Robotic autonomy for space: cooperative and reconfigurable mobile surface systems
We overview some of our recent work on highly autonomous mobile robots for planetary exploration.
robotic outposts robot colonies↗
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Results for “planetary mobility”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Reconfigurable robots for all terrain exploration
While significant recent progress has been made in development of mobile robots for planetary suface exploration,there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use.
mobile robots multi-robot cooperation robotic arch↗
ATHLETE: a Cargo and Habitat Transporter for the Moon
As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The vehicle concept is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through (or at least out of) extreme terrain, the wheels and wheel actuators can be sized only for nominal terrain. There are substantial mass savings in the wheels and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25 percent lighter than a conventional mobility chassis for planetary exploration. A side benefit of this approach is that each limb has sufficient degrees-of-freedom for use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A rotating power-take-off from the wheel actuates the tools, so that they can take advantage of the 1-plus-horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.
mobile habitats↗
Electromagnetic powered vehicles (EMPV) for Mars exploration
Special attention has been given to manned missions to the Moon and Mars not only for exploration, but to establish permanent manned outposts. In order to fulfill such ambitious plans, it is necessary to establish technology bases in the areas of transportation, robotics, life support, and power generation. In the latter area, major progress has been made in solar dynamics, photovoltaics, heat cycle engines, thermionics, and nuclear space power generation. At the level of the present technology, massive structures are required for power generation, cooling, and shielding. The great mass of these systems will hinder a manned mission from obtaining a reasonable mobility over a planetary surface. For planetary exploration, small wheeled vehicles driven by batteries or fuel cells have been proposed, although other types such as solar or nuclear powered could potentially be used.
Christian, Jose L., Jr.↗
A positional estimation technique for an autonomous land vehicle in an unstructured environment
This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.
Talluri, Raj↗
E-Glider: Active Electrostatic Flight for Airless Body Exploration
The environment near the surface of asteroids, comets, and the Moon is electrically charged due to the Sun's photoelectric bombardment and lofting dust, which follows the Sun illumination as the body spins. Chargeddust is ever present, in the form of dusty plasma, even at high altitudes, following the solar illumination. If abody with high surface resistivity is exposed to the solar wind and solar radiation, sun-exposed areas andshadowed areas become differentially charged. The E-Glider (Electrostatic Glider) is an enabling capability foroperation at airless bodies, a solution applicable to many types of in-situ mission concepts, which leverages thenatural environment. With the E-Glider, we transform a problem (spacecraft charging) into an enablingtechnology, i.e. a new form of mobility in microgravity environments using new mechanisms and maneuveringbased on the interaction of the vehicle with the environment. Consequently, the vision of the E-Glider is toenable global scale airless body exploration with a vehicle that uses, instead of avoids, the local electricallycharged environment. This platform directly addresses the "All Access Mobility" Challenge, one of the NASA'sSpace Technology Grand Challenges. Exploration of comets, asteroids, moons and planetary bodies is limitedby mobility on those bodies. The lack of an atmosphere, the low gravity levels, and the unknown surface soilproperties pose a very difficult challenge for all forms of know locomotion at airless bodies. This E-Gliderlevitates by extending thin, charged, appendages, which are also articulated to direct the levitation force in themost convenient direction for propulsion and maneuvering. The charging is maintained through continuouscharge emission. It lands, wherever it is most convenient, by retracting the appendages or by firing a cold-gasthruster, or by deploying an anchor. The wings could be made of very thin Au-coated Mylar film, which areelectrostatically inflated, and would provide the lift due to electrostatic repulsion with the naturally chargedasteroid surface. Since the E-glider would follow the Sun's illumination, the solar panels on the vehicle wouldconstantly charge a battery. Further articulation at the root of the lateral strands or inflated membrane wings,would generate a component of lift depending on the articulation angle, hence a selective maneuveringcapability which, to all effects, would lead to electrostatic (rather than aerodynamic) flight. Preliminarycalculations indicate that a 1 kg mass can be electrostatically levitated in a microgravity field with a 2 mdiameter electrostatically inflated ribbon structure at 19kV, hence the need for a "balloon-like" system. Due tothe high density and the photo-electron sheath and associate small Debye length, significant power is requiredto levitate even a few kilograms. The power required is in the kilo-Watt range to maintain a constant chargelevel.
