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In-space Servicing, Assembly, and 

Manufacturing (ISAM) State of Play

2023 Edition

Dr. Dale Arney, John Mulvaney, Christina Williams

NASA Langley Research Center

Christopher Stockdale 

Analytical Mechanics Associates, Inc.

Nathanael Gelin

NASA Intern, Florida International University

Paul le Gouellec

Student, Virginia Governor’s School for Science and Technology

A document to characterize the current state of ISAM capabilities.
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EXECUTIVE SUMMARY 

The future of spaceflight will yield increasingly more ambitious missions to support civil, national security, 

and commercial space sectors. Achieving these missions will not be feasible by launching an integrated, 

fully functioning system on a single launch vehicle. For example, future science and human exploration 

missions will desire payloads that are larger than any foreseeable launch vehicle fairing, national security 

missions will require persistent assets that are mobile and resilient, and commercial space missions will 

require cost-effective ways to update to the latest technology on orbit.

In-space Servicing, Assembly, and Manufacturing (ISAM) can vastly expand the performance, availability, 

and lifetime of space systems compared to the traditional paradigm of launching an asset with no intent 

to ever touch it again. ISAM capabilities foster an ecosystem that changes the space operations paradigm, 

creating the foundation for sustainable exploration and serving as a multiplier for other capabilities like 

space logistics, power generation, and reusability.

Previous achievements in ISAM have enabled ambitious human and robotic space missions. NASA’s 

International Space Station (ISS) operations and maintenance, servicing missions to the Hubble Space 

Telescope (HST), and Northrop Grumman’s Mission Extension Vehicle (MEV) demonstrate the dramatic 

operational missions that can be achieved using ISAM capabilities. Many current and upcoming flight 

demonstrations are advancing areas that will enable the next generation of civil, national security, and

commercial space missions. 

This document describes the current state of ISAM missions, capabilities, and developments to the best 

ability of the authors. Compiling and organizing the available ISAM capabilities will help mission designers 

incorporate ISAM technologies into their concepts, create the starting point for technology development 

plans and roadmaps, and provide technologists a survey of the field they are developing. This document 

divides the ISAM capabilities into 11 capability areas that describe the functions or activities that would 

be performed in space using ISAM. 

• Robotic Manipulation: Robotic manipulators have flown on a variety of missions, from surface 

robotics on Mars to long reach manipulation on the ISS. Many more are being developed to 

increase autonomy, reduce cost, and expand the capability of space robotics.

• Rendezvous & Proximity Operations (RPO), Capture, Docking, and Mating: This capability is the 

first step in an ISAM mission and has been included in space flight since Gemini VIII in 1966. 

Advancements in autonomy, formation flying, standardization/interoperability, and mating 

operations will make future ISAM missions more commonplace.

• Relocation: Moving a client space object with a servicing spacecraft or tug presents a large 

opportunity for sustainable space operations such as mission extension, debris removal, and 

maneuverability. After the first commercial relocation mission in 2019 and a second in 2021, 

many activities in this capability area are looking to become operational soon.
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• Planned Repair, Upgrade, Maintenance, and Installation: Planned servicing is the center of an 

ISAM ecosystem where the client space object and ISAM servicing spacecraft are co-designed to 

operate together. Modular interfaces are being developed to support multiple types ofspacecraft 

in this ecosystem to provide mechanical, fluid, power, data, and thermal connections.

• Unplanned or Legacy Repair and Maintenance: Providing refueling, modular repair and/or 

replacement, and augmentation to a legacy client space object that is not prepared to receive 

those services is valuable. Activities to develop mission-specific functionality are important for 

missions like debris removal, scavenging, and manipulating non-cooperative spacecraft.

• Refueling and Fluid Transfer: Storable fluid transfer has been demonstrated many times, 

including in operational missions like the ISS. The future is heading toward commercial refueling 

services (especially for storable fluids) and demonstrations are planned to test large-scale 

cryogenic fluid transfer in space.

• Structural Manufacturing and Assembly: The technologies that enable constructing or 

assembling structures in space to create spacecraft components or subsystems are wide ranging. 

Historically focused on astronaut assembly, the current advancements in this capability area 

emphasize autonomous, robotic manufacturing and assembly.

• Recycling, Reuse, & Repurposing: Recycling, reuse, and repurposing include technologies to 

reframe spacecraft components and materials as part of the “native” resources available for a

sustained presence. The eventual future in this capability area is in expanding the materials that 

can be reused, tailoring the performance of those materials, and understanding the mission 

implications.

• Parts and Goods Manufacturing: The initial capability for parts and goods manufacturing in space 

focused on the use of 3D printed plastics. Production techniques currently in development aim 

to expand the production capabilities to metals, electronics, and in-situ regolith-based materials.

• Surface Construction: The scope of structures to be built on a planetary or lunar surface spans all 

aspects of surface infrastructure, including horizontal (landing pads, roads, etc.) and vertical 

(power, habitation, etc.) construction. Advancements in surface construction address needs for

excavating, constructing, and outfitting infrastructure on a planetary surface. 

• Inspection and Metrology: Inspection and metrology are needed to survey and analyze 

configuration, size, shape, state of repair, or other features of interest. The systems to perform 

this task include free-flyer inspection, non-destructive evaluation, close (robotic) inspection, and 

visual or multispectral inspection.

The 2023 edition of the ISAM State of Play is part of a continuing journey to encourage the use of ISAM 

capabilities in space. Compiling and organizing the current state of ISAM provides a simple resource for 

those working in the ISAM ecosystem to ensure that the advancements being made build upon the 

investments of the past. The state of play is ever changing as new capabilities are developed, and this 

document will be periodically updated to ensure that it is relevant to those who need it in the future.
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TABLE OF CONTENTS 

1 Introduction ..........................................................................................................................................7

2 History of ISAM .....................................................................................................................................7

3 ISAM Capability Areas...........................................................................................................................9

3.1 Robotic Manipulation .................................................................................................................11

3.2 RPO, Capture, Docking, and Mating............................................................................................14

3.3 Relocation ...................................................................................................................................15

3.4 Planned Repair, Upgrade, Maintenance, and Installation..........................................................17

3.5 Unplanned or Legacy Repair and Maintenance..........................................................................18

3.6 Refueling and Fluid Transfer.......................................................................................................19

3.7 Structural Manufacturing and Assembly ....................................................................................21

3.8 Recycling, Reuse, and Repurposing ............................................................................................24

3.9 Parts and Goods Manufacturing .................................................................................................24

3.10 Surface Construction...................................................................................................................25

3.11 Inspection and Metrology...........................................................................................................27

4 ISAM Developers and Facilities...........................................................................................................29

5 Key ISAM Missions..............................................................................................................................30

6 Contributors........................................................................................................................................34

7 Appendix – ISAM Activities.................................................................................................................35

8 Appendix – ISAM Developers............................................................................................................123

9 Appendix – ISAM Facilities................................................................................................................147

10 References ........................................................................................................................................160
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TABLE OF ACRONYMS 

Acronyms and abbreviations used in the document are defined below.

AC-10 Aerocube-10

ACCESS Assembly Concept for Erectable Space Structures

ACME Additive Construction with Mobile Emplacement

AFRL Air Force Research Laboratory

AMF Additive Manufacturing Facility

AMS Alpha Magnetic Spectrometer

ANGELS Automated Navigation and Guidance Experiment for Local Space

ARMADAS Automated Reconfigurable Mission Adaptive Digital Assembly Systems

ASTRO Autonomous Space Transport Robotic Operations

CHAPEA Crew Health and Performance Analog

CNC Computerized Numerical Control

COSMIC Cleaning Outer Space Mission through Innovative Capture

DARPA Defense Advanced Research Projects Agency

Dextre Special Purpose Dexterous Manipulator

EASE Experimental Assembly of Structures in EVA

EBW Electron Beam Welding

EELV Evolved Expendable Launch Vehicle

ELC Express Logistics Carrier

ELSA-d End-of-Life Services by Astroscale Demo

ELSA-M End-of-Life Service by Astroscale - Multiple

ESAMM Extended Structure Additive Manufacturing Machine 

ESPA EELV Secondary Payload Adapter

ETS Engineering Test Satellite

EVA Extravehicular Activity

EVR Extravehicular Robotic

eXCITe eXperiment for Cellular Integration Technology

EXPRESS Xpedite the PRocessing of Experiments to Space Station

FARE Fluid Acquisition and Resupply Experiment

FDM Fused Deposition Modeling

FREND Front-end Robotics Enabling Near-term Demonstration

FFRDC Federally funded research and development center 

GaLORE Gaseous Lunar Oxygen from Regolith Electrolysis

GEO Geostationary Orbit

GOLD General Purpose Latching Device

HST Hubble Space Telescope

HTP High-Test Peroxide

ISA In-Space Assembly

ISAM In-space Servicing, Assembly, and Manufacturing

ISFR In-Situ Fabrication and Repair

ISM In-Space Manufacturing

ISRU In-situ Resource Utilization
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ISS International Space Station

ISSI Intelligent Space System Interface 

IVA Intravehicular Activity

IVR Intravehicular Robotic

JEM Japanese Experiment Module 

JEM-RMS Japanese Experiment Module Remote Manipulator System

LANCE Lunar Attachment Node for Construction and Excavation

LEO Low-Earth Orbit

LH2 Liquid Hydrogen

LINCS Local Intelligent Networked Collaborative Systems

LOX Liquid Oxygen

LSMS Lightweight Surface Manipulation System

MAMBA Metal Advanced Manufacturing Bot-Assisted Assembly

MEP Mission Extension Pod

MER Mars Exploration Rover

MEV Mission Extension Vehicle

MMPACT Moon-To-Mars Planetary Autonomous Construction Technology

MRV Mission Robotic Vehicle

MSG Microgravity Science Glovebox

MVACS Mars Volatiles and Climate Surveyor Robotic Arm

N2H4 Hydrazine

NASDA National Space Development Agency of Japan

NEXTSat Next Generation Satellite and Commodities Spacecraft

NINJAR NASA Intelligent Jigging and Assembly Robot

NTO Nitrogen Tetroxide

OMV Orbital Maneuvering Vehicle

ORS Orbital Refueling System

ORU Orbital Replacement Unit

OSAM On-orbit Servicing, Assembly, and Manufacturing

PASS Precision Assembled Space Structures

PAUT Phased Array Ultrasonic Test

PODSAT 1 Payload Orbital Delivery Satellite

RASSOR Regolith Advanced Surface Systems Operations Robot

REACT Relevant Environment Additive Construction Technology

RegISS Redwire Regolith Print

RELL Robotic External Leak Locator

RiTS Robotic Tool Stowage

RSV Robotic servicing vehicle

ROSA Roll out Solar Arrays

RPO Rendezvous and Proximity Operations

RRM3 Robotic Refueling Mission 3

RRP Redwire Regolith Print

RSGS Robotic Servicing of Geosynchronous Satellites

SAMURAI Strut Assembly, Manufacturing, Utility, and Robotic Aid

SCOUT SpaceCraft Observe and Understand Things
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SEEKER Space Environmental Effects

SFA JAXA Small Fine Arm

SFMD Storable Fluid Management Demonstration

SHA Sample Handling Assembly

SHEARLESS Sheath-based Rollable Lenticular-Shaped and Low-Stiction Composite Booms

SHOOT Superfluid Helium On-Orbit Transfer

SIMPL Satlet Initial-Mission Proofs and Lessons 

SIMPLE Sintered Inductive Metal Printer with Laser Exposure

SIROM Standard Interface for Robotic Manipulation of Payloads

SPHERES Synchronized Position Hold Engage and Reorient Experimental Satellite

SPIDER Space Infrastructure Dexterous Robot

SRMS Shuttle Remote Manipulator System

SSRMS Space State Remote Manipulator System

STMD Space Technology Mission Directorate

STP Space Test Program

STS Space Transportation System

SUV Space Utility Vehicle

TCAM Twisted and Coiled Artificial Muscles 

TALISMAN Tendon-Actuated Lightweight In-Space MANipulator

TDM Technology Demonstration Mission

TLT Tall Lunar Tower

UDMH Unsymmetrical Dimethlyhydrazine

VIPIR Visual Inspection Poseable Invertebrate Robot

xGEO Cislunar Orbital Regime (beyond GEO)

XSS Experimental Satellite System

 
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1 INTRODUCTION 

Historically, spacecraft are constructed on Earth and launched as an integrated, fully functioning system 

on a single launch vehicle. This approach constrains the size, volume, mass, and mission design of those 

systems, as they must fit within the given launch vehicle fairing. Additionally, the operational life of the 

system is indirectly limited due to an inability to perform servicing, repairs, or upgrades after deployment. 

The future of spaceflight will yield increasingly more ambitious missions to support civil, national security, 

and commercial space sectors. Realizing these ambitious missions is not feasible using the traditional 

paradigm. For example, future science and human exploration missions will desire payloads that are

larger than any foreseeable launch vehicle fairing, national security missions will require persistent assets 

that are mobile and resilient, and commercial space missions will require cost-effective ways to update to 

the latest technology on orbit.

ISAM is an emerging set of capabilities that enables inspection, repair, upgrade, modular assembly, 

relocation, and construction of space assets. This set of capabilities is also referred to as On-orbit 

Servicing, Assembly, and Manufacturing, or OSAM.

1. Servicing is the alteration of a spacecraft after its initial launch.

2. Assembly involves aggregation and connection of components to create a spacecraft or module.

3. Manufacturing involves transformation of raw materials into usable spacecraft components.

ISAM can vastly expand the performance, availability, and lifespan of space systems compared to the 

traditional paradigm. Incorporating these ISAM capabilities could decrease upfront cost, introduce payas-you-go options for deploying space assets, and enable spacecraft larger than launch vehicle fairing 

dimensions. ISAM capabilities will leverage and foster an ecosystem that changes space operations, 

creating the foundation for sustainable exploration and serving as a multiplier for other capabilities like 

space logistics, space power, and reusability.

This document compiles and organizesthe current state of ISAM missions, capabilities, and developments. 

Understanding where these capabilities currently stand will help mission designers incorporate ISAM 

technologies into their concepts, create the starting point for technology development plans and 

roadmaps, and provide technologists a survey of the field they are developing. The authors recognize 

that ISAM is broad, and they are unlikely to have captured everything that has been or is being done in 

the area. As a result, new versions of the ISAM State of Play will be released periodically, and the 

community is encouraged to submit suggestions, corrections, and comments to the authors via email at 

LARC-DL-ISAM-SOP@mail.nasa.gov.

2 HISTORY OF ISAM 

While ISAM is an emerging set of capabilities, previous use of ISAM has enabled ambitious space missions. 

The assembly and maintenance of the ISS, the repair of the Alpha Magnetic Spectrometer instrument, the 

servicing operations of the HST, and the success of Northrop Grumman’s MEV demonstrate the dramatic 
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missions that can be achieved using ISAM capabilities. Many current and upcoming flight demonstrations 

are advancing areas that will enable the next generation of civil, national security, and commercial space 

missions. 

Figure 1 provides an overview of a selection of the major operational missions that use ISAM and the flight 

demonstrations that have advanced ISAM capabilities. These missions are further detailed and correlated 

with ISAM Activities in Section 5. 

After Hubble was launched in 1990, five Space Shuttle missions flew to the orbiting observatory for EVA 

astronaut repair and upgrade of the system in space. Japan launched the ETS-VII to demonstrate robotic 

servicing and it was the first satellite equipped with a robotic arm. Orbital Express was a joint DARPA and 

NASA mission that demonstrated RPO, refueling, and module replacement. The ISS was assembled and 

serviced over multiple flights, spanning several decades, using a variety of vehicles from the United States 

(Shuttle), international partners (e.g., Soyuz, Progress), and industry (e.g., Dragon, Cygnus). The suite of 

RRM experiments to the ISS have demonstrated the storage and robotic transfer of fluids using specialized 

tools as well as the robotic manipulation of cooperative and legacy spacecraft interfaces. Aboard the ISS, 

NASA’s ISM project has demonstrated various manufacturing capabilities inside the pressurized volume. 

Figure 1: There is a long history of ISAM capabilities being used and advanced in ambitious operational 

missions (e.g., ISS, Hubble, and MEV) and flight demonstrations (e.g., Orbital Express). These missions and 

demonstrations have been performed by civil, national security, and commercial space organizations.
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3 ISAM CAPABILITY AREAS 

This document organizes the identified ISAM missions, capabilities, and developments into 11 capability 

areas that describe the functions or activities that would be performed in space using ISAM. These 

capability areas are distinct activities that may be performed during an ISAM-enabled mission, and several 

activities could combine to achieve a given mission. The 11 capability areas are:

• Robotic Manipulation: Involves manipulating payloads and spacecraft subsystems with a robotic 

manipulator. Includes robotic activities such as driving/releasing bolts, cutting, placing modules, 

and assisted deployment.

• RPO, Capture, Docking, and Mating: Involves two spacecraft maneuvering in proximity to each 

other and could include connecting the two spacecraft together. Includes crewed or autonomous 

docking/berthing, remote inspection, and formation flying.

• Relocation: Involves one spacecraft maneuvering another spacecraft into a new orbit or 

orientation. Includes boosting, repositioning, deorbit, debris removal, and life extension.

• Planned Repair, Upgrade, Maintenance, and Installation: Involves adding or replacing 

components on a client space object that is prepared to receive those components. These 

operations are performed to repair or upgrade that component, perform a maintenance swapout, or install a new component that expands the capability of the spacecraft. Includes systems 

with modular interface connections and payload/component swap-out or upgrade. 

• Unplanned or Legacy Repair and Maintenance: Involves adding or replacing components on a 

client space object that was not intended to receive those components. Includes more complex 

operations to access the interfaces and make new connections.

• Refueling and Fluid Transfer: Involves transferring fluid from one spacecraft to another. Includes 

cryogenic and non-cryogenic propellants/fluids and transfer in orbit or on a lunar or planetary 

surface.

• Structural Manufacturing and Assembly: Involves fabricating or assembling structures in space 

to create spacecraft components or subsystems. Includes manufacturing (e.g., 3-D printing, 

extruding) and assembly of structures with various interfaces, joining approaches, and precision.

• Recycling, Reuse, & Repurposing: Involves the use of spacecraft components already in space in 

a new spacecraft. Includes recycling the material from old spacecraft parts for new manufacturing 

feedstock and reusing old spacecraft parts as-is in new spacecraft.

• Parts and Goods Manufacturing: Involves producing spare parts, subsystems, and components 

for use in space or on a lunar or planetary surface. Includes internal (to a habitat) and external 

manufacturing with multiple materials and sizes.
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• Surface Construction: Involves excavating, constructing, and outfitting structures and 

infrastructure on a planetary surface. Includes horizontal (e.g., landing pads, roads) and vertical 

(e.g., power, habitation) construction, using regolith to build, and assembly of erected structures.

• Inspection and Metrology: Involves observation of systems in space to understand their 

configuration, size and shape, or other features of interest. Includes free-flyer inspection, nondestructive evaluation, close (robotic) inspection, and space situational awareness.

Figure 2 indicates the capability areas that are used or advanced in the operational missions and flight 

demonstrations from Figure 1. Table 1 in the Section 5 breaks down the specific activities or subsystems 

from each mission that demonstrated the capability areas identified in Figure 2. Through its assembly and 

servicing operations, the ISS uses the most ISAM capabilities that have heavily involved astronauts. The 

ISS has also been a platform that supports other demonstration missions (e.g., RRM demonstrations and 

the ISM project) that advance capabilities in ISAM and other areas. Technologies in every capability area 

have been used or demonstrated on orbit.

Figure 2: Operational missions and flight demonstrations have used and advanced ISAM capabilities, and 

planned missions will demonstrate more. Robotic Manipulation; RPO, Capture, Docking, and Mating; and 

Inspection and Metrology capability areas have been used in most of these missions, and the ISS has used 

and demonstrated many of these ISAM capability areas.
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The purpose of this document is to continuously collect previous and ongoing ISAM development 

activities, technologies, and facilities to describe the current state of ISAM. Each activity or technology 

collected is categorized into one or more of the capability areas as entries into a repository (these 

activities and technologies are referred to collectively as “entries” through the rest of this document). 

Figure 3 presents the total number of entries for each capability area. Robotic Manipulation and RPO, 

Capture, Docking, and Mating are the most prolific, and many of the nascent or forward-looking capability 

areas, such as Recycling, Reuse, and Repurposing, have fewer activities.

Figure 3: The activities or technologies collected in this document are categorized into the capability areas. 

This bar chart represents the number of activities in each capability area.

Each capability area section contains an overview and the current state of that capability area. The current 

state includes systems or components that have been flown, have been demonstrated on the ground, or 

have hardware under development. Together, the information provides insight into the current state and 

future direction of capability area development. Additional details on the entries for each capability area 

can be found in Section 7, which also contains information about the use/demonstration date, developing 

organization, country of origin, and select performance parameters. 

3.1 ROBOTIC MANIPULATION 

Robotic Manipulation is the capability to manipulate parts, payloads, subsystems, or space objects. A 

robotic manipulator can grapple a spacecraft during rendezvous and capture, place new modules on an 
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existing spacecraft or platform, perform intricate actions like cutting or welding, move and arrange 

components for in-space assembly, and assist in the deployment of large structures like solar arrays.

There are different classes within the robotic manipulation capability area based on the scale of the 

robotic manipulator and its utility. Long reach manipulators have lengths greater than 8 meters and have 

been used in microgravity to manipulate large space systems. Short reach manipulators with lengths less 

than 8 meters have been used on spacecraft in microgravity and on surface systems like landers and 

rovers. It was determined that 8 meters was a suitable discriminator between long and short reach 

manipulators due to the clustering of manipulators above and below 8 meters and the difference in use 

cases between the two divided groups. A summary of the robotic arms that have flown and are currently 

under development is presented in Figure 4.

Long reach manipulators such as the SRMS and SSRMS, known as Canadarm and Canadarm2 respectively, 

have supported NASA’s human space exploration missions since 1981 through operation on Shuttle and 

the ISS. These robotic manipulators are teleoperated and support end effectors that attach to common 

grapple fixtures.

Short reach manipulators such as Dextre and JAXA SFA have been used to support servicing activities and 

experiments aboard the ISS. Both Dextre and the SFA attach to the end of long reach manipulators that 

place them near their tasks. Short reach manipulators have also been prevalent on the Martian surface 

onboard landers and rovers such as Phoenix, Curiosity, and Perseverance to assist with experiments, 

digging, sample collection and handling, and other complex tasks.

New developments in robotic manipulation are focused on increased capability and reduced cost. 

Planned long reach manipulators, such as TALISMAN, would provide high packing efficiency robotic arm 

options for microgravity operations. On the surface, extreme environments (e.g., dust, temperature, 

lighting conditions) are the driving requirements of manipulators like LSMS for payload offloading and 

handling and surface operations. Several short reach manipulators, such as the NASA Servicing Arm, the 

FREND arm, and the GITAI S2, are in development to support servicing, assembly, and manufacturing in 

space. The ARMADAS and GITAI robotic arms, similar to the Canadarm, are capable of repositioning 

autonomously to expand their working envelope and further support assembly or servicing tasks. 

Commercially, the trend in robotic manipulation is moving away from expensive, bespoke, humanoperated manipulators and towards proliferated robotics in space with low cost, autonomous operations 

that will support future ISAM needs.
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Figure 4: Robotic manipulators have flown for a variety of missions, from surface robotics to long reach 

manipulation on the ISS. Many are being developed to increase autonomy, reduce cost, and proliferate 

the use of space robotics. This figure displays the baseline configuration length for variable length arms.
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3.2 RPO, CAPTURE, DOCKING, AND MATING 

RPO, Capture, Docking, and Mating is the capability area which enables interaction between spacecraft. 

RPO is the action of a satellite making maneuvers with consideration of another satellite’s orientation or 

orbital parameters. Capture is the ability of a typically larger satellite to grasp a smaller, passive satellite 

for the purposes of spacecraft mating. Docking refers to the ability of a satellite to maneuver itself 

properly to mate with another spacecraft. Mating refers to the operations which will allow two spacecraft 

to physically join in space. RPO, capture, docking, and mating is required for any interaction between 

spacecraft and is therefore a necessary first step for many ISAM operations, such as relocation, planned 

and unplanned servicing, refueling and fluid transfer, and structural manufacturing and assembly. For this 

reason, RPO, capture, docking, and mating is the most cross-listed capability area, as shown in Figure 3.

The first docking in space occurred during the Gemini VIII mission on March 16, 1966. Shortly after, the 

first autonomous docking was demonstrated with the mating of the uncrewed Kosmos 186 and the 

uncrewed Kosmos 188 on October 30, 1967. Since these initial operations, innumerable examples of RPO, 

capture, docking, and mating have occurred in space. The construction and maintenance of the ISS has 

contributed to significant advancement in this capability area due to the number of missions which include 

RPO and autonomous docking by vehicles such as Soyuz, Progress, Cygnus, Cargo Dragon, Crew Dragon, 

and Starliner.

Major advancement towards fully autonomous mating of uncrewed spacecraft has been in progress since 

the Japanese ETS-VII mission in 1998, which demonstrated utility for uncrewed rendezvous and docking 

techniques. Two AFRL micro-satellite missions in 2003 and 2005 demonstrated RPO with an active and 

inactive target. In 2007, Orbital Express demonstrated automated rendezvous and capture, transfer of 

propellant, and transfer of a spacecraft component. The Hubble Space Telescope Servicing Mission 4 in 

2009 demonstrated RPO imaging during rendezvous between the HST and Space Shuttle, and the SRMS 

was used to grapple and release the HST. The ISS Raven payload, which is still on-orbit, tracked vehicles 

visiting the ISS from 2017-2019 with three sensors (visible, infrared, lidar) to develop and test relative 

navigation capabilities. 

Servicing spacecraft that maneuver, transfer fuel, or complete repairs on incapacitated satellites must 

first perform RPO, capture, docking, and mating operations. To that end, the state-of-the-art for this 

capability area has recently advanced through the development of servicing spacecraft, such as Northrop 

Grumman’s MEV-1 and MEV-2 and Starfish Space’s Otter. The 200-kg Otter space tug will include the 

Nautilus capture mechanism, capable of adhering to a broad array of space objects without the need of a 

prebuilt docking interface. Future missions, such as Tethers Unlimited’s LEO Knight, Northrop Grumman’s 

MRV, and NASA’s OSAM-1, will advance the state-of-the-art of RPO, capture, docking, and mating for use 

during in-space assembly missions. Figure 5 shows a distribution of target spacecraft sizes for currently 

planned RPO, capture, docking, and mating missions. Figure 5 also highlights the distribution of contact 

versus non-contact missions. Contact includes any physical interaction with the target satellite while noncontact refers to only observational interaction. 
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Figure 5: RPO, capture, docking, and mating technologies are useful for a wide range of client types. While 

most interest is focused on interaction with active satellites, this capability area is also used for managing 

expended components or space debris. LargeSat includes spacecraft over 1000 kg, MediumSat includes 

spacecraft between 500-1000 kg, and SmallSat includes spacecraft less than 500 kg. Note: LargeSat 

technologies include HST servicing missions.

3.3 RELOCATION 

Relocation refers to the capability of one spacecraft to alter the orbital parameters or orientation of 

another spacecraft. The purpose of relocation can be to remove retired satellites from an active orbit, to 

move space debris to a decay or graveyard orbit, or to extend the lifetime of a satellite with depleted fuel. 

The operation of the ISS has required relocation services on multiple occasions since it’s installation, 

including boosting by visiting vehicles to maintain orbit. The Space Shuttle was also responsible for many 

in space relocation activities, such as delivery of satellites to orbit or reorientation of satellites prior to 

deployment from the Space Shuttle cargo bay.

Relocation of space debris was first demonstrated on orbit in 2016 with China’s Aolong-1 mission. Similar 

to Aolong-1, Astroscale’s ELSA-d mission was focused on the relocation of end-of-life satellites from an 

active orbit to a graveyard orbit. Similarly, OSAM-1’s baseline mission plan is to provide the capability to 

raise the client (Landsat-7) orbit prior to release of the spacecraft.

In addition to the development of space debris removal technologies, relocation technologies have also 

been advanced through docked life extension missions. Northrop Grumman’s MEV spacecraft currently 

provides docked life extension services to commercial payloads. Planned mission extension spacecraft 

include Northrop Grumman’s MEP and Starfish Space’s Otter. These docked, life-extension servicing

spacecraft are ideal in situations where a client space object is still functional but has lost the ability to 
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modify its orbit due to propellant exhaustion or thruster failure. Instead of full satellite replacement, 

customers may instead extend the operational life of the satellite through the services of an on-orbit,

docked, life-extension spacecraft. While MEV-1 and MEV-2 are both currently operating on orbit, MEP is 

currently in development and will interact with the MRV spacecraft which launches in 2024. The Northrop 

Grumman satellite life-extension spacecraft and the Starfish Space Otter space tug are designed to offer 

satellite mission extension in GEO. Otter will also provide end-of-life deorbiting services to satellites in 

LEO.

Current development in this capability area is also heavily focused on space tugs, which will offer orbital 

relocation for satellites which may not have the capability to perform large orbital changes, and rideshare 

upper stages, which can deliver clients to multiple orbits. ESPA-based space tug satellites are in 

development by MOOG and Firefly Aerospace, while Momentus’ Vigoride and Launcher’s Orbiter are 

being developed as rideshare options.

As many of these relocation technologies are designed to operate in specific orbits, Figure 6 shows the 

operational orbits of each technology. As shown in the figure, the current activities are heavily focused 

on relocation capabilities within LEO and GEO. Future missions, including the Firefly Aerospace SUV, are 

expanding relocation capabilities towards operations beyond GEO and into xGEO or cislunar orbits. 

Figure 6: Relocation capabilities are currently heavily focused on LEO and GEO orbital regimes, and on 

commercial spacecraft targets. Of the technologies included in this figure, Aolong-1, ELSA-d, HST reboost, 

Ion, ISS reboost, MEV, and SHERPA have been demonstrated on orbit. Progress has been made towards 

relocation of orbital debris in LEO through the ELSA-d and Aolong-1 missions, and future capabilities in

xGEO space are in development through Firefly Aerospace’s SUV and Spaceflight’s SHERPA.
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3.4 PLANNED REPAIR, UPGRADE, MAINTENANCE, AND INSTALLATION 

Planned Repair, Upgrade, Maintenance, and Installation is the capability to service or augment an existing 

spacecraft that is designed to receive service. Unlike legacy systems that are not expected to be visited 

again once on orbit, a prepared spacecraft is designed with the servicer or assembly agent in mind before 

launch. This is the center of an ISAM ecosystem where the client spacecraft and servicing spacecraft are 

co-designed to operate together and enable new missions and capabilities in the future. 

Key to the ISAM ecosystem are standardized, interoperable interfaces for mechanical, fluid, power, data, 

and thermal connections between spacecraft. Several developers have previously created purpose-built 

modular interfaces and servicing aids to perform ISAM functions to a spacecraft. The current trend in this 

area is toward all-in-one modular interfaces that provide multiple connections in one interface (e.g., 

mechanical, power, and data).

Some of these interfaces have been demonstrated in space, such as interfaces between elements of the 

ISS. These interfaces enabled the modular assembly and servicing of the research platform and

demonstrated key IVR and power supply capabilities. Furthermore, external payload platforms on the ISS

(e.g., ELC, JEM Exposed Facility, Bartolomeo) enable experiments and payloads to be robotically attached

to and removed from the ISS to take advantage of the unique space environment. HST, which was 

prepared for servicing operations during design, was serviced five times by astronauts aboard the Space 

Shuttle. Other examples of interfaces and modular spacecraft that have flown in space include Altius’s 

Dog Tag mechanical interface, which flies on OneWeb satellites; Novawurks’s SLEGO interface and 

modules, which can provide mechanical attachment and transfer data, power, and fluids between 

modules and payloads; and ROSA, which were first deployed on the ISS in 2017. The SLEGO architecture 

has been successfully tested in space through eXCITe, PODSat-1, and SIMPL, during which a modular 

spacecraft was assembled inside the ISS and deployed from the station. In 2021, GITAI’s S1 robotic arm 

demonstrated autonomous and teleoperated standard IVA tasks onboard the ISS within the Nanoracks 

Bishop Airlock pressurized volume. During the demonstration, the S1 completed standard taskboard 

interactions, including cable and switch actuation.

These interfaces are designed for spacecraft of all sizes, from CubeSats to large spacecraft. Figure 7 

illustrates the scale for mechanical load, power, and data rate for some of the interfaces that have been 

flown or are under development.
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Figure 7: Modular interfaces are being developed to support multiple types of spacecraft to create an 

ISAM ecosystem where client satellites and ISAM servicing agents can readily create mechanical, fluid, 

power, data, and thermal connections. This figure presents some of the interfaces in use and under 

development.

3.5 UNPLANNED OR LEGACY REPAIR AND MAINTENANCE 

Unplanned or Legacy Repair and Maintenance is the capability to service existing spacecraft that were not 

designed to take advantage of the ISAM capabilities. These services include refueling, module repair 

and/or replacement, and augmentation of the spacecraft. This capability is distinct from “planned” 

servicing because the services being provided may need mission-specific functionality that could require 

unique capabilities to access, remove, and install parts or modules. These capabilities are also important 

for missions like debris removal, scavenging, and manipulating “dead” or damaged satellites whose 

cooperative functionality is compromised. 

While much of the focus on creating an ISAM ecosystem relies on the servicing spacecraft and the client 

spacecraft to be co-designed to take advantage of ISAM capabilities, there are activities that are focused 

on servicing unprepared spacecraft. While Landsat 7 was not prepared for servicing operations to occur 

during its operational lifetime, NASA’s OSAM-1 mission will provide refueling and relocation services to 

the spacecraft in orbit. Extra functionality is required on the client servicer to access the fluid fill valves, 

which is a complexity that would not be required if the client was designed to accept propellant on orbit. 

NASA’s OSAM-1 and DARPA’s RSGS are currently planned key government flight demonstration missions

that will advance the unplanned or legacy repair and maintenance capability area. Commercial servicers 
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are also looking to address some needs of legacy spacecraft while reducing the complexity needed to 

interface with an unprepared clientspacecraft. For example, an MEP would augment a spacecraft without 

needing to access any internal components, the LEO Knight system is targeting small satellites in LEO, and 

existing known interfaces (e.g., the Marman ring on Landsat 7 that OSAM-1 is grappling) can simplify the 

servicer operations.

Between 2012 to 2015, the RRM-1 and -2 payloads on the ISS used Dextre and custom robotic tooling to 

demonstrate the capability to interface with legacy spacecraft components that were not prepared for inspace servicing for the purpose of engaging, manipulating, and releasing.

3.6 REFUELING AND FLUID TRANSFER 

Refueling and Fluid Transfer is the capability to move fluid between spacecraft. This can be done to extend 

the life of a system, augment its capability beyond what a single launch can deliver, and/or enable 

reusable transportation systems. The most mature fluid transfer capability is that of storable fluids, which 

covers fluids that do not require active cooling to remain liquid, such as water, hydrazine, and NTO. 

Cryogenic fluids, such as liquid oxygen, hydrogen, or methane, provide performance benefits as a 

propellant and are often used in large human-scale exploration systems. Technologies used for storable 

fluids are not necessarily extensible to complex, corrosive, or cryogenic fluids. A summary of the various 

activities that have been performed in refueling and fluid transfer are presented in Figure 8.
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Figure 8: Storable fluid transfer has been demonstrated many times, including in operational missions like 

the ISS. The future is heading toward commercial refueling services (especially for storable fluids) and 

demonstrations are planned to test large-scale cryogenic fluid transfer in space.

Several storable fluid storage and transfer demonstrations occurred on various Space Shuttle missions 

(e.g., ORS, SFMD, FARE) in the 1980s and 1990s. Among other ISAM achievements, the Orbital Express 

flight demonstration transferred hydrazine between spacecraft. The most prolific refueling capability 

comes from the Russian Progress vehicle which first refueled Salyut 6 in 1978 and has been used to refuel 

the ISS with hydrazine, NTO, and water since 2000. RRM-1 on the ISS (2012) demonstrated the capability 

to interface to legacy spacecraft components and perform a fluid (ethanol) fill into a mock spacecraft fuel 

tank. In 2019, astronauts installed a new thermal management system onto the ISS-based Alpha Magnetic 

Spectrometer Instrument that provided a refill of CO2 fluid.

Historically, very little has been demonstrated for in-space cryogenic fluid management and transfer. 

However, because future missions will rely on cryogenic propellants, multiple flight demonstrations are 

currently in development. The SHOOT flight demonstration on STS-57 transferred a cryogenic fluid 

(superfluid helium) between tanks using some special properties of that fluid. Therefore, the techniques 

used are not necessarily applicable to other cryogenic fluids such as liquid oxygen or liquid methane. In 

2019, RRM-3 was able to prove cryogenic zero boil-off fluid storage, successfully demonstrating robotic 

manipulation of the cryogenic tools, fittings, and hoses to enable the transfer, but a system failure 

inhibited the fluid transfer demonstration. In 2020, NASA awarded four Tipping Point awards to 
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demonstrate cryogenic fluid management, storage, and transfer of liquid oxygen and liquid hydrogen in 

space.

The future of this capability area appears to be heading toward commercial propellant resupply services 

– both storable and cryogenic. Orbit Fab launched the first propellant depot with its Tanker-001 Tenzing, 

storing HTP propellant. The NASA Tipping Point demonstrations are advancing technologies for cryogenic 

propellant storage and transfer to support large missions of the future (e.g., human lunar missions).

3.7 STRUCTURAL MANUFACTURING AND ASSEMBLY 

Structural Manufacturing and Assembly is the capability to produce structures and assemblies in space 

out of components delivered from Earth or produced in space. A major use case of this capability area is 

the production of structures which exceed the typical payload volume constraint of launch vehicles. 

Technologies which contribute to this capability area are wide ranging due to the complexity of positioning 

and joining structural elements in space. A summary of the technologies pertinent to this capability area 

and the type of technology is shown in Figure 9. In contrast with deployable space structures, which can 

also produce in-space structures larger than launch volume constraints, structural manufacturing and 

assembly enables the ability to launch standard structural components, reduces the need for intricate 

deployable design, and allows for in-space structural reconfigurability.

