PRE2018 4 Group9

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Group members

Member ID number
Rob de Mooij 1017797
Ilja van Oort 1001232
Sara Tjon 1247050
Thomas Pilaet 0999458
Joris Zandeberge 1231962

Problem statement

The amount of collisions between satellites and space debris increases exponentially, due to the growing amount of space debris.
Chance that a satellite collides with a piece of debris bigger than 1 cm in a year:
2007: 17-20%, 2010: 50%
Consequences: no internet, no gps, costs a lot of money, space travel may become more difficult/impossible

Objectives

  • Analyzing the available methods to remove space debris
  • Find methods on how to prevent new space debris (governance)
  • Further develop a promising method


Users and their requirements

Users:

  • Satellite owners (governments, space associations)

Requirements:

  • re-usable
  • quick to implement
  • hard to abuse
  • versatile (for both smaller and larger debris)
  • autonomous
  • durable
  • affordable


Approach, milestone and deliverables

Approach:
Reading papers to get a good picture of the current problem and the state-of-the-art technology
Analyzing and comparing possible methods for space debris removal by looking at their pros and cons
Further development of a (combination of) promising technique(s) with a model or prototype.

Milestones:
Week 2: Determined subject; defined plan
Week 3: Find state of the art methods; finished literature search
Week 4: Determine promising method(s)
Week 5: Basic model
Week 6: Final model
Week 7: Results model, implement model in USE, finalized wiki
Week 8: Presentation

Deliverables

  • Wiki page
  • Presentation
  • Model/prototype

Who is doing what?

What Who
Literature study All
Literature analysis All
Modelling Rob/Ilja/Sara
Prototyping Rob/Ilja/Sara
Updating wiki All
Implementation USE Joris/Thomas
Visualizing data/results Joris/Thomas
Presentation Joris/Thomas

Summary 25 scientific articles

  • Dubanchet, V., Saussié, D., Alazard, D., Bérard, C., & Peuvédic, C. Le. (2015). Modeling and control of a space robot for active debris removal. CEAS Space Journal, 7(2), 203–218. https://doi.org/10.1007/s12567-015-0082-4

This paper focusses on the technical aspects of using a robotic arm on a ‘chaser’ satellite to capture large debris. This approach is considered to be the most realistic to actually be employed in the upcoming years. In the introduction, several efforts in achieving the modeling and control of such a system (in space) are outlined. In the second section, the main issues in achieving this are described. In the third and fourth section, an algorithm used to model and simulate the dynamics of this satellite and the method of controlling it are described. The resulting system is then simulated using Matlab (the code is provided in the paper).

  • Flegel, S., Krisko, P., Gelhaus, J., Wiedemann, C., Möckel, M., Vörsmann, P., … Matney, M. (2010). Modeling the Space Debris Environment with MASTER2009 and ORDEM2010. Proceedings of the 38th COSPAR Scientific Assembly, (January).

This paper describes and compares two software tools (MASTER-2009 and ORDEM2010 developed by ESA and NASA respectively) used to describe debris orbiting the earth. The main goal of these tools is to estimate the object flux onto a specified target object and is therefore useful in achieving safe space travel. In MASTER, debris is simulated based on lists of known historical events responsible for scattering debris in earth’s orbit. Results are also validated using historical telescope/radar data. ORDEM is designed to reliably estimate orbital debris flux on spacecraft using telescope or radar fields-of-view. Therefore, both programs make heavy use of empirical data for their predictions. Results of the program deviate particularly in debris with a size of 1 mm to 1 cm. These bits of debris are particularly difficult to model, as the amount of measurement data is very small. Reasons for the deviation of the results for these small debris are described in the paper.

  • Klinkrad, H. (2006). Space debris : models and risk analysis. Springer.

This book extensively covers space debris in general and describes the technical aspects of this debris in detail. In chapters 2 to 6, it is outlined how the space debris environment can be characterized and modelled using measurement data. Furthermore, it is explained how the future of space debris orbiting earth can be predicted and how this could be influenced by mitigation measures. Chapters 7 to 9 describe aspects of risk assessment and prevention within on-orbit shielding, collision avoidance and re-entry risk management. Chapter 10 gives an overview of the risks associated with natural meteoroids and meteorites. Lastly, chapter 11 overviews the importance of space debris research and international policy and standardization issues.
Understanding the causes and controlling its sources is essential to allow for safe space flight in the future. This can only be achieved through international cooperation. This has been done through international information exchange and international cooperation at a technical level. Furthermore, steps have already been taken in establishing space debris mitigation standards, guidelines, codes of conduct and policies by several space agencies, governmental bodies and international space operators.

