Robotic Refueling Mission
Program pages NASA ISAM: RRM 1 and 2
NASA/David Saint-Jacques. Public domain (NASA / US government work).
The problem
Section titled “The problem”Servicing a spacecraft that was never designed to be serviced means working through interfaces built for a technician’s hands: lock wire, thermal blanket closeout tape, valve caps sealed for a launch and never a reopening. The Robotic Refueling Mission was NASA and the Canadian Space Agency’s multi-phase effort to identify and develop the tools, techniques and procedures for refueling and servicing such a satellite from a robotic manipulator [1]. It combined the robotic systems of the International Space Station with the tool design and satellite servicing work of the Exploration and In-space Services division at Goddard Space Flight Center [1].
The environment sets three requirements. The tools have no arm of their own, so every task is executed through the station’s Special Purpose Dexterous Manipulator (Dextre) on the Space Station Remote Manipulator System, commanded by operators on the ground [1]. A description written before Dextre was commissioned gives a three-step orbital replacement unit exchange sequence and the case for ground-controlled maintenance to cut crew time on external work; it reports no on-orbit performance, and Dextre’s published geometry in a specification compilation is 3.35 m and seven degrees of freedom [19] [26].
The second requirement is the thermal and disturbance environment. RRM3 observed the disturbance directly: its source tank liquid de-stratified at about 200 micro-g during an ISS reboost with the cryocooler off [29].
The third is the ground-to-flight gap. Free-floating manipulator dynamics cannot be fully reproduced on the ground [10], and storage of a cryogen over months, or the behavior of a cooler coupled to a liquid in orbit, could be learned only in flight, which is the argument for RRM3 as an external payload [3].
What has flown
Section titled “What has flown”RRM Phase 1 (2011). The module launched on STS-135, the final Shuttle flight, and was removed from the payload bay by an EVA crew member, the last payload ever removed that way; the SSRMS then used the SPDM to relocate it to ELC4 [1] [2]. NASA’s overview describes a washing-machine-sized cube of about 550 pounds and 33 by 43 by 55 inches, carrying activity boards and four stowed tools plus 1.7 liters of ethanol for the fluid transfer demonstration [30]. Operators at NASA JSC and CSA used Dextre to cut lock wires, manipulate fasteners and thermal blanketing, remove caps, connect to and reseal a fuel port, and transfer fluid in zero gravity; Phase 1 also operated typical door latches and manipulated valves on a dummy coolant valve panel task board [2]. Ethanol rather than a propellant was flown to limit risk to the station and its crew, according to the overview [30].
RRM Phase 2 (2013 to 2017). Task boards and the VIPIR borescope launched on HTV-4 and ATV-5, and the hardware was installed on the RRM module by Dextre in April 2015 [1]. It added electrical and coolant adapters, including a Coolant Line Adapter tethered on a spring reel to simulate hose forces, with no coolant transferred. Phase 1 and 2 hardware was removed in March 2017 and destroyed on the re-entry of SpaceX CRS-10, except the Safety Cap Tool and Task board 4, returned as pressurized cargo [1].
RRM3 (2018 to 2019). The Fluid Transfer Module, three tools and a mounting pedestal launched on SpaceX CRS-16 on 5 December 2018 [1] [4]. It carried a 50 liter source and 10 liter receiver dewar pair, each with its own cryocooler [29]. About 19 kg of liquid methane was held in zero boil-off storage for nearly six months, four of them on orbit [3]. In April 2019 a payload power glitch took out the cryocooler output circuits unrecoverably, and the methane was vented through the burst disk, blowing down to 5 psi in about 90 seconds; no on-orbit transfer was performed [29]. Most of the robotic tools were still maneuvered and operated afterward, as the station schedule allowed [3].
Related flown ISS robots. RRM sits beside other station robots whose records show the same limit on published measurement. Robonaut 2 completed six checkout operations and task board work, and the account reports no task success rates or positioning accuracy [15]. Astrobee replaced the SPHERES cold gas thrusters, which were confined to a two meter cube by ultrasonic beacon triangulation, with impeller propulsion at about 0.1 psi plenum pressure and 11 m/s exhaust against 25 psi and 250 m/s [17] [18]. Its pre-flight papers give mass as about 6 kg, against about 10 kg as flown, and the flown system’s operations record is [16].
What is being tried now
Section titled “What is being tried now”Ground emulation of free-floating servicing (ground test). Because true free-floating dynamics cannot be reproduced on the ground, each servicing developer substitutes a different approximation. Goddard ran flight-representative tools on a six degree-of-freedom industrial arm against an OTCM Simulator supplied by MDA, the builder of the SPDM end effector [1]. DLR’s EPOS 2.0 uses two KUKA robots, one on a 25 m rail, under admittance control so tip impedance reproduces that of the simulated satellites [12]. Surveys list flat-floor air bearing tables and dedicated rendezvous simulators as further rigs [9] [10] [11] [14].
Free-floating base control (simulation and bench). For an uncontrolled base, formulations carry momentum conservation into the kinematics so that base attitude rates are eliminated; the reviews restrict their scope to rigid systems in near-Earth orbit [9] [10]. RRM’s Dextre sits on the SSRMS, a heavy stiff base, so these effects are small there and none of these formulations was exercised by RRM.
Large manipulators as the carrier. The European Robotic Arm launched in 2021 on the Nauka module with 11.3 m reach and seven degrees of freedom; the ESA brochure quotes 5 mm accuracy as a general teleoperation figure with no conditions [21] [26]. The Chinese Space Station manipulator paper compares its design against SSRMS, JEMRMS and ERA with pre-flight values [23], and the Tianhe and Wentian arms combine to 14 degrees of freedom under a console subsystem verified only qualitatively [27]. NASA’s catalog lists the Core Module Manipulator and Experimental Module Manipulator as brief summaries without sources for their figures [25]. Surveys of flown space manipulators place Canadarm2 and the newer Chinese arms in the same lineage [14] [24].
Propellant transfer follow-ons (flown only as RRM tools; flight hardware canceled). Restore-L’s Propellant Transfer Subsystem inherited a hose management assembly and a seal-less hypergolic pump aimed at the problem RRM’s EVR Nozzle Tool addressed at small scale, now for a full operational transfer [5]. OSAM-1 carried that further: a qualified Hose Management Assembly deploying a metal hose at about 0.35 cm/s, a flow meter rated for microgravity and vacuum, and a Hypergol Refueling Tool sized to deliver about 30 gallons of hydrazine to Landsat 7, qualified through 12 TVAC cycles and 200 hose abrasion cycles [6]. The project was canceled; the independent review concerned cost and schedule, not hardware performance [6].
Rendezvous, capture and relocation (flown elsewhere, proposed for ISS). Orbital Express is the flown precedent for robotic servicing in free flight. The Orbital Express demonstration (ASTRO servicer and NextSat client, launched 8 March 2007, ended July 2007) transferred hydrazine and exchanged battery and computer units by robotic arm, with no tabulated accuracy or load data in the program summary [22]. A proposed Dextre Pointing Package would have mounted rendezvous sensors on the arm and was never flown, so its pointing results are simulation [13].