Although current developments within the realm of structural manufacturing and assembly involve the 

use of robotics, NASA initially explored the possibility of human achieved structural manufacturing and 

assembly through the EASE/ACCESS Space Shuttle flight experiments in 1985. The EASE/ACCESS flight 

experiments studied the astronaut efficiency, fatigue, and construction techniques for assembling space 

structures. The construction of the ISS included extensive use of structural manufacturing, completed 

using robotics and human construction. Construction of the ISS began in November of 1998 and the first 

resident crew arrived in November of 2000. Multiple welding experiments have also been conducted in 

space by astronauts. The first demonstration of welding in space was during the Vulkan experiment on 

the 1969 Soyuz-6 flight, which tested three methods of welding on a variety of metals. EBW was further 

explored through a Skylab facility launched in 1973 to explore electron beam welding parameters, and 

during the Salyut-7 flight in 1984 which demonstrated the first use of a handheld electron beam welder. 

Through hosted experiments on the ISS, the RRM-1, -2, and -3 payloads demonstrated the capability to 

stow and retrieve tools to and from on-orbit protective enclosures (RRM payloads and the RiTS). In 

addition, the ORU/Tool Changeout Mechanisms were used to remove and install modular components 

(assemblies) to and from the RRM payloads to continue to demonstrate spacecraft servicing and assembly 

techniques. The RiTS capability for robotic tool stowage is an excellent flight-proven means of stowing 

tools and is adaptable to stow modular assembly components as an on-orbit structural and thermal 

protective enclosure of robotic access in future systems. Through another hosted experiment opportunity 

on the ISS in 2021, GITAI’s S2 robotic arm demonstrated the assembly of a four-panel solar array within 

the Nanoracks Bishop Airlock pressurized volume.

In-space demonstrations of structural manufacturing and assembly are slated for demonstration on the 

OSAM-1 and OSAM-2 missions. During the OSAM-1 mission, Maxar’s SPIDER robotic arm will assemble 

seven structural elements to form a functional 3-meter communications antenna. The OSAM-2 mission 
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plans to demonstrate the ability to 3D print structural beams using the ESAMM subsystem developed by 

Redwire.

Progress in the structural manufacturing and assembly capability area has also been made through recent 

ground demonstrations, including demonstrations of NINJAR and SAMURI at NASA Langley in 2017, 

Assemblers at NASA Langley in 2021, and ARMADAS at NASA Ames in 2021. These demonstrations are 

focused on the robotic and autonomous positioning and joining of standard structural elements. 
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Figure 9: The technologies which contribute to the capability of structural manufacturing and assembly 

are wide ranging, due to the complexity of the process. The current advancement in this capability area 

focuses on robotic structural manufacturing and assembly.
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3.8 RECYCLING, REUSE, AND REPURPOSING 

Recycling, Reuse, and Repurposing is the capability to use spacecraft parts and materials already in space 

for a new purpose. This includes breaking down materials like polymers and metals for use in in-space 

manufacturing, reforming existing components into shapes that perform a different function, and 

repurposing full spacecraft components (e.g., tanks, structural members, electronics) in new 

ways. Recycling, reuse, and repurposing results in reduced strain on the space logistics supply chain and 

reframes spacecraft components and materials as part of the “native” resources available for sustained 

presence in space.

The first polymer recycling facility, the ReFabricator, was installed on the ISS in 2019 and was intended to 

have the capability to recycle printer polymer parts into filament feedstock for further manufacturing. 

However, upon startup, an anomaly in the recycling system occurred. This capability would enable 

purpose-built parts to be created on an as-needed basis and then recycled for use later in the mission, 

reducing the need for transportation of single-use parts or an excess of stock materials to the ISS.

The future in this nascent capability area is in expanding the materials that can be reused in space, 

tailoring the performance of those materials for use in the space environment, reducing the power 

required to process materials, and understanding the mission implications of this capability. Ground 

demonstrations for recycling of metal (e.g., MAMBA) and multiple different polymers are beginning to 

expand the capability of recycled materials. Studies on the use of recycled materials for long duration 

missions and reusing parts such as tanks and structural members from landers are broadening the 

potential use cases of this capability for future missions.

3.9 PARTS AND GOODS MANUFACTURING 

Parts and Goods Manufacturing is the capability of producing components in-space from stock materials 

which have been traditionally delivered from Earth. Parts, which refers to spacecraft components, and 

goods, which refers to items readily available on Earth, are often delivered from Earth to the ISS for 

spacecraft repair or astronaut use. A major benefit of parts and goods manufacturing in-space is the 

ability to quickly produce a component when needed, thus reducing the timeline for delivery and quantity 

of launched spare components. With the ability to produce, inspect, and verify parts and goods at a 

consistent quality, this capability may prove crucial in time sensitive situations or in situations where 

delivery of a component from Earth is unrealistic, such as a human mission to Mars. Technologies which 

have been demonstrated in-space thus far rely on delivery of stock material from Earth, but technologies 

are in development which would allow for future in-situ resource utilization.

The first demonstration of parts and goods manufacturing in space was in 2014 using an FDM 3D printer 

developed by Made In Space, now a Redwire company, and operated in a MSG. Made In Space next 

developed the AMF, which was sent to the ISS in 2016 and remains a current installation. Both 3D printers 

which operated on the ISS printed plastic materials.

Current parts and goods manufacturing systems in development for demonstration on the ISS aim to add 

the ability to produce components from metal. Redwire has contributed in this area, including SIMPLE 

and the Multimaterial Fabrication Laboratory (both developed by Techshot, Inc., prior to acquisition by 

Redwire) and Vulcan (developed by Made In Space, prior to acquisition by Redwire). In addition to 
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additive manufacturing capabilities, the Vulcan and the Multimaterial Fabrication Laboratory will include 

subtractive CNC machining capabilities for final part processing. The introduction of on-demand metallic 

parts on the ISS will expand this technology use case to components which can endure high temperatures, 

stresses, and exhibit stiffness beyond the capability of plastics.

Development is also currently underway to explore the use of regolith to produce parts and goods on the 

ISS. The use of regolith in 3D printing is applicable to future human missions to the Moon or Mars, where 

delivery of stock material from Earth is unrealistic. RegISS, a 3D printer based on the AMF design and in 

development by Redwire, will use a regolith simulant feedstock blend to provide a proof of concept for 

future ISRU-based feedstock 3D printing. Figure 10 provides an overview of demonstrated and indevelopment technologies in this capability area.

Figure 10: The first demonstrations of parts and goods manufacturing in space began in 2014 with the use 

of 3D printed plastics. Current production techniques in development aim to expand the production 

capabilities to metals, electronics, and even ISRU-regolith infused feedstock. 

3.10 SURFACE CONSTRUCTION 

Surface Construction involves excavating, constructing, assembling, and outfitting structures and 

infrastructure on a non-terrestrial surface. The scope of the structures to be built spans all phases and 

stages of a lunar or planetary surface structure, including horizontal (e.g., landing pads, roads) and vertical 

(e.g., power, habitation) construction. While initially the construction material will likely be Earthsourced, lunar regolith is expected to be a key source of future building material.
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Projects such as GaLORE have been exploring concepts for extraction of raw materials from lunar regolith. 

Through the GaLORE project, lunar regolith will be heated until it is reduced to a molten state. By then 

passing electricity through the molten material, oxygen can be chemically separated from the oxide into 

gaseous form and the base metals recovered. 

The extracted regolith can also be blended with polymers into a feedstock for 3D printing. This type of 

blended feedstock is the basis for construction under the Redwire Regolith Print project. Excavation of 

any suitable construction site is expected to produce a significant amount of regolith material, and the 

availability of such in-situ resources is crucial to the maintenance of a habitat due to the time and expense 

of transporting any such materials from Earth. The use of this regolith material for construction has been 

explored through several NASA projects, including the 3D Printed Habitat Challenge, the ACME project, 

CHAPEA, the ISFR project, and MMPACT. 

Surface construction operations can also be further subdivided into remote and autonomous operations. 

The initial stages of excavation and construction are expected to be performed primarily via teleoperated 

platforms such as bulldozers, diggers, and cranes designed for operation in a low-gravity environment. 

The LANCE and RASSOR projects are both developing excavation capabilities, with LANCE developing a 

lightweight bulldozer blade and RASSOR developing an innovative regolith excavation platform.

Once the preliminary work is far enough along, autonomous systems are likely to handle tasks such as 

processing the extracted regolith material and assembly of simple structures, though the plans for such 

systems are still in very early stages. Concepts for manipulation though autonomous systems include the 

GITAI R1, a rover which was tested in a lunar simulant environment in 2023, and LSMS, a scalable, tendon 

actuated crane system with over 12 years of design heritage. Figure 11 shows a condensed sequence of 

the technology from excavation to processing to construction.

Figure 11: Surface Construction technologies, sorted into three main categories. Regolith excavation is the 

easiest category to simulate on Earth, reflected by it having the most advanced readiness level.
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3.11 INSPECTION AND METROLOGY 

Inspection and Metrology involve the observation of in-space systemsto survey and analyze their location, 

configuration, size and shape, state of repair, and other features of interest. These observations can also 

include inspection of assembly and manufacturing processes, such as shapes of antennas. Spacecraft can 

suffer unexpected damage during their lifetimes from instrument failure or impacts with other vehicles, 

micrometeoroids, orspace debris. Observation can help to track and predict the position of orbital objects 

(space situational awareness) or assess the threat of collisions and possibly avoid them. In the event of 

damage or defect, inspection can evaluate the state of an asset and provide information to determine

whether the mission is a loss or if the problem can be repaired or worked around. The scope of the 

analysis covers space situational awareness, free-flyer inspection, non-destructive evaluation, and close 

(robotic) inspection. Such inspection vehicles are often designed to navigate autonomously and send the 

collected data to Earth for off-board analysis.

Inspection is often carried out via high-definition cameras processing standard visual images, although 

other sensors, such as ultrasound or multispectral sensors, are also implemented depending on the 

mission. The sensors are deployed from a variety of platforms, such as anchored to a structure or robotic

arm or free flying on a dedicated satellite vehicle. 

Anchored inspection payloads have been prevalent tenants of the ISS, which has historically provided a 

platform for technology demonstration and often employs inspection techniques for safe operation. 

Inspection payloads hosted on the ISS include NASA’s VIPIR, RELL, and the bio-memetic snake arm robot. 

NASA’s VIPIR robotic multi-capability inspection tools were used on the ISS-based RRM payloads to 

provide detailed close-up component inspections using a deployable, snake-like flexible hose with 

articulation capability. Real-time imagery was downloaded to Earth-based robotic operators. RELL is a 

robotic tool used along with the SSRMS to scan (inspect) various areas of the ISS for signs of pressure 

increases indicative of ammonia leakage. This versatile tool has an integral mass spectrometer used to 

differentiate molecules within a pressure source and an ion gauge used as a general pressure gauge. The 

RELL tool can be used to support additional in-space planned and unplanned servicing needs as well as 

validating integrity of existing fluid systems and during fluid (refueling) transfers. The bio-memetic snake 

arm robot was designed to be anchored to the ISS and conduct inspection and repairs in areas that would 

be difficult for a human to access. 

Free-flying inspection payloads have been under development since the deployment of the XSS satellites 

launched in 2003 and 2005. The AFRL XSS satellites were designed without a permanent target, instead 

performing proximity inspections on dead or inactive space objects near each satellite’s orbit. Free-flying 

inspection satellites have since flown through the ANGELS and AeroCube satellites. ANGELS, also 

developed by AFRL, evaluated situational awareness techniques around a Delta-IV upper stage while 

Aerospace Corporation’s AeroCube-10B satellite, one of a pair of 1.5U CubeSats deployed in concert, was 

designed to orbit around its dedicated partner AeroCube-10A and record images with an on-board camera 

during operation. Figure 12 classifies the inspection platforms according to their mission types.
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Figure 12: Inspection and metrology technologies, sorted into four main categories. Free-flying visual 

platforms command by far the highest in-demand application of this technology area.
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4 ISAM DEVELOPERS AND FACILITIES 

The previously discussed ISAM capability areas and corresponding entries are supported by a thriving and 

expanding community of developers from government, commercial, and academic sectors. The 88 

cataloged ISAM developers range in size from government agencies to corporations of fewer than 10 

employees and represent 13 countries around the world. More information on each of these developers 

can be found in Section 8. Figure 13 shows the number of ISAM developments by distinct associations.

Figure 13: Number of developments by developer association. Each of the developers catalogued was 

organized by association, as shown above. The number of developments represents the sum of all 

capability area activities completed by the developers within that association.

Facilities provide an important resource in advancing ISAM capabilities. Figure 14 presents a summary of 

several facilities that have been used to advance these capabilities. While not exhaustive, the facilities 

shown within the Department of Defense, supporting FFRDCs, NASA (centers and the ISS), and academia 

have been vital to advancing the capability areas discussed in this document and will continue to be a 

centerpiece for future ISAM development. A collection of ISAM facilities is further detailed in Section 9.
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Figure 14: Facilities that have been advancing ISAM capabilities exist across the country and in space 

aboard the ISS. This figure presents a summary of the facilities captured in this document, with 

Department of Defense and supporting FFRDC facilities in orange, NASA facilities in blue, and academic 

facilities in green. More information on each facility is in Section 8. 

5 KEY ISAM MISSIONS 

Several of the ISAM activities and technologies included in this document contribute to larger missions, 

programs, or projects. These higher-level activities, which are discussed in Section 2 and displayed in 

Figure 1, have led the space industry in ISAM technology development and have highlighted the utility of 

these technologies. Due to their historical significance, technical advancement, and reach into several 

capability areas, these missions have been designated as “Key ISAM Missions”. Descriptions of these 

missions are as follows:

• ETS-VII: ETS-VII (or Kiku7) was a JAXA (formerly NASDA) technology demonstration satellite which 

performed space robotic experiments and demonstrated its utility for uncrewed orbital operation 

and servicing tasks. The satellite completed operation in 1998.

• HST: launched in 1990, the HST is an optical space telescope positioned in low Earth orbit. To 

maintain operations, the HST was serviced by shuttle crews on multiple occasions, in both planned 

and unplanned servicing missions. After initial launch, the HST was retrofitted with additional ORU 

Swap capabilities to ease future servicing missions. 
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• ISM: the NASA ISM Project incorporates a portfolio of technologies focused on in-space ondemand fabrication, repair, and recycling capabilities. The Project adapts terrestrial developed 

manufacturing technologies to in-space environments, often demonstrated on the ISS. ISM 

projects offer the ability to reduce costs through minimizing launch mass and reduce risk through 

less reliance on spares and overdesign for reliability.

• ISS: the ISS is a crewed space laboratory in Earth’s low earth orbit. During the ISS assembly 

process, which began in 1998, many in-space assembly, RPO, and docking technologies were 

required to piece together the modular structure. The ISS is host to many ISAM related technology 

demonstrations. 

• MEV: Developed by Northrop Grumman, MEV is the industry’s first satellite life extension vehicle, 

designed to dock to geostationary satellites whose fuel is nearly depleted. Once connected to its 

client satellite, MEV uses its own thrusters and fuel supply to extend the satellite’s lifetime. When 

the customer no longer desires MEV’s service, the spacecraft will undock and move on to the next 

client satellite.

• Orbital Express: Launched March 8, 2007, as part of the United States Air Force STP, Orbital 

Express demonstrated automated rendezvous and capture of two spacecraft (ASTRO and 

NEXTSat), transfer of propellant, and transfer of a modular spacecraft component. Flow sensors 

demonstrated 5-10 percent flow rate error on N2H4 transfer with no significant issues. The 

mission demonstrated 9 mate/demate cycles on orbit and demonstrated robotic ORU transfer 

and installation.

• OSAM-1: OSAM-1 is a robotic spacecraft equipped with the tools, technologies and techniques 

needed to extend satellites' lifespans - even if they were not designed to be serviced on orbit. 

During its mission, the OSAM-1 servicer will rendezvous with, grasp, refuel and relocate a 

government-owned satellite to extend its life. OSAM-1’s capabilities can give satellite operators 

new ways to manage their fleets more efficiently and derive more value from their initial 

investment. These capabilities could even help mitigate the looming problem of orbital debris. 

OSAM-1 will also be able to assemble a communications antenna on orbit. 

• OSAM-2: The technology demonstration, previously called Archinaut One and now OSAM-2, plans 

to manufacture and deploy one 10-meter beam and one 6-meter beam. During printing of the 10-

meter beam, the system will also deploy a surrogate solar array. The manufacturing will be 

performed by Redwire’s Extended Structure Additive Manufacturing Machine. 

• RRM: the RRM missions are a set of three servicing and refueling technology demonstration 

missions which were hosted by the ISS and completed in 2011, 2015, and 2018. The focus of RRM1 

was servicing of heritage spacecraft without standard interfaces. RRM2 demonstrated use of new 

inspection and manipulation tools for servicing and refuel. RRM3 focused on cryogenic propellant 
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storage, gauging, and transfer. Each of these missions were developed through the NExIS projects 

division of NASA GSFC.

• RSGS: the DARPA RSGS program will demonstrate robotic servicing within GEO through use of a 

RSV. The commercially owned and operated RSV will be comprised of a DARPA-developed toolkit 

and a privately developed spacecraft. The RSGS program intents to demonstrate robotic servicing, 

on-orbit mission flexibility, and commercial and government collaboration through a multi-year, 

multi-mission campaign. 

Table 1 details the ISAM activities which support each milestone mission and the linkage to the capability 

area(s) applicable to those activities. 

Table 1: This table breaks down the larger missions into the entries in the appendix and identifies the 

applicable capability area(s).

Mission Activity Area

ARMADAS

ARMADAS 7, 10

Androgynous Fasteners [ARMADAS] 7

Mobile Metamaterial Internal Co-Integrator (MMIC-I) [ARMADAS] 1

Scaling Omnidirectional Lattice Locomoting Explorer (SOLL-E) 

[ARMADAS]

1

ETS-VII Engineering Test Satellite VII (ETS-VII) 1, 2

HST

Servicing Mission 1 (STS-61) [HST] 2, 3, 4

Servicing Mission 2 (STS-82) [HST] 2, 3, 4, 5

Servicing Mission 3A (STS-103) [HST] 2, 4

Servicing Mission 3B (STS-109) [HST] 2, 3, 4

Servicing Mission 4 (STS-125) [HST] 2, 4, 5

ISM

3D Printing in Zero G TDM [ISM] 9

Additive Manufacturing Facility (AMF) [ISM] 9

Custom Laser Doppler Sensor 9

External Material Processing Platform 9

Made in Space: SpaceFiber 9

Metal Advanced Manufacturing Bot-Assisted Assembly (MAMBA) 8

Multimaterial Fabrication Laboratory [ISM] 9

On-Demand Manufacturing of Electronics (ODME) [ISM] 9

Orbital Fiber Optic Production Module (ORFOM) 9

Recyclable Packaging Materials 8

Redwire Regolith Print (RegISS) [ISM] 9, 10

ReFabricator [ISS] 8

Sintered Inductive Metal Printer with Laser Exposure (SIMPLE) [ISM] 9

Vulcan [ISM] 9
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Mission Activity Area

ISS

Alpha Magnetic Spectrometer (AMS-02) [ISS] 11

Bio-memetic Snake Arm Robot [ISS] 11

Canadarm2 (Space Station Remote Manipulator System) [ISS] 1

CAS [ISS] 7

Dextre [ISS] 1

European Robotic Arm (ERA) [ISS] 1

Furphy Prototype Tanker [ISS] 6

GOLD-2 Connector [ISS] 4

International Berthing and Docking Mechanism (IBDM) [ISS] 2

International Space Station Truss/Backbone [ISS] 7

ISS Reboost 3

Japanese Experiment Module Remote Manipulator System (JEM-RMS) 

[ISS]

1

Japanese Experiment Module Small Fine Arm [ISS] 1

KRAKEN [ISS] 1

MRTAS [ISS] 7

NASA Docking System (NDS)[ISS] 2, 6

PMA [ISS] 2

Progress Vehicle and ATV Refueling of ISS [ISS] 6

RAVEN [ISS] 2

Robonaut2 [ISS] 1

Robotic External Leak Locator (RELL) [ISS] 11

Roll-Out Solar Array (ROSA) 4

RTAS [ISS] 7

Seeker [ISS] 11

Sonatest Veo PAUT [ISS] 11

SSAS [ISS] 7

Strela Cargo Cranes [ISS] 1

MEV Mission Extension Vehicle (MEV) 2, 3, 11

Orbital 

Express

Orbital Express 2, 4, 6, 11

Orbital Express Demonstration Manipulator System (OEDMS) [Orbital 

Express]

1

OSAM-1

OSAM-1 2, 5, 6, 11

NASA Servicing Arm [OSAM-1] 1

Robotically Compatible Erectable Joint with Square Cross-Section 

[OSAM-1]

7

Space Infrastructure Dexterous Robot (SPIDER) [OSAM-1] 1, 7
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Mission Activity Area

OSAM-2

OSAM-2 7

ESAMM 7

xLink Robotic Arm [OSAM-2] 1, 7

RRM

Cryogenic Servicing Tool (CST) [RRM] 6

Multifunction Tool [RRM] 6

Multi-Function Tool 2 (MFT2) [RRM] 6

Nozzle Tool [RRM] 6

Robotic Refueling Mission 1 (RRM1) 6

Robotic Refueling Mission 2 (RRM2) 5

Robotic Refueling Mission 3 (RRM3) 6

Safety Cap Tool [RRM] 6

Visual Inspection Poseable Invertebrate Robot (VIPIR) [RRM] 11

Visual Inspection Poseable Invertebrate Robot 2 (VIPIR2) [RRM] 11

Wire Cutter Tool [RRM] 5

RSGS

Front-end Robotic Enabling Near-term Demonstration (FREND) [RSGS] 1

Mission Robotic Vehicle (MRV) [RSGS] 2, 3, 5, 11

6 CONTRIBUTORS 

The 2023 edition of the ISAM State of Play was prepared by:

• Dr. Dale Arney (NASA Langley Research Center)

• John Mulvaney (NASA Langley Research Center)

• Christopher Stockdale (Analytical Mechanics Associates, Inc.)

• Christina Williams (NASA Langley Research Center)

• Nathanael Gelin (NASA Intern from Florida International University)

• Paul le Gouellec (Student, Virginia Governor’s School for Science and Technology)

The authors would like to acknowledge the many people from NASA (especially Wilbert Ruperto 

Hernández), U.S. Space Force, AFRL, Aerospace Corporation, Analytical Mechanics Associates, and North 

Carolina State University who contributed their expertise, references, and feedback during the creation 

of this and previous editions of the ISAM State of Play. 

 
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7 APPENDIX – ISAM ACTIVITIES 

This appendix presents more details on the ISAM development activities and technologies that define the 

current state of ISAM. For the use of the tables found in this appendix, the capability areas are numbered 

from 1 to 11, as follows:

1. Robotic Manipulation (RM)

2. RPO, Capture, Docking, and Mating (RCDM)

3. Relocation (R)

4. Planned Repair, Upgrade, Maintenance, and Installation (PRUMI)

5. Unplanned or Legacy Repair and Maintenance (ULRM)

6. Refueling and Fluid Transfer (RFT)

7. Structural Manufacturing and Assembly (SMA)

8. Recycling, Reuse, and Repurposing (RRR)

9. Parts and Goods Manufacturing (PGM)

10. Surface Construction (SC)

11. Inspection and Metrology (IM)

In addition to the 11 core capability areas, a series of “cross-cutting” capability areas have been identified 

as the hardware, software, services, and regulations which serve to support those core areas. 

Incorporation of entries for these cross-cutting capability areas is expected in subsequent editions of this 

document. The identified cross-cutting capability areas include:

12. Software and Algorithms

13. Management, Logistics, and Analysis

14. Policy, Standards, and Certification

15. Systems, Electronics and Computers

16. Guidance, Navigation and Control

Table 2 presents all the entries listed in the ISAM State of Play and highlights applicable capability area(s). 

Note that many of the entries are detailed in multiple capability areas due to the broad scope or impact 

of an activity. After the table, more information about the use/demonstration date, developing 

organization, country of origin, and select performance parameters are provided for each entry, organized 

by capability area. For the detailed entries, the “Status” and “First Use Date” information have specific 

lexicons. These definitions are listed below for “Status”: 

• In Development: ongoing development project

• Operational: ongoing flight project or mission

• Concluded: project ended or was canceled

• Completed: project had an operational flight or similar and has been completed

The definitions for “First Use Date” are listed below:

• N/A: canceled without technology use

• Unavailable: unable to find the use date
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• TBD: project in development without scheduled future mission

• Scheduled for 20XX: scheduled future mission

Table 2: This table lists all the ISAM development activities and technologies in the ISAM State of Play 

mapped to the applicable capability area(s). The text in the columns of this table are unique identifiers for 

each entry detailed in the appendix.

Activity 1 2 3 4 5 6 7 8 9 10 11

3D Printed Habitat Challenge SC01

3D Printed Space Reflector 

Antenna

PGM01

3D Printing in Zero G TDM [ISM] PGM02

Additive Construction with 

Mobile Emplacement (ACME) SC02

Additive Manufacturing Facility 

(AMF) [ISM] PGM03

ADRAS-J RCDM01

AeroCube-10 RCDM02

AeroCube-10 (AC-10) IM01

Alpha Magnetic Spectrometer 

(AMS-02) [ISS] IM02

Androgynous Fasteners 

[ARMADAS] SMA01

ANGELS RCDM03

Aolong-1 RCDM04 R01

APAS [ISS] RCDM05

Argon Autonomous Rendezvous 

and Docking (AR&D) Sensor

RCDM06

ARMADAS SMA02 SC03

Assemblers RM01 SMA03

ASTP-DM RCDM07

Automated Navigation and 

Guidance Experiment for Local 

Space (ANGELS)

IM03

Axon/Dactylus PRUMI01

Bio-memetic Snake Arm Robot 

[ISS] IM04

Canadarm (Shuttle Remote 

Manipulator System) RM02

Canadarm2 (Space Station 

Remote Manipulator System) 

[ISS]

RM03

Canadarm3 RM04

CAS [ISS] SMA04

CHAPEA SC04
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Activity 1 2 3 4 5 6 7 8 9 10 11

Cooperative Service Valve (CSV) RFT01

COSMIC RCDM08

Cryogenic Servicing Tool (CST) 

[RRM] RFT02

Custom Laser Doppler Sensor PGM04

Dextre [ISS] RM05

Dog Tag PRUMI02

EASE/ACCESS SMA05

ELSA-d RCDM09 R02

ELSA-M RCDM10

Engineering Test Satellite VII 

(ETS-VII) RM06 RCDM11

ESAMM SMA06

European Robotic Arm (ERA) [ISS] RM07

External Material Processing 

Platform PGM05

Fluid Acquisition & Resupply 

Experiment I (FARE-I) RFT03

Fluid Acquisition & Resupply 

Experiment II (FARE-II) RFT04

Front-end Robotic Enabling Nearterm Demonstration (FREND) 

[RSGS]

RM08

Furphy Prototype Tanker [ISS] RFT05

FuseBlox PRUMI03

GaLORE Project SC05

GOLD-2 Connector [ISS] PRUMI04

HelioSwarm RCDM12

Hinge for Use in a Tension 

Stiffened and Tendon Actuated 

Manipulator

SMA07

HOTDOCK PRUMI05

iBOSS iSSI PRUMI06

IN1 RM09

In-Situ Construction GCD Project SC06

In-Situ Fabrication and Repair 

Project (ISFR) SC07

Instrument Deployment Arm 

(Insight) RM10

International Berthing and 

Docking Mechanism (IBDM) [ISS] RCDM13

International Space Station 

Truss/Backbone [ISS] SMA08
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Activity 1 2 3 4 5 6 7 8 9 10 11

ION Satellite Carrier R03

ISS EVR Experiment PRUMI07 SMA09

ISS IVR Experiment PRUMI08 SMA10

ISS Reboost R04

Japanese Experiment Module 

Remote Manipulator System 

(JEM-RMS) [ISS]

RM11

Japanese Experiment Module 

Small Fine Arm [ISS] RM12

Joint Design Using Electron Beam 

Welding for Autonomous InSpace Truss Assembly (EBW 

Joint)

SMA11

KRAKEN [ISS] RM13

LANCE SC08

Laura IM05

LEO Knight RCDM14 ULRM01

Lightweight Surface Manipulator 

System (LSMS) RM14 SC09

Made in Space: SpaceFiber PGM06

Mag Tag PRUMI09

MakerSat [OSAM-1] SMA12

Mars Exploration Rover Robotic 

Arm

RM15

Mars Science Laboratory Robotic 

Arm

RM16

Mars Surveyor 2001 Robotic Arm RM17

Mars Volatiles and Climate 

Surveyor Robotic Arm (MVACS) RM18

Metal Advanced Manufacturing 

Bot-Assisted Assembly (MAMBA) RRR01

Mission Extension Pods (MEP) R05 ULRM02

Mission Extension Vehicle (MEV) RCDM15 R06 IM06

Mission Robotic Vehicle (MRV) 

[RSGS] RCDM16 R07 ULRM03 IM07

MMPACT SC10

Mobile Metamaterial Internal 

Co-Integrator (MMIC-I) 

[ARMADAS]

RM19

MRTAS [ISS] SMA13

Multifunction Tool [RRM] RFT06

Multi-Function Tool 2 (MFT2) 

[RRM] RFT07
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Activity 1 2 3 4 5 6 7 8 9 10 11

Multimaterial Fabrication 

Laboratory [ISM] PGM07

Mycroft RCDM17 IM08

NASA Docking System (NDS)[ISS] RCDM18 RFT08

NASA Intelligent Jigging and 

Assembly Robot (NINJAR) SMA14

NASA Langley’s Extravehicular 

Activity (EVA) Infrared Camera IM09

NASA Servicing Arm [OSAM-1] RM20

NASA STMD 2020 Tipping Point 

Selections on Cryogenic Fluid 

Management Technology 

Demonstration

RFT09

Nautilus RCDM19

Nozzle Tool [RRM] RFT10

On-Demand Manufacturing of 

Electronics (ODME) [ISM] PGM08

ORB – Robotic AM Platform PGM09

Orbital Express RCDM20 PRUMI10 RFT11 IM10

Orbital Express Demonstration 

Manipulator System (OEDMS) 

[Orbital Express]

RM21

Orbital Fiber Optic Production 

Module (ORFOM) PGM10

Orbital Maneuvering Vehicle 

(OMV) R08

Orbital Refueling System (ORS) 

Flight Demonstration RFT12

Orbiter R09

OSAM-1 RCDM21 ULRM04 RFT13 IM11

OSAM-2 SMA15

Otter RCDM22 R10

Otter Pup RCDM23

Perseverance Sample Handling 

Assembly (SHA) RM22

Phoenix Mars Lander Robotic 

Arm

RM23

PMA [ISS] RCDM24

Precision Assembled Space 

Structures (PASS) SMA16

Programmable Josephson 

Voltage Standard (PJVS) IM12

Progress Vehicle and ATV 

Refueling of ISS [ISS] RFT14
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Activity 1 2 3 4 5 6 7 8 9 10 11

R1 SC11

Ranger RM24

RASSOR SC12

RAVEN [ISS] RCDM25

REACT SC13

Recyclable Packaging Materials RRR02

Redwire Regolith Print (RegISS) 

[ISM] PGM11 SC14

ReFabricator [ISS] RRR03

Rendezvous, Proximity 

Operations, and Docking (RPOD) 

Kit

PRUMI11

Robonaut2 [ISS] RM25

Robotic External Leak Locator 

(RELL) [ISS] IM13

Robotic Refueling Mission 1 

(RRM1) RFT15

Robotic Refueling Mission 2 

(RRM2) ULRM05

Robotic Refueling Mission 3 

(RRM3) RFT16

Robotically Compatible Erectable 

Joint with Square Cross-Section 

[OSAM-1]

SMA17

Roll-Out Solar Array (ROSA) PRUMI12

RTAS [ISS] SMA18

S1 RM26

S10 RM27

S2 RM28

Safety Cap Tool [RRM] RFT17

Salyut-7 Welding Experiment SMA19

Scaling Omnidirectional Lattice 

Locomoting Explorer (SOLL-E) 

[ARMADAS]

RM29

SCOUT IM14

SCOUT-Vision RCDM26

Seeker [ISS] IM15

Servicing Mission 1 (STS-61) 

[HST] RCDM27 R11 PRUMI13

Servicing Mission 2 (STS-82) 

[HST] RCDM28 R12 PRUMI14 ULRM06

Servicing Mission 3A (STS-103) 

[HST] RCDM29 PRUMI15
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Activity 1 2 3 4 5 6 7 8 9 10 11

Servicing Mission 3B (STS-109) 

[HST] RCDM30 R13 PRUMI16

Servicing Mission 4 (STS-125) 

[HST] RCDM31 PRUMI17 ULRM07

SHEAth-based Rollable 

Lenticular-Shaped and LowStiction (SHEARLESS) Composite 

Booms

SMA20

Sherpa R14

Shijian-17 RCDM32

Sintered Inductive Metal Printer 

with Laser Exposure (SIMPLE) 

[ISM]

PGM12

Skylab Materials Processing 

Facility Experiments SMA21

SLEGO Architecture PRUMI18 RFT18 SMA22

Sonatest Veo PAUT [ISS] IM16

SOUL RCDM33 PRUMI19 IM17

Space Infrastructure Dexterous 

Robot (SPIDER) [OSAM-1] RM30 SMA23

Space Utility Vehicle (SUV) R15

SSAS [ISS] SMA24

SSVP RCDM34

STAARK RM31

Standard Interface for Robotic 

Manipulation of Payloads in 

Future Space Missions (SIROM)

PRUMI20

Storage Fluid Management 

Demonstration (SFMD) RFT19

Strela Cargo Cranes [ISS] RM32

Structural Joint With Multi-Axis 

Load Carrying Capability SMA25

Strut Attachment, Manipulation, 

and Utility Robotic Aide 

(SAMURAI)

SMA26

Superfluid Helium On-Orbit 

Transfer (SHOOT) Flight 

Demonstration

RFT20

Tailored Universal Feedstock for 

Forming (TuFF) Reformability 

Demo

RRR04

TALISMAN RM33

Tall Lunar Tower (TLT) SC15

Tanker-001 Tenzing RCDM35 RFT21
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Activity 1 2 3 4 5 6 7 8 9 10 11

TCAM Soft Robotic Actuator SMA27

Thermally Reversible Polymers 

for AM Feedstock RRR05

Tianyuan 1 refueling 

demonstration RFT22

Vigoride R16

Visual Inspection Poseable 

Invertebrate Robot (VIPIR) [RRM] IM18

Visual Inspection Poseable 

Invertebrate Robot 2 (VIPIR2) 

[RRM]

IM19

Vulcan [ISM] PGM13

Vulkan Experiment SMA28

Wire Cutter Tool [RRM] ULRM08

xLink Robotic Arm [OSAM-2] RM34 SMA29

XSS-10 RCDM36 IM20

XSS-11 RCDM37 IM21

7.1 ROBOTIC MANIPULATION 

7.1.1 RM01: Assemblers 

Description: Assemblers is a technology development for a modular robotic manipulator that consists of 

a variable number of stacked Stewart platforms. The goal of this project is to increase the technology 

readiness level for modular robots and autonomous in-space assembly and to develop a robotic 

prototype for ground testing. Both new hardware and software is being developed.

Developer(s): NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development

Reach (m): 1.01

Degrees of Freedom: Unavailable 

Grapple Type: Unavailable 

7.1.2 RM02: Canadarm (Shuttle Remote Manipulator System) 

Description: Canadarm or Canadarm1 (officially Shuttle Remote Manipulator System or SRMS) is a series 

of robotic arms that were used on the Space Shuttle orbiters to deploy, maneuver, and capture 

payloads. After the Space Shuttle Columbia disaster, the Canadarm was always paired with the Orbiter 

Boom Sensor System (OBSS), which was used to inspect the exterior of the Shuttle for damage to the 

thermal protection system.
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Developer(s): Spar Aerospace

Country: Canada

First Use Date: 1981

Status: Completed

Reach (m): 15

Degrees of Freedom: 8

Grapple Type: Snare End Effector

7.1.3 RM03: Canadarm2 (Space Station Remote Manipulator System) [ISS] 

Description: Officially known as the Space Station Remote Manipulator System (SSRMS), Canadarm2 

supports a wide array of ISS operations. Launched on STS-100 in April 2001, this second-generation arm 

is a larger, more advanced version of the Space Shuttle’s original Canadarm. 

Developer(s): Canadian Space Agency (CSA), MDA Space

Country: Canada

First Use Date: 2001

Status: Operational

Reach (m): 17.6

Degrees of Freedom: 7

Grapple Type: Snare End Effector, Latches, Umbilicals

7.1.4 RM04: Canadarm3 

Description: The Canadarm3 is a robotic remote manipulator arm similar to the Space Shuttle Canadarm 

and International Space Station Canadarm2. Canadarm3 will be used for berthing the modules and 

inspecting the Lunar Gateway. The arm is to be the contribution of the Canadian Space Agency (CSA) to 

this international endeavor. CSA contracted MDA (MacDonald, Dettwiler and Associates) to build the 

arm. MDA previously built Canadarm2, while its former subsidiary, Spar Aerospace, built Canadarm.

Developer(s): Canadian Space Agency (CSA), MDA Space

Country: Canada

First Use Date: Scheduled for 2024

Status: In Development

Reach (m): 8.5

Degrees of Freedom: 7

Grapple Type: Unavailable 

7.1.5 RM05: Dextre [ISS] 

Description: The Special Purpose Dexterous Manipulator, or “Dextre”, is a smaller two-armed robot that 

can attach to Canadarm2, the ISS or the Mobile Base System. The arms and its power tools are capable 

of handling the delicate assembly tasks and changing Orbital Replacement Units (ORUs) previously 

handled by astronauts during space walks. Although Canadarm2 can move around the station in an 

“inchworm motion”, it’s unable to carry anything with it unless Dextre is attached.
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Developer(s): Canadian Space Agency (CSA), MDA Space

Country: Canada

First Use Date: 2008

Status: Operational

Reach (m): 3.35

Degrees of Freedom: 7

Grapple Type: Latching End Effector, Robotic Micro Conical Tools, RMM Tools

7.1.6 RM06: Engineering Test Satellite VII (ETS-VII) 

Description: ETS-VII (Japanese nickname: Kiku7) was a NASDA (which is now part of JAXA) technology 

demonstration satellite. The overall mission objectives are to conduct space robotic experiments with an 

onboard 2-meter arm and to demonstrate its utility for uncrewed orbital operation and servicing tasks 

(e.g., rendezvous-docking techniques).

