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Acta Astronautica 65 (2009) 95 – 102

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Space debris removal system using a small satellite


Shin-Ichiro Nishida∗ , Satomi Kawamoto, Yasushi Okawa, Fuyuto Terui, Shoji Kitamura
Institute of Aerospace Technology, Japan Aerospace Exploration Agency, Japan

Received 12 December 2006; accepted 9 January 2009


Available online 16 April 2009

Abstract
Since the number of satellites in Earth orbit is steadily increasing, space debris will eventually pose a serious problem to near-
Earth space activities if left unchecked, and so effective measures to mitigate it are becoming urgent. Equipping new satellites
with an end-of-life de-orbit or orbital lifetime reduction capability could be an effective means of reducing the amount of debris
by reducing the probability of the collisions between objects. On the other hand, the active removal of space debris and the
retrieval of failed satellites by spacecraft are other possible measures.
The Institute of Aerospace Technology, Japan Aerospace Exploration Agency (JAXA), is studying a micro-satellite system for
active space debris removal, and is examining the applicability of electro-dynamic tether (EDT) technology as its high efficiency
orbital transfer system. A small EDT package provides a possible means for lowering the orbits of objects without the need for
propellant.
Capture is indispensable for the retrieval of large space debris objects, and we propose a flexible robot arm for this purpose.
This paper discusses a space debris removal satellite system and describes the development status of prototypes of the EDT
package and a new robot arm for capturing non-cooperative targets.
© 2009 Published by Elsevier Ltd.

1. Introduction The Japan Aerospace Exploration Agency’s (JAXA)


Institute of Aerospace Technology is studying an active
Since the number of satellites in Earth orbit is steadily space debris removal system [1]. Conceptually, this con-
increasing, space debris, if left unchecked, will even- sists of a small spacecraft (a micro-satellite capable of
tually pose a serious hazard to near-Earth space ac- piggyback launch) that transfers large debris objects that
tivities, and so effective measures to mitigate it are occupy useful orbits to a disposal orbit. electro-dynamic
becoming urgent. Equipping new satellites with an end- tether (EDT) technology is being investigated as a high
of-life de-orbit and orbital lifetime reduction capabil- efficiency orbital transfer system for this application. A
ity could be an effective future means of reducing the small EDT package is being developed that consists of
amount of debris by reducing the probability of colli- a bare conductive tether, which collects electrons from
sions between objects, while using spacecraft to actively the ambient plasma, and field emitter array cathodes
remove debris objects and to retrieve failed satellites (FEAC) utilizing carbon nanotubes (CNT), which emit
are possible measures to address existing space debris. electrons. This package could be used to lower the or-
bit of the debris removal system without the need for
propellant.
∗ Corresponding author. Capture is an indispensable task for the retrieval
E-mail address: nishida.shinichiro@jaxa.jp (S.-I. Nishida). of large space debris. It is common for large debris

0094-5765/$ - see front matter © 2009 Published by Elsevier Ltd.


doi:10.1016/j.actaastro.2009.01.041
96 S.-I. Nishida et al. / Acta Astronautica 65 (2009) 95 – 102