Cryogen management (flown in part). Zero boil-off storage, radio frequency mass gauging, wick-and-heater autogenous pressurization and integrated multi-layer insulation were demonstrated on orbit; no-vent transfer, liquid orientation at the transfer line inlet and freezing in microgravity were not [3]. NASA’s taxonomy of servicing functions, tracked since 2021, places RRM under refueling and fluid transfer [7] [8] [30] [6].
The numbers
Section titled “The numbers”Specifications
Section titled “Specifications”| Parameter | Value | Source |
|---|---|---|
| Phase 1 module mass | 250 kg (550 lb) | [30] |
| Phase 1 module envelope | 838 x 1092 x 1397 mm (33 x 43 x 55 in) | [30] |
| RRM3 Fluid Transfer Module mass | 318 kg (700 lb) | [1] |
| RRM3 FTM envelope | 762 x 1143 x 1143 mm (30 x 45 x 45 in) | [1] |
| Tool interface | SPDM ORU and Tool Changeout Mechanism | [2] |
| Cameras per tool | 2, orthogonal | [2] |
| Common tool structure | Tool and Vision Support Structure, providing stowage, electrical and vision interfaces | [2] |
| Phase 1 fluid flown | 1.7 liters of ethanol | [30] |
| RRM3 cryogen flown | about 50 liters of liquid methane (about 19 kg at launch fill) | [4] [3] |
Mission profile
Section titled “Mission profile”| Event | Date | Source |
|---|---|---|
| Phase 1 module launched on STS-135 | 2011-07 | [1] |
| Installed on ELC4 by SPDM | 2011-09 | [1] |
| Phase 2 task boards and VIPIR launched on HTV-4 and ATV-5 | 2013-08, 2014-07 | [1] |
| Phase 2 hardware installed on the RRM module by SPDM | 2015-04 | [1] |
| Phase 1 and 2 hardware removed from the station | 2017-03 | [1] |
| RRM3 launched on SpaceX CRS-16 | 2018-12-05 | [1] [4] |
| SPDM installed the FTM on ELC1 | 2018-12 | [1] |
| SPDM installed the tool pedestal and tools | 2019-04 | [1] |
| Cryocooler failure; stored liquid methane vented | 2019-04 | [29] |
| FTM scheduled for de-orbit | 2022 | [1] |
Two EXPRESS Logistics Carriers hosted the payloads: ELC4 on the starboard-nadir side for Phases 1 and 2, ELC1 on the port-nadir side for RRM3 [1].
Tools and adapters
Section titled “Tools and adapters”| Item | Phase | Function |
|---|---|---|
| Wire Cutter Tool (WCT) | 1 | Cut lock wires between fill and drain valves; a small gripper manipulates thermal blanketing, and a blade cuts blanket closeout tape |
| Safety Cap Tool (SCT) | 1 | Remove and stow a fill and drain valve safety cap and its seal |
| EVR Nozzle Tool (ENT) | 1 | Open a fuel valve, transfer fluid through it, and close it |
| Multi-Function Tool (MFT) | 1 | Carrier for several small adapters, for tasks such as removing fuel valve caps or a gas plug |
| Electrical Plug Adapter (EPA) | 2 | Capture and remove a connector turnaround plug |
| Wire Harness Adapter (WHA) | 2 | Mate an electrical plug and run a connectivity check |
| Vent Plug Adapter (VPA) | 2 | Insert into a vent line to seal a gaseous line before refueling |
| Coolant Line Adapter (CLA) | 2 | Mate a coolant fitting, tethered on a spring reel to simulate hose forces; no coolant transferred |
| Blind Mate Adapter (BMA) | 2 | Connect an array of SMA plugs in a receptacle box |
| VIPIR | 2 | Flexible tube with a camera at an articulatable tip, navigated through conduits to inspect inside a spacecraft |
| Cryogen Servicing Tool (CST) | 3 | Capture and feed a flexible, non-fixed cryogen hose into a receiver tank |
| VIPIR2 | 3 | Upgraded cameras; the only RRM tool to transmit video over wifi rather than through the SPDM and SSRMS data lines |
| MFT2 | 3 | First and only RRM tool with adjustable Camera Positioning Mechanisms |
| Cryogen Coupler Adapter (CCA), Xenon Coupler Adapter (XCA) | 3 | Fluid transfer through fixed dedicated supply hoses |
Source: [1]. The MFT is the program’s argument about mass: exchangeable adapters rather than a separate tool per task save mass and volume [1]. Task board 2 held a tertiary cap and a safety cap with their wires, both dummy caps not plumbed into the fluid system, a test port panel for blanket manipulation, and three machine vision tasks: an explosive bolt hole simulation, a Hubble J-hook, and a Hubble door latch [2].
RRM3 cryogenic results
Section titled “RRM3 cryogenic results”| Item | Result | Source |
|---|---|---|
| Zero boil-off cryogen storage | Achieved, nearly 6 months total, 4 months on orbit; 165 days on orbit by the operations deck | [3] [29] |
| Methane storage band | 92 to about 110 K, burst disk 65 psia | [3] |
| Receiver dewar with integrated MLI | Methane tank temperature 70 to 82 K on orbit, against a triple point of 90.7 K | [3] |
| Radio Frequency Mass Gauge | Mass gauging achieved on the ground and in microgravity | [3] |
| Turbine flowmeter | Partially successful on the ground, unreliable, not used on orbit | [3] [29] |
| Liquid and vapor detectors | Distinguished liquid from vapor during storage; ambiguous during ground transfers | [3] |
| Autogenous pressurization by wick and heater | Achieved on the ground and on orbit | [3] |
| No-vent methane transfers | 5 on the ground at KSC (9.5, 1, 8.5, 0.8 and over 10 liters); two unsuccessful; the fifth liquid-locked the receiver and ruptured an inner burst disk | [3] [29] |
| Partial-vent argon transfers | Under 3 percent of mass lost | [3] |
| Wick development test | LN2 lifted 1.25 cm with up to 48 W on 16 cm^2, one g surrogate; 200 liter per hour zero-g target untested | [28] |
| Fluid orientation at transfer line inlet, freezing in microgravity | Not tested on orbit | [3] |
The ground cryocooler was a poor predictor of on-orbit behavior: time constants were much shorter and the cold finger to bulk methane coupling weaker than characterized at KSC [3]. The operations team failed to recognize the liquid lock for two days [29].
Thermal
Section titled “Thermal”RRM uses a cold-biased design with a radiator on the back of the enclosure, multi-layer insulation and heaters; analysis over the full ISS attitude envelope closes only with an ISS flight rule prohibiting RRM operation above 60 degrees beta [2].
| Source | Allocation | Notes |
|---|---|---|
| Shuttle, 28 V | 230 W at maximum voltage, about 216 W nominal | 4 circuits on the fluid transfer system plate; two mechanical thermostats in series per circuit, cycling between +25 and +30 degrees C |
| ISS, 120 V | 290 W at maximum voltage, about 245 W nominal | Two feeds, on the fluid transfer system plate, the fluid flex line, and the enclosure next to the fill and drain valves |
| OTCM, 15 V | 5 W per camera, two per tool, and 10 W per tool electronics box | Camera thermostats -25 to -16 degrees C, tool electronics box -32 to -26 degrees C |
Values from [2]. Tool heaters are powered only through the OTCM, so no heater power is available while a tool is stowed.