Developer(s): National Space Development Agency of Japan (NASDA)

Country: Japan

First Use Date: 1998

Status: Completed

Reach (m): 2

Degrees of Freedom: 6

Grapple Type: Grapple

7.1.7 RM07: European Robotic Arm (ERA) [ISS] 

Description: The European Robotic Arm (ERA) works with the new Russian airlock, to transfer small 

payloads directly from inside to outside the International Space Station. This will reduce the setup time 

for astronauts on a spacewalk and allow ERA to work alongside astronauts.

Developer(s): Airbus Defence and Space Netherlands (ADSN)

Country: European Union

First Use Date: 2021

Status: Operational

Reach (m): 11.3

Degrees of Freedom: 7

Grapple Type: Grapple Integrated Tools

7.1.8 RM08: Front-end Robotic Enabling Near-term Demonstration (FREND) [RSGS] 

Description: The FREND robotic arm was developed by DARPA to demonstrate a seven degree-offreedom arm capable of autonomous grapple and manipulation. The design is being leveraged by 

OSAM-1 and RSGS. The arm is driven by the MOOG Rikishi Electronics Unit, which is designed to drive up 

to nine separate robotic arm joints.

Developer(s): Defense Advanced Research Projects Agency (DARPA), Naval Research Laboratory (NRL), 

MOOG
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Country: United States

First Use Date: 2007

Status: Completed

Reach (m): 1.8

Degrees of Freedom: 7

Grapple Type: Grapple

7.1.9 RM09: IN1 

Description: The IN1, in development by Japanese startup GITAI, is an inchworm-type robotic arm 

equipped with “grapple end-effectors” on both ends of the arm. This unique feature increases 

“Capability”, which enables it to connect to various tools to perform multiple tasks, and “Mobility”, 

which enables it to move in any direction. It can also connect/disconnect itself among different vehicles, 

such as rovers, landers, Lunar base, etc. In March 2023, a demonstration of cooperative lunar base 

construction using two GITAI inchworm-type robotic arms and two GITAI Lunar Robotic Rovers in a 

simulated lunar environment was successfully completed.

Developer(s): GITAI

Country: Japan

First Use Date: TBD

Status: In Development

Reach (m): 1.5

Degrees of Freedom: Unavailable

Grapple Type: Internal Proprietary Interface, Camera, Tool Change Capability

7.1.10 RM10: Instrument Deployment Arm (Insight) 

Description: The Instrument Deployment Arm (IDA) originated as the robotic arm built for the Jet 

Propulsion Laboratory (JPL) for the cancelled Mars 2001 Surveyor mission in 1998. It was later used on 

the InSight Mars lander to deploy instruments on the surface and orient the deployment camera.

Developer(s): Maxar Technologies, MDA Space

Country: United States

First Use Date: 2018

Status: Operational

Reach (m): 1.9

Degrees of Freedom: 4

Grapple Type: Scoop, Grapple, Camera

7.1.11 RM11: Japanese Experiment Module Remote Manipulator System (JEM-RMS) [ISS] 

Description: Kibo’s robotic arm, Japanese Experiment Module Remote Manipulator System (JEM-RMS), 

is a robotic manipulator system intended for supporting experiments to be conducted on Kibo’s Exposed 

Facility or for supporting Kibo’s maintenance tasks.

Developer(s): Japan Aerospace Exploration Agency (JAXA)
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Country: Japan

First Use Date: 2008

Status: Operational

Reach (m): 10

Degrees of Freedom: 6

Grapple Type: Grapple, JEM SFA Connection

7.1.12 RM12: Japanese Experiment Module Small Fine Arm [ISS] 

Description: The Small Fine Arm (SFA) consists of electronics, booms, joints, effectors called “tools”, and 

cameras. The SFA attaches to the end of the JEM-RMS when operated.

Developer(s): Japan Aerospace Exploration Agency (JAXA)

Country: Japan

First Use Date: 2008

Status: Operational

Reach (m): 2.2

Degrees of Freedom: 6

Grapple Type: 3 Fingers, Torque Driver, Electric Connectors

7.1.13 RM13: KRAKEN [ISS] 

Description: Tethers Unlimited Inc. has developed the KRAKEN robotic arm to provide the space 

industry with a compact, high-performance, and cost-effective manipulator to enable small spacecraft to 

perform in-space assembly, manufacturing, and servicing missions.

Developer(s): Tethers Unlimited Inc

Country: United States

First Use Date: TBD

Status: In Development

Reach (m): 1

Degrees of Freedom: 7

Grapple Type: Swappable, Tool-Change Interface, Power/Data Interface

7.1.14 RM14: Lightweight Surface Manipulator System (LSMS) 

Description: Lightweight Surface Manipulation System (LSMS) is a crane with multiple end effectors 

being developed at NASA Langley. LSMS is designed to be scalable to a wide range of reach and tip mass 

requirements, with 12 years of design heritage and testing on 1000 kg (lunar) tip mass capable 

prototype unit. The LSMS allows for fine positioning of a payload in both the translational and rotational 

directions. Attachments include buckets, pallet forks, grappling devices, sensors, and robotic arms.

Developer(s): NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development
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Reach (m): 7.5

Degrees of Freedom: 3

Grapple Type: Unavailable 

7.1.15 RM15: Mars Exploration Rover Robotic Arm 

Description: The Instrument Deployment Device (IDD) is a five degree-of-freedom robotic arm designed 

to give the Mars Exploration Rover (MER) the ability to gain physical access to the rocks and soil in the 

Martian environment. The IDD will accurately position each of four separate instruments attached to its 

end effector against and near geological specimens selected for scientific investigation.

Developer(s): National Aeronautics and Space Administration (NASA), Maxar Technologies, MDA Space

Country: United States

First Use Date: 2004

Status: Completed

Reach (m): 1

Degrees of Freedom: 5

Grapple Type: Abrasion Tool, Spectrometer, Camera

7.1.16 RM16: Mars Science Laboratory Robotic Arm 

Description: The Mars Science Laboratory (also known as Curiosity) mission incorporates many lessons 

learned from the Pathfinder mission and Sojourner rover, the Mars Exploration Rovers, and the Phoenix 

Lander to explore Mars and help understand if it ever had the conditions to support life. Curiosity’s 

robotic arm maneuvers instruments close to the surface. These instruments and tools are housed in a 

“turret” that can switch to the appropriate tool at the time.

Developer(s): Maxar Technologies, MDA Space

Country: United States

First Use Date: 2012

Status: Operational

Reach (m): 2.2

Degrees of Freedom: 5

Grapple Type: 5 Scientific Instruments, Drill

7.1.17 RM17: Mars Surveyor 2001 Robotic Arm 

Description: The Mars Surveyor 2001 Lander was scheduled to carry both a robotic arm and rover to 

support various science and technology experiments. This mission was cancelled, but the lander and 

robotic arm were eventually repurposed as the Phoenix lander in 2007.

Developer(s): NASA Jet Propulsion Laboratory (JPL)

Country: United States

First Use Date: 2001

Status: Concluded

Reach (m): 2
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Degrees of Freedom: 4

Grapple Type: Scoop, Scraping Blades, Electrometer

7.1.18 RM18: Mars Volatiles and Climate Surveyor Robotic Arm (MVACS) 

Description: The Mars Volatiles and Climate Surveyor (MVACS) suite of instruments was intended to 

land on Mars aboard the Mars Polar Lander in 1999. The primary purpose of the MVACS Robotic Arm 

was to support the other MVACS science instruments by digging trenches in the Marian soil, acquiring 

and dumping soil samples into the Thermal Evolved Gas Analyzer, and other support functions.

Developer(s): National Aeronautics and Space Administration (NASA), University of Arizona

Country: United States

First Use Date: 1999

Status: Concluded

Reach (m): 2.2

Degrees of Freedom: 4

Grapple Type: Scoop, Temp probe, Camera

7.1.19 RM19: Mobile Metamaterial Internal Co-Integrator (MMIC-I) [ARMADAS] 

Description: The Mobile Metamaterial Internal Co-Integrator (MMIC-I) serves as the ARMADAS 

integration robot. It is used for internal climbing and completing inter-voxel connections using bolts.

Developer(s): NASA Ames Research Center (ARC)

Country: United States

First Use Date: TBD

Status: In Development

Reach (m): 0.3

Degrees of Freedom: 5 locomotion +16 end effector

Grapple Type: Internal framework gripping interface

7.1.20 RM20: NASA Servicing Arm [OSAM-1] 

Description: The Robotic Servicing Arm has extensive heritage from arms used in past Mars rover 

missions. The system design heavily leverages the flight-qualified robotic arm developed for DARPA’s 

Spacecraft for the Universal Modification of Orbits and Front-end Robotics Enabling Near-term 

Demonstration (FREND) programs in the mid-2000s. In particular, it builds off of previous NASA and 

DARPA investments in motion control, robotic software frameworks, flex harnesses, force-torque 

sensor, joint design, and flight operations experience.

Developer(s): National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: Scheduled for 2025

Status: In Development

Reach (m): 2.46
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Degrees of Freedom: 7

Grapple Type: Six-Axis Force/Torque Sensor

7.1.21 RM21: Orbital Express Demonstration Manipulator System (OEDMS) [Orbital Express] 

Description: Using a robotic arm on-orbit, the Orbital Express mission demonstrated autonomous 

capture of a fully unconstrained free-flying client satellite, autonomous transfer of a functional battery 

On-Orbit Replaceable Unit (ORU) between two spacecraft, and autonomous transfer of a functional 

computer ORU.

Developer(s): Defense Advanced Research Projects Agency (DARPA), MDA Space

Country: United States

First Use Date: 2007

Status: Completed

Reach (m): 2.8

Degrees of Freedom: 6

Grapple Type: Mouse Trap, Cone, Probe

7.1.22 RM22: Perseverance Sample Handling Assembly (SHA) 

Description: The Perseverance rover uses a 2.1-meter arm to support sample handling and science 

collection. Th turret at the end of the arm contains multiple instruments and tools to extract and store 

core samples, drill into regolith and rocks, and to take images and analyze the Martian environment.

Developer(s): Maxar Technologies, MDA Space

Country: United States

First Use Date: 2020

Status: Operational

Reach (m): 2.1

Degrees of Freedom: 5

Grapple Type: Tool Turret, SHERLOC, WATSON, PIXL, GDRT, Drill

7.1.23 RM23: Phoenix Mars Lander Robotic Arm 

Description: The robotic arm on the Phoenix lander was an essential system for achieving the scientific 

goals of the Phoenix mission by providing support to the other science instruments as well as conducting 

specific soil mechanics experiments.

Developer(s): Maxar Technologies, MDA Space

Country: United States

First Use Date: 2008

Status: Completed

Reach (m): 2

Degrees of Freedom: 4

Grapple Type: Scoop, Camera
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7.1.24 RM24: Ranger 

Description: Ranger, a four-armed repair robot, is currently under testing in the Maryland Space 

Systems Laboratory. This robot was proposed for Hubble Servicing Missions but was eventually 

defunded by NASA. First use of robot control of “hazardous” payload, leveraged by Robonaut and 

Restore.

Developer(s): University of Maryland Space Systems Laboratory (UMD SSL)

Country: United States

First Use Date: 1995

Status: In Development

Reach (m): 1.35

Degrees of Freedom: 8

Grapple Type: Bolt & Angle Drives, Jaw gripper

7.1.25 RM25: Robonaut2 [ISS] 

Description: Robonaut 2, or R2, was developed jointly by NASA and General Motors under a cooperative 

agreement to develop a robotic assistant that can work alongside humans, whether they are astronauts 

in space or workers at General Motors manufacturing plants on Earth.

Developer(s): National Aeronautics and Space Administration (NASA), General Motors

Country: United States

First Use Date: 1999

Status: Operational

Reach (m): 0.812

Degrees of Freedom: 42

Grapple Type: 12-DOF Hands

7.1.26 RM26: S1 

Description: The S1, developed by Japanese startup GITAI, is a semi-autonomous, semi-teleoperated 

robotic arm capable of operating internal or external to on-orbit or lunar facilities. The S1 is able to excel 

in general purpose tasks often difficult for industrial robots, such as switch actuation, tool use, and soft 

object manipulation. In October of 2021, the robotic arm autonomously completed a number of 

common crew IVA tasks within the NanoRacks Bishop pressurized volume of the ISS.

Developer(s): GITAI

Country: Japan

First Use Date: 2021-10-13 00:00:00

Status: Completed

Reach (m): 1

Degrees of Freedom: 8 + 1

Grapple Type: Two Finger Gripper, Camera
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7.1.27 RM27: S10 

Description: The S10, in development by Japanese startup GITAI, is an autonomous robotic arm 

intended for commercial space station applications. This robotic arm is capable of manipulating large 

objects, such as spacecraft or payloads, autonomously or through teleoperation. Also, autonomous 

traverse of the arm itself is available by using grapple end effectors at both ends of the arm. 

Demonstration of the S10 within a simulated microgravity environment in an underwater experimental 

facility was completed in 2023

Developer(s): GITAI

Country: Japan

First Use Date: TBD

Status: In Development

Reach (m): 10

Degrees of Freedom: 7

Grapple Type: Internal Proprietary Interface, Camera, Tool Change Capability

7.1.28 RM28: S2 

Description: The S2, developed by Japanese startup GITAI, is a dual autonomous robotic arm system 

expected to complete demonstrations outside of the NanoRacks Bishop airlock of the ISS in 2023. The 

intended demonstration will focus on operations specific to ISAM, including, installation of ORUs, 

mating electrical connectors, manipulation of thermal blankets, and fastening screws using screwdriver 

tool. 

Developer(s): GITAI

Country: Japan

First Use Date: Scheduled for 2023

Status: In Development

Reach (m): 1.5

Degrees of Freedom: 7 + 1

Grapple Type: Two Finger Gripper, Camera, Tool Change Capability

7.1.29 RM29: Scaling Omnidirectional Lattice Locomoting Explorer (SOLL-E) [ARMADAS] 

Description: The Scaling Omnidirectional Lattice Locomoting Explorer (SOLL-E) serves as the ARMADAS 

cargo robot. It is used for material transport and placement through an inchworming process on the 

exterior of the structure.

Developer(s): NASA Ames Research Center (ARC)

Country: United States

First Use Date: TBD

Status: In Development

Reach (m): 0.7

Degrees of Freedom: 5 locomotion + 8 end effector

Grapple Type: External Framework Gripping Interface
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Approved for Public Release.

7.1.30 RM30: Space Infrastructure Dexterous Robot (SPIDER) [OSAM-1] 

Description: The OSAM-1 spacecraft will include an attached payload called Space Infrastructure 

Dexterous Robot (SPIDER). SPIDER includes a lightweight 5-meter robotic arm, bringing the total number 

of robotic arms flying on OSAM-1 to three. Previously known as Dragonfly during the ground 

demonstration phase of the NASA Tipping Point partnership, SPIDER will assemble seven elements to 

form a functional 3-meter communications antenna.

Developer(s): Maxar Technologies

Country: United States

First Use Date: Scheduled for 2025

Status: In Development

Reach (m): 5

Degrees of Freedom: 7

Grapple Type: MDA Provided dexterous end effector

7.1.31 RM31: STAARK 

Description: STAARK is a modular, customizable robotic system developed by Redwire. It has a 

standardized tool interface to accommodate multiple end-effectors, including Redwire’s own grippers. 

A vision system supports object tracking and provides grasping knowledge for grappling operations. The 

software enables teleoperation, assisted operation, and supervised autonomous operations. 

Developer(s): Redwire Corporation

Country: United States

First Use Date: TBD

Status: In Development

Reach (m): 1.92

Degrees of Freedom: 6

Grapple Type: Multiple

7.1.32 RM32: Strela Cargo Cranes [ISS] 

Description: Strela is a class of four Russian built cargo cranes used during EVAs to move cosmonauts 

and components around the exterior of the Soviet/Russian space station Mir and the Russian Orbital 

Segment of the International Space Station. Both telescoping booms extend like fishing rods and are 

used to move massive components outside the station.

Developer(s): Russia

Country: Russia

First Use Date: 1986

Status: Operational

Reach (m): 14

Degrees of Freedom: Unavailable

Grapple Type: Unavailable
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Approved for Public Release.

7.1.33 RM33: TALISMAN 

Description: The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) is a long reach 

manipulator arm that can be used for satellite servicing, small payload delivery, and large space 

observatory assembly.

Developer(s): NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development

Reach (m): 20

Degrees of Freedom: 5

Grapple Type: Swappable End effector

7.1.34 RM34: xLink Robotic Arm [OSAM-2] 

Description: The Motiv xLink robotic arm plans to be used during NASA’s OSAM-2 mission to position 3D 

printed solar array elements, connect deployable solar arrays, and position the onboard 3D printer. 

Developer(s): Motiv Space Systems

Country: United States

First Use Date: Scheduled for 2024

Status: In Development

Reach (m): 1-3

Degrees of Freedom: 4-7

Grapple Type: Unavailable

7.2 RPO, CAPTURE, DOCKING, AND MATING 

7.2.1 RCDM01: ADRAS-J 

Description: ADRAS-J is a mission to safely approach and characterize an existing piece of large debris. 

The ADRAS-J spacecraft was selected by JAXA for Phase I of its Commercial Removal of Debris 

Demonstration (CRD2) Project, and is scheduled to launch in 2023 from New Zealand on a Rocket Lab 

Electron.

Developer: Astroscale, Japan Aerospace Exploration Agency (JAXA)

Country: Japan

First Use Date: Planned for 2023

Status: In Development

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-Cooperative
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7.2.2 RCDM02: AeroCube-10 

Description: The AeroCube-10 demonstration mission was a pair of 1.5U CubeSats (one with 28 

deployable atmospheric probes and a laser beacon, another with a camera and propulsion system). AC10B entered “orbit” around AC-10A and used its on-board camera to take resolved images of AC-10A. 

AC-10B took photos from 22 meters away.

Developer: The Aerospace Corporation

Country: United States

First Use Date: 2019

Status: Completed

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Unavailable

7.2.3 RCDM03: ANGELS 

Description: Automated Navigation and Guidance Experiment for Local Space (ANGELS) evaluated space 

situational awareness techniques in the region around its Delta-4 launch vehicle upper stage. The 

mission began experiments approximately 50 km away from the upper stage and progressed to within 

several kilometers using ground-commanded authorization to proceed at points throughout the 

experiment.

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2014

Status: Completed

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): 50000

Cooperative vs. Non-Cooperative: Non-cooperative

7.2.4 RCDM04: Aolong-1 

Description: Aolong-1 is a Chinese developed satellite which demonstrated the removal of a simulated 

space debris object from orbit. The satellite captured the space debris and altered the trajectory to deorbit in Earth’s atmosphere.

Developer: National University of Defense Technology (NUDT), People’s Liberation Army (PLA)

Country: China

First Use Date: 2016

Status: Unavailable

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable
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Approved for Public Release.

Cooperative vs. Non-Cooperative: Non-cooperative

7.2.5 RCDM05: APAS [ISS] 

Description: The Androgynous Peripheral Attachment System (APAS) is an androgynous docking 

mechanism used on the ISS. The system was first used on the ISS between U.S. Pressurized Mating 

Adapter 1 and the Russian Functional Cargo Block (FGB), also known as Zarya.

Developer: RKK Energiya

Country: United States, USSR

First Use Date: 1975

Status: Operational 

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Both

7.2.6 RCDM06: Argon Autonomous Rendezvous and Docking (AR&D) Sensor 

Description: Argon was a ground-based demonstration module that integrated essential RPO 

components and unique algorithms into a system that autonomously imaged, visually captured, and 

tracked dynamic and static targets. Demonstrations at various ranges tested the components’

capabilities and ensured that the system smoothly transitioned among each simulated servicing-mission 

phase.

Developer: NASA Goddard Space Flight Center (GSFC)

Country: United States

First Use Date: 2012

Status: Completed

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): 90

Cooperative vs. Non-Cooperative: Non-cooperative

7.2.7 RCDM07: ASTP-DM 

Description: The Apollo-Soyuz Test Project Docking Module was a modification made to the Apollo 

Command and Service Module to allow for mating with the Soyuz spacecraft. The module was designed 

jointly by the U.S. and USSR and was constructed in the U.S.

Developer: North American Rockwell

Country: United States, USSR

First Use Date: 1975

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable
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Approved for Public Release.

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Unavailable

7.2.8 RCDM08: COSMIC 

Description: The Cleaning Outer Space Mission through Innovative Capture (COSMIC) will harness 

Astroscale’s RPO and robotic debris capture capabilities to remove two defunct British satellites 

currently orbiting Earth by 2026.

Developer: Astroscale, United Kingdom Space Agency (UKSA)

Country: Japan, UK

First Use Date: Planned for 2026

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-Cooperative

7.2.9 RCDM09: ELSA-d 

Description: The End-of-Life Services by Astroscale-demonstration (ELSA-d) mission consists of a servicer 

satellite and a client satellite launched together. The servicer satellite was developed to safely remove 

debris objects from orbit, equipped with proximity rendezvous technologies and a magnetic docking 

mechanism. The client satellite simulates a piece of debris fitted with a ferromagnetic plate to enable 

docking with the servicer satellite.

Developer: Astroscale

Country: Japan

First Use Date: 2021

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.10 RCDM10: ELSA-M 

Description: The End-of-Life Service by Astroscale – Multiple (ELSA-M) servicer spacecraft leverages 

flight heritage technology, systems, and capability developed during the ELSA-d mission. The servicer 

will be able to provide end-of-life services to a range of future satellite operators, including 

constellations, which are equipped with a compatible magnetic capture mechanism such as the 

Astroscale Docking Plate. An ELSA-M in-orbit demonstration with a customer satellite is planned for 

2025.

Developer: Astroscale

Country: Japan
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Approved for Public Release.

First Use Date: Planned for 2025

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-Cooperative

7.2.11 RCDM11: Engineering Test Satellite VII (ETS-VII) 

Description: ETSVII (Japanese nickname: Kiku7) was a JAXA (formerly NASDA) technology demonstration 

satellite. The overall mission objectives were to conduct space robotic experiments and to demonstrate 

its utility for robotic orbital operation and servicing tasks (e.g., rendezvous and docking techniques).

Developer: Japan Aerospace Exploration Agency (JAXA)

Country: United States

First Use Date: 1998

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: 1.3mm arm tolerance

Max RPO Initiation Distance (m): 10000

Cooperative vs. Non-Cooperative: Cooperative

7.2.12 RCDM12: HelioSwarm 

Description: The HelioSwarm mission is a constellation of nine spacecraft that will capture multiple inspace measurements of solar wind and magnetic field fluxuations from different points in space. 

HelioSwarm will consist of one hub spacecraft and eight co-orbiting small satellites that range in 

distance from each other and the hub spacecraft.

Developer: National Aeronautics and Space Administration (NASA)

Country: USA

First Use Date: 2028

Status: In Development

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.13 RCDM13: International Berthing and Docking Mechanism (IBDM) [ISS] 

Description: The International Berthing & Docking Mechanism (IBDM) is composed of a soft docking 

system (facilitates alignment and mechanical latches achieve soft capture) and a hard docking system 

(creates the sealed interface). The androgynous docking system is contact-force sensing, magnetically 

latched for capture, low impact, and capable of docking and berthing large and small vehicles. 

Developer: European Space Agency (ESA), QinetiQ Space, Sierra Nevada Corporation, SENER, RUAG, 
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Maxon Group

Country: European Space Agency (ESA)

First Use Date: TBD

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Both

7.2.14 RCDM14: LEO Knight 

Description: LEO Knight will provide the capability to assemble ESPA-class modules together to form 

persistent space platforms, capture and transport space debris to recycling hubs, and refuel and repair 

small satellites.

Developer: Tethers Unlimited Inc

Country: United States

First Use Date: TBD

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.15 RCDM15: Mission Extension Vehicle (MEV) 

Description: The Mission Extension Vehicle (MEV) is the first commercial satellite life extension vehicle, 

designed to dock to geostationary satellites whose fuel is nearly depleted. Once connected to its client 

satellite, MEV uses its own thrusters and fuel supply to extend the satellite’s lifetime. When the 

customer no longer desires MEV’s service, the spacecraft will undock and move on to the next client 

satellite.

Developer: Northrop Grumman

Country: United States

First Use Date: 2020

Status: Operational 

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): 80

Cooperative vs. Non-Cooperative: Cooperative

7.2.16 RCDM16: Mission Robotic Vehicle (MRV) [RSGS] 

Description: A future on-orbit servicing bus developed using technologies and lessons from the Mission 

Extension Vehicle. The robotic payload will be supplied by DARPA and developed by the U.S. Naval 
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Research Laboratory as part of the Robotic Servicing of Geosynchronous Satellites (RSGS) mission.

Developer: Northrop Grumman

Country: United States

First Use Date: TBD

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Both

7.2.17 RCDM17: Mycroft 

Description: Mycroft is a 4th-generation experimental Space Situational Awareness (SSA) spacecraft that 

builds upon technology, knowledge, and lessons learned from XSS-10, XSS-11, and ANGELS. The mission 

is exploring ways to enhance space object characterization by evaluating the region around EAGLE using 

an SSA camera, and it uses sensors and software to perform advanced guidance, navigation, and control 

functions.

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2018

Status: Operational 

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): 3500

Cooperative vs. Non-Cooperative: Unavailable

7.2.18 RCDM18: NASA Docking System (NDS)[ISS] 

Description: The NASA Docking System is an androgynous docking system installed on the ISS which 

meets the International Docking System Standard. This docking system allows for vehicles such as the 

Orion, Dragon, or Starliner spacecraft to visit the ISS. The Linear Actuator System (LAS), designed and 

built by MOOG, provides mutli-axis independent load control for soft capture docking without a robotic 

arm. The NDS Block 1 is intended for use with ISS and the Block 2 will be used on Gateway. The Block 2 

variant will support fluid transfer through the MOOG fluid transfer coupling.

Developer: National Aeronautics and Space Administration (NASA), MOOG

Country: United States

First Use Date: 2018

Status: Operational 

Contact vs. Non-contact: Contact

Misalignment Tolerance: 0.1 m, 5 degrees in one axis

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative
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7.2.19 RCDM19: Nautilus 

Description: Developed by Starfish Space, the Nautilus capture mechanism attaches to satellites for 

docking and manipulation. It is a reusable concept that can adhere to multiple capture surfaces, even 

those not designed for docking, and can provide dynamic damping between the servicer and client 

spacecraft.

Developer: Starfish Space

Country: USA

First Use Date: TBD

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-Cooperative

7.2.20 RCDM20: Orbital Express 

Description: Launched March 8, 2007 as part of the United States Air Force Space Test Program (STP), 

Orbital Express demonstrated automated rendezvous and capture of two spacecraft (ASTRO and 

NEXTSat), transfer of propellant, and transfer of a modular spacecraft component. Flow sensors 

demonstrated 5-10 percent flow rate error on N2H4 transfer with no significant issues. The mission 

demonstrated 9 mate/demate cycles on orbit and demonstrated robotic Orbital Replacement Unit 

(ORU) transfer and installation.

Developer: Defense Advanced Research Projects Agency (DARPA), National Aeronautics and Space 

Administration (NASA)

Country: United States

First Use Date: 2007

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: 5 degrees +/-

Max RPO Initiation Distance (m): 1000000

Cooperative vs. Non-Cooperative: Cooperative

7.2.21 RCDM21: OSAM-1 

Description: OSAM-1 is a spacecraft under development by NASA and Maxar which will demonstrate 

activities required for unplanned satellite mission extension. OSAM-1 will rendezvous with and refuel 

Landsat 7, which will require activities such as cutting insulation, unscrewing bolts and caps, and 

attaching propellant lines. After completing refuel of Landsat 7, the hosted SPIDER payload will

assemble a communications antenna.

Developer: National Aeronautics and Space Administration (NASA), Maxar Technologies

Country: United States

First Use Date: Scheduled for 2025
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Approved for Public Release.

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-cooperative

7.2.22 RCDM22: Otter 

Description: Otter, from Starfish Space, is a low cost, rapidly deployable ~ 200 kg space tug to perform 

life extension missions in GEO and end-of-life satellite removal missions in LEO. Otter leverages Starfish 

Space’s other developments, CEPHALOPOD guidance and control software which is currently on orbit, 

CETACEAN relative navigation software, and Nautilus capture mechanism.

Developer: Starfish Space

Country: United States

First Use Date: TBD

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Unavailable

7.2.23 RCDM23: Otter Pup 

Description: Otter Pup is a demonstration mission to test RPOD and docking with another spacecraft on 

orbit. The mission uses Starfish Space’s technologies to rendezvous and capture the Launcher Space’s 

Orbiter spacecraft (which also delivered Otter Pup to orbit). An anomaly during deployment from 

Orbiter has put the completion of the demonstration’s objectives in jeopardy.

Developer: Starfish Space

Country: United States

First Use Date: 2023

Status: Operational

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-Cooperative

7.2.24 RCDM24: PMA [ISS] 

Description: A Pressurized Mating Adapter (PMA) converts common berthing mechanisms on the ISS to 

APAS-95 docking ports. These are comprised of a passive common berthing mechanism port and a 

passive APAS port. 

Developer: The Boeing Company

Country: United States
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Approved for Public Release.

First Use Date: 1998

Status: Operational 

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-cooperative

7.2.25 RCDM25: RAVEN [ISS] 

Description: Raven is a technology demonstration module on the International Space Station that tests 

key elements of a new autonomous RPO system. Raven contains sensors, algorithms, and a high-speed 

processor to advance the capability to detect and track objects in space, which was demonstrated on 

ISS.

Developer: NASA Goddard Space Flight Center (GSFC)

Country: United States

First Use Date: 2017

Status: Operational 

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): 100

Cooperative vs. Non-Cooperative: Both

7.2.26 RCDM26: SCOUT-Vision 

Description: SCOUT-Vision is a space situational awareness payload that was launched in 2021 to 

provide data to support identification and tracking of objects in its vicinity.

Developer: SCOUT Space Inc

Country: United States

First Use Date: 2021

Status: Operational

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Both

7.2.27 RCDM27: Servicing Mission 1 (STS-61) [HST] 

Description: STS-61 was the first planned servicing mission of the HST. During this mission, new 

instruments were installed, and the primary mirror was corrected. In addition, the Shuttle boosted the 

orbit of HST during this mission. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1993
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Approved for Public Release.

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.28 RCDM28: Servicing Mission 2 (STS-82) [HST] 

Description: STS-82 was the second planned servicing mission to the HST. During this mission, the 

shuttle crew swapped the Space Telescope Imaging Spectrograph (STIS), the Near Infrared Camera and 

Multi-Object Spectrometer (NICMOS), and the Fine Guidance Sensor 1 (FGS1) for outdated instruments, 

the Goddard High Resolution Spectrograph, the Faint Object Spectrograph, and the FGS, respectively. In 

addition, the Solid State Recorder (SSR) replaced the HST reel-to-reel recorders and one of the four 

Reaction Wheel Assemblies (RWA) was replaced with a refurbished spare. The Shuttle also boosted HST 

during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1997

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.29 RCDM29: Servicing Mission 3A (STS-103) [HST] 

Description: STS-103 was the third servicing mission of the HST. During this mission, astronauts replaced 

4 failed and 2 working reaction wheel assemblies with new models; Installed a new fine guidance 

sensor, voltage/temperature improvement kit, spare solid-state recorder, and S-Band single access 

transmitter; and replaced HST’s computer, new outer blanket layers, and shell/shield replacement 

fabric. New thermal insulation blankets were also installed.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1999

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative
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7.2.30 RCDM30: Servicing Mission 3B (STS-109) [HST] 

Description: STS-109 was the fourth servicing mission of the HST. During this mission, a new instrument, 

the Faint Object Camera, replaced the Fine Guidance Sensor, the last original instrument on the HST. In 

addition, a cooler was installed to revive the Near Infrared Camera and Multi-Object Spectrometer and 

the solar arrays were replaced. The Shuttle also boosted HST during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2002

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.31 RCDM31: Servicing Mission 4 (STS-125) [HST] 

Description: STS-125 was the fifth and final servicing mission to HST. The mission included the 

installation of Wide Field Camera 3 and Cosmic Origins Spectrograph instruments, repair of the Space 

Telescope Imaging Spectrograph and Advanced Camera for Surveys , replacement of rate unit sensors 

and batteries, and installation of a soft capture mechanism and new outer blanket layers for thermal 

protection. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2009

Status: Completed

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Cooperative

7.2.32 RCDM32: Shijian-17 

Description: Shijian-17 conducted a series of space rendezvous and proximity operations in 

geosynchronous orbit.

Developer: China Academy of Space Technology (CAST)

Country: China

First Use Date: 2016

Status: Operational 

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Unavailable
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7.2.33 RCDM33: SOUL 

Description: SOUL is a tethered robotic spacecraft that is designed to provide self-inspection and selfservicing. SOUL is a small (<10kg) robotic, self-propelled, self-navigating, autonomous vehicle that is 

equipped with a tool and that receives power & commands from the host spacecraft. It replaces a 

robotic arm and has the advantage of infinite degrees of freedom.

Developer: Busek Co. Inc

Country: United States

First Use Date: TBD

Status: In Development

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): 30

Cooperative vs. Non-Cooperative: Both

7.2.34 RCDM34: SSVP 

Description: Sistema Stykivki I Vnutrennego Perekhoda (SSVP) is the docking standard used by Soviet 

and Russian spacecraft such as the Soyuz, Progress, and Mir. It is sometimes called the Russian Docking 

System.

Developer: TsKBEM

Country: Russia

First Use Date: 1971

Status: Operational 

Contact vs. Non-contact: Contact

Misalignment Tolerance: Unavailable

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Unavailable

7.2.35 RCDM35: Tanker-001 Tenzing 

Description: Operational fuel depot storing green propellant High-Test Peroxide. Contains the Rapidly 

Attachable Fluid Transfer Interface (RAFTI) service valve for fill/drain. High and low-pressure variants of 

RAFTI compatible with common propellants. Space Coupling Half (other side of Service Valve) supports 

both primary docking and secondary attachment of two spacecraft.

Developer: Orbit Fab

Country: United States

First Use Date: 2021-06-30Status: Operational 

Contact vs. Non-contact: Contact

Misalignment Tolerance: Not given, stated “significant” misalignment tolerance

Max RPO Initiation Distance (m): N/A

Cooperative vs. Non-Cooperative: Cooperative
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7.2.36 RCDM36: XSS-10 

Description: The eXperimental Small Satellite – 10 (XSS-10) technology demonstration micro-satellite 

launched in 2003 and demonstrated line of sight guidance and proximity operations with another space 

object (the Delta 2 second stage it was launched on).

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2003

Status: Completed

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): Unavailable

Cooperative vs. Non-Cooperative: Non-cooperative

7.2.37 RCDM37: XSS-11 

Description: The eXperimental Small Satellite – 11 (XSS-11) technology demonstration micro-satellite 

was a follow-on to the successful XSS-10 demonstration. XSS-11 demonstrated technologies necessary 

to plan and evaluate autonomous rendezvous and proximity operations with an expended rocket body 

and other space objects near its orbit. 

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2005

Status: Completed

Contact vs. Non-contact: Non-Contact

Misalignment Tolerance: N/A

Max RPO Initiation Distance (m): 5000

Cooperative vs. Non-Cooperative: Non-cooperative

7.3 RELOCATION 

7.3.1 R01: Aolong-1 

Description: Aolong-1 is a Chinese developed satellite that demonstrated the removal of a simulated 

space debris object from orbit. The satellite captured the space debris and altered the trajectory to deorbit in Earth’s atmosphere.

Developer: National University of Defense Technology (NUDT), People’s Liberation Army (PLA)

Country: China

First Use Date: 2016

Status: Operational

Intended Transit: debris to atmosphere for removal (assumed)

Max. Client Mass: Unavailable
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Thruster / Propellant Type: Unavailable

7.3.2 R02: ELSA-d 

Description: The End-of-Life Services by Astroscale-demonstration (ELSA-d) mission consists of a servicer 

satellite and a client satellite launched together. The servicer satellite was developed to safely remove 

debris objects from orbit, equipped with proximity rendezvous technologies and a magnetic docking 

mechanism. The client satellite simulates a piece of debris fitted with a ferromagnetic plate to enable 

docking with the servicer satellite.

Developer: Astroscale

Country: Japan

First Use Date: 2021

Status: Completed

Intended Transit: debris removal

Max. Client Mass: 20 kg

Thruster / Propellant Type: green chemical

7.3.3 R03: ION Satellite Carrier 

Description: The ION Satellite Carrier is a satellite dispenser platform that can deliver a range of 

different sized payloads to LEO. The configurable payload bay could carry a combination of launch 

dispensers, CubeSate-sized payloads, microsatellites, and other instruments. The platform is able to 

perform orbital maneuvers between payload deployments. As of June 2023, eleven missions have 

launched.

Developer: D-Orbit

Country: Italy

First Use Date: 2020

Status: Operational

Intended Transit: change of altitude and inclination, true anomaly phasing, RAAN shift

Max. Client Mass: 160 kg

Thruster / Propellant Type: Unavailable

7.3.4 R04: ISS Reboost 

Description: Throughout the lifetime of the ISS, reboost operations have been performed by visiting 

spacecraft, such as Progress, Shuttle, Ariane Transfer Vehicle, and through operations of the Zvezda 

module. These boosting operations were used on an as needed basis in order to maintain orbit.

Developer: National Aeronautics and Space Administration (NASA), Roscosmos

Country: United States, Russia

First Use Date: Unavailable

Status: Operational

Intended Transit: LEO

Max. Client Mass: N/A
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Thruster / Propellant Type: Chemical

7.3.5 R05: Mission Extension Pods (MEP) 

Description: Mission Extension Pods are Northrop Grumman’s next generation of servicing vehicles. 

