AAS National Conference 2008: Kris Zacny

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Session 5: Space Entrepreneurs

19 November 2008, Pasadena California

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

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  • AAS National Conference 2008: Kris Zacny

    1. 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. 2. What makes a company successful?
    3. 3. <ul><li>Product that market wants </li></ul><ul><li>Proximity to the client </li></ul>
    4. 4. <ul><li>Honeybee Robotics </li></ul><ul><li>Has no product as such </li></ul><ul><li>Is based in Manhattan </li></ul><ul><li>But we have been in existence for 25 years…. </li></ul>
    5. 5. OK, so what are we doing right or maybe wrong?
    6. 6. Honeybee Robotics: Manhattan “Skunkworks” Chris Chapman, President Steve Gorevan, Chairman Engineering Staff <ul><li>Established 1983 </li></ul><ul><li>~45 employees </li></ul>ISO 9001 AS9100 Certified
    7. 7. &quot;skunkworks&quot; describes a group given a high degree of autonomy and unhampered by bureaucracy , that is tasked with working on advanced projects” wikipedia
    8. 8. End-to-End capabilities: self sufficient <ul><li>Design: </li></ul><ul><ul><li>System Engineering & Design Control </li></ul></ul><ul><ul><li>Mechanical Engineering </li></ul></ul><ul><ul><li>Electrical Engineering </li></ul></ul><ul><ul><li>Software & Control Engineering </li></ul></ul><ul><li>Production: </li></ul><ul><ul><li>Process Planning & Control </li></ul></ul><ul><ul><li>Piece-Part Fabrication & Inspection </li></ul></ul><ul><ul><li>Assembly & Test </li></ul></ul><ul><ul><li>Production Documentation </li></ul></ul><ul><li>Post-Delivery Support: </li></ul><ul><ul><li>Field Test Support </li></ul></ul><ul><ul><li>ATLO Integration Support </li></ul></ul><ul><ul><li>Mission Operations Support </li></ul></ul>
    9. 9. Facilities <ul><li>Honeybee’s 16,000 ft 2 facility includes flexible development & production space: </li></ul><ul><ul><li>Fabrication </li></ul></ul><ul><ul><ul><li>Hardinge CNC machine center </li></ul></ul></ul><ul><ul><ul><li>Manual mills, lathe, jig-borer, grinders </li></ul></ul></ul><ul><ul><li>Inspection </li></ul></ul><ul><ul><ul><li>Faro Gage-Plus CMM </li></ul></ul></ul><ul><ul><ul><li>Micrometers, gages, optical equipment </li></ul></ul></ul><ul><ul><li>Assembly </li></ul></ul><ul><ul><ul><li>Class 10,000 clean room </li></ul></ul></ul><ul><ul><ul><li>Class 100 laminar flow benches </li></ul></ul></ul><ul><ul><ul><li>Precision ultrasonic cleaning equipment </li></ul></ul></ul><ul><ul><ul><li>Laser lab (LIBS/Lidar) </li></ul></ul></ul><ul><ul><li>Test </li></ul></ul><ul><ul><ul><li>Data acquisition instrumentation, software, equipment </li></ul></ul></ul><ul><ul><ul><li>3 Environmental chambers (thermal/vacuum) </li></ul></ul></ul><ul><ul><ul><li>“ Dirty” lab for harsh environment testing </li></ul></ul></ul>
    10. 10. ok, so what are we doing right? we diversified…
    11. 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 <ul><li>Martin Mikulas </li></ul><ul><li>Space station </li></ul><ul><li>On-orbit robotic assembly </li></ul><ul><li>End-effectors & truss connection joints </li></ul>1986 <ul><li>Material handling </li></ul>Mnf Automation Pratt & Whitney <ul><li>Turbine blade manufacture & inspection </li></ul><ul><li>Clean room automation </li></ul><ul><li>Connector pin insertion </li></ul>Merck – Salk Institute – ABB – Nabisco 1995 GSFC Mole Robotic Sampling Drills <ul><li>Manhattan’s Lower East Side </li></ul><ul><li>Allied Signal is first major customer </li></ul><ul><li>3 employees </li></ul>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 <ul><li>John Vranish </li></ul><ul><li>Paul Mahaffy </li></ul>Field Robotics – harsh, unstructured environments 1992 Signal Transfer
    12. 12. Honeybee’s Recent Work 2004 1995 2001 1998 2007 <ul><li>Facility moved to Manhattan’s Little Italy </li></ul><ul><li>12 employees </li></ul><ul><li>Nearly 100% work for space sector </li></ul>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. <ul><li>Steve Squyres </li></ul>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 <ul><li>M. Mikulas </li></ul>BA Genesis