Ground operations and procedure development
Section titled “Ground operations and procedure development”Goddard robot operators wrote draft procedures once high-fidelity CAD or hardware existed, and prototypes were tested on industrial robots to refine tool design [30]. Hardware testing used Goddard’s Servicing Technology Center with an industrial arm and an OTCM Simulator [1]. At least one campaign on MDA’s Ground Trainer ran for each phase, and in some cases torques, forces or step order in the Goddard procedures were not achievable with SPDM [30]. Every maneuver was expressed relative to the previous location rather than as Cartesian positions or joint angles, which let JSC and CSA operators translate them for SSRMS and SPDM [1] [30].
The Goddard visualization software was extended for RRM3 to simulate tool cameras; the simulation does not verify contact forces, OTCM turns and torques, or flexible hose motion [2].
NASA KSC loaded approximately 50 liters of liquid methane into the source dewar before launch, with ground support equipment developed from nothing: a 450 liter LNG microfueler, a purpose-built servicing panel, a high-precision scale, a nitrogen purge holding oxygen below 1 percent, and NFPA 497 Class 1 Division 2 zoning [4]. Grade B methane at 99.9 percent purity proved unobtainable and the payload flew with 98.2 percent LNG [4] [3]. The Restore-L and OSAM-1 subsystems handle storable hypergolic propellant, a different ground safety problem [29].
Lessons recorded
Section titled “Lessons recorded”Designing robotic tools for space requires attention to materials, indicators, and ground versus flight use cases [1]. Mechanical status indicators are preferred over electronic ones, every action needs a confirmation where there is no recovery path, and machine vision fiducials fail under sunrise and sunset shadow [2]. The rigid industrial arm at Goddard could not react to the large axial loads the Cryogen Coupler Adapter receptacle required, so flight-like practice for that task was impossible before flight [30]. Camera view quality, frame rate and position requirements are driven by troubleshooting, which is the reasoning behind MFT2’s adjustable cameras and VIPIR2’s wifi path [1]. The RRM3 fluid campaign spent five ground no-vent transfers to buy back limited on-orbit time [3]. Catalogs and CSA’s public Dextre page serve as pointers to the carrying robot’s specifications rather than as a source for them [20].
What is not established
Section titled “What is not established”RRM3 never performed an on-orbit cryogen transfer, so fluid management at the transfer line inlet, no-vent transfer and freezing a cryogen have no flight answer [3] [29]. The Phase 1 thermal design rests on analysis, not thermal vacuum or on-orbit temperature data, and part of its margin is an operational restriction [2]. The wick that flew was sized from one-g liquid nitrogen testing whose authors say the model under-predicts heat into the liquid at low power, so the zero-g rate target was an assumption [28]. The Dextre sources here are a pre-commissioning description and a landing page with no on-orbit performance data [19] [20]. Camera color and indicator findings are operators’ observations, not controlled comparisons [1]. The ERA, Chinese arm and Astrobee figures are specification or pre-flight values [17] [18] [21] [23].
References
- Tomlinson, Z., Gallagher, W., Cassidy, J., Roberts, B., Facciol, K. and Easley, J. (2021). Lessons for Future In-Space Telerobotic Servicing from Robotic Refueling Mission
. IEEE Aerospace Conference, 20210022255. Source
BibTeX
@inproceedings{tomlinson2021lessons, title = {Lessons for Future In-Space Telerobotic Servicing from Robotic Refueling Mission}, author = {Tomlinson, Zakiya and Gallagher, William and Cassidy, Justin and Roberts, Brian and Facciol, Kristen and Easley, Joseph}, booktitle = {IEEE Aerospace Conference}, number = {20210022255}, pages = {1-17}, institution = {NASA}, year = {2021}, doi = {10.1109/aero53065.2022.9843499}, abstract = {The Robotic Refueling Mission (RRM) was a multi-phased technology development effort by the National Aeronautics & Space Administration (NASA) and the Canadian Space Agency (CSA). The program leveraged the existing robotic systems and expertise of the International Space Station (ISS) program and the tool design and satellite servicing expertise of NASA's Exploration & In-space Services (NExIS) Projects Division at Goddard Space Flight Center (GSFC) to evaluate new hardware and techniques for on-orbit telerobotic servicing. Between 2011 and 2022, two external ISS payloads housed over a dozen robotic tools and adapters designed to service a variety of existing and novel satellite interfaces. Robot operators at NASA's Johnson Space Center (JSC) and CSA used the Special Purpose Dexterous Manipulator (SPDM) to retrieve and operate these tools for tasks such as cutting wires or multi-layer insulation blanketing, removing valve caps, mating electrical connectors, transferring fluids, and performing visual inspections inside a vehicle. Each phase of RRM involved years of preparation. Tool and interface designs were prototyped and evaluated using both NASA and Canadian ground robotic systems. Procedures were developed by GSFC engineers and vetted in partnership with JSC and CSA robot operators. GSFC engineers were trained to provide real-time support during on-orbit operations. These preparatory efforts and the successful on-orbit evaluations yielded an array of lessons for future in-space telerobotic missions. Designing robotic tools for the space environment requires special consideration of materials, indicators, and differences between ground and flight use cases and environments. When there is a limited window for on-orbit operations, devoting time and high-fidelity hardware to ground testing can be critical. Needs during potential troubleshooting are more essential to camera view quality, frame rate, and position requirements than nominal operations. Detailed hardware manuals, nominal and contingency procedures, along with clearly defined operations team roles and protocols are vital for efficiency. RRM also demonstrated how the ISS can be utilized to increase the technology readiness levels required for future missions and led to additional technology partnerships between NExIS and the ISS program. The lessons from RRM are currently being applied to designs, operations concepts, and ground test methodology for missions such as On-orbit Servicing, Assembly, and Manufacturing 1 (OSAM-1) and Mars Sample Return.} } - Gregory, T. H. and Newman, M. (2011). Thermal Design Considerations of the Robotic Refueling Mission (RRM)
. International Conference on Environmental Systems, 20110013452. Source
BibTeX
@inproceedings{gregory2011thermal, title = {Thermal Design Considerations of the Robotic Refueling Mission (RRM)}, author = {Gregory, Teri H. and Newman, Miles}, booktitle = {International Conference on Environmental Systems}, number = {20110013452}, institution = {NASA}, year = {2011}, doi = {10.2514/6.2011-5072}, abstract = {The Robotic Refueling Mission (RRM) is a flight demonstration of the tasks required to perform robotic refueling of orbiting spacecraft. RRM will be mounted to an ExPress Adapter Plate (ExPA) for launch and installed onto the International Space Station (ISS) Express Logistics Carrier 4 (ELC4). RRM operations will be conducted using the Special Purpose Dexterous Manipulator (SPDM) robotic arm on the ISS with the ORU/Tool Changeout Mechanism (OTCM) for grasping tools and completing the refueling demonstration tasks. This paper presents the thermal considerations and design of the RRM including the tools required for the tasks.} } - Breon, S. R., Boyle, R. F., Francom, M. B., DeLee, C. H., Francis, J. J., Mustafi, S., Barfknecht, P. W., McGuire, J. M., Krenn, A. G., Zimmerli, G. A. and Hauser, D. M. (2020). Robotic Refueling Mission-3---an overview