They will provide smaller and less expensive life extension services that perform orbit control, providing 

up to six years of life extension. They will be installed by a Mission Robotic Vehicle which can carry 

several pods to multiple client spacecraft.

Developer: Northrop Grumman

Country: United States

First Use Date: TBD

Status: In Development

Intended Transit: Attitude control in GEO

Max. Client Mass: Unavailable

Thruster / Propellant Type: Electric

7.3.6 R06: Mission Extension Vehicle (MEV) 

Description: The Mission Extension Vehicle (MEV) is the first commercial satellite life extension vehicle, 

designed to dock to geostationary satellites whose fuel is nearly depleted. Once connected to its client 

satellite, MEV uses its own thrusters and fuel supply to extend the satellite’s lifetime. When the 

customer no longer desires MEV’s service, the spacecraft will undock and move on to the next client 

satellite.

Developer: Northrop Grumman

Country: United States

First Use Date: 2020

Status: Operational

Intended Transit: GEO

Max. Client Mass: Unavailable

Thruster / Propellant Type: Electric

7.3.7 R07: Mission Robotic Vehicle (MRV) [RSGS] 

Description: A future on-orbit servicing bus developed using technologies and lessons from the Mission 

Extension Vehicle. The robotic payload will be supplied by DARPA and developed by the U.S. Naval 

Research Laboratory as part of the Robotic Servicing of Geosynchronous Satellites (RSGS) mission.

Developer: Northrop Grumman

Country: United States

First Use Date: TBD

Status: In Development

Intended Transit: GEO

Max. Client Mass: Unavailable
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Thruster / Propellant Type: Electric

7.3.8 R08: Orbital Maneuvering Vehicle (OMV) 

Description: The Orbital Maneuvering Vehicle (OMV) is an ESPA-based space tug used for orbital 

relocation of secondary payloads. OMV offers a variety of sizes and configurations, and it aims to 

perform orbital adjustments and insertions in LEO and GEO.

Developer: MOOG

Country: United States

First Use Date: TBD

Status: In Development

Intended Transit: Orbit raising and deraising, plane changes, phasing

Max. Client Mass: Assorted

Thruster / Propellant Type: Green, Hydrazine

7.3.9 R09: Orbiter 

Description: Orbiter is a space tug and payload delivery system developed by Launcher Space for use in 

LEO. Orbiter is designed to operate as part of a rideshare or a dedicated launch. The first launch of this 

system occurred in 2023 to deliver satellites to orbit, and an anomaly forced an early deployment of its 

payloads.

Developer: Launcher Space

Country: United States

First Use Date: 2023

Status: Operational

Intended Transit: Orbit raising, deraising, plane changes, phasing, and inclination change in LEO

Max. Client Mass: 400 kg

Thruster / Propellant Type: Ethane and N20 chemical propulsion capable of up to 500 m/s delta-V

7.3.10 R10: Otter 

Description: Otter, from Starfish Space, is a low cost, rapidly deployable ~ 200 kg space tug which will 

perform life extension missions in GEO and end-of-life satellite removal missions in LEO. Otter will 

leverage Starfish Space’s CEPHALOPOD guidance and control software, to demonstrate rendezvous and 

proximity operations using both chemical and electric propulsion on the Tenzing satellite, which is 

currently on orbit. Other key components of the Otter space tug include CETACEAN, a relative 

navigation software, and Nautilus, a capture mechanism capable of docking without standardized, preinstalled interfaces on client satellites.

Developer: Starfish Space

Country: United States

First Use Date: TBD

Status: In Development

Intended Transit: Orbit maintenance in GEO, de-orbit of satellites in LEO 
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Max. Client Mass: Unavailable

Thruster / Propellant Type: Unavailable

7.3.11 R11: Servicing Mission 1 (STS-61) [HST] 

Description: STS-61 was the first planned servicing mission of the HST. During this mission, new 

instruments were installed, and the primary mirror was corrected. In addition, the Shuttle boosted the 

orbit of HST during this mission. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1993

Status: Completed

Intended Transit: Orbit raising

Max. Client Mass: N/A

Thruster / Propellant Type: Chemical

7.3.12 R12: Servicing Mission 2 (STS-82) [HST] 

Description: STS-82 was the second planned servicing mission to the HST. During this mission, the 

shuttle crew swapped the Space Telescope Imaging Spectrograph (STIS), the Near Infrared Camera and 

Multi-Object Spectrometer (NICMOS), and the Fine Guidance Sensor 1 (FGS1) for outdated instruments, 

the Goddard High Resolution Spectrograph, the Faint Object Spectrograph, and the FGS, respectively. In 

addition, the Solid State Recorder (SSR) replaced the HST reel-to-reel recorders and one of the four 

Reaction Wheel Assemblies (RWA) was replaced with a refurbished spare. The Shuttle also boosted HST 

during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1997

Status: Completed

Intended Transit: Orbit raising

Max. Client Mass: N/A

Thruster / Propellant Type: Chemical

7.3.13 R13: Servicing Mission 3B (STS-109) [HST] 

Description: STS-109 was the fourth servicing mission of the HST. During this mission, a new instrument, 

the Faint Object Camera, replaced the Fine Guidance Sensor, the last original instrument on the HST. In 

addition, a cooler was installed to revive the Near Infrared Camera and Multi-Object Spectrometer and 

the solar arrays were replaced. The Shuttle also boosted HST during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2002

Status: Completed
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Intended Transit: Orbit raising

Max. Client Mass: N/A

Thruster / Propellant Type: Chemical

7.3.14 R14: Sherpa 

Description: Spaceflight’s Sherpa family of orbital transfer vehicles are based on an ESPA-class 

deployment system. The base unit, Sherpa-FX, was first flown in 2021 and hosts multiple payloads, 

provides telemetry, and deploys at different timings during the mission. The Sherpa-AC additionally 

provides a flight computer, attitude knowledge, control, and is optimized for hosted payloads. The 

Sherpa-LTC features a high thrust propulsion system that provides the ability to rapidly transfer orbits. 

The Sherpa-LTE provides high delta-V capability with its electric propulsion system and has the capability 

to deliver spacecraft to GEO, Cislunar, or Earth-escape orbits. The final variant, the Sherpa-ES, is 

expected to fly in 2023 and provides high delta-V bipropellant propulsion system for satellite delivery 

throughout cislunar space. 

Developer: Spaceflight

Country: United States

First Use Date: 2021

Status: Operational

Intended Transit: Orbit raising and lowering, in-plane phasing, LTAN change

Max. Client Mass: Unavailable

Thruster / Propellant Type: Bi-propellant, green propulsion, Chemical Propulsion, electric propulsion, 

Xenon propellant

7.3.15 R15: Space Utility Vehicle (SUV) 

Description: The Space Utility Vehicle (SUV) is a ESPA-based electric space tug system designed to 

launch with Firefly Aerospace’s Alpha launch vehicle and potentially others. It is designed to insert 

payloads into LEO, GEO, and possibly cislunar space. While payloads are attached, the SUV can perform 

station keeping and provide services such as power and communication.

Developer: Firefly Aerospace 

Country: United States

First Use Date: TBD

Status: In Development

Intended Transit: Orbit raising and deraising, plane changes, phasing

Max. Client Mass: 800 kg

Thruster / Propellant Type: solar-electric

7.3.16 R16: Vigoride 

Description: Vigoride is a space tug from Momentus, Inc., that is compatible with the ESPA Grande and 

designed for orbital plane changes, inclination adjustments, and payload delivery while also providing

power, communications, and station keeping while attached to the tug. Momentus launched its third 
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Vigoride mission, Vigoride-6, in April 2023 aboard the SpaceX Transporter-7 mission. Vigoride-6 

successfully deployed all of its customer payloads.

Developer: Momentus Inc

Country: United States

First Use Date: 2022

Status: Operational

Intended Transit: Orbit raising and deraising mainly in low earth orbits

Max. Client Mass: 750 kg

Thruster / Propellant Type: water plasma engines

7.4 PLANNED REPAIR, UPGRADE, MAINTENANCE, AND INSTALLATION 

7.4.1 PRUMI01: Axon/Dactylus 

Description: Tethers Unlimited’s AXON connector is a low-profile soft capture end effector that can be 

used to connect two spacecraft together in orbit. The AXON connector is designed to be used with the 

KRAKEN robotic arm to enable small robotic systems to perform complex servicing tasks on large space 

systems. The DACTYLUS servicing tool is a robotic tool that can be used for in-space servicing of 

satellites. The DACTYLUS tool is designed to be used with the KRAKEN robotic arm and the AXON 

connector to enable small robotic systems to perform complex servicing tasks on large space systems.

Developer: Tethers Unlimited Inc

Country: United States

First Use Date: TBD

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Unavailable

Standard Interface Type: Unavailable

7.4.2 PRUMI02: Dog Tag 

Description: Mechanical grapple fixture with fiducials that is compatible with magnetic, electroadhesive, 

geckogrip, or mechanical pinch grasping. Product deployed in space on OneWeb satellites.

Developer: Altius Space Machines Inc

Country: United States

First Use Date: 2021-01-01 00:00:00

Status: Operational

Operation Type: Grapple interface

ORU SwaP: Unavailable

Standard Interface Type: Mechanical
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7.4.3 PRUMI03: FuseBlox 

Description: FuseBlox is an androgynous interface for mechanical, electrical, and data. Received Phase II 

SBIR funding from AFRL.

Developer: SpaceWorks Enterprises Inc

Country: United States

First Use Date: TBD

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Max Lateral load: Unavailable

Power: 1.1kW

Data Rate: MIL-STD-1553/Gigabit Ethernet

Standard Interface Type: Mechanical, Electrical, Data

7.4.4 PRUMI04: GOLD-2 Connector [ISS] 

Description: General purpose latching device suitable for mechanically connecting up to 454 kg payload 

with power and data connections. Options available for custom fluid connection. Passive and active 

sides.

Developer: Oceaneering International Inc

Country: United States

First Use Date: 7/1/2020

Status: Operational

Operation Type: Modular Interface

ORU SwaP: Max Lateral load: Unknown, sized for 125kg nominal ops

Power: Up to 800W

Data Rate: up to 1Mb/s downlink

Heat: Not Available

Standard Interface Type: Mechanical, Power, Data

7.4.5 PRUMI05: HOTDOCK 

Description: An androgynous standard interface supporting mechanical, electrical, data, and (optionally) 

thermal interconnect. Used especially for robotic arm interfacing. The MOSAR-WM walking robotic arm 

developed by Space Application Services and DLR uses this as the standard interface.

Developer: Space Application Services

Country: Belgium

First Use Date: TBD

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Max Lateral load: 600Nm

Power: 4kW

Data Rate: Spacewire/Ethernet

Heat: 20-50W
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Standard Interface Type: Mechanical, Power, Data, Thermal

7.4.6 PRUMI06: iBOSS iSSI 

Description: The iBOSS (intelligent Building Blocks for On-Orbit Satellite Servicing and Assembly) project 

employs a new integrated approach on spacecraft modularity and standardization to allow for the 

possibility of on-orbit servicing and the in-orbit replacement of common infrastructure elements. The 

modularity approach focuses on a 4-in-1 interface for mechanical coupling as well as power, data, and 

thermal interconnection. The standard interface that came out of this project is the intelligent Space 

System Interface (iSSI).

Developer: German Space Agency (GSA)

Country: Germany

First Use Date: 2022

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Max Lateral load: 400Nm

Power: 5kW

Data Rate: 1 Gb/s

Heat: 5W/K

Standard Interface Type: Mechanical, Power, Data, Thermal

7.4.7 PRUMI07: ISS EVR Experiment 

Description: The GITAI ISS EVR Experiment will be testing ISAM operations by two GITAI S2 robotic arm 

installed externally to the ISS NanoRacks Bishop Airlock. The experiment will include autonomous ISAM 

operations by the S2 robotic arms, including ORU manipulation, tool changing, fastener tightening and 

removal, thermal blanket manipulation, connector mating and demating, and dual robotic arm 

cooperation. The experiment is expected to reach a TRL level of 7 through this demonstration.

Developer: GITAI

Country: Japan

First Use Date: 2023

Status: In Development

Operation Type: Robotic Servicing

ORU SwaP: N/A

Standard Interface Type: General Gripper

7.4.8 PRUMI08: ISS IVR Experiment 

Description: During the GITAI IVR ISS Experiment, a S1 robotic arm completed a number of operations 

within the Nanoracks Bishop Airlock pressurized volume of the ISS. This experiment involved the robotic 

arm assembling a four-panel solar array mockup and completing a number of IVA tasks on a taskboard 

with standard IVA operations. The robot completed these operations autonomously and through 

teleoperations from a ground station in Houston.
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Developer: GITAI

Country: Japan

First Use Date: 2021-10-16 00:00:00

Status: Completed

Operation Type: Robotic Servicing

ORU SwaP: N/A

Standard Interface Type: General Gripper

7.4.9 PRUMI09: Mag Tag 

Description: EPM-based latching connector for enabling repair, fluid transfer, modular upgrades, and 

payload swapping.

Developer: Altius Space Machines Inc

Country: United States

First Use Date: TBD

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Unavailable

Standard Interface Type: Mechanical

7.4.10 PRUMI10: Orbital Express 

Description: Launched March 8, 2007 as part of the United States Air Force Space Test Program (STP), 

Orbital Express demonstrated automated rendezvous and capture of two spacecraft (ASTRO and 

NEXTSat), transfer of propellant, and transfer of a modular spacecraft component. Flow sensors 

demonstrated 5-10 percent flow rate error on N2H4 transfer with no significant issues. The mission 

demonstrated 9 mate/demate cycles on orbit and demonstrated robotic Orbital Replacement Unit 

(ORU) transfer and installation.

Developer: Defense Advanced Research Projects Agency (DARPA), National Aeronautics and Space 

Administration (NASA)

Country: United States

First Use Date: 2007

Status: Completed

Operation Type: Servicer

ORU SwaP: Unavailable

Standard Interface Type: Data, Power, Mechanical

7.4.11 PRUMI11: Rendezvous, Proximity Operations, and Docking (RPOD) Kit 

Description: The Rendezvous, Proximity Operations, and Docking (RPOD) Kit is a turnkey solution for 

spacecraft to autonomously dock in space, offering services like asset inspection, refueling, and satellite 

life-extension. It is designed for cooperative docking missions, featuring low mass, power consumption, 
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and compatibility with various docking interfaces and propulsion systems, with fleet performance 

improvement through software updates after each mission. For uncooperative missions or robotic arm 

usage, specific mission needs can be discussed with the company.

Developer: Obruta Space Solutions

Country: Canada

First Use Date: TBD

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Max Lateral load: 600 Nm

Power: 4.8kW

Data Rate: 10Gb/s

Fluid rate: 4.0L/min @ 15 psi 

Standard Interface Type: Mechanical, Fluid, Power, Data

7.4.12 PRUMI12: Roll-Out Solar Array (ROSA) 

Description: The Roll-Out Solar Array (ROSA) is a NASA-developed, flexible, rollable solar panel 

technology for space applications, offering a more compact design compared to traditional rigid panels. 

The ROSA investigation evaluates deployment, retraction, shape changes during solar obstruction, and 

other physical challenges to assess the array’s strength and durability. It was first tested on the 

International Space Station in 2017.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 3 Launches beginning in 2021

Status: Operational

Operation Type: Modular Interface

ORU SwaP: Unavailable

Standard Interface Type: Mechanical, Power, Data

7.4.13 PRUMI13: Servicing Mission 1 (STS-61) [HST] 

Description: STS-61 was the first planned servicing mission of the HST. During this mission, new 

instruments were installed, and the primary mirror was corrected. In addition, the shuttle boosted the 

orbit of HST during this mission. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1993

Status: Completed

Operation Type: Servicer

ORU SwaP: Unavailable

Standard Interface Type: N/A
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7.4.14 PRUMI14: Servicing Mission 2 (STS-82) [HST] 

Description: STS-82 was the second planned servicing mission to the HST. During this mission, the 

shuttle crew swapped the Space Telescope Imaging Spectrograph (STIS), the Near Infrared Camera and 

Multi-Object Spectrometer (NICMOS), and the Fine Guidance Sensor 1 (FGS1) for outdated instruments, 

the Goddard High Resolution Spectrograph, the Faint Object Spectrograph, and the FGS, respectively. In 

addition, the Solid State Recorder (SSR) replaced the HST reel-to-reel recorders and one of the four 

Reaction Wheel Assemblies (RWA) was replaced with a refurbished spare. The shuttle also boosted HST 

during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1997

Status: Completed

Operation Type: Servicer

ORU SwaP: Unavailable

Standard Interface Type: N/A

7.4.15 PRUMI15: Servicing Mission 3A (STS-103) [HST] 

Description: STS-103 was the third servicing mission of the HST. During this mission, astronauts replaced 

4 failed and 2 working reaction wheel assemblies with new models; Installed a new fine guidance 

sensor, voltage/temperature improvement kit, spare solid-state recorder, and S-Band single access 

transmitter; and replaced HST’s computer, new outer blanket layers, and shell/shield replacement 

fabric. New thermal insulation blankets were also installed.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1999

Status: Completed

Operation Type: Servicer

ORU SwaP: Unavailable

Standard Interface Type: N/A

7.4.16 PRUMI16: Servicing Mission 3B (STS-109) [HST] 

Description: STS-109 was the fourth servicing mission of the HST. During this mission, a new instrument, 

the Faint Object Camera, replaced the Fine Guidance Sensor, the last original instrument on the HST. In 

addition, a cooler was installed to revive the Near Infrared Camera and Multi-Object Spectrometer and 

the solar arrays were replaced. The Shuttle also boosted HST during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2002

Status: Completed

Operation Type: Servicer

ORU SwaP: Unavailable
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Standard Interface Type: N/A

7.4.17 PRUMI17: Servicing Mission 4 (STS-125) [HST] 

Description: STS-125 was the fifth and final servicing mission to HST. The mission included the 

installation of Wide Field Camera 3 and Cosmic Origins Spectrograph instruments, repair of the Space 

Telescope Imaging Spectrograph and Advanced Camera for Surveys , replacement of rate unit sensors 

and batteries, and installation of a soft capture mechanism and new outer blanket layers for thermal 

protection.

Country: United States

First Use Date: 2009

Status: Completed

Operation Type: Servicer

ORU SwaP: Unavailable

Standard Interface Type: N/A

7.4.18 PRUMI18: SLEGO Architecture 

Description: The SLEGO block is a high performance, modular spacecraft bus which is capable of 

interfacing with payloads attached to a SLEGO interface or with other SLEGO building blocks. Each 

SLEGO block manages power, provides basic sensing and metrology, processes and manages data, 

provides basic attitude adjustments, and manages thermal control. Fluids for thermal or refueling 

purposes can be transmitted through the modular interface. This interface has been tested through the 

eXCITe (eXperiment for Cellular Integration Technology) mission launched to LEO in 2018, the Satlet 

Initial-Mission Proofs and Lessons (SIMPL) mission on the ISS in 2017, and the PODSat-1 mission 

launched within DARPA’s Hosted POD Assembly in GEO. Athena is a joint program between NASA, 

NOAA, NovaWurks, and the Air Force Space and Missile Systems Center that will measure solar energy 

that Earth reflects and absorbs, gathered via a very small telescope attached to a NovaWurks Payload 

Accommodation Configuration (PAC). Athena is described as “... a test of NovaWurks’ quick-turnaround 

capability.”

Developer: NovaWurks

Country: United States

First Use Date: 2017

Status: Operational

Operation Type: Modular Interface

ORU SwaP: Unavailable

Standard Interface Type: Mechanical, Fluid, Power, Data

7.4.19 PRUMI19: SOUL 

Description: SOUL is a tethered robotic spacecraft that is designed to provide self-inspection and selfservicing. SOUL is a small (<10kg) robotic, self-propelled, self-navigating, autonomous vehicle that is 

equipped with a tool and that receives power & commands from the host spacecraft. It replaces a 
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robotic arm and has the advantage of infinite degrees of freedom.

Developer: Busek Co. Inc

Country: United States

First Use Date: N/A

Status: Concluded

Operation Type: Repair servicer

ORU SwaP: SOUL Unit Stow in 6U container. Mass of <10kg Peak Power <100W.

Standard Interface Type: N/A

7.4.20 PRUMI20: Standard Interface for Robotic Manipulation of Payloads in Future Space Missions 

(SIROM) 

Description: SIROM offers three configurations of a standardized interface (Active-Passive, Active, and 

Passive) with distinct features for mating, alignment, and data/power transmission. It enables direct 

interaction with cooperative structures for servicing and standardizes interfaces for mechanical, data, 

electrical, and fluid connections. Notably, SIROM finds applications in satellite payload upgrades or 

replacements.

Developer: European Space Agency (ESA)

Country: Multiple, non-US

First Use Date: TBD

Status: In Development

Operation Type: Modular Interface

ORU SwaP: Interface Mass: 1.5 kg

Max Lateral load: Unavailable

Power: 3000 W

Data: 200 – 1000 Mbps

Fluid Rate: 0.3L/min @ 1 bar

Thermal: 2-2.5 kW

Standard Interface Type: Mechanical, Fluid(Thermal), Power, Data

7.5 UNPLANNED OR LEGACY REPAIR AND MAINTENANCE 

7.5.1 ULRM01: LEO Knight 

Description: LEO Knight will provide the capability to assemble ESPA-class modules together to form 

persistent space platforms, capture space debris and transport it to recycling hubs, and refuel and repair 

small satellites.

Developer: Tethers Unlimited Inc

Country: United States

First Use Date: TBD

Status: In Development

Repairable Subsystems / Components: Refueling, deorbiting constellations, assembly of systems, 
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delivery and integration of payloads

Repair Tools: Kraken Robotic Arm

Grapple Types: Kraken Robotic Arm, Unavailable

7.5.2 ULRM02: Mission Extension Pods (MEP) 

Description: Mission extension pods are Northrop’s next generation of servicing vehicles. They will be 

smaller and less expensive life extension service that only performs orbit control, providing up to six 

years of life extension. They will be installed by a Mission Robotic Vehicle which can carry several pods.

Developer: Northrop Grumman

Country: United States

First Use Date: Scheduled for 2024

Status: In Development

Repairable Subsystems / Components: Unavailable

Repair Tools: None in current design (planned for future)

Grapple Types: Unavailable

7.5.3 ULRM03: Mission Robotic Vehicle (MRV) [RSGS] 

Description: A future on-orbit servicing bus developed from the Mission Extension Vehicle. The robotic 

payload will be supplied by DARPA and developed by the US Naval Research Institute. 

Developer: Northrop Grumman

Country: United States

First Use Date: TBD

Status: In Development

Repairable Subsystems / Components: Unavailable

Repair Tools: DARPA’s two dexterous robotic manipulator arms, several tools and sensors

Grapple Types: Unavailable

7.5.4 ULRM04: OSAM-1 

Description: OSAM-1 is a spacecraft under development by NASA and Maxar which will demonstrate 

activities required for unplanned satellite mission extension. OSAM-1 will rendezvous with and refuel 

Landsat 7, which will require activities such as cutting insulation, unscrewing bolts and caps, and 

attaching propellant lines. After completing refuel of Landsat 7, the hosted SPIDER payload will

assemble a communications antenna.

Developer: National Aeronautics and Space Administration (NASA), Maxar Technologies

Country: United States

First Use Date: Scheduled for 2025

Status: In Development

Repairable Subsystems / Components: Refueling, others unavailable

Repair Tools: Dexterous Robotic Arms (2), Space Infrastructure Dexterous Robot (SPIDER), Autonomous

Real-time Relative Navigation System, Servicing Avionics, Advanced Tool Drive and Tools, Propellant 
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Transfer System

Grapple Types: 2 robotic arms, SPIDER arm

7.5.5 ULRM05: Robotic Refueling Mission 2 (RRM2) 

Description: In 2015, RRM was embarking on a new set of operations that might not be connected with 

robotic refueling – but have everything to do with extending and enhancing the operational lives of 

existent and future satellites in orbit. Building on its team’s experience base, RRM worked through an 

updated to-do list that includes testing a new inspection tool, practicing intermediary steps leading up 

to coolant replenishment, testing electrical connections for “plug-and-play” space instruments, and 

working with decals that could help operations guided by machine vision go more smoothly. What’s the 

common thread? Servicing capabilities. These new technologies, tools and techniques could eventually 

give satellite owners resources to diagnose problems on orbit, fix anomalies, and keep certain spacecraft 

instruments performing longer in space. Phase 2 of RRM operations began in May 2015 with Dextre, the 

Canadian Space Agency’s two-handed robot, transferring new RRM hardware – two task boards and a 

multi-purpose inspection tool – to the RRM module.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2015

Status: Completed

Repairable Subsystems / Components: Coolant replenishment, testing electrical connections, working 

with machine vision indicators.

Repair Tools: Dextre, VIPIR, Wire Cutter and Blanket Manipulation Tool, Multifunction Tool, Safety Cap 

Tool, and Nozzle Tool

Grapple Types: Dextre

7.5.6 ULRM06: Servicing Mission 2 (STS-82) [HST] 

Description: STS-82 was the second planned servicing mission to the HST. During this mission, the 

shuttle crew swapped the Space Telescope Imaging Spectrograph (STIS), the Near Infrared Camera and 

Multi-Object Spectrometer (NICMOS), and the Fine Guidance Sensor 1 (FGS1) for outdated instruments, 

the Goddard High Resolution Spectrograph, the Faint Object Spectrograph, and the FGS, respectively. In 

addition, the Solid State Recorder (SSR) replaced the HST reel-to-reel recorders and one of the four 

Reaction Wheel Assemblies (RWA) was replaced with a refurbished spare. The shuttle also boosted HST 

during this mission.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1997

Status: Completed

Repairable Subsystems / Components: Instrument swap and hardware upgrade.

Repair Tools: Canadarm, EVA tools

Grapple Types: Canadarm
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7.5.7 ULRM07: Servicing Mission 4 (STS-125) [HST] 

Description: STS-125 was the fifth and final servicing mission to HST. The mission included the 

installation of Wide Field Camera 3 and Cosmic Origins Spectrograph instruments, repair of the Space 

Telescope Imaging Spectrograph and Advanced Camera for Surveys , replacement of rate unit sensors 

and batteries, and installation of a soft capture mechanism and new outer blanket layers for thermal 

protection.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2009

Status: Completed

Repairable Subsystems / Components: Instrument swap, repair, sensor replacement, new hardware 

installation

Repair Tools: Canadarm, EVA tools

Grapple Types: Canadarm

7.5.8 ULRM08: Wire Cutter Tool [RRM] 

Description: The Wire Cutter Tool’s precision and fine-grabbing capabilities allow it to both snip tiny 

wires and safely move aside delicate thermal blankets. A spade bit on the tool’s tip can slice blanket 

tape. Its parallel jaw grippers are able to grab a satellite’s appendages. The Wire Cutter Tool has a 

functionality of four: it grabs, it snips, it manipulates, and it slices. This tool is part of the RRM 1 tool 

suite.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2013

Status: Completed

Repairable Subsystems / Components: N/A

Repair Tools: N/A

Grapple Types: Small sniper, slicer, and manipulator

7.6 REFUELING AND FLUID TRANSFER 

7.6.1 RFT01: Cooperative Service Valve (CSV) 

Description: The CSV is a spacecraft Fill and Drain Valve for cooperative servicing, featuring a robotic 

interface, three individually actuated seals, a self-contained anti-back drive system, and built-in thermal 

isolation. It transfers loads to the mounting structure, prevents accidental actuation, and has four fluid 

configurations with unchanged geometry. Unique keying and color-coding prevent media mixing and 

operator error.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: Unknown
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Status: In Development

Propellant / Fluid Type: Pressurant / Hydrazine / MMH / NTO

Fuel Volume / Mass: Unavailable

Boil – Off Rate: Unavailable

7.6.2 RFT02: Cryogenic Servicing Tool (CST) [RRM] 

Description: A robotic tool with adjustable rollers used to grab a flexible cryogen transfer hose and 

install it into a fuel port. Used on RRM 3.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2018

Status: Completed

Propellant / Fluid Type: Methane

Fuel Volume / Mass: 42 liters

Boil – Off Rate: ~Zero

7.6.3 RFT03: Fluid Acquisition & Resupply Experiment I (FARE-I) 

Description: Flown aboard STS-53 in 1992, the Fluid Acquisition & Resupply Experiment I (FARE-1) 

demonstrated an upgraded fluid management system over the SFMD, again with colored water. The 

screen-type system was tested 8 times and filled up to 70 percent without liquid venting.

Developer: NASA Marshall Space Flight Center (MSFC)

Country: United States

First Use Date: 1992

Status: Completed

Propellant / Fluid Type: Water

Fuel Volume / Mass: Approx. 15 liters

Boil – Off Rate: N/A

7.6.4 RFT04: Fluid Acquisition & Resupply Experiment II (FARE-II) 

Description: Flown aboard STS-57 in 1993, the FARE-II demonstration followed SFMD and FARE-II and 

used a vane fluid management system. It demonstrated fill to 95 percent without liquid venting at a 

maximum flow rate of 0.35 gallons per minute. FARE-II again used colored water. 

Developer: NASA Marshall Space Flight Center (MSFC)

Country: United States

First Use Date: 1993

Status: Completed

Propellant / Fluid Type: Water

Fuel Volume / Mass: 16.8 liters

Boil – Off Rate: N/A
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7.6.5 RFT05: Furphy Prototype Tanker [ISS] 

Description: Orbit Fab’s Furphy experiment transferred water between two tanks on ISS, then 

transferred that water to the ISS water supply. This demonstration advanced OrbitFab’s propellant feed 

system to TRL 8.

Developer: Orbit Fab

Country: United States

First Use Date: 2019

Status: Completed

Propellant / Fluid Type: Water

Fuel Volume / Mass: 15 liters

Boil – Off Rate: N/A

7.6.6 RFT06: Multifunction Tool [RRM] 

Description: The Multifunction Tool, part of the RRM 1 tool suite, effectively does the work of four tools. 

It connects with four unique adapters to capture and remove three distinct caps and remove one gas 

“plug” on the RRM module.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2011

Status: Completed

Propellant / Fluid Type: N/A

Fuel Volume / Mass: N/A

Boil – Off Rate: N/A

7.6.7 RFT07: Multi-Function Tool 2 (MFT2) [RRM] 

Description: A dual rotary drive tool used to connect custom hose adapters to robot-friendly fill ports. 

Used on RRM 3.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2018

Status: Completed

Propellant / Fluid Type: N/A

Fuel Volume / Mass: N/A

Boil – Off Rate: N/A

7.6.8 RFT08: NASA Docking System (NDS)[ISS] 

Description: The NASA Docking System is an androgynous docking system installed on the ISS which 

meets the International Docking System Standard. This docking system allows for vehicles such as the 

Orion, Dragon, or Starliner spacecraft to visit the ISS. The Linear Actuator System (LAS), designed and 

built by MOOG, provides multi-axis independent load control for soft capture docking without a robotic 
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arm. The NDS Block 1 is intended for use with ISS and the Block 2 will be used on Gateway. The Block 2 

variant will support fluid transfer through the MOOG fluid transfer coupling.

Developer: National Aeronautics and Space Administration (NASA), MOOG

Country: United States

First Use Date: 2018

Status: Operational 

Propellant / Fluid Type: Xenon and bi-propellant

Fuel Volume / Mass: Unavailable

Boil – Off Rate: Unavailable

7.6.9 RFT09: NASA STMD 2020 Tipping Point Selections on Cryogenic Fluid Management Technology 

Demonstration 

Description: Under the 2020 Tipping Point selections, NASA’s Space Technology Mission Directorate 

(STMD) selected four industry partners to demonstrate numerous technologies to enable long-term 

cryogenic fluid management and transfer. Eta Space, Lockheed Martin, and United Launch Alliance (ULA) 

will demonstrate cryogenic oxygen (Eta Space) and hydrogen (Lockheed Martin) fluid management 

systems. Eta Space will develop a primary demonstration payload on a Rocket Lab Proton satellite for 

nine months. ULA will demonstrate management of both oxygen and hydrogen on a Vulcan Centaur 

upper stage, including precise tank pressure control, tank-to-tank transfer, and multi-week propellant 

storage. SpaceX will develop a large-scale flight demonstration to transfer 10 metric tons of cryogenic 

propellant, specifically liquid oxygen, between tanks on a Starship vehicle. These partners will 

collaborate with multiple NASA centers, including Marshall Space Flight Center, Glenn Research Center, 

and Kennedy Space Center.

Developer: National Aeronautics and Space Administration (NASA), Eta Space, Lockheed Martin, SpaceX, 

United Launch Alliance (ULA)

Country: United States

First Use Date: TBD

Status: In Development

Propellant / Fluid Type: LOX, LH2

Fuel Volume / Mass: 10 t (SpaceX demo), TBD for others

Boil – Off Rate: Unavailable

7.6.10 RFT10: Nozzle Tool [RRM] 

Description: The Nozzle Tool connects to, opens and ultimately closes a satellite fuel valve. Using an 

attached hose, it transfers a representative satellite fuel in a continuous loop to simulate the refueling 

of a satellite. The Nozzle Tool has an anti-cross-threading feature that ensures it cannot damage the 

satellite fuel valve by screwing the fuel cap on the wrong way. The fuel cap that the tool leaves behind 

has a “quick disconnect” fitting that gives operators easy future access to the valve, should it be needed. 

This tool is part of the RRM 1 tool suite.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States
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First Use Date: 2011

Status: Completed

Propellant / Fluid Type: N/A

Fuel Volume / Mass: N/A

Boil – Off Rate: N/A

7.6.11 RFT11: Orbital Express 

Description: Launched March 8, 2007 as part of the United States Air Force Space Test Program (STP), 

Orbital Express demonstrated automated rendezvous and capture of two spacecraft (ASTRO and 

NEXTSat), transfer of propellant, and transfer of a modular spacecraft component. Flow sensors 

demonstrated 5-10 percent flow rate error on N2H4 transfer with no significant issues. The mission 

demonstrated 9 mate/demate cycles on orbit and demonstrated robotic Orbital Replacement Unit 

(ORU) transfer and installation.

Developer: Defense Advanced Research Projects Agency (DARPA), National Aeronautics and Space 

Administration (NASA)

Country: United States

First Use Date: 2007

Status: Completed

Propellant / Fluid Type: Hydrazine

Fuel Volume / Mass: Unknown

Boil – Off Rate: N/A

7.6.12 RFT12: Orbital Refueling System (ORS) Flight Demonstration 

Description: Flown aboard STS-41G in 1984, the Orbital Refueling System (ORS) demonstrated the 

feasibility of refueling hydrazine. Housed in the Shuttle Payload Bay, an EVA connected two tanks (one 

simulating a tanker and another simulating a satellite to be refueled). The experiment involved 

transferring up to 142 kg of propellant 6 times between the tanks. Nitrogen was used to inflate a 

bladder.

Developer: NASA Johnson Space Center (JSC)

Country: United States

First Use Date: 1984

Status: Completed

Propellant / Fluid Type: Hydrazine

Fuel Volume / Mass: 142 kg

Boil – Off Rate: N/A

7.6.13 RFT13: OSAM-1 

Description: OSAM-1 is a spacecraft under development by NASA and Maxar which will demonstrate 

activities required for unplanned satellite mission extension. OSAM-1 will rendezvous with and refuel 
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Landsat 7, which will require activities such as cutting insulation, unscrewing bolts and caps, and 

attaching propellant lines. After completing refuel of Landsat 7, the hosted SPIDER payload will 

assemble a communications antenna.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: Planned for 2025

Status: In Development

Propellant / Fluid Type: Hydrazine

Fuel Volume / Mass: Unknown

Boil – Off Rate: N/A

7.6.14 RFT14: Progress Vehicle and ATV Refueling of ISS [ISS] 

Description: The Russian Progress vehicle is used to deliver cargo and fluids to the ISS. The Progress can 

transfer fuel (UDMH), oxidizer (NTO), and water. The vehicle can hold up to 1740 kg depending on 

amount of cargo the Progress also carries to the ISS. The fluids can be transferred to ISS using the 

docking ring. This propellant can also be used by the Progress’s thrusters to maneuver ISS. This 

spacecraft and propellant transfer system was first used on Salyut 6 in 1978, was used on the Mir space 

station, and has been used on ISS since 2000. ESA’s Automated Transfer Vehicle (ATV) has also refueled 

ISS since 2011.

Developer: Roscosmos, European Space Agency (ESA)

Country: Russia, Europe

First Use Date: 2000

Status: Completed

Propellant / Fluid Type: NTO, UDMH, Water

Fuel Volume / Mass: up to 1740 kg

Boil – Off Rate: N/A

7.6.15 RFT15: Robotic Refueling Mission 1 (RRM1) 

Description: The Robotic Refueling Mission is a multi-phased International Space Station technology 

demonstration that is testing tools, technologies, and techniques to refuel and repair satellites in orbit –

especially satellites not designed to be serviced. RRM gives NASA and the emerging commercial satellite 

servicing industry the confidence to robotically refuel, repair and maintain satellites in both near and 

distant orbits – well beyond the reach of where humans can go today. RRM is part of NASA’s Exploration 

and In-Space Services (NexIS) projects division, which is ushering in an era of more sustainable, 

affordable, and resilient spaceflight near Earth, the Moon and deep into the solar system. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2011

Status: Completed

Propellant / Fluid Type: Ethanol

Fuel Volume / Mass: 1.7 liters
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Boil – Off Rate: Unavailable

7.6.16 RFT16: Robotic Refueling Mission 3 (RRM3) 

Description: The Robotic Refueling Mission 3 (RRM3) stored liquid methane for 4 months on ISS in 2018. 

Cryogenic mass gauging and zero boiloff was demonstrated. Cryocooler failure prevented the cryogenic 

propellant transfer demonstration that was planned. Gauging uncertainty was 2 percent.

Developer: NASA Goddard Space Flight Center (GSFC)

Country: United States

First Use Date: 2018

Status: Completed

Propellant / Fluid Type: Methane

Fuel Volume / Mass: 42 liters

Boil – Off Rate: ~Zero

7.6.17 RFT17: Safety Cap Tool [RRM] 

Description: The Safety Cap Tool is used on RRM 1. It removes and stows a typical fuel-valve safety cap 

and its seal. Small adapters allow it to also manipulate screws and remove caps on the RRM module. 

