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Deliverable Reference : D1. 4
Title : System Requirements Document
Confidentiality Level : PU
Lead Partner : Space Applications Services
Abstract : This document presents the system requirements
for MOSAR that were derived from the application
and technology review, and the analysis of the
operational and demonstration scenarios.
EC Grant N° : 821996
Project Officer EC : Christos Ampatzis (REA)
MOSAR is co-funded by the Horizon 2020
Framework Programme of the European Union
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document DOCUMENT CHANGE RECORD Version Date Author Changed Sections / Pages Reason for Change / RID No 0.9.0 28 / 06 /201 9 Partners All Initial delivery for SRR review 1.0.0 01/09/2019 Space Applications USTRAT Section 2.2. Section 2.2. (FuncR_S 118 ) Section 2.2. (PerfR_S201/202) Section 2.2. Section 3.3. (FuncR_A 113 - 116, B 103 ) Added section based on RID OG 09 - 48 Comment removed based on RID OG 09 - 49 Edited based on RID OG09- 50 Edited based on RID OG 09 - 51 Edited based on RID OG 09 - 53
MOSAR - System Requirements Document
- Version : 1.0. - Date : 01 - Sept-
- 1 Introduction Contents
- 1.1 Purpose and Scope
- 1.2 Document Structure
- 1.3 Applicable Documents
- 1.4 Reference Documents
- 1.5 Acronyms
- 2 Modular Spacecraft Requirements
- 2.1 Mission Overview
- 2.2 Space Scenarios Requirements
- 2.2.1 Formalism
- 2.2.2 S100: Functional requirements [FuncR]
- 2.2.3 S200: Performance requirements [PerfR]
- 2.2.4 S300: Interface requirements [IntRD]
- 2.2.5 S400: Design requirements [DesR]
- 2.2.6 S500: Physical and resource requirements [PhyR]
- 2.2.7 S600: Environmental and Operational requirements [OpR]
- 2.2.8 S700: Safety requirements [SafR]
- 2.2.9 S800: Configuration and implementation requirements [ConfR]
- 3 MOSAR Demonstrator Requirements
- 3.1 Demonstrator Overview
- 3.2 Formalism
- 3.3 System Requirements [Axxx]
- 3.3.1 A100: Functional requirements [FuncR]
- 3.3.2 A200: Performance requirements [PerfR]
- 3.3.3 A300: Interface requirements [IntR]
- 3.3.4 A400: Design requirements [DesR]
- 3.3.5 A500: Physical and resource requirements [PhyR]
- 3.3.6 A600: Environmental and Operational requirements [OpR]
- 3.3.7 A700: Safety requirements [SafR]
- 3.3.8 A800: Configuration and implementation requirements [ConfR]
- 3.4 Walking Manipulator Requirements [Bxxx]
- 3.4.1 B100: Functional requirements [FuncR]
- 3.4.2 B200: Performance requirements [PerfR]
- 3.4.3 B300: Interface requirements [IntR]
- 3.4.4 B400: Design requirements [DesR]
- Version : 1.0.
- Date : 01 - Sept-
- 3.4.5 B500: Physical and resource requirements [PhyR] MOSAR - System Requirements Document
- 3.4.6 B600: Environmental and Operational requirements [OpR]
- 3.4.7 B700: Safety requirements [SafR]
- 3.4.8 B800: Configuration and implementation requirements [ConfR]
- 3.5 Spacecraft Modules Requirements [Cxxx]
- 3.5.1 C100: Functional requirements [FuncR]
- 3.5.2 C200: Performance requirements [PerfR]
- 3.5.3 C300: Interface requirements [IntR]
- 3.5.4 C400: Design requirements [DesR]
- 3.5.5 C500: Physical and resource requirements [PhyR]...........................................
- 3.5.6 C600: Environmental and Operational requirements [OpR]
- 3.5.7 C700: Safety requirements [SafR]
- 3.5.8 C800: Configuration and implementation requirements [ConfR].......................