. IOP Conference Series: Materials Science and Engineering. Source
BibTeX
@inproceedings{breon2020robotic, title = {Robotic Refueling Mission-3---an overview}, author = {Breon, S. R. and Boyle, R. F. and Francom, M. B. and DeLee, C. H. and Francis, J. J. and Mustafi, Shuvo and Barfknecht, P. W. and McGuire, J. M. and Krenn, A. G. and Zimmerli, G. A. and Hauser, D. M.}, booktitle = {IOP Conference Series: Materials Science and Engineering}, volume = {755}, pages = {012002}, year = {2020}, doi = {10.1088/1757-899x/755/1/012002}, abstract = {Abstract Robotic Refueling Mission-3 (RRM3) is an external payload on the International Space Station (ISS) to demonstrate the techniques for storing and transferring a cryogenic fuel on orbit. RRM3 was designed and built at the National Aeronautics and Space Administration/Goddard Space Flight Center (NASA/GSFC). Initial testing was performed at GSFC using liquid nitrogen and liquid argon. Final testing and flight fill of methane was performed at the NASA Kennedy Space Center (KSC) to take advantage of KSC’s facilities and expertise for handling a combustible cryogen. This paper gives an overview of the process and challenges of developing the payload and the results of its on-orbit performance.} } - Krenn, A., Stewart, M., Mitchell, D., Dixon, K. L., Mierzwa, M. and Breon, S. (2019). Flight Servicing of Robotic Refueling Mission 3
. IOP Conference Series: Materials Science and Engineering. Source
BibTeX
@inproceedings{krenn2019flight, title = {Flight Servicing of Robotic Refueling Mission 3}, author = {Krenn, Angela and Stewart, M. and Mitchell, D. and Dixon, Kyle L. and Mierzwa, M. and Breon, Susan}, booktitle = {IOP Conference Series: Materials Science and Engineering}, year = {2019}, url = {https://ntrs.nasa.gov/citations/20190027566}, abstract = {The Robotic Refueling Mission 3 (RRM3) payload launched aboard a SpaceX rocket en route to the International Space Station on December 5th, 2018. The Goddard Space Flight Center designed payload carried approximately 50 liters of liquid methane onboard, with a mission to demonstrate long term storage and transfer of the cryogenic fluid in microgravity. Kennedy Space Center (KSC) was tasked to design, fabricate, test, and operate a system equipped to fill an RRM3 dewar with liquid methane prior to launch. Though KSC has a rich history of fueling rockets and payloads, no such operations had previously been accomplished using liquid methane. As such, all of the hardware and processes had to be developed from scratch. The completed ground system design, along with the verification and validation testing will be outlined in this paper. Several challenges that were met and overcome during procurement of the high purity methane are described. In addition, budget restrictions prohibited fueling operations from occurring in traditional processing facilities. The unique and creative solutions which were required to maintain payload cleanliness during cryogenic servicing are also detailed.} } - Coll, G. T., Webster, G., Espinosa, M., Aranyos, T., Nufer, B., Valle, J. and Kandula, M. (2018). Restore-L Propellant Transfer Subsystem Progress within the Satellite Servicing Projects Division
. Joint Propulsion Conference. Source
BibTeX
@inproceedings{coll2018restore, title = {Restore-L Propellant Transfer Subsystem Progress within the Satellite Servicing Projects Division}, author = {Coll, Gregory T. and Webster, Graham and Espinosa, Marcos and Aranyos, Thomas and Nufer, Brian and Valle, Jenna and Kandula, Max}, booktitle = {Joint Propulsion Conference}, year = {2018}, doi = {10.2514/6.2018-4942} } - Webster, G. K., Knudtson, P. A., Aranyos, T. J., Nufer, B. M., Felt, A. M. and Jeanes, S. (2025). NASA's Exploration and In-Space Services (NExIS) Division OSAM-1 Propellant Transfer Subsystem Progress through FY 2024
. AIAA SCITECH Forum, 20240014245. Source
BibTeX
@inproceedings{webster2025nasa, title = {NASA's Exploration and In-Space Services (NExIS) Division OSAM-1 Propellant Transfer Subsystem Progress through FY 2024}, author = {Webster, Graham K. and Knudtson, Peter A. and Aranyos, Thomas J. and Nufer, Brian M. and Felt, Amy M. and Jeanes, Syrus}, booktitle = {AIAA SCITECH Forum}, number = {20240014245}, institution = {NASA}, address = {Orlando, Florida}, year = {2025}, doi = {10.2514/6.2025-0807}, abstract = {The National Aeronautics and Space Administration (NASA) Exploration and In-Space Services (NExIS) Division of Goddard Space Flight Center (GSFC) has been developing technology to robotically refuel both heritage and recently developed satellites on-orbit funded through NASA’s Space Technology Mission Directorate (STMD). The On-orbit Servicing, Assembly, and Manufacturing 1 (OSAM-1) mission, formerly known as Restore-L, developed a system to refuel a satellite in space and assemble a communications antenna. By demonstrating these capabilities, the mission would advance never-before tested technologies for use in future missions (by NASA, other government organizations, and private industries). The purpose of this paper is to capture the lessons learned from the hardware development of the OSAM-1 Propellant Transfer System (PTS) that are highly relevant for the ISAM community. This paper covers a review of in-space servicing extensibility and critical technologies that were being developed within NExIS, focusing on the fluid transfer refueling technology within the framework of the OSAM-1 PTS. An overview of the technology demonstration servicing mission via the OSAM-1 Space Vehicle is provided as an extension of the technology development progress reported in 2018, 2019 and 2020. The general objectives, challenges, and key technologies are presented as an introduction to the context of the OSAM-1 mission, and a precursor to the OSAM-1 PTS specific development status. Final assembly, qualification, and functional tests along with installation and acceptance testing of the Hose Management Assembly (HMA) and Propellant Transfer Assembly (PTA) are discussed. Technology development, challenges, lessons learned, along with installation and testing results are discussed, with particular focus on the OSAM-1 assemblies including the PTA and HMA. In addition, testing utilizing the integrated flight simulator test setups will be summarized. The OSAM-1 PTS made great strides in advancing in-space refueling technology; however, there are unfinished development efforts remaining. This paper concludes with a brief summary of the technology shortfalls (gaps) that remain in the key areas of in-space fluid transfer.} } - Arney, D., Sutherland, R., Mulvaney, J., Steinkoenig, D., Stockdale, C. and Farley, M. (2021). On-orbit Servicing, Assembly, and Manufacturing (OSAM) State of Play, 2021 Edition
. NASA, 20210022660. Source
BibTeX
@techreport{arney2021orbit, title = {On-orbit Servicing, Assembly, and Manufacturing (OSAM) State of Play, 2021 Edition}, author = {Arney, Dale and Sutherland, Richard and Mulvaney, John and Steinkoenig, Devon and Stockdale, Christopher and Farley, Mason}, number = {20210022660}, institution = {NASA}, year = {2021}, url = {https://ntrs.nasa.gov/citations/20210022660}, abstract = {This document compiles and organizes the current state of OSAM missions, capabilities, and developments. Understanding where the set of capabilities currently stand will help mission designers incorporate OSAM technologies into their concepts, create the starting point for technology development plans and roadmaps, and provide technologists a survey of the field they are developing. The authors recognize that this capability is broad and that they are unlikely to have captured everything that has been or is being done in the area on the first attempt. As a result, a new version of the OSAM State of Play will be released periodically (perhaps annually).} } - Arney, D., Mulvaney, J., Williams, C., Sutherland, R. and Stockdale, C. (2022). In-Space Servicing, Assembly, and Manufacturing (ISAM) State of Play, 2022 Edition
