Task 22-8 OSAM-1 Servicing Payload.pdf

Omnibus Multidiscipline Engineering Services II

(OMES-II)

Task Order Statement of Work (SOW)

Date: 5/10/2021 Task Name: OSAM-1 Servicing Payload Task No. 22 / Mod: 8 Task Monitor (TM): Redacted Contract number: NNG17CR69C Contract SOW Reference:

• Function 1 Technology Development Services:

o Section L Robotic Technology Services and o Section M Autonomous Rendezvous and Docking Services

I. Scope

a. Background

The OSAM-1 Mission will demonstrate an operational capability to perform on-orbit servicing, assembly, and manufacturing. OSAM-1 consists of Space Vehicle (SV), Launch Vehicle (LV), and Ground System (GS) elements. The SV consists of a Servicing Payload (SP), an Assembly and Manufacturing Payload (AMP), and Spacecraft Bus. During the AR&D and Servicing Phases, the SV will use the SP to rendezvous, autonomously grapple and tele-robotically transfer propellant to Landsat 7, the client, to extend its operational life. The SP consists of several mission-specific subsystems—like the Rendezvous and Proximity Operations (RPO) Subsystem, the Robot Subsystem, the Propellant Transfer Subsystem (PTS), the Advanced Tool Drive Subsystem (ATDS), the Tool Subsystem. Additional subsystems provide the necessary supporting infrastructure to support the mission like mechanical, thermal, electrical, software, avionics, and vision.

This Statement of Work (SOW) specifies work to be done and services to be provided in support of the OSAM-1 Mission for the Servicing Payload. This task provides support of all levels of subsystem engineering, system design, documentation, fabrication, integration and test for the Servicing Payload. It is organized to match the OSAM-1 Work Breakdown Structure (WBS) Elements.

FY21 and FY22 work covered under this task will focus on finalizing the detailed design, manufacture, assembly, and test of the flight subsystem for the Servicing Payload.

b. Summary of work

The paragraphs below document anticipated OSAM-1 efforts and schedule in FY20 and FY21.

As described in the Deliverable Items and Schedule section below, details of this work are subject to change at the discretion of the Task Monitor. The Contractor shall provide the Project with appropriate workforce to support the Servicing Payload as described below. The Contractor shall conduct the listed activities to support the schedule milestones in Table 1.

1. Project Management: The Contractor shall provide weekly, monthly, end of task, and supplemental reports as defined in Section I. The Contractor shall support efforts to plan, prepare for, and perform design, integration, and testing of Servicing Payload systems and subsystems. The Contractor shall perform engineering peer and subsystem design reviews as defined by the project schedule and the Task Monitor. The Contractor shall lead and support the project working groups (WGs) and technical interchange meetings (TIMs) between the servicing payload, spacecraft, launch vehicle, and ground elements. The Contractor shall provide support to any Earned Value Management (EVM) implementation done on the project. The Contractor shall use the project-level risk management Mantis tool to report and status risks and their associated mitigations. The Contractor shall use the project-level configuration management Technical Data Management System (TDMS) tool to post documents, drawings, and work order authorizations. The Contractor shall use the project-level problem reporting Meta tool to submit, track, and resolve problems associated with tests, hardware, and operations. The Contractor shall use the project-level action item Mantis tool to document, track, and respond to actions levied by the project, systems engineering, servicing payload, or subsystem.

2. Systems Engineering: The Contractor shall support the development, validation, and verification of servicing payload, subsystem, and component requirements. The Contractor shall perform all supporting analysis and testing to produce correlated models to support requirements verifications. The Contractor shall define, control, and verify element-to-element, subsystem-to-subsystem, and component-to-component interfaces.

The Contractor shall use the project-level Mantis tool to initiate, document, track, and close payload-level trade studies and action items.

3. Payload Design, Analysis, and Fabrication: The Contractor shall lead and support the detailed design, analysis, fabrication, and test of Servicing Payload Engineering Design Units (EDUs) and Flight Subsystems. The Contractor shall develop all necessary software, firmware, and ground support equipment (GSE) to support EDU and Flight development, integration, and test activities.

4. Payload Integration and Test: The Contractor shall lead and support Servicing Payload-level validation testing conducted in the Flatsat, Servicing, and Autocapture Testbeds. The Contractor shall support the development and maintenance of the flight software and firmware being deployed across the Testbeds. The Contractor shall support the flight Integration and Testing (I&T) of the Servicing Payload at GSFC.

- In-depth knowledge of previous and ongoing rendezvous and proximity operations missions. Working knowledge of GEONs and its application to the LEO environment and to relative navigation

- Working knowledge of state of the art relative navigation sensors, including, visible and infrared cameras, flash and scanning LIDARs, GPSRs and integrated inertial measurement sensors

- Expertise in feature tracking and pose determination algorithms as applied to non-cooperative vehicles. Detailed understanding of optimization and acceleration methods to instantiate algorithms on flight processors and FPGAs

- Working knowledge of on-orbit propellant storage and transfer systems.

