FAIR-SPACE Facilities & equipment

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On-Earth Testbeds

Orbital Test Bed:

This facility is used to test and develop the next generation in machine vision and robotic grasping of orbital objects.

Planetary Test Bed:

This facility is used to test and develop the next generation in low-g environment locomotion and drilling with realistic regolith simulants.


Orbital Test Bed

Hardware:

The orbital test bed has access to two laboratories, one 30m2 and the other 60m2 in area. To simulate the grasping and subsequent capture of the space objects the facility is equipped with a range of hardware:

Robotic Arms & Grippers   We have several robotic arms and grippers includ- ing two UR5 arms, one Kinova Jaco2 arm, two Robotiq 2F-140 grippers and one Kinova KG-3 gripper.

Robotic Arms & Grippers

We have several robotic arms and grippers includ- ing two UR5 arms, one Kinova Jaco2 arm, two Robotiq 2F-140 grippers and one Kinova KG-3 gripper.

RGB-D cameras & Motion Capture System   For sensing the object to be grasped we use RGB-D cameras such as the Intel RealSense D435. We also have a Qualisys Motion Capture System with six Oqus 301 cameras.

RGB-D cameras & Motion Capture System

For sensing the object to be grasped we use RGB-D cameras such as the Intel RealSense D435. We also have a Qualisys Motion Capture System with six Oqus 301 cameras.

Floating structures   We have an air bearing stand and have access to an air granite table. These enable us to simulate zero to low-g approach and docking maneuvers in 2D.

Floating structures

We have an air bearing stand and have access to an air granite table. These enable us to simulate zero to low-g approach and docking maneuvers in 2D.

X-Y Traverser   To complement the robotic arms we will soon have a horizontally mounted motorized X-Y traverser system to simulate orbital motion.

X-Y Traverser

To complement the robotic arms we will soon have a horizontally mounted motorized X-Y traverser system to simulate orbital motion.

National Instruments-based computer control   We have a cRIO-9022 control and data acquisition system and a 1456 Computer Vision System.

National Instruments-based computer control

We have a cRIO-9022 control and data acquisition system and a 1456 Computer Vision System.

 
 

Software:

The orbital test bed has access to high performance workstations equipped with the latest in robotics software. The in-house team regularly use the open source Robot Operating System (ROS) to simulate, visualize and validate all experimental test campaigns.

 
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Case Study: Estimating the pose of a satellite

In-house software has been developed, based on the UnReal Engine, that enables the user to simulate and capture photo-realistic images of user defined models in orbit. This software is currently being used to test Deep Learning algorithms for estimating the pose of satellites.


planetary test bed

Hardware:

The planetary test bed has access to a 23m2 ’dirty’ laboratory where mechanisms and payloads requiring exposure to Martian and Lunar regoliths is important. The following equipment is available:

Rovers   Various rovers are available , for example one Seekur Jnr, two Pioneer 3ATs and two SMARTs.

Rovers

Various rovers are available , for example one Seekur Jnr, two Pioneer 3ATs and two SMARTs.

LIDAR systems   We have Ocular, SICK and Hukuyo LIDAR systems.

LIDAR systems

We have Ocular, SICK and Hukuyo LIDAR systems.

Ground Truth Equipment   We have a Qualisys Motion Capture System that can be used outdoors as well as indoors and also a NovAtel differential-GPS system (one base and one station).

Ground Truth Equipment

We have a Qualisys Motion Capture System that can be used outdoors as well as indoors and also a NovAtel differential-GPS system (one base and one station).

Regolith preparation apparatus   We have equipment to prepare different Martian regoliths (internally named SSC-1, SSC-2 and SSC-3).

Regolith preparation apparatus

We have equipment to prepare different Martian regoliths (internally named SSC-1, SSC-2 and SSC-3).

 

Software:

The users of this test bed have access to a variety of general purpose software pro- grams e.g. MATLAB & Simulink for simulations and analysis of data and SolidWorks for CAD modeling.

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Case Study: EDEM Software

We also have our own license to the specialist Discrete Element Modeling software eDEM. This is used to simulate the action of our mechanisms and payloads on and inside different regoliths. Such software is of course supported by High Performance Computers.


CONTACT US:

Get in touch to find out how FAIR SPACE could support your ideas:

Email: fairspacehub@surrey.ac.uk

Telephone: +44(0)1483 682272