10th Workshop on Advanced Space Technologies for Robotics and Automation – ASTRA 2008

ASTRA 2008 Programme

Day 1 - 11 November 2008

Session 1

Status and Outlook in Programmes and R&D

09:15

ESA Automation and Robotics R&D Overview Visentin, G.

ESA (Netherlands)

09:40

Paper

Eurobot and Exploration Robotics Schoonejans, P.

ESA (Netherlands)

10:05

Paper

Exploration Activities at the Canadian Space Agency

Piedboeuf, J.C.; Berinstain, A.; Kendall, D.; Leclerc, G.

Canadian Space Agency (Canada)

10:30

ESA Robotic Science Missions Overview Falkner, P.

ESA (Netherlands)

10:55

Coffee break

Session 2

Robotics in Human Exploration

11:20

Paper

Analysing Human-Agent Teamwork

Fisher, M.1; Bordini, R.H.2; Sierhuis, M.3

1University of Liverpool (United Kingdom); 2University of Durham (United Kingdom); 3RIACS (NASA

Ames) (United States)

11:45

Paper

Human-Robot Collaboration in a Planetary Settlement Setup: Collaborative Work, Interactions Design and Human Factors

Gancet, J.1; Weiss, A.2; Tscheligi, M.2; Ilzkovitz, M.1; Aked, R.1

1Space Applications Services (Belgium); 2University of Salzburg (Austria)

12:10

Paper

Centaur-type Service Robot Technology Assessment for Astronaut Assistant Development

Heikkilä, S.1; Didot, F.2; Halme, A.1

1Helsinki University of Technology (Finland); 2European Space Agency (Netherlands)

12:35

Paper

Multiple-ATV Scale Lunar Mobility - Operational Concept Study

Farhat, M.; Radziszewski, P.; Dupuis, E.; Allard, P.; Lamarche, T.

Canadian Space Agency (Canada)

13:00

Lunch

Session 3

ExoMars I

14:00

Overview of the ExoMars Rover Mission Elfving, A.

ESA

14:25

Paper

Lesson Learned from ExoMars Locomotion System Test Campaign

Michaud, S.1; Hoepflinger, M.2; Lee, C.3; Thueer, T.2; Krebs, A.2; Despont, B.1; Gibbesch, A.4

1Oerlikon Space AG (Switzerland); 2Swiss Federal Institute of Technologies, Zurich (Switzerland);

3von Hoerner & Sulger GmbH (Germany); 4DLR Institute of Robotics and Mechatronics (Germany)

14:50

Paper

Description of the Locomotion Control Architecture on the ExoMars Rover Breadboard

Höpflinger, M.1; Pradalier, C.2; Thueer, T.2; Siegwart, R.2; Krebs, A.1

1Federal Institute of Technology Zurich (Switzerland); 2Swiss Federal Institute of Technology

(Switzerland)

15:15

Paper

ExoMars Multi Rod Drill Development and Testing

Re, E.1; Magnani, P.1; Rizzi, F.1; Del Campo, F.2; Bahillo, J.C.2; Finotello, R.3; Ferrario, R.3 1Selex Galileo (Italy); 2SENER (Spain); 3Tecnomare (Italy)

15:40

Paper

Recent Progress in Designing the Sample Preparation and Distribution System of the ExoMars Mission Hofmann, P.; Schulte, W.; Christoph, W.; von Heise-Rotenburg, R.

Kayser-Threde GmbH (Germany)

16:05

Coffee break

Session 4

ExoMars II

16:45

Paper

ExoMars Rover Operation Control Centre Design Concept and Simulations Trucco, R.1; Trichilo, M.1; Martino, M.1; Franceschetti, P.2; Joudrier, L.3

1ALTEC S.p.A. (Italy); 2Thales Alenia Space Italia (Italy); 3ESA/ESTEC (France)

17:10

Paper

Surface Operation Requirements for the ExoMars Rover Vehicle Instrument Deployment Arm (IDA) Barnes, D.; Tyler, L.

