Technology for Robotic Surface Inspection in Space

This paper presents on-going research in robotic inspection of space platforms. Three main areas of investigation are discussed: machine-vision inspection techniques, an integrated sensor end-e ector, and an orbital environment laboratory simulation. Machine-vision inspection utilizes automatic comparison of new and reference images to detect on-orbit induced damage such as micro-meteorite impacts. The cameras and lighting used for this inspection are housed in a multisensor end-e ector, which also contains a suite of sensors for detection of temperature, gas leaks, proximity, and forces. To fully test all of these sensors, a realistic space platform mock-up has been created, complete with visual, temperature, and gas anomalies. Further, changing orbital lighting conditions are e ectively mimicked by a robotic solar simulator. In the paper, each of these technology components will be discussed, and experimental results are provided.