Understanding of hardware limitations, constraints, and restrictions. Detailed knowledge of high precision flow meter and pressure transducer design and operation. Detailed knowledge of flexible hose and hose deployment mechanisms and their limitations in the orbital environment

- Knowledge of mechanical systems, structural design, integration and test best practices. Has a detailed working knowledge of Extra-Vehicular Activity (EVA) robotic tool structural designs, as applied to removing and manipulating spacecraft structure to affect servicing. Detailed experience with miniaturized (0.5-inch or less) brushless direct current stepper motors

- Knowledge of satellite berthing and restraint systems including system design, operation, and fault tolerance and fault detection isolation and recovery techniques to prevent servicing client vehicle damage

- Working knowledge of passive (un-powered) stowage mechanisms for capturing, servicing, and refueling tools. Necessary experience in designing light-weight, highly-compact, and multifunctional mechanisms

- Experience in design of real-time, multi-device computing systems targeting field programmable gate arrays (FPGAs) and softcore processors. Extensive experience in applying parallel processing techniques to the field of image processing algorithms in order to affect real-time automotive operations. Experience developing and verifying FPGA designs and builds according to GSFC standards. Experience developing and testing embedded flight software according to GSFC standards.

- Working experience with ASIST command and telemetry systems including database development and scripting.

- Working knowledge of flight avionic design, fabrication, assembly, and test of flight avionic systems. Experience working with radiation tolerant EEE part selection and radiation mitigation techniques at the part, board, and functional levels. Experience with back-to-back FPGA design and routing techniques. Experience with designing buck converter for applications to digital motor controllers.

- Working knowledge of optical sensors including optical and detector designs.

Experience working with 4 MPixel-class color detectors. Experience with demo-spacing, binning, sub-sampling techniques. Experience designing miniaturized pan-tilt mechanisms.

- Experience designing satellite thermal control systems including experience with high-power dissipation techniques for avionics and robot motors.

- Experience developing the concepts of operations, design, fabrication, assembly, and test of tools to interface and service Landsat 7, including but not limited to, MLI blanket cutting, restraint, and closeout; fill/drain removal, cap stowage, and actuation;

and propellant transfer.

- Understanding of electro-mechanical best practices, specifically as required by GEVS and GOLD Rules. Familiarity with QA and inspection requirements and understanding of the processes associated with mechanical and EEE parts.

Experience with dexterous robotics software development in C++ including knowledge of object oriented programming in C++. Working understanding of the Agile software development lifecycle and experience in all phases of the software development lifecycle including gathering requirements, design, implementation, testing, debugging, and deployment to the end user is a must. Experience with Open Robot Control Software (Orocos) and Robot Operating System (ROS) is strongly desired.

Experience working with embedded systems and real time operating systems.

- Experience controlling industrial, flight like, and flight parallel and, 6 and 7 degree of freedom serial robotic platforms is a must. Experience determining the envelope of sensor performance; teleoperation and autonomous operations for tool engineering development, procedure development, training, and on-orbit robot support;

simulation of robot to satellite contact dynamics; and simulation of on-orbit robot kinematics and dynamics. The ideal candidate needs to have extensive demonstrated experience in these areas.

- Experience developing dynamic, real-time, simulation environments for rendezvous and proximity operation and robotic missions. Experience with OpenGL visual modeling tool sets and high-fidelity synthetic imagery generation. Working experience with ADAMs for developing high-fidelity contact dynamic models of robot arms and components (motors, gear trains, rigid links, etc.).

II. Period of Performance

The period of performance shall be the date of task award through June 30, 2022.

III. Task Description

While this task statement does not utilize sub-tasks, the Contractor shall propose and report the staffing, fabrication, and procurement to achieve the scope of work in the Task Order shall use the Reporting IDs listed in the table below. The referenced WBS Dictionary provides a more detailed description of each WBS element. Only the WBS elements listed below are considered within scope of this task.

22.001.575 OSAM-1 SP - Harness

22.001.581 OSAM-1 SP - HFCS

22.001.591 OSAM-1 SP - Mechanical Management SE I&T

22.001.592 OSAM-1 SP - SP Structure

22.001.593 OSAM-1 SP - Tool Stowage

22.001.594 OSAM-1 SP - CBS

22.001.591 OSAM-1 SP - Mechanical I&T

22.001.510 OSAM-1 SP - SP I&T

22.001.511 OSAM-1 SP - Vision

22.001.512 OSAM-1 SP - Thermal

IV. Deliverables

(See Contract sections B.1 and C.3)

Deliverables for these tasks shall include reports and presentations describing system trade studies, design, participation in component, subsystem, and system-level reviews, ground tests, etc., and algorithm mathematical specifications, analysis and test results, and ground system software deliveries and delivery documentation as defined by the Task Monitor. Deliverables include the above items at the discretion of the Task Monitor, all of which will be produced by a multi-disciplinary team from multiple contracting sources, and thus not a direct deliverable from this Task. Specific deliverables for this task are monthly progress reports delivered to the Task Monitor on the 15th calendar day of the month, and presented at the first opportunity following that date.