Aberystwyth University (United Kingdom)

17:35

Paper

ExoMars PanCam Field Test Report from the Arctic Mars Analogue Svalbard Expedition (AMASE) 2008 Schmitz, N.1; Griffiths, A.2; Barnes, D.3; Coates, A.2; Michaelis, H.1; Jaumann, R.1; Hauber, E.1; Trauthan, F.1

1German Aerospace Center, Institute of Planetary Research (Germany); 2Mullard Space Science Laboratory, University College London (United Kingdom); 3Space Robotics Group, Aberystwyth University (United Kingdom)

18:00

End of day 1

 

Day 2 - 12 November 2008

 

 

Session 5

Aerial Robotics

Session 6

Navigation and Localization

08:50

Paper

Long Endurance Solar Airplanes - The

Scaling Problems of Solar

Noth, A.; Engel, W.; Siegwart, R.

ETH Zurich (Switzerland)

Paper

Visual Odometry for Autonomous Localization on Mars

Souvannavong, F.1; Lemaréchal, C.1; Remetean, E.2;

Rastel, L.2; Maurette, M.2

1Magellium (France); 2Centre National d'Etudes Spatiales (France)

09:15

Paper

ARMADA: Autorotation for Martian Descent and Landing

Graziano, M.1; Peters, T.1; Cadenas, R.1;

Modenini, D.2; Tortora, P.3; Kervendal, E.4;

Saggiani, G.M.2; Kohler, J.5

1GMV (Spain); 2University of Bologna

(Italy); 3University of Bologna (Iceland);

4EADS-Astrium (France); 5ESTEC

(Netherlands)

Paper

IARES Rover and One of its Localization Methods : The

Cinemometer Method for Odometry Application

Pol, S.1; Benain, A.2; Llibre, M.3; Lambert, C.3;

Maurette, M.1; Rastel, L.1

1CNES (France); 2Magellium (France); 3ONERA (France)

09:40

Paper

Auto-Rotation and its Application to Descent and Landing on Mars

Lutz, T.1; Noeding, P.1; Westerholt, U.1;

Ransom, S.2

1ASTRIUM Space Transportation (Germany);

2SRC (Germany)

Paper

Landmarks Constellation Based Position Estimation for

Spacecraft Pinpoint Landing

Pham, B.V.1; Lacroix, S.1; Devy, M.1; Phillipe, C.2; Reynaud, S.3; Devouassoux, Y.3

1LAAS-CNRS (France); 2ESA (Netherlands); 3EADS-

ASTRIUM (France)

10:05

Paper

Solving the Landing Problem of Hopping Robots: The Elastic Cage Design Fiorini, P.; Bovo, F.; Bertelli, L.

University of Verona (Italy)

Paper

Autonomous Over-The-Horizon Rover Navigation

Dupuis, E.1; Rekleitis, I.2; Bedwani, J.-L.3; Allard,

P.1; Lamarche, T.1; Zhu, W.-H.1

1Canadian Space Agency (Canada); 2McGill University

(Canada); 3Université de Sherbrooke (Canada)

10:30

Paper

EXOFLY: A Flapping Winged Aerobot for

Autonomous Flight in Mars Atmosphere

Peeters, B.1, Mulder, M.2, Kraft, S.3,

Leijtens, J.4, Zegers, T.5, Lentink, D.6; Lan, N.1

1Ursa Minor (Netherlands); 2Delft University of Technology (Netherlands); 3Cosine

Paper

A Vision and Behaviour Based Approach for ShortRange Autonomous Navigation of Planetary Rovers Gao, Y.; Makhlouta, M.

Surrey Space Centre (United Kingdom) 

 

 

Research B.V. (Netherlands); 4TNO Science and Industry (Netherlands); 5Universiteit

Utrecht (Netherlands); 6Wageningen

Universiteit (Netherlands)

 

10:55

Coffee break

 

Session 7

Exoskeletons

Session 8

Rover Locomotion

11:20

Paper

HANDEXOS: Towards a Support Device for

Hand Activities and Telepresence

Chiri, A.1; Giovacchini, F.2; Roccella, S.2;

Vitiello, N.2; Cattin, E.2; Vecchi, F.2;

Carrozza, M.C.2

1Scuola Superiore Sant'Anna (Italy); 2ARTS

Lab Scuola Superiore Sant' Anna Pisa (Italy)

Paper

Simulation of Rover Locomotion on Sandy Terrain Modeling, Verification and Validation Krenn, R.; Hirzinger, G.

