Team Coeus Prometheia Genna presentation of Project Gemini - the Emulated Planar Environment for Satellite Refueling Mission Preliminary Design Review.

1. PROJECT GEMINI
PRELIMINARY DESIGN REVIEW
Coeus Prometheia Genna
Catherine Ayotte

2. TEAM LEADS
2
Catherine Ayotte, PM Nina Rogerson, APM

3. OVERVIEW
 Introduction
 Mission Concept
 System of Systems Definition
 Systems Definition and Validation
 Visual Tracking System
 Target Vehicle System
 Chase Vehicle System
 System of Systems Validation
 Conclusions & Programmatics
3

4. MISSION CONCEPT OVERVIEW
Catherine Ayotte
4

5. MISSION CONCEPT
5
Pollux
Robotic Manipulator
Castor
Visual Tracking
System
Emulated Planar Environment for Satellite Refueling Mission (EPESRM)
Simulation of in-orbit satellite refueling maneuver
• Chase Vehicle System (Castor)
• Target Vehicle System (Pollux)
• Visual Tracking System (VTS)
Interface with Sparta Robotics for capture system

6. CONCEPT OF OPERATIONS
Catherine Ayotte
6

7. CONOPS: START-UP
7
CT
VTS
RM
KEY:
VTS: Visual Tracking System
T: Target Vehicle System
C: Chase Vehicle System
RM: Robotic Manipulator

8. CONOPS: APPROACH
8
C
T
VTS
RM
KEY:
VTS: Visual Tracking System
T: Target Vehicle System
C: Chase Vehicle System
RM: Robotic Manipulator

9. CONOPS: DOCKING
9
C
T
CAPTURE
POINT
T
REFUELING
RECEPTACLE
KEY:
VTS: Visual Tracking System
T: Target Vehicle System
C: Chase Vehicle System
RM: Robotic Manipulator

10. CONOPS: REFUELING
10
C
T
CAPTURE
POINT
T
REFUELING
RECEPTACLE
KEY:
VTS: Visual Tracking System
T: Target Vehicle System
C: Chase Vehicle System
RM: Robotic Manipulator

11. CONOPS: UNDOCKING
11
C
T
CAPTURE
POINT
T
REFUELING
RECEPTACLE
KEY:
VTS: Visual Tracking System
T: Target Vehicle System
C: Chase Vehicle System
RM: Robotic Manipulator
RM

12. CONOPS: RETURN
12
C
T
VTS
RM
KEY:
VTS: Visual Tracking System
T: Target Vehicle System
C: Chase Vehicle System
RM: Robotic Manipulator

13. DESIGN TEAM LAYOUT
13

14. Nina Rogerson
SYSTEM OF SYSTEMS
14

15. INTEGRATION TEAM
MEMBERS
15
Seven ReinhartNoor Rashid

16. SYSTEM OF SYSTEMS
DESIGN TREE
16

17. VISUAL TRACKING SYSTEM
17
Bluetooth
Camera
Raspberry PI
Controller

18. 18
TARGET VEHICLE SYSTEM
Visual Tracking
Nodes
Docking Interface
Capture Point
Refueling
Receptacle

19. CHASE VEHICLE SYSTEM
19
Docking Interface
Visual Tracking Nodes

20. ROBOTIC MANIPULATOR
20
End Effector
Refueling Receptacle
Base Plate

21. INTERACTION
21
Pollux
Robotic Manipulator
Castor
Visual Tracking
System

22. Lee Morris
VISUAL TRACKING SYSTEM (VTS)
22

23. DESIGN STRUCTURE
TREE
23

24. SYSTEM DESCRIPTION
 Positioned above Demonstration Platform
 Uses object recognition of colored nodes to determine position and orientation
of the Chase and Target Vehicle Systems
 Transmits Vehicle position and orientation data to the Chase Vehicle System
24

25. OVERHEAD VIEW
25
Communications
Controller Camera
Mounting PoleBase Board

26. VISUAL TRACKING SYSTEM
Requirement
1. The Visual Tracking System shall have a height above the Demonstration
Platform greater than or equal to 2.5 meters.
Validations
 Satisfies the System-level objective of capturing the entire Demonstration
Platform in the Camera Sub-System’s Field of View (FOV)
 Height value based on the FOV of wide-angle cameras considered in trade
studies
26

27. Lee Morris
VISUAL TRACKING SYSTEM
CONTROLLER SUB-SYSTEM
27

28. CONTROLLER
REQUIREMENTS
The Controller Sub-System shall:
1. Calculate the absolute position of the Chase Vehicle System and the Target
Vehicle System to an accuracy of ± 10 millimeters.
1. Calculate the absolute orientation of the Chase Vehicle System and the Target
Vehicle System to an accuracy of ± 5 degrees.
2. Receive data from the Visual Tracking System’s Camera Sub-System at a rate
greater than or equal to 20 frames per second.
3. Transmit data to the Visual Tracking System’s Communication Sub-System at
a baud rate greater than or equal to 9,600 bits per second.
28

29. CONTROLLER VALIDATION
Raspberry Pi Zero:
 Serial port capable of at least 115,200 bits per second baud rate
 Camera Serial Interface capable of at least 1080p at 30 frames per second
 Runs Python on Linux-based OS with OpenCV computer vision library
29
Raspberry Pi Zero[1]

30. Lee Morris
VISUAL TRACKING SYSTEM
CAMERA SUB-SYSTEM
30

31. CAMERA REQUIREMENTS
The Camera Sub-System shall:
1. Send image data to the Visual Tracking System’s Controller Sub-System at a
rate greater than or equal to 20 frames per second.
2. Capture images at a resolution greater than or equal to 720p.
31

32. CAMERA VALIDATION
Blue Robotics Wide Angle Camera:
 Camera capable of at least 1080p at 30 frames per second
 Camera Serial Interface for compatibility with Controller Sub-System
32
Blue Robotics Wide Angle Camera[2]

33. Lee Morris
VISUAL TRACKING SYSTEM
COMMUNICATIONS SUB-SYSTEM
33

34. COMMUNICATIONS
REQUIREMENTS
The Communications Sub-System shall:
1. Transmit data at a range greater than or equal to 4 meters.
2. Transmit data to the Chase Vehicle System Communications Component at a
baud rate greater than or equal to 9,600 bits per second.
34

35. COMMUNICATIONS
VALIDATION
HC-05 Serial Bluetooth Transceiver:
 Capable of Serial Communication up to 460,800 bits per second
 Range of 9 meters
35
HC-05 Serial Bluetooth Transceiver[3]

36. TARGET VEHICLE SYSTEM
(POLLUX)
Rachel Pope
36

37. DESIGN STRUCTURE TREE
37

38. TARGET VEHICLE SYSTEM
38
Objective: The Target Vehicle System should remain stationary on the
demonstration platform for the duration of the mission.
 Positioned 1.9 – 2.1 meters away from the Chase Vehicle System at the start of
the mission
 Dock with the Chase Vehicle System
 Receive an electrical current from the Robotic Manipulator
 Light an LED for visual confirmation of a successful Refueling Maneuver

39. CAPTURE POINT &
GUIDANCE CONE
39
Capture
Point
Tracking
Nodes
Guidance
Cone
TOP-DOWN VIEW
SIDE VIEW

40. TARGET VEHICLE BASE
40
Plywood
Plates
25 Pound Plate
≈11.34 kilograms

41. DOCKING INTERFACE
41
Mending
Plates
Docking
Interface Frame
Steel Plate

42. REFUELING RECEPTACLE
CIRCUIT
42
0.1 Farad
Capacitor
NPN
Transistor
100 ohm
Resistor
LED

43. SYSTEM REQUIREMENT
& MITIGATION
Requirement
1. The geometric center of Target Vehicle shall remain within a radius of 210
millimeters of the Target Vehicle System's starting position at any point during
the mission.
Mitigations
 The Target Vehicle System will be heavier to withstand the Robotic
Manipulator’s Torque
 Low coefficient of friction
43

44. SUB-SYSTEM
REQUIREMENTS
Electrical Sub-System Requirements
The Electrical Sub-System shall:
1. Use a 0.1 Farad capacitor.
2. Use a 100 ohm resistor.
Structure Sub-System Requirements
The Structure Sub-System shall:
1. Support 1 Docking Interface Component.
2. Support 1 Refueling Receptacle Component.
3. Have a diameter greater than to equal to 300 millimeters.
4. Have a diameter less than or equal to 350 millimeters.
44

45. STRUCTURE SUB-SYSTEM
Structure Diameter: 320 millimeters
 Able to hold all components
 Able to house the 25-pound plate (approximately 285 millimeters in diameter)
 Small enough so that the radius does not exceed the length of the Robotic
Manipulator
45
320 millimeters

46. COMPONENT
REQUIREMENTS
Docking Interface Component Requirement
1. The Docking Interface Component shall be able to connect to Chase Vehicle
System Docking Interface Component at a maximum range of 2 millimeters.
Refueling Receptacle Component Requirement
1. The Refueling Receptacle Component shall accommodate a 3.7 Volt electrical
input from the Robotic Manipulator.
46

47. CHASE VEHICLE SYSTEM
(CASTOR)
Raul Gonzalez
47

48. MEMBERS
48
Raul Gonzalez
Matthew Klockner Trupti MahendrakarYashica Khatri

49. DESIGN STRUCTURE
TREE
49

50. OBJECTIVES
The Chase Vehicle System should:
1. Be autonomous.
2. Hover over the platform for the duration of the mission.
3. Translate in the three-dimensional plane during the mission.
4. Be allowed to rotate about the Chase Vehicle System's three axes during the
mission.
5. Interface with the Robotic Manipulator System.
6. Dock with the Target Vehicle System during the Docking Mission Phase.
7. Return to the Chase Vehicle System's starting position at the end of the Return
Mission Phase.
8. Remain stable for the duration of the mission.
50

