Proceedings – ASTRA 2015

Monday 11 May 2015

Plenary Session

08:00

Registration

09:00

Welcome by Mr. J. Gavira

ESA, head of Mechatronics and Optics Division

09:15

ESA Robotics Overview
G. Visentin

ESA,  head of Automation and Robotics Section

Presentation

09:35

Exomars Project Address

P. Baglioni

ESA, ExoMars Rover Manager

Presentation

09:55

Update on Cosmic Vision and MREP Future Missions

D. Rebuffat

ESA, head of the Solar System and Robotic Exploration Mission Section

Presentation

10:15

ERA Update

P. Schoonejans

ESA, head of ERA and Robotics Project Office

Presentation

10:35

Clean Space

L. Innocenti

ESA, Clean Space Initiative Manager

Presentation

10:55

Coffee Break

11:10

CNES Robotics Activities : Perception and Autonomous Navigation for Planetary Missions

M. Delpech

Centre National d'Études Spatiales – CNES

Presentation

11:35

An Overview of the Canadian Space Agency’s Recent Deployment Activities

E. Martin et al.

Canadian Space Agency – CSA

Presentation

12:00

An Overview of JPL activities

R. Volpe

National Association of Space Administration – NASA

Presentation

12:25

Automation and Robotics in the German Space Programme

B. Sommer

DLR - German Aerospace Center

Presentation

13:00

Lunch Break

Session 1A - ExoMars       

14:00

Demonstrating Autonomous Mars Rover Operations in the Atacama Desert

M. Woods et al.

SCISYS

Paper ǀ Presentation

14:25

Overview and Development Status of the ExoMars Rover Mobility Subsystem

P. Poulakis et al.

ESA-ESTEC

Paper

14:50

ExoMars Rover GNC System Design, a Detailed Description

M. Winter et al.

Airbus Defence and Space

Paper ǀ Presentation

15:15

Progress Report on Development of the ExoMars 2018, Sample Processing and Distribution Subsystem (SPDS) and Related OHB Sample Handling Studies

L. Richter et al.

OHB System AG

Paper ǀ Presentation

Session 1B – Active Debris Removal Technologies

14 :00

Capturing Nets for Active Debris Removal: a Follow-Up on Microgravity Experiment Design to Validate Flexible Dynamic Models

A. Medina et al.

GMV

Paper ǀ Presentation

14 :25

Stereographic System for Reconstruction of Net Flight Trajectory

W. Golebiowski1, M. Dyrek2

SKA Polska1, OptiNav2

Paper ǀ Presentation

15 :15

Design and Development Plan of a Tentacles Based Clamping Mechanism for Active Debris Removal

J. Meyer et al.

OHB System AG

Paper ǀ Presentation

15 :40

Coffee Break

Session 2A – Mobility & Actuation

15 :55

First Experimental Investigations on Wheel-Walking for Improving Triple-Bogie Rover Locomotion Performances

M. Azkarate et al.

ESA-ESTEC

Paper ǀ Presentation

16 :20

MASCOT – Asteroid Lander with Innovative Mobility Mechanism

J. Reill et al.

DLR - German Aerospace Center

Paper ǀ Presentation

16 :45

Miniaturized and Durable Electronics for Extreme Temperature Shifts

P. Sällström et al.

ÅAC Microtec

Paper ǀ Presentation

17 :10

Potential Merits for Space Robotics from Novel Concepts of Actuation for Soft Robotics

G. Mathijssen et al.

Vrije Universiteit Brussel – VUB

Paper ǀ Presentation

17 :35

Flexible Lightweight Shape Memory Alloy Actuator for Exo-skeleton systems

M. Collado et al.       

Arquimea Ingenieria

Paper ǀ Presentation

(paper will be provided)

Session 2B – On-Ground Validation & Verification

15 :55

Innovative Test-beds for Validation of Motion Recognition Systems Intended for Orbital Capture Manoeuvres

T. Rybus et al.       

Space Research Centre of the Polish Academy of Sciences

Paper ǀ Presentation

16 :20

On-ground Experimental Verification of a Torque Controlled Free-floating Robot

M. De Stefano et al.       

DLR - German Aerospace Center

Paper ǀ Presentation

16 :45

A New Free Floating Satellite Dynamics Testbed for Hardware-in-the-loop Docking Experiments

A. Schiele, J. Smisek       

ESA Telerobotics & Haptics Lab. 