German Aerospace Center (DLR) (Germany)

11:45

Paper

ABLE, an Innovative Transparent

Exoskeleton for the Upper-Limb Colledani, F.; Garrec, P.; Measson, Y.; Perrot, Y.

CEA (France)

Paper

Development of Tractive Performance Prediction to

Control Slippage for Flexible Wheel

Favaedi, Y.1; Pechev, A.2; Moxey, E.1

1University of Surrey (United Kingdom); 2Surrey

Space Centre (United Kingdom)

12:10

Paper

The New Ergonomic X-Arm-II Exoskeleton

Schiele, A.1; Klaer, P.2; Seiberth, H.P.2;

Neu, C.2; Engelmann, E.2

1European Space Agency (Netherlands);

2University of applied science in

Kaiserslautern (Germany)

Paper

Modelling of Wheel-soil Contact for the EDRES Mobile

Robot Simulator

Lhomme-Desages, D.1; Grand, Ch.1; Maurette, M.2

1Institut des Systèmes Intelligents et de Robotique

(France); 2Centre National d'Etudes Spatiales (France)

12:35

Paper

Exostation: 7-DOF Haptic Exoskeleton and

Virtual Slave Robot Simulator

Letier, P.1; Avraam, M.1; Veillerette, S.1;

Motard, E.2; Verschueren, J-P.3

1Universite Libre de Bruxelles (Belgium);

2Space Applications Services (Belgium);

3Micromega Dynamics (Belgium)

Paper

Kinematic Analysis and Comparison of Rover Locomotion Performance Thueer, T.; Siegwart, R.

ETH Zurich (Switzerland)

13:00

Lunch

 

Session 9

Modelling and Simulation

Session 10 Autonomy

14:00

Paper

A Dynamic Library for Versatile Modeling of Free-Flying and Mobile Robotic Systems

Abiko, S.; Hirzinger, G.; Lampariello, R.

German Aerospace Center (Germany)

Paper

Autonomous and/or Interactive Constraints-based Software Reconfiguration for Planetary Rover Montano, G.; McDermid, J.

University of York (United Kingdom)

14:25

Paper

Development of a Dynamic Mobile Robot Simulator for Astronaut Assistance

Heiskanen, P.; Heikkilä, S.; Halme, A.

Helsinki University of Technology (Finland)

Paper

On-Board Autonomy Via Symbolic Model-Based

Reasoning

Roveri, M.1; Bozzano, M.1; Cimatti, A.1; Guiotto, A.2;

Martelli, A.2; Tchaltsev, A.1; Yushtein, Y.3

1Fondazione Bruno Kessler (Italy); 2Thales Alenia

Spazio (Italy); 3European Space Agency / ESTEC (Netherlands)

14:50

Paper

3DROV - A Planetary Rover System Design,

Simulation and Verification Tool, First

Results and Perspectives

Kapellos, K.1; Joudrier, L.2; Poulakis, P.2

1TRASYS Space (Belgium); 2ESA / ESTEC (Netherlands)

Paper

Developing an Autonomous Science Capability for

European Mars Missions

Woods, M.1; Shaw, A.1; Barnes, D.2; Pugh, S.2; Price,

D.2; Long, D.3; Pullan, D.4

1SciSys (United Kingdom); 2University of Aberystwyth

(United Kingdom); 3University of Strathclyde (United

Kingdom); 4University of Leicester (United Kingdom)

15:15

Paper

Representing and Analysing the Kinematic

Robustness of Robotic Planetary Systems

Paper

AVATAR: Operations of Ground-Based Robots from the ISS Using an Amateur Radio Link

 

Hobbs, J.1; Rooney, J.2

1JDH Innovation (United Kingdom); 2The

Open University (United Kingdom)

Martin, E.; L'Archevêque, R.; Gemme, S.; Pellerin, T.; Dupuis, E.

Canadian Space Agency (Canada)

15:40

Paper

A Contact Dynamics Simulation Framework for Robotics

Gonthier, Y.; Lange, C.