objects to tumble, since angular momentum may have considered as for reducing the amount of space debris.
remained in their attitude control systems when failure
occurred. On-orbit satellite capture experiments have (a) Designing space systems so that they do not become
been carried out successfully by the ETS-VII satel- space debris; that is, positive end-of-life processing
lite in 1999 [2,3]. In these experiments, the target was of satellites and the establishment of proper disposal
equipped with visual markers and handles to facilitate procedures for rocket upper stages.
grasping by a robot arm. While future satellites could (b) Processing existing debris that has no self-removal
be equipped with such features to assist active removal, capability; that is, the removal of large-size satel-
in general space debris objects do not possess such con- lite remnants from economically and scientifically
venient features—they are non-cooperative targets. In useful orbits to disposal orbits.
this case, since the conditions are not favorable, track-
ing errors will lead to loading of the robot arm when the Consideration results of countermeasures for various
object is captured. Active compliance of each joint and space debris sources are listed in Table 1. For the dis-
a flexible boom are therefore proposed to relieve load posal of rocket upper stages, a promising approach is for
at the time of capture. This paper first describes the de- the stage to decelerate by re-starting its engine using fuel
tails of a proposed active space debris capture/removal remaining after the payload has separated. Research and
micro-satellite system, and presents the results of fea- development of systems to remove large-sized satellite
sibility studies. Then, the development status of proto- remnants from useful orbits is also in progress.
types of the bare tether, reel mechanism, deployment
mechanism and FEAC are described. Finally, we intro- 2.1. Method for removal of satellite remnants
duce a prototype folder arm for capturing a tumbling
non-cooperative target. Earth-orbiting satellites typically occupy either low-
Earth orbits (LEO) or geostationary orbits. Satellite
remnants and rocket upper stages in LEO may be re-
2. Active removal system moved by lowering their altitude to 650 km or less,
from where they will eventually re-enter the atmo-
The removal from orbit of rocket upper stages and sphere and burn up. Geostationary orbit altitude is too
satellites that have reached the end of their lives has great to allow this, so in this case, the effective disposal
been carried out only in a very small number of cases, method is further to raise the orbital altitude of satellite
and most remain on-orbit. Explosions of residual pro- remnants by 300 km or more, to disposal orbits that are
pellants and collisions between satellite remnants or of no practical use.
rocket upper stages can generate large quantities of
smaller debris, which greatly increases the probability 2.2. Target for retrieval/removal
of collisions by a cascade effect. Due to such cascade
collisions, it is estimated that the amount of space de- In LEO, the influence of the Earth’s geomagnetic
bris will increase an ever-greater rate from now on, field is strong, and so use of an EDT is practical.
and will eventually jeopardize near-Earth space activi- Considering the probability of debris collision proba-
ties. The following countermeasures are therefore being bility, LEO effective for Earth observation (especially

Table 1
Measures for space debris mitigation.

Objects Issues Measures

Medium/large satellite Which altitude is 650 km or more, will not re-enter • Into low orbit as much as possible
within 25 years
• Preparing fuel for braking
Micro/small satellite Most of small satellites are without RCS Carrying an EDT unit
Upper stage of launch vehicle which altitude is 650 km or higher, will not re-enter • Preparing fuel for braking
within 25 years
• Re-starting after payload separation
Space debris Debris increase by collision with small debris De-orbiting by debris remover vehicle
S.-I. Nishida et al. / Acta Astronautica 65 (2009) 95 – 102 97

Sun-synchronous orbits) have the greatest risk, and so into Sun-synchronous orbits useful for Earth obser-
measures to reduce the number satellite remnants or vation.
rocket upper stages in such orbits are a priority. In con-
sideration of this, JAXA is studying a system with the A large number of satellite remnants remain near such
emphasis on the retrieval and removal of satellite rem- orbits from past launches, and it is considered possible
nants from Sun-synchronous LEO. for a debris removal satellite to be able to retrieve and
remove debris objects by transferring them to lower
2.3. Strategy orbits. The removal micro-vehicle will remove an object
by capturing it using a robot arm then de-orbiting, taking
The following concepts for a retrieval/removal sys- the debris with it. Trade-off study result of actuator for
tem were studied, concentrating on methods that can be debris removal from LEO is listed in Table 2.
realized in the near term.
2.4. Debris removal system concept and missions
(a) Use of a conductive disposable type tether. (Princi- scenario
ple: Fig. 1.)
(b) The satellite itself as the tip mass of the tether. The mission profile of the LEO debris removal sys-
(c) A capture mechanism as the other side of the tether. tem named space debris micro-remover (SDMR) is de-
(d) Piggyback launch of debris removal micro- scribed below (see Fig. 2).
vehicles with new Earth observation satellites
(a) Rendezvous with the debris object (target) and mea-
sure its motion.
Debris Pseudo circuit (b) Fly around the target, and make a final approach to
capture it.
e (c) Capture the target using an extensible folder arm.
Collector (d) Extend an EDT fixed at the root of the folder arm.
e
(e) Autonomous control of tether inclination.
Flight direction Drag force
Orbit

Geomagnetic field

Current
Tether
e
Emitter

e
Earth

Fig. 1. Principle of electro-dynamic tether.


Fig. 2. Space debris micro-remover satellite.

Table 2
Trade-off study of actuator for debris removal.

Methods Merits Demerits Candidate

Chemical thruster Utilization of BUS component Low ISP attitude control is needed
Ion thruster High ISP • Power consumption is high
• Attitude control is needed
Solid motor Compactness • Low durability under aging
• Spin-up is needed
EDT It works in spite of S/C function loss Possibility of cut-off by collision with small debris X
Air bag Simple constitution Huge size and low durability
98 S.-I. Nishida et al. / Acta Astronautica 65 (2009) 95 – 102

Fig. 4. Rendezvous sequence with a space debris object.