Paper ǀ Presentation

17 :10

Sample Canister Capture Mechanism for Mars Sample Return:  Concept Design and Testing Results Including 0-g Environment

D. Filippetto et al.       

Politecnico di Milano

Paper ǀ Presentation

Tuesday 12 May 2015       

Session 3A -  Mobility & Actuation

08 :00      

Registration

08 :30

Development and Ground Test Campaign of a Sampling Tool Mechanism for Low Gravity Bodies

C. Ortega Juaristi et al.

AVS; Added Value Solutions

Paper ǀ Presentation

09 :00

Sampling Mechanism for Low Gravity Bodies

R. Gelmi et al.       

Selex ES

Paper ǀ Presentation

09 :25

Accessing, Drilling and Operating at the Lunar South Pole: Status of European Plans and Activities

R. Fisackerly et al.       

ESA-ESTEC

Paper ǀ Presentation

09 :50

Rosetta Philae SD2 Drill System and its Operation on 67P/Churyumov-Gerasimenko

P. Magnani et al.       

Selex ES

Paper ǀ Presentation

10 :15

Lunar Icy Soil Sampling

M. Savoia et al.       

Selex ES

Paper ǀ Presentation

10 :40

Evolution of an Integrated Actuation Mechanism for Planetary Exploration Using Dual-Reciprocating Drilling

C. Pitcher et al.       

University of Surrey

Paper ǀ Presentation

Session 3B – RCOS Forum (09 :00 – 11 :05)

Experts Forum on the topic of 'Robot Control Operating System'

Correction by Construction Software Development

S. Bensalem

VERIMAG Laboratory

Presentation

How to Increase Re-usability of a Robot Control SW Architecture

A. Biggio et al.

Thales-Alenia Space Italia

Presentation

Development of a Runtime-Configurable Robotic Hardware Abstraction Framework

R. Burger et al.

German Aerospace Center (DLR) Institute of Robotics and  Mechatronics

Presentation

RCOS – Main Entities

K. Kapellos et al.

TRASYS

Presentation

Model Based Robot Software Development

J. Schwendner       

DFKI Bremen, Universität Bremen Robotics Innovation Center

Presentation

OROCOS – Developing, Using & Maintaining a Robotics  Software Framework: Lessons Learnt and Design Drivers

P. Soetens

Intermodalics

Presentation

Developing Software for Space: RAMS and Introduction to  

TASTE Framework

J. Terraillon

ESA/ESTEC

Presentation

Useful Tools & Libraries for Robotics Software Developers

D. Thomas

Open Source Robotics Foundation

Presentation

The Case for an RCOS at ESA

G. Visentin

ESA/ESTEC

Presentation

System and Programmatic Issues in RCOS Design R. R. Volpe

Jet Propulsion Laboratory, California Institute of Technology

Presentation

11:05          

Coffee Break

Session 4A – Human-Robot Interaction I

11 :20

Preliminary Findings from the Haptics-1 Space Experiment

A. Schiele       

ESA Telerobotics & Haptics Lab.

Paper ǀ Presentation

11 :45

Preparations for the Haptics-2 Space Experiment On-board the International Space Station

A. Schiele et al.               

ESA Telerobotics & Haptics Lab.       

Paper ǀ Presentation

12 :10

The CAPIO Active Upper Body Exoskeleton and its Application for Teleoperation

M. Mallwitz et al.               

Robotics Innovation Center, DFKI GmbH

Paper ǀ Presentation

12 :35

A System for Space-to-Ground Multi-Dof Bilateral Teleoperation

J. Rebelo et al.               

TU Delft / ESA Telerobotics and Haptics Lab

Paper ǀ Presentation

Session 4B – RCOS Forum (11 :20 – 13 :00)

Experts Forum on the topic of 'Robot Control Operating System'

13 :00          

Lunch Break

Session 5A – Human-Robot Interaction II

14 :00

Towards the Interact Space Experiment: Controlling an Outdoor Robot on Earth's Surface from Space

A. Schiele et al.               

ESA Telerobotics & Haptics Lab.       