Canadian Space Agency (Canada)

Paper

Autonomous Robot Exploration of Unknown Terrain: A Preliminary Model of Mars Rover Robot Peniak, M.; Cangelosi, A.; Marocco, D.

University of Plymouth (United Kingdom)

16:05

Coffee break

 

Session 11

Artificial Intelligence

Session 12

Teleoperation

16:45

Paper

Analysis in Robotic Autonomy for Future

Planetary Exploration Missions

Quintana, M.1; Casals, A.2; Chester, E.1

1Aerospace Research and Technology Centre

(CTAE) (Spain); 2Technical University of

Catalonia (Spain)

Paper

Telemanipulation Extension to the DREAMS Ground

Control Station

Didot, F.1; Kapellos, K.2

1ESA (Netherlands); 2Trasys (Belgium)

17:10

Paper

Innovative AI Technologies for Future ESA

Missions

R-Moreno, M.D.1; Cesta, A.2; Kurien, J.3

1Universidad de Alcala (Spain); 2ISTC-CNR

(Italy); 3NASA (United States)

Paper

Intelligent Teleoperation: Combining Simulation and

Teleoperation

Fiorini, P.1; Botturi, D.1; Kruusmaa, M.2

1University of Verona (Italy); 2Tallinn University of Technology (Estonia)

17:35

Paper

Merging Planning, Scheduling & Verification -

A Preliminary Analysis

Fratini, S.1; Cesta, A.1; Finzi, A.2; Orlandini,

A.3; Tronci, E.4

1ISTC-CNR (Italy); 2Univeristy of Naples

Federico II (Italy); 3University of Rome

"Roma Tre" (Italy); 4University of Rome "La Sapienza" (Italy)

Paper

A Practical Demonstration of Advanced Teleoperation

Techniques Applied to the Assembly of Payloads

Sanders, S.1; Rolfe, A.1; Wall, R.2

1Oxford Technologies Ltd (United Kingdom); 2Astrium

Satellites Ltd (United Kingdom)

18:00

End of day 2

 Day 3 - 13 November 2008

 

Session 13

On-orbit Servicing

Session 14

08:50

Paper

OLEV – An On-Orbit Servicing Program for

Commercial Spacecrafts in GEO

Kaiser, C.1; Kugelberg, J.2; del Cura, J.M.3; Eilertsen, B.4

1Kayser-Threde GmbH (Germany);

2Swedish Space Corporation (Sweden);

3Sener (Spain); 4Orbital Satellite Services A.B. (Sweden)

Paper

A Heavily Miniaturized Submersible - A

Terrestrial Kickoff

Nguyen, H.; Jonsson, J.; Edqvist, E.; Kratz, H.; Thornell, G.; Sundqvist, J.

Uppsala University (Sweden)

09:15

Paper

On-orbit Exchange of Equipment for GEO

Satellites

Cougnet, C.1; Gerber, B.1; Visentin, G.2

1EADS Astrium (France); 2ESA/ESTEC

(Netherlands)

Paper

Design and Parameter Optimization of a Novel

Reconfigurable Planetary Rover

Tao, J.; Li, X.; Hu, M.; Yu, X.; Deng, Z.

Harbin Institute of Technology (China)

09:40

Paper

Ground Tests for On-Orbit Servicing of a

GEO Satellite Fleet

Heemskerk, C.1; Cougnet, C.2; Kapellos,

K.3; Bruyninckx, H.4; Visentin, G.5

1Dutch Space (Netherlands); 2Astrium ST

(France); 3Trasys Space (Belgium); 4KU

Leuven (Belgium); 5ESA ESTEC

(Netherlands)

Paper

Robot System Technologies for Space

Exploration

Lappas, V.; Pechev, A.; Palmer, P.; Gao, S.; Gao, Y.; Vladimirova, T.; Saaj, M.; Moxey, E.; Sweeting, M.; Underwood, C.

University of Surrey (United Kingdom)






10:05

Paper

On-Orbit Servicing: Novel Algorithms for Motion Control of Robot Manipulators Saaj, C.; Parsa, S.