Each RRM tool’s lobster-like appearance comes from the two integral cameras with built-in LEDs, which 

image and illuminate the tool’s work during mission operations.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2011

Status: Completed

Propellant / Fluid Type: N/A

Fuel Volume / Mass: N/A

Boil – Off Rate: N/A

7.6.18 RFT18: SLEGO Architecture 

Description: The SLEGO block is a high performance, modular spacecraft bus which is capable of 

interfacing with payloads attached to a SLEGO interface or with other SLEGO building blocks. Each 

SLEGO block manages power, provides basic sensing and metrology, processes and manages data, 

provides basic attitude adjustments, and manages thermal control. Fluids for thermal or refueling 

purposes can be transmitted through the modular interface. This interface has been tested through the 

eXCITe (eXperiment for Cellular Integration Technology) mission launched to LEO in 2018, the Satlet 

Initial-Mission Proofs and Lessons (SIMPL) mission on the ISS in 2017, and the PODSat-1 mission 

launched within DARPA’s Hosted POD Assembly in GEO.

Developer: NovaWurks

Country: United States

First Use Date: 2017

Status: Operational
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Propellant / Fluid Type: Inert gasses, green fuels, butane, refrigerants

Fuel Volume / Mass: N/A

Boil – Off Rate: N/A

7.6.19 RFT19: Storage Fluid Management Demonstration (SFMD) 

Description: Flown aboard STS-51C in 1985, the Storage Fluid Management Demonstration (SFMD) 

tested a fluid acquisition device using colored water and air. In transferring water into the 

demonstration tank, a maximum of 85% fill was achieved at a maximum flow rate of 1 gallon per 

minute, but the system of baffles and screened liquid acquisition device was unsuccessful at orienting 

liquid away from the tank’s vent port. Nine tests were performed.

Developer: Martin Marietta Corporation

Country: United States

First Use Date: 1985

Status: Completed

Propellant / Fluid Type: Water

Fuel Volume / Mass: 16.8 liters

Boil – Off Rate: N/A

7.6.20 RFT20: Superfluid Helium On-Orbit Transfer (SHOOT) Flight Demonstration 

Description: Superfluid helium was transferred between tanks on the Superfluid Helium On-Orbit 

Transfer (SHOOT) flight demonstration on STS-57 in 1993. The experiment used the unique property of 

superfluid helium to move the fluid between two tanks. Some fluid boiled off with each transfer, and 

the unique properties of superfluid helium make the demonstration difficult to translate to other fluids. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1993

Status: Completed

Propellant / Fluid Type: Helium

Fuel Volume / Mass: 152 liters

Boil – Off Rate: > 0

7.6.21 RFT21: Tanker-001 Tenzing 

Description: OrbitFab launched its first propellant depot in June 2021, storing the green propellant HighTest Peroxide in a sun-synchronous orbit. The Tenzig contains the Rapidly Attachable Fluid Transfer 

Interface (RAFTI) service valve for fill/drain on orbit and alignment markers to assist with rendezvous 

and proximity operations. The Space Coupling Half (other side of Service Valve for client spacecraft) 

supports the docking of the two spacecraft.

Developer: Orbit Fab

Country: United States

First Use Date: 2021
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Status: Operational

Propellant / Fluid Type: High-Test Peroxide (HTP)

Fuel Volume / Mass: Unavailable

Boil – Off Rate: N/A

7.6.22 RFT22: Tianyuan 1 refueling demonstration 

Description: Launched in 2016 aboard a Long March-7, the Tianyuan 1 spacecraft demonstrated satellite 

refueling in orbit.

Developer: National University of Defense Technology (NUDT)

Country: China

First Use Date: 2016

Status: Completed

Propellant / Fluid Type: Unavailable

Fuel Volume / Mass: Unavailable

Boil – Off Rate: Unavailable

7.7 STRUCTURAL MANUFACTURING AND ASSEMBLY 

7.7.1 SMA01: Androgynous Fasteners [ARMADAS] 

Description: Androgynous fastener for autonomous robotic assembly of high-performance structures. 

The design prioritizes ease of assembly through simple actuation with large driver positioning tolerance 

requirements. The mechanical connection has high strength and stiffness per mass and is reversible.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: Nominal 20mm per fastener, 300mm per modular interface (4 fasteners). System is 

material supply governed, demonstrated at 5.8m

Material Types: Carbon-fiber-reinforced polymer, adaptable to metals

Joining: Androgynous Joints

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Structure Joint

7.7.2 SMA02: ARMADAS 

Description: The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) 

project will develop and demonstrate autonomous assembly of building block-based “digital materials” 

and structures. The ARMADAS project seeks provide integrated system design to address the full 

lifecycle of a persistent asset or surface structure. Project structural assembly systems and robots are 

specifically designed for energy efficient re-use, upgrade, and recycling, reconfiguration, simplified 
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robotic manipulation, simplified ‘spare part’ problem for inspection and maintenance. Ground 

demonstration of autonomous primary structure assembly in 2022 will be followed by development of 

outfitting technologies.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: System is material supply governed, demonstrated at 5.8m

Material Types: Demonstrated with Carbon-fiber-reinforced polymer, adaptable to metals, ceramics

Joining: Robotically actuated mechanical fasteners

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly

7.7.3 SMA03: Assemblers 

Description: Collective project goal of increasing the TRL for modular robots, autonomous in-space 

assembly, and to develop a robotic prototype for ground testing. To reach the goal of the project both 

new hardware and software is being developed.

Developer: NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: “Scalable”

Material Types: Metal Structure

Joining: N/A (end-effector)

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly

7.7.4 SMA04: CAS [ISS] 

Description: Common Attachment System – First used between ESP3 logistics carrier and the P3 zenith 

CAS suite on the ISS.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2009

Status: Operational

Max Dimensions: Contact

Material Types: Metal Structure

Joining: Module Joint

Assembly Agent: Robot / EVA

Operation Regime: On-Orbit
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Technology Area: Structure Joint

7.7.5 SMA05: EASE/ACCESS 

Description: Space shuttle flight experiments that studied astronaut efficiency, fatigue, and construction 

and maintenance techniques for construction of space structures.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1985

Status: Completed

Max Dimensions: 3.7m tetrahedral truss

Material Types: Metal Structure

Joining: Nodal Joints

Assembly Agent: Human

Operation Regime: On-Orbit, ISS

Technology Area: Human Assembly

7.7.6 SMA06: ESAMM 

Description: Extended Structure Additive Manufacturing Machine (ESAMM) is the subsystem that plans 

to additively manufacture the extended structures for OSAM-2.

Developer: Redwire Corporation

Country: United States

First Use Date: Planned for 2023

Status: In Development

Max Dimensions: 0.84m

Material Types: Metal Structure

Joining: 3D printed

Assembly Agent: Robot

Operation Regime: On Orbit

Technology Area: Robotic Arm/Assembly

7.7.7 SMA07: Hinge for Use in a Tension Stiffened and Tendon Actuated Manipulator 

Description: The hinge connecting adjacent link arms together to allow the adjacent link arms to rotate 

relative to each other and a cable actuation and tensioning system provided between adjacent link 

arms; When in a stowed position, the centerlines of the first and second link arms and the central 

member are parallel to each other. Axis is offset from, but parallel to, the centerline of the central 

member.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: N/A

Status: N/A
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Max Dimensions: Approx. 360 ̊ rotation

Material Types: Metal Structure

Joining: N/A

Assembly Agent: N/A

Operation Regime: On-Orbit, In-Space

Technology Area: Robotic Arm Joint

7.7.8 SMA08: International Space Station Truss/Backbone [ISS] 

Description: Structural Components Assembled to give ISS Frame/Support.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 1998

Status: Operational

Max Dimensions: 110m

Material Types: Metal Structure

Joining: Bolted Joints

Assembly Agent: Robot / EVA

Operation Regime: On-Orbit

Technology Area: Robotic Arm/Assembly, Human Assembly, Deployable

7.7.9 SMA09: ISS EVR Experiment 

Description: The GITAI ISS EVR Experiment will be testing ISAM operations by two GITAI S2 robotic arm 

installed externally to the ISS NanoRacks Bishop Airlock. The experiment will include autonomous ISAM 

operations by the S2 robotic arms, including ORU manipulation, tool changing, fastener tightening and 

removal, thermal blanket manipulation, connector mating and demating, and dual robotic arm 

cooperation. The experiment is expected to reach a TRL level of 7 through this demonstration.

Developer: GITAI

Country: Japan

First Use Date: 2023

Status: In Development

Max Dimensions: N/A

Material Types: N/A

Joining: Robotically Assembled Joints

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly

7.7.10 SMA10: ISS IVR Experiment 

Description: During the GITAI ISS IVR Experiment, a S1 robotic arm completed a number of operations 

within the Nanoracks Bishop Airlock pressurized volume of the ISS. This experiment involved the robotic 
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arm assembling a four-panel solar array mockup and completing a number of IVA tasks on a taskboard 

with standard IVA operations. The robot completed these operations autonomously and through 

teleoperations from a ground station in Houston.

Developer: GITAI

Country: Japan

First Use Date: 2021-10-16 

Status: Completed

Max Dimensions: N/A

Material Types: N/A

Joining: Robotically Assembled Joints

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly

7.7.11 SMA11: Joint Design Using Electron Beam Welding for Autonomous In-Space Truss Assembly 

(EBW Joint) 

Description: A metallic 3D printable joint system design for easy robotic handling, and welding with 

room for adjustment. Although initially, the joint is designed to be used with electronic beam welding, it 

can be configured to be used with other welding process such as LASER or traditional welding.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: N/A

Status: N/A

Max Dimensions: N/A

Material Types: N/A

Joining: E-Beam Welding

Assembly Agent: Robot/Human

Operation Regime: On-Orbit, In-Space

Technology Area: Structure Joint

7.7.12 SMA12: MakerSat 

Description: As a part of the OSAM-1 mission, the Beam Fabricator planned to demonstrate the 

manufacturing of a 3D printed beam in space.

Developer: Tethers Unlimited Inc

Country: United States

First Use Date: Planned for 2025

Status: Concluded

Max Dimensions: 10m Truss Fabricated

Material Types: Carbon Fiber

Joining: “Extrusion with Post Assembly”

Assembly Agent: Robot
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Operation Regime: On-Orbit, In-Space

Technology Area: Robotic Assembly, manufacturing

7.7.13 SMA13: MRTAS [ISS] 

Description: The ISS Modified Rocketdyne Truss Attachment Mechanism (MRTAS) is a crucial docking 

system on the International Space Station, ensuring a secure and flexible connection between truss 

segments and other components, facilitating assembly and maintenance during spacewalks. It employs 

alignment cones and spring-loaded “stingers” for initial connection and fine-tuning with bolts for the 

final attachment.

Developer: The Boeing Company

Country: United States

First Use Date: 2006

Status: Operational

Max Dimensions: Contact

Material Types: N/A

Joining: Custom Actuator Mechanism

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space

Technology Area: Structure Joint

7.7.14 SMA14: NASA Intelligent Jigging and Assembly Robot (NINJAR) 

Description: A Stewart Platform with 6 to 14 degrees of freedom; may be configured to use a smart jig 

for building trusses or similar structural system with alignment error correction capability; can also be 

attachment to a long reach manipulator to enhance precision and dexterity to aide fine precision 

operation.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: 30 x 30 x 30 cube

Material Types: Metal Structure

Joining: N/A

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly

7.7.15 SMA15: OSAM-2 

Description: The technology demonstration, previously called Archinaut One and now OSAM-2, plans to 

manufacture and deploy one 10-meter beam and one 6-meter beam. During printing of the 10-meter 

beam, the system will also deploy a surrogate solar array. The manufacturing will be performed by 
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Redwire’s Extended Structure Additive Manufacturing Machine (ESAMM). 

Developer: Redwire Corporation, NASA Marshall Space Flight Center (MSFC)

Country: United States

First Use Date: Planned for 2024

Status: In Development

Max Dimensions: 10m for ESPA class satellites

Material Types: PEI/PC

Joining: 3D printed

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space

Technology Area: Robotic Assembly, manufacturing

7.7.16 SMA16: Precision Assembled Space Structures (PASS) 

Description: Modular assembly architecture to assemble a tri-truss system for applications such as 

reflectors. This design will be scalable and will use a path to flight approach. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: “Scalable”

Material Types: Metal Structure

Joining: Nodal Joints

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space

Technology Area: Robotic Assembly

7.7.17 SMA17: Robotically Compatible Erectable Joint with Square Cross-Section [OSAM-1] 

Description: Erectable joint design with a square cross-section at the interface to support robotic 

assembly that is functionally derived from the mechanical pre-load physics of LaRC’s existing round 

erectable joint. Used on the SPIDER arm of OSAM-1.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: Planned for 2025

Status: In Development

Max Dimensions: N/A

Material Types: Metal Structure

Joining: N/A

Assembly Agent: N/A

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Arm Joint
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7.7.18 SMA18: RTAS [ISS] 

Description: Rocketdyne Truss Attachment System – First demonstrated when connecting ITS-P6 to Z1 

on STS-97.

Developer: The Boeing Company

Country: United States

First Use Date: 2000

Status: Operational

Max Dimensions: Contact

Material Types: Metal Structure

Joining: Module Joint

Assembly Agent: Robot / EVA

Operation Regime: On-Orbit

Technology Area: Structure Joint

7.7.19 SMA19: Salyut-7 Welding Experiment 

Description: During the Salyut-7 mission, astronauts welded, brazed, coated, and cut metallics using a 

hand-held electron beam gun. This was the first demonstration of astronaut welding during 

extravehicular activity.

Developer: Union of Soviet Socialist Republics (USSR)

Country: USSR

First Use Date: 1984

Status: Completed

Max Dimensions: N/A

Material Types: Metal

Joining: Welding

Assembly Agent: Human

Operation Regime: On-Orbit

Technology Area: Welding

7.7.20 SMA20: SHEAth-based Rollable Lenticular-Shaped and Low-Stiction (SHEARLESS) Composite 

Booms 

Description: Rollable and deployable composite booms that may be used in a wide range of applications 

both for space and terrestrial structural solutions. Composite booms may be bistable, i.e., having a 

stable strain energy minimum in the coiled configuration as well as in the deployed configuration.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: “Scalable”

Material Types: Composite

Joining: N/A
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Assembly Agent: N/A

Operation Regime: On-Orbit, In-Space

Technology Area: Deployable

7.7.21 SMA21: Skylab Materials Processing Facility Experiments 

Description: This facility, developed by Westinghouse, was installed on Skylab and demonstrated 

electron beam welding. Welds were conducted in a chamber with variable access to the space 

environment. Welding was conducted on Stainless Steel, Aluminum, and Tantalum at various travel 

speeds and electron beam parameters. 

Developer: National Aeronautics and Space Administration (NASA), Westinghouse Electric Company

Country: United States

First Use Date: 1973

Status: Completed

Max Dimensions: 40 cm welding chamber

Material Types: Metal

Joining: Welding

Assembly Agent: Human

Operation Regime: On-Orbit

Technology Area: Welding

7.7.22 SMA22: SLEGO Architecture 

Description: The SLEGO block is a high performance, modular spacecraft bus which is capable of 

interfacing with payloads attached to a SLEGO interface or with other SLEGO building blocks. Each 

SLEGO block manages power, provides basic sensing and metrology, processes and manages data, 

provides basic attitude adjustments, and manages thermal control. Fluids for thermal or refueling 

purposes can be transmitted through the modular interface. This interface has been tested through the 

eXCITe (eXperiment for Cellular Integration Technology) mission launched to LEO in 2018, the Satlet 

Initial-Mission Proofs and Lessons (SIMPL) mission on the ISS in 2017, and the PODSat-1 mission 

launched within DARPA’s Hosted POD Assembly in GEO.

Developer: NovaWurks

Country: United States

First Use Date: 2017-10-01 00:00:00

Status: Operational

Max Dimensions: “Scalable”

Material Types: Metal

Joining: Custom Actuator Mechanism

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space

Technology Area: Robotic Assembly
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7.7.23 SMA23: Space Infrastructure Dexterous Robot (SPIDER) [OSAM-1] 

Description: The OSAM-1 spacecraft will include an attached payload called Space Infrastructure 

Dexterous Robot (SPIDER). SPIDER includes a lightweight 16-foot (5-meter) robotic arm, bringing the 

total number of robotic arms flying on OSAM-1 to three. Previously known as Dragonfly during the 

ground demonstration phase of the NASA Tipping Point partnership, SPIDER will assemble seven 

elements to form a functional 9-foot (3-meter) communications antenna.

Developer: Maxar Technologies

Country: United States

First Use Date: Planned for 2025

Status: In Development

Max Dimensions: 5 m

Material Types: Metal Structure

Joining: N/A (end-effector)

Assembly Agent: Robot

Operation Regime: On-Orbit

Technology Area: Robotic Arm

7.7.24 SMA24: SSAS [ISS] 

Description: The Segment-to-Segment Attachment System (SSAS) is an unpressurized device designed to 

securely link inboard truss components (such as truss P1 to S0). This fully automated mechanical system 

effectively aligns, captures, and subsequently fastens two truss elements together.

Developer: The Boeing Company

Country: United States

First Use Date: October, 2002

Status: Operational

Max Dimensions: Contact

Material Types: Metal Structure

Joining: Module Joint

Assembly Agent: Robot / EVA

Operation Regime: On-Orbit

Technology Area: Structure Joint

7.7.25 SMA25: Structural Joint With Multi-Axis Load Carrying Capability 

Description: A composite joint connector that is more structurally efficient than joints currently on the 

market. Traditionally, composite joints can bear heavy loads along their length but tend to fail when 

stress is applied along multiple axes. This joint is designed to minimize stress concentrations, leading to 

overall increased structural efficiency when compared to traditional joints.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: N/A

Status: Concluded
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Max Dimensions: N/A

Material Types: Composite

Joining: Bonded

Assembly Agent: N/A

Operation Regime: N/A

Technology Area: Structure Joint

7.7.26 SMA26: Strut Attachment, Manipulation, and Utility Robotic Aide (SAMURAI) 

Description: A scalable modular strut/component attachment handling system; may be configured into 

various forms to handle a variety of system components, such as structure elements, structure module, 

or other modules that need to be assembled. Its function includes but not limited to component retrieve 

and attachment.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: 46 in.

Material Types: Metal Structure

Joining: N/A

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly

7.7.27 SMA27: TCAM Soft Robotic Actuator 

Description: The TCAM Soft Robotic Actuator is a concept for an in-space end effector which uses 

Twisted and Coiled Artificial Muscles (TCAMs). This concept is intended to be used in the construction of 

bonded segments of a large in-space assembled structure. The end effector design allows for 

conforming to conical struts and meets all manipulability, pressure, and temperature requirements of 

the intended use case.

Developer: NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development

Max Dimensions: N/A

Material Types: Soft Materials

Joining: N/A

Assembly Agent: Robot

Operation Regime: On-Orbit, In-Space, Terrestrial

Technology Area: Robotic Assembly
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7.7.28 SMA28: Vulkan Experiment 

Description: Vulcan was a demonstration of welding on Soyuz 6 flight. During the experiment, 

cosmonauts tested several methods of welding stainless steel, aluminum, and titanium in the weightless 

and high vacuum of space. Plasma arc, electron beam, and gas metal arc welding was tested. This 

experiment produced the first demonstration of on-orbit welds. 

Developer: Union of Soviet Socialist Republics (USSR)

Country: USSR

First Use Date: 1969

Status: Completed

Max Dimensions: N/A

Material Types: Metal

Joining: Welding

Assembly Agent: Human

Operation Regime: On-Orbit

Technology Area: Welding

7.7.29 SMA29: xLink Robotic Arm [OSAM-2] 

Description: Thee Motiv xLink robotic arm plans to be used during NASA’s OSAM-2 mission to position 

3D printed solar array elements, connect deployable solar arrays, and position the onboard 3D printer. 

Developer: Motiv Space Systems

Country: United States

First Use Date: Planned for 2024

Status: In Development

Max Dimensions: “scalable”

Material Types: Metal Structure

Joining: N/A (gripper only)

Assembly Agent: Robot

Operation Regime: On-Orbit

Technology Area: Robotic Arm

7.8 RECYCLING, REUSE, AND REPURPOSING 

7.8.1 RRR01: Metal Advanced Manufacturing Bot-Assisted Assembly (MAMBA) 

Description: The Metal Advanced Manufacturing Bot-Assisted Assembly (MAMBA) ground 

demonstration prototype was developed to process virgin or metal scrap material into ingots that could 

then be machined or milled to a final part. Debris from machining of metal to fabricate a part is 

collected and can be used for further ingot manufacturing.

Developer: Tethers Unlimited Inc, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2017
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Status: Concluded

Recyclable Materials / Items: Metal

Product: Metal ingots

7.8.2 RRR02: Recyclable Packaging Materials 

Description: NASA’s In-Space Manufacturing program is advancing (with commercial partners) multiple 

technologies in recyclable packaging materials and sustainable approaches to enable a recycling 

ecosystem in space, such as:

• Polyethylene based thermally reversible material can be processed into films and foams and recycled 

into filament for 3D printing (Cornerstone Research Group)

• Customizable, Recyclable ISS Packaging (CRISSP) – Polymer 3D printed foams with custom infills 

engineered for specific vibration attenuation properties (Tethers Unlimited, Inc.)

• ERASMUS is a multimaterial recycling capability with an integrated dry heat sterilization chamber for 

polymer parts (Tethers Unlimited, Inc.)

• Automated in-process quality control of recycled filament production and polymer 3D printing 

(Cornerstone Research Group)

Developer: Cornerstone Research Group (CRG), Tethers Unlimited Inc, National Aeronautics and Space 

Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Recyclable Materials / Items: Multimaterial Polymers

Product: Multiple products, incl. filament feedstock and packaging materials

7.8.3 RRR03: ReFabricator [ISS] 

Description: Installed on International Space Station in early 2019, the ReFabricator has the capability to 

recycle printed polymer parts into filament feedstock for further manufacturing. ReFabricator is an 

integrated 3D printer and recycler for ULTEM 9085, a thermoplastic. Upon initial startup, an anomaly in 

the recycling system occurred.

Developer: Tethers Unlimited Inc, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2019

Status: Operational

Recyclable Materials / Items: Thermoplastic polymers

Product: Filament feedstock for 3D printing

7.8.4 RRR04: Tailored Universal Feedstock for Forming (TuFF) Reformability Demo 

Description: TuFF was a small contract demonstration which expanded upon previous short fiber 

development work at the University of Delaware. The previous work, which was funded through a 

DARPA grant, was to develop repurposable fibers for composites with lower cost and aerospace grade 
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performance. The follow-on demonstration, TuFF, determined the requirements to reform a composite 

part constructed form the fibers. The demonstration produced approaches to produce 45° & 90° bends 

in the original structure.

Developer: University of Delaware, Composites Automation LLC

Country: United States

First Use Date: TBD

Status: Completed

Recyclable Materials / Items: Thermoplastic composites with short carbon fibers

Product: Coupons

7.8.5 RRR05: Thermally Reversible Polymers for AM Feedstock 

Description: First funded as a Phase 1 SBIR in 2016, the Thermally Reversible Polymers for AM Feedstock 

project was funded through Phase 1 and Phase 2 NASA SBIRs. The project was able to demonstrate that 

a component can be made with a resin and then reprocessed with properties needed for structural 

composites. Multiple parts were created with a reformable resin and then reshaped into other parts 

representing potential structural parts for planetary use.

Developer: Cornerstone Research Group (CRG)

Country: United States

First Use Date: TBD

Status: In Development

Recyclable Materials / Items: Thermally reversible polymers

Product: Panels, tubes, and other geometries made with recycled composite

7.9 PARTS AND GOODS MANUFACTURING 

7.9.1 PGM01: 3D Printed Space Reflector Antenna 

Description: This patented concept by Orbital Composites enables on-demand construction of antennas 

through 3D printing. The 3D printed antennas are scalable in size and frequency range, from 4 GHz to 

110 GHz. 3D printing of antennas coupled with on-orbit 3D printing allows for rapid frequency or size 

alterations without requiring an antenna redesign and launch.

Developer: Orbital Composites

Country: United States

First Use Date: TBD

Status: In Development

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: N/A

Material Types: Polymers/Composites

Operational Regime: On-Orbit
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Operator: Human / Remote Human

7.9.2 PGM02: 3D Printing in Zero G TDM [ISM] 

Description: During this TDM, 55 parts of Acryonitrile Butadiene Styrene (ABS) were printed from 2014-

2016. The printer operates in a Microgravity Science Glovebox (MSG).

Developer: Made In Space, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2014

Status: Completed 

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: 6 cm x 12 cm x 6 cm

Material Types: ABS

Operational Regime: On-Orbit (ISS)

Operator: Human / Remote Human

7.9.3 PGM03: Additive Manufacturing Facility (AMF) [ISM] 

Description: The AMF is a multimaterial commercial facility for polymer printing in microgravity 

developed by Made in Space, Inc. The AMF was installed in the ISS EXPRESS Rack in April, 2016 and 

offers printing for NASA or commercial products.

Developer: Made In Space, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2016

Status: Operational

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: 14 cm x 10 cm x 10 cm

Material Types: ABS, HDPE, PEI-PC initially, more upon ISS approval

Operational Regime: On-Orbit (ISS)

Operator: Human

7.9.4 PGM04: Custom Laser Doppler Sensor 

Description: The Apsidal custom laser doppler sensor for real-time, in-situ analysis and feedback control 

during the manufacturing process. This sensor will use AI to adapt and optimize production in 

microgravity.

Developer: Apsidal

Country: United States

First Use Date: Planned for 2023

Status: In Development

End Product: Finished Part
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Inputs: Earth Delivered Material

Max. Dimensions: Unavailable

Material Types: Glass and Glass Alloys

Operational Regime: On-Orbit (ISS)

Operator: Human / Remote Autonomous 

7.9.5 PGM05: External Material Processing Platform 

Description: The External Material Processing Platform is an external platform on the ISS with the 

capability to autonomously produce thin, metal-coated optical fibers. These fibers are expected to be 

useful for the medical, defense, and commercial spacecraft industries. The platform uses the vacuum 

and microgravity environment of space to reduce errors and defects during manufacturing.

Developer: DSTAR Communications Inc, FOMS Inc, Visioneering Space Corporation, Lunar Resources, 

National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2019

Status: Operational

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: Unavailable

Material Types: Glass and Glass Alloys

Operational Regime: On-Orbit (ISS)

Operator: Human / Remote Human

7.9.6 PGM06: Made in Space: SpaceFiber 

Description: In collaboration with Thorlabs Inc., Made in Space conducted the Optical Fiber Production 

in Microgravity investigation on the ISS from September 2017-2018 to set the stage for large-scale 

manufacture of high-quality fiber optics in orbit.

Developer: Made In Space, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2018

Status: Operational

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: Unavailable

Material Types: Glass and Glass Alloys

Operational Regime: On-Orbit (ISS)

Operator: Human / Remote Human
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7.9.7 PGM07: Multimaterial Fabrication Laboratory [ISM] 

Description: Multimaterial Fabrication Laboratory, also known as FabLab, was a Broad Agency 

Announcement (BAA) opportunity to develop a multimaterial printer (with a focus on metals and inprocess inspection capabilities) for the ISS. 18-month phase A efforts focused on development of 

ground-based prototype systems and technology demonstration. There were 3 funded companies 

(Interlog, Tethers Unlimited, and Techshot). Techshot, now Redwire, was the only company to continue 

to the next phase. FabLab the is a bound metal additive manufacturing system that includes a furnace 

for part sintering and a laser line profilometer for in-process monitoring of the print. In 2023, Redwire 

was awarded a NASA contract to complete the design of the facility.

Developer: Redwire Corporation, Interlog Corporation, Tethers Unlimited Inc, National Aeronautics and 

Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: 6 in. x 6 in. x 6 in. for polymers, 4.5 in. x 4.5 in. x 7 in. for metallics

Material Types: Metallics and Polymers

Operational Regime: On-Orbit (ISS)

Operator: Human, Remote Human, autonomous

7.9.8 PGM08: On-Demand Manufacturing of Electronics (ODME) [ISM] 

Description: ODME is developing printed electronics, sensors, and power devices for demonstration on 

ISS. In parallel, deposition processes used with printed electronics (direct write and plasma jet) are being 

matured for future flight demos. Astrosense leverages printed electronics, creating a wireless wearable 

sensor device for astronaut crew health monitoring. The integrated sensor capability is slated for ISS 

demonstration by 2024.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: Planned for 2024

Status: In Development

End Product: Finished Assembly

Inputs: N/A

Max. Dimensions: N/A

Material Types: Polymers and Electronics

Operational Regime: On-Orbit (ISS)

Operator: Human

7.9.9 PGM09: ORB – Robotic AM Platform 

Description: This scalable 3D printing concept from Orbital Composites allows for the addition of new 

printer platforms or robotic arms to generate larger 3D printed structures. The 3D printing platform is 
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able to print in polymers or composites and is able to print on complex curvatures.

Developer: Orbital Composites

Country: United States

First Use Date: TBD

Status: In Development

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: 2 m x 2 m x 2 m

Material Types: Polymers/Composites

Operational Regime: On-Orbit

Operator: Human / Remote Human

7.9.10 PGM10: Orbital Fiber Optic Production Module (ORFOM) 

Description: The Orbital Fiber Optic Production Module is an ISS payload designed to produce highquality fiber optics through an automated manufacturing process. The payload, which arrived at the ISS 

in July of 2022, leverages the microgravity environment to avoid unwanted defects common in the 

terrestrial manufacturing process of fiber optics.

Developer: Mercury Systems, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2022

Status: Operational

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: Unavailable

Material Types: Glass and Glass Alloys

Operational Regime: On-Orbit (ISS)

Operator: Human

7.9.11 PGM11: Redwire Regolith Print (RegISS) [ISM] 

Description: RegISS is an on-orbit demonstration of 3D printing with a polymer/regolith simulant 

feedstock blend. It was the first demonstration of manufacturing with ISRU-derived feedstocks on ISS. 

This proof of concept showed the viability of printing with regolith composite material in a reduced 

gravity environment and is applicable to manufacturing on the lunar surface and Mars. In this effort, a 

previously flown version of the Additive Manufacturing Facility was modified to accommodate a new 

extruder and print with a feedstock consisting of regolith simulant and a thermoplastic. The payload 

launched to the ISS in 2021. Sample coupons were returned to Earth and are currently undergoing 

analysis.

Developer: Redwire Corporation, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2021

Status: Operational
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End Product: Finished Part

Inputs: ISRU

Max. Dimensions: N/A (likely the size of the AMF)

Material Types: regolith simulant feedstock blend

Operational Regime: On-Orbit (ISS)

Operator: Human

7.9.12 PGM12: Sintered Inductive Metal Printer with Laser Exposure (SIMPLE) [ISM] 

Description: SIMPLE was a wire-fed additive manufacturing process for metals proposed for use in 

space. The process used inductive heating and operated in a vacuum. A low power laser provided 

additional heating for the sintering process. 

Developer: Redwire Corporation, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: N/A

Status: Concluded

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: Unavailable

Material Types: Metallic

Operational Regime: Microgravity (any NASA Vehicle)

Operator: Human

7.9.13 PGM13: Vulcan [ISM] 

Description: Vulcan is an in-space manufacturing facility which has the ability to produce parts form 

metallics, polymers, or a hybrid of materials. The facility will use additive and subtractive manufacturing 

processes. The additive elements are derived from wire-fed welding processes. This project started as an 

SBIR (phase I, II, and II-E), but has since transitioned to a contract with ISS Research Office.

Developer: Redwire Corporation, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: N/A

Status: In Development

End Product: Finished Part

Inputs: Earth Delivered Material

Max. Dimensions: Unavailable

Material Types: Metallics and Polymers

Operational Regime: On-Orbit (ISS)

Operator: Human
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7.10 SURFACE CONSTRUCTION 

7.10.1 SC01: 3D Printed Habitat Challenge 

Description: In an effort to crowdsource ideas, NASA developed the 3D Printed Habitat Challenge. This 

Challenge took place in three phases. The Phase I competition awarded prize money for an optimal 

design of a 3D printed habitat. The Phase 2 competition focused on the composition and strength of 3D 

printed material of a Martian regolith and recycled trash composition. Phase 3 included three levels for 

3D printing of subscale habitats with perforations and structural requirements as well as two levels for 

virtual Building Information Modeling competitions for a fully outfitted virtual habitat.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: N/A

Status: Completed

Materials (Imported v. ISRU): ISRU

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Planned

7.10.2 SC02: Additive Construction with Mobile Emplacement (ACME) 

Description: In 2014, a joint venture between NASA’s Space Technology Mission Directorate Game 

Changing Development Program and the United States Army Corps of Engineers (USACE) resulted in the 

Additive Construction with Mobile Emplacement (ACME) project. ACME combined the expertise, 

technology, and goals of NASA’s MSFC and John F. Kennedy Space Center (KSC), the USACE, Contour 

Crafting Corporation, and the Pacific International Space Center for Exploration Systems. By 2018, the 

project successfully completed additive construction (both 2D landing pad and 3D wall construction) 

demonstrations with materials made from simulated planetary regolith. Additional work related to 

ACME includes two Center Innovation Fund efforts awarded by the MSFC Chief Technologist, as well as 

the Additive Construction of Expeditionary Structures (ACES) project under the USACE.

Developer: National Aeronautics and Space Administration (NASA),United States Army Corps of

Engineers

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU

Construction Agent: Human

Auto / Fly-by-Wire / Planned: Planned

7.10.3 SC03: ARMADAS 

Description: The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) 

project will develop and demonstrate autonomous assembly of building block-based “digital materials” 

and structures. The ARMADAS project seeks provide integrated system design to address the full 

lifecycle of a persistent asset or surface structure. Project structural assembly systems and robots are 
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specifically designed for energy efficient re-use, upgrade, and recycling, reconfiguration, simplified 

robotic manipulation, simplified ‘spare part’ problem for inspection and maintenance. Ground 

demonstration of autonomous primary structure assembly in 2022 will be followed by development of 

outfitting technologies. 

Developer: NASA Ames Research Center (ARC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): Imported and ISRU

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Auto

7.10.4 SC04: CHAPEA 

Description: The Crew Health and Performance Analog (CHAPEA) project has two main purposes: to run 

an analog to understand crew health and performance outcomes associated with their operational 

trades, as well as to demonstrate design and construction of a regolith 3D printed habitat for Mars. The

CHAPEA team partnered with ICON to 3D print a realistic Mars habitat using lavacrete, with the 

intention to maximize in-situ resource utilization.

Developer: NASA Johnson Space Center (JSC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU and possibly imported binder

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Planned

7.10.5 SC05: GaLORE Project 

Description: The Gaseous Lunar Oxygen from Regolith Electrolysis (GaLORE) project team won an 

internal award to develop the melting technology. Regolith on the Moon is made from oxidized metals 

like iron oxide, silicon oxide and aluminum oxide. GaLORE advanced technology to heat the regolith to 

more than 3,000 degrees Fahrenheit and flow electricity through the molten material, causing a 

chemical reaction that splits the regolith into gaseous oxygen and metals.

Developer: NASA Kennedy Space Center (KSC)

Country: United States

First Use Date: N/A

Status: Completed

Materials (Imported v. ISRU): ISRU

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Auto
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7.10.6 SC06: In-Situ Construction GCD Project 

Description: FY21 Selected program by Game Changing Development Program that delayed its funding 

until FY22. Project is being rescoped and reformulated based on the lessons learned during the 

MMPACT, Lunar Safe Haven Study, and other work in FY21. The focus of this project is landing pads.

Developer: NASA Kennedy Space Center (KSC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU and options for imported binders

Construction Agent: Unknown

Auto / Fly-by-Wire / Planned: Unknown

7.10.7 SC07: In-Situ Fabrication and Repair Project (ISFR) 

Description: In the 2004-2007 timeframe, habitats and structures were part of the In-Situ Fabrication 

and Repair (ISFR) project at NASA’s Marshall Space Flight Center (MSFC). The ISFR program developed 

technologies for fabrication, repair and recycling of tools, parts, and habitats and other structures using 

in-situ resources. The in-situ resources evaluated during this time included lunar raw materials, recycled 

spacecraft, human waste, trash, etc. Approximately 27 different research projects were funded by this 

effort, including identification and usage of raw materials (e.g., regolith, rocks, and lava tubes), 

autonomous construction technologies such as an inflatable dome and contour crafting. Processing 

technologies funded by the ISFR effort included glass melting for structural members and rebar, as well 

as foldable and deployable structures.

Developer: NASA Marshall Space Flight Center (MSFC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU

Construction Agent: Human

Auto / Fly-by-Wire / Planned: Fly by Wire

7.10.8 SC08: LANCE 

Description: The Lunar Attachment Node for Construction and Excavation (LANCE) is a lightweight 

bulldozer blade designed to attach to the Chariot chassis. LANCE was developed at KSC and tested in 

lunar regolith simulant in 2008.

Developer: NASA Kennedy Space Center (KSC)

Country: United States

First Use Date: 2008

Status: Completed

Materials (Imported v. ISRU): Imported

Construction Agent: Robot
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Auto / Fly-by-Wire / Planned: Planned

7.10.9 SC09: Lightweight Surface Manipulator System (LSMS) 

Description: Lightweight Surface Manipulation System (LSMS) is a crane with multiple end effectors 

being developed at NASA Langley. LSMS is designed to be scalable to a wide range of reach and tip mass 

requirements, with 12 years of design heritage and testing on 1000 kg (lunar) tip mass capable 

prototype unit. The LSMS allows for fine positioning of a payload in both the translational and rotational 

directions. Attachments include buckets, pallet forks, grappling devices, sensors, and robotic arms.

Developer: NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): Imported

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Planned

7.10.10 SC10: MMPACT 

Description: The Moon to Mars Planetary Autonomous Construction Technologies (MMPACT) project 

will focus on the utilization of lunar in-situ materials for the manufacturing construction of large-scale 

infrastructure elements like habitats, berms, landing pads, blast shields, walkways, floors, storage 

facilities, and roads using one or both of two techniques.

