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The capabilities of maximising standard payload modules' functionalities for applications such as on-orbit satellite servicing or planetary exploration depend critically on the creation and availability of a standard interface (IF). Standard interface should provide, aside from the necessary mechanical interconnections, electrical power and data connections, as well as thermal transfer between "building block" payload modules. The overall flexibility enabled by such IF will allow endless reconfigurations of payload and other modules for different functional requirements. This can be considered a game changer technology, enabling transformation from the current approach to space missions, deploying single-use system with preplanned and limited functionalities, to a radically new approach with multi-use, dynamically reconfigurable and multifunctional systems. Hence, SIROM aims to set a new research agenda for future affordable space missions. Within this context, the partners of the SIROM (Standard Interface for Robotic Manipulation of payloads in future space missions) project are developing the first standard IF solution that combines the four required functionalities in an integrated and compact form for future space missions. With a mass lower than 1.5 kg and having an external diameter of 120 mm and a height of 30 mm, this novel interface permits not only mechanical coupling but also electrical, data and thermal connectivity between so called Active Payload Modules (APMs), as well as other modules such as the robotic end-effectors. This multi-functional IF features an androgynous design to allow for replacement and reconfiguration of the individual modules in any combination desired. It consists of the following sub-assemblies: mechanical IF, electrical IF, data IF, thermal IF and IF controller. A clear advantage of SIROM design is that its mechanical IF consists of a latching and guiding systems for misalignment correction, capable of withstanding certain robotic arm positioning inaccuracies: ± 5 mm translation and ± 1.5°rotation in all axes. Regarding the electrical and data IFs, SIROM transfers up to 150 W electrical power and provides a data transfer rate of 100 Mbit/s via SpaceWire, plus command communication with speeds up to 1Mbit/s via CAN bus. The thermal IF provides fluidic ports for flow transfer and has the potential to transfer 2500 W between APMs accordingly provided with the corresponding close-loop heat exchange system. Although not envisaged for SIROM current design, a possible variation could be to use these ports for satellite re-fuelling. Apart from that, SIROM exhibits redundant coupling capabilities: it can match and couple another completely passive SIROM. It is provided with main and redundant connectors for thermal, electrical, data and control flow in case of one of the lines fails. All in all, SIROM will enable long duration missions with no logistic support, refurbishing, maintenance and reconfiguration of satellites, cost efficiency and simplification of the tool exchange in scient...

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In-situ connectability among modules of a space system can provide significantly enhanced flexibility, adaptability, and robustness for space exploration and servicing missions. Connection of modules in extra-terrestrial environment is hence a topic of rising importance in modern orbital or planetary missions. As an example, the increasing number of satellites sent to space have introduced a large set of connections of various type, for transferring mechanical loads, data, electrical power and heat from one module to another. This paper provides a comprehensive review of published work in space robotic connections and presents the different transfer types developed and used to date in robotic applications for orbital and extra-terrestrial planetary missions. The aims of this paper are to present a detailed analysis of the state of the art available technologies, to make an analysis of and comparison among different solutions to common problems, to synthesize and identify future connectability research, and to lay the foundation for future European space robotic connectability effort and work for a complex and growing important future space missions. All types are described in their base characteristics and evaluated for orbital and planetary environments. This analysis shows that despite the large number of connectors developed for each of the four functionalities (mechanical, thermal, data, and electrical power) here considered, the trend is that researchers are integrating more than one functionalizes into a single equipment or device, to reduce costs and improve standardization. The outcomes of this literature review have contributed toward the design of a future multifunctional, standard and scalable interface at the early stage of the Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) project, a European Commission funded Horizon 2020 project. SIROM interfaces will be employed by European prime contractors in future extra-terrestrial missions.