51. OVERVIEW
51
Robotic Manipulator
Docking Interface
Air Bearings
Visual Tracking Nodes

52. OVERVIEW
52
Compressed Air Feed
Robotic Manipulator
Docking Interface
Air Bearings

53. OVERVIEW
53
Air Bearings
Robotic Manipulator
Solenoid & Nozzle
Compressed air feed

54. REQUIREMENTS
The Chase Vehicle System shall:
1. Have a mass that is less than or equal to 65 kilograms.
2. Be able to rotate 360 degrees about the yaw axis of the Chase Vehicle System.
3. Have a pitch angle with respect to the horizon should be greater than or equal
to -0.004 degrees about the pitch axis of the Chase Vehicle System.
4. Have a pitch angle with respect to the horizon shall be less than or equal to
0.004 degrees about the pitch axis of the Chase Vehicle System.
5. Have a roll angle with respect to the horizon shall be greater than or equal to
-0.004 degrees about the roll axis of the Chase Vehicle System.
6. Have a roll angle with respect to the horizon shall be less than or equal to
0.004 degrees about the roll axis of the Chase Vehicle System.
54

55. VALIDATION
Validation
 Total design mass: 8 kilograms
 Translation Mechanism Component
 Roll & Pitch simulation
55

56. CHASE VEHICLE SYSTEM
STRUCTURE SUB-SYSTEM
MANIPULATOR MOUNT COMPONENT
Raul Gonzalez
56

57. OBJECTIVES
The Structure Sub-System should:
1. Support the Docking Interface Component.
2. Support the Manipulator Mount Component.
3. Remain structurally sound during the duration of the mission.
57

58. REQUIREMENTS
The Structure Sub-System shall:
1. Support 1 Docking Interface Component.
2. Support 1 Manipulator Mount Component.
3. Be at least 300 millimeters in diameter.
4. Be at most 350 millimeters in diameter.
5. Be able to support a 3 kilogram Robotic
Manipulator.
58

59. VALIDATION
59
Validation
 Supports Docking Interface
 Supports a 3 kilogram Robotic Manipulator
 300-millimeter plate diameter
Cover plate
Cover plate
Docking
Interface
Robotic
Manipulator
Frame

60. CHASE VEHICLE SYSTEM
HOVERING MECHANISM COMPONENT
TRANSLATION MECHANISM COMPONENT
Yashica Khatri
60

61. DESIGN STRUCTURE
TREE
61

62. CHASE VEHICLE SYSTEM
AIR BEARINGS
HOVERING MECHANISM COMPONENT
Yashica Khatri
62

63. DESCRIPTION
63
Air Bearings
Air bearings utilize a thin film of pressurized air to provide a ‘zero friction’ load
bearing interface between surfaces.
SIDE VIEW BOTTOM VIEW

64. OBJECTIVES AND
REQUIREMENTS
64
Objectives
1. The Hovering Mechanism Component should allow the Chase Vehicle System
to hover for the duration of the mission.
Requirements
The Hovering Mechanism Component shall:
1. Allow the Chase Vehicle System to maintain height above the
demonstration platform that is greater than or equal to 3 microns.
2. Have air bearings that operate on compressed air at a pressure of less than
or equal to 827.37 kiloPascals.

65. DESIGN METRICS AND
PROCEDURE
65
 Larger air bearings at lower pressure increase stiffness
 Three air bearings imply easier alignment
 Circular air bearings have uniform lift distribution on all sides
 Weight carrying capability

66. RESULTS
New Way 40-millimeter-diameter Air Bearings:
 Quantity: 3
 Minimum height above surface: 6 microns
 Input Pressure: 413.69 kiloPascals
 Ideal/ Max Load: 3 X 22.67 kilograms = 68.04 kilograms
66
New Way Air Bearing[4]

67. CHASE VEHICLE SYSTEM
AIR FILTERS
HOVERING MECHANISM COMPONENT
TRANSLATION MECHANISM COMPONENT
Yashica Khatri
67

68. DESCRIPTION
68
 General-purpose filters are used to remove the bulk of particles before it gets
downstream.
 The Coalescing filter is used to remove oil and liquid water, including all the
particles that passed through the general-purpose filter.
 The dryer is used to remove the water vapor before it condenses.
 The Coalescing filter is used to remove oil and liquid water, including all the particles that passed through the general-purpose filter. The
desiccant dryer is used to remove the water vapor before it condenses.
New Way Two-Stage Coalescing Fliter[4]

69. REQUIREMENTS
69
Hovering Mechanism Component Requirement
1. The Hovering Mechanism Component shall have air bearings that operate on
compressed air at the ISO 8573.1 Quality Class 4 or better.
Translation Mechanism Component Requirement
1. The Translation Mechanism Component shall have solenoids that operate on
compressed air at the ISO 8573.1 Quality Class 7 or better.

70. DESIGN METRICS AND
PROCEDURE
70
Design Metrics Investigated
 Air bearings supply:
 15 micron particle size
 3 degrees Celsius dew point
 Solenoids air supply:
 40 micron particle size
 No dryness specification
Procedure
 The air bearing supply metrics come from the ISO 8573.1 Quality Class 4
 The solenoids supply metrics come from the ISO 8573.1 Quality Class 7

71. RESULTS
New Way Two-Stage Coalescing Air Filter:
0.1 micron particle size
-40 degrees Celsius dew point
FESTO MS4-LF-1/8-C-R-V Air Filter:
40 micron particle size
No dryness specification
71
FESTO Air Filter[5]
New Way Two-Stage Coalescing Fliter[4]

72. CHASE VEHICLE SYSTEM
AIR DISTRIBUTORS
HOVERING MECHANISM COMPONENT
TRANSLATION MECHANISM COMPONENT
Yashica Khatri
72

73. DESIGN METRICS AND
PROCEDURE
73
 4-millimeter Nylon Tubing
 11 outputs needed: 8 solenoids and 3 air bearings
 2 supply sources that can be set to different pressures
FESTO Air Distributor[5]

74. RESULTS
Solenoid Air Distributors
 2 FESTO 4-way distributors
 1 FESTO 2-way distributor
Air Bearings: 1 FESTO 3-way Distributor
74
FESTO 2-way Distributor[5] FESTO 3-way Distributor[5]
FESTO 4-way Distributor[5]

75. CHASE VEHICLE SYSTEM
ELECTRICAL SUB-SYSTEM
CONTROLLER SUB-SYSTEM
COMMUNICATIONS SUB-SYSTEM
Matthew Klockner
75

76. DESIGN STRUCTURE
TREE
76

77. CHASE VEHICLE SYSTEM
ELECTRICAL SUB-SYSTEM
Matthew Klockner
77

78. OBJECTIVES AND
REQUIREMENTS
Electrical Sub-System Objectives
The Electrical Sub-System should:
1. Accommodate a Battery Component.
2. Accommodate a 5-Volt Regulator Component.
Electrical Sub-System Requirements
The Electrical Sub-System shall:
1. Accommodate one battery with a nominal voltage of greater than 11.2 Volts.
2. Accommodate one 5-Volt regulator.
78

79. DESIGN METRICS
Required to power Chase Vehicle System:
Microcontroller: 5 Volts
Solenoids: 12 Volts
Bluetooth transceiver: 5 Volts
Required to power Robotic Manipulator: 12 Volts
79

80. PROCEDURE
 Voltage range obtained from datasheet
 Current range obtained from datasheet
 Power = Current*Voltage
 Robotic Manipulator values calculated by Sparta Robotics
 Time of mission = 40 minutes (with a factor of safety of 1.5)
 For validation, assume all systems are running at full power requirements for
entire mission
80

81. RESULTS
Power calculations:
40 minute mission time:
81
Electromagnet Solenoids Arduino Mega
2650
Robotic
Manipulator
Voltage (Volt) 12 12 5 12
Current (Ampere) 0.08 0.40 0.26 2.32
Power (Watt) 0.96 4.8 1.3 27.8
Quantity 2 8 1 1
Totals:
Max Power (Watt) 69.32
Energy (Watt hour) 46.21
Current (Ampere) 5.78
Capacity (Ampere hour) 3.85

82. VALIDATION
Rechargeable NiMh Battery Pack:
 Nominal voltage: 12.0 Volts
 Nominal capacity: 2.8 Ampere-hours
 Total required charge: 3.85 Ampere-hours
 2 NiMh battery packs: 5.6 Ampere-hours
82
Rechargeable NiMh Battery Pack[6]
Batteries

83. CHASE VEHICLE SYSTEM
MICROCONTROLLER COMPONENT
Matthew Klockner
83

84. OBJECTIVES AND
REQUIREMENTS
Microcontroller Component Objectives
The Microcontroller Component should:
1. Control the Propulsion Sub-System to maintain the desired position and
orientation.
2. Communicate with Robotic Manipulator to notify the Robotic Manipulator of
changes to the Mission Phase Information.
Microcontroller Component Requirements
The Microcontroller Component shall:
1. Send and receive data to and from the Bluetooth transceiver at a rate of 9,600
bits per second.
2. Be able to actuate the Solenoid Driver Sub-Component to maintain the desired
position in a control loop operating at 10 Hertz.
3. Send and receive data to and from the Robotic Manipulator at a rate of 115,200
bits per second
84