Developer: NASA Marshall Space Flight Center (MSFC), ICON

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU

Construction Agent: Human

Auto / Fly-by-Wire / Planned: Planned

7.10.11 SC11: R1 

Description: The GITAI R1 is a four wheeled, robotic integrated rover which is intended to operate on 

the Lunar surface. The rover is capable of general-purpose tasks such as exploration, mining, inspection, 

maintenance, and assembly. The rover is integrated with two robotic arms with generic gripper end 

effectors to allow for general purpose use. This rover has been tested in a simulated lunar environment 

at JAXA’s Sagamihara Campus. In March 2023, a demonstration of cooperative lunar base construction 

using two GITAI inchworm-type robotic arms and two GITAI Lunar Robotic Rovers was successfully 

completed in a simulated lunar environment. By cooperation with inchworm-type robotic arm, selfrepairing (e.g. changing the rover tire) is available as well.

Developer: GITAI

Country: Japan
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First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): N/A

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Auto

7.10.12 SC12: RASSOR 

Description: The Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a 

teleoperated mobile robotic platform with a unique space regolith excavation capability. Its design 

incorporates net-zero reaction force, thus allowing it to load, haul, and dump space regolith under

extremely low gravity conditions with high reliability. Two designs, one for ISRU and one for regolith 

excavation.

Developer: NASA Kennedy Space Center (KSC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU and Construction

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Planned

7.10.13 SC13: REACT 

Description: Relevant Environment Additive Construction Technology (REACT) is funded by a NASA ACO 

(Announcement of Collaborative Opportunity) contract between AI SpaceFactory and KSC in 2021. 

Additionally, AI SpaceFactory contracted LERA, a structural engineering consulting firm. The REACT team 

is designing a safe haven type structure and developing the associated construction technologies and 

materials necessary for a large, regolith polymer composite based 3D printed structure on the lunar 

surface. By the end of the project, the REACT team intends to demonstrate the material and structural 

design. 

Developer: AI SpaceFactory, LERA, NASA Kennedy Space Center (KSC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU and possibly imported binder

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Planned

7.10.14 SC14: Redwire Regolith Print (RegISS) [ISM] 

Description: RegISS is an on-orbit demonstration of 3D printing with a polymer/regolith simulant 

feedstock blend. It was the first demonstration of manufacturing with ISRU-derived feedstocks on ISS. 

This proof of concept showed the viability of printing with regolith composite material in a reduced 
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gravity environment and is applicable to manufacturing on the lunar surface and Mars. In this effort, a 

previously flown version of the Additive Manufacturing Facility was modified to accommodate a new 

extruder and print with a feedstock consisting of regolith simulant and a thermoplastic. The payload 

launched to the ISS in 2021. Sample coupons were returned to Earth and are currently undergoing 

analysis.

Developer: Made In Space, National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): ISRU

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Planned

7.10.15 SC15: Tall Lunar Tower (TLT) 

Description: Tall Lunar Tower (TLT) is a Project Polaris activity from NASA’s ESDMD to demonstrate 

assembly of a large tower. These towers could be assembled on planetary surfaces to support solar 

arrays, communications antenna, and navigation beacons. An assembly demonstration of an 

engineering development unit is planned for August 2023 at NASA Langley Research Center.

Developer: NASA Langley Research Center (LaRC)

Country: United States

First Use Date: TBD

Status: In Development

Materials (Imported v. ISRU): Imported

Construction Agent: Robot

Auto / Fly-by-Wire / Planned: Unavailable

7.11 INSPECTION AND METROLOGY 

7.11.1 IM01: AeroCube-10 (AC-10) 

Description: AeroCube-10 is a pair of 1.5U CubeSats, one with 28 deployable atmospheric probes and 

laser beacon, another with camera and propulsion system. AC-10B entered “orbit” around AC-10A and 

used on-board camera to take resolved images of AC-10A. AC-10B took photos from 22 meters away.

Developer: The Aerospace Corporation

Country: United States

First Use Date: 2019

Status: Completed

Contact: N, free-flying

Inspection Type: Visual

Resolution: <10 meters

Inspection Aides / Fiducials / Cues: GPS, ADCS, Ground Station comms
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Data Analysis: Off-board

7.11.2 IM02: Alpha Magnetic Spectrometer (AMS-02) [ISS] 

Description: The AMS-02 is a particle physics detector designed to operate as an external module on the 

ISS. It uses the unique environment of space to study the universe and its origin by searching for 

antimatter, dark matter while performing precision measurements of cosmic ray composition and flux.

Developer: United States Department of Energy (DOE),National Aeronautics and Space Administration 

(NASA)

Country: United States

First Use Date: 2011

Status: Operational

Contact: Y, truss mounted

Inspection Type: High-Energy Particles (eV)

Resolution: 1%, up to TeV region

Inspection Aides / Fiducials / Cues: Transition Radiation Detector, permanent magnets, Time of Flight 

counters, Ring Image Cherenkov Counter, Electromagnetic Calorimeter

Data Analysis: Off-board

7.11.3 IM03: Automated Navigation and Guidance Experiment for Local Space (ANGELS) 

Description: Automated Navigation and Guidance Experiment for Local Space (ANGELS) evaluates space 

situational awareness techniques in region around its Delta-4 launch vehicle upper stage, beginning 

experiments approximately 50 km away from the upper stage and progressing to within several 

kilometers. ANGELS uses ground commanded authorization to proceed at setpoints throughout the 

experiment.

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2014

Status: Completed

Contact: N, free-flying

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: SSA Sensor payload, GPS, accelerometers

Data Analysis: Autonomous

7.11.4 IM04: Bio-memetic Snake Arm Robot [ISS] 

Description: The Bio-memetic snake arm robot was considered to help repair parts of the ISS that are 

behind racks or assemblies not easily accessible to astronauts. It would come equipped with a camera 

and grabbing tool at the end and its “body” would be able to sense objects around it so as to maneuver 

around them. 

Developer: National Aeronautics and Space Administration (NASA)
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Country: United States

First Use Date: TBD

Status: In Development

Contact: Y, robot-arm

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: Stereo vision, articulating head, ability to swap head sensors

Data Analysis: Off-board

7.11.5 IM05: Laura 

Description: Laura is a satellite for inspection and monitoring through cameras and sensors. The satellite 

also has multispectral capabilities to allow for inspection without making physical contact.

Developer: Rogue Space Systems Corporation

Country: United States

First Use Date: Planned for Q4 2023

Status: In Development

Contact: N, free-flying

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: Multispectral sensor capabilities

Data Analysis: Off-board

7.11.6 IM06: Mission Extension Vehicle (MEV) 

Description: The Mission Extension Vehicle (MEV) is the first commercial satellite life extension vehicle, 

designed to dock to geostationary satellites whose fuel is nearly depleted. Once connected to its client 

satellite, MEV uses its own thrusters and fuel supply to extend the satellite’s lifetime. When the 

customer no longer desires MEV’s service, the spacecraft will undock and move on to the next client

satellite.

Developer: Northrop Grumman

Country: United States

First Use Date: 2020-02-25

Status: Operational

Contact: Y

Inspection Type: Unavailable

Resolution: Unavailable

Inspection Aides / Fiducials / Cues: Unavailable

Data Analysis: Unavailable
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7.11.7 IM07: Mission Robotic Vehicle (MRV) [RSGS] 

Description: Mission Robotic Vehicle is a future on-orbit servicing bus developed from the Mission 

Extension Vehicle. The robotic payload will be supplied by DARPA and developed by the US Naval 

Research Institute.

Developer: Northrop Grumman

Country: United States

First Use Date: TBD

Status: In Development

Contact: Unavailable

Inspection Type: Unavailable

Resolution: Unavailable

Inspection Aides / Fiducials / Cues: Unavailable

Data Analysis: Unavailable

7.11.8 IM08: Mycroft 

Description: Mycroft is a 4th-generation experimental Space Situational Awareness (SSA) spacecraft that 

builds upon technology, knowledge, and lessons learned from XSS-10, XSS-11, and ANGELS. The mission 

is exploring ways to enhance space object characterization by evaluating the region around EAGLE using 

an SSA camera, and it uses sensors and software to perform advanced guidance, navigation, and control

functions.

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2018

Status: Operational

Contact: N, free-flying

Inspection Type: Visual

Resolution: N/A

Inspection Aides / Fiducials / Cues: SSA Camera, ADCS sensors/software

Data Analysis: Autonomous

7.11.9 IM09: NASA Langley’s Extravehicular Activity (EVA) Infrared Camera 

Description: NASA Langley’s EVA IR camera was a tool developed to detect subsurface damage to the 

reinforced carbon-carbon structures of the space shuttle. The camera was first demonstrated during the 

third EVA of STS-121. 

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2006

Status: Completed

Contact: Y, robot-arm

Inspection Type: Visual

Resolution: Unavailable
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Inspection Aides / Fiducials / Cues: Unavailable

Data Analysis: Off-board

7.11.10 IM10: Orbital Express 

Description: Launched March 8, 2007 as part of the United States Air Force Space Test Program (STP), 

Orbital Express demonstrated automated rendezvous and capture of two spacecraft (ASTRO and 

NEXTSat), transfer of propellant, and transfer of a modular spacecraft component. Flow sensors 

demonstrated 5-10 percent flow rate error on N2H4 transfer with no significant issues. The mission 

demonstrated 9 mate/demate cycles on orbit and demonstrated robotic Orbital Replacement Unit 

(ORU) transfer and installation.

Developer: Defense Advanced Research Projects Agency (DARPA), National Aeronautics and Space 

Administration (NASA)

Country: United States

First Use Date: 2007

Status: Completed

Contact: Y, robot-arm

Inspection Type: Visual

Resolution: Unavailable

Inspection Aides / Fiducials / Cues: GPS, ADCS, Ground Station comms

Data Analysis: Unavailable

7.11.11 IM11: OSAM-1 

Description: OSAM-1 is a spacecraft under development by NASA and Maxar which will demonstrate 

activities required for unplanned satellite mission extension. OSAM-1 will rendezvous with and refuel 

Landsat 7, which will require activities such as cutting insulation, unscrewing bolts and caps, and 

attaching propellant lines. After completing refuel of Landsat 7, the hosted SPIDER payload will 

assemble a communications antenna.

Developer: National Aeronautics and Space Administration (NASA), Maxar Technologies

Country: United States

First Use Date: Planned for 2025

Status: In Development

Contact: Y

Inspection Type: Visual

Resolution: Unavailable

Inspection Aides / Fiducials / Cues: Unavailable

Data Analysis: Unavailable

7.11.12 IM12: Programmable Josephson Voltage Standard (PJVS) 

Description: The Programmable Josephson Voltage Standard is an intrinsic electrical DC Voltage 

Standard used internationally by national measurement institutes. Josephson junctions are used for 
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traceability of voltage measurements to the SI (System International) unit of Voltage for all metrology.

Developer: National Institute of Standards and Technology (NIST), National Aeronautics and Space 

Administration (NASA)

Country: United States

First Use Date: 2020

Status: Operational

Contact: Y

Inspection Type: Voltage

Resolution: +/-0.02 ppm

Inspection Aides / Fiducials / Cues: Liquid Helium ($1000/deployment)

Data Analysis: Off-board

7.11.13 IM13: Robotic External Leak Locator (RELL) [ISS] 

Description: NASA’s Robotic External Leak Locator (RELL) is a robotic, remote-controlled tool that helps 

mission operators detect the location of an external leak and rapidly confirm a successful repair.

Developer: NASA Goddard Space Flight Center (GSFC)

Country: United States

First Use Date: 2015

Status: Operational

Contact: Y, robot-arm

Inspection Type: Ammonia sensor

Resolution: High

Inspection Aides / Fiducials / Cues: Mass spec, Ion vacuum pressure gauge

Data Analysis: Autonomous

7.11.14 IM14: SCOUT 

Description: SCOUT helps SpaceCraft Observe and Understand Things around them. The software suite 

enables on-demand, on-site inspections for space assets. 

Developer: SCOUT Space Inc

Country: United States

First Use Date: 2021-06-01 

Status: Completed

Contact: N, free-flying

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: Stereoscopic and Multispectral configurations

Data Analysis: Autonomous
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7.11.15 IM15: Seeker [ISS] 

Description: Seeker was a 3U spacecraft which was deployed from Orbital ATK Enhanced Cygnus ISS 

resupply spacecraft. The CubeSat completed a 60-minute mission consisting of proximity operations 

around Cygnus. UT-developed vision systems, which were isolated from all other sensors onboard the 

spacecraft, used a commercially available camera and state-of-the-art computer vision algorithms to 

detect the Cygnus spacecraft.

Developer: The University of Texas at Austin (UT Austin), NASA Johnson Space Center (JSC)

Country: United States

First Use Date: 2019

Status: Operational

Contact: N, free-flying

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: Elevation/Azimuth computation

Data Analysis: Autonomous (2 Hz)

7.11.16 IM16: Sonatest Veo PAUT [ISS] 

Description: The Sonatest Veo PAUT is a phased array ultrasonic test (PAUT) device which can assess the 

body of the ISS following a micrometeoroid strike. By making contact between the device and the area 

of damage, the device is able to find hidden structures such as isogrid webs. This detection method 

allows a repair team to determine what type of repair is required.

Developer: National Aeronautics and Space Administration (NASA)

Country: United States

First Use Date: 2013

Status: Operational

Contact: Y

Inspection Type: Ultrasonic

Resolution: 0.1 inches

Inspection Aides / Fiducials / Cues: Multi-angle top scan

Data Analysis: Off-board

7.11.17 IM17: Soul 

Description: SOUL is a tethered robotic spacecraft that is designed to provide self-inspection and selfservicing to a client spacecraft. The tethered spacecraft is less than 10 kg, self-propelled, self-navigating, 

and autonomous. Power and commands are supplied by the host spacecraft.

Developer: Busek Co. Inc

Country: United States

First Use Date: TBD

Status: In Development

Contact: Y, tethered

Inspection Type: Visual, near IR
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Resolution: N/A

Inspection Aides / Fiducials / Cues: N/A

Data Analysis: N/A

7.11.18 IM18: Visual Inspection Poseable Invertebrate Robot (VIPIR) [RRM] 

Description: VIPIR, the Visual Inspection Poseable Invertebrate Robot, was a robotic, multi-capability 

inspection tool designed to deliver near and midrange inspection capabilities in space. This robot was 

used on RRM2.

Developer: NASA Goddard Space Flight Center (GSFC)

Country: United States

First Use Date: 2015

Status: Completed

Contact: Y, robot-arm

Inspection Type: Visual

Resolution: 224 x 224 pixel, 100 deg Fov

Inspection Aides / Fiducials / Cues: 8-24 mm optical zoom lens

Data Analysis: Off-board

7.11.19 IM19: Visual Inspection Poseable Invertebrate Robot 2 (VIPIR2) [RRM] 

Description: VIPR2 was robotic inspection camera used to visually verify entry and positioning of the 

flexible Cryogen Transfer Hose (CTH) into the receiver tank. VIPR2 was used on RRM3.

Developer: NASA Goddard Space Flight Center (GSFC)

Country: United States

First Use Date: 2018-12-08 00:00:00

Status: Completed

Contact: Y

Inspection Type: Visual

Resolution: Unavailable

Inspection Aides / Fiducials / Cues: Unavailable

Data Analysis: Off-board

7.11.20 IM20: XSS-10 

Description: eXperimental Small Satellite 10 (XSS-10) was a micro-satellite with objectives to 

demonstrate autonomous navigation, proximity operations, and inspection of another space object. The 

satellite was launched and completed operations, including the imaging of a Delta II upper stage, in 

2003.

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2003

Status: Completed
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Contact: N, free-flying

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: GPS, Star Tracker, SGLS system

Data Analysis: Autonomous

7.11.21 IM21: XSS-11 

Description: eXperimental Small Satellite 11 (XSS-11) was a micro-satellite demonstrating rendezvous 

and proximity operations with expended rocket body. The satellite conducted proximity maneuvers with 

several US-owned, dead, or inactive resident space objects near its orbit.

Developer: Air Force Research Laboratory (AFRL)

Country: United States

First Use Date: 2005

Status: Completed

Contact: N, free-flying

Inspection Type: Visual

Resolution: High

Inspection Aides / Fiducials / Cues: RPOD, On-orbit command/control

Data Analysis: Off-board
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8 APPENDIX – ISAM DEVELOPERS 

8.1 AI SPACEFACTORY 

Description: AI SpaceFactory is a construction technology company specializing in the design and 

construction of habitats on planetary bodies. It develops advanced construction technologies for space 

exploration using autonomous robotics and sustainable materials.

Country: United States

Type: Industry

Year Founded: 2017

URL: https://www.aispacefactory.com/

State of Play Entries: SC13

8.2 AIR FORCE RESEARCH LABORATORY (AFRL) 

Description: The Air Force Research Laboratory (ARFL) is a government research laboratory performing 

research and development for the U.S. Air Force and the U.S. Space Force. Its main purpose is to 

develop and deliver warfighting technologies to the U.S air, space, and cyberspace forces by conducting 

cutting-edge research in various areas of science and technology, including aerospace systems, robotics, 

directed energy, communication systems, artificial intelligence, and materials science.

Country: United States

Type: Government

Year Founded: 1997

URL: https://www.afrl.af.mil/

State of Play Entries: RCDM03, RCDM17, RCDM36, RCDM37, IM03, IM08, IM20, IM21

8.3 AIRBUS DEFENSE AND SPACE NETHERLANDS (ADSN) 

Description: Airbus Defense and Space Netherlands (ADSN) is an aerospace and defense company 

specializing in solar arrays, satellite instrumentation and structures, and satellite intelligence. Its current 

developments include laser communications, articulated deployment systems, and secondary payload 

structures. 

Country: Netherlands 

Type: Government 

Year Founded: 1968

URL: http://www.dutchspace.nl

State of Play Entries: RM07

8.4 ALTIUS SPACE MACHINES INC 

Description: Altius Space Machines is a space technology company specializing in satellite servicing, 

satellite end-of-life services, and orbital debris mitigation technologies. Its scope of operations 

encompasses rendezvous and capture devices, spacecraft mechanisms, in-space propellant transfer, and 
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other satellite servicing technologies.

Country: United States 

Type: Industry

Year Founded: 2010

URL: https://altius-space.com/

State of Play Entries: PRUMI02, PRUMI08

8.5 APSIDAL 

Description: Apsidal is a computing and manufacturing technology company focused on photonics and 

quantum information solutions. Its developments include AI-enhanced photonics manufacturing 

processes and optical technologies for quantum applications. 

Country: United States

Type: Industry

Year Founded: 2019

URL: http://apsidal.net/

State of Play Entries: PGM04

8.6 ASTROSCALE 

Description: Astroscale is a space technology company specializing in on-orbit servicing and mitigation 

of space debris. It develops and deploys technologies and spacecraft to perform life extension, end-oflife disposal, and active debris removal. 

Country: Japan

Type: Industry 

Year Founded: 2013

URL: https://astroscale.com/

State of Play Entries: RCDM01, RCDM08, RCDM09, RCDM10, R02

8.7 BUSEK CO. INC 

Description: Busek Co. Inc. is a space propulsion technology company specializing in the design and 

development of electric propulsion systems. Busek designs and develops Hall thrusters, electrospray 

thrusters, and ion thrusters for applications including satellite station keeping, orbit transfers, and 

interplanetary missions.

Country: United States 

Type: Industry

Year Founded: 1985

URL: https://www.busek.com/

State of Play Entries: RCDM33, PRUMI17, IM17
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8.8 CANADIAN SPACE AGENCY (CSA) 

Description: The Canadian Space Agency (CSA) is the national space agency of Canada. Its main purpose 

is to advance the knowledge of space through science and ensure social and economic benefits for 

Canadians. It has developed several robotic manipulation systems to support human exploration.

Country: Canada

Type: Government

Year Founded: 1989

URL: https://www.asc-csa.gc.ca/eng/

State of Play Entries: RM03, RM04, RM05

8.9 CHINA ACADEMY OF SPACE TECHNOLOGY (CAST) 

Description: The China Academy of Space Technology (CAST) is a spacecraft development organization 

within the China Aerospace Science and Technology Corporation (CASC).

Country: China

Type: Government 

Year Founded: 1968

URL: https://www.cast.cn/english

State of Play Entries: RCDM32

8.10 COMPOSITES AUTOMATION LLC 

Description: Composites Automation LLC is a composite manufacturing technology company specializing 

in novel composite manufacturing materials, design, and processes. Its scope of developments includes 

unique composite processing, analytical, and finite element design capabilities.

Country: United States

Type: Industry

Year Founded: 2001

URL: https://www.compositesautomationllc.com/

State of Play Entries: RRR04

8.11 CORNERSTONE RESEARCH GROUP (CRG) 

Description: Cornerstone Research Group (CRG) is an aerospace and defense firm providing research 

and development of advanced materials and technology solutions for various industries including 

aerospace, defense, energy, and transportation.

Country: United States 

Type: Industry

Year Founded: 1997

URL: https://www.crgrp.com/

State of Play Entries: RRR02, RRR05
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8.12 DEFENSE ADVANCED RESEARCH PROJECTS AGENCY (DARPA) 

Description: The Defense Advanced Research Projects Agency (DARPA) is a research and development 

agency of the U.S. Department of Defense tasked with the development of new technologies for use by 

the military. Its main purpose is to make investments in breakthrough technologies for national security, 

including autonomous vehicles, stealth technology, directed energy, artificial intelligence, robotics, and 

other domains.

Country: United States 

Type: Government

Year Founded: 1958

URL: https://www.darpa.mil/

State of Play Entries: RM08, RM21, RCDM20, PRUMI09, RFT11, IM10

8.13 D-ORBIT 

Description: D-Orbit is an aerospace company specializing in orbital transportation and space logistics. 

Its scope of operations includes orbital transportation and end-of-mission disposal. Its developments 

include mission control software, space cloud computing, and an orbital transfer vehicle. 

Country: Italy 

Type: Industry

Year Founded: 2011

URL: https://www.dorbit.space/

State of Play Entries: R03

8.14 DSTAR COMMUNICATIONS INC 

Description: DSTAR Communications Inc is an optical materials technology company. Its developments 

include biomedical photonics technologies for life sciences, integrated laser subsystems, and an external 

material processing platform on the International Space Station with autonomous, high throughput 

manufacturing capability.

Country: United States

Type: Industry

Year Founded: 2018

URL: https://dstarcom.com/

State of Play Entries: PGM05

8.15 ETA SPACE 

Description: Eta Space is an aerospace company specializing in technology for cryogenic fluid 

management and chemical propulsion systems. The company is currently developing technologies 

related to refrigeration and storage, liquid hydrogen testing, in-space propellant depots, cryocooler 

development, zero loss propellant storage and transfer, and ISRU and cryogenic liquefaction.

Country: United States 

Type: Industry
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Year Founded: 2019

URL: https://etaspace.com/

State of Play Entries: RFT09

8.16 EUROPEAN SPACE AGENCY (ESA) 

Description: The European Space Agency (ESA) is an intergovernmental space organization with a 

mission to shape the development of Europe's space capability and ensure that investment in space 

continues to deliver benefits to the citizens of Europe and the world. The agency's work is focused on 

implementing European space policy, enacting activities and programs in the space field, and 

coordinating the European space program, national programs, and industry activities.

Country: Multinational

Type: Government

Year Founded: 1975

URL: https://www.esa.int/

State of Play Entries: RCDM13, PRUMI18, RFT14

8.17 FIREFLY AEROSPACE 

Description: Firefly Aerospace is an aerospace company specializing in the launch, landing, and in-space 

operation of space systems. Its current developments include the production of small-lift launch 

vehicles, the design and deployment of lunar landers, and the operation of surface mobility vehicles. 

Country: United States 

Type: Industry

Year Founded: 2017

URL: https://fireflyspace.com/

State of Play Entries: R15

8.18 FOMS INC 

Description: FOMS Inc, or Fiber Optic Manufacturing in Space Inc, is a space technology company 

focused on the in-space manufacturing of optical fibers. FOMS is currently developing equipment for the 

fabrication of specialty optical fibers on the International Space Station.

Country: United States

Type: Industry

Year Founded: 2019

URL: https://fomsinc.com/

State of Play Entries: PGM05

8.19 GENERAL MOTORS 

Description: General Motors is a multinational automotive manufacturing company specializing in 

automobiles and trucks, automotive components, and engines. Its space-related developments include 

robotic manipulation systems. 
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Country: United States 

Type: Industry

Year Founded: 1908

URL: https://www.gm.com/

State of Play Entries: RM25

8.20 GERMAN SPACE AGENCY (GSA) 

Description: The German Space Agency at the German Aerospace Center (DLR), (formerly DLR Space 

Administration) is the national space agency of Germany. Its main purpose is the planning and 

implementation of the German national space program and the management of Germany's 

contributions to the European Space Agency (ESA) and the European Organization for the Exploitation of 

Meteorological Satellites (EUMETSAT).

Country: Germany 

Type: Government

Year Founded: 1969

URL: https://www.dlr.de/en

State of Play Entries: PRUMI06

8.21 GITAI 

Description: GITAI is a robotics company specializing in the design and development of robotic systems 

for space construction and maintenance applications. Its systems support teleoperability and 

autonomous robotic manipulation and its developments include lunar rovers and robotic manipulators 

for satellite, terrestrial, and space station applications. 

Country: United States 

Type: Industry

Year Founded: 2016

URL: https://gitai.tech/

State of Play Entries: RM09, RM26, RM27, RM28, PRUMI07, SMA09, SC11

8.22 ICON 

Description: ICON is an architecture and construction technology company specializing in 3D printing 

and advanced materials. Its developments include the design of 3D printed space habitats to support 

the future exploration of the Moon and lunar surface construction technologies. 

Country: United States 

Type: Industry

Year Founded: 2017

URL: https://www.iconbuild.com/

State of Play Entries: SC10
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8.23 INTERLOG CORPORATION 

Description: Interlog Corporation is an electrical and mechanical manufacturing company specializing in 

the fabrication of military and commercial electronic components. Its developments include vehicular 

lights, signal components, electrical assemblies, wiring harnesses, and other precision-fabricated 

components.

Country: United States

Type: Industry

Year Founded: 1992

URL: https://interlogcorp.com/

State of Play Entries: PGM07

8.24 JAPAN AEROSPACE EXPLORATION AGENCY (JAXA) 

Description: The Japan Aerospace Exploration Agency (JAXA) or National Research and Development 

Agency Aerospace Research and Development Organization is the Japanese national air and space 

agency. It is designated as a core performance agency to support the Japanese government's overall 

aerospace development and utilization. Its scope of operations includes integrated operations from 

basic research and development to utilization.

Country: Japan

Type: Government 

Year Founded: 2003

URL: https://global.jaxa.jp/

State of Play Entries: RM11, RM12, RCDM01, RCDM11

8.25 LAUNCHER SPACE 

Description: Launcher Space was an aerospace company which specialized in the development of 

rockets and transfer vehicles to deliver small satellites to orbit. Its scope of developments included 

liquid propulsion technology and onsite 3D manufacturing for high-efficiency engines. Launcher Space 

was acquired by Vast in 2023.

Country: United States 

Type: Industry

Year Founded: 2017

URL: https://www.launcherspace.com/

State of Play Entries: R09

8.26 LERA 

Description: LERA Consulting Structural Engineers is a structural engineering firm specializing in 

structural design. The company's areas of expertise include structural designs, feasibility studies, peer 

reviews, value engineering, computational design, blast analysis and design, forensic consulting, and 

special inspections.

Country: United States 
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Type: Industry 

Year Founded: 1923

URL: https://www.lera.com/

State of Play Entries: SC13

8.27 LOCKHEED MARTIN 

Description: The Lockheed Martin Corporation is an aerospace, arms, defense, information security, and 

technology corporation specializing in Aeronautics, Missiles and Fire Control (MFC), Rotary and Mission 

Systems (RMS), and Space. Its developments include the Orion spacecraft command module and 

hydrogen fluid management systems. 

Country: United States 

Type: Industry 

Year Founded: 1995

URL: https://www.lockheedmartin.com/

State of Play Entries: RFT09

8.28 LUNAR RESOURCES INC 

Description: Lunar Resources Inc is a space technology company focusing on in-space manufacturing 

and resource extraction. Its prospective developments include in-situ construction of lunar 

infrastructure such as a radio observatory, photovoltaic power grid, and regolith additive manufacturing.

Country: United States

Type: Industry

Year Founded: 2019

URL: https://www.lunarresources.space/

State of Play Entries: PGM05

8.29 MADE IN SPACE 

Description: Made In Space was an aerospace company specialized in commercial additive 

manufacturing in microgravity. The company was acquired by Redwire Corporation in 2020.

Country: United States

Type: Industry 

Year Founded: 2010

URL: http://madeinspace.us/ 

State of Play Entries: PGM02, PGM03, PGM06, SC14

8.30 MARTIN MARIETTA CORPORATION 

Description: The Martin Marietta Corporation was an aerospace company specialized in missile 

technology. Its developments included the Titan program, the Viking program, and the space shuttle 

external tank. In 1995, it merged with Lockheed Corporation to form the Lockheed Martin Corporation.

Country: United States 
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Type: Industry

Year Founded: 1961

URL: N/A

State of Play Entries: RFT19

8.31 MAXAR TECHNOLOGIES 

Description: Maxar Technologies is a space technology company specializing in manufacturing 

communication, Earth observation, radar, and on-orbit satellite servicing. Its developments include the 

Power and Propulsion Element for the Lunar Gateway, 3D geospatial analytics, satellite imagery, 

analytics, and data modeling.

Country: United States

Type: Industry

Year Founded: 2017

URL: https://www.maxar.com/

State of Play Entries: RM10, RM15, RM16, RM22, RM23, RM30, RCDM21, ULRM04, SMA22, IM11

8.32 MAXON GROUP 

Description: Maxon Group is an electronic manufacturer of high precision motor systems. Its 

developments include electric AC motors, DC motors, encoders, gears, motor controllers, and sensors 

for applications within the aerospace, automotive, communication, industrial automation, measuring 

and testing, medical, and security technology industries.

Country: Switzerland

Type: Industry

Year Founded: 1961

URL: https://www.maxongroup.com/

State of Play Entries: RCDM13

8.33 MDA SPACE 

Description: MDA Space is a space technology company specializing in robotics, satellite technology, and 

satellite operations. Its developments include the Mobile Servicing System for the International Space 

Station, which includes Canadarm2, and the Canadarm3 for the Lunar Gateway. 

Country: Canada

Type: Industry

Year Founded: 1968

URL: https://mda.space/

State of Play Entries: RM03, RM04, RM05, RM10, RM15, RM16, RM21, RM22, RM23

8.34 MERCURY SYSTEMS 

Description: Mercury Systems is a technology company focused on aerospace and defense applications. 

Its developments include electronic warfare development systems, communications and networking 
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technologies, sensors and scanners, military rugged display systems, rugged servers and subsystems, 

computer boards, and microelectronic components. 

Country: United States

Type: Industry

Year Founded: 1981

URL: https://www.mrcy.com/company

State of Play Entries: PGM10

8.35 MOMENTUS INC 

Description: Momentus Space is a spaceflight company specializing in on-orbit servicing of space 

infrastructure and propulsion systems. Its developments include in-space transportation and orbit 

transfer technologies, and water plasma-based propulsion systems in the form of Microwave 

Electrothermal Thruster (MET) propulsion technology.

Country: United States 

Type: Industry

Year Founded: 2017

URL: https://investors.momentus.space/ 

State of Play Entries: R16

8.36 MOOG 

Description: Moog is an electromechanical technology company specializing in precision motion control 

systems. Its developments include actuators, motion controllers, rotary joints, and motors for robotic 

systems.

Country: United States

Type: Industry

Year Founded: 1953

URL: https://www.moog.com/

State of Play Entries: RM08, RCDM18, R08, RFT08

8.37 MOTIV SPACE SYSTEMS 

Description: Motiv Space Systems is a robotics company specializing in robotic arm systems for use in 

space or on planetary surfaces. Its developments include the xLink Robotic arm for the OSAM-2 

demonstration mission and the robotic arm for the NASA JPL 2020 Mars Perseverance Rover. 

Country: United States 

Type: Industry 

Year Founded: 2014

URL: https://motivss.com/

State of Play Entries: RM34, SMA28
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8.38 NASA AMES RESEARCH CENTER (ARC) 

Description: NASA's Ames Research Center (ARC) conducts research and development activities in 

aeronautics, space exploration, space technology, and science. ARC was the second NACA laboratory 

founded to conduct research on early aircraft, and now provides expertise in space domains such as 

small satellite technologies, supercomputing, intelligent robotics, planetary science, and other research 

areas. 

Country: United States

Type: Government

Year Founded: 1939

URL: https://www.nasa.gov/ames

State of Play Entries: RM19, RM29, SC03

8.39 NASA GODDARD SPACE FLIGHT CENTER (GSFC) 

Description: NASA's Goddard Space Flight Center (GSFC) is a research, development, and operations 

center focused on increasing the scientific understanding of the Earth, Solar System, and universe. GSFC 

operates many NASA science missions, including the Hubble Space Telescope and James Webb Space 

Telescope, operates satellite tracking networks, and supports many NASA and international spacecraft 

and missions.

Country: United States

Type: Government

Year Founded: 1959

URL: https://www.nasa.gov/goddard

State of Play Entries: RCDM06, RCDM25, RFT16, IM13, IM18, IM19

8.40 NASA JET PROPULSION LABORATORY (JPL) 

Description: NASA's Jet Propulsion Laboratory (JPL) is a federally funded research and development 

center (FFRDC) managed by Caltech. JPL's core capability is to integrate science, engineering, and 

technology to provide end-to-end implementation of robotic space missions. JPL is responsible for 

developing NASA's Mars rovers and other robotic science missions, operating the Deep Space network, 

and research and development of other space technology.

Country: United States

Type: Government 

Year Founded: 1936

URL: https://www.jpl.nasa.gov/

State of Play Entries: RM17

8.41 NASA JOHNSON SPACE CENTER (JSC) 

Description: NASA's Johnson Space Center (JSC)’s is the lead center for human space exploration, 

training the agency's astronaut corps, running International Space Station (ISS) mission operations, and 

advancing other human exploration capabilities. JSC has led NASA's human exploration missions 
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including Apollo, Space Shuttle, and ISS, and Artemis development, and performs research and 

development of several human spaceflight technologies.

Country: United States

Type: Government 

Year Founded: 1961

URL: https://www.nasa.gov/centers/johnson/home/index.html

State of Play Entries: RFT12, SC04, IM15

8.42 NASA KENNEDY SPACE CENTER (KSC) 

Description: NASA's Kennedy Space Center (KSC) serves as NASA's launch facility, and it also performs 

research in several areas related to humans living and working on planetary bodies. The center supports 

commercial launches and provides facilities for a number of commercial launch companies to run their 

launch operations. 

Country: United States

Type: Government 

Year Founded: 1962

URL: https://www.nasa.gov/centers/kennedy/home/index.html

State of Play Entries: SC05, SC06, SC08, SC12, SC13

8.43 NASA LANGLEY RESEARCH CENTER (LARC) 

Description: NASA's Langley Research Center (LaRC) is the nation’s first civilian aeronautics research and 

development laboratory, and today supports aeronautics, science, and space missions. The research at 

LaRC provides improvements to aviation, expands understanding of Earth's atmosphere, develops 

technology for space exploration, and analyzes new system concepts.

Country: United States

Type: Government 

Year Founded: 1917

URL: https://www.nasa.gov/langley

State of Play Entries: RM01, RM14, RM33, SMA03, SMA26, SC09, SC15

8.44 NASA MARSHALL SPACE FLIGHT CENTER (MSFC) 

Description: NASA Marshall Space Flight Center (MSFC), located in Huntsville, Alabama, is a leader in 

design, development, and test and evaluation with an emphasis on technology and system development 

for human exploration. NASA MSFC also has a rich history of science for robotic missions and is home to 

NASA's Planetary Missions Program Office.

Country: United States

Type: Government 

Year Founded: 1960

URL: https://www.nasa.gov/centers/marshall/home/index.html

State of Play Entries: RFT03, RFT04, SMA14, SC07, SC10
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8.45 NATIONAL AERONAUTICS AND SPACE ADMINISTRATION (NASA) 

Description: The National Aeronautics and Space Administration (NASA) is America’s civil space program 

with an emphasis on human exploration, space science (Earth science, planetary science, heliophysics, 

biological and physical science, and astrophysics), and advancement in space technology. NASA 

performs these activities at 20 centers and facilities across the U.S. and the International Space Station. 

Country: United States

Type: Government

Year Founded: 1958

URL: https://www.nasa.gov/

State of Play Entries: RM15, RM18, RM20, RM25, RCDM12, RCDM18, RCDM20, RCDM21, RCDM27, 

RCDM28, RCDM29, RCDM30, RCDM31, R04, R11, R12, R13, PRUMI09, PRUMI10, PRUMI11, PRUMI12, 

PRUMI13, PRUMI14, PRUMI15, ULRM04, ULRM05, ULRM06, ULRM07, ULRM08, RFT01, RFT02, RFT06, 

RFT07, RFT08, RFT09, RFT10, RFT11, RFT13, RFT15, RFT17, RFT20, SMA01, SMA02, SMA04, SMA05, 

SMA07, SMA08, SMA10, SMA13, SMA15, SMA16, SMA19, SMA20, SMA24, SMA25, RRR01, RRR02, 

RRR03, PGM02, PGM03, PGM05, PGM06, PGM07, PGM08, PGM10, PGM11, PGM12, PGM13, SC01, 

SC02, SC14, IM02, IM04, IM09, IM10, IM11, IM12, IM16

8.46 NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY (NIST) 

Description: The National Institute of Standards and Technology (NIST) is a U.S. government agency 

under the Department of Commerce. Its mission is to promote U.S. innovation and industrial 

competitiveness by advancing measurement science, standards, and technology.