Surrey Space Centre (United Kingdom)

Paper

Planetary Rovers Fitted with Omni-directional

Wheels

Ransom, S.1; Kroemer, O.2; Lueckemeier, M.3

1SRConsultancy (Germany); 2DLR Institute of

Space Systems (Germany); 3Harting Electronics

GmbH & Co Kg (Germany)

10:30

Coffee break

 

Session 15 Robotic Arms

Session 16

Rover Systems in Harsh Environment

11:20

Paper

DEXARM Engineering Model Development and Testing

Rusconi, A.1; Magnani, P.1; Campo, P.2;

Chomicz, R.3; Magnani, G.4; Lambert, C.5;

Gruener, G.6

1Selex Galileo (Italy); 2SENER (Spain);

3Tecnomare (Italy); 4Politecnico di Milano

(Italy); 5Oerlikon Space (Switzerland);

6CSEM (Switzerland)

Paper

Experiences Gained from the Thermal Vacuum

Tests of the Microrover Nanokhod

Klinkner, S.1; Lee, C.1; Wagner, C.1; Lengowski,

M.2; Röser, H.2; Bourlier, P.3

1von Hoerner & Sulger GmbH (Germany);

2Institut für Raumfahrtsysteme, Universität

Stuttgart (Germany); 3Harmonic Drive AG (Germany)

11:45

Paper

Advanced Motion-Force Controller for Space

Arms: Experimental Results with the Ground

Reference Model of Europa Mission

Terribile, A.1; Filippini, M.1; Grasso, T.1;

Fusco, G.1; Olivieri, A.2; Pasquali, F.2;

Mondellini, C.3

1Tecnomare SpA (Italy); 2ASI (Italy);

3Selex Galileo (Italy)

Paper

Verification and Validation Process on 3D

Dynamics Simulation in Support of Planetary

Rover Development

Schäfer, B.; Rebele, B.; Gibbesch, A.

German Aerospace Center (DLR) (Germany)

12:10

Paper

Modelling and Real-Time Simulation of

Dexarm

Magnani, G.1; Porrati, P.2; Rizzi, G.3;

Rocco, P.1; Rusconi, A.4

1Politecnico di Milano (Italy); 2Politecnico di

Milano, former student (Italy); 3IIS Jean

Monnet, Mariano Comense (Italy);

4SelexGalileo Spa (Italy)

Low Temperature Miniaturized Motion Control Chip Enabled by MEMS and Microelectronics Bruhn, F.

Affiliation (Sweden)

12:35

Paper

Investigation of the Accuracy of a Machine Vision Robotic Arm System for Rendez-vous and Docking Operations

Valle, D.; Mollinedo, L.; Medina, A.

GMV (Spain)

 

13:00

Lunch

14:00 

Additional presentation time for poster and exhibition session

 

15:30

Guided Tour to the Automation and Robotics Laboratory

 

 

 

Poster Session (will remain on display during the whole workshop)

 

Paper

Fabrication and Integration of Multi-Scale Compliant Elastomer Dry Adhesives with Climbing Robot Designs

Sameoto, D.1; Li, Y.1; Menon, C.1; Kohler, J.2

1Simon Fraser University (Canada); 2ESA (Netherlands) 

 

Paper

Experiences in Producing a Preliminary Navigation OBSW Prototype for the Exomars Rover Based on Edres

Odwyer, A.1; Correal Tezanos, R.1; Sánchez Prieto, S.2; Parra Espada, P.2

1TCPsi (Spain); 2UAH (Spain) 

 

 

Paper

MrSPOCK: Generating a Planning System through a Timeline Representation Framework Fratini, S.; Cesta, A.; Cortellessa, G.; Oddi, A.

ISTC-CNR (Italy) 

 

Paper

Visual Docking/Grasping System for Autonomous Robotic On-Orbit Satellite Servicing Diaz, J.C.; Abderrahim, M.; Bensalah, C. University Carlos III of Madrid (Spain) 

 

Paper

Realistic Image Generation for Testing Vision-Based Rover Autonomy McCrum, M.; Parkes, S.; Dunstan, M.; Martin, I. University of Dundee (United Kingdom) 

 

Paper

Robotics as Support to Formation Flying and Rendezvous&Docking Validation Test Benches Mollinedo, L.; Valle, D.; Medina, A.