85. DESIGN METRICS
Two serial ports required:
 Between Chase Vehicle and Robotic Manipulator
 Between Chase Vehicle and Communications Component
HC-05 Bluetooth transceiver compatible
Capable of 115,200 bits per second
85

86. VALIDATION
Arduino Mega 2560:
Bluetooth compatible
Four serial pins
Built in voltage regulator
115,200 bits per second
86
HC-05 Serial Bluetooth
Transceiver[3]
Arduino Mega 2560[7]

87. CHASE VEHICLE SYSTEM
SOLENOID DRIVER COMPONENT
Matthew Klockner
87

88. OBJECTIVES AND
REQUIREMENTS
Objectives
The Solenoid Driver Component should:
1. Regulate power to the Chase Vehicle Translation Mechanism Component.
2. Interface with the Microcontroller Component.
Requirements
The Solenoid Driver Component shall:
1. Regulate 8 channels of power.
2. Have a voltage rating greater than or equal to 12 volts.
88

89. VALIDATION
Relay Module:
Compatible with Arduino Mega 2560
Allows 12 volts through relay
Eight channels
3V1 Solenoid valve: 10 cycles per second
89
3V1 Solenoid Valve[9]
8 Channel Relay Module[8]

90. CHASE VEHICLE SYSTEM
TRANSLATION MECHANISM SUB-SYSTEM
DOCKING INTERFACE COMPONENT
Trupti Mahendrakar
90

91. DESIGN STRUCTURE
TREE
91

92. CHASE VEHICLE SYSTEM
TRANSLATION MECHANISM SUB-SYSTEM
Trupti Mahendrakar
92

93. OBJECTIVES
The Translation Mechanism Component should:
 Generate movement of the Chase Vehicle System in the two – dimensional
plane
 The rotation is caused due to couple effect due to nozzles arranged at 45
degree angle
93
Nylon Tubes[10]
Nozzles

94. NOZZLE COUPLING EFFECT
94
45 degree
angle nozzle

95. REQUIREMENTS
The Translation Mechanism Component shall:
1. Allow for the speed in the two - dimensional plane to be less than or equal to
0.2 meters per second.
2. Have nozzles with a diameter of 4 millimeters.
3. Operate at a pressure of greater than or equal to 13 kiloPascals.
95

96. PROCEDURE
Procedure
 The velocity was calculated based on the Demonstration Platform
measurements
 Time = 60 seconds
 Displacement = 5.2 meters
 Velocity = Displacement / Time
 Velocity = 0.087 meters per second
 Velocity < 0.2 meters per second
 The solenoid tubing diameter is 4 millimeters
96

97. PROCEDURE
Thrust equation:
 Assuming
 P exit = P gauge
 Mdot eq
Gas Law
 s
 Room Temperature : 298 Kelvin
 Pressure: 8.31527 kiloPascals
 Gas Constant, R: 8.314
97

98. ANALYSIS AND VALIDATION
 Thrust generated = 0.1 Newton per nozzle
 Change in Thrust of the vehicle due to change in the gauge pressure
98
Operational Pressure 14.6psig = 100.66 kiloPascals

99. IMPROVEMENT
Experimental Tests:
 Determine the uncertainty of gauge pressure
 Measure pressure drop at the bends and in the solenoids
99
Gauge Pressure Reader[11]

100. CHASE VEHICLE SYSTEM
DOCKING INTERFACE COMPONENT
Trupti Mahendrakar
100

101. DOCKING INTERFACE
101
Docking
Interface

102. COMPONENT
REQUIREMENTS
The Docking Interface Component shall:
1. Be able to connect to Target Vehicle System's Docking Interface Component
at a maximum range of 20 millimeters.
2. Be able to complete an electrical circuit to send a signal to the
Robotic Manipulator upon docking with a distance no greater than 0
millimeters between the two vehicle systems.
102

103. DESIGN METRICS
 Number of Electromagnets
 Electromagnet
 Electrical Strips
 Release Film
103
Electromagnets
Electrical Strips
Release Film

104. PROCEDURE
Electromagnet:
 Two electromagnets disable any rotation
 50 Newtons, 12 Volts, 0.08 Amperes
 Castor System uses 12 Volts battery supply
104

105. PROCEDURE
 Electric Strips will be made out of Steel
 Attracts steel at a distance of 2.032 millimeters
 Release film visually validates the placement of the electromagnets and the
electrical strips
 This concludes
validation of all
requirements
105
Electrical Strips

106. SYSTEM OF SYSTEMS VALIDATION
ROLL & PITCH SIMULATION
Noor Rashid
106

107. SYSTEM OF SYSTEMS
DESIGN TREE
107

108. SYSTEM OBJECTIVES
Objective: The Chase Vehicle System should remain stable for the duration of the
mission.
Procedure: The Roll and Pitch movement was simulated for the Chase Vehicle
System.
 Must not tip past the Air Bearings maximum load
108

109. The Chase Vehicle System:
1. Pitch angle with respect to the horizon should be greater than or equal to
-0.004 degrees about the pitch axis of the Chase Vehicle System.
2. Pitch angle with respect to the horizon shall be less than or equal
to 0.004 degrees about the pitch axis of the Chase Vehicle System.
3. Roll angle with respect to the horizon shall be greater than or equal to -0.004
degrees about the roll axis of the Chase Vehicle System.
4. Roll angle with respect to the horizon shall be less than or equal to 0.004
degrees about the roll axis of the Chase Vehicle System.
109
SYSTEM REQUIREMENTS

110. ROBOTIC MANIPULATOR
FULLY EXTENDED
110
Robotic Manipulator

111. PERTURBATION
SIMULATION
111
Air Bearing
Tipping Point =
0.004 degrees

112. SYSTEM OF SYSTEMS VALIDATION
FLIGHT SIMULATION
Seven Reinhart
112

113. SYSTEM OF SYSTEMS
REQUIREMENTS & VALIDATION
Requirements
The Gemini System of Systems shall:
1. Have 1 Chase Vehicle System, 1 Target Vehicle System, 1 Visual Tracking
System and 1 Robotic Manipulator System.
2. Have a Chase Vehicle System and a Target Vehicle System that start at
a distance that is greater than or equal to 1.9 meters apart and a distance that is
less than or equal to 2.1 meters from each other at mission commencement.
Validation
1. Validated by defining each of the four systems.
2. Validate by creating a full flight simulation was developed, with the two
vehicle systems positioned at their maximum distance apart.
113

114. FULL FLIGHT SIMULATION
The Flight Simulation simulates:
The velocity that the Propulsion System will achieve
A dead-band controller that is used on the Chase Vehicle System
The equations of motion of the Chase Vehicle System in the x, y, and yaw
directions
 An emulated Visual Tracking System with hard-set coordinates
114

115. ANIMATION
115
Chase Vehicle
System
Target Vehicle
System

116. CONCLUSIONS &
PROGRAMMATICS
Catherine Ayotte
116

117. LESSONS LEARNED
Value of Simulation
 Understanding of the system before it flies
 Validate requirements
Team Dynamic
 How to communicate effectively and efficiently
 Inter-disciplinary teamwork
Objectives, Constraints, and Requirements
 Working to specific metrics to ensure mission success
 Paper trail
117

118. HOURS BREAKDOWN
118
TOTAL HOURS: 1,987

119. PROJECT BUDGET
Total Budget: $1600
119
PURCHASED PARTS
Number of Purchased Parts 40
Purchased Cost (Pre-Tax) $806
Purchase Tax $58
Shipping & Handling Costs $87
TOTAL PURCHASING COST $951
DONATED PARTS
Number of Donated Parts 17
Shipping & Handling Costs $0
TOTAL DONATED COST $13,803
TOTAL EQUIVALENT
EXPENDITURES
$14,754

120. ACKNOWLEDGEMENTS
 Dr. Julio Benavides
 Dr. Iacopo Gentilini
 Dr. Patric McElwain
 Sparta Robotics
 Dr. Ghazal Barari
 Dr. Kenneth Bordignon
 Zoe Crain
 Dr. Michael Fabian
 Dr. Douglas Isenberg
 Dr. Preston Jones
 Carl Leake
 Ghonhee Lee
 Dr. Monty Moshier
 Dr. Ahmed Sulyman
 Dr. Bradley Wall
 Embry-Riddle Innovation Lab
 FESTO Corporation
 GrabCAD Community
 Home Depot
 Team Impulse
 New Way Air Bearings Company
120

121. QUESTIONS?
 Catherine Ayotte
 Project Manager
 Email: ayottec1@my.erau.edu
Nina Rogerson
 Assistant Project Manager
 Email: rogerson@my.erau.edu
121

122. REFERENCES
122

123. REFERENCES
[1] https://www.raspberrypi.org/products/raspberry-pi-zero/
[2] https://www.bluerobotics.com/store/electronics/cam-rpi-wide-r1/
[3] https://www.amazon.com/Wireless-Bluetooth-Serial-Transceiver-
Module/dp/B00INWZRNC
[4] https://www.newwayairbearings.com/
[5] https://www.festo.com/
[6] http://www.robotshop.com/en/120v-2800mah-rechargeable-nimh-battery-
pack.html
[7] https://store.arduino.cc/arduino-mega-2560-rev3
123