Country: United States

Type: Government

Year Founded: 1901

URL: https://www.nist.gov/

State of Play Entries: IM12

8.47 NATIONAL SPACE DEVELOPMENT AGENCY OF JAPAN (NASDA) 

Description: The National Space Development Agency of Japan (NASDA) was a Japanese national space 

agency responsible for developing, launching, and tracking satellites. It also developed and operated 

the N-I, N-II, and H-I launch vehicles. In 2003, NASDA merged with the Institute of Space and 

Astronautical Science (ISAS) and the National Aerospace Laboratory of Japan (NAL) to become the Japan 

Aerospace Exploration Agency (JAXA).

Country: Japan

Type: Government

Year Founded: 1969

URL: N/A

State of Play Entries: RM06
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8.48 NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY (NUDT) 

Description: The National University of Defense Technology (NUDT) was founded as China's People’s 

Liberation Army (PLA) Military Academy of Engineering, or Harbin Military Academy of Engineering. Its 

disciplines cover eight categories, including science, engineering, military science, management, 

philosophy, economics, law, and literature.

Country: China

Type: Government

Year Founded: 1953

URL: https://english.nudt.edu.cn/

State of Play Entries: RCDM04, R01, RFT22

8.49 NAVAL RESEARCH LABORATORY (NRL) 

Description: The Naval Research Laboratory (NRL) is a research and engineering lab which advances 

technology for the US Navy and US Marine Corps. The NRL conducts a broad program of scientific 

research and advanced technology development. NRL’s scientists and engineers conduct basic and 

applied research across a wide spectrum of scientific disciplines for both immediate and long-range 

national defense needs. NRL’s research is primarily sponsored by government agencies including the 

Office of Naval Research, Naval Systems Commands and Warfare Centers, Air Force, Army, DARPA, 

Department of Energy, and NASA.

Country: United States 

Type: Government

Year Founded: 1923

URL: https://www.nrl.navy.mil/

State of Play Entries: RM08

8.50 NORTH AMERICAN ROCKWELL 

Description: North American Rockwell was a corporation formed by the acquisition and merger of the 

Rockwell Standard with North American Aviation. Its main developments included the Apollo command 

and service module and the Apollo-Soyuz Test Project Docking Module. 

Country: United States 

Type: Industry 

Year Founded: 1967

URL: N/A

State of Play Entries: RCDM07

8.51 NORTHROP GRUMMAN 

Description: Northrop Grumman is a global aerospace, defense and security company that serves as a 

major contractor of the U.S. government. As part of its Space Systems sector, Northrop Grumman 

designed and built the Mission Extension Vehicle to provide life extension services to GEO satellites.

Country: United States 
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Type: Industry

Year Founded: 1994

URL: https://www.northropgrumman.com/

State of Play Entries: RCDM15, RCDM16, R05, R06, R07, ULRM02, ULRM03, IM06, IM07

8.52 NOVAWURKS 

Description: NovaWurks is an aerospace company specializing in small satellite technologies. Its 

developments include integrated small satellites for the DARPA Phoenix project. 

Country: United States

Type: Industry 

Year Founded: 2011

URL: https://www.novawurks.com/

State of Play Entries: PRUMI16, RFT18, SMA21

8.53 OBRUTA SPACE SOLUTIONS 

Description: Obruta Space Solutions is an aerospace company specializing in rendezvous, proximity 

operations, and docking systems and orbital logistics. Its developments include debris removal 

technologies and on-orbit servicing technologies.

Country: Canada

Type: Industry

Year Founded: 2016

URL: https://www.obruta.com/

State of Play Entries: PRUMI19

8.54 OCEANEERING INTERNATIONAL INC 

Description: Oceaneering International Inc is a marine engineering company that provides engineered 

services and hardware to marine and space operations. It has developed multiple technologies and 

systems for commercial and government undersea operations. Some of those technologies and 

capabilities translated to space, including space suits, interfaces, and robotics.

Country: United States

Type: Industry

Year Founded: 1964

URL: https://www.oceaneering.com/

State of Play Entries: PRUMI04

8.55 ORBIT FAB 

Description: Orbit Fab is an aerospace company specializing in in-space fuel transfer and storage. Its 

developments include in-orbit fuel depot satellites, fluid transfer interfaces, and mission analysis 

software.

Country: United States 
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Type: Industry 

Year Founded: 2018

URL: https://www.orbitfab.com/

State of Play Entries: RCDM35, RFT05, RFT21

8.56 ORBITAL COMPOSITES 

Description: Orbital Composites is an additive manufacturing company specializing in robotic 3D printing 

and composites manufacturing. Its developments include orbital manufacturing and assembly, thermal 

protection systems, GEO and cis-Lunar optical Imaging, and communication satellites. 

Country: United States

Type: Industry

Year Founded: 2014

URL: https://www.orbitalcomposites.com/

State of Play Entries: PGM01, PGM09

8.57 PEOPLE'S LIBERATION ARMY (PLA) 

Description: The People's Liberation Army (PLA) is the military for the People's Republic of China. The 

PLA has a space program that supports China's military operations, providing reconnaissance, 

navigation, communication, and other functions.

Country: China

Type: Government

Year Founded: 1927

URL: N/A

State of Play Entries: RCDM04, R01

8.58 QINETIQ SPACE 

Description: QinetiQ Space is an aerospace company specializing in design, integration, test, and training 

for space infrastructure and other mission systems. It operates in a number of areas, including secure 

communications and position, navigation, and timing. QinetiQ Space was acquired by Redwire 

Corporation in 2022.

Country: Multinational

Type: Industry

Year Founded: 2001

URL: https://www.qinetiq.com/en/markets/space

State of Play Entries: RCDM13

8.59 REDWIRE CORPORATION 

Description: Redwire is an aerospace company specializing in in-space manufacturing and infrastructure 

technologies. Its developments include solar arrays and deployable structures, microgravity 

manufacturing technologies, RF systems and satellite payloads, digital engineering, modeling, and 
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simulation tools. 

Country: United States 

Type: Industry

Year Founded: 2020

URL: https://redwirespace.com/

State of Play Entries: RM31, SMA06, SMA14, PGM07, PGM11, PGM12, PGM13

8.60 RKK ENERGIYA 

Description: Energia Corporation, formerly RKK "Energiya", NPO Energia,

TsKBEM, and OKB-1 is a Russian space company specializing in the production of spaceflight 

components. The company was founded in 1946 and was responsible for the construction of the Sputnik 

1 artificial satellite. Its current developments include the Russian Soyuz MS spacecraft, the Russian 

Orbital Segment of the ISS, the Sea Launch project, and the Universal Spacecraft Configuration for use 

on satellites. 

Country: Russia 

Type: Industry

Year Founded: 1946

URL: http://www.energia.ru/ru/corporation/corporation.html

State of Play Entries: RCDM05

8.61 ROGUE SPACE SYSTEMS CORPORATION 

Description: Rogue Space Systems Corporation is an aerospace company specializing in satellite design 

and on-orbit servicing. Its operations include designing satellite vehicles and subsystems to provide onorbit services to satellite operators. 

Country: United States 

Type: Industry

Year Founded: 2020

URL: https://rogue.space/

State of Play Entries: IM05

8.62 ROSCOSMOS 

Description: Roscosmos is a Russian state-run corporation responsible for operating the Russian state 

space program. Roscosmos was founded in 1992 after the dissolution of the USSR. The state-run 

company is responsible for conducting research, maintaining the Russian space flight program, and 

partnering with other countries in the operation of the ISS.

Country: Russia 

Type: Government

Year Founded: 1992

URL: http://www.roscosmos.ru/

State of Play Entries: R04, RFT14
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8.63 RUAG 

Description: RUAG is an aerospace company specializing in military and commercial aerospace 

technologies. Its developments include information and communication systems, small-caliber 

ammunition, as well as aircraft and rotorcraft servicing. 

Country: Switzerland 

Type: Industry

Year Founded: 1999

URL: https://www.ruag.com/en

State of Play Entries: RCDM13

8.64 RUSSIA 

Description: Russia is a Eurasian country which was founded in the early 1990s after the dissolution of 

the USSR. The country is the largest in the world by area and hosts approximately 144 million people. 

The country is a cooperative partner in the operation of the ISS and maintains its own space program.

Country: Russia 

Type: Government

Year Founded: 1991

URL: http://government.ru/en/

State of Play Entries: RM32

8.65 SCOUT SPACE INC 

Description: SCOUT Space is an aerospace company specializing in autonomy and inspection 

technologies for the space industry. Its developments include in-space observation, digital twin 

environments, space traffic management, and proximity operations. 

Country: United States 

Type: Industry

Year Founded: 2019

URL: https://www.scout.space/

State of Play Entries: RCDM26, IM14

8.66 SENER 

Description: SENER is an international engineering firm specializing in the aerospace, civil, and energy 

sectors. Its developments include electromechanical systems, antennas and RF equipment, guidance, 

navigation and control systems, and space-grade power electronics. 

Country: Spain 

Type: Industry

Year Founded: 1967

URL: https://www.group.sener/

State of Play Entries: RCDM13
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8.67 SIERRA NEVADA CORPORATION 

Description: Sierra Nevada Corporation is an aerospace company specializing in aerospace, security and 

defense technologies. The company offers technical solutions for spacecraft, aircraft, and cybersecurity 

to government and industry customers. Its developments include aircraft modification, intelligence, 

surveillance technologies, electromagnetic spectrum operational capabilities, and joint all-domain 

command and control (JADC2). 

Country: United States

Type: Industry

Year Founded: 1963

URL: https://www.sncorp.com/

State of Play Entries: RCDM13

8.68 SPACE APPLICATIONS SERVICES 

Description: Space Applications Services is an aerospace company specializing in aerospace technology 

solutions in the fields of spacecraft, launch and reentry, and robotics. Its developments include a joint 

venture for a lunar payload delivery service, and a robotic arm, the Walking Manipulator.

Country: Belgium

Type: Industry 

Year Founded: 1987

URL: https://www.spaceapplications.com/

State of Play Entries: PRUMI05

8.69 SPACEFLIGHT 

Description: Spaceflight was an aerospace company that provided rideshare launch opportunities, inspace transportation, and other mission services. Its developments included an array of on-orbit Sherpa 

vehicles that provided transportation and avionics to hosted payloads. Spaceflight was acquired by 

Firefly Aerospace in 2023.

Country: United States

Type: Industry 

Year Founded: 2011

URL: https://spaceflight.com/

State of Play Entries: R14

8.70 SPACEWORKS ENTERPRISES INC 

Description: SpaceWorks is an aerospace company that provides engineering services to government 

and industry customers in the areas of design, prototyping, and flight demonstrations.

Country: United States 

Type: Industry

Year Founded: 2000
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URL: https://www.spaceworks.aero/

State of Play Entries: PRUMI03

8.71 SPACEX 

Description: SpaceX is an aerospace company that develops and operates launch vehicles and 

communications satellites. SpaceX pioneered reusability and quick turnover launch availability with their 

Falcon 9 and Falcon Heavy launch systems, and they are currently operating the Starlink 

communications constellation. Its current developments include the Starship super heavy-lift space 

vehicle, which will also include on-orbit cryogenic propellant transfer.

Country: United States

Type: Industry

Year Founded: 2002

URL: https://www.spacex.com/

State of Play Entries: RFT09

8.72 SPAR AEROSPACE 

Description: Spar Aerospace was an aerospace company which provided technology solutions to the 

Canadian Space Agency in support of the American Shuttle Program. Spar was responsible for providing 

the Canadarm for the Space Shuttle and the Canadarm2 for the ISS. Spar Aerospace is now part of MDA 

Space.

Country: Canada

Type: Industry

Year Founded: 1967

URL: N/A

State of Play Entries: RM02

8.73 STARFISH SPACE 

Description: Starfish Space is an aerospace company specializing in satellite servicing. The company 

develops satellite servicing technologies such as rendezvous and capture software and robotics, and it 

plans to offer satellite mission extension, debris removal, and autonomous transportation.

Country: United States

Type: Industry

Year Founded: 2019

URL: https://www.starfishspace.com/

State of Play Entries: RCDM19, RCDM22, RCDM23, R10

8.74 TETHERS UNLIMITED INC 

Description: Tethers Unlimited Inc is an aerospace company specializing in space debris mitigation, inspace transportation, and other areas of space logistics. The company is part of the ARKA group, and its 

developments include robotic assembly and fabrication technologies, small satellite subsystems, and 
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satellite communications technologies.

Country: United States

Type: Industry

Year Founded: 1994

URL: https://www.tethers.com/

State of Play Entries: RM13, RCDM14, PRUMI01, ULRM01, SMA11, RRR01, RRR02, RRR03, PGM07

8.75 THE AEROSPACE CORPORATION 

Description: The Aerospace Corporation is a Federally Funded Research and Development Center 

(FFRDC) in El Segundo, California. It provides aerospace consulting and technical guidance to the

national security and civil space sectors.

Country: United States

Type: Industry

Year Founded: 1960

URL: https://aerospace.org/

State of Play Entries: RCDM02, IM01

8.76 THE BOEING COMPANY 

Description: The Boeing Company is a global aerospace company specializing in the development, 

manufacture, and servicing of commercial airplanes, defense, and space systems. It has developed 

numerous spacecraft, including much of the International Space Station structural assembly.

Country: United States

Type: Industry

Year Founded: 1916

URL: https://www.boeing.com/

State of Play Entries: RCDM24, SMA12, SMA17, SMA23

8.77 THE UNIVERSITY OF TEXAS AT AUSTIN (UT AUSTIN) 

Description: The University of Texas at Austin is a public research university in Austin, Texas. The Austin 

campus is the flagship campus of the University of Texas university system, and it employs 3,000 

teaching faculty and is home to over 52,000 students.

Country: United States 

Type: Academia 

Year Founded: 1883

URL: https://www.utexas.edu/

State of Play Entries: IM15
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8.78 TSKBEM 

Description: TsKBEM, which translates to the Central Design Bureau of Experimental Machine Building, 

was a previous name of RKK Energiya. This company is a Russian manufacturer of spacecraft and space 

components. It developed the SSVP docking system, a system to enable the rendezvous and capture, 

docking, and crew transfer used on most Soviet and Russian crewed space vehicles

Country: USSR

Type: Industry

Year Founded: 1946

URL: N/A

State of Play Entries: RCDM34

8.79 UNION OF SOVIET SOCIALIST REPUBLICS (USSR) 

Description: The Union of Soviet Socialist Republics was a country founded in 1922 and dissolved in 

1991. The country played a critical role in the "Space Race" of the 20th century, launching the first 

artificial Earth satellite in 1957 and the first human in space 1961, and acting as the main rival of the 

United States in the race to put a human on the Moon.

Country: USSR

Type: Government 

Year Founded: 1922

URL: N/A

State of Play Entries: SMA18, SMA27

8.80 UNITED KINGDOM SPACE AGENCY (UKSA) 

Description: The United Kingdom Space Agency is the executive agency of the United Kingdom charged 

with the development and implementation of its space program. Its current developments include a 

joint venture with Astroscale to decommission two defunct British satellites currently orbiting Earth by 

2026.

Country: United Kingdom

Type: Government

Year Founded: 2010

URL: https://www.gov.uk/government/organisations/uk-space-agency

State of Play Entries: RCDM08

8.81 UNITED LAUNCH ALLIANCE (ULA) 

Description: United Launch Alliance (ULA) is an aerospace, defense, and launch service provider formed 

by a joint venture between Lockheed Martin and The Boeing Company. ULA manufactures and operates 

launch vehicles such as their Atlas V and Delta IV Heavy rockets, and it is currently developing the Vulcan 

Centaur heavy-lift launch vehicle.

Country: United States 

Type: Industry
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Year Founded: 2006

URL: https://www.ulalaunch.com/

State of Play Entries: RFT09

8.82 UNITED STATES ARMY CORPS OF ENGINEERS 

Description: The U.S. Army Corps of Engineers is a group within the United States Army which offers 

engineering services through a civilian and military workforce. The Corps' 37,000 employees offer 

engineering solutions in areas such as infrastructure maintenance and military facility installation both 

domestically and abroad.

Country: United States 

Type: Government 

Year Founded: 1802

URL: https://www.usace.army.mil/

State of Play Entries: SC02

8.83 UNITED STATES DEPARTMENT OF ENERGY (DOE) 

Description: The U.S. Department of Energy is a department of the executive branch of the United 

States which is responsible for managing the U.S. nuclear infrastructure, administering U.S. energy 

policy, and funding research and development of energy technologies. The department operates 17 

research and development facilities across the United States.

Country: United States

Type: Government 

Year Founded: 1977

URL: https://www.energy.gov/

State of Play Entries: IM02

8.84 UNIVERSITY OF ARIZONA 

Description: The University of Arizona is a public research university in Tucson, Arizona. The university 

employs 3,300 faculty and is home to more than 51,000 students. 

Country: United States

Type: Academia 

Year Founded: 1885

URL: https://www.arizona.edu/

State of Play Entries: RM18

8.85 UNIVERSITY OF DELAWARE 

Description: The University of Delaware is a state-assisted, privately governed, teir-1 research university 

in Newark, Delaware. The university employs over 1300 faculty, is home to more than 23,000 students, 

and operates 80 university research centers.

Country: United States 
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Type: Academia 

Year Founded: 1743

URL: https://www.udel.edu/

State of Play Entries: RRR04

8.86 UNIVERSITY OF MARYLAND SPACE SYSTEMS LABORATORY (UMD SSL) 

Description: The University of Maryland Space Systems Laboratory (UMD SSL) is a research facility 

located at the University of Maryland College Park campus. The SSL is centered around the lab's Neutral 

Buoyancy Research Facility, a 50-foot diameter, 25-foot deep, 367,000-gallon water tank used to 

conduct research in a simulated in-space environment.

Country: United States

Type: Academia

Year Founded: 1976

URL: https://ssl.umd.edu/

State of Play Entries: RM24

8.87 VISIONEERING SPACE CORPORATION 

Description: Visioneering Space Corporation is a space engineering company focused on designing and 

building spaceflight and scientific research systems. Its developments in mechanical, electromechanical, and opto-mechanical engineering include the Mars Atmosphere and Volatile EvolutionN 

satellite (MAVEN), the Neutron star Interior Composition ExploreR (NICER), the Sample Analysis at Mars 

instrument on the Curiosity Rover, and the Lunar Atmosphere and Dust Environment Explorer (LADEE).

Country: United States

Type: Industry

Year Founded: 2000

URL: https://www.visioneeringspace.com/

State of Play Entries: PGM05

8.88 WESTINGHOUSE ELECTRIC COMPANY 

Description: Westinghouse Electric Company is an energy technology company formed in 1999 as a 

spinoff from the Westinghouse Electric Corporation. Westinghouse Electric Company focuses on the 

supply of nuclear energy technology and services.

Country: United States

Type: Industry

Year Founded: 1886

URL: https://www.westinghousenuclear.com/

State of Play Entries: SMA20

 
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9 APPENDIX – ISAM FACILITIES 

9.1 ADDITIVE MANUFACTURING FACILITY (AMF) 

Description: The ISS Additive Manufacturing Facility (AMF) is an innovative 3D printing facility aboard 

the International Space Station (ISS), jointly developed by NASA and Made In Space, Inc. This facility 

empowers astronauts to fabricate tools, parts, and customized items directly on the ISS, reducing the 

need for resupply missions from Earth and enabling in-situ resource utilization.

Type: NASA

Location: ISS

URL: https://ntrs.nasa.gov/api/citations/20160011465/downloads/20160011465.pdf

Related Capability Area(s): PGM

9.2 ASTROBEE MICROGRAVITY TEST FACILITY 

Description: Astrobee is NASA’s new free-flying robotic system replacing the SPHERES robots on the ISS.

Type: NASA

Location: ISS

URL: https://www.nasa.gov/astrobee

Related Capability Area(s): RM, IM

9.3 AUTONOMY LAB FOR INTELLIGENT FLIGHT SYSTEMS (A-LIFT) 

Description: The NASA LaRC Autonomy Lab for Intelligent Flight Systems aims to prepare its workforce 

for upcoming autonomy and robotics challenges in space exploration and aeronautics, supporting 

complex missions like asteroid retrieval, planetary exploration, pollution measurements, and UAS 

integration. The lab includes an outdoor flying space of 60 by 60 feet and 50 feet tall, along with an 

indoor flight space measuring 1680 square feet.

Type: NASA

Location: LaRC

URL: https://researchdirectorate.larc.nasa.gov/a-lift/

Related Capability Area(s): IM

9.4 BERKELEY ROBOTICS AND INTELLIGENT MACHINES /HIGH PERFORMANCE ROBOTICS (HIPER) 

LAB 

Description: low-level research on fundamental robotics capabilities, especially for Unmanned Aerial 

Systems. Areas of particular focus are safety, localization, and design. We aim to enhance the systems’ 

capabilities by advanced algorithms, mechanical design, and control strategies.

Type: Academia

Location: University of California-Berkeley, Berkeley, CA

URL: https://me.berkeley.edu/research-areas-and-major-fields/laboratories/

Related Capability Area(s): IM
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9.5 CODED STRUCTURES LABORATORY 

Description: The Coded Structures Lab (CSL) is applying programmable material, mechanical-meta 

material, and autonomy principles to develop In-Space Assembly Robotic Construction Systems. The lab 

is equipped with rapid prototyping equipment, mechanical testing equipment, and facilities to test 

robotic assembly.

Type: NASA

Location: ARC

URL: https://www.nasa.gov/ames/ocs/seminars/kenneth-cheung

Related Capability Area(s): SMA

9.6 COLLABORATIVE AND AUTONOMOUS VEHICLE ECOSYSTEM (CAVE) 

Description: The Collaborative and Autonomous Vehicle Ecosystem (CAVE) is located in the Guidance 

and Control Systems Labs at the Aerospace Corporation, and it provides an environment for research, 

development, integration, and testing of autonomous subsystems and systems with robotic arms, 

rovers, and drones. The lab's goal is to explore how increased autonomy and collaborative robotics 

enable autonomous space systems.

Type: Aerospace Corporation

Location: Los Angeles, CA

URL: https://aerospace.org/sites/default/files/GCS/

Related Capability Area(s): RCDM, SC, PRUMI, RM

9.7 COLLABORATIVE ROBOTICS AND INTELLIGENT SYSTEMS INSTITUTE (CORIS) 

Description: studying technological advancement, while considering how the robots impact people and 

how the changes brought by the widespread use of robots will shape our society.

Type: Academia

Location: Oregon State University, Corvallis, OR

URL: https://engineering.oregonstate.edu/CoRIS

Related Capability Area(s): IM

9.8 DYNAMIC AND AUTONOMOUS ROBOTIC SYSTEMS (DAROS) LAB 

Description: The DARoS Laboratory is creating robotic systems for common goods. The primary research 

area is in the dynamic locomotion of legged systems with a focus on the development of control 

architectures and their experimental validation. The ultimate goal of the group is to develop robots to 

be practical tools for human life by enhancing robotic systems to be faster, smarter, and more robust.

Type: Academia

Location: University of Massachusetts-Amherst, Amherst, MA

URL: https://www.umass.edu/robotics/daros

Related Capability Area(s): RM
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9.9 EDWARDS AIR FORCE BASE 

Description: Edwards Air Force Base is a U.S. Air Force installation focused on conducting tests and 

demonstrations of aircraft and spacecraft for the U.S. military. AFRL's Propulsion Directorate maintains 

the AFRL Rocket Lab, which contributes to research on in-space propulsion, green propellants, modular 

propulsion units, and the cislunar logistics chain.

Type: AFRL

Location: Edwards Air Force Base, CA

URL: https://www.edwards.af.mil/

Related Capability Area(s): RPOC, RFT, ULRM, PRUMI

9.10 EXPRESS LOGISTICS CARRIER 

Description: The Express Logistics Carriers (ELC) is designed to provide additional storage and support 

for external payloads aboard the ISS. Developed by NASA, the ELC is an external platform attached to 

the ISS's truss structure, facilitating the mounting of various scientific instruments, spare parts, and 

equipment.

Type: NASA

Location: ISS

URL: https://www.nasa.gov/mission_pages/station/structure/elements/express-logistics-carriers/

Related Capability Area(s): PRUMI

9.11 FLIGHT ROBOTICS LABORATORY 

Description: Marshall's testing facility consists of the Flight Robotics Laboratory (FRL) with a large 

precision air-bearing floor, offering 8 degrees of freedom for simulating relative motion, and a dynamic 

lighting simulator for sun motion and brightness simulation. This enables the FRL to test various objects, 

including full systems, spacecraft, sensors, and cameras, with recent testing of Proximity Operations 

Sensors for the Dragon capsule in support of SpaceX.

Type: NASA

Location: MSFC

URL: https://www.nasa.gov/sites/default/files/atoms/files/msfc_capabilities_06_16_mobile.pdf

Related Capability Area(s): RM, SC, IM

9.12 FLIGHT SIMULATION FACILITIES (FSF) 

Description: The Flight Simulation Facilities include various simulation setups such as the Cockpit Motion 

Facility, Research Flight Deck, Development and Test Simulator, and more. These simulators offer highfidelity, real-time, human-in-the-loop flight capabilities for conducting aerospace research.

Type: NASA

Location: LaRC

URL: https://csaob.larc.nasa.gov/facilities/?doing_wp_cron=1689264976.5941989421844482421875

Related Capability Area(s): IM
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9.13 FLUID TRANSFER LAB IN THE VEHICLE ASSEMBLY BUILDING 

Description: The KSC EDO has been used in collaboration with GSFC to develop fluid transfer 

components and subsystems. It was used as a test area to advance the design for the OSAM-1 

Propellant Transfer System (PTS). It has also been used to advance other R&T efforts related to on-orbit 

fluid transfer. With the 50'x50' floor footprint, it is ideal for large test setups that require an indoor 

facility. In addition, a large quantity of fluids test equipment is readily available to support a broad array 

of testing.

Type: NASA

Location: KSC

Related Capability Area(s): RFT, IM

9.14 FORMATION CONTROL TESTBED 

Description: The Formation Control Testbed (FCT) is used for developing autonomous guidance, 

navigation and control (GNC) algorithms and relative sensor technologies. Its unique capabilities allow 

high fidelity, system-level ground testing of spacecraft architectures and autonomous operations.

Type: NASA

Location: JPL

URL: https://scienceandtechnology.jpl.nasa.gov/formation-control-testbed-fct

Related Capability Area(s): RCDM

9.15 GENERAL ROBOTICS, AUTOMATION, SENSING AND PERCEPTION (GRASP) LABORATORY 

Description: Founded in 1979, the GRASP Lab is a premier robotics incubator that fosters collaboration 

between students, research staff and faculty focusing on fundamental research in vision, perception, 

control systems, automation, and machine learning.

Type: Academia

Location: University of Pennsylvania, Philadelphia, PA

URL: https://www.grasp.upenn.edu/

Related Capability Area(s): IM

9.16 HEXAPOD ROBOT: AUTONOMOUS RENDEZVOUS & GRASP FOR PLANNED AND UNPLANNED 

CLIENTS 

Description: This new and unique robot is designed to test robotic satellite servicing capabilities. 

Standing 10 feet tall and 16 feet wide, the six-legged “hexapod” robot helps engineers perfect 

technologies before they’re put to use in space.

Type: NASA

Location: GSFC

URL: https://ntrs.nasa.gov/citations/20160010251

Related Capability Area(s): IM
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9.17 HUMAN-CENTER ROBOTICS LAB; ROBOT LEARNING LAB; ROBOTICS AND STATE ESTIMATION 

LAB 

Description: Robotics researchers are engaged in ground-breaking work in mechanism design, sensors, 

computer vision, robot learning, Bayesian state estimation, control theory, numerical optimization, 

biomechanics, neural control of movement, computational neuroscience, brain-machine interfaces, 

natural language instruction, physics-based animation, mobile manipulation, and human-robot 

interaction. 

Type: Academia

Location: University of Washington-Seattle, Seattle, WA

URL: https://robotics.cs.washington.edu/

Related Capability Area(s): IM, RM

9.18 INTEGRATED STRUCTURAL ASSEMBLY OF ADVANCED COMPOSITES (ISAAC) 

Description: ISAAC is a highly accurate, automated robotic platform used to support research on the 

design, analysis, manufacturing and evaluation of advanced composite materials and structures. 

Type: NASA

Location: LaRC

URL: https://researchdirectorate.larc.nasa.gov/isaac/

Related Capability Area(s): RM, SC

9.19 ISAM TEST LABORATORY 

Description: Supports full-scale autonomous assembly of large space structures. Multi-level facility 

(recessed floors and elevated ceilings) that will enable operational testing of environmental scenarios 

(orbital, surface, and sub-surface). Integration of LaRC’s expertise and capabilities in autonomy, 

structures, predictive modeling, simulation, and systems analysis. Attached to the lab is a room with 

dark walls and ceiling to support testing of sub-scale autonomous robotic operations and testing 

metrology systems.

Type: NASA

Location: LaRC

Related Capability Area(s): RM

9.20 JEM EXTERNAL FACILITY 

Description: The Japanese Experiment Module's Exposed Facility (JEM EF) is an external platform on the 

International Space Station (ISS), developed by the Japan Aerospace Exploration Agency (JAXA). It 

enables the installation of scientific experiments and instruments exposed directly to the space 

environment, fostering a wide range of research activities in microgravity conditions. 

Type: JAXA 

Location: ISS

URL: https://humans-in-space.jaxa.jp/en/biz-lab/experiment/facility/ef/

Related Capability Area(s): RM
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9.21 KIRTLAND AIR FORCE BASE 

Description: Kirtland Air Force Base specializes in research, development, and testing among its other 

missions and is home to AFRL's Space Vehicles Directorate which develops and transitions new space 

technologies to national security space use. The Space Warfighting Operations Research and 

Development (SWORD) Laboratory is a 26,000 square foot facility that hosts research and development 

programs that support space warfighting capabilities, including space domain awareness, spacecraft 

resilience, and autonomy.

Type: AFRL

Location: Kirtland Air Force Base, NM

URL: https://www.afrl.af.mil/News/Article-Display/Article/2629320/afrl-opens-space-warfightingoperations-research-and-development-sword-laborato/

Related Capability Area(s): RCDM, PRUMI, IM, ULRM, R

9.22 LABORATORY FOR COMPUTATIONAL SENSING AND ROBOTICS (LCSR) 

Description: LCSR's mission is to create knowledge and foster innovation to further the field of robotics 

science and engineering. 

Type: Academia

Location: Johns Hopkins University, Baltimore, MD

URL: https://lcsr.jhu.edu/

Related Capability Area(s): IM

9.23 LUNAR LAB AND REGOLITH TESTBEDS 

Description: The Lunar Lab and Regolith Testbeds are facilities equipped with different types of lunar 

simulant and can be customized to test specific research investigations. Currently, it is being used to test 

the VIPER optical system.

Type: NASA

Location: ARC

URL: https://sservi.nasa.gov/testbed/

Related Capability Area(s): SC

9.24 MARYLAND ROBOTICS CENTER 

Description: This interdisciplinary research facility studies all aspects of robotics including intelligence, 

component technologies, and system autonomy.

Type: Academia

Location: University of Maryland, College Park, MD

URL: https://robotics.umd.edu/facilities

Related Capability Area(s): RM
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9.25 MATERIALS AND PROCESSES LABORATORY 

Description: The laboratory provides capabilities including: Materials Testing, Nonmetallic Materials and 

Manufacturing, Materials Selection and Control & Informatics, Damage Tolerance Assessment, 

Environmental Effects, and Metallic Engineering In-Space Manufacturing Material and Processing 

Development Mechanical Test and Characterization Space Environmental Effects (SEE) Test Lab

Type: NASA

Location: MSFC

URL: https://www.nasa.gov/sites/default/files/atoms/files/5-565173b_mpl.pdf

Related Capability Area(s): PGM

9.26 MEASUREMENT SYSTEM LABORATORY (MSL) 

Description: The MSL is a 175,000-square-foot, five-story laboratory containing 40 state-of-the-art 

research labs and workspace to enable the development, testing, and implementation of new sensor 

and instrument technologies. Serving as the primary research and development facility for multiple 

NASA focus areas, the goal of the MSL is to enable the agency in achieving its missions in space 

exploration, science, and aeronautics with a flexible, modular design that utilizes shared facilities and 

capability with an emphasis on collaboration.

Type: NASA

Location: LaRC

URL: https://www.youtube.com/watch?v=-Yn5k7_fQys

Related Capability Area(s): IM

9.27 NAVAL CENTER FOR SPACE TECHNOLOGY (NCST) 

Description: The Naval Center for Space Technology (NCST) at the U.S. Naval Research Laboratory (NRL) 

assists with the development of all areas of Navy space program interest from basic research to 

spacecraft development. The Robotic Servicing of Geosynchronous Satellites (RSGS) robotic servicing 

payload is being developed and tested at NCST. 

Type: NRL

Location: Washington, DC

URL: https://www.nrl.navy.mil/Our-Work/Areas-of-Research/Naval-Center-for-Space-Technology/

Related Capability Area(s): PRUMI, RM, RCDM

9.28 PLANETARY ANALOG TEST SITE 

Description: Planetary Analog Test Site, known as the Rock Yard, at NASA's Johnson Space Center in 

Houston, provides a large multi-acre test area which simulates general features of the lunar and Martian 

surface terrain environment consisting of various slopes, grades, simulated craters and strewn rock field 

conditions. 

Type: NASA

Location: JSC

URL:
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https://www.nasa.gov/centers/johnson/engineering/integrated_environments/space_analog_testing/in

dex.html

Related Capability Area(s): RM, SC, IM

9.29 RAVEN 

Description: Raven is a NASA flight experiment conducted on the International Space Station (ISS) to 

facilitate the development and validation of Autonomous Rendezvous and Capture (AR&C) technologies. 

Its mission aims to demonstrate advanced sensors, vision processing algorithms, and high-speed spacerated avionics, forming an autonomous navigation system. 

Type: NASA

Location: ISS

URL: https://nexis.gsfc.nasa.gov/raven.html

Related Capability Area(s): RPOC

9.30 REFABRICATOR 

Description: ReFabricator is an advanced recycling system aboard the International Space Station (ISS), 

developed by NASA in collaboration with Tethers Unlimited Inc. It facilitates the recycling of plastic 

waste and 3D printing of new items, promoting sustainability and reducing the reliance on resupply 

missions from Earth.

Type: NASA

Location: ISS

URL: https://science.nasa.gov/science-news/news-articles/the-in-space-refabricator

Related Capability Area(s): PGM

9.31 ROBOTIC OPERATIONS CENTER 

Description: The Robotic Operations Center, or ROC, is the newest facility for satellite servicing 

development. Within its black, curtain-lined walls, the team is testing technologies and operations for 

multiple exploration and science missions, including the OSAM-1 mission. The ROC has been continuing 

and expanding the work of the Servicing Technology Center since the summer of 2015 and houses 

multiple robots including a hexapod robot which simulates the movement of a satellite in space.

Type: NASA

Location: GSFC

URL: https://nexis.gsfc.nasa.gov/facility.html

Related Capability Area(s): RM

9.32 ROBOTICS AND AUTONOMOUS SYSTEMS CENTER (RASC) 

Description: RASC research spans the major areas of robotics, including health, service, socially assistive, 

distributed, networked, marine, aerial, humanoid, haptics, space, robot vision and robot learning, and 

impacts a broad spectrum of applications, including assistance, training and rehabilitation, education, 

environmental monitoring, emergency response, homeland security, and entertainment.
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Type: Academia

Location: University of Southern California, Los Angeles, CA

URL: https://rasc.usc.edu/

Related Capability Area(s): IM

9.33 ROBOTICS AND MECHANISMS LAB (ROMELA) 

Description: RoMeLa is a state-of-the-art robotics research facility for graduate and undergraduate 

research and education with an emphasis on studying robotics.

Type: Academia

Location: University of California, Los Angeles, CA

URL: https://www.romela.org/

Related Capability Area(s): RM

9.34 ROBOTICS AND MECHTRONICS LAB 

Description: Students can study areas such as robotic intelligence, vision, system dynamics and control, 

human-robotic interactions, machine learning, industrial automation.

Type: Academia

Location: Virginia Polytechnic Institute and State University, Blacksburg, VA

URL: https://autonomyandrobotics.centers.vt.edu/groups/rml.html

Related Capability Area(s): IM, RM

9.35 ROBOTICS LAB 

Description: The Planetary Robotics Laboratory (PRL) is a facility dedicated to rapid prototyping of 

robotic systems and algorithms for space and terrestrial applications. It focuses on designing, testing, 

and coordinating mobile and manipulative robots, including limb-controlled robots for in-space 

construction and multiple heterogeneous rovers for surface operations, with simulated natural terrain 

capabilities.

Type: NASA

Location: JPL

URL: https://www-robotics.jpl.nasa.gov/

Related Capability Area(s): RM

9.36 ROVERSCAPE 

Description: The NASA Ames Roverscape is an 11,500 square meter, outdoor, robotics research, 

development, and test facility. The Roverscape is designed to support testing of mobile robot 

locomotion, navigation, and operations. The Roverscape is also suitable for conducting simulations of 

planetary surface missions.

Type: NASA

Location: ARC
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URL: https://www.nasa.gov/feature/roverscape

Related Capability Area(s): SC

9.37 SATELLITE SERVICING TECHNOLOGY CENTER 

Description: The Servicing Technology Center (STC), established in 2011, serves as a pivotal hub for 

technology and operations development. With a primary focus on NASA's Robotic Refueling Mission 

(RRM), the STC facilitates the integration, testing, and refinement of satellite-servicing tools and 

techniques for on-orbit operations on the International Space Station, contributing significantly to the 

advancement of space robotics.

Type: NASA

Location: GSFC

URL: https://nexis.gsfc.nasa.gov/facility.html

Related Capability Area(s): PRUMI

9.38 SIMULATED LUNAR OPERATIONS LABORATORY 

Description: The SLOPE lab is a unique indoor laboratory designed to mimic lunar and planetary surface 

operations. The lab contains several large soil bins for rover testing, including an adjustable tilt-bed as 

well as equipment for evaluating performance of tires, excavation tools and other vehicle components.

Type: NASA

Location: GRC

URL: https://www.nasa.gov/nasaglenntours/2023/the-simulated-lunar-operations-lab-slope-tour/

Related Capability Area(s): SC

9.39 SMALL SATELLITE DYNAMICS TESTBED 

Description: The Small Satellite Dynamics Testbed (SSDT) at the Jet Propulsion Laboratory offers 

infrastructure that supports small satellite guidance and control testing in a relevant dynamics 

environment while constrained by the gravity of Earth.