. NASA, 20220010995. Source
BibTeX
@techreport{nasa2022space, title = {In-Space Servicing, Assembly, and Manufacturing (ISAM) State of Play, 2022 Edition}, author = {Arney, Dale and Mulvaney, John and Williams, Christina and Sutherland, Richard and Stockdale, Christopher}, number = {20220010995}, institution = {NASA}, year = {2022}, url = {https://ntrs.nasa.gov/citations/20220010995}, abstract = {The future of spaceflight will yield increasingly more ambitious missions to support civil, national security, and commercial space sectors. Achieving these ambitious missions is not feasible using the traditional paradigm of launching an integrated, fully functioning system on a single launch vehicle. For example, science and human exploration missions will desire payloads that are larger than any foreseeable launch vehicle fairing, national security missions will require persistent assets that are mobile and resilient, and commercial space missions will require cost-effective ways to update to the latest technology on orbit. In-space Servicing, Assembly, and Manufacturing (ISAM) can vastly expand the performance, availability, and lifetime of space systems compared to the traditional paradigm of launching an asset with no intent to ever touch it again. ISAM capabilities foster an ecosystem that changes the space operations paradigm, creating the foundation for sustainable exploration and serving as a multiplier for other capabilities like space logistics, power generation, and reusability. Previous achievements in ISAM have enabled ambitious human and robotic space missions. NASA’s International Space Station (ISS) operations and maintenance, servicing missions of the Hubble Space Telescope (HST), and Northrop Grumman’s Mission Extension Vehicle (MEV) demonstrate the dramatic operational missions that can be achieved using ISAM capabilities. Many current and upcoming flight demonstrations are advancing areas that will enable the next generation of civil, national security, and commercial space missions. This document describes the current state of ISAM missions, capabilities, and developments. Compiling and organizing the available ISAM capabilities will help mission designers incorporate ISAM technologies into their concepts, create the starting point for technology development plans and roadmaps, and provide technologists a survey of the field they are developing. This document divides the ISAM capabilities into 11 capability areas that describe the functions or activities that would be performed in space using ISAM. This version of the ISAM State of Play is part of a continuing journey to encourage the use of ISAM capabilities in space. Compiling and organizing the current state of ISAM provides a simple resource for those working in the ISAM ecosystem to ensure that the advancements being made build upon the investments of the past. The state of play is ever changing as new capabilities are developed, and this document will be periodically updated to ensure that it is relevant to those who need it in the future.} } - Flores-Abad, A., Ma, O., Pham, K. and Ulrich, S. (2014). A review of space robotics technologies for on-orbit servicing
. Progress in Aerospace Sciences. Source
BibTeX
@article{floresabad2014review, title = {A review of space robotics technologies for on-orbit servicing}, author = {Flores-Abad, Angel and Ma, Ou and Pham, Khanh and Ulrich, Steve}, journal = {Progress in Aerospace Sciences}, volume = {68}, pages = {1-26}, publisher = {Elsevier BV}, year = {2014}, doi = {10.1016/j.paerosci.2014.03.002} } - Papadopoulos, E., Aghili, F., Ma, O. and Lampariello, R. (2021). Robotic Manipulation and Capture in Space: A Survey
. Frontiers in Robotics and AI. Source
BibTeX
@article{papadopoulos2021robotic, title = {Robotic Manipulation and Capture in Space: A Survey}, author = {Papadopoulos, Evangelos and Aghili, Farhad and Ma, Ou and Lampariello, Roberto}, journal = {Frontiers in Robotics and AI}, volume = {8}, pages = {686723}, year = {2021}, doi = {10.3389/frobt.2021.686723}, abstract = {Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.} } - Ellery, A. (2019). Tutorial Review on Space Manipulators for Space Debris Mitigation
. Robotics, 2. Source
BibTeX
@article{ellery2019tutorial, title = {Tutorial Review on Space Manipulators for Space Debris Mitigation}, author = {Ellery, Alex}, journal = {Robotics}, volume = {8}, number = {2}, pages = {34}, year = {2019}, doi = {10.3390/robotics8020034}, abstract = {Space-based manipulators have traditionally been tasked with robotic on-orbit servicing or assembly functions, but active debris removal has become a more urgent application. We present a much-needed tutorial review of many of the robotics aspects of active debris removal informed by activities in on-orbit servicing. We begin with a cursory review of on-orbit servicing manipulators followed by a short review on the space debris problem. Following brief consideration of the time delay problems in teleoperation, the meat of the paper explores the field of space robotics regarding the kinematics, dynamics and control of manipulators mounted onto spacecraft. The core of the issue concerns the spacecraft mounting which reacts in response to the motion of the manipulator. We favour the implementation of spacecraft attitude stabilisation to ease some of the computational issues that will become critical as increasing level of autonomy are implemented. We review issues concerned with physical manipulation and the problem of multiple arm operations. We conclude that space robotics is well-developed and sufficiently mature to tackling tasks such as active debris removal.} } - Ma, O., Flores-Abad, A. and Boge, T. (2012). Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking
. Robotica, 1. Source
BibTeX
@article{ma2012use, title = {Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking}, author = {Ma, Ou and Flores-Abad, Angel and Boge, Toralf}, journal = {Robotica}, volume = {81}, number = {1}, pages = {335-347}, publisher = {Elsevier BV}, year = {2012}, doi = {10.1016/j.actaastro.2012.08.003} } - Naasz, B. J., Strube, M., Van Eepoel, J., Barbee, B. W. and Getzandanner, K. M. (2011). Satellite Servicing's Autonomous Rendezvous and Docking Testbed on the International Space Station
. Annual AAS Rocky Mountain Section Guidance and Control Conference, 20180000044. Source
BibTeX