Table 3
Characteristics of the SDMR.

Items Characteristics Remarks

Size 700×700×600 mm
Weight 140 kg Fuel: 25 kg
Power 100 W Average
Attitude control Three axes control Three wheels
Thrusters 1 N×8
Rendezvous sensors GPS receiver star
Fig. 3. Concept of debris removal. tracker stereo vision

2.5. Composition of removal servicing vehicle


is small enough to be launched in cylindrical adapter
for an Earth observation satellite on an H-IIA rocket.
The features of the conceptual vehicle for the removal
Characteristics of the satellite are listed in Table 3.
of low-altitude Earth-orbit satellite remnants are shown
in Fig. 3. As shown in the figure, tether attachment
is accomplished simultaneously with target capture by 3. Key component engineering
unification of the capture mechanism and EDT package.
Once an EDT package is attached, the tether is extended The conceptual debris removal system requires the
and the target is then released. Each vehicle carries two following key technologies:
or more EDT packages, allowing it to remove several
pieces of debris. (a) An efficient orbital transfer technology: EDT.
The removal micro-satellite has the following char- (b) Navigation to and around the debris object: machine
acteristics: vision/image processing.
(c) Robotic capture: extensible light arm to capture the
(a) Compact shape and low mass to allow a piggyback debris object.
launch with an Earth observation satellite using the
surplus payload capability of the launch vehicle. The development status of these technologies is de-
(b) Simple rendezvous system consists of a GPS re- scribed in the following sections.
ceiver, a star tracker and vision sensors.
(c) Small thrusters for maneuvering between orbits. 3.1. EDT prototyping and test
(d) Extensible light robot arm for debris capture.
(e) Debris removal by EDT package incorporated into The composition of the EDT package is shown in
the root of the robot arm. Fig. 5. Prototyping and testing of each hardware ele-
ment of the EDT is progressing, aiming at an on-orbit
Its rendezvous sequence with a space debris object on demonstration in a few years [4,5]. The performance
a Sun-synchronous LEO is shown in Fig. 4. The satellite goals of the EDT are listed in Table 4.
S.-I. Nishida et al. / Acta Astronautica 65 (2009) 95 – 102 99

Fig. 5. Composition of an EDT package for debris removal.

Table 4
Performance goals of the EDT.

Items Performance Remarks

Length 2 km
Max. current 1A
Life 1 year Residual probability > 0.95

3.1.1. Conductive tether wire


For the composition of the conductive bare tether
which performs electron collection from the ambient
space plasma, it is necessary to consider a range of
factors including weight, strength, electrical resistance, Fig. 6. Prototype of mesh type tether.
thermo-optical surface characteristics, electron collec-
tion properties, flexibility, and friction during extension
[6,7].
Aluminum was adopted for the electrical conductor
to reduce weight, and its strength and stiffness were
increased by braiding with high-strength fibers. More-
over, measures to increase the tether’s robustness, such
as braiding or constructing the tether as a mesh, are be-
ing considered so that the tether will not be severed by
collisions with debris of micron to millimeter size.
Several test tethers have been manufactured varying
the type of aluminum alloy, thickness, and reinforcing
fibers, and the tensile strength and other properties of
each test specimen have been measured. An example of
a trial net type tether is shown in Fig. 6.

3.1.2. Release mechanism


To improve the stability of the tether during extension
using the gravitational gradient, it is necessary to locate
a large mass on the tether as close to the tip as possible.
Fig. 7. Testing configuration of release mechanism.
Therefore, to extend the tether, the reel mechanism itself
is ejected and the tether wire is extended passively by
the tension due to the inertia of the ejected part. pad confirmed that the initial velocity design target or
A proof-of-concept release mechanism was fabri- greater was achieved. Lightweight release mechanism
cated using a double helical spring (Fig. 7), and release flight hardware based on a double helical spring will
testing with a reel mechanism supported by an air therefore be developed.
100 S.-I. Nishida et al. / Acta Astronautica 65 (2009) 95 – 102

Fig. 8. Model matching of stereo images of rotating miniature satellite model.

