FELDs Experiment: a new flexible soft docking concept Drop Your - PowerPoint PPT Presentation

FELDs Experiment: a new flexible soft docking concept Drop Your Thesis! 2014 Davide Petrillo (Team Leader) 1° symposium on space educational activities Marco Gaino (Docking) Padova, 9-12 December 2015 Alessandro Cavinato (Mechanics) Centro Congressi Padova “ A.Luciani ” Federico Chiariotti (Informatics) Marco Buonomo (Electronics)

Introduction Space Rendezvous & Docking Two spacecraft get into close approach and physical connection 1) Introduction 2) FELDs Experiment 3) The Traditional docking technologies experiment 4) Drop Your • Soft docking + hard lock Thesis! • Berthing + hard lock 5) Results 6) Technical Support Drawbacks of traditional docking system 7) Outreach • Complexity (large numbers of actuators) 8) Conclusions • High peak load trasmission • Mass budget • Not suitable for small satellites • Strict alignment requirements (5 to 6 DoF control) 02/20

FELDs Experiment Flexible Electromagnetic FELDs Leash 1) Introduction Docking Experiment 2) FELDs system Experiment 3) The experiment 4) Drop Your To study the dynamics of an innovative Thesis! electromagnetic soft docking technology 5) Results composed of a tethered probe 6) Technical Support in a microgravity environment 7) Outreach 8) Conclusions FELDs soft docking advantages • • Looser relative attitude and position Non-piercing capture control • Multi-shot capability for one • No need for close approach capture • • Self-aligning Scalable to Microsat 03/20

FELDs Experiment 1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions FELDs applications: - Refueling - Crew Transfer - Data Transfer - Space debris removal - Repairing missions 04/20

The Experiment 1) Introduction GUN: 2) FELDs - Spring Experiment - Probe 3) The - Guides experiment Release system: 4) Drop Your - Tether Thesis! - Constantan wire 5) Results - Plexiglas tube 6) Technical SEC (Target system): Support - Sensors, Electromagnet and Cap 7) Outreach - Electromagnet - Shear dampers 8) Conclusions - Load Cells - Connectors 05/20

Results • SEC System: - Measurements (Load cells, shear dampers) - Assembly - Vibrational model, impact model 1) Introduction 2) FELDs Experiment • GUN + Release system: 3) The - Friction estimation experiment - Spring compression (microgravity, measurements) 4) Drop Your - Design (light, strong, materials) Thesis! - Tether material 5) Results 6) Technical Support • Design: 7) Outreach - Distance between GUN and SEC 8) Conclusions - Assembly - Components orders - Stereoscopic video system - Electronics - Budget - Management 06/20

The Experiment 1) Introduction 2) FELDs Experiment SEC SYSTEM 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions GUN + RELEASE SYSTEM 07/20

Drop Your Thesis! The Drop Your Thesis! (DYT) programme gives university students, from bachelor to PhD level, the opportunity to perform scientific or technological research in microgravity conditions. 1) Introduction 2) FELDs Drop tower: Experiment - Deceleration at 50 g - 4.74 s of microgravity - Height: 146 m 3) The - 5 Drops - Fall: 120 m experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions 08/20

Drop Campaign • 3-14 November 2014, ZARM Drop Tower, University of Bremen Integration week: - Assembly - Gravity tests - System improving (Mechanics, Electronics, Informatics) 1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results Drop week: 6) Technical - Changes & adjustements of the system - 5 drops (one per day) Support day by day - Live results 7) Outreach 8) Conclusions 09/20

FELDs Experiment – 1° Drop 1) Introduction 2) FELDs Experiment 3) The experiment 4) Drop Your Thesis! 5) Results 6) Technical Support 7) Outreach 8) Conclusions • Height between SEC and GUN: 34 cm • Spring compression: 1.2 cm • Probe velocity: 0.14 m/s 10/20

Results • FELDs experiment gave us a good response for almost all the subsystems involved. • The measurements subsystems gave us two different 1) Introduction ways to understand our experiment behavior: 2) FELDs Experiment 3) The MAGNETIC FIELD ACTION experiment 4) Drop Your Thesis! TETHER DYNAMIC RESPONSE 5) Results 6) Technical Thanks to the stereoscopic Support camera subsystem 7) Outreach 8) Conclusions SEC DYNAMIC Thanks to the load cells 11/20