In order for a ‘chaser’ (spacecraft capable of removing space debris) to properly navigate towards its target, it must be able to estimate the pose and motion of the target. In the introduction, several works addressing this problem are outlined. This paper presents a method to estimate the relative position, linear and angular velocity and the attitude of space debris using vision measurements (using stereo cameras). In order to estimate the relative states between spacecraft, the Multiplicative Extended Kalman Filter and Unscented Kalman Filter were applied. The methodology is described by first outlining the coordinate systems used. Afterwards, the estimation algorithm is described (in which a set of feature points tracked by a stereo camera are key). Then, the described algorithms are validated using a simulation experiment. This paper could be very interesting for our model. Perhaps we could translate the presented algorithm into a script and further build on it.

  • Colmenarejo, P., Avilés, M., & di Sotto, E. (2015). Active debris removal GNC challenges over design and required ground validation. CEAS Space Journal, 7(2), 187–201. https://doi.org/10.1007/s12567-015-0088-y

In this paper, proposed techniques for active debris removal (ADR) are categorized as follows:
- Contactless techniques (e.g. an ion beam), which can mostly build on existing techniques as opposed to using new ones
- Techniques requiring rigid contact (e.g. through a robotic arm), in which de-orbiting can be achieved by directly transmitting a force/torque to the debris
- Techniques requiring non-rigid contact (e.g. using flexible tentacles), which can entail intricate dynamics
A list of the proposed techniques can be retrieved from table 1 in the paper. As of yet, the most technologically advanced methods are the use of a robotic arm and capture through a tethered net.
Additionally, the main operational phases of active debris removal are outlined:
1. Ground controlled phase: In this phase, the “chaser” is brought closer to the target, usually not autonomously.
2. Fine orbit synchronization phase: The chaser moves to the (approximate) orbit of the target, which can be autonomous or partially using ground support
3. Short range phase: the final (passive) approach toward the target. Challenges here (which we could also address) are:
- Necessity to determine debris angular velocity and shape using optical observation, which most likely requires image processing techniques
- Necessity to synchronize the chaser with the angular motion of the debris
- In case of contact, necessity to de-tumble/control the resulting composite satellite
4. Terminal approach/capture
5. De-orbiting
Clearly, the fourth and fifth phase are very specific to the technique chosen for debris removal. Furthermore, the following aspects are discussed in the paper in detail:
1. Terminal approach using visual-based navigation
2. Ground validation of guidance, navigation and control systems based on hardware-in-the-loop test facilities

Near-Earth orbits are becoming congested as a result of an increase in the number of objects in space—operational satellites as well as orbital space debris. The risk of collisions between satellites and space debris is also growing. Suggested concepts for active removal of space debris: small-debris collection, ground-based lasers, trash tenders, dual-use orbit transfer vehicles, space-based lasers, and space tethers. There are two separate areas of concentration: small-debris elimination and individual large-object collection.

Electro-dynamic tether (EDT) technology, a possible high efficiency orbital transfer system, could provide a possible means for lowering the orbits of objects without the need for propellant.

  • Ruggiero, A., Pergola, P., & Andrenucci, M. (2015). Small Electric Propulsion Platform for Active Space Debris Removal. IEEE Transactions on Plasma Science, 43(12), 4200–4209. https://doi.org/10.1109/TPS.2015.2491649

A deorbiting platform is in charge of approaching a target debris, bringing it to a lower altitude orbit and, in the case of a multiple target mission, releasing it and chasing a second one. Electric propulsion plays a key role in reducing the propellant mass consumption required for each maneuver and thus increasing the mass available to deorbit a relevant number of debris per mission.

Tethered Space Robots are a promising solution for the space debris problem. Kinematics and dynamics parameters of the debris are unknown and parts of the states are unmeasurable according to the specifics of tether, which is a tough problem for the target retrieval/de-orbiting. Models and simulations can be used to get proposed parameters and their expected performances.

The grasping and stabilization of a tumbling, non-cooperative target satellite by means of a free-flying robot is a challenging control problem. A novel method for computing robot trajectories for grasping a tumbling target is presented. The problem is solved as a motion planning problem with nonlinear optimization. The resulting solution includes a first maneuver of the Servicer satellite which carries the robot arm, taking account of typical satellite control inputs. An analysis of the characteristics of the motion of a grasping point on a tumbling body is used to motivate this grasping method, which is argued to be useful for grasping targets of larger size.

Space debris are a threat to operational spacecraft. Debris removal mission have been investigated by several space agencies to protect the satellites in the orbital environments. This costs a lot of money, but it has positive effect for all the satellites in the same orbital. A drawback is the agencies can all financially contribute to the debris removal or wait for others to do it. The risk of the latter is that the debris will be catastrophic. A game-theoretical analysis is presented where a realistic model of the orbit environment including all space objects are implemented. The experiments confirmed the predicted exponential growth of space debris near the Earth orbits. Active object removal are necessary.