GMV (Spain) 

 

Paper

Strategy for Adaptive Rover Behavior Based on Experiment Krebs, A.

ETHZ (Switzerland) 

 

Paper

New Compliant Mc- Kibben Actuator Driven by Pneumatic Actuators as a Hexapod Platform in Robotic Applications

Wedler, A.W.1; Denkena, D.E.2

1IFW- University of Hannover /DLR RM (Germany); 2Institute of Production Engineering and

Machine Tools (Germany) 

 

Paper

The NTUA Space Robot Simulator: Design & Results

Papadopoulos, E.1; Paraskevas, I.2; Flessa, T.2; Kontolatis, I.2; Tortopidis, I.2

1National Technical University of Athens (Greece); 2NTUA (Greece) 

 

Paper

Automated On-board Model-based Diagnosis during Planetary Mission and Teleoperation  Kuijpers, E.A.1; van Gelder, P.2; Pietersma, J.2

1National Aerospace Laboratory NLR (Netherlands); 2Science & Technology (Netherlands) 

 

Paper

ExoMars Airbag Piercing Tests with a Cutting Mole

Krause, C.1; Mehls, C.1; Re, E.2; Richter, L.1; Izzo, M.2; Coste, P.3

1DLR (Germany); 2Galileo Avionica (Italy); 3ESA (Netherlands) 

 

Paper

A Vision and Behaviour Based Approach for Short-Range Autonomous Navigation of Planetary Rovers

Gao, Y.; Makhlouta, M.

Surrey Space Centre (United Kingdom) 

 

Paper

The Resilience Concept Validation by HiPeRCAR Marra, P.A.

Affiliation (TBD) 

 

Paper

Design, Manufacturing and Integration of a Compact Tool Exchange Device for Space Robotics Applications

Gelmi, R.1; Rusconi, A.1; Vallini, L.1; Campo, P.2; Della Pieta', A.3; Schiele, A.4

1Selex Galileo (Italy); 2SENER (Spain); 3Tecnomare (Italy); 4ESA (Netherlands) 

Microelectromechanical Inertial Measurement Unit Characterisation Towards Utilization for PlanetaryRover Localization

Albright, W.; Poulakis, P.; Joudrier, L.; Koehler, J.

ESA/ESTEC (Netherlands)

 

 

Exhibits and Demos (will remain on display during the whole workshop)

 

EXOFLY: A Demonstrator of a Potential Flapping Winged Aerobot for Use in Mars Atmosphere

Remes, B.1, Mulder, J.A.1, Berkouwer, W.R.1, Lan, N.2

1Delft University of Technology (Netherlands); 2Ursa Minor (Netherlands)

Exhibition and Demonstration of ABLE, an Innovative Transparent Exoskeleton for the UpperLimb

Colledani, F.; Garrec, P.; Measson, Y.; Perrot, Y.

CEA (France) 



A New Actuator Technology for Classic Space Mechanisms and Robotics

Fernandez, D.1; Cabas, R.1; Moreno, L.2

1ARQUIMEA (Spain); 2Universidad Carlos III de Madrid (Spain) 

Exostation: 7-DOF Haptic Exoskeleton and Virtual Slave Robot Simulator

Letier, P.1; Avraam, M.1; Veillerette, S.1; Motard, E.2; Verschueren, J-P.3

1Universite Libre de Bruxelles (Belgium); 2Space Applications Services (Belgium); 3Micromega Dynamics (Belgium)

 

ASTRA 2008 Papers

Session 1: Status and Outlook in Programmes and R&D

Session 2: Robotics in Human Exploration

Session 3: Surface Mobility

Session 4: Space Exploration

Session 5: Planetary Rovers

Session 6: Rover Perception

Session 7: Rover Mobility

Session 8: Sensors and Instruments

Session 9: Rover Autonomy

Session 10: Rover Design

Session 11: Rover Operations

Session 12: Field Trials

Session 13: Rover Simulation

Session 14: Rover Mechanisms

Session 15: Rover Software

Session 16: Rover Integration

Poster Exhibition