- 3.6 Standard Interfaces Requirements [Dxxx]
- 3.6.1 D100: Functional requirements [FuncR]
- 3.6.2 D200: Performance requirements [PerfR]
- 3.6.3 D300: Interface requirements [IntR]
- 3.6.4 D400: Design requirements [DesR]
- 3.6.5 D500: Physical requirements [PhyR]
- 3.6.6 D600: Environmental and Operational requirements [OpR]
- 3.6.7 D700: Safety requirements [SafR]
- 3.6.8 D800: Configuration and implementation requirements [ConfR].......................
- 3.7 Planner and Simulator Requirements [Exxx]
- 3.7.1 E100: Functional requirements [FuncR]
- 3.7.2 D200: Performance requirements [PerfR]
- 3.7.3 D300: Interface requirements [IntR]
- 3.7.4 D400: Design requirements [DesR]
- 3.7.5 D500: Physical and resource requirements [PhyR]...........................................
- 3.7.6 D600: Environmental and Operational requirements [OpR]
- 3.7.7 D700: Safety requirements [SafR]
- 3.7.8 D800: Configuration and implementation requirements [ConfR].......................
- 3.8 Software Requirements [Fxxx]
- 3.8.1 F100: Functional requirements [FuncR]
- 3.8.2 F200: Performance requirements [PerfR]
- 3.8.3 F300: Interface requirements [IntR]
- 3.8.4 F400: Design requirements [DesR] - Version : 1.0. - Date : 01 - Sept-
- 3.8.5 F500: Physical and resource requirements [PhyR] MOSAR - System Requirements Document
- 3.8.6 F600: Environmental and Operational requirements [OpR]
- 3.8.7 F700: Safety requirements [SafR]
- 3.8.8 F800: Configuration and implementation requirements [ConfR]
- 3.9 Validation Requirements [Gxxx]
- 4 Conclusions
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document
List of Figures
Figure 2- 1 - Schematic view of a MOSAR-like mission. ........................................................................ 11
Figure 3-1: MOSAR Demonstrator Concept .......................................................................................... 31
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document
1 Introduction
1.1 Purpose and Scope
The purpose of this document is to provide the system requirements for MOSAR that are derived from
the from the SRC Compendium document, the analysis of the modular spacecraft applications and
relevant technology review (including previous OGs building blocks), the MOSAR operational concept
and the demonstration scenarios.
The document is mainly divided in two parts. The first part addresses the extraction of requirements
associated with future space mission scenarios of modular spacecraft applications. They are mainly
derived from the analysis of the most promising use cases of On-orbit reconfiguration and the associated
technological needs (RD2-D1.2). These requirements are considered as guidelines for the development
of the MOSAR demonstrator, to target a good representativeness of future missions.
The second part addresses more specifically the technical requirements of the MOSAR demonstrator
that will be designed, developed and tested during this activity. The requirements are described at
system level, for each of the main sub-systems and for the validation phase.
1.2 Document Structure
This document is structured as follows:
Section 1 Introduction
Section 2 Modular Spacecraft Requirements
Section 3 MOSAR Demonstrator Requirements
1.3 Applicable Documents
AD1 SRC – Guidance Document for H2020 Work Programe 2018-2020 (SPACE- 12 - TEC-2018)
AD2 MOSAR Consortium Agreement, version 1.0 (7th^ November 2018)
AD3 MOSAR Grant Agreement (821996) (18th^ January 2019)
AD4 MOSAR Proposal; H2020-SPACE- 2018 - 2020 (SEP-210504862)
1.4 Reference Documents
RD1 MOSAR-WP1-D1.1-GMV OG1-5 Building Block Update Documentation Package
RD2 MOSAR-WP1-D1.2-TASF Report on MOSAR Applicable Technologies Review
RD3 MOSAR-WP1-D1.3-DLR Operational Concept
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document
1.5 Acronyms
APM Active Payload Module
ASM Active System Module
CAN Controller Area Network
CLT Client (spacecraft)
DDS Data Distribution Service
ERGO European Robotic Goal-Oriented Autonomous Controller
ESA European Space Agency
ESROCOS European Space Robotics Control and Operating System
FES Functional Engineering Simulator
FM Functional Module
GEO Geostationary Earth Orbit
GTO Geostationary Transfer Orbit
I3DS Integrated 3D Sensors
InFuse Infusing Data Fusion in Space Robotics
LEO Low Earth Orbit
MCC Monitoring and Control Center