Paper ǀ Presentation

14 :25

Video for Space Teleoperation Combining Haptic Data Over Multiple Networks Using the Data Distribution Service

S. Kimmer       

ESA-ESTEC

Paper ǀ Presentation

14 :50

Surface Exploration Analogue Simulations with a Crew Support Robot

J. Schwendner et al.               

DFKI       

Paper ǀ Presentation

15 :15

RobOps - Approaching a Holistic and Unified Interface Service Definition for Furture Robotic Spacecraft

S. Jaekel et al.               

DLR - German Aerospace Center

Paper ǀ Presentation

Session 5B – Field Testing

14 :00

The Chameleon Field Trial – Towards Efficient, Terrain Sensitive Navigation

M. Woods et al.               

SCISYS       

Paper ǀ Presentation

14 :25

FASTER Project - Demonstration of Multi-platform Operation for Safer Planetary Traverses

E. Allouis et al.               

Airbus Defence and Space

Paper ǀ Presentation

14 :50

LAUROPE - Six Legged Walking Robot for Planetary Exploration participating in the SpaceBot Cup

G. Heppner et al.               

FZI - Research Center for Information Technology

Paper ǀ Presentation

15 :15

DLR SpaceBot Cup - Germany's Space Robotics Competition

T. Kaupisch et al.               

DLR - German Aerospace Center

Paper ǀ Presentation

15:40                 

Coffee Break

Session 6A – Manipulators & End-Effectors

15 :55 

Dextrous Lightweight Arm for Exploration (DELIAN)

A. Rusconi et al.               

Selex ES       

Paper ǀ Presentation

16:20

Reachability and Dexterity: Analysis and Applications for Space Robotics

M. Roa et al.               

DLR - German Aerospace Center

Paper ǀ Presentation

16:45

Spacehand: a Multi-fingered Robotic Hand for Space

M. Chalon et al.               

DLR – RMC

Paper ǀ Presentation

17:10

Development of an Integrated Design and Simulation Environment for Concurrent Base-Arm Motion Control of Space Manipulators

M. R. Emami1, Z. Zhong2       

Luleå University of Technology1, University of Toronto2

Paper ǀ Presentation       

17:35

Robotic Deployment of Extraterrestrial Seismic Networks

D. Leidner et al.               

DLR - German Aerospace Center , Institute of Robotics and Mechatronics

Paper ǀ Presentation

Session 6B – Sensors & Perception

15:55

Fast Initial Pose Estimation Of Spacecraft From LiDAR Point Cloud Data

F. Rems et al.               

DLR - German Aerospace Center

Paper ǀ Presentation

16:20

The LIRIS-2 3D Imaging LIDAR on ATV-5

F. Kolb et al.       

Jena-Optronik GmbH

Paper ǀ Presentation

16:45

Computer Vision Methods for Relative Pose Estimation and Vision-Based Navigation in Rendezvous Manoeuvres, On-Orbit Service Operations and Debris Removal

M. Sanchez-Gestido       

ESA - ESTEC       

Paper ǀ Presentation

17:10

Validation of 3D Environment Perception for Landing on Small Bodies using UAV Platforms

F. J. Pérez Grau        et al.       

CATEC       

Paper ǀ Presentation

17:35

Visual Pose Estimation System for Autonomous Rendezvous of Spacecraft

J. Li et al.               

Clyde Space Ltd.

Paper ǀ Presentation

Wednesday 13 May 2015

Session 7A – Active Debris Removal / On Orbit Servicing

08 :00      

Registration

09:00

A Data Set To Support And Benchmark Computer Vision Development For Close Range On-Orbit Servicing

M. Lingenauber        et al.       

DLR - German Aerospace Center

Paper ǀ Presentation

09:25

Attitude Stabilization of an Unknown and Spinning Target Spacecraft Using a Visco-Elastic Tether

K. Hovell, S. Ulrich       

Carleton University

Paper ǀ Presentation

09:50

e.Deorbit Mission: OHB Debris Removal Concepts

M. Wieser et al.               

OHB-System AG

Paper ǀ Presentation

10:15

Net Capturing of Tumbling Space Debris: Contact Modelling Effects on the Evolution of the Disposal Dynamics

