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AI-In-Orbit-Factory - AI approaches for adaptive robotic in-orbit manufacturing of modular satellites

Kempf, Florian and Mühlbauer, Maximilian Sebastian and Dasbach, Thomas and Leutert, Florian and Hulin, Thomas and Radhakrishna Balachandran, Ribin and Wende, Martin and Anderl, Reiner and Schilling, Klaus and Albu-Schäffer, Alin Olimpiu (2021) AI-In-Orbit-Factory - AI approaches for adaptive robotic in-orbit manufacturing of modular satellites. In: Proceedings of the International Astronautical Congress, IAC. International Astronautical Congress (IAC), 2021-10-25 - 2021-10-29, Dubai, United Arab Emirates. ISSN 0074-1795.

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Official URL: https://dl.iafastro.directory/event/IAC-2021/paper/64264/


Ongoing advances in modular satellite architectures, coupled with improvements in adaptive manufacturing processes are paving the way for innovations in manufacturing in space and, beyond that, even on-orbit servicing. Current challenges for in-orbit manufacturing of satellites include, in particular, highly reliable, precise and adaptive manufacturing and inspection processes, teleoperation methods to resolve unexpected problems from Earth, and means for a digital representation of all relevant activities and conditions to maintain full control. Each challenge is addressed in the project AI-In-Orbit-Factory with various of AI methods. For the necessary digital representation of the in-orbit factory and all ongoing processes a knowledge-based approach and digital-twin methodology is used, which enables adaptive, flexible and understandable manufacturing processes. Especially the complex information flow between different manufacturing machines, digital process twins that orchestrate the production process and digital twins of satellites in production can be described. Furthermore, conflicts and possible error sources can be identified through inference. Utilizing the aforementioned knowledge base and standardized modular components the composition of a mission specific satellite is automatically planned based on the desired mission requirements. With the help of a robotic manipulator each module is optically inspected for production errors using a high-resolution camera and reference images, before they are integrated into the satellite structure. Once integrated, the submodules undergo optimized testing and anomaly detection routines with learned nominal subsystem behaviour models as input. Additionally, each manipulation step is supervised using force-feedback and vision-based anomaly detectors. For cases where automated assembly fails, a bilateral teleoperation system with force feedback is developed. In order to increase precision during teleoperated assembly and reduce mental and physical load, the human operator is assisted by adaptive virtual fixtures (haptic constraints). Adaptive fixtures are learned from both demonstration and simulation and parametrized depending on the manipulation phase, providing coarse to fine-grained support throughout approaching, positioning and haptic manipulation phases. An arbitration component detects the current manipulation phase to select the appropriate supporting fixture and ensure smooth transitions. This paper outlines the AI methods and our approach to reliable and adaptive in-orbit manufacturing and presents first results.

Item URL in elib:https://elib.dlr.de/144939/
Document Type:Conference or Workshop Item (Speech)
Title:AI-In-Orbit-Factory - AI approaches for adaptive robotic in-orbit manufacturing of modular satellites
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mühlbauer, Maximilian SebastianUNSPECIFIEDhttps://orcid.org/0000-0002-7635-0248UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Radhakrishna Balachandran, RibinUNSPECIFIEDhttps://orcid.org/0000-0002-7560-471XUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115873
Date:25 October 2021
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:digital twin, AIT, teleoperation, AI, robotic manufacturing
Event Title:International Astronautical Congress (IAC)
Event Location:Dubai, United Arab Emirates
Event Type:international Conference
Event Start Date:25 October 2021
Event End Date:29 October 2021
Organizer:International Astronautical Federation (IAF)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO], R - Telerobotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Hulin, Dr. Thomas
Deposited On:15 Nov 2021 08:53
Last Modified:24 Apr 2024 20:44

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