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Jongwoon Yoo, In-Won Park, Vinh To, Jason QH Lum, and Trey Smith. In IEEE Int. Symp. Systems Eng. (ISSE), pp. 198–201, 2015.
This paper introduces NASA’s new free-flyingrobot, Astrobee, especially focusing on its avionics and perch-ing subsystems. Astrobee is a cube-shaped autonomous robotdesigned for various missions on the International Space Station(ISS). Its major goal is to offload routine and repetitive workfrom the ISS crews and assist their science activities. Astrobee isalso designed for scientists to use it as a micro-gravity roboticsresearch platform. It can host various science equipment andsoftware, allowing scientists to conduct their experiments usingAstrobees on the ISS. The robot has a small compliant, detachablearm with a griper so that it can perch on the ISS wall to supportlong duration tasks. This arm will grasp ISS handrails to holdits position without using propulsion or navigation subsystemsto minimize power consumption. Due to its special missionsand operating environment, Astrobee has a set of unique designrequirements. This paper gives an overview of Astrobee and thedetails of its avionics and perching subsystems with distinctivedesign challenges. We also present the trade studies that wehave conducted to decide the critical hardware and softwarecomponents for the avionics
@InProceedings{yoo15:astrobee_avionics_perching,
author = {Jongwoon Yoo and In-Won Park and Vinh To and Jason QH Lum and Trey Smith},
title = {Avionics and perching systems of free-flying robots for the {International Space Station}},
booktitle = {IEEE Int. Symp. Systems Eng. (ISSE)},
year = 2015,
pages = {198--201},
robot, Astrobee, especially focusing on its avionics and perch-
ing subsystems. Astrobee is a cube-shaped autonomous robot
designed for various missions on the International Space Station
(ISS). Its major goal is to offload routine and repetitive work
from the ISS crews and assist their science activities. Astrobee is
also designed for scientists to use it as a micro-gravity robotics
research platform. It can host various science equipment and
software, allowing scientists to conduct their experiments using
Astrobees on the ISS. The robot has a small compliant, detachable
arm with a griper so that it can perch on the ISS wall to support
long duration tasks. This arm will grasp ISS handrails to hold
its position without using propulsion or navigation subsystems
to minimize power consumption. Due to its special missions
and operating environment, Astrobee has a set of unique design
requirements. This paper gives an overview of Astrobee and the
details of its avionics and perching subsystems with distinctive
design challenges. We also present the trade studies that we
have conducted to decide the critical hardware and software
components for the avionics},
}
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