    13. 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. 14. Honeybee’s Recent Work 2004 1995 2001 1998 2007 <ul><li>Facility moved to Manhattan’s Little Italy </li></ul><ul><li>12 employees </li></ul><ul><li>Nearly 100% work for space sector </li></ul>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. <ul><li>Steve Squyres </li></ul>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 <ul><li>M. Mikulas </li></ul>BA Genesis
    15. 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. 16. to reduce cost we leverage projects across DoD, NASA and commercial sector
    17. 17. Example 1
    18. 18. DoD Rapid Digging Tool <ul><li>Problem: Man Transportable digging tools are LIMITED in their ability to rapidly uncover buried Improvised Explosive Devices </li></ul><ul><li>Requirement: Light-weight platform (60lbs) = Limited reaction force = Poor digging capability in hard-packed soils </li></ul><ul><li>Solution: percussion </li></ul>
    19. 19. but… “ not enough reaction force” will be also an issue on the Moon!
    20. 20. Percussive Scoop: Cost Savings <ul><li>Digging force reduction by 20x </li></ul><ul><li>Instead of 2000 kg excavator we now need 100 kg excavator </li></ul><ul><li>Instead of $200 mln we now pay $10 mln! </li></ul><ul><ul><li>excludes mass savings from less propellant, smaller rocket etc. </li></ul></ul>
    21. 21. Remote Op for DoD and Moon <ul><li>Remote operation for DoD protects a solder </li></ul><ul><li>Remote Operation on the Moon protects astronaut and saves money </li></ul><ul><li>Remote Operation on the Moon was already done in 1970`s by Soviets – so it can be done! </li></ul><ul><li>Learning to operate Talon rover will help to develop GUI for the Moon Op </li></ul>
    22. 22. Example 2
    23. 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. 24. Solution: Percussive Drive <ul><li>Drop hammer -> Percussive hammer </li></ul><ul><li>Lighter, 1 operator, more accurate, less noise </li></ul><ul><li>Quick soil assessment for trafficability, airfields construction, etc. </li></ul>
    25. 25. But, excavation or radiation shielding requires assessment of soil strength and density on the Moon too! <ul><li>Exacation </li></ul><ul><li>Requirements </li></ul><ul><li>ISRU (O2 Production) </li></ul><ul><li>Landing / Launch Pads </li></ul><ul><li>Blast Protection Berms </li></ul><ul><li>Electrical Cable Trenches </li></ul><ul><li>Utility Roads </li></ul><ul><li>Foundations / Leveling </li></ul><ul><li>Trenches for Habitat </li></ul><ul><li>Element Burial </li></ul><ul><li>Regolith Shielding </li></ul>Muller and King, STAIF 08
    26. 26. Concept for NASA Change outfit (and planet)
    27. 27. but astronauts time is expensive. solution? robotics!
    28. 28. Concept for Planetary Rover NASA Ames K-10 rover Final Concept: Auto operation <ul><li>80 kg </li></ul><ul><li>90 cm/s </li></ul><ul><li>40 kg payload </li></ul>
    29. 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. 30. <ul><li>Apollo method: drill, put a probe into the casing </li></ul><ul><li>A15: drill got ‘stuck’ and never managed to drill deep enough (2.4 m) </li></ul><ul><li>A16: astronaut tripped over the cables </li></ul><ul><li>A17: success but it was a tough work! </li></ul><ul><li>Drilling was a long and tough work!!! </li></ul>Other application: heat flow probe deployment
    31. 31. <ul><li>Percussive Unit </li></ul><ul><ul><li>The depth of 0.7 m in 10 – 180 seconds </li></ul></ul><ul><li>Application: </li></ul><ul><ul><li>Intentional Lunar Network </li></ul></ul>Percussive heat flow probe deployment
    32. 32. Example 3
    33. 33. Pneumatic Excavator and Transfer <ul><li>Venturi is used to mine diamonds or deepen rivers </li></ul><ul><li>Similar principles apply on the Moon or Mars: </li></ul><ul><ul><li>Inject gas into regolith and lift it up when the gas exchanges momentum with soil particles </li></ul></ul><ul><ul><li>OR constrain regolith and inject gas </li></ul></ul><ul><li>Efficiencies are 1:10,000! </li></ul><ul><li>Gas source: </li></ul><ul><ul><li>Residual propellant, </li></ul></ul><ul><ul><li>Astronauts exhaled CO2, </li></ul></ul><ul><ul><li>Propulsion Pressurized Gas: He </li></ul></ul>Gas in Gas in
    34. 34. Pneumatic excavator
    35. 35. Pneumatic Sample Return
    36. 36. What makes Honeybee Robotics successful?
    37. 37. innovation, diversity and leveraging of projects while maintaining strong client focus
    38. 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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