Since the launch of Sputnik I, an orbital debris environment has been created which has a risk on the space systems, including human space flight and robotic missions. More than 9000 orbiting objects with a total mass larger than 5 milion kg are tracked by the U.S. Space Surveillance Network. Three collision have been occurred. There is a potential increase in Earth satellite population which results from the collisions of the space objects.

The current debris environment in the Low earth orbit (LEO) region is unstable and the collisions will become dominant in the future even without new launches. The collisions will happen between 900- and 1000 km over the next 200 years, which results in debris increase. Because undoubtedly new spacecraft will be launched in the future, the situation is even worse.

(http://www.sciencedirect.com/science/article/pii/S0094576511001287 )

The removal of 5 to 10 objects per year from the LEO can prevent the debris collisions from cascading. There are three oribtal regions near the Earth where the collision occur and the sun-synchronous condition is the one we should target for debris removal. For this removal, a space mission has been designed with the goal to remove 5 rockets per year from this orbital environment. This space mission includes the launch of a satellite which contains de-oribitng devices. This satellite chooses an objects and grabs it with a robotic arm. A second arm puts a de-orbiting device to the object. Then the next target can be done. An active debris removal mission can de-orbit 35 large objects in 7 years and the mass budget is compatible.

  • Shin-Ichiro Nishida, Satomi Kawamoto, (2011). Strategy for capturing of a tumbling space debris,Pages 113-120,ISSN 0094-5765,

https://doi.org/10.1016/j.actaastro.2010.06.045 . (http://www.sciencedirect.com/science/article/pii/S0094576510002365 )

The capture of space debris objects are not favorable, because tracking errors lead to loaindg and momentum transfer occur during the capturing. Because the exact mass and inertial characteristics of the target are unknown due to unavailability or damage, it is harder to use the capture arm to capture the object. A “joint virtual depth control”algorithm for a force controlled robot arm control is used which tries to stop the rotation of the target with a brush type contactor. As a result, a new active space debris removal system is becoming more achievable.

  • Vladimir Aslanov, Vadim Yudintsev, (2013). Dynamics of large space debris removal using tethered space tug, Pages 149-156, ISSN 0094-5765,

https://doi.org/10.1016/j.actaastro.2013.05.020 . (http://www.sciencedirect.com/science/article/pii/S0094576513001811 )

Tethered systems are promising technology to reduce the space debris. This is possible in different ways: through momentum transfer or electrodynamic effects. Another way is using a tethered space tug which is attached to the space debris. Large space debris can cause a loss of control of the tethered space tug, so the problem of the removal of this large space debris is studied. The transportation system consists of a space debris and a space tug which are connected by the tether. The properties of this system on the motion of the system are studied, which includes the moments of inertia, the length and properties of tether, thruster force and initial condition of motion. The transportation process is possible when the space tug force is in de same direction as the tether and the tether is tensioned. There is minimal height of safe transportation below which the space tug can come into collision with the space debris.

  • Nishida, S., & Yoshikawa, T. (2007). Capture and motion braking of space debris by a space robot. 2007 International Conference on Control, Automation and Systems. doi:10.1109/iccas.2007.4406990

(https://ieeexplore.ieee.org/document/4406990)

Space debris objects are generally tumbling in orbit, and so capturing and braking them involves complicated dynamical interactions between the object, the so-called "servicer" spacecraft, and its robot arm, with the possibility of strong loading occurring during the procedure. In this paper, a space debris capture strategy is described which proposes the application of joint virtual depth control to the capture robot arm. We present the results of simulations and experiments that confirm the feasibility of this technique.

  • Nguyen-Huynh, T. C., & Sharf, I. (2013). Adaptive Reactionless Motion and Parameter Identification in Postcapture of Space Debris. Journal of Guidance, Control, and Dynamics, 36(2), 404-414. doi:10.2514/1.57856

(https://arc.aiaa.org/doi/10.2514/1.57856)

This paper presents a new control scheme for the problem of a space manipulator after capturing an unknown target, such as space debris. The changes in the dynamics parameters of the system, as a result of capturing an unknown target, must be accommodated because they may lead to poor performance of the trajectory control and attitude stabilization system. To address this issue in the postcapture scenario, the adaptive reactionless control algorithm to produce the arm motions with minimum disturbance to the base is proposed in this study. In addition, the online momentum-based estimation method is developed for inertia-parameter identification after the space manipulator grasps an unknown tumbling target with unknown angular momentum. This control scheme is intended for use in the transition phase from the instant of capture until the unknown parameters are identified and/or the available stabilization methods can be applied properly. To verify the validity and feasibility of the proposed concept, MSC.Adams simulation platform is employed to implement a planar base–manipulator–target model and the three-dimensional model of the Engineering Test Satellite VII system. The numerical results show that the space manipulator is able to perform reactionless motion while the inertial parameters converge to their real values.