@inproceedings{naasz2011satellite, title = {Satellite Servicing's Autonomous Rendezvous and Docking Testbed on the International Space Station}, author = {Naasz, Bo J. and Strube, Matthew and Van Eepoel, John and Barbee, Brent W. and Getzandanner, Kenneth M.}, booktitle = {Annual AAS Rocky Mountain Section Guidance and Control Conference}, number = {20180000044}, institution = {NASA}, address = {Breckenridge, CO}, year = {2011}, url = {https://ntrs.nasa.gov/citations/20180000044}, abstract = {The Space Servicing Capabilities Project (SSCP) at NASA's Goddard Space Flight Center (GSFC) has been tasked with developing systems for servicing space assets. Starting in 2009, the SSCP completed a study documenting potential customers and the business case for servicing, as well as defining several notional missions and required technologies. In 2010, SSCP moved to the implementation stage by completing several ground demonstrations and commencing development of two International Space Station (ISS) payloads-the Robotic Refueling Mission (RRM) and the Dextre Pointing Package (DPP)--to mitigate new technology risks for a robotic mission to service existing assets in geosynchronous orbit. This paper introduces the DPP, scheduled to fly in July of 2012 on the third operational SpaceX Dragon mission, and its Autonomous Rendezvous and Docking (AR&D) instruments. The combination of sensors and advanced avionics provide valuable on-orbit demonstrations of essential technologies for servicing existing vehicles, both cooperative and non-cooperative.} } - Alizadeh, A. and Zhu, Z. H. (2024). A comprehensive survey of space robotic manipulators for on-orbit servicing
. Frontiers in Robotics and AI. Source
BibTeX
@article{alizadeh2024comprehensive, title = {A comprehensive survey of space robotic manipulators for on-orbit servicing}, author = {Alizadeh, Ali and Zhu, Zheng H.}, journal = {Frontiers in Robotics and AI}, volume = {11}, pages = {1470950}, year = {2024}, doi = {10.3389/frobt.2024.1470950}, abstract = {On-Orbit Servicing (OOS) robots are transforming space exploration by enabling vital maintenance and repair of spacecraft directly in space. However, achieving precise and safe manipulation in microgravity necessitates overcoming significant challenges. This survey delves into four crucial areas essential for successful OOS manipulation: object state estimation, motion planning, and feedback control. Techniques from traditional vision to advanced X-ray and neural network methods are explored for object state estimation. Strategies for fuel-optimized trajectories, docking maneuvers, and collision avoidance are examined in motion planning. The survey also explores control methods for various scenarios, including cooperative manipulation and handling uncertainties, in feedback control. Additionally, this survey examines how Machine learning techniques can further propel OOS robots towards more complex and delicate tasks in space.} } - Ahlstrom, T. D., Diftler, M. E., Berka, R. B., Badger, J. M., Yayathi, S., Curtis, A. W. and Joyce, C. A. (2013). Robonaut 2 on the International Space Station: Status Update and Preparations for IVA Mobility
. AIAA SPACE Conference. Source
BibTeX
@inproceedings{ahlstrom2013robonaut, title = {Robonaut 2 on the International Space Station: Status Update and Preparations for IVA Mobility}, author = {Ahlstrom, Thomas D. and Diftler, Myron E. and Berka, Reginald B. and Badger, Julia M. and Yayathi, Sandeep and Curtis, Andrew W. and Joyce, Charles A.}, booktitle = {AIAA SPACE Conference}, address = {San Diego, California}, year = {2013}, doi = {10.2514/6.2013-5340}, abstract = {Robotics engineers, ground controllers and International Space Station (ISS) crew have been running successful experiments using Robonaut 2 (R2) on-board the ISS for more than a year. This humanoid upper body robot continues to expand its list of achievements and its capabilities to safely demonstrate maintenance and servicing tasks while working alongside human crewmembers. The next phase of the ISS R2 project will transition from a stationary Intra Vehicular Activity (IVA) upper body using a power/data umbilical, to an IVA mobile system with legs for repositioning, a battery backpack power supply, and wireless communications. These upgrades will enable the R2 team to evaluate hardware performance and to develop additional control algorithms and control verification techniques with R2 inside the ISS in preparation for the Extra Vehicular Activity (EVA) phase of R2 operations. As R2 becomes more capable in assisting with maintenance tasks, with minimal supervision, including repositioning itself to different work sites, the ISS crew will be burdened with fewer maintenance chores, leaving them more time to conduct other activities. R2's developers at the Johnson Space Center (JSC) are preparing the R2 IVA mobility hardware and software upgrades for delivery to the ISS in late 2013. This paper summarizes R2 ISS achievements to date, briefly describes the R2 IVA mobility upgrades, and discusses the R2 IVA mobility objectives and plans.} } - Alexandrov, O., Barlow, J., Benavides, J., Bualat, M., Carlino, R., Coltin, B., Cortez, J., Daley, E., Feller, J., Flückiger, L., Fong, T., Fusco, J., Garcia Ruiz, R., Hamilton, K., Kanis, S., Katterhagen, A., Kim, Y., Love, J. F., McIntyre, M., McLachlan, B., Mora Vargas, A., Moratto, Z., Moreira, M., Morse, T., Orosco, H., Park, I.-W., Provencher, C., Sanchez, H., Sharif, K., Smith, E., Smith, T., Soussan, R., Symington, A., Talavera, R. O., To, V., Wheeler, D. and Yoo, J. (2026). Astrobee: Free-Flying Robots for the International Space Station
. IEEE Transactions on Field Robotics. Source
BibTeX
@article{alexandrov2026astrobee, title = {Astrobee: Free-Flying Robots for the International Space Station}, author = {Alexandrov, Oleg and Barlow, Jonathan and Benavides, Jose and Bualat, Maria and Carlino, Roberto and Coltin, Brian and Cortez, Jose and Daley, Earl and Feller, Jeffrey and Flückiger, Lorenzo and Fong, Terrence and Fusco, Jesse and Garcia Ruiz, Ruben and Hamilton, Kathryn and Kanis, Simeon and Katterhagen, Aric and Kim, Yunkyung and Love, John F. and McIntyre, Michael and McLachlan, Blair and Mora Vargas, Andres and Moratto, Zack and Moreira, Marina and Morse, Theodore and Orosco, Henry and Park, In-Won and Provencher, Christopher and Sanchez, Hugo and Sharif, Khaled and Smith, Ernest and Smith, Trey and Soussan, Ryan and Symington, Andrew and Talavera, Rafael Omar and To, Vinh and Wheeler, DW and Yoo, Jongwoon}, journal = {IEEE Transactions on Field Robotics}, year = {2026}, url = {https://ntrs.nasa.gov/citations/20260001396}, abstract = {The Astrobees are free-flying robots that operate inside the International Space Station (ISS) and were launched to the ISS in 2019. Since then they have successfully performed hundreds of activities in space supporting almost two dozen separate research projects. The robots were designed to overcome multiple challenges unique to the ISS environment, including safety, upgradeability and maintainability, limited mass and computation, and unique localization challenges from lack of gravity and a constantly changing environment. This article provides an overview of Astrobee, from hardware and software design to deployment results and activities.} } - Bualat, M. G., Smith, T., Fong, T. W., Smith, E. E. and Wheeler, D. W. (2018). Astrobee: A New Tool for ISS Operations
. SpaceOps Conference. Source
BibTeX
@inproceedings{bualat2018astrobee, title = {Astrobee: A New Tool for ISS Operations}, author = {Bualat, Maria G. and Smith, Trey and Fong, Terrence W. and Smith, Ernest E. and Wheeler, D. W.}, booktitle = {SpaceOps Conference}, address = {Marseille, France}, year = {2018}, doi = {10.2514/6.2018-2517}, abstract = {The Astrobee} } - Smith, T., Barlow, J., Bualat, M., Fong, T., Provencher, C., Sanchez, H. and Smith, E. (2016). Astrobee: A New Platform for Free-Flying Robotics on the International Space Station
. International Symposium on Artificial Intelligence, Robotics and Automation in Space. Source
BibTeX