124. REFERENCES
[8] https://www.sunfounder.com/8-channel-5v-relay-shield-module.html
[9] https://trimantec.com/product/airtac-3v1-pneumatic-solenoid-air-valve-3v106b/
[10] https://www.google.com/search?rlz=1C1GGRV_enUS774&biw=1920&bih=974&tbm=
isch&sa=1&ei=6QMqWqPrEpfmjwOk5KPwAw&q=nylon+tubing&oq=nylon+tubing&gs_l=psy-
ab.3..0l2j0i8i30k1j0i24k1l7.3371.9454.0.9598.12.12.0.0.0.0.271.1248.9j2j1.12.0....0...1c.1.64.psy-
ab..0.7.654...0i13k1.0.DeuND4biu_g#imgrc=7jyNGduisGwJ6M:
[11] www.hilltop-products.co.uk%2Fpvc-flexible-hose-
tubing.html&psig=AOvVaw2AhKC6cZvQpgQrmeA0LmjB&ust=1512773725670
58
124

125. APPENDICES & BACK-UP SLIDES
125

126. CALCULATIONS, SIMULATIONS &
TECHNICAL INFORMATION
126

127. STRUCTURAL ANALYSIS
127
 Load: 49.05 N
 Pressure: 827.37 kPa

128. ABS PLASTIC VS ALUMINUM
128
ABS Plastic Aluminum
Advantages:
 Very lightweight
 Can withstand high temperatures
and atmospheric humidity
 Good impact resistance with
toughness and rigidity
Disadvantages:
 Flammable at high temperatures
 Twice as expensive at Polystyrene
 Low resistance to UV sunlight,
leading to discoloration
DENSITY: 900-15300 (kg/m^3)
Advantages:
 Good stiffness and strength-to-
weight ratio
 Lightweight
 Corrosion Resistant
Disadvantages
 Higher cost than steel
 Lower strength than steel
 Flammable at high temperatures
DENSITY: 2823 (kg/m^3) for 7075

129. VTS - HEIGHT
CALCULATIONS
Demonstration Table Size = 3.66 meters
Minimum Vertical FOV based on trade studies = 75.9 degrees
Height of Tracking Nodes = .15 meters
Camera Distance = .5 * Table Size * Cotangent(.5 * Vertical FOV) + Height of
Tracking Nodes
Camera Distance = .5 * 3.66 meters * Cotangent(.5 * 75.9 degrees) + .15 meters
= 2.5 meters
129

130. VTS - BAUD RATE
CALCULATIONS
Baud Rate = Transmission Frequency * Packet Size
Transmission Frequency = 20 packets/second
Packet Size = (10 bits for position + 7 bits for orientation) * 2 Vehicles = 34 bits
Baud Rate = 20 packets/second * 34 bits/packet = 680 bits per second
Trade studies showed that all communication hardware considered was easily
capable of baud rates above 9600 bits per second, so this rate was selected.
130

131. NEW WAY CALL
3 Air Bearings: 3 define a plane, hard to align 4 air bearings
Circular preferable: Similar distribution in all directions
Ball Mounting screw helps maintain parallelism
Getting close to the wall – not that big of a concern
Don’t exceed ideal loading
60 psi is the input pressure – use gauge at the input
Contact probe – to ensure height requirements are met
131

132. ISO 8573.1
132

133. ROLL AND PITCH
CALCULATIONS
133
Total mass (Castor + Robotic Manipulator) = 11 kg
Mass per air bearing = 3.33 kg = 8 lbs
Using New Way Air Bearing charts, height above ground = 15.5 microns

134. ROLL AND PITCH
CALCULATIONS
Worst case scenario: arm extended over an air bearings
Minimum height before tipping = 6 microns
Max roll and pitch angle = atan(19/270,000) = 0.004 degrees
134
25 microns
6 microns
270,000
microns
19
microns

135. CONVERGING
NOZZLES
 Subsonic (0.3<M < 1) flow using shock wave:
 Pressure
Temperature
Results
 Pressure
?Area
Diameter of the Nozzle = 8 millimeters
Diameter of the Throat = 1.57 millimeters
K = 1.4, Chocked Flow with shock waves
135
8mm
1.57mm

136. SOLENOID FORCE
The Force generated by a solenoid:
F = Force
N = Number of Turns
136

137. SOLENOIDS
Force generated by the solenoid when the Castor Vehicle is 0.05m away from the
Target Vehicle
137

138. DOCKING PORT
Trend in the Force with respect to the distance between the vehicles
138

139. EQUATIONS OF MOTION
REFERENCE FRAMES
139
F7
F1 F2
F3
F8
F4
F5
F6
θ
Xbody
XInertial
Ybody
YInertial
α
α
α

140. EQUATIONS OF MOTION OF
CASTOR
 𝑥𝐼 =
sin 𝜃 ∗(𝐹7 − 𝐹8 + 𝐹1 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 − 𝐹3 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 − 𝐹4 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 + 𝐹6 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 )
𝑚
−
cos 𝑡ℎ𝑒𝑡𝑎 ∗(𝐹2 − 𝐹5 + 𝐹1 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 + 𝐹3 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 − 𝐹4 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 − 𝐹6 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 )
𝑚
 𝑦𝐼 = −
sin 𝜃 ∗(𝐹2 − 𝐹5 + 𝐹1 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 + 𝐹3 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 − 𝐹4 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 − 𝐹6 𝑐𝑜𝑠 𝑎𝑙𝑝ℎ𝑎 )
𝑚
−
cos 𝑡ℎ𝑒𝑡𝑎 ∗(𝐹7 − 𝐹8 + 𝐹1 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 − 𝐹3 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 − 𝐹4 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 + 𝐹6 𝑠𝑖𝑛 𝑎𝑙𝑝ℎ𝑎 )
𝑚
 𝜃𝐼 = −
𝑟 (𝐹1 𝑠𝑖𝑛(𝑎𝑙𝑝ℎ𝑎) − 𝐹3 𝑠𝑖𝑛(𝑎𝑙𝑝ℎ𝑎) + 𝐹4 𝑠𝑖𝑛(𝑎𝑙𝑝ℎ𝑎) − 𝐹6 𝑠𝑖𝑛(𝑎𝑙𝑝ℎ𝑎))
𝐼 𝑧𝑧
140

141. OVERVIEW OF SIMULINK
ANIMATION
141

142. OVERVIEW OF SIMULINK
ANIMATION
142

143. SCHEMATICS
143

144. CASTOR WIRING
SCHEMATIC
144

145. VTS WIRING
SCHEMATIC
145

146. PURCHASED ITEMS
146

147. AIR BEARINGS COMPONENTS
3 Round 40 mm Diameter Air Bearings
 Ideal Load: 3 x 22.67 kilograms = 68.04 kilograms
 Input Pressure = 60 pounds per second
Round End Ball Mounting Screw
Ball Retaining Clips
Air Fittings Straight
147

148. MOUNTING DETAILS
148
(Porous in our case)

149. Weight: 13 [grams]
Pneumatic connection, port 1: Female thread G1/8
Pneumatic connection, port 1: Push in 4 millimeters
PUSH-IN FITTINGS

150. OPERATION
Simply "plug and work"
The stainless-steel retaining claw
within the fitting holds the tubing securely
without damaging its surface.
Vibration and pressure surges are
safely absorbed.
Reliably connected
A nitrile rubber sealing ring guarantees
a perfect seal between standard
OD tubing and the body of the fitting.
Standard tubing is suitable for use
with compressed air and vacuum.
PUSH-IN FITTINGS

151. G1/8 parallel thread to ISO 228-1
Shorter thread
Constant installation depth
Replaceable sealing ring
Sealing on front face
Can be re-used a number of times
thanks to replaceable sealing ring.
PUSH-IN FITTINGS

152. TRADE STUDIES
152

153. RISK ANALYSIS
153
1. Falling Off the Table
2. Structural Failure
3. Vehicle Collision
4. Miscalculation of Propulsion System
5. Failure to Return to Starting Point
6. Inability to dock
7. Inability to refuel
8. Incorrect Calibration on Equipment
9. Equipment Malfunction
10. Equipment Misplaced/Stolen
11. Unbalanced Center of Gravity
12. Balloon Damage
13. Limited Testing
14. Shift in Center of Gravity
15. Running Out of Funds
16. Compressed Air Leakage
17. Solenoid/Motor Failure
18. Drifting (Fixed Force)
19. Airflow Contamination
Appendices & Back-up slides

154. DESIGN CHOICE MATRIX
154

155. DESIGN CHOICE MATRIX
155

156. SYSTEM-LEVEL COMPARISON
General Concept of Operations Comparison
Blimp Air Bearing
Weight Bearing Capabilities LOW HIGH
Ease of Manufacturing HIGH AVERAGE
Ease of Control &
Manipulation
AVERAGE HIGH
Within Budget YES YES
Ease of Testing LOW AVERAGE
Overall Stability HIGH HIGH
Ability to Track HIGH HIGH
Representation of Space Flight HIGH AVERAGE
Ease of Docking/ Structural
Interface
TBD TBD
Robotics Vote NO YES
SCORE 19 22
156
HIGH 3
AVERAGE 2
LOW 1
YES 2
NO 1
TBD 0

157. DEFINITIONS
157

158. DEFINITIONS A - C
Absolute position: Tracking where the bodies in the frame are with reference to the
entire platform, which is a fixed frame, as opposed to being relative to each other.
Absolute orientation: Tracking where the bodies in the frame are with reference to
the entire platform, which is a fixed frame, as opposed to being relative to each other.
Accommodate: To mechanically allow for movement maneuvers to be performed.
Approach mission phase: Castor targets Pollux, then translates towards Pollux.
Upon reaching a desired range of Pollux, Castor will begin station keeping routines.
Autonomous: The system functions nominally with no external inputs during the
mission.
Capture Point: A section of the Frame Component that allows the Robotic
Manipulator to hold on to the structure.
Channel: An individual circuit supplying power to an individual component of the
Propulsion Sub-System
Communicate: To pass information to two entities.
Compatible(1): Able to operate on the same frequency, transmission protocol, and
baud rate.
Compatible(2): Able to operate on the same voltage and current.
Completed: The System of Systems is physically created and meets all objectives.
Control: Regulation of a system through electronic signals.
158

