Abstract-Refereed International Conference Proc. by Georgios Rekleitis
1st Hellenic-European Student Space Science and Technology Symposium
The importance of simulators as testbeds for proposed space robotic systems is unquestionable in ... more The importance of simulators as testbeds for proposed space robotic systems is unquestionable in our days. In this paper, the NTUA approach on both software and hardware space robots simulators, is presented. The software simulator is fully parameterized in order to be capable to simulate any system that consists of a base and a number of serial appendages. The hardware simulator emulates 2D motion in zero gravity, and consists of a two-manipulator space robot moving on top of a granite table. The NTUA simulators are currently at the final stages of their development.
10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2008)
The importance of space robots in satellite servicing, in EVA assistance, in removing orbital deb... more The importance of space robots in satellite servicing, in EVA assistance, in removing orbital debris and in space exploration is growing driven by space commercialization and exploration efforts. A successful deployment of such robots requires analytical and experimental task validation. With this aim, we present the main characteristics of the software and hardware space robot simulator developed at the NTUA.
66th International Astronautical Congress (IAC)
Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a ... more Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a clear candidate for the application of autonomous rendez-vous and docking mechanisms. However, during the last three decades most of the trials took place combining EVAs with telemanipulated robotic arms. The European Space Agency (ESA) considers that grasping and refueling are promising near-mid-term capabilities that could be performed by servicing spacecraft. Minimal add-ons on spacecraft to enhance their serviceability may protect them for a changing future in which satellite servicing may become mainstream.
ESA aims to conceive and promotestandard refueling provisions that can be installed in present and future European commercial GEO satellite platforms and scientific spacecraft. For this purpose ESA has started the ASSIST activity addressing the analysis, design and validation of internal provisions (such as modifications to fuel, gas, electrical, data architecture to allow servicing) and external provisions (such as integrated berthing fixtures with peripheral electrical, gas, liquid connectors, leak check systems and corresponding optical and radio markers for cooperative rendez-vous and docking). This refueling approach is being agreed with European industry (OHB, Thales Alenia Space) and expected to be consolidated with European commercial operators as a first step to become an international standard; this approach is also being considered for on-orbit servicing spacecraft, such as the SpaceTug, by Airbus DS.
This paper will detail the operational means, structure, geometry and accommodation of the system. Internal and external provisions will be designed with the minimum possible impact on the current architecture of GEO satellites, so that accommodating them in future satellites will not be seen as a major complication (both technical and in terms of costs), nor will it introduce additional risks in the development and commissioning of the satellite. End-effector and berthing fixtures are being designed in the range of few kilos and linear dimensions around 15cm. A central mechanical part is expected to perform first a soft docking followed by a motorized retraction ending in a hard docking phase using aligning pins. Mating and de-mating will be exhaustively analyzed to ensure robustness of operations. Leakage-free valves would allow for the transfer of fuel to the serviced spacecraft.
The validation of the ASSIST system through dedicated environmental tests in a vacuum chamber together with dynamic testing using an air-bearing table will allow for the demonstration of concept feasibility and its suitability for becoming a standard of the on-orbit space industry.
Refereed International Conference Proceedings by Georgios Rekleitis
International Conference on Intelligent Robots and Systems (IROS '11)
The importance of space robots in satellite servicing, in EVA assistance, in removing orbital deb... more The importance of space robots in satellite servicing, in EVA assistance, in removing orbital debris and in space exploration is growing, driven by space commercialization and exploration efforts. A successful deployment of such robots requires analytical and experimental task validation. With this aim, we present the main characteristics of the software and hardware space robot emulator developed at the NTUA.