@inproceedings{smith2016astrobee, title = {Astrobee: A New Platform for Free-Flying Robotics on the International Space Station}, author = {Smith, Trey and Barlow, Jonathan and Bualat, Maria and Fong, Terrence and Provencher, Christopher and Sanchez, Hugo and Smith, Ernest}, booktitle = {International Symposium on Artificial Intelligence, Robotics and Automation in Space}, address = {Beijing, China}, year = {2016}, url = {https://ntrs.nasa.gov/citations/20160007769}, abstract = {The Astrobees are next-generation free-flying robots that will operate in the interior of the International Space Station (ISS). Their primary purpose is to provide a flexible platform for research on zero-g freeflying robotics, with the ability to carry a wide variety of future research payloads and guest science software. They will also serve utility functions: as free-flying cameras to record video of astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. The Astrobee system includes two robots, a docking station, and a ground data system (GDS). It is developed by the Human Exploration Telerobotics 2 (HET-2) Project, which began in Oct. 2014, and will deliver the Astrobees for launch to ISS in 2017. This paper covers selected aspects of the Astrobee design, focusing on capabilities relevant to potential users of the platform.} } - Coleshill, E., Oshinowo, L., Rembala, R., Bina, B., Rey, D. and Sindelar, S. (2009). Dextre: Improving maintenance operations on the International Space Station
. Acta Astronautica. Source
BibTeX
@article{coleshill2009dextre, title = {Dextre: Improving maintenance operations on the International Space Station}, author = {Coleshill, Elliott and Oshinowo, Layi and Rembala, Richard and Bina, Bardia and Rey, Daniel and Sindelar, Shelley}, journal = {Acta Astronautica}, volume = {64}, pages = {869-874}, year = {2009}, doi = {10.1016/j.actaastro.2008.11.011} } - (2026). CSA: Dextre. asc-csa.gc.ca/eng/iss/dextre
BibTeX
@misc{csadextre, title = {CSA: Dextre}, organization = {asc-csa.gc.ca}, year = {2026}, url = {https://www.asc-csa.gc.ca/eng/iss/dextre/} } - European Space Agency. (2021). European Robotic Arm: The International Space Station's Latest Upgrade
. ESA Human and Robotic Exploration. Source
BibTeX
@techreport{esa2021european, title = {European Robotic Arm: The International Space Station's Latest Upgrade}, author = {{European Space Agency}}, institution = {ESA Human and Robotic Exploration}, year = {2021}, url = {https://esamultimedia.esa.int/docs/science/ERA_brochure_EN.pdf} } - Friend, R. B. (2008). Orbital Express program summary and mission overview
. Sensors and Systems for Space Applications II. Source
BibTeX
@inproceedings{friend2008orbital, title = {Orbital Express program summary and mission overview}, author = {Friend, Robert B.}, booktitle = {Sensors and Systems for Space Applications II}, volume = {6958}, pages = {695803}, year = {2008}, doi = {10.1117/12.783792}, abstract = {The Orbital Express program was created to prove that the technical obstacles to satellite servicing were surmountable- to "take the technical excuse off the table" as it were. This mission demonstrated short range and long range autonomous rendezvous, capture and berthing, on-orbit electronics upgrades, on-orbit refueling, and autonomous fly-around visual inspection using a demonstration client satellite. The Orbital Express spacecraft were launched March 8, 2007 and completed their mission on July 22, 2007. 100% of mission success criteria and objectives were achieved. This paper describes, at a high level, the program goals and objectives, key milestones & events, accomplishments, and some of the obstacles that were overcome during the mission.} } - Li, D. and Wang, Y. (2015). Overview of the Chinese Space Station Manipulator
. AIAA SPACE Conference. Source
BibTeX
@inproceedings{li2015overview, title = {Overview of the Chinese Space Station Manipulator}, author = {Li, Daming and Wang, Yaobing}, booktitle = {AIAA SPACE Conference}, year = {2015}, doi = {10.2514/6.2015-4540}, abstract = {The Chinese Space Station Manipulator system (CSSM) is designed for the missions of relocking spacecraft sections, docking assistance, installing equipment, and maintaining the space station. Therefore, it will lay a foundation for the construction of the Chinese Space Station (CSS). The CSSM system, consisting of two robotic arms, is featured with a high degree of manipulation accuracy, reliability and load capability. Since it is a highly integrated robotic system, combining technologies of mechanics, electronics, thermotics, vision and computer control, the development of the Space Station faces many technical challenges and, therefore, the design and implementation of the robotic system is also challenging. This paper presents an introduction of the Core Space Station Cabin’s Manipulator (CSSCM) which is also referred to as the Chinese Space Station Manipulator. As the major arm of the two-arm CSSM system, the manipulator is a seven degree-of-freedom redundant arm with a distributed control system and movable base system. The paper also describes highlights of eight key technologies of the robotic arm, such as a high-precision servo control and a multi-constrained trajectory planning capability. Our study has shown that the CSSCM design has satisfactorily completed and the program has entered into the manufacturing phase.} } - Li, W.-J., Cheng, D.-Y., Liu, X.-G., Wang, Y.-B., Shi, W.-H., Tang, Z.-X., Gao, F., Zeng, F.-M., Chai, H.-Y., Luo, W.-B., Cong, Q. and Gao, Z.-L. (2019). On-orbit service (OOS) of spacecraft: A review of engineering developments
. Progress in Aerospace Sciences. Source
BibTeX
@article{li2019orbit, title = {On-orbit service (OOS) of spacecraft: A review of engineering developments}, author = {Li, Wei-Jie and Cheng, Da-Yi and Liu, Xi-Gang and Wang, Yao-Bing and Shi, Wen-Hua and Tang, Zi-Xin and Gao, Feng and Zeng, Fu-Ming and Chai, Hong-You and Luo, Wen-Bo and Cong, Qiang and Gao, Zhen-Liang}, journal = {Progress in Aerospace Sciences}, volume = {108}, pages = {32-120}, year = {2019}, doi = {10.1016/j.paerosci.2019.01.004} } - Mulvaney, J., Arney, D., Williams, C., Morel, J., Stockdale, C., Whitlock, C. and Balaji, V. (2025). In-Space Servicing, Assembly, and Manufacturing (ISAM) State of Play, 2025 Edition
. NASA, 20250008988. Source
BibTeX
@techreport{nasa2025space, title = {In-Space Servicing, Assembly, and Manufacturing (ISAM) State of Play, 2025 Edition}, author = {Mulvaney, John and Arney, Dale and Williams, Christina and Morel, Jose and Stockdale, Christopher and Whitlock, Christopher and Balaji, Vishruth}, number = {20250008988}, institution = {NASA}, year = {2025}, url = {https://ntrs.nasa.gov/citations/20250008988}, abstract = {The future of spaceflight will yield increasingly more ambitious missions to support civil, national security, and commercial space sectors. Achieving some of these missions will not be feasible by launching an integrated, fully functioning system on a single launch vehicle. Future science and human exploration missions will require payloads that are larger than any foreseeable launch vehicle fairing, national security missions will require persistent assets that are mobile and resilient, and commercial space missions will require cost-effective ways to update to the latest technology on orbit. In-space Servicing, Assembly, and Manufacturing (ISAM) can vastly expand the performance, availability, and lifetime of space systems compared to the traditional paradigm of launching an asset with no intent to ever interact with it again. ISAM capabilities foster an ecosystem that changes the space operations paradigm, creating the foundation for sustainable exploration and serving as a multiplier for other capabilities like space logistics, power generation, and reusability. Previous achievements in ISAM have enabled ambitious human and robotic space missions. The assembly, operation, and maintenance of NASA’s International Space Station (ISS); servicing missions to the Hubble Space Telescope (HST); and Northrop Grumman’s Mission Extension Vehicle (MEV) demonstrate the dramatic operational missions that can be achieved using ISAM capabilities. Many current and upcoming flight demonstrations are advancing areas that will enable the next generation of civil, national security, and commercial space missions. This document describes the current state of ISAM missions, activities, and technologiesto the best ability of the authors. Compiling and organizing the available ISAM capabilities will help mission designers incorporate ISAM technologies into their concepts, create the starting point for technology development plans and roadmaps, and provide technologists a survey of the field they are developing. This document divides the ISAM capabilities into 11 functional capability areas that describe the functions or activities that can be performed in space using ISAM.} } - Won, D., So, B.-R. and Kim, H.-D. (2022). A Survey of Space Robotic Manipulator