159. DEFINITIONS D - E
Demonstration platform: The surface on which the Castor and Pollux vehicles
perform operations.
Deploy: Extend the End Effector of the Robotic Manipulator system outward
from where it is mounted on the Chase Vehicle System toward the Target Vehicle
System.
Dock: The physical connection between the Chase and Target Vehicle System’s
structures.
Docking mission phase: The Robotic Manipulator assists in capturing Pollux,
orienting the vehicles within defined range of each other. Castor and Pollux then
physically dock with each other.
Electrical Refueling Maneuver(1): The Robotic Manipulator will recharge the
Target Vehicle System.
Electrical Refueling Maneuver(2): To pass electrical current between two
entities.
External inputs: Any signal or force from outside the System of Systems.
Hover: The ability to maintain distance above the demonstration platform.
Hovering: Maintaining distance above the demonstration platform.
159

160. DEFINITIONS H - R
Interface: The systems being discussed must be structurally and
electronically connected for nominal functionality.
Mission Phase Information: The mission phase defined as a number which can be
relayed to communication systems.
Mission-Level forces and torques: Forces and/ or torques, applied by the Robotic
Manipulator, the Docking Interface, or the translation and rotation of the Chase
Vehicle System, that are comparable in magnitude to those experienced during the
full mission operation, as determined by the simulation.
Physical Finalization: The structure is fully assembled and structurally sound per
the CAD model with all components and sub-systems integrated and supported.
Receive: To accept an electrical current from a different system.
Refueling maneuver: A maneuver that entails the movement of the robotic
manipulator to a designated refueling port on the target vehicle structure, and the
physical connection with this port to charge a capacitor on board the target vehicle.
Refueling mission phase: The Robotic Manipulator releases from the Capture Point,
and proceeds to conduct a refueling maneuver while remaining docked.
Regulate: To control the current passing through the channel.
160

161. DEFINITIONS R - U
Rendezvous maneuver: A maneuver that entails the physical alignment of the target
and Chase Vehicle Systems using a propulsion mechanism, the use of the robotic
manipulator to hold the target vehicle through a structural interface, and physical
connection between the target and chase vehicle structures.
Return mission phase: Castor returns to the starting position.
Rotate: The Chase Vehicle System will move in a circle in the yaw-direction.
Stable: With the Robotic Manipulator System fully extended, the moment of inertia
of the Chase Vehicle System and Robotic Manipulator system is greater than or equal
to 0.0751 in^4
Start-up Mission Phase: All systems power on.
Store: To hold the electrical charge received during the refueling maneuver.
Structurally Sound: The system being described is in one piece and able to perform
nominal mission functions.
Successful Refueling: Consist in accepting an electrical current, storing the electrical
charge, and dissipating the electrical charge to an LED.
Support: The ability to contain objects and keep objects fixed to the body of the
system.
Translate: The movement of the vehicle from one place to another.
Two-dimensional plane: The x-y plane that the Vehicle Systems will translate on, in
line with the demonstration platform.
161

162. DEFINITIONS U-V
Undocking mission phase: The Robotic Manipulator releases from the
Refueling Receptacle, then re-attaches to the Capture Point. Castor and Pollux
mechanically undock from each other, separate with aid from the Robotic
Manipulator, and then the Robotic Manipulator releases contact.
Visually Inspect: Compare the fully constructed system to the CAD model of
the system.
162

163. OCR DOCUMENTATION
SYSTEM OF SYSTEMS LEVEL
163

164. SYSTEM OF SYSTEM
OBJECTIVES
1. The Gemini System of Systems should consist of a Chase Vehicle System, a Target
Vehicle System, a Visual Tracking System, and a Robotic Manipulator System.
2. The Gemini System of Systems should have a Start-up Mission Phase, an
Approach Mission Phase, a Docking Mission Phase, a Refueling Mission
Phase, an Undocking Mission Phase, and a Return Mission Phase.
3. The Gemini System of Systems should complete a rendezvous maneuver between
the Chase Vehicle System and the Target Vehicle System during the Docking
Mission Phase.
4. The Gemini System of Systems should deploy the Robotic Manipulator System
from the Chase Vehicle System during the Docking Mission Phase.
5. The Gemini System of Systems should complete a refueling maneuver between
the 2 Vehicle Systems during the Refueling Mission Phase.
6. The Gemini System of Systems should use the Visual Tracking System to
determine the absolute position of the 2 Vehicle Systems for the duration of the
mission.
7. The Gemini System of Systems should use the Visual Tracking System to
determine the absolute orientation of the 2 Vehicle Systems for the duration of
the mission.
164

165. SYSTEM OF SYSTEM
CONSTRAINTS
1. The Gemini System of Systems will be completed by the end of Embry-
Riddle's Spring Semester 2018.
Justification: In order to meet the time constraint given to us by our customers,
everything under Gemini Systems of Systems will be completed by the end of
Embry-Riddle’s Spring Semester 2018.
2. The Gemini System of Systems will cost less than 1600 USD.
Justification: In order to meet the budget constraint given to us by our
customers, the Gemini Systems of System will cost less than or equal to $1600.
3. The Gemini System of Systems will stay within the bounds of the
demonstration platform for the duration of the mission.
Justification: In order to meet the customer constraint, the Gemini System of
Systems will stay within the bounds of the demonstration platform.
165

166. SYSTEM OF SYSTEMS
REQUIREMENTS
1. The Gemini System of Systems shall have 1 Chase Vehicle System.
Justification: A Chase Vehicle System is required in order to complete the
mission.
2. The Gemini System of Systems shall have 1 Target Vehicle System.
Justification: A Target Vehicle System is required in order to complete the
mission.
3. The Gemini System of Systems shall have 1 Visual Tracking System.
Justification: A Visual Tracking System is required in order to track the
vehicles and ensure mission success.
166

167. SYSTEM OF SYSTEMS
REQUIREMENTS
4. The Gemini System of Systems shall have 1 Robotic Manipulator System.
Justification: A Robotic Manipulator System is required in order to complete
the mission.
5. The Gemini System of Systems shall have a Chase Vehicle System and a
Target Vehicle System that start at a distance that is greater than or equal to 1.9
meters apart from each other at mission commencement. Justification:
The Chase Vehicle System and Target Vehicle System cannot start at the same
location and must provide room for translation.
6. The Gemini System of Systems shall have a Chase Vehicle System and a
Target Vehicle System that start at a distance that is less than or equal to 2.1
meters apart from each other at mission commencement.
Justification: The Chase Vehicle System and Target Vehicle System cannot start
at the same location and must provide room for translation without exceeding
the bounds of the demonstration platform.
167

168. OCR DOCUMENTATION
SYSTEM LEVEL
168

169. CHASE VEHICLE SYSTEM
OBJECTIVES
1. The Chase Vehicle System should hover over the platform for the duration of
the mission.
2. The Chase Vehicle System should translate in the three-dimensional plane
during the mission.
3. The Chase Vehicle System should be allowed to rotate about the Chase Vehicle
System's three axes during the mission.
4. The Chase Vehicle System should interface with the Robotic Manipulator
System.
5. The Chase Vehicle System should be autonomous.
6. The Chase Vehicle System should remain stable for the duration of the
mission.
7. The Chase Vehicle System should dock with the Target Vehicle System during
the Docking Mission Phase.
8. The Chase Vehicle System should return to the Chase Vehicle System's starting
position at the end of the Return Mission Phase.
169

170. CHASE VEHICLE SYSTEM
CONSTRAINTS
None
170

171. CHASE VEHICLE SYSTEM
REQUIREMENTS
1. The Chase Vehicle System pitch angle with respect to the horizon shall be less
than or equal to 0.004 degrees about the pitch axis of the Chase Vehicle
System.
Justification: In order for the vehicle to remain stable and satisfy Objective 6,
based on simulation values, a pitch angle between -0.004 degrees and 0.004
degrees must be maintained about the pitch axis of the vehicle.
2. The Chase Vehicle System roll angle with respect to the horizon should be
greater than or equal to -0.004 degrees about the roll axis of the Chase Vehicle
System.
Justification: In order for the vehicle to remain stable and satisfy Objective 6,
based on simulation values, a roll angle between -0.004 degrees and 0.004
degrees must be maintained about the roll axis of the vehicle.
3. The Chase Vehicle System roll angle with respect to the horizon shall be less
than or equal to 0.004 degrees about the roll axis of the Chase Vehicle System.
Justification: In order for the vehicle to remain stable and satisfy Objective 6,
based on simulation values, a roll angle between -0.004 degrees and 0.004
degrees must be maintained about the roll axis of the vehicle.
171

172. CHASE VEHICLE SYSTEM
REQUIREMENTS
4. The Chase Vehicle System pitch angle with respect to the horizon shall be less
than or equal to 0.004 degrees about the pitch axis of the Chase Vehicle
System.
Justification: In order for the vehicle to remain stable and satisfy Objective 6,
based on simulation values, a pitch angle between -0.004 degrees and 0.004
degrees must be maintained about the pitch axis of the vehicle.
5. The Chase Vehicle System roll angle with respect to the horizon should be
greater than or equal to -0.004 degrees about the roll axis of the Chase Vehicle
System.
Justification: In order for the vehicle to remain stable and satisfy Objective 6,
based on simulation values, a roll angle between -0.004 degrees and 0.004
degrees must be maintained about the roll axis of the vehicle.
6. The Chase Vehicle System roll angle with respect to the horizon shall be less
than or equal to 0.004 degrees about the roll axis of the Chase Vehicle System.
Justification: In order for the vehicle to remain stable and satisfy Objective 6,
based on simulation values, a roll angle between -0.004 degrees and 0.004
degrees must be maintained about the roll axis of the vehicle.
172

