Currently the structures we send and assemble in space have to survive a rocket launch environment to reach orbit or beyond. This significantly constrains what kinds of structures we can build to the volume of the payload bay of the rocket, the forces imparted on it from launch and the overall weight of the equipment sent to space. By designing systems that can autonomously manufacture structures in space, we eliminate all of these constraints. No longer are there any volume or mass constraints on any of the pieces of a system since they’re being fabricated and constructed in the expanse of space with a theoretically infinite amount of material resupply launches. The only constraint then becomes the forces and other space phenomena such as radiation that the structure will have to withstand.
This enables the construction of larger space stations, for research or tourism, larger space observation and monitoring systems similar to the James Webb telescope or other such structures that would be cumbersome to make and operate on Earth, and even in-space manufacturing facilities to produce products that would be difficult or impossible to make with Earth’s gravity. All these structures have implications both inspace and on Earth. For instance, lately there has been significant progress in organ printing which is nearly impossible to do in Earth’s gravity. If a large enough facility capable of producing these organs were to be made in space, it would greatly help those in need of transplants and the medical field in general.
Currently there is one project working on in-orbit 3D printing and assembly of large structures in space known as Archinaut. Their approach, however, differs significantly from what we intend to prototype. Previous work, projects, products, or services undertaken or delivered in the past:  Astrobee, Space Cobot

Get in TouchPDF

planning of the project

SET a target

Astronauts, Space Tourists, Researchers (In space and on Earth), Patients, Pharmaceutical Specialists, Semiconductor Manufacturers, Astrophysicists and Astronomers, Quantum Computation Developers, etc… The list goes on as there are many industries that would benefit from access to 0 gravity environments.

design a solution

The solution is a 6 degree of movement (DOM) robot with a 6 degree of freedom (DOF) manipulator capable of additive manufacturing. The technologies involved are: 3Dprinting, bidirectional thrust actuators, flight control computation, position and trajectory mapping, air bearings, adaptive control systems, tool path compiling, marker vison,servo motor resistance-based calibration. The technologies used are: bidirectional thrust propellers; ESCs; brushless motors; servo motors; stepper motors; on-board computers; LiPo batteries; positional and orientation sensors; optical sensors; 3D printing subsystems; high pressure pneumatics; advanced pneumatic levitation solutions; motion tracking; intelligent positional awareness models.

track the progress

The autonomous solution needs to have robust, adaptive high and low level control and planning methods. These paired with a manipulator capable of quality additive manufacturing and object manipulation would be suitable enough to meet objective requirements. This is a multi-robot system, therefore, can be scaled up by adding more robots.

Departments

POSTER

Poster

vIDEO

Video

paper

Paper

ELECTRONICS

Electronics

SOFTWARE

Software

MECHANICS

Mechanics

VISION

Vision

CONTROL

Control

prototype

Prototype

Blog

2 - 8 Jun

Tests were conducted to verify the proper functioning of the developed algorithms, with the modified base. Finished writing the report for the Aerospace PIC.
Completed the poster and video required for the PIC in LEEC.





26 May - 1 Jun

Started testing on the frictionless table to evaluate the MPC with everything already assembled.
There were some setbacks, namely, our initial air cylinder had a manufacturing defect, requiring us to adapt the base for one of the carbon cylinders.
Writing of the report necessary to be submitted for the Aerospace PIC.





19 - 25 May

Started programming an obstacle avoidance algorithm to be implemented on the robot.
Continue incorporating the code tested in Python for the vision and controlleres in ROS architecture.
Finished programmig and tested sending PWM through arduino to the motors, via Serial communication. Incorporating said code in ROS architecture.





12 - 18 May

Finnished implementation the MPC in ROS environment.
Coding in arduino in order to send PWM through arduno to the motors. Programmed a script in order to test whether the code was successful. Adjustments needed to be made.
Advances in the programming of the ROS environment.




05 - 11 May

Implementation of MPC ROS environment, testing in ROS environment and adaptation to ROS environment.
Studying coding in arduino and incorporating him in order
Started integrating in ROS the information of the depth camera.
Reading arduino documentation. Integrating arduno in ROS archichecture.


28 Apr-04 May

Continuing writting the documentation of the MPC, temporal optimization of calculations by solver configuration and testing.
Continuing working on the gazebo simulations.
Study on SSH (Use of tools like SSH, SCP, and SFTP) and creation of a server for wireless communication with the mission computer.
Simulating a command through code so that we are able to arm PX4. Studying the code of PX4.
Group decision to change the way PWM information was sent to the motors. It was previsoulsy sent through PX4, now it is going to be sent through arduino.

21 -27 Apr

Continuing writting the documentation of the MPC, temporal optimization of calculations by solver configuration and testing.
Continuing working on the gazebo simulations.
Study on SSH (Use of tools like SSH, SCP, and SFTP) and creation of a server for wireless communication with the mission computer.
Studying how to arm the PX4 in order to send PWM information to the motors.

14 -20 Apr

The documentation of the MPC began being written, and its cost function optimization was concluded.
Developing in Gazebo the ROS environment.
Setting up Upboard (software and kernel installation) and attempting GPIO configuration (unsuccessful).Configuration of an ESP01 WiFi module (configured but not utilized due to Upboard HAT Pins not functioning).
Configuring PX4 and readings of the topics of mavros.
Advanced in ROS archicteture by coding a node that subscribes to a mavros topic (which outputs IMU data), and publishes PWM data.

07 -13 Apr

Ubuntu was successfully installed on the Upboard.
The firmware of the Pixhawk was flashed, and a thorough calibration was performed. Following this, the programming of PX4 in Mavlink was initiated.
Additionally, controller parameters were optimized to align with the robot's specifications.
Also, the midterm presentation powerpoint was conducted.

31 Mar -06 Apr


During the past week the focus was directed towards developing code to calibrate and manipulate the Stewart Platform, integrating Blender software to test and simulate vision-related aspects. Additionally, a temporary base was designed and assembled for rigorous testing of the Stewart platform. The project successfully transitioned from a mechanical system to Gazebo, where the simulation environment was programmed. Furthermore, Github repositories were established and managed to streamline collaboration. Testing procedures were conducted to assess the platform's performance, while circuits were meticulously organized for seamless operation. Lastly, 3D printed components were also updated and manufactured to enhance the designs.

24-30 Mar


This week, the robot was set up in Gazebo, and began defining links and joints to enable it to slide over a plane in simulation, mirroring its real-world motion on a table. The simulation scheduled to be completed by next week. Additionally, a Stewart platform was designed in CAD, printed, and assembled to facilitate positioning at predefined points for next week's tasks.

our team

alexandre ROCHA

Team Member

lucas GONÇALVES

Team Member

inÊs mESQUITA

Team Member

david VALENTE

Team Member

afonso LANÇA

Team Member

lourenço FARIA

Team Member

rodrigo VENTURA

Founder Supervisor

rafael CORDEIRO

Supervisor

“I love these guys! They did a great job. I would recommend them to anyone.” 

elon musk

"Love it!"

steve jobs

“I’m working with these guys from now on!”

John Smith

“Top-notch job. Couldn’t have asked for better design and photography.

Phil Johnson

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Lisbon, Portugal , Instituto Superior Técnico,
Torre Norte, 8th Floor