Description: Motiv Space Systems (Motiv) presents a concept for Safe Persistent Operations with Cobots in Space (SPOCS), addressing codesign and development of an autonomous collaborative space robot system for operations in persistent platform interiors. In order for a persistent space platform to sustain persistent operations, its autonomous systems must maintain safe operational condition over substantial periods of time. Beyond a condition of safe operation, autonomous robotic systems in particular must safely operate with neither self-damage nor damage to assets within the persistent platform. This applies during periods of human crew occupation and periods when only robots and other non-embodied autonomous systems are at work in persistent platforms. This is noteworthy, as it is expected that NASA's lunar orbiting facility, Gateway, may have no crew onboard during most of a given year with crew occupying the station for only weeks at a time. Envisioned habitable elements, such as the Habitation and Logistics Outpost (HALO) and the International Habitation (I-HAB) module, will enable crew stays around the moon for at least a month. The expectation of intermittent crew occupation holds as well for Artemis lunar surface habitats and eventual Mars habitats. In the case of robots as embodied autonomous systems operating within persistent platforms such as orbital stations and surface habitats, this can be facilitated via a priori codesign considering features of the habitat, the robot design, and autonomy that synergistically manifest in the form of intelligent motion planning and control capabilities — all as an integrated solution. This SPOCS efforts will contribute to enhancing the safety of intravehicular robotics, for which the SOA platforms are represented by NASA's Astrobee free-flying robot and humanoid robots Robonaut 2 and Valkyrie. And it will complement those systems via broader availability of space collaborative robots and codesigned human-aware subsystems.

Benefits: There is an emerging need for safe, persistent operations in environments occupied by robots and humans in space. The SPOCS effort represents a forward look to a paradigm shift in future human exploration activities. The Gateway is planned to only be human tended a fraction of the time. A significant driving factor is the cost of human operations in orbit and on planetary surfaces, and the sustainability cost measured in tons of cargo to support human habitation. Robot tenders of the internal cabin/module operational space will be critical to the success of such persistent platforms. However, when humans are present, maximizing their effective work schedule is of significant importance. This means that humans cannot sacrifice precious operating hours because they must wait while a nearby robot completes its task list. The environment needs to be outfitted to allow for safe cooperative robot/human interactions. By creating safe environments occupied by humans and robots, the effective operating costs of these future systems will be minimized.Much like NASA's future Gateway model, commercial entities are entering the arena of developing space stations, and eventually lunar surface habitats, but with a focus on stimulation of a space commerce and creation of economic zones. As markets emerge, the costs of goods and services need to be well understood to promote profit and growth. Human exploration comes at a significant cost while bringing the benefit of in-situ expertise and observational skills. To balance costs and maximize yield of space manufacturing and services, a blend of robotics and human involvement must be achieved. SPOCS properly identifies the natural progression of this synergistic relationship. Humans are well suited to the initial discovery phase and initiation of processes. Robots excel at the repetitive production processes which drive speed and repeatability. However, they must be able to operate together seamlessly in a future state.