173. TARGET VEHICLE SYSTEM
OBJECTIVES
1. The Target Vehicle System should remain stationary on the demonstration
platform for the duration of the mission.
173

174. TARGET VEHICLE SYSTEM
CONSTRAINTS
None
174

175. TARGET VEHICLE SYSTEM
REQUIREMENTS
1. The geometric center of the Target Vehicle System shall remain within a radius
of 21 centimeters of the Target Vehicle System's starting position at any point
during the mission.
Justification: In order to satisfy remaining stationary for the duration of the
mission, the Target Vehicle System must stay within this boundary. The
boundary is defined as the radius of the vehicle (16 centimeters) plus another
5 centimeters.
175

176. VISUAL TRACKING SYSTEM
OBJECTIVES
1. The Visual Tracking System should house the Camera Sub-System.
2. The Visual Tracking System should house the Communication Sub-System.
3. The Visual Tracking System should house the Controller Sub-System.
4. The Visual Tracking System should attach to the ceiling of the test room.
5. The Visual Tracking System should allow the camera to capture the entire
demonstration platform in the Camera Sub-System's field of view.
176

177. VISUAL TRACKING SYSTEM
CONSTRAINTS
None
177

178. VISUAL TRACKING SYSTEM
REQUIREMENTS
1. The Visual Tracking System height about the floor of the test room shall be
greater than or equal to 2.5 meters.
Justification: In order to satisfy Objectives 4 and 5, the ceiling of the test room
has been measured to be at least 4 meters high, and at a height of 2.5 meters,
the Camera Sub-System is able to capture the entire demonstration platform
in the Camera Sub-System's field of view and the Communication Sub-System
is within data-sending range of the Chase Vehicle System.
178

179. OCR DOCUMENTATION
SUB-SYSTEM LEVEL - CASTOR
0315-00003-00-00 – 0315-00003-04-00
179

180. COMMUNICATIONS SUB-
SYSTEM COMPONENT
1. The Communications Sub-System should maintain a data link with the Visual
Tracking System's Communications Sub-System for the duration of the
mission.
2. The Communications Sub-System should receive absolute position data from
the Visual Tracking System's Communications Sub-System.
3. The Communication Sub-System should receive absolute orientation data
from the Visual Tracking System's Communication Sub-System.
4. The Communication Sub-System should transmit received data from the Chase
Vehicle System’s Controller Sub-System.
5. The Communication Sub-System should receive mission phase information
from the Chase Vehicle System’s Controller Sub-System.
6. The Communication Sub-System should transmit mission phase information
to the Robotic Manipulator System.
7. The Communication Sub-System should receive mission phase information
from the Robotic Manipulator System.
180

181. COMMUNICATIONS SUB-
SYSTEM CONSTRAINTS
1. The Communications Sub-System will be compatible with Communications
Sub-System in the Visual Tracking System.
Justification: In order to meet the requirements of the Communications Sub-
System the Communications Sub-System in the Visual Tracking System must be
compatible.
181

182. COMMUNICATION SUB-
SYSTEM REQUIREMENTS
1. The Communications Sub-System shall be capable of transmitting data to the
Visual Tracking System at a range of at least 2.5 meters.
Justification: The Communication component must be able to transmit from
the height of the ceiling above the demonstration platform.
2. The Communications Sub-System shall be able to receive data from the Visual
Tracking System's Communications Sub-System at a baud rate of at least 9600
bits per second.
Justification: This data sample rate is necessary to meet the Chase Vehicle
System's Controller Sub-System sample rate requirements.
3. The Communications Sub-System shall be able to transmit data to the Chase
Vehicle System's Controller Sub-System at a baud rate of at least 9600 bits per
second.
Justification: This data sample rate is necessary to meet the Chase Vehicle
System's Controller Sub-System sample rate requirements.
182

183. ELECTRICAL SUB-SYSTEM
OBJECTIVES
1. The Electrical Sub-System should accommodate the Battery Component.
2. The Electrical Sub-System should accommodate the 5-volt Regulator
Component.
183

184. ELECTRICAL SUB-SYSTEM
CONSTRAINTS
None
184

185. ELECTRICAL SUB-SYSTEM
REQUIREMENTS
1. The Electrical Sub-System shall accommodate 1 battery component.
Justification: This will satisfy the first objective.
1. The Electrical Sub-System shall accommodate 1 5-volt regulator component.
Justification: This will satisfy the second objective.
185

186. CONTROLLER SUB-SYSTEM
OBJECTIVES
1. The Controller Sub-System should transmit mission phase information to the
Robotic Manipulator.
2. The Controller Sub-System should receive data from the Chase Vehicle
System's Communications Sub-System.
3. The Controller Sub-System should control the Propulsion Sub-System to
maintain the desired position.
4. The Controller Sub-System should control the Propulsion Sub-System to
maintain the desired orientation.
186

187. CONTROLLER SUB-SYSTEM
CONSTRAINTS
1. The Controller Sub-System will be compatible with the controllers on board
the Robotic Manipulator.
Justification: In order to relay mission phase information, the Controller Sub-
System and the controllers in the Robotic Manipulator must be able to send
data to each other.
187

188. CONTROLLER SUB-SYSTEM
REQUIREMENTS
1. The Controller Sub-System shall be able to send data to the Chase Vehicle
Communications Sub-System at a baud rate of 9600 bits per second.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
2. The Controller Sub-System shall be able to receive data from the Chase Vehicle
Communications Sub-System at a baud rate of 9600 bits per second.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
3. The Controller Sub-System shall compute the desired position during all phases of
the mission in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
4. The Controller Sub-System shall compute the desired orientation during all phases
of the mission in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
5. The Controller Sub-System shall compute the required reaction to maintain the
desired position in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
188

189. CONTROLLER SUB-SYSTEM
REQUIREMENTS
6. The Controller Sub-System shall compute the required reaction to maintain the
desired orientation in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
7. The Controller Sub-System shall be able to actuate the solenoids of the Propulsion
Sub-System to maintain the desired position in a control loop operating at 10 hertz.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
8. The Controller Sub-System shall be able to actuate the solenoids of the Propulsion
Sub-System to maintain the desired orientation in a control loop operating at 10
hertz.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
9. The Controller Sub-System shall be able to transmit data to the Robotic
Manipulator at a baud rate of at least 115200 bits per second.
Justification: This data sample rate is necessary to meet the Robotic Manipulator
sample rate requirements.
10. The Controller Sub-System shall be able to receive data from the Robotic
Manipulator at a baud rate of at least 115200 bits per second.
Justification: This data sample rate is necessary to meet the Robotic Manipulator
sample rate requirements.
189

190. PROPULSION SUB-SYSTEM
OBJECTIVES
1. The Propulsion Sub-System should support a pressurized air supply system.
2. The Propulsion Sub-System should support the Hovering Mechanism
Component.
3. The Propulsion Sub-System should support the Translation Mechanism
Component.
190

191. PROPULSION SUB-SYSTEM
CONSTRAINTS
None
191

192. PROPULSION SUB-SYSTEM
REQUIREMENTS
1. The Propulsion Sub-System should have 1 Hovering Mechanism Component.
Justification: A Hovering Mechanism component is required to complete the
mission.
2. The Propulsion Sub-System should have 1 Translation Mechanism
Component.
Justification: A Translation Mechanism component is required to complete the
mission.
3. The Propulsion Sub-System should support 15 tubes.
Justification: In order to supply compressed air to the air bearings in the
Hovering Mechanism Component and the outlets of the Translation
Mechanism Component, 15 total tubes must be used. This requirement satisfies
Objective 2.
192

193. STRUCTURE SUB-SYSTEM
OBJECTIVES
1. The Structure Sub-System should support the Docking Interface Component.
2. The Structure Sub-System should support the Manipulator Mount
Component.
3. The Structure Sub-System should remain structurally sound during the
duration of the mission.
193

194. STRUCTURE SUB-SYSTEM
CONSTRAINTS
None
194

195. STRUCTURE SUB-SYSTEM
REQUIREMENTS
1. The Structure Sub-System shall support 1 Docking Interface Component.
Justification: This will satisfy the first objective.
2. The Structure Sub-System shall support 1 Manipulator Mount Component.
Justification: This will satisfy the second objective.
3. The Structure Sub-System shall be at least 30 centimeters in diameter.
Justification: The Frame Component needs to be able to hold all components
on board as well as maintain a size such that, with the Robotic Manipulator, a
center of gravity location within the vehicle body is maintained.
4. The Structure Sub-System shall be at most 35 centimeters in diameter.
Justification: The Frame Component needs to be able to hold all components
on board as well as maintain a size such that, with the Robotic Manipulator, a
center of gravity location within the vehicle body is maintained.
5. The Structure Sub-System shall be able to support a 3-kilogram Robotic
Manipulator.
Justification: The Frame Component needs to be able to support the Robotic
Manipulator so as to satisfy the System of System level objectives.
195

