em Portugal. Os experimentos ReSWARM demonstraram com sucesso uma variedade de algoritmos relacionados a montagem e manutenção em a³rbita, incluindo planejamento de movimento com reconhecimento de informações e controle preditivo de modelo distribuado de equipes de robôs de microgravidade. Embora o MIT seja atualmente um dos usuários mais prolaficos da plataforma Astrobee.