3.1.3. Reel mechanism acteristics at the ends of the tether govern the current
Although the fixed-reel type extension mechanism, on which EDT operation is based, the development of
which extends the tether using the inertia of the initial efficient plasma contactors is indispensable for an EDT
velocity given to the tip mass, has a simple composi- system. The leading candidate technologies for the elec-
tion, residual inertia will impart a sudden force when tron emitter and electron collector are listed below.
the tether reaches the end of its extension. Traditional
tether equipment often actively controls tension by • Electron emitter: hollow cathode and electric field
friction control methods based on wire tension sensor release type cathode.
information, but this increases complexity and ten- • Electron collector: hollow cathode and bare wire.
sion sensors and friction control mechanisms need a
large release rate to constantly maintain the friction It is thought that a combination of a bare wire as
of extension below a certain level. Furthermore, these the electron collector and an electric field release type
mechanisms impart a stress on the tether wire. cathode as the electronic emitter is the most suitable
A system for applying a constant braking force was for a disposable EDT system. These do not require an
investigated. The required level of braking force is small operating gas, and since a tank, valves etc. can therefore
and control of extension rate by changing the friction be dispensed with, a simple and a reliable system can be
of the tether wire is very difficult, with the result that built. Research into electric field release type cathodes
a shock force may still occur at the end of extension. for use in a disposable EDT system is being carried
An experimental system using passive rotation braking out. Although there are several types of electric field
equipment in a two-part reel was therefore developed release type cathode, such as the Spindt type and the
which applies a braking force only at the end phase of triple junction type, a cathode using CNT is adopted in
wire extension. By using a passive non-contact braking this research. Compared with other types, the CNT is
element, stable braking performance was achieved. The durable in high-vacuum environments. So it is suitable
non-contact braking reel is realized by using an eddy for operation in LEO.
current brake wheel. With this mechanism, the brak-
ing torque is proportional to the rotation rate. Since the 3.2. Motion measurement and optical navigation
tether is slowed down sufficiently when it reaches the
end of its extension, hardly any jerking force is pro- An algorithm has been developed for estimating the
duced. motion (relative attitude and relative position) of large
pieces of space debris, such as failed satellites. This
3.1.4. EDT plasma contactor algorithm is designed to be used by a debris removal
In order to pass current through a conductive tether system which would perform various operations such as
to obtain thrust, a current loop must be formed be- observation, investigation, capture, repair, refuel and de-
tween the tether and the surrounding plasma. For this orbit. The algorithm uses a combination of stereo vision
reason, a plasma contactor which exchanges electrons and 3D model matching, applying the iterative closed
with the surrounding plasma is needed at both ends of a point (ICP) algorithm, and uses time series of images
tether; one that emits electrons and another which col- to increase the reliability of the relative attitude and
lects them. Since the electron emission/collection char- position estimates. The motions of a miniature satellite
S.-I. Nishida et al. / Acta Astronautica 65 (2009) 95 – 102 101

Fig. 9. Optical environment simulator in JAXA.

model have been estimated using images obtained from


an optical environment simulator (see Figs. 8 and 9)
Fig. 10. Prototype of an extensible robot arm boom.
[8]. After the estimation of a target debris object, the
satellite will maneuver to match the target’s rotational 5. Conclusion
motion and will capture it.
The Institute of Aerospace Technology, Japan
Aerospace Exploration Agency, is studying an active
4. Space debris capture by robot arm space debris removal system using micro-satellites, and
is investigating the applicability of electro-dynamic
We now describe the development of a robot arm to tether technology as its high efficient orbital transfer
capture space debris that uses a new force/torque control system. A small EDT package is under development
method for capturing tumbling non-cooperative targets that consists of a bare conductive tether, field emitter
[9]. array cathodes, a lightweight ejecting mechanism and
Since failed satellites do not have functioning atti- a reel mechanism with a braking function. An optical
tude control, in many cases they will be rotating due to motion measurement system, extensible folder arm and
the transfer of residual angular momentum from their control system for robotic debris capture are also under
control systems. Since fly-around by a debris removal development.
vehicle or grappling the object by a robot arm are diffi- As the result of these activities, the realization of a
cult or impossible when the target debris object is rotat- new active space debris removal system is becoming
ing at high speed, it is necessary to slow its rotation to more feasible. Hereafter, technical development will be
a rate at which capture can be accomplished by a robot furthered by on-orbit demonstration using small satel-
arm using visual feedback control. lites or a rocket upper stage.
Complicating the capture problem, most space debris
objects will be non-cooperative targets without handles References
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