FOUO

1. Restore-L: Enabling a New Era Goddard Contractors Association Meeting February 8, 2019 Benjamin Reed Deputy Director Satellite Servicing Projects Division NASA’s Goddard Space Flight Center FOUO

2. Future Objectives Cooperative Fleet Maintenance and Upgrade Commercial Servicing Cooperative Observatory Servicing Legacy Fleet Maintenance Satellite Servicing Technologies Orbital Debris Mitigation Human Exploration In-orbit Assembly Planetary Defense

3. Satellite Servicing Technology Portfolio • tool drive system & tools • NASA Servicing Arm – 7 DoF • Robot Electronics Unit • Robot Flight Software relative navigation system Sensor suite (visible, infrared, lidar) Algorithms (range, bearing, pose) Rendezvous & proximity operations • robot system • Advanced Tool Drive System • Sophisticated servicing tools (gripper, blanket cutter, wire cutter, cap removal, & nozzle tool) and adapters • servicing avionics & software • SpaceCube processor • Video Distribution & Storage Unit • fluid transfer system • Propellant Transfer Assembly • Zero-g fluid flow meter • Hose management system • Cryogen and xenon transfer systems • cooperative servicing aids • Rendezvous decals • Cooperative Servicing Valve

4. Desired Applications Repair Inspection Manufacturing • Simple nudge/poke/pull/snip • External • Internal • Space Situational Awareness • Proximate / exquisite • Structural members / struts / truss • Robotic tools • Simple components • Thin film deposition • Contamination removal Relocation Replacement • Debris removal • Derelict satellite • Functional satellite • Orbit insertion / correction • Station keeping • Decommissioning • Mega constellation maintenance • S/C component • Instrument / payload Augmentation Mining • Leave behind package • Sample collection / manipulation • Prospecting • ISRU infrastructure Assembly • Persistent platform • Remote Sensing • Robotic facility • Outpost / Gateway • Construction • Maintenance • Observatory / Telescope • Solar Power Facility Sample Acquisition/ Return Refueling • Rapid Reconstitution of Capability • Chemical (Hypergolic), EP (Xenon), • Cryo, Pressurant • ECLSS commodity • Lunar • Mars • Comet • Asteroid

5. NASA Activities Human Exploration Technology ISS - Robotic External Leak Locator / Robotic Stowage ISS - Raven • Robotic Refueling Mission 3 • In-Space Manufacturing and Assembly Tipping Point Restore-L Science Lunar Gateway Power Propulsion Element Large Telescope Assembly (iSAT, FASST) Astrophysics Decadal Studies Planetary/NEO/Lunar Journey to Mars Reusable Lunar Lander

6. Raven Raven is an on-orbit testbed designed to mature relative navigation sensors & algorithm technologies • Raven tracks incoming visiting vehicles to the International Space Station (ISS) • Launched on a Space-XDragon (CRS-10) in February, 2017 ELC-1/STP-H5 ISS

7. Raven On-Orbit Operations To Date • SpaceX Dragon (CRS-10) (depart): 3/19/17 • Orbital/ATK Cygnus (OA-7): 4/22/17 • SpaceX Dragon (CRS-11): 6/5/17 • Russian Progress (MS-06): 6/16/17 • Russian Soyuz (MS-05): 7/28/17 • SpaceX Dragon (CRS-12): 8/16/17 • Orbital/ATK Cygnus (OA-8): 11/14/17 • SpaceX Dragon (CRS-13): 12/16/17 • Russian Soyuz (MS-07): 12/19/17 • Russian Soyuz (MS-08): 03/23/18 • SpaceX Dragon (CRS-14): 04/04/18 • Orbital/ATK Cygnus (OA-9): 05/24/2018 • Russian Soyuz (MS-09): 06/08/2018 • SpaceX Dragon (CRS-15): 07/02/2018 • Russian Progress (MS-06): 07/10/2018 • JAXA H-II Transfer Vehicle (HTV7): 09/27/18 • NG Cygnus (NG-10): 11/19/2018 Cygnus HTV Dragon Progress Soyuz

8. Robotic Refueling Mission: Phase 1 & 2 Overview RRM launched 2011 and 2013, and tested tools, technologies and techniques to refuel and repair satellites in orbit – especially satellites not designed to be serviced Tertiary Cap Wire Cutting Tertiary Cap Removal Safety Cap Removal Actuation Nut Wire Cutting Nozzle Tool Release from Quick Disconnect Nozzle Tool Connection

9. Robotic Refueling Mission 3 (RRM3) RRM3 will demonstrate the transfer of cryogenic fluid in orbit. The ability to replenish this critical consumable is important for maintaining satellites and for enabling long duration space travel to destinations like the Moon and Mars. Visual Inspection Poseable Invertebrate Robot 2 (VIPIR2) Fluid Transfer Module (FTM) Multi-Function Tool 2 (MFT2) Cryogen Servicing Tool CST)