196. OCR DOCUMENTATION
SUB-SYSTEM LEVEL – POLLUX
0315-00003-05-00 – 0315-00003-06-00
196

197. ELECTRICAL SUB-SYSTEM
OBJECTIVES
1. The Electrical Sub-System should accommodate an electrical refueling
maneuver.
2. The Electrical Sub-System should receive electrical current from the Robotic
Manipulator System during the Refueling Mission Phase.
3. The Electrical Sub-System should store the electrical charge transferred from
the Robotic Manipulator System.
4. The Electrical Sub-System should use the electrical charge stored to provide a
visual confirmation of a successful refueling.
197

198. ELECTRICAL SUB-SYSTEM
CONSTRAINTS
1. The Electrical Sub-System should be compatible with the Robotic
Manipulator.
Justification: In order to satisfy Objectives 1 and 2, the electrical input from
the Robotic Manipulator must be compatible with the Electrical Sub-System.
198

199. ELECTRICAL SUB-SYSTEM
REQUIREMENTS
1. The Electrical Sub-System shall use a 0.1 Farad capacitor
Justification: In order to satisfy the circuit design created by Sparta Robotics,
this capacitance is necessary in the design of the Electrical Sub-System.
2. The Electrical Sub-System shall use a 100 ohm resistor.
Justification: In order to satisfy the circuit design created by Sparta Robotics,
this resistance is necessary in the design of the Electrical Sub-System.
199

200. STRUCTURE SUB-SYSTEM
OBJECTIVES
1. The Structure Sub-System should support the Docking Interface Component.
2. The Structure Sub-System should support Refueling Receptacle Component.
3. The Structure Sub-System should remain structurally sound during the
duration of the mission.
200

201. STRUCTURE SUB-SYSTEM
CONSTRAINTS
None
201

202. STRUCTURE SUB-SYSTEM
REQUIREMENTS
1. The Structure Sub-System shall support 1 Docking Interface Component.
Justification: The Structure Sub-System needs a Docking Interface Component
in order to dock with the Chase Vehicle System.
2. The Structure Sub-System shall support 1 Refueling Receptacle Component.
Justification: The Structure Sub-System needs a Refueling Receptacle Sub-
Component in order to receive an electrical input.
3. The Structure Sub-System shall have a diameter greater than to equal to 30
centimeters.
Justification: The Structure Sub-System needs to be able to hold all
components.
4. The Structure Sub-System shall have a diameter less than or equal to 35
centimeters.
Justification: The Structure Sub-System needs to be able to hold all
components without the radius exceeding the length of the Robotic
Manipulator.
202

203. OCR DOCUMENTATION
SUB-SYSTEM LEVEL – VTS
0315-00003-07-00 – 0315-00003-09-00
203

204. CONTROLLER SUB-SYSTEM
OBJECTIVES
1. The Controller Sub-System should receive image data from the Camera Sub-System for the
duration of the mission.
2. The Controller Sub-System should transmit data to the Communication Sub-System for the
duration of the mission.
3. The Controller Sub-System should track the absolute position of the Chase Vehicle System
for the duration of the mission.
4. The Controller Sub-System should track the absolute position of the Target Vehicle System
for the duration of the mission.
5. The Controller Sub-System should track the absolute orientation of the Chase Vehicle
System for the duration of the mission.
6. The Controller Sub-System should track the absolute orientation of the Target Vehicle
System for the duration of the mission.
7. The Controller Sub-System should parse image data to identify the Chase Vehicle System's
absolute position for the duration of the mission.
8. The Controller Sub-System should parse image data to identify the Target Vehicle System's
absolute position for the duration of the mission.
9. The Controller Sub-System should parse image data to identify the Chase Vehicle System's
absolute orientation for the duration of the mission.
10. The Controller Sub-System should parse image data to identify the Target Vehicle System's
absolute orientation for the duration of the mission.
204

205. CONTROLLER SUB-SYSTEM
CONSTRAINTS
1. The Controller Sub-System should be compatible with the Communication
Sub-System.
Justification: In order to send a signal between the Controller Sub-System and
Visual Tracking System Communications Sub-System, the electronics must be
compatible with each other.
205

206. CONTROLLER SUB-SYSTEM
REQUIREMENTS
1. The Controller Sub-System shall calculate the absolute position of the Chase
Vehicle System and the Target Vehicle System to an accuracy of ± 1 centimeter.
Justification: In order to maintain accuracy levels during the Docking Mission
Phase, an accuracy of at least 1 centimeter must be maintained.
2. The Controller Sub-System shall calculate the absolute orientation of the Chase
Vehicle System and the Target Vehicle System to an accuracy of ± 5 degrees.
Justification: In order to maintain accuracy levels during the Docking Mission
Phase, an accuracy of at least 5 degrees must be maintained.
3. The Controller Sub-System shall transmit data to the Visual Tracking
Communication Sub-System at a baud rate of at least 9600 bits per second.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
4. The Controller Sub-System shall receive data from the Visual Tracking Camera
Sub-System at a rate of at least 20 frames per second.
Justification: This data rate is necessary to meet the Controller component sample
rate requirements.
206

207. COMMUNICATIONS SUB-
SYSTEM OBJECTIVES
1. The Communications Sub-System should maintain a data link with the Chase
Vehicle System for the duration of the mission.
2. The Communications Sub-System should receive image data from the Visual
Tracking System’s Controller Sub-System.
3. The Communications Sub-System should transmit image data to the Visual
Tracking System’s Controller Sub-System.
4. The Communications Sub-System should send absolute position data to the
Communication Component of the Chase Vehicle System.
5. The Communications Sub-System should send absolute orientation data to
the Communication Component of the Chase Vehicle System.
207

208. COMMUNICATIONS SUB-
SYSTEM CONSTRAINTS
1. The Communications Sub-System will be compatible with the Visual
Tracking System Controller Sub-System.
Justification: In order to send a signal between the Communications Sub-
System and Controller Sub-System, the electronics must be compatible with
each other.
2. The Communications Sub-System will be compatible with the Chase Vehicle
System Communication Sub-System.
Justification: In order to send a signal between the Communications Sub-
System and Controller Sub-System, the electronics must be compatible with
each other.
208

209. COMMUNICATIONS SUB-
SYSTEM REQUIREMENTS
1. The Communications Sub-System shall transmit data at a range of at least 4
meters.
Justification: The Communication component must be able to transmit from
the height of the ceiling above the demonstration platform.
2. The Communications Sub-System shall transmit data to the Chase Vehicle
System Communications Component at a baud rate greater than or equal to
9600 bits per second.
Justification: This data rate is necessary to meet the Controller component
sample rate requirements.
209

210. CAMERA SUB-SYSTEM
OBJECTIVES
1. The Camera Sub-System should capture the entire demonstration platform in
its field of view.
2. The Camera Sub-System should send image data to the Visual Tracking
Controller Sub-System.
210

211. CAMERA SUB-SYSTEM
CONSTRAINTS
1. The Camera Sub-System will comply with the resolution requirements defined
by the Requirements of the Controller Sub-System.
Justification: The Requirements of the Controller Sub-System must be met in
order to complete the mission.
211

212. CAMERA SUB-SYSTEM
REQUIREMENTS
1. The Camera Sub-System shall send image data to the Visual Tracking
System’s Controller Sub-System at a rate of at least 20 frames per second.
Justification: In order to accurately track the Chase Vehicle System and Target
Vehicle Systems, the Camera Sub-System must send image data at a speed fast
enough to meet the Chase Vehicle System Controller Component processing
speed.
2. The Camera Sub-System shall capture images at a resolution greater than or
equal to 720p.
Justification: In order to accurately track the Chase Vehicle and Target Vehicle
Systems, the camera must provide images with a resolution greater than or
equal to 720p.
212

213. OCR DOCUMENTATION
COMPONENT LEVEL - CASTOR
0320-00003-00-00 – 0320-00003-07-00
213

214. BATTERY COMPONENT
OBJECTIVES
1. The Battery Component should provide power to the Communications Sub-
System for the duration of the mission.
2. The Battery Component should provide power to the Controller Sub-System
for the duration of the mission.
3. The Battery Component should provide power to the Translation Mechanism
Component for the duration of the mission.
4. The Battery Component should provide power to the Docking Interface
Component for the duration of the mission.
214

215. BATTERY COMPONENT
CONSTRAINTS
None
215

216. BATTERY COMPONENT
REQUIREMENTS
1. The Battery Component shall have a battery with a nominal voltage of greater than
or equal to 11.2 volts.
Justification: In order to satisfy the voltage required by all electronics on-board the
Chase Vehicle System and by the Robotic Manipulator, a nominal 12-volt power
supply is required.
2. The Battery Component shall have a battery with a nominal voltage of less than or
equal to 14.5 volts.
Justification: In order to prevent irreparable damage to any of the electronics on-
board the Chase Vehicle System or the Robotic Manipulator, a value of 14.5 volts
must not be exceeded by the battery.
3. The Battery Component shall have a battery with a capacity of greater than or
equal to 3,851.13 milli-Ampere hours.
Justification: In order to satisfy the power draw by all of the electrical components
onboard of the Chase Vehicle System and the Robotic Manipulator System, a
battery with this current capacity must be used.
4. The Battery Component shall have a battery with a peak current output of greater
than or equal to 5,776.70 milli-Amperes.
Justification: In order to satisfy the power draw by all of the electrical components
onboard of the Chase Vehicle System and the Robotic Manipulator System, a
battery with this peak current output must be used.
216

217. 5-VOLT REGULATOR
COMPONENT OBJECTIVES
1. The 5-Volt Regulator Component should control voltage to the Microcontroller
Component for the duration of the mission.
217

