The document discusses SmartSPHERES, which are free-flying robots used on the International Space Station. SmartSPHERES were originally developed at MIT with DARPA funding as testbeds for satellite and free-flying control algorithms. They have been installed on the ISS since 2006. The document describes how SmartSPHERES are being upgraded with smartphone technology to add cameras, sensors, and WiFi capability. It outlines candidate use cases for SmartSPHERES like interior surveys, ground control telepresence, and inventory management. Schematics and photos show how the smartphones are being modified and certified to fly safely on the ISS.

1. NATIONAL AERONAUTICS AND SPACE ADMINISTRATION
SmartSPHERES:
Free Flying Robots
On the International Space Station
Vytas SunSpiral
Intelligent Robotics Group
NASA Ames Research Center
3/22/2012

2. The Inspiration
ARC Intelligent Robotics Group 2

3. Free-Flier Candidate Use Cases
Interior Surveys
• Sound
• Radiation / CO2
• Lighting
Ground Control Telepresence
• Situational Awareness
• Crew Assistance
• Emergencies
Human Exploration Telerobotics (HET) 3

4. Free-Flier Candidate Use Cases
Inventory Management
Human Exploration Telerobotics (HET) 4

5. The Real Inspiration!
Can we
Build a
Jedi
Training
Ball?
ARC Intelligent Robotics Group 5

6. SPHERES are a starting point
ARC Intelligent Robotics Group 6

7. ARC Intelligent Robotics Group 7

8. SmartSPHERES
Human Exploration Telerobotics (HET) 8

9. Why SmartPhones?
• *Very* Robust and power efficient
• Camera, Accelerometer, Gyroscopes, Wifi, and other sensors
are all basic needs for robotics
• Millions of $$ spent on development and sensor integration
• Large open-source developer community
• Easy to upgrade
• Accessible to students
• Built in UI
???
Human Exploration Telerobotics (HET) 9

10. Ground Control Telepresence
TDRS
(Ku & S bands) ISS Ops LAN
Station
computer
Wi-Fi
(802.11g)
Human Exploration Telerobotics (HET) 10

11. Ground Control UI Prototype
Human Exploration Telerobotics (HET) 11

12. ARC Intelligent Robotics Group 12

13. Moving Beyond the Beacons
SPHERES 1.5
•Avionics upgrade
• Vision and Sensor based
navigation, independent from
beacons
SPHERES 2.0 (Astrobot)
•New propulsion system to
extend travel travel throughout
ISS.
ARC Intelligent Robotics Group 13

14. IRG
Intelligent Robotics Group
Intelligent Systems Division
NASA Ames Research Center
irg.arc.nasa.gov
Copyright © 2010

15. BACKUP SLIDES
ARC Intelligent Robotics Group 15

16. SPHERES
Synchronized Position Hold Engage
Reorient Experimental Satellites
(SPHERES)
• IVA free-flyers developed at MIT
with DARPA funding
 22 cm across, 4 kg
 Cold-gas thruster propulsion
 Sonar beacon localization
 Powered by 16 AA batteries
• Testbed for distributed satellite &
free-flying control algorithms
• Installed on ISS in 2006
• Twenty-three test sessions to date
• Flight ops and sustaining NASA SPHERES
• Program Executive: J. Crusan (HQ - SOMD)
engineering at ARC since 2010
• Program Manager: B. Yost (ARC - R)
• Project Manager: B. Yost (acting)
• Operations Lead: S. Ormsby (ARC - PX)
• Engineering Lead: G. Dorais (ARC - TI)
Human Exploration Telerobotics (HET) 16

17. SPHERES: Candidate Use Cases
Procedure Verification / Task Support
Human Exploration Telerobotics (HET) 17

18. SPHERES: Candidate Use Cases
Experiment Monitoring
Human Exploration Telerobotics (HET) 18

19. SPHERES
Three SPHERES free-flyers have been on ISS since 2006. HET adding “Smartphone” (fast CPU, camera, Wi-Fi)
Testbed for DARPA & NASA. Ops managed by ARC. Manifested on STS-135 (ULF-7).
SPHERES testbed at ARC Hardware modifications for ISS certification.
(“Granite Lab” in N269) Left: GSM chip removed. Right: AA external batteries
Human Exploration Telerobotics (HET) 19

20. Smartphone Flight Certification
• Modified phone to address safety concerns
• Batteries, removed GSM chip, tape to contain glass
• Completed Payload Safety Review Panel Phase 0
• Drafted crew and test procedures
• In contact with Payload Display Review Team and IDAGS
Human Exploration Telerobotics (HET) 20

21. Flight Certification Schedule
PSRP MPLM Cargo
Phase 1/2 PSRP Phase 3 Review Launch on STS-135
3/22 4/11 5/4 6/28
3/16 3/21-3/23 3/25 4/20
Assemble flight Thermal, EMI Hardware to KSC
phones pressure, testing at
loads testing at Met Labs
Ames
3/21-25
Off-gas test at White Sands
Human Exploration Telerobotics (HET) 21