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AAS National Conference 2008: Kris Zacny

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Session 5: Space Entrepreneurs …

Session 5: Space Entrepreneurs

19 November 2008, Pasadena California

http://www.astronautical.org/conference/conference-2008

Published in: Technology, Business

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    • 1. Honeybee Robotics Spacecraft Mechanisms Corp. AAS, Pasadena November 19, 2008 Kris Zacny, PhD Director, Drilling & Excavation Systems Honeybee Robotics 460 W 34 St New York, NY 10001 Ph 646-459-7836 Fx 646-459-7898 [email_address] http:// www.HoneybeeRobotics.com
    • 2. What makes a company successful?
    • 3.
      • Product that market wants
      • Proximity to the client
    • 4.
      • Honeybee Robotics
      • Has no product as such
      • Is based in Manhattan
      • But we have been in existence for 25 years….
    • 5. OK, so what are we doing right or maybe wrong?
    • 6. Honeybee Robotics: Manhattan “Skunkworks” Chris Chapman, President Steve Gorevan, Chairman Engineering Staff
      • Established 1983
      • ~45 employees
      ISO 9001 AS9100 Certified
    • 7. "skunkworks" describes a group given a high degree of autonomy and unhampered by bureaucracy , that is tasked with working on advanced projects” wikipedia
    • 8. End-to-End capabilities: self sufficient
      • Design:
        • System Engineering & Design Control
        • Mechanical Engineering
        • Electrical Engineering
        • Software & Control Engineering
      • Production:
        • Process Planning & Control
        • Piece-Part Fabrication & Inspection
        • Assembly & Test
        • Production Documentation
      • Post-Delivery Support:
        • Field Test Support
        • ATLO Integration Support
        • Mission Operations Support
    • 9. Facilities
      • Honeybee’s 16,000 ft 2 facility includes flexible development & production space:
        • Fabrication
          • Hardinge CNC machine center
          • Manual mills, lathe, jig-borer, grinders
        • Inspection
          • Faro Gage-Plus CMM
          • Micrometers, gages, optical equipment
        • Assembly
          • Class 10,000 clean room
          • Class 100 laminar flow benches
          • Precision ultrasonic cleaning equipment
          • Laser lab (LIBS/Lidar)
        • Test
          • Data acquisition instrumentation, software, equipment
          • 3 Environmental chambers (thermal/vacuum)
          • “ Dirty” lab for harsh environment testing
    • 10. ok, so what are we doing right? we diversified…
    • 11. Honeybee’s Early History Articulated Signs IBM Gripper + Tool Change FTS EOT Actuators Couplers WAM/WAF HST Tool Box Transmissions 3M LaRC Space Robotics 1983 Howmet Allied Signal 1989
      • Martin Mikulas
      • Space station
      • On-orbit robotic assembly
      • End-effectors & truss connection joints
      1986
      • Material handling
      Mnf Automation Pratt & Whitney
      • Turbine blade manufacture & inspection
      • Clean room automation
      • Connector pin insertion
      Merck – Salk Institute – ABB – Nabisco 1995 GSFC Mole Robotic Sampling Drills
      • Manhattan’s Lower East Side
      • Allied Signal is first major customer
      • 3 employees
      First flight project (man-rated) Component level R&D First space robotics job New Initiative: Sample acquisition & handling Advanced Manipulation Pipe Inspection & Repair Stephen Gorevan & Chris Chapman start Honeybee Robotics in 1983 IBM CFS
      • John Vranish
      • Paul Mahaffy
      Field Robotics – harsh, unstructured environments 1992 Signal Transfer
    • 12. Honeybee’s Recent Work 2004 1995 2001 1998 2007
      • Facility moved to Manhattan’s Little Italy
      • 12 employees
      • Nearly 100% work for space sector
      Flight Sample Acquisition & Handling ALH84001 discovered Drill & Sample Containers Champollion/DS4 Comet Sample Return Flight Project Mars Exploration Rovers 2003/2005 Mars Sample Return Flight Project Mini-Corer Rock Abrasion Tool (RAT) Flight Project STPSat-1 2 RATs on Mars Flight Project Solar Panel Deployment Hinges Flight Project Phoenix Retractable Dust Cover Flt. Spacecraft Mechanisms Flight Project Icy Soil Acquisition Device General Flight Mechanisms Component level R&D Sampling & Excavation R&D Space R&D Docking Tech.
      • Steve Squyres
      Sampling & Excavation R&D for space exploration continues to present Solar Array Deployment Spacecraft mechanism R&D MCO & MPL failures Phoenix Vibe Resistant & Robot Compatible Fasteners Ultrasonic Actuators Cap. Sensors DSX SADA PowerSail ARM Surge protection Signal Transfer
      • M. Mikulas
      BA Genesis
    • 13. Phoenix Scoop Timeline… Oct 2005 1 mo. 2 mos. 7 mos. 7 mos. 1 mo. Apr 2007 Initial Concept Final Concept Detailed Design Build & Env. Test Operations Test Concept Down-select: 10 to 2 Concept Down-select: 2 to 1 Final Design Approved Flight Model Delivered Rapid Prototype Design & Testing In Relevant Environments Detailed Design & Analysis Build, Test & Integrate With Robotic Arm Concept to Delivery in 17 months
    • 14. Honeybee’s Recent Work 2004 1995 2001 1998 2007
      • Facility moved to Manhattan’s Little Italy
      • 12 employees
      • Nearly 100% work for space sector
