A worksite surveyor for Canadarm3: ensuring safe operation of Canada's next-generation space manipulator

Canadaarm3的现场测量员：确保加拿大下一代太空机械手的安全运行

• 批准号: 576630-2022
• 负责人: Kelly, JonathanJS
• 金额: $ 2.73万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=743259
• 关键词: worksite; surveyor; Canadarm3; ensuring; safe

Canada is internationally recognized as a leader in space robotics. This leadership began with the development of the original Canadarm, first launched in 1981 on board Space Shuttle Columbia. The next major Canadian contribution to space exploration will be Canadarm3, an advanced robotic manipulator for the US-led Lunar Gateway. The Gateway is a lunar outpost that will enable sustained human exploration of the Moon. Canadarm3 will operate aboard Gateway, which will orbit the Moon beginning in the mid-2020s, supporting missions to the lunar surface, serving as a science laboratory, and acting as a proving ground for exploration missions deeper into space. Because of Gateway's location some 400,000 kilometres from Earth, communication will be limited and delayed. Canadarm3 will therefore need to be highly autonomous and to operate without constant supervision from the ground. The Alliance research program will develop new capabilities in the area of vision-based anomaly detection to enable safe movement of the Canadarm3 around the Gateway structure. In collaboration with the primary Canadarm3 contractor, MDA Inc., we will leverage machine learning to create accurate 3D occupancy maps from monocular camera images acquired under variable and difficult lighting conditions in lunar orbit. The occupancy maps will be compared with curated maps of the structure to automatically identify deviations that may be a safety hazard. The same hazard-identification technology has applications for the servicing of satellites operating in Earth orbit.

加拿大是国际公认的太空机器人领域的领导者。这一领导地位始于最初的 Canadaarm 的开发，该产品于 1981 年在哥伦比亚号航天飞机上首次发射。加拿大对太空探索的下一个主要贡献将是Canadarm3，这是一种用于美国主导的月球门户的先进机器人操纵器。门户是一个月球前哨站，将使人类能够持续探索月球。 Canadaarm3 将在 Gateway 上运行，Gateway 将于 2020 年代中期开始绕月球运行，支持月球表面任务，充当科学实验室，并充当更深太空探索任务的试验场。由于网关距离地球约 400,000 公里，通信将受到限制和延迟。因此，Canadarm3 需要高度自治，并且在没有地面持续监督的情况下运行。该联盟研究计划将开发基于视觉的异常检测领域的新功能，以使 Canadaarm3 能够在网关结构周围安全移动。我们将与 Canadaarm3 的主要承包商 MDA Inc. 合作，利用机器学习，根据在月球轨道上变化和困难的照明条件下获取的单目相机图像创建准确的 3D 占用图。占用图将与结构的策划图进行比较，以自动识别可能存在安全隐患的偏差。同样的危险识别技术可用于为地球轨道上运行的卫星提供服务。