Type: NASA

Location: JPL

URL: https://scienceandtechnology.jpl.nasa.gov/small-satellite-dynamics-testbed-ssdt

Related Capability Area(s): RCDM

9.40 SPACE RENDEZVOUS LABORATORY (SLAB) 

Description: (SLAB) is a research and development laboratory that performs fundamental and applied 

research at the intersection of Astrodynamics, GN&C, Environment Characterization and Decision 

Making to enable future Distributed Space Systems (DSS). 

Type: Academia

Location: Stanford

URL: https://slab.stanford.edu/

Related Capability Area(s): IM
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9.41 SPACE ROBOTICS LABORATORY (SRL) 

Description: The Space Robotics Laboratory at the U.S. Naval Research Laboratory (NRL) provides 

testbeds to develop robotic systems and demonstrate their operations. The lab enables hardware-inthe-loop testing and is supporting the test and development of the Robotic Servicing of Geosynchronous 

Satellites (RSGS) robotic servicing payload.

Type: NRL

Location: Washington, DC

URL: https://www.nrl.navy.mil/Our-Work/Areas-of-Research/Naval-Center-for-Space-Technology/

Related Capability Area(s): PRUMI, RM, RCDM

9.42 SPACE SYSTEMS LABORATORY AND THE NEUTRAL BUOYANCY RESEARCH FACILITY 

Description: The Space Systems Laboratory is centered around the Neutral Buoyancy Research Facility, a 

50-foot diameter, 25-foot deep water tank that is used to simulate the microgravity environment of 

space. These facilities specialize in astronautics and the simulation of microgravity environments.

Type: Academia

Location: University of Maryland, College Park, MD

URL: https://ssl.umd.edu/about

Related Capability Area(s): IM

9.43 SPACECRAFT STRUCTURES AND DYNAMICS LAB 

Description: The research complex, established in 1962, supports spacecraft and launch vehicle 

dynamics research, featuring a 55-foot Vacuum Chamber and a previously used 60-foot Vacuum Sphere. 

The facility includes a large backstop for structural dynamics testing of launch vehicles and spacecraft 

components, along with a 107-foot tower used for model tests of the US Air Force Thor family of launch 

vehicles, now primarily dedicated to deployable space structures research.

Type: NASA

Location: LaRC

URL: https://researchdirectorate.larc.nasa.gov/facilities-capabilities/

Related Capability Area(s): RM, IM, SC

9.44 STRUCTURES AND MATERIALS LAB 

Description: The James H Starnes, Jr. Structures and Materials Lab conducts materials and structural 

analysis for aircraft design and development of new structural concepts for aeronautical and space 

vehicles. The facility focuses on experiments in metallurgy, composite materials, environmental effects, 

and manufacturing technology to create materials that can withstand various conditions. Additionally, 

the lab houses NINJAR and SAMURAI robots and features a 1.2 million pound force test frame from the 

1940s, used for researching robotics and in-space assembly.

Type: NASA

Location: LaRC
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URL: https://ntrs.nasa.gov/citations/20220014087

Related Capability Area(s): SC, RM, SMA

9.45 SWAMP WORKS LABORATORY 

Description: Research and Technology Incubator based out of Kennedy Space Center's Science and 

Technology Division. This lab hosts a range of projects including: applied physics; applied chemistry; 

granular mechanics and regolith operations; cryogenics; electrostatics and surface physics; regolith 

activities testing; robotics integration, checkout and assembly; corrosion technology; advanced 

materials and polymer science, advanced manufacturing and 3-D printing.

Type: NASA

Location: KSC

URL: https://www.nasa.gov/sites/default/files/atoms/files/sp-2017-01-008-

ksc_ub_swamp_works_flyer_508.pdf

Related Capability Area(s): RM, PGM, SC, IM

9.46 THE INSTITUTE FOR ROBOTICS AND INTELLIGENT MACHINES 

Description: Fundamental research includes expertise in mechanics, control, perception, artificial 

intelligence and cognition, interaction, and systems.

Type: Academia

Location: Georgia Institute of Technology, Atlanta, GA

URL: https://research.gatech.edu/robotics

Related Capability Area(s): RM

9.47 THE ROBOTICS INSTITUTE 

Description: Established in 1979 to conduct basic and applied research in robotics technologies 

Type: Academia

Location: Carnegie Mellon University, Pittsburg, PA

URL: https://www.ri.cmu.edu/about/

Related Capability Area(s): RM

9.48 THE UNIVERSITY OF MICHIGAN ROBOTICS INSTITUTE 

Description: The University designed the space to serve as collaborative labs and classrooms, with an 

indoor flight lab for flying autonomous vehicles, an outdoor playground for testing robots, and a 

partnership with Ford Motor Company, whose employees will share the building with students and 

faculty.

Type: Academia

Location: University of Michigan, Ann Arbor, MI

URL: https://robotics.umich.edu/

Related Capability Area(s): RM
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9.49 WATER HAMMER AND FLUIDS LAB 

Description: The GSFC Fluids Lab has been used in collaboration with KSC to develop fluid transfer 

components and subsystems. It was used as a manufacturing and assembly area to fabricate the OSAM1 Propellant Transfer System (PTS). It has also been used to advance other R&D efforts related to onorbit fluid transfer.

Type: NASA

Location: GSFC

Related Capability Area(s): RFT

9.50 WRIGHT-PATTERSON AIR FORCE BASE 

Description: Wright-Patterson Air Force Base is one of the largest Air Force bases in the United States 

and, among other functions, houses the headquarters for the Air Force Research Laboratory (AFRL). 

AFRL facilities support robotic control systems, additive manufacturing for space systems, advanced 

materials for in-space manufacturing and assembly.

Type: AFRL

Location: Wright-Patterson Air Force Base, OH

URL: https://www.afrl.af.mil/

Related Capability Area(s): SMA, PGM

 
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10 REFERENCES 

10.1 ROBOTIC MANIPULATION 

1. https://www.nasa.gov/mission_pages/tdm/osam-2.html

2. https://redwirespace.com/capabilities/spec-sheets/

3. https://sbir.nasa.gov/SBIR/abstracts/21/sbir/phase1/SBIR-21-1-Z3.04-2593.html

4. https://www.nasa.gov/feature/langley/nasa-assemblers-are-putting-the-pieces-together-forautonomous-in-space-assembly

5. https://en.wikipedia.org/wiki/Lunar_Gateway

6. https://www.canada.ca/en/space-agency/news/2020/06/building-the-next-canadarm.html

7. https://en.wikipedia.org/wiki/Dextre

8. https://directory.eoportal.org/web/eoportal/satellite-missions/e/ets-vii

9. https://en.wikipedia.org/wiki/European_Robotic_Arm

10. http://www.esa.int/Science_Exploration/Human_and_Robotic_Exploration/International_Spa

ce_Station/European_Robotic_Arm

11. Fleischner, Richard. “Insight Instrument Deployment Arm,” 15th European Space Mechanisms 

& Tribology Symposium – ESMATS 2013. September 25-27, 2013. URL: 

https://www.esmats.eu/esmatspapers/pastpapers/pdfs/2013/fleischner.pdf.

12. http://iss.jaxa.jp/en/kibo/about/kibo/rms/

13. https://www.tethers.com/robotic-arm/

14. https://www.nasa.gov/centers/langley/multimedia/iotw-lsms.html#.YBlytadKhPZ

15. https://mars.nasa.gov/mars2020/spacecraft/rover/arm/

16. Baumgartner, Eric T., Bonitz, Robert G., Melko, Joseph P., Shiraishi, Lori R., and Leger, P. Chris,

“The Mars Exploration Rover Instrument Positioning System,” 2005 IEEE Aerospace 

Conference, December 20, 2004, URL: 

https://www.researchgate.net/publication/4204416_The_Mars_Exploration_Rover_instrume

nt_positioning_system. 

17. Billing, Rius and Fleischner, Richard, “Mars Science Laboratory Robotic Arm,” 14th European 

Space Mechanisms & Tribology Symposium – ESMATS 2011. September 28-30, 2011. URL: 

https://www.esmats.eu/esmatspapers/pastpapers/pdfs/2011/billing.pdf.

18. Bonitz, Robert G., Nguyen, Tam T., and Kim, Won S., “The Mars Surveyor '01 Rover and 

Robotic Arm,” IEEE Paper, 2000, URL: 

https://ntrs.nasa.gov/api/citations/20000057424/downloads/20000057424.pdf.

19. Bonitz, Robert et al., “Mars Volatiles and Climate Surveyor Robotic Arm,” Journal of 

Geophysical Research, Vol. 106, No. E8, Pages 17,623-17,634, August 25, 2001, URL: 

https://agupubs.onlinelibrary.wiley.com/doi/pdf/10.1029/1999JE001140

20. https://nexis.gsfc.nasa.gov/robotic_servicing_arm.html

21. Ogilvie, Andrew, Allport, Justin, Hannah, Michael, and Lymer, John, “Autonomous Satellite 

Serving Using the Orbital Express Demonstration Manipulator System,” i-SAIRAS 2008 

Conference, URL: http://robotics.estec.esa.int/iSAIRAS/isairas2008/Proceedings/SESSION%2014/m113-Ogilvie.pdf.
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22. Bonitz, Robert et al., “The Phoenix Mars Lander Robotic Arm,” IEEEAC Paper, December 15, 

2008, URL: 

https://www.researchgate.net/publication/224407690_The_Phoenix_Mars_Lander_Robotic_

Arm

23. Akin, David, Roberts, Brian, Smith, Walt, and Sullivan, Brook, “University of Maryland Concepts 

and Technologies for Robotic Servicing of Hubble Space Telescope,” Space Systems Laboratory 

at University of Maryland, URL: https://spacecraft.ssl.umd.edu/publications/GSFC.040402.pdf. 

24. https://www.nasa.gov/robonaut2/about.html

25. Henshaw, Glen and Kelm, Bernard, “DARPA Phoenix: Overview and Risk Reduction Plans,” iSAIRAS 2014 Conference, URL: https://www.nasa.gov/sites/default/files/files/G_HenshawNRL_Advances_in_Orbital_Inspection.pdf

26. https://en.wikipedia.org/wiki/Canadarm

27. https://ewh.ieee.org/reg/7/millennium/canadarm/canadarm_technical.html

28. https://nexis.gsfc.nasa.gov/OSAM-1.html

29. https://spacenews.com/mda-robotics-for-spider-osam-1/

30. https://en.wikipedia.org/wiki/Mobile_Servicing_System

31. http://www.nasa.gov/mission_pages/station/structure/elements/mss.html

32. https://en.wikipedia.org/wiki/Strela_(crane)

33. https://www.nasa.gov/mission_pages/station/expeditions/expedition30/spacewalk.html

34. https://en.wikipedia.org/wiki/Mir

35. NASA Langley Research Center, “Human Robotic Systems: Tendon Actuated Lightweight InSpace Manipulators (TALISMAN),” NASA Facts, 2015, URL: 

https://www.nasa.gov/sites/default/files/atoms/files/fs_talisman_150908.pdf. 

36. https://redwirespace.com/wp-content/uploads/2023/06/redwire-staark-robotic-armflysheet.pdf

37. https://gitai.tech/product/s1/

38. https://gitai.tech/2022/07/11/tech-demon-outside-iss/

39. https://gitai.tech/2022/08/04/gitai-develops-a-10-meter-robotic-arm-for-space-andcompletes-the-proof-of-concept-demonstration-trl-3/

40. https://gitai.tech/2022/08/16/gitai-develops-inchworm-type-robotic-arm/

10.2 RPO, CAPTURE, DOCKING, AND MATING 

41. https://aerospace.org/article/cubesats-get-close-proximity-operation-interesting-implications

42. Gangestad, J. W., Venturini, C. C., Hinkley, D. A., and Kinum, G., “A Sat-to-Sat Inspection 

Demonstration with the AeroCube-10 1.5U CubeSats,” Small Satellite Conference, July 2021

43. ANGELS Fact Sheet: https://www.kirtland.af.mil/Portals/52/documents/AFD-131204-

039.pdf?ver=2016-06-28-105617-297

44. Weeden, B., and Samson, V., “Global Counterspace Capabilities,” Secure World Foundation, 

April 2021, 

https://swfound.org/media/207162/swf_global_counterspace_capabilities_2021.pdf

45. Blain, C., van Binst, E. T., Gao, L., Xu, L., and Patil, V., 2017, “Is Space Market Ready for LEO 

Deorbiting Commercial Services?”, Research Project for Master of Business Administration, 
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Toulouse Business School, Toulouse, France, “https://chaire-sirius.eu/documents/dbe353-

blain-et-al--2017.pdf”

46. https://nexis.gsfc.nasa.gov/argon.html

47. Galante, J. M., Van Eepoel, J., Strube, M., Gill, N., Gonzalez, M., Hyslop, A., Patrick, B., “Pose 

Measurement Performance of the Argon Relative Navigation Sensor Suite in Simulated Flight 

Conditions,” AIAA Guidance, Navigation, and Control Conference Paper, August 2012, 

https://ntrs.nasa.gov/api/citations/20120013578/downloads/20120013578.pdf

48. https://astroscale.com/astroscales-elsa-d-successfully-demonstrates-repeated-magneticcapture/

49. ELSA-d Press Kit, Astroscale, 2021. URL: https://astroscale.com/wpcontent/uploads/2021/08/ELSA-d-Press-Kit-2021.pdf

50. https://directory.eoportal.org/web/eoportal/satellite-missions/content/-/article/elsa-d

51. https://directory.eoportal.org/web/eoportal/satellite-missions/e/ets-vii

52. Kawano, I., Masaaki, M., Kasai, T., and Suzuki, T., “Result and Evaluation of Autonomous

Rendezvous Docking Experiments of ETS-VII”, AIAA Guidance, Navigation, and Control 

Conference Paper, August 1999, https://arc.aiaa.org/doi/pdf/10.2514/6.1999-4073

53. https://www.tethers.com/in-space-services/

54. https://spacenews.com/tethers-unlimited-developing-satellite-servicer-for-leo-missions/

55. https://spacenews.com/northrop-grummans-mev-1-servicer-docks-with-intelsat-satellite/

56. https://news.northropgrumman.com/news/features/mission-extension-vehicle-breathing-lifeback-into-in-orbit-satellites

57. https://www.northropgrumman.com/space/space-logistics-services/

58. https://space.skyrocket.de/doc_sdat/mev-1.htm

59. MEV-2 Technical Appendix, Space Logistics, LLC. URL: https://fcc.report/IBFS/SAT-LOA20191210-00144/2098823.pdf

60. https://afresearchlab.com/technology/space-vehicles/mycroft/

61. ESPA Augmented Geosynchronous Laboratory Experiment (EAGLE), Air Force Research 

Laboratory, April 2018. URL: https://www.kirtland.af.mil/Portals/52/documents/EAGLEfactsheet.pdf

62. International Docking System Standard (IDSS) Interface Definition Document (IDD) Revision E, 

October 2016, 

https://ntrs.nasa.gov/api/citations/20170001546/downloads/20170001546.pdf

63. Christiansen, S., Nilson, T., “Docking System Mechanism Utilized on Orbital Express Program,” 

Aerospace Mechanisms Symposium, May 2008, 

https://www.esmats.eu/amspapers/pastpapers/pdfs/2008/christiansen.pdf

64. Shoemaker, James, Wright, Melissa, and Sivapiragasam, Sanjivan, "Orbital Express Space 

Operations Architecture Program," 17th Annual AIAA/USU Conference on Small Satellites, 

Paper SSC03-IV-2, 2003. URL: 

https://digitalcommons.usu.edu/cgi/viewcontent.cgi?referer=&httpsredir=1&article=1768&co

ntext=smallsat

65. https://earth.esa.int/web/eoportal/satellite-missions/s/stp-1

66. https://nexis.gsfc.nasa.gov/osam-1.html
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67. https://nexis.gsfc.nasa.gov/Raven.html

68. Strube, M., Henry, R., Skelton, E., Van Eepoel, J., Gill, N., McKenna, R., “RAVEN: An On-Orbit 

Relative Navigation Demonstration Using International Space Station Visiting Vehicles,” 

Advances in the Astronautical Sciences Guidance, Navigation, and Control 2015, Vol. 154, 

2015, https://ntrs.nasa.gov/api/citations/20150002731/downloads/20150002731.pdf

69. Roesler, G., “Robotic Servicing of Geosynchronous Satellites (RSGS) Proposers Day”, DARPA, 

May 2016, https://www.darpa.mil/attachments/RSGSProposersDaySlideDeck.PDF

70. Martin, M., Pfrang, K., and Weeden, B., “Chinese Military and Intelligence Rendezvous and 

Proximity Operations”, Secure World Foundation, April 2021 

71. Weeden, B., “Chinese Military and Intelligence Rendezvous and Proximity Operations”, Secure 

World Foundation, May 2022, URL: https://swfound.org/media/207367/swf-chinesemilitarintel-rpo-may-2022.pdf

72. http://www.parabolicarc.com/2019/07/01/inspace-advanced-manufacturing/

73. Busek SOUL System Maturation: https://www.sbir.gov/node/1155671

74. Hruby, V., DeLuccia, C., and Williams, D., “Tethered Robot for Spacecraft Self Inspection and 

Servicing,” AIAA SPACE Forum, September 2018. https://arc.aiaa.org/doi/pdf/10.2514/6.2018-

5342

75. https://www.orbitfab.space/products

76. https://momentus.space/services/

77. Davis, T., Baker, T., Belchak, T., and Larsen, W., “XSS-10 Micro-Satellite Flight Demonstration 

Program,” AIAA/USU Conference on Small Satellites, August 2003. 

https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=1767&context=smallsat

78. https://www.kirtland.af.mil/Portals/52/documents/AFD-111103-035.pdf?ver=2016-06-28-

110256-797

79. https://directory.eoportal.org/web/eoportal/satellite-missions/v-w-x-y-z/xss

80. https://science.nasa.gov/missions/helioswarm

81. https://www.starfishspace.com/the-otter/

82. https://astroscale.com/missions/adras-j/

83. https://www.nasa.gov/directorates/heo/scan/services/missions/earth/COSMIC.html

84. https://astroscale.com/astroscales-elsa-d-successfully-demonstrates-repeated-magneticcapture/

85. https://astroscale.com/elsa-m/

10.3 RELOCATION 

86. Stokes, M., Alvarado, G., Weinstein, E., and Easton, I., “China’s Space and Counterspace 

Capabilities and Activities,” The U.S.-China Economic and Security Review Commission, March 

2020. https://www.uscc.gov/sites/default/files/2020-

05/China_Space_and_Counterspace_Activities.pdf

87. https://spaceflight101.com/long-march-7-maiden-launch/aolong-1-asat-concerns/

88. https://astroscale.com/elsa-d/

89. https://directory.eoportal.org/web/eoportal/satellite-missions/content/-/article/elsa-d

90. https://www.northropgrumman.com/space/space-logistics-services/
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91. https://www.northropgrumman.com/space/space-logisticsservices/#:~:text=The%20Mission%20Extension%20Vehicle%2D1,whose%20fuel%20is%20nea

rly%20depleted

92. https://space.skyrocket.de/doc_sdat/mev-1.htm

93. https://www.northropgrumman.com/space/space-logistics-services/

94. https://fireflyspace.com/elytra/

95. https://momentus.space/services/

96. VigorideTM Transportation Service Datasheet, Momentus, URL: 

https://www.satelliteconfers.org/wp-content/uploads/2020/05/Momentus_Vigoride-2.0-

Datasheet-Final.pdf

97. https://www.dorbit.space/launch-deployment

98. https://spaceflight.com/sherpa/

10.4 PLANNED REPAIR, UPGRADE, MAINTENANCE, AND INSTALLATION 

99. https://www.tethers.com/in-space-services/

100. Britton, Nathan, “Tethers Robotics,” International Conference on Intelligent Robots and 

Systems (IROS) 2020. URL: https://hq.wvrtc.com/iros2020/invited-speakers/britton.pdf

101. https://altius-space.com/technologies.html

102. https://altius-space.com/successful-first-orbital-launch-of-dogtags-aboard-onewebssatellites/

103. https://altius-space.com/technologies/

104. https://www.spaceworks.aero/orbital/fuseblox/

105. https://www.oceaneering.com/brochures/gold-connectors/

106. Bartolomeo User Guide, Issue 1. Airbus, November 2018. URL:

https://www.unoosa.org/documents/pdf/psa/hsti/Bartolomeo/BTL-UG.pdf

107. “External Payloads Proposer’s Guide to the International Space Station,” NASA Johnson Space 

Center International Space Station Program, SSP-51071 Baseline, August 2017. URL: 

https://explorers.larc.nasa.gov/HPMIDEX/pdf_files/07A_External-Payloads-Proposers-Guideto-ISS-SSP-51071-Baseline_Redacted.pdf

108. “HOTDOCK: A Multifunctional Coupling Interface for Space & Non-Space Applications,” 

HOTDOCK Product Sheet, Space Applications Services. URL: 

https://www.spaceapplications.com/wp-content/uploads/2019/05/7-product-sheet-hotdock1.pdf

109. https://www.researchgate.net/publication/344871896_MOSARWM_A_relocatable_robotic_arm_for_future_on-orbit_applications

110. https://www.novawurks.com/

111. “NovaWurks/CONFERS One-Pager,” CONFERS, 2018. URL: 

https://www.satelliteconfers.org/wp-content/uploads/2018/10/CONFIRS-One-Pager.pdf

112. https://www.iboss.space/products/

113. Kreisela, Joerg, Schervanb, Thomas A., and Schroederc, Prof. Dr. Kai-Uwe, “A Game-Changing 

Space System Interface Enabling Multiple Modular and Building Block-Based Architectures for 

Orbital And Exploration Missions,” 70th International Astronautical Congress (IAC), IAC-19-
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D3.2B.6x54237, October 21-25, 2019. URL: https://www.iboss.space/wpcontent/uploads/2019/11/IAC-19-Paper.pdf

114. https://altius-space.com/technologies.html

115. Christiansen, Scott and Nilson, Troy, Docking System Mechanism Utilized on Orbital Express 

Program,” 39th Aerospace Mechanisms Symposium, May 79, 2008. URL: 

https://www.esmats.eu/amspapers/pastpapers/pdfs/2008/christiansen.pdf

116. Shoemaker, James, Wright, Melissa, and Sivapiragasam, Sanjivan, "Orbital Express Space 

Operations Architecture Program," 17th Annual AIAA/USU Conference on Small Satellites, 

Paper SSC03-IV-2, 2003. URL: 

https://digitalcommons.usu.edu/cgi/viewcontent.cgi?referer=&httpsredir=1&article=1768&co

ntext=smallsat

117. https://earth.esa.int/web/eoportal/satellite-missions/s/stp-1

118. Hruby, Vlad, DeLuccia, Craig, and Williams, Dan, “Tethered Robot for Spacecraft Self 

Inspection and Servicing,” 2018 AIAA SPACE Forum, September 17-19, 2018. URL: 

https://arc.aiaa.org/doi/pdf/10.2514/6.2018-5342

119. Vinals, Javier et al., “Multi-Functional Interface for Flexibility and Reconfigurability of Future 

European Space Robotics Systems,” 2018. URL: 

https://strathprints.strath.ac.uk/65962/1/Vinals_etal_AAST_2018_Multi_functional_interface

_for_flexibility_and_reconfigurability_of_future_european.pdf 

120. https://www.obruta.com/products

121. https://www.nasa.gov/directorates/spacetech/Rolling_Out_a_Path_to_Future_Space_Travel

122. https://gitai.tech/2021/10/28/iss-tech-demo-ja/

10.5 UNPLANNED OR LEGACY REPAIR AND MAINTENANCE 

123. https://www.tethers.com/in-space-services/

124. https://spacenews.com/tethers-unlimited-developing-satellite-servicer-for-leo-missions/

125. https://www.northropgrumman.com/space/space-logistics-services/

126. https://www.satellitetoday.com/innovation/2021/04/12/northrop-grumman-successfullydocks-second-mission-extension-vehicle-with-operational-intelsat-satellite/

127. https://www.northropgrumman.com/space/space-logistics-services/

128. https://nexis.gsfc.nasa.gov/OSAM-1.html

129. https://www.nasa.gov/image-feature/goddard/2021/nasa-s-on-orbit-servicing-assembly-andmanufacturing-1-mission-ready-for-spacecraft

130. https://directory.eoportal.org/web/eoportal/satellite-missions/o/osam-1

131. https://nexis.gsfc.nasa.gov/robotic_refueling_mission.html

132. https://nexis.gsfc.nasa.gov/rrm_phase1.html

133. https://earth.esa.int/web/eoportal/satellite-missions/i/iss-rrm
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10.6 REFUELING AND FLUID TRANSFER 

134. Chato, David J., “Technologies for Refueling Spacecraft On-Orbit,” AIAA Paper No. 2000-5107 

and NASA TM-2000-210476, November 2000. URL: 

https://ntrs.nasa.gov/citations/20000121212

135. https://www.orbitfab.space/products

136. https://spacenews.com/orbit-fab-demonstrates-satellite-refueling-technology-on-iss/

137. https://www.nasa.gov/directorates/spacetech/solicitations/tipping_points/2020_selections

138. Kirkland, Z. and Tegart, J.,"On-orbit Propellant Resupply Demonstration," AIAA Paper No. 84-

1342, June 1984. URL: https://arc.aiaa.org/doi/abs/10.2514/6.1985-1233

139. Espero, Tracey, “Orbital Express: A New Chapter In Space,” Presentation to NASA Future InSpace Operations (FISO) Working Group, March 2007. URL:

https://fiso.spiritastro.net/telecon07-09/Espero_3-28-07/Orbital%20Express.ppt

140. Reference Guide to the International Space Station – Utilization Edition, NP-2015-05-022-JSC, 

September 2015. https://www.nasa.gov/sites/default/files/atoms/files/np-2015-05-022-jsciss-guide-2015-update-111015-508c.pdf 

141. https://www.nasa.gov/mission_pages/station/structure/elements/progress_about.html

142. Tiffin, Daniel J., “Orbital Fueling Architectures Leveraging Commercial Launch Vehicles for 

More Affordable Human Exploration,” Master of Science Thesis at Case Western Reserve 

University, January 2020. URL: 

https://etd.ohiolink.edu/acprod/odb_etd/etd/r/1501/10?clear=10&p10_accession_num=case

1575590285930015

143. Stokes, Mark et al., China’s Space and Counterspace Capabilities and Activities, Report for U.S.-

China Economic and Security Review Commission, March 30, 2020. URL: 

https://www.uscc.gov/sites/default/files/2020-

05/China_Space_and_Counterspace_Activities.pdf

144. https://www.chinadaily.com.cn/china/2016-07/04/content_25954551.htm

145. https://technology.nasa.gov/patent/GSC-TOPS-170

10.7 STRUCTURAL MANUFACTURING AND ASSEMBLY 

146. https://www.nasa.gov/mission_pages/tdm/osam-2.html

147. https://redwirespace.com/newsroom/first-ever-3d-printing-in-a-space-like-environmentdemonstrated/?rdws=nnn.xffxcv.tfd&rdwj=1127

148. https://motivss.com/products-capabilities/xlink/

149. https://www.nasa.gov/feature/langley/nasa-assemblers-are-putting-the-pieces-together-forautonomous-in-space-assembly

150. https://sbir.gsfc.nasa.gov/SBIR/abstracts/12/sbir/phase2/SBIR-12-2-H5.01-9689.html

151. Levedahl, B., Hoyt, R., Gorges, J., Silagy, T., Britton, N., Jimmerson, G., Bodnar, M., and Slostad, 

J., “TrusselatorTM Technology for In-Situ Fabrication of Solar Array Support Structures,” AIAA 

SciTech Forum, January 2018.
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167

Approved for Public Release.

152. Card, M.F., Heard, W.L., and Akin, D.L., “Construction and Control of Large Space Structures,” 

NASA TM-87689, February 1986.

153. Doggett, W.R., Dorsey, J.T., Ganoe, G.G., King, B.D., Jones, T.C., Mercer, C.D., and Corbin, K., 

“Hinge for Use in a Tension Stiffened and Tendon Actuated Manipulator Patent”, US Patent 

9,168,659, 2013.

154. https://www.nasa.gov/image-feature/langley/engineers-test-space-erector-set/

155. https://www.nasa.gov/mission_pages/tdm/irma/orbital-atk-supports-ground-testing-on-cirasat-nasa-s-langley-research-center.html

156. https://technology.nasa.gov/patent/LAR-TOPS-316

157. Doggett, W.R, King, B.D., Dorsey, J.T., Hales, S.J., and Domack, C.S., “Robotically Compatible 

Erectable Joint with Noncircular Cross Section”, US Patent Publication Number: 20200124071, 

April 2020.

158. https://technology.nasa.gov/patent/LAR-TOPS-268

159. https://nexis.gsfc.nasa.gov/OSAM-1.html

160. SPIDER Handout, MAXAR, September 2020. URL: 

https://cdn.mediavalet.com/usva/maxar/z8uIlxbV1U29PHN9aCq_wA/yiUZqbkemEGjy0lRUSB3

GA/Original/60004-handout-spider-09-2020.pdf

161. https://technology.nasa.gov/patent/LAR-TOPS-198

162. https://gitai.tech/2022/07/11/tech-demon-outside-iss/

163. https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10354789/

10.8 RECYCLING, REUSE, AND REPURPOSING 

164. Prater, Tracie et al., “NASA’s In-Space Manufacturing Project: Update on Manufacturing 

Technologies and Materials to Enable More Sustainable and Safer Exploration,” 70th Annual 

International Astronautical Congress, October 25, 2019, URL: 

https://ntrs.nasa.gov/api/citations/20190033332/downloads/20190033332.pdf

165. https://techport.nasa.gov/view/101899

166. Prater, Tracie et al., “In-Space Manufacturing: Using the International Space Station (ISS) as a 

Test Bed,” ISS Research and Development Conference 2020, August 2020. URL:

https://ntrs.nasa.gov/citations/20205006790

167. https://www.nasa.gov/oem/inspacemanufacturing

168. “Reclaimable Thermally Reversible Polymers for AM Feedstock,” SBIR Proposal Summary, URL: 

https://sbir.nasa.gov/SBIR/abstracts/16/sbir/phase1/SBIR-16-1-H5.04-8148.html

10.9 PARTS AND GOODS MANUFACTURING 

169. Prater, Tracie et al., “NASA’s In-Space Manufacturing Project: Update on Manufacturing 

Technologies and Materials to Enable More Sustainable and Safer Exploration,” 70th Annual 

International Astronautical Congress, October 25, 2019, URL: 

https://ntrs.nasa.gov/api/citations/20190033332/downloads/20190033332.pdf
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Approved for Public Release.

170. Prater, Tracie et al., “3D Printing in Zero G Technology Demonstration Mission: Complete 

Experimental Results and Summary of Related Material Modeling Efforts,” International 

Journal of Advanced Manufacturing Technology, March 2019.

171. Additive Manufacturing Facility (AMF) User Guide, Made In Space, April 29, 2016. URL: 

https://www.eisacademy.org/pluginfile.php/1437/mod_resource/content/3/AMF%20User%2

0Guide.pdf

172. Prater, Tracie et al., “NASA’s In-Space Manufacturing Project: Toward a Multimaterial 

Fabrication Laboratory for the International Space Station,” Proceedings of the AIAA SPACE 

Conference. September 2017.

173. Prater, T.J., N. Werkheiser, F. Ledbetter, Kristin, Morgan “In-Space Manufacturing at NASA 

Marshall Space Flight Center: A Portfolio of Fabrication and Recycling Technology 

Development for the International Space Station.” Submitted to AIAA SPACE 2018.

174. Prater, Tracie et al., “In-Space Manufacturing: Using the International Space Station (ISS) as a 

Test Bed,” ISS Research and Development Conference 2020, August 2020. URL:

https://ntrs.nasa.gov/citations/20205006790

175. In-Space Manufacturing (ISM) Overview, NASA Marshall Space Flight Center, 2019. URL: 

https://ntrs.nasa.gov/api/citations/20190033503/downloads/20190033503.pdf

176. In-Space Manufacturing (ISM), Space Technology Mission Directorate - Game Changing 

Development Program, September 2019. URL: 

https://ntrs.nasa.gov/api/citations/20190031813/downloads/20190031813.pdf

177. https://redwirespace.com/2021/07/29/redwire-to-demonstrate-in-space-additivemanufacturing-for-lunar-surface-on-the-international-space-station/

178. https://redwirespace.com/newsroom/made-in-space-wins-nasa-contract-to-develop-hybridmetal-manufacturing-system-for-space-exploration/

179. https://www.nasa.gov/directorates/spacetech/flightopportunities/NASA_Supported_Optical_

Fiber_Manufacturing_Arrives_at_Space_Station

180. https://www.nasa.gov/mission_pages/station/research/news/b4h-3rd/eds-mis-buildingbetter-optical-fiber/

181. https://www.nasa.gov/leo-economy/nasa-selects-for-projects-optical-fibers-stem-cellsenable-low-earth-orbit-economy

10.10 SURFACE CONSTRUCTION 

182. https://www.nasa.gov/oem/surfaceconstruction

183. https://www.3dprintingmedia.network/ai-spacefactory-wins-500000-nasa-3d-printed-habitatchallenge-first-prize/

184. Mueller, R.P., Fikes, J.C., Case, M.P., Khoshnevis, B., Fiske, M.R., Edmunson, J.E., Kelso, R., 

Romo, R., and Andersen, C., “Additive Construction with Mobile Replacement (ACME)”, 68th

International Astronautical Congress, Sep 2017, URL: 

https://www.researchgate.net/publication/322567924_Additive_Construction_with_Mobile_

Emplacement_ACME
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Approved for Public Release.

185. https://www.nasa.gov/directorates/spacetech/game_changing_development/projects/armad

as

186. “Space Technology Game Changing Development: Automated Reconfigurable Mission 

Adaptive Digital Assembly Systems (ARMADAS)”, NASAfacts FS-2018-04-05-ARC, URL: 

https://www.nasa.gov/sites/default/files/atoms/files/armadas_fs-final-3-08-19.pdf

187. https://www.nasa.gov/chapea

188. https://www.nasa.gov/feature/nasa-kennedy-to-develop-tech-to-melt-moon-dust-extractoxygen

189. Mueller, R.P., Wilkinson, R.A., Gallo, C.A., Nick, A.J., Shuler, J.M., and King, R.H., “Lightweight 

Bulldozer Attachment for Construction and Excavation on the Lunar Surface”, AIAA Paper 

2009-6466, Sep 2009, URL: https://arc.aiaa.org/doi/pdf/10.2514/6.2009-6466

190. Jones, Thomas C., “Lightweight Surface Manipulation System (LSMS) Overview for Blue 

Origin”, Space Technology Mission Directorate – Lunar Surface Innovation Institute (LSII), 

NASA Langley Research Center – Structural Mechanics and Concepts Branch, August 21, 2020, 

URL: 

https://ntrs.nasa.gov/api/citations/20205006977/downloads/LSMS%20Technology%20Overvi

ew%20V5%20Blue%20Origin.pdf

191. https://technology.nasa.gov/patent/LAR-TOPS-73

192. https://govtribe.com/opportunity/federal-contract-opportunity/moon-to-mars-planetaryautonomous-construction-technology-mmpact-80msfc

193. https://technology.nasa.gov/patent/KSC-TOPS-7

194. Mueller, R.P., Cox, R.E., Ebert, T., Smith, J.D., Schuler, J.M., and Nick, A.J., “Regolith Advanced 

Surface Systems Operations Robot (RASSOR)”, 2013 IEEE Aerospace Conference, Mar 2013, 

URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6497341

195. https://www.aispacefactory.com/marsha

196. Prater, Tracie et al., “In-Space Manufacturing: Using the International Space Station (ISS) as a 

Test Bed,” ISS Research and Development Conference 2020, August 2020. URL: 

https://ntrs.nasa.gov/citations/20205006790 

197. https://ntrs.nasa.gov/citations/20220016161

198. https://gitai.tech/2022/02/10/gitai-develops-lunar-robotic-rover-r1/

10.11 INSPECTION AND METROLOGY: 

199. https://aerospace.org/article/cubesats-get-close-proximity-operation-interesting-implications

200. https://ams02.space/detector

201. https://www.kirtland.af.mil/Portals/52/documents/AFD-131204-039.pdf?ver=2016-06-28-

105617-297

202. JSC/ES2/Studor, George, “In-Space Inspection Technologies Vision”, Workshop Session 1 and 

4, Feb 29, 2012, URL: 

https://ntrs.nasa.gov/api/citations/20120003249/downloads/20120003249.pdf

203. https://rogue.space/orbots/

204. https://afresearchlab.com/technology/space-vehicles/mycroft/

205. https://aviationweek.com/defense-space/space/spotlight-satellite-servicing
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Approved for Public Release.

206. Fortier, Michael, “Overview of NASA’s Shared PJVS”, Feb 19, 2021, URL: 

https://sma.nasa.gov/docs/default-source/sma-disciplines-and-programs/metcal/overviewof-nasa-s-shared-pjvs-final-002-508.pdf

207. https://sites.utexas.edu/tsl/seeker/

208. https://ntrs.nasa.gov/citations/20140000802

209. Davis, T.M., Baker, T.L., Belchak, T.A., and Larsen, W.R., “XSS-10 Micro-Satellite Flight 

Demonstration Program”, 17th Annual AIAA/ISU Conference on Small Satellites Paper Number 

SSC03-1-IV-1, August 2003, URL: 

https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=1767&context=smallsat

210. “XSS-11 Micro Satellite”, Fact Sheet, AFRL Space Vehicles Directorate, Sept 2011, URL: 

https://www.kirtland.af.mil/Portals/52/documents/AFD-111103-035.pdf?ver=2016-06-28-

110256-797

211. https://nexis.gsfc.nasa.gov/rrm_phase2vipir.html

212. https://nexis.gsfc.nasa.gov/rell.html

213. https://www.nasa.gov/centers/langley/news/researchernews/rn_IRCamera092106.html