At a minimum, the contractor shall deliver the items specified below:

The TM's technical evaluation of the task performance will be a subjective combination of performance metrics, technical quality of deliverables, cost control, schedule metrics, deliveries, significant events, and meeting requirements set forth in the SOW.

f. Government Furnished Facilities, Equipment, Software and Other Resources

The Government will provide account and passwords to government-furnished workstations where existing versions of various relevant software packages shall be maintained. It shall be the contractor’s responsibility to complete any GSFC required security-related training courses.

g. Quality Assurance Requirements

The contractor shall comply with the OSAM-1 Mission Assurance Requirements.

VI. ODC (Travel and Procurement)

(See I.1 1852.216-80 TASK ORDERING PROCEDURE d(6), please provide a BOE for all proposed ODC’s to determine the reasonableness)

Local and non-local travel is required for this task. Travel requirements will include, but are not limited to, Kennedy Space Center, Johnson Space Center, West Virginia Robotics Lab, Space Systems Loral (bus provider), and other vender site visits.

Procurements will include those planned purchases in the later part of FY21 and early FY22. In addition, some equipment orders from OMES I will need to transition over to OMES II due to the end of the OMES I contract.

VII. Work Location

This work shall be performed primarily on-site at the Goddard Space Flight Center, but the contractor may be required to perform some work at the contractor’s facility, and at several other NASA, Government, and contractor test facilities.

VIII. Reporting Requirements

a. Weekly or Bi-weekly status report

The contractor shall generate Performance Reports every week to the TM. The report shall include, as a minimum, a summary of the weeks accomplishments; work underway;

milestones, schedule, deliverables; risks, and customer meetings. The Contractor shall use the project’s SharePoint site to deliver the weeklies.

b. Monthly Progress Reports

The contractor shall report status in person or via teleconference to the TM or designated alternates on a monthly basis at the Project Status Review. Reports shall include recent accomplishments, status of development activities, and concerns. The contractor shall provide all reports at least one day in advance of the monthly meeting via email, and maintain an email distribution list with the concurrence of the TM. The contractor shall comply with any and all additional requests for status meetings and reports. The contractor shall deliver all documents in portable document format (PDF) electronic form to the TM, or as directed by the TM.

c. Monthly Financial Reports

The contractor shall provide no later than the 10th working day following the close of the contractor’s monthly accounting period a 533M at the total task level. The contractor shall provide on the 10th working day following the close of the contractor’s monthly accounting period a break out of hours and costs by subtasks to the Contract Resource Analyst, Contracting Officer, and the Task Monitor. The report shall include current period hours and costs, cumulative to date hours and costs, and cumulative costs with a one-month cost plan.

When needed, the contractor shall make adjustments to the distribution of costs, layout of the report and change reportable elements as specified by the Task Monitor and/or the Contract Resource Analyst.

d. Supplemental Financial Data Report

The excel-based monthly report spreadsheet shall include by element of cost, by Report ID identified within the SOW, the current period hours and costs, cumulative-to-date hours and costs, cumulative costs with a one-month cost plan, and month+1 estimate-to-complete hours and costs. When needed, the contractor shall make adjustments to the distribution of costs, layout of the report and change reportable elements as specified by the Task Monitor and/or the Contract Resource Analyst. Excel-based Supplemental reporting using 533 data may be requested as needed

IX. Security Requirements

This task shall comply with IT security requirements as documented in the IT security plan for all systems. Some positions may require security clearances at a Top Secret level or higher.

X. Mission Assurance and Safety

The contractor shall develop and maintain a documented Quality Assurance (QA) program in compliance with the OSAM-1 Mission Assurance Requirements. The project shall provide for quality and reliability engineering, system safety, and materials control for all fabrication, integration, and verification testing of all systems, sub-systems, and components of OSAM-1 hardware.

The related documentation shall be at a sufficient level of maturity to comply with the requirements of all NASA pass all major project life cycle reviews.

XI. Data Rights

This SOW shall adhere to the Data Rights clause, as stated in this contract

XII. Subcontract Consent

Not applicable

XIII. Applicable Documents

In the performance of this task, the contractor shall comply with the following documents:

1. NPR 7123.1B NASA Systems Engineering Processes and Requirements

2. RL-SYS-PLAN-0003, OSAM-1 Systems Engineering Management Plan (SEMP)

3. RL-MGMT-PROC-0110, OSAM-1 Configuration Management Procedure

4. RL-MGMT-PLAN-0090, OSAM-1 Risk Management Plan

5. RL-MGMT-PLAN-0002, OSAM-1 Mission Project Security Plan

6. RL-SMA-PROC-0011, OSAM-1 Problem Reporting and Non-Conformance Disposition

Process

7. RL-SMA-REQ-0006, OSAM-1 Mission Assurance Requirements (MAR)

8. RL-PYLD-REQ-0016, Servicing Payload Requirements

9. RL-SYS-SPEC-0026, Environmental Test Matrix

10. NPR 7150.2A ,NASA Software Engineering Requirements

11. GPR 7150, Goddard Software Engineering Requirements