National Conference Proceedings by Georgios Rekleitis
1st Panhellenic Conference on Robotics, Athens
Η σπουδαιότητα των διαστημικών ρομποτικών συστημάτων σε περιπτώσεις όπως η επισκευή δορυφόρων, η ... more Η σπουδαιότητα των διαστημικών ρομποτικών συστημάτων σε περιπτώσεις όπως η επισκευή δορυφόρων, η βοήθεια σε αστροναύτες, η συλλογή και απομάκρυνση διαστημικών σκουπιδιών και η εξερεύνηση του διαστήματος και των πλανητών αυξάνει συνεχώς. Για την επιτυχή ανάπτυξη αυτών των ρομποτικών συστημάτων απαιτείται αναλυτική και πειραματική επαλήθευση της συμπεριφοράς τους σε περιβάλλοντα πολύ διαφορετικά από το επίγειο . Με αυτή την ανάγκη ως κατεύθυνση, σε αυτή την δημοσίευση παρουσιάζονται τα κύρια χαρακτηριστικά ενός συστήματος προσομοιωτή και εξομοιωτή διαστημικών ρομπότ που αναπτύχθηκε στο ΕΜΠ.
Papers by Georgios Rekleitis
2017 25th Mediterranean Conference on Control and Automation (MED), 2017
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Abstract-Refereed International Conference Proc. by Georgios Rekleitis
ESA aims to conceive and promotestandard refueling provisions that can be installed in present and future European commercial GEO satellite platforms and scientific spacecraft. For this purpose ESA has started the ASSIST activity addressing the analysis, design and validation of internal provisions (such as modifications to fuel, gas, electrical, data architecture to allow servicing) and external provisions (such as integrated berthing fixtures with peripheral electrical, gas, liquid connectors, leak check systems and corresponding optical and radio markers for cooperative rendez-vous and docking). This refueling approach is being agreed with European industry (OHB, Thales Alenia Space) and expected to be consolidated with European commercial operators as a first step to become an international standard; this approach is also being considered for on-orbit servicing spacecraft, such as the SpaceTug, by Airbus DS.
This paper will detail the operational means, structure, geometry and accommodation of the system. Internal and external provisions will be designed with the minimum possible impact on the current architecture of GEO satellites, so that accommodating them in future satellites will not be seen as a major complication (both technical and in terms of costs), nor will it introduce additional risks in the development and commissioning of the satellite. End-effector and berthing fixtures are being designed in the range of few kilos and linear dimensions around 15cm. A central mechanical part is expected to perform first a soft docking followed by a motorized retraction ending in a hard docking phase using aligning pins. Mating and de-mating will be exhaustively analyzed to ensure robustness of operations. Leakage-free valves would allow for the transfer of fuel to the serviced spacecraft.
The validation of the ASSIST system through dedicated environmental tests in a vacuum chamber together with dynamic testing using an air-bearing table will allow for the demonstration of concept feasibility and its suitability for becoming a standard of the on-orbit space industry.
Refereed International Conference Proceedings by Georgios Rekleitis
National Conference Proceedings by Georgios Rekleitis
Papers by Georgios Rekleitis
ESA aims to conceive and promotestandard refueling provisions that can be installed in present and future European commercial GEO satellite platforms and scientific spacecraft. For this purpose ESA has started the ASSIST activity addressing the analysis, design and validation of internal provisions (such as modifications to fuel, gas, electrical, data architecture to allow servicing) and external provisions (such as integrated berthing fixtures with peripheral electrical, gas, liquid connectors, leak check systems and corresponding optical and radio markers for cooperative rendez-vous and docking). This refueling approach is being agreed with European industry (OHB, Thales Alenia Space) and expected to be consolidated with European commercial operators as a first step to become an international standard; this approach is also being considered for on-orbit servicing spacecraft, such as the SpaceTug, by Airbus DS.
This paper will detail the operational means, structure, geometry and accommodation of the system. Internal and external provisions will be designed with the minimum possible impact on the current architecture of GEO satellites, so that accommodating them in future satellites will not be seen as a major complication (both technical and in terms of costs), nor will it introduce additional risks in the development and commissioning of the satellite. End-effector and berthing fixtures are being designed in the range of few kilos and linear dimensions around 15cm. A central mechanical part is expected to perform first a soft docking followed by a motorized retraction ending in a hard docking phase using aligning pins. Mating and de-mating will be exhaustively analyzed to ensure robustness of operations. Leakage-free valves would allow for the transfer of fuel to the serviced spacecraft.
The validation of the ASSIST system through dedicated environmental tests in a vacuum chamber together with dynamic testing using an air-bearing table will allow for the demonstration of concept feasibility and its suitability for becoming a standard of the on-orbit space industry.