  • Kessler, D. J., & Cour-Palais, B. G. (1980). Collision Frequency of Artificial Satellites: Creation of a Debris Belt. Space Systems and Their Interactions with Earth's Space Environment, 707-736. doi:10.2514/5.9781600865459.0707.0736

(https://agupubs.onlinelibrary.wiley.com/doi/abs/10.1029/JA083iA06p02637)

As the number of artificial satellites in earth orbit increases, the probability of collisions between satellites also increases. Satellite collisions would produce orbiting fragments, each of which would increase the probability of further collisions, leading to the growth of a belt of debris around the earth. This process parallels certain theories concerning the growth of the asteroid belt. The debris flux in such an earth‐orbiting belt could exceed the natural meteoroid flux, affecting future spacecraft designs. A mathematical model was used to predict the rate at which such a belt might form. Under certain conditions the belt could begin to form within this century and could be a significant problem during the next century. The possibility that numerous unobserved fragments already exist from spacecraft explosions would decrease this time interval. However, early implementation of specialized launch constraints and operational procedures could significantly delay the formation of the belt.

  • Bennet, F., Conan, R., D’Orgeville, C., Murray, M., Paulin, N., Price, I., Rigaut, F., Ritchie, I., Smith, C., and Uhlendorf, K., “Adaptive optics for laser space debris removal”, in [SPIE Astronomical Telescopes+ Instrumentation], 844744–844744, International Society for Optics and Photonics (2012).

(https://www.researchgate.net/publication/258719228_Adaptive_Optics_For_Laser_Space_Debris_Removal)

Space debris in low Earth orbit below 1500km is becoming an increasing threat to satellites and spacecrafts. Radar and laser tracking are currently used to monitor the orbits of thousands of space debris and active satellites are able to use this information to manoeuvre out of the way of a predicted collision. However, many satellites are not able to manoeuvre and debris-on debris collisions are becoming a signicant contributor to the growing space debris population. The removal of the space debris from orbit is the preferred and more denitive solution. Space debris removal may be achieved through laser ablation, whereby a high power laser corrected with an adaptive optics system could, in theory, allow ablation of the debris surface and so impart a remote thrust on the targeted object. The goal of this is to avoid collisions between space debris to prevent an exponential increase in the number of space debris objects. We are developing an experiment to demonstrate the feasibility of laser ablation for space debris removal. This laser ablation demonstrator utilises a pulsed sodium laser to probe the atmosphere ahead of the space debris and the sun re ection of the space debris is used to provide atmospheric tip{tilt information. A deformable mirror is then shaped to correct an infrared laser beam on the uplink path to the debris. We present here the design and the expected performance of the system.

  • Bradley, A. M., & Wein, L. M. (2009). Space debris: Assessing risk and responsibility. Advances in Space Research, 43(9), 1372-1390. doi:10.1016/j.asr.2009.02.006

(https://www.researchgate.net/publication/222563620_Space_debris_Assessing_risk_and_responsibility)

We model the orbital debris environment by a set of differential equations with parameter values that capture many of the complexities of existing three-dimensional simulation models. We compute the probability that a spacecraft gets destroyed in a collision during its operational lifetime, and then define the sustainable risk level as the maximum of this probability over all future time. Focusing on the 900- to 1000-km altitude region, which is the most congested portion of low Earth orbit, we find that – despite the initial rise in the level of fragments – the sustainable risk remains below 10-3 if there is high (>98%) compliance to the existing 25-year postmission deorbiting guideline. We quantify the damage (via the number of future destroyed operational spacecraft) generated by past and future space activities. We estimate that the 2007 FengYun 1C antisatellite weapon test represents ≈1% of the legacy damage due to space objects having a characteristic size of ⩾10 cm, and causes the same damage as failing to deorbit 2.6 spacecraft after their operational life. Although the political and economic issues are daunting, these damage estimates can be used to help determine one-time legacy fees and fees on future activities (including deorbit noncompliance), which can deter future debris generation, compensate operational spacecraft that are destroyed in future collisions, and partially fund research and development into space debris mitigation technologies. Our results need to be confirmed with a high-fidelity three-dimensional model before they can provide the basis for any major decisions made by the space community.

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