10. RRM3 Launched to Station on December 5, 2018

11. Restore-L • Demonstrate national satellite servicing capabilities • Advance essential technologies for NASA and national goals • Kick-start a new U.S. commercial servicing industry, establishing best practices Technology Infusion to U.S. Government and Transfer to Industry Autonomous Rendezvous, Inspection Telerobotic Refuel & Relocate Autonomous Capture

12. Mission Overview Landsat-7 Client (USGS Ops) Servicing Payload (GSFC Build) Restore-L Servicing Vehicle (GSFC I&T, Ops) Restore-L will demonstrate – Autonomous rendezvous and inspection – Autonomous capture of client satellite – Tele-operated robotic servicing – Refueling of client satellite – Relocation of client satellite – Release and safely depart from client – ’Best Practices’ for safe servicing operations Spacecraft Bus (SSL Build)

13. Mission Phases and Architecture GPS TDRS Landsat 7 705 km 4a D 4b 5 L7 Disposal/ Servicing Orbit ~697 km Restore-L 3 2 ~677 km TDRS Comm 6 1 Falcon 9 or Atlas V Landsat 7 MOC Restore MOC Ground Comm

14. Relocation ΔV2 Final orbit Transfer trajectory Initial orbit Not to scale ΔV1 • Duration: ~1 Day • Restore-L executes maneuvers in stacked configuration to demonstrate a change to client’s orbit altitude and/or plane • Maneuvers designed to achieve one or more of the following (USGS will determine final plan after servicing complete) • Modify Orbit Semi-Major Axis (SMA) • Modify Orbit Inclination • Modify Mean Local Time at Descending Node Drift Rate • After relocation maneuvers are complete, robot performs final inspection of fluid drain valve worksite • When completed, Landsat 7 is ready for release

15. Technology Transfer Enables Robust Servicing Market FIRST GENERATION (~2018) SECOND GENERATION (~2020) Domestic Industry Rendezvous and Proximity Operations High Speed Computing Company Y Company Z Company X Company X Company Z Technology Transfer Company W Company U Company V Company X Dexterous Robotics Competitive Market Technology Infusion Fluid Transfer U.S. Fleet Servicing Human Exploration (Moon & Mars) In-orbit Assembly Orbital Debris Mitigation Planetary Defense Specialized Tools Observatory Upgrade Non-recurring Engineering Standards Development Application of Developed Technology

16. Cooperative Servicing Aids Cooperative servicing aids are elements to new architectures, programs and projects which can help make satellites more easily serviceable. Products that make it possible • Photos • Decals • Robotic Interfaces (valves, fixtures, connectors) • ORUs designed for replacement • Sub-assemblies and components built for in-space assembly Why You Should Make Your Satellite Serviceable • It enhances resilience • It allows for continued innovation and improvements (e.g. Hubble) • It’s easy • It’s cost-effective • The technology is ready • Your competition won’t wait

17. Serviceability Is a Spectrum EVA Aids EVR Aids Grapple Fixtures Electrical Expansion Ports (Test ports and spare services routed here) Mechanical Fittings Docking features Berthing features Appendages accommodate servicing loads Berthing Fiducials Grapple Features Grapple Fiducials Capture ACS Mode (Free Drift) Marman Ring Documentation, Photos, CAD Servicing Power Mode Coolant Interface Heat Exchange Interface Electrical Blind Mate Connector Mechanical Latch Alignment Guide Grasp Feature and Fiducial Captive Fasteners Design to accommodate Ground Accessibility High Pin Count/ Data Rate Blind Mate connectors Coolant Interface Heat exchange Interface Mechanical Latch Precision Alignment Guide Grasp Feature and Fiducial Captive Fasteners Design to accommodate Ground Accessibility RF Crosslink Onboard Navigation Laser Reflectors Rendezvous ACS Mode (Inertial hold) IR Fiducials Visual Fiducials Reflective Tape Documentation, Photos, CAD Remote Survey & Rendezvous Capture & Relocate Redesigned Fluid System Cooperative Fluid Port Extra Pressurant Fill Drain Valve Assy Thermal Design Robot-Friendly FDV Closeout Documentation, Photos, CAD Refuel & Replenish Replace (Bus Module) Replace (Instrument Module) Repair & Augment High Level of Effort Low

18. Establishing Standards – Paving the Way to the Future • By executing the first-of-its-kind satellite servicing mission thoughtfully and responsibly, NASA aims to establish standards and a global precedent for future servicing activities in space. • NASA provides subject matter expertise to Consortium for Execution of Rendezvous and Servicing Operations (CONFERS) which brings together government and industry to research and develop consensus-derived technical and operations standards for servicing and rendezvous and proximity operations.  • These standards would provide the foundation for a new commercial repertoire of robust space-based capabilities and a future in-space economy. Credit: CONFERS

19. Enabling a New Era 1970s Active Satellites: < 140 2018 Active Satellites:~1,400 2058 Active Satellites: ~14,000 ? 19

20. https://sspd.gsfc.nasa.gov/ @NASA.Satellite.Servicing @NASA_SatServ