MOSAR Modular Spacecraft Assembly and Reconfiguration
OBC On-Board Computer
OG Operational Grant
PERASPERA Plan the European Roadmap and its Activities for Space Exploitation of Robotics and
Autonomy
PUS Packet Utilization Standard
R-ICU Reduced Instrument Control Unit
SI Standard Interface
SIROM Standard Interface for Robotic Manipulation of Payloads in Future Space Missions
SM Spacecraft Modules
SpW SpaceWire
SRC Strategic Research Cluster
SVC Servicer (spacecraft)
TASTE The ASSERT Set of Tools for Engineering
TBC To be Confirmed
TBD To be Defined
TC Telecommand
TM Telemetry
WM Walking Manipulator
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document
Dedicated modules (power generation module, payload modules, hosted payload module) will be
manufactured, tested on-ground and launched into GTO (can be a co-passenger with another GEO
satellite). A servicer equipped with a robotic arm and positioned near the GTO injection point, will then
capture the modules, bring them to the satellite operational orbit (i.e. perform an orbit raising and
insertion into GEO slot of its client) where it will assemble them with the following sequence:
o Addition of power generation module and in-orbit tests for verification of performances
o Removal and storage of obsolete payload modules
o Replacement of obsolete payload modules and in-orbit tests for verification of
performances
o Addition of telecommunication payload modules and in-orbit tests for verification of
performances
o Addition of hosted payload module and in-orbit tests for verification of performances
Phase 3: replacement of failed battery + addition of deorbiting propulsion kit
After additional years of operations, failure of parts subjected to ageing (e.g. battery, thrusters) occurred
preventing the satellite from operating nominally and performing specific station keeping maneuvers
(e.g. E/W or N/S).
Dedicated modules (battery module, propulsion kit) are manufactured, tested on-ground and launched
as co-passenger to another GTO mission. As for Phase 2, a servicer will capture and bring them to the
satellite operational orbit and perform the modules exchange.
Figure 2 - 1 - Schematic view of a MOSAR-like mission.
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document
This mission concept is proposed as an example, to guide the development of the demonstrator.
However it should not limit in any way the applicability of MOSAR to any other kind of mission.
MOSAR is a project aiming at demonstrating a set of key technologies that are considered essential for
the development of future applications of On-Orbit Servicing and On-Orbit Assembly. The objectives of
MOSAR include (AD3):
Review, extension and integration of common robotic building blocks: ESROCOS, ERGO and
InFuse software building blocks; I3DS perception suite and SIROM standard interface.
Development of a repositionable walking manipulator, enabling a cost-effective solution for
actuation on a wide workspace without escalation of size and performance of the robot.
Elaboration of a concept for modular spacecraft: identifying key design choices and highlighting
recommendations for development of standards for design and operation of future modular
space vehicles.
The first two objectives should be generic and independent from any specific mission, as the final
purpose is to develop a standard that is unique and re-usable across different missions. As for the third
objective, the applicability of the modular approach to different missions is discussed in RD2, highlighting
the main advantages that modularity would bring to specific applications and the main design and
operation requirement that would need to be fulfilled.
2.2 Space Scenarios Requirements
MOSAR does not target a specific mission in particular, but rather aims at demonstrating key
functionalities that are intended to be generic and applicable to very different scenarios. Therefore, it
has been preferred not to restrain MOSAR applicability to a given mission, but to present general
requirements that can be common to multiple missions. These requirements are not expected to be fully
verified in the context of the current project. They should be considered as guidelines for the
developments in the current activity to favor compatibility with future mission goals and requirements.