218. 5-VOLT REGULATOR
COMPONENT CONSTRAINTS
None
218

219. 5-VOLT REGULATOR
COMPONENT REQUIREMENTS
1. The 5-Volt Regulator Component shall step voltage from the Battery
Component down to 5 volts.
Justification: In order to satisfy running the Microcontroller Sub-Component
used on the Chase Vehicle System for the duration of the mission, this capacity
must be achieved.
2. The 5-Volt Regulator Component shall maintain a current output of greater
than or equal to 1.2 amperes.
Justification: In order to satisfy running the Microcontroller Sub-Component
used on the Chase Vehicle System for the duration of the mission, this capacity
must be achieved.
219

220. MICROCONTROLLER
COMPONENT OBJECTIVES
1. The Microcontroller Component should send data to the Chase Vehicle System
Communications Sub-System.
2. The Microcontroller Component should receive data from the Chase Vehicle
System Communication Component.
3. The Microcontroller Component should control the Propulsion Sub-System to
maintain the desired position.
4. The Microcontroller Component should control the Propulsion Sub-System to
maintain the desired orientation.
5. The Microcontroller Component should communicate with the Robotic
Manipulator to notify the Robotic Manipulator of changes to the Mission
Phase Information.
220

221. MICROCONTROLLER
COMPONENT CONSTRAINTS
1. The Microcontroller Component will be compatible with the controllers on
board the Robotic Manipulator.
Justification: Compatibility is necessary to send mission phase information
data to the Robotic Manipulator System during the mission.
221

222. MICROCONTROLLER
COMPONENT REQUIREMENTS
1. The Microcontroller Component shall be able to send data to the Chase Vehicle
Communications Sub-System at a baud rate of 9600 bits per second.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
2. The Microcontroller Component shall be able to receive data from the Chase
Vehicle Communications Sub-System at a baud rate of 9600 bits per second.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
3. The Microcontroller Component shall compute the desired position during all
phases of the mission in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
4. The Microcontroller Component shall compute the desired orientation during all
phases of the mission in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
5. The Microcontroller Component shall compute the required reaction to maintain
the desired position in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
222

223. MICROCONTROLLER
COMPONENT REQUIREMENTS
6. The Microcontroller Component shall compute the required reaction to maintain
the desired orientation in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
7. The Microcontroller Component shall be able to actuate the Solenoid Driver Sub-
Component to maintain the desired position in a control loop operating at 20 hertz.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
8. The Microcontroller Component shall be able to actuate the solenoids in the
Propulsion Sub-System to maintain the desired orientation in a control loop
operating at 20 hertz.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
9. The Microcontroller Component shall be able to send data to the Robotic
Manipulator at a baud rate of 9600 bits per second.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements.
10. The Microcontroller Component shall be able to receive data from the Robotic
Manipulator at a baud rate of 9600 bits per second.
Justification: This data rate is necessary to meet the Microcontroller Component
sample rate requirements
223

224. SOLENOID DRIVER
COMPONENT OBJECTIVES
1. The Solenoid Driver Component should regulate power to the Chase Vehicle
Translation Mechanism Component.
2. The Solenoid Driver Component should interface with the Microcontroller
Component.
224

225. SOLENOID DRIVER
COMPONENT REQUIREMENTS
None
225

226. SOLENOID DRIVER
COMPONENT REQUIREMENTS
1. The Solenoid Driver Component shall regulate 8 channels of power.
Justification: In order to satisfy the Controller Sub-System Objective of
controlling the propulsion subsystem, the Solenoid Driver Component shall
regulate 8 channels.
2. The Solenoid Driver Component shall have a current rating greater than or
equal to 2 amperes per channel.
Justification: In order to satisfy the Controller Sub-System Objective of
controlling the Propulsion Sub-System, the Solenoid Driver Component shall
be capable of regulating 2 amperes.
3. The Solenoid Driver Component shall have a voltage rating greater than or
equal to 12 volts.
Justification: In order to satisfy the Controller Sub-System Objective of
controlling the Propulsion Sub-System, the Solenoid Driver Component shall
be capable of regulating 12 volts.
226

227. HOVERING MECHANISM
COMPONENT OBJECTIVES
1. The Hovering Mechanism Component should allow the Chase Vehicle System
to hover for the duration of the mission.
227

228. HOVERING MECHANISM
COMPONENT CONSTRAINTS
None
228

229. HOVERING MECHANISM
COMPONENT REQUIREMENTS
1. The Hovering Mechanism Component shall allow the Chase Vehicle System to
maintain height above the demonstration platform that is greater than or
equal to 3 microns.
Justification: Based on air bearing performance data, the ideal load leads to a
height of 3 microns. It is highly unlikely that this requirement will be validated.
2. The Hovering Mechanism Component shall have air bearings that operate on
compressed air at a pressure of 827.37 kilopascals.
Justification: A constant air pressure coming through the air bearings ensures
a constant force output.
3. The Hovering Mechanism Component shall have air bearings that operate on
compressed air at the ISO 8573.1 Quality Class 4 or better.
Justification: Air bearings require this air quality to operate nominally.
229

230. TRANSLATION MECHANISM
COMPONENT OBJECTIVES
1. The Translation Mechanism Component should generate movement of the
Chase Vehicle System in the two-dimensional plane.
2. The Translation Mechanism Component should generate movement about the
Chase Vehicle System's yaw direction.
230

231. TRANSLATION MECHANISM
COMPONENT CONSTRAINTS
None
231

232. TRANSLATION MECHANISM
COMPONENT REQUIREMENTS
1. The Translation Mechanism Component shall allow for the speed in the two-
dimensional plane to be less than or equal to 0.2 meters per second.
Justification: Chase Vehicle System shall move towards Target Vehicle System in
the x-direction to satisfy Objective 1 of the Translation Mechanism Component.
Chase Vehicle System’s x-velocity is capped at 0.2 m/s so as to ensure that the
rendezvous maneuver is controllable.
2. The Translation Mechanism Component shall have nozzles with a diameter of 4
millimeters.
Justification: The nozzle is defined as the end of the tube to carry the compressed
air through the system. Based on calculations, 4 millimeters is sufficient to provide
the force necessary to satisfy Requirements 1 and 2. Tolerances on this
measurement are per tubing manufacturer.
3. The Translation Mechanism Component shall operate at a pressure of greater than
or equal to 13 kilopascals.
Justification: A constant air pressure coming through the air jets ensures a
constant force output.
4. The Translation Mechanism Component shall have solenoids that operate on
compressed air at the ISO 8573.1 Quality Class 7 or better.
Justification: The solenoids require such air quality specification to function
nominally.
232

233. DOCKING INTERFACE
COMPONENT OBJECTIVES
1. The Docking Interface Component should accommodate a docking maneuver
during the Docking Mission Phase.
233

234. DOCKING INTERFACE
COMPONENT CONSTRAINTS
None
234

235. DOCKING INTERFACE
COMPONENT REQUIREMENTS
1. The Docking Interface Component shall be able to connect to Target Vehicle
System's Docking Interface Component at a maximum range of 20
millimeters.
Justification: The Docking Interface Component needs to connect to the Target
Vehicle System within this range due to the electromagnets being used for the
Docking Sub-Component.
2. The Docking Interface component shall be able to complete an electrical
circuit to send a signal to the robotic manipulator upon docking with a distance
no greater than 0 millimeters between the two vehicle systems.
Justification: In order for the electrons to transmit, the electric circuit needs to
be fully closed.
235

236. MANIPULATOR MOUNT
COMPONENT OBJECTIVES
1. The Manipulator Mount Component should support the Robotic Manipulator.
236

237. MANIPULATOR MOUNT
COMPONENT CONSTRAINTS
None
237

238. MANIPULATOR MOUNT
COMPONENT REQUIREMENTS
1. The Manipulator Mount Component shall be able to support a 3-kilogram
Robotic Manipulator System.
Justification: The Manipulator Mount Component needs to be able to support
the Robotic Manipulator so as to satisfy the System of System level objectives.
238

239. OCR DOCUMENTATION
COMPONENT LEVEL - POLLUX
0320-00003-08-00 – 0320-00003-09-00
239

240. DOCKING INTERFACE
COMPONENT OBJECTIVES
1. The Docking Interface Component should accommodate a docking maneuver
during the Docking Mission Phase.
2. The Docking Interface Sub-Component should allow the Robotic Manipulator
to mechanically attach to a Capture Point on the Target Vehicle System.
240

241. DOCKING INTERFACE
COMPONENT CONSTRAINTS
None
241

242. DOCKING INTERFACE
COMPONENT REQUIREMENTS
1. The Docking Interface Component shall be able to connect to Chase Vehicle
System Docking Interface Component at a maximum range of 0.2 centimeters.
Justification: The Docking Interface Component needs to connect to the Chase
Vehicle System within this range due to the electromagnets being used for the
Docking Interface Component.
242

243. REFUELING RECEPTACLE
COMPONENT OBJECTIVES
1. The Refueling Receptacle should accommodate an electrical input from the
Robotic Manipulator.
243

244. REFUELING RECEPTACLE
COMPONENT CONSTRAINTS
None
244

245. REFUELING RECEPTACLE
COMPONENT REQUIREMENTS
1. The Refueling Receptacle Component shall accommodate a 3.7-volt electrical
input from the Robotic Manipulator.
Justification: In order for the recharging circuit to operate nominally, a
voltage of 3.7 volts must be received from the Robotic Manipulator.
245

246. ROBOTIC MANIPULATOR DETAIL
246

247. ROBOTIC MANIPULATOR
DESCRIPTION
247
End
Effector
Refueling Receptacle
Base Plate
Links
Servos
Camera Positions
6 Degrees of Freedom