. Journal of Space Technology and Applications, 4. Source
BibTeX
@article{won2022survey, title = {A Survey of Space Robotic Manipulator}, author = {Won, Daehee and So, Byung-Rok and Kim, Hae-Dong}, journal = {Journal of Space Technology and Applications}, volume = {2}, number = {4}, pages = {257--267}, year = {2022}, doi = {10.52912/jsta.2022.2.4.257}, abstract = {In the 1970s, space robotics was used to attach a robotic manipulator to the first planetary exploration satellite of the Soviet Union. Since then, it has been developed to use various on-orbit services such as space debris removal, parts replacement/repairing, refueling, orbit changing, and construction of a space station in Earth orbit. In planetary exploration projects such as the Moon and Mars, various space robotic manipulators are being designed and developed to be used in the collection of samples and building bases on Mars. Recently, the use of various space robotic manipulators to perform missions in the Earth orbit or on the planet has been increasing. Countries with state-of-the-art space technology plan and implement new space-related projects. In this article, we would like to introduce the technology development trends and functions of space robot manipulators that have been used in various space challenge projects in advanced space technology countries.} } - Qiu, X., Ma, D., Tian, L., Hu, Y., Wu, Z., Zeng, Z., Wei, Z., Duan, F., Xiao, Q., Ma, H. and Shi, W. (2024). Design and Implementation of Space Manipulator Operating Subsystem
. Chinese Journal of Space Science, 5. Source
BibTeX
@article{qiu2024design, title = {Design and Implementation of Space Manipulator Operating Subsystem}, author = {Qiu, Xin'an and Ma, Dongtao and Tian, Licheng and Hu, Yuqian and Wu, Zhihong and Zeng, Zhenglin and Wei, Zhiming and Duan, Fuwei and Xiao, Qiang and Ma, Hongjiong and Shi, Wei}, journal = {Chinese Journal of Space Science}, volume = {44}, number = {5}, pages = {939--947}, year = {2024}, doi = {10.11728/cjss2024.05.2023-0081}, abstract = {As an important platform for the construction and on-orbit operation of space station, the space manipulator operating subsystem is the first independently developed large-scale space robotic system for aerospace engineering applications in China. The space robot arm has 14 degrees of freedom under the combination of the two arms, with large motion inertia, high operating precision, and support for multi-mode work. In this paper, according to the characteristics of space manipulator on-orbit mission, a space manipulator operation subsystem is established, which is supporting long-term on-orbit and multi-mode operation. The operation subsystem is composed of manipulator console, virtual simulation platform and display, which can meet the requirements of multitasking. This paper provides a summarize overview of the architecture, working mode, and technical characteristics of the operation subsystem, and focuses on analyzing the system bus structure, multimodal human-computer interaction technology, and force perception rendering algorithms of the operation subsystem. According to the ground test and on-orbit work, the verification of space manipulator operation subsystem is obtained, which provides valuable experience and data for space manipulator operation mission. The results show that the space manipulator operating subsystem can better carry out on-orbit management of the space robotic arm, monitor the whole process of it, as well as ground and on-orbit remote control and manipulation; the application of force perception rendering technology can better support the fine manipulation of the space robotic arm end and joints; the virtual simulation platform can effectively simulate the on-orbit tasks of the space robotic arm and simulate the pre-task rehearsal and training of the support task. The space manipulator operating subsystem has accumulated experience and data to support space robotic arm mission implementation.} } - Boyle, R., DiPirro, M., Tuttle, J., Francis, J., Mustafi, S., Li, X., Barfknecht, P., DeLee, C. H. and McGuire, J. (2015). Cryogenic Autogenous Pressurization Testing for Robotic Refueling Mission 3, 20150016072. ntrs.nasa.gov/citations/20150016072
BibTeX
@misc{boyle2015cryogenic, title = {Cryogenic Autogenous Pressurization Testing for {Robotic Refueling Mission 3}}, author = {Boyle, Rob and DiPirro, M. and Tuttle, J. and Francis, John and Mustafi, Shuvo and Li, X. and Barfknecht, Pete and DeLee, C. H. and McGuire, Jill}, howpublished = {Presentation at the NASA Goddard Space Flight Center}, number = {20150016072}, year = {2015}, url = {https://ntrs.nasa.gov/citations/20150016072}, abstract = {A wick-heater system has been selected for use to pressurize the Source Dewar of the Robotic Refueling Mission Phase 3 on-orbit cryogen transfer experiment payload for the International Space Station. Experimental results of autogenous pressurization of liquid argon and liquid nitrogen using a prototype wick-heater system are presented. The wick-heater generates gas to increase the pressure in the tank while maintaining a low bulk fluid temperature. Pressurization experiments were performed in 2013 to characterize the performance of the wick heater. This paper describes the experimental setup, pressurization results, and analytical model correlations.} } - Boyle, R., Breon, S., Francom, M., DeLee, H., Francis, J., Mustafi, S., Barfknecht, P., McGuire, J., Krenn, A. and Zimmerli, G. (2019). Robotic Refueling Mission 3: Cryogenic Demonstration Subsystem Operations, 20190027535. ntrs.nasa.gov/citations/20190027535
BibTeX
@misc{boyle2019robotic, title = {{Robotic Refueling Mission 3}: Cryogenic Demonstration Subsystem Operations}, author = {Boyle, Rob and Breon, Susan and Francom, Matt and DeLee, Hudson and Francis, John and Mustafi, Shuvo and Barfknecht, Pete and McGuire, Jill and Krenn, Angela and Zimmerli, Greg}, howpublished = {Presentation at the NASA Goddard Space Flight Center}, number = {20190027535}, year = {2019}, url = {https://ntrs.nasa.gov/citations/20190027535}, abstract = {The Robotic Refueling Mission 3 (RRM3) payload was installed on the International Space Station (ISS) in December 2018. Its Cryogenic Demonstation Subsystem (CDS) was loaded with 19 kilograms of liquid methane, for demonstration of on-orbit storage and transfer. We provide a short description of the design and ground testing of the CDS, and then discuss the on-orbit operations through the first half of 2019.} } - (2026). NASA ISAM: RRM 1 and 2. nasa.gov/isam/rrm-1-2
BibTeX
@misc{nasaisamrrm, title = {NASA ISAM: RRM 1 and 2}, organization = {nasa.gov}, year = {2026}, url = {https://www.nasa.gov/isam/rrm-1-2/} }