R. Benvenuto et al.       

Politecnico di Milano       

Paper ǀ Presentation

10:40

The Applicability of Gecko Adhesives

in a Docking Mechanism for Active Debris Removal Missions

E. Stoll, C. Trentlage

Institute of Aerospace Systems at TU Braunschweig

Paper ǀ Presentation

Session 7B – Planning & Autonomy

09:00

The On-Ground Autonomy Test Environment: OGATE

P. Muñoz et al.               

Universidad de Alcalá

Paper ǀ Presentation

09:25

MASTER: A Mobile Autonomous Scientist for Terretrial and Extra-terrestrial Research

I. Wallace, M. Woods       

SCISYS       

Paper ǀ Presentation

09:50

Resource-Driven Planning with PLASMA: The PLAn Space Multi-solver Application

S. Fratini et al.               

ESA-ESOC       

Paper ǀ Presentation

10:15

Testing Saliency Based Techniques for Planetary Surface Scene Analysis

B. Yeomans et al.               

University of Surrey

Paper ǀ Presentation

10:40

Autonomous Mission Planning and Execution for two collaborative Mars Rovers

J.  M.  Delfa Victoria et al.               

University of Surrey / Technical University Darmstadt/ ESA-ESOC

Paper ǀ Presentation

11 :05                 

Coffee Break

Session 8A – Robotic Testbeds & Frameworks

11:20

LRU - Lightweight Rover Unit

A. Wedler et al.               

DLR - German Aerospace Center, Institute of Robotics and Mechatronics

Paper ǀ Presentation

11:45

Rover Autonomy Test-Bed

A. Medina et al.               

GMV       

Paper ǀ Presentation

12:10

Design and Implementation of a Robot Management Framework and Modular GNC for Robotic Space Exploration

A. Biggio et al.               

Thales-Alenia Space Italia

Paper ǀ Presentation

12:35

ROBEX – Components and Methods for the Planetary Exploration Demonstration Mission

A. Wedler et al.               

DLR - German Aerospace Center, Institute of Robotics and Mechatronics 

Paper ǀ Presentation

Session 8B – Localisation & Navigation

11:20

Matching Sparse Networks of Semantic ROIs among Rover and Orbital Imagery.

E. Boukas et al.                  

School of Engineering, Democritus University of Thrace                   

Paper ǀ Presentation                      

11:45

Environment Modelling and Navigation for Planetary Cave Exploration

J. Schwendner et al.                         

DFKI                  

Paper ǀ Presentation

12:10

Planetary Rover Absolute Localization by Combining Visual Odometry with Orbital Image Measurements

M. Lourakis, E. Hourdakis                  

FORTH              

Paper ǀ Presentation

12:35

Reconfigurable SLAM Utilising Fuzzy Reasoning

A. Shaukat, Y. Gao       

University of Surrey

Paper ǀ Presentation

13 :00          

Lunch Break

Session 9A – Control & Automation

14:00

Monopod Hopping on Rough Planetary Environments

I. S. Paraskevas et al.       

Control Systems Lab - Sch. of Mech. Engineering - NTUA       

Paper ǀ Presentation

14:25

Vision-Based Hazard Detection With Artificial Neural Networks for Autonomous Planetary Landing

P. Lunghi et al.                    

Politecnico di Milano - Aerospace Science & Technology Dept.               

Paper ǀ Presentation  

14:50 

Design and Development of an Active Landing Gear System for Enhanced Surface Touchdown

C. Chitu et al.                    

GMV                                  

Paper ǀ Presentation    

15:15

Optimal Trajectory Guidance for Spacecraft Robotic Servicing Missions

S. Ulrich et al.

Carleton University                      

Paper ǀ Presentation    

Session 9B – Simulation/ Modelling/ Visualisation

14:00 

Versatile Electro-dynamic Tethers Dynamics Simulator for Debris Mitigation Tools Design

M. Lavagna, A. Rocchi                    

Politecnico di Milano                                 

Paper ǀ Presentation                    

14:25

Generic Rover Dynamics Model Framework for Autonomous Capability Development, Verification and Validation

D. Lachat et al.                    

Airbus Defence and Space                    

Paper ǀ Presentation

14:50

On-board Simulator for Autonomy Enhancement in Robotic Space Missions

R. Dominguez et al.                           

Deutsches Forschungszentrum für Kuenstliche Intelligenz GmbH

Paper ǀ Presentation                    

15:15

Embedding Sensor Visualization in Martian Terrain Reconstructions

G. Paar et al.                    

JOANNEUM RESEARCH                     

Paper ǀ Presentation

List of Posters