<p>PRO-ACT (Horizon 2020; https://www.h2020-pro-act.eu/) studies the establishment of a lunar base with the support of a mobile robotic platform formed by three distinct robots, with different features, based on their cooperation and manipulation capabilities. This vision will provide tools in preparation of the commercial exploitation of in-situ resources by assembling an ISRU (In-Situ Resource Utilisation) system, essential for a future human settlement at the Moon. PRO-ACT’s vision of ISRU focuses on the extraction of oxygen from lunar regolith to serve as the oxidizer for fuel and artificial atmosphere generation within habitats and 3D printing of relevant structures using regolith for construction purposes – including tiles for roads and elements for shelters. The mineral ilmenite, found in lunar rocks, is the perfect target for the ISRU platform as it contains oxygen, iron and titanium as construction materials.</p><p>The main goal of PRO-ACT is to implement and demonstrate the cooperative capabilities of the multi-robot system in a Moon alike environment that will be replicated at two sites, indoors and outdoors, in Europe. For this purpose, the PRO-ACT project (OG11) will also rely on the outcomes of previous space-related projects from the PERASPERA project and its Operational Grants. Therefore, PRO-ACT will: 1) Review, extend and integrate previous OGs outcomes as part of a comprehensive multi-robot system, in a Moon construction scenario, 2) Develop robust cooperation capabilities allowing joint interventions (navigation in close vicinity and joint manipulation actions) in mixed structured/unstructured environment, 3) Make the capabilities available within a CREW module, 4) Customize existing mobile robotic platforms and prepare facilities to perform tests and demonstrations in a selection of relevant scenarios of Moon construction activities (ISRU capabilities establishment; preparing dust mitigation surfaces; assembling and deploying a gantry/3D printer).</p><p>PRO-ACT will show what robotic cooperation can achieve and will demonstrate the effectiveness of collaborative mission planning, and manipulation and assembly of a supporting infrastructure. Cooperative scenarios will be based on: 1) fine scale surveying of areas prior to construction work, 2) site clearing by grading stones and debris, 3) unloading equipment/construction elements and transporting them to the assembly sites, 4) assembly of specific modular components of an ISRU plant, 5) assisting partial assembly and mobility of a gantry, 6) 3D printing of modular building elements from pseudo-regolith simulant, and 7) sample assembly of printed elements to construct sections of storage, habitation spaces or dust mitigation surfaces. Following this scenario, the key robotic elements, (the mobile rover IBIS, the six-legged walking robot Mantis and a gantry) are outlined according to the corresponding mission architecture. The ISRU plant size is representative of a future lunar mission, with grasping points to assist robotic manipulation capabilities and considering reduced lunar gravity.</p><p>The target of this work is to reach a Technology Readiness Level of TRL 4/5 (depending on scenarios subparts) with this approach, to enable exploration of the Moon environment in the next decade. This will be achieved and proven with the performance of the required tests and demonstrations in Lunar analogues, in order to validate the newly developed capabilities.</p>

<p>The PRO-ACT project studies, designs and develops the establishment of a lunar base with the support of a multi-robotic platform, entailing different features, tasks and capabilities. The activities are inline with the preparation of the commercial exploitation of in-situ resources and planetary exploration research by assembling an ISRU (In-Situ Resource Utilisation) system tested in a lunar analogue setting. The vision of PRO-ACT is based on the extraction of oxygen from lunar regolith which serves as oxidizer for fuel and artificial atmosphere generation for habitats and 3D printing of relevant structures using regolith for construction purposes.</p><p>The main goal of PRO-ACT is to implement and demonstrate the cooperative capabilities of the multi-robot system in a Moon-like environment. PRO-ACT uses three robots: Veles - a six-wheeled rover; Mantis - a six-legged walking system; and a mobile gantry. The final demonstration tests are set for early 2021.</p><p>Work implementation for the final deployment on the lunar analogue comprises: 1) during simulations, the planned mission scenarios and functional tests of the sub-components are carried out, to gain results of the real systems as well as to check the function of the developed software on the involved robotic systems; 2) remote testing of the robotic elements are implemented with the goal to integrate the software developed in the project and develop the first functional tests of the robot systems with the implemented software, 3) onsite demonstration of the project in Bremen, Germany, in a lunar analogue setting. For this indoor lunar analogue environment it was decided to create and set up a testbed with regolith simulant for testing purposes. It will be possible to replicate realistic simulation conditions (eg. navigation, mobility, autonomy) as found in the moon, which are adequate to certify the project’s goals.</p><p>The final demonstration will be conducted in the Space Exploration Hall at DFKI in Bremen. During the project, it was decided to build a large test field (with an area of 48m²) in front of the crater in the Hall, which will be filled with granulate/simulant (fill level 20-30 cm) in order to carry out moonlike mission scenarios with the involved robotic systems. The challenge was to find the appropriate granulate: the choice fell on using sand from the Baltic sea with grain size of 0.1-1.0mm, with the majority in the larger fraction. This simulant presents both relevant geomorphological and space exploration lunar conditions that are necessary for the certification of PRO-ACT’s activities, while complying with necessary health regulations. Other considered options included EAC-1A, the European Astronaut Centre lunar regolith simulant 1, which is a special mixture of 0.2-1.0mm (65% 0.2-0.5mm and 35% 0.5-1.0mm), but this is very dusty and hazardous to health in enclosed rooms, such as the Space Exploration Hall. It was, therefore, disregarded due to health and safety conditions.</p><p>To keep lunar fidelity up to a maximum, the final demonstration setup will include, besides the referred simulant, boulders (~2m), slopes of different angles, the Hall’s crater, light/darkness conditions controlled by a light system and environmental dryness. </p>