2.2.1 Formalism
The following section details the space scenarios requirements following the structure exemplified in
this table:
Table 1 : Example of requirement
YY_uniqueID Title^ LEVEL
STATEMENT Requirement Statement
COVERS Origin
COMMENT Additional comment and explanations
The top row of the table includes:
● Unique ID: identificator with the structure YY_uniqueID
○ YY: type of the requirement - Functional requirements (FuncR), Performance
requirements (PerfR), Interface requirements (IntR), …
○ uniqueID: unique reference with 4 characters:
■ The first character is a “S”, for Space Scenarios Requirements
■ The next number identifies the type of requirement inside the subsystem
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document STATEMENT (^) The robotic manipulator shall be able to reposition itself by using the interconnectors/structure of the functional modules or the spacecraft COVERS Mission analysis RD Guidelines AD1-OG9-R COMMENT FuncR_S10 5 Design software Mandatory STATEMENT A design software shall be able to create a robotic compatible servicing / reconfiguration plan for the modular spacecraft COVERS (^) Operational Concept RD Guidelines AD1-OG9-R COMMENT FuncR_S10 6 Simulation software Mandatory STATEMENT A simulation software shall be able to simulate the system with all related robotics elements following the execution plan COVERS Operational Concept RD Guidelines AD1-OG9-R COMMENT
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document FuncR_S107 Robot high-level control (^) Mandatory STATEMENT The modular spacecraft shall perform the high-level control of the robot, by the execution and monitoring of the reconfiguration plan (task level) COVERS Operational Concept RD Guidelines AD1-OG9-R COMMENT The high-level control of the robot can also be managed by the servicer satellite (depending on the servicing or local reconfiguration scenario) FuncR_S108 Robot low-level control Mandatory STATEMENT The robotic manipulator shall ensure its low-level control for the execution of the high- level tasks COVERS (^) Operational Concept RD Guidelines AD1-OG9-R COMMENT FuncR_S10 9 Functional module monitoring Mandatory STATEMENT The modular spacecraft shall be able to monitor the status of essential parameters of each connected functional module COVERS (^) Mission analysis RD Guidelines AD1-OG9-R COMMENT FuncR_S1 10 Resources reallocation Mandatory STATEMENT The system shall be able to reallocate resources (e.g. power, data, computational power, etc.) and assign different path automatically in case of a defect (e.g. interconnector of an APM) COVERS Mission analysis RD Guidelines AD1-OG9-R COMMENT
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document FuncR_S115 Heat management and thermal considerations (^) Mandatory STATEMENT One or several modules options shall be available to implement heat management functions that allow thermal regulation of the different modules within its specific range of temperatures. The heat management system could be composed of one or more modules. COVERS (^) Mission analysis RD COMMENT FuncR_S11 6 Propulsion subsystem Mandatory STATEMENT (^) One or several modules options shall be available to implement a propulsion subsystem with capacity to perform at least: Station keeping manoeuvers. Orbit relocation. De-orbiting. COVERS Mission analysis RD COMMENT (^) The propulsion subsystem could be integrated by one or more functional modules. FuncR_S11 7 Attitude control subsystem Mandatory STATEMENT One or several modules options shall be available to implement an attitude control subsystem, with capacity to perform at least: Spacecraft reorientation. Attitude control compatible with mission objectives. Autonomous search of the Sun and the Earth COVERS Mission analysis RD COMMENT The attitude control subsystem is essential to ensure correct functioning of other subsystems. FuncR_S118 Module mechanical connections Mandatory STATEMENT (^) Modules shall be able to connect mechanically to other modules or to the spacecraft through interconnectors. COVERS Mission analysis RD COMMENT (^) Not every module is directly linked to the OBC of the modular platform. Data relay function is needed to dispatch telecommands and telemetries through a network of modules.
Version : 1.0. Date : 01 - Sept- 2019 MOSAR - System Requirements Document FuncR_S11 9 Module data relay Mandatory STATEMENT Any module should be able to act as a data relay for other modules or the robotic manipulator through their interconnector, also if the module is in safe mode COVERS (^) Mission analysis RD COMMENT Not every module is directly linked to the OBC of the modular platform. Data relay function is needed to dispatch telecommands and telemetries through a network of modules.
FM1 is in safe mode but still acts as data relay for FM2.
FuncR_S1 20 Data routing (^) Mandatory STATEMENT The OBC shall be able to redirect telecommands to specific modules, for the spacecraft configuration or for instance upon detection of failure on any point of the network. If an alternative path is not available, the OBC shall be able to isolate the faulty node and all the others nodes connected downstream. COVERS (^) Mission analysis RD COMMENT FM5 has a nominal link to the OBC through FM3 and FM4. In case of failure of any of these components, the OBC should redirect telecommands to FM5 through the alternative path using FM1 and FM2.