Results – Magnetic Field Action Results – Magnetic Field Action Prevent the misalignment Magnetic field goal Facilitate the connection 1) Introduction THIRD DROP, TRAJECTORY THIRD DROP, TRAJECTORY 2) FELDs 0.35 0.35 Experiment real 3) The smoothed 0.3 0.3 simulated experiment ~7cm 4) Drop Your 0.25 0.25 Thesis! 5) Results 0.2 0.2 6) Technical h (m) h (m) Support 0.15 0.15 7) Outreach 8) Conclusions 0.1 0.1 0.05 0.05 0 0 0 0 0.005 0.005 0.01 0.01 0.015 0.015 0.02 0.02 0.025 0.025  (m)  (m) 12/20

Results – Tether dynamic response POSITION POSITION 0.35 0.35 position smoothed (w=33) position smoothed (w=33) position from simulation position from simulation 0.3 0.3 1) Introduction 2) FELDs 0.25 0.25 Experiment 3) The position (m) position (m) experiment 0.2 0.2 4) Drop Your Thesis! 0.15 0.15 5) Results 6) Technical 0.1 0.1 Support 7) Outreach 0.05 0.05 8) Conclusions 0 0 0 0 0.2 0.2 0.4 0.4 0.6 0.6 0.8 0.8 1 1 1.2 1.2 1.4 1.4 1.6 1.6 1.8 1.8 2 2 time (s) time (s) 13/20

Results – Tether dynamic response VELOCITY VELOCITY velocity smoothed (w=33) velocity smoothed (w=33) 1.8 1.8 velocity from simulation velocity from simulation 1) Introduction 1.6 1.6 2) FELDs 1.4 1.4 Experiment 3) The 1.2 1.2 experiment velocity (m/s) velocity (m/s) 1 1 4) Drop Your Thesis! 0.8 0.8 5) Results 0.6 0.6 6) Technical Support 0.4 0.4 7) Outreach 0.2 0.2 8) Conclusions 0 0 -0.2 -0.2 0 0 0.2 0.2 0.4 0.4 0.6 0.6 0.8 0.8 1 1 1.2 1.2 1.4 1.4 1.6 1.6 1.8 1.8 2 2 time (s) time (s) 14/20

Results – SEC Response 10 30 real cells 8 simulated 20 1) Introduction 6 2) FELDs Experiment 4 10 output load cells (V) 3) The 2 experiment 4) Drop Your 0 0 Force (N) Thesis! 5) Results -2 -10 6) Technical -4 Support 7) Outreach -20 -6 8) Conclusions -8 -30 -10 0 1 2 3 4 5 6 7 8 9 10 time (s) -40 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 time, s 15/20

Technical Support • CISAS “ G.Colombo ” - Prof. Alessandro Francesconi - Dr. Lorenzo Olivieri, Ph.D. - Francesco Branz, Eng. 1) Introduction - Dr. Francesco Sansone, Ph.D. 2) FELDs Experiment 3) The • ZARM (Center of applied space technology and microgravity) experiment - Dr. Ing. Thorben Könemann 4) Drop Your - Ing. Fred Oetken Thesis! - Ing. Jan Siemen 5) Results 6) Technical Support • ELGRA (European Low Gravity Research Association) 7) Outreach - Dr. Guus Borst 8) Conclusions • ESA (European Space Agency) - Lily Ha, Trainee at ESA - Dr. Natacha Callens - Dr. Piero Galeone 16/20

Outreach • La stampa • Il sole 24 ore 1) Introduction • Il mattino di padova 2) FELDs • Il Corriere della sera Experiment • ASI website 3) The • ESA Education section experiment • Rai TV 4) Drop Your Thesis! 5) Results FELDs Team: 6) Technical - Best team Project Support - IAC2015, Jerusalem, Israel 7) Outreach - Winning team, Hans Von Muldau Award 8) Conclusions 17/20

Conclusions and future developments Design Process Fundamental Learning Experiences Building Process 1) Introduction 2) FELDs To work in low gravity requires special efforts for the design process, giving us Experiment several challenges to deal: 3) The experiment Even small forces become significant 4) Drop Your Thesis! Every detail needs attention, especially those negligible in 5) Results normal conditions 6) Technical Support The design process must anticipate all the possible outcomes during the fall 7) Outreach 8) Conclusions Because of this, FELDs experience gave us a special opportunity to try our skills managing this kind of behavior 18/20

Conclusions and future developments Every drop gave us an important lesson The unsuccessful drops showed the importance of the flexible 1) Introduction tether release 2) FELDs Experiment The three successful drops gave us an encouraging feedback. 3) The • Fitting well to the theoretical models experiment and simulations 4) Drop Your • Thesis! Demonstrating the capability of this technology 5) Results 6) Technical Drop Your Thesis! Campaign revealed itself as an important experience for Support our future. 7) Outreach 8) Conclusions • • • Opportunities Networking Design • • • Pragmatism Inspiration New experiences 19/20

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