      Flight Sample Acquisition & Handling ALH84001 discovered Drill & Sample Containers Champollion/DS4 Comet Sample Return Flight Project Mars Exploration Rovers 2003/2005 Mars Sample Return Flight Project Mini-Corer Rock Abrasion Tool (RAT) Flight Project STPSat-1 2 RATs on Mars Flight Project Solar Panel Deployment Hinges Flight Project Phoenix Retractable Dust Cover Flt. Spacecraft Mechanisms Flight Project Icy Soil Acquisition Device General Flight Mechanisms Component level R&D Sampling & Excavation R&D Space R&D Docking Tech.
      • Steve Squyres
      Sampling & Excavation R&D for space exploration continues to present Solar Array Deployment Spacecraft mechanism R&D MCO & MPL failures Phoenix Vibe Resistant & Robot Compatible Fasteners Ultrasonic Actuators Cap. Sensors DSX SADA PowerSail ARM Surge protection Signal Transfer
      • M. Mikulas
      BA Genesis
    • 15. Honeybee’s Current Work EOD Digging Tool Flight Project Phoenix Icy Soil Acquisition Industrial Field Robotics Leveraging space robotic experience Defense Robotics UGV, UAV, UUV Door Breaching End-Effector Flight Spacecraft Mechanisms Flight Sample Acquisition & Handling Flight Project MSL MSL Sample Manipulation System Super RAT Leveraging space robotic experience Flight Project MSL Dust Removal Tool CMG & more Bigelow Sundancer Solar Array Deployment NSPO Mine Sampling System Flight Project Mini-LIDAR Tool Changer Dust Tolerant Connector High Temp Motor Excavation, Sampling & Proc. ORS Mini-CMG ORS Rapid S/C Assy. EBF 3 Positioner Space R&D
    • 16. to reduce cost we leverage projects across DoD, NASA and commercial sector
    • 17. Example 1
    • 18. DoD Rapid Digging Tool
      • Problem: Man Transportable digging tools are LIMITED in their ability to rapidly uncover buried Improvised Explosive Devices
      • Requirement: Light-weight platform (60lbs) = Limited reaction force = Poor digging capability in hard-packed soils
      • Solution: percussion
    • 19. but… “ not enough reaction force” will be also an issue on the Moon!
    • 20. Percussive Scoop: Cost Savings
      • Digging force reduction by 20x
      • Instead of 2000 kg excavator we now need 100 kg excavator
      • Instead of $200 mln we now pay $10 mln!
        • excludes mass savings from less propellant, smaller rocket etc.
    • 21. Remote Op for DoD and Moon
      • Remote operation for DoD protects a solder
      • Remote Operation on the Moon protects astronaut and saves money
      • Remote Operation on the Moon was already done in 1970`s by Soviets – so it can be done!
      • Learning to operate Talon rover will help to develop GUI for the Moon Op
    • 22. Example 2
    • 23. In-situ soil testing DoD Requirement: man transportable soil testing system for rapid assessment of ground strength prior to deployments of solders, tanks or temporary air fields. Problem: current tool very heavy, slow, inaccurate, requires two man operation Strong Weak
    • 24. Solution: Percussive Drive
      • Drop hammer -> Percussive hammer
      • Lighter, 1 operator, more accurate, less noise
      • Quick soil assessment for trafficability, airfields construction, etc.
    • 25. But, excavation or radiation shielding requires assessment of soil strength and density on the Moon too!
      • Exacation
      • Requirements
      • ISRU (O2 Production)
      • Landing / Launch Pads
      • Blast Protection Berms
      • Electrical Cable Trenches
      • Utility Roads
      • Foundations / Leveling
      • Trenches for Habitat
      • Element Burial
      • Regolith Shielding
      Muller and King, STAIF 08
    • 26. Concept for NASA Change outfit (and planet)
    • 27. but astronauts time is expensive. solution? robotics!
    • 28. Concept for Planetary Rover NASA Ames K-10 rover Final Concept: Auto operation
      • 80 kg
      • 90 cm/s
      • 40 kg payload
    • 29. Final Product 13.1 (28.9) Total 3.0 (6.7) Framing & Support 2.7 (6.0) Battery & Electronics 4.2 (9.2) Deployment System 3.2 (7.0) Percussion System Mass in kg (lbs)
    • 30.
      • Apollo method: drill, put a probe into the casing
      • A15: drill got ‘stuck’ and never managed to drill deep enough (2.4 m)
      • A16: astronaut tripped over the cables
      • A17: success but it was a tough work!
      • Drilling was a long and tough work!!!
      Other application: heat flow probe deployment
    • 31.
      • Percussive Unit
        • The depth of 0.7 m in 10 – 180 seconds
      • Application:
        • Intentional Lunar Network
      Percussive heat flow probe deployment
    • 32. Example 3
    • 33. Pneumatic Excavator and Transfer
      • Venturi is used to mine diamonds or deepen rivers
      • Similar principles apply on the Moon or Mars:
        • Inject gas into regolith and lift it up when the gas exchanges momentum with soil particles
        • OR constrain regolith and inject gas
      • Efficiencies are 1:10,000!
      • Gas source:
        • Residual propellant,
        • Astronauts exhaled CO2,
        • Propulsion Pressurized Gas: He
      Gas in Gas in
    • 34. Pneumatic excavator
    • 35. Pneumatic Sample Return
    • 36. What makes Honeybee Robotics successful?
    • 37. innovation, diversity and leveraging of projects while maintaining strong client focus
    • 38. Honeybee Robotics Spacecraft Mechanisms Corp. November 19, 2008 Kris Zacny, PhD Director, Drilling & Excavation Systems Honeybee Robotics 460 W 34 St New York, NY 10001 Ph 646-459-7836 Fx 646-459-7898 [email_address] http:// www.HoneybeeRobotics.com

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