Electrostatic Flight↗
Mars Rovers: Past, Present and Future
Since the 1960's there have been efforts world-wide to develop robotic mobile vehicles for traversing planetary surfaces.
Mars Rover Robotic Mobile Vehicles↗
Miniature GC-Minicell Ion Mobility Spectrometer (IMS) for In Situ Measurements in Astrobiology Planetary Missions
Astrobiology flight experiments require highly sensitive instrumentation for in situ analysis of volatile chemical species and minerals present in the atmospheres and surfaces of planets, moons, and asteroids. The complex mixtures encountered place a heavy burden on the analytical instrumentation to detect and identify all species present. The use of land rovers and balloon aero-rovers place additional emphasis on miniaturization of the analytical instrumentation. In addition, smaller instruments, using tiny amounts of consumables, allow the use of more instrumentation and/or ionger mission life for stationary landers/laboratories. The miniCometary Ice and Dust Experiment (miniCIDEX), which combined Gas Chromatography (GC) with helium Ion Mobility Spectrometry (IMS), was capable of providing the wide range of analytical information required for Astrobiology missions. The IMS used here was based on the PCP model 111 IMS. A similar system, the Titan Ice and Dust Experiment (TIDE), was proposed as part of the Titan Orbiter Aerorover Mission (TOAM). Newer GC systems employing Micro Electro- Mechanical System (MEMS) based technology have greatly reduced both the size and resource requirements for space GCs. These smaller GCs, as well as the continuing miniaturization of Astrobiology analytical instruments in general, has highlighted the need for smaller, dry helium IMS systems. We describe here the development of a miniature, MEMS GC-IMS system (MEMS GC developed by Thorleaf Research Inc.), employing the MiniCell Ion Mobility Spectrometer (IMS), from Ion Applications Inc., developed through NASA's Astrobiology Science and Technology Instrument Development (ASTID) Program and NASA s Small Business Innovative Research (SBIR) Program.
Kojiro, Daniel R.↗
Microstructural Changes and Pb Mobility During the Zircon to Reidite Transformation: Implications for Planetary Impact Chronology
Impact events modify and leave behind a complex history of rock metamorphism on terrestrial planets. Evidence for an impact event may be recorded in physical changes to minerals, such as mineral deformation and formation of high P-T polymorphs, but also in the form of chemical fingerprints, such as enhanced elemental diffusion and isotopic mixing. Here we explore laboratory shock-induced physical and chemical changes to zircon and feldspar, the former of which is of interest because its trace elements abundances and isotope ratios are used extensively in geochemistry and geochronology. To this end, a granular mixture of Bishop Tuff sanidine and Kuehl Lake zircon, both with well characterized Pb isotope compositions, was prepared and then shocked via a flat plate accelerator. The peak pressure of the experiment, as calculated by the impedance matching method, was ~24 GPa although a broader range of P-T conditions is anticipated due to starting sample porosity. Unshocked and shocked materials were characterized via scanning electron microscopy (SEM), electron backscatter diffraction (EBSD), and Raman spectroscopy. These methods show that the starting zircon material had abundant metamict regions, and the conversion of the feldspar to glass in the post-shock material. Analyses of the shocked product also yielded multiple occurrences of the high-pressure ZrSiO 4 polymorph reidite, with some domains up to 300 μm across. The possibility of U-Pb system disturbance was evaluated via laser ablation-inductively coupled plasma-mass spectrometry (LA-ICP-MS) and secondary ion mass spectrometry (SIMS). The isotopic data reveal that disturbance of the U-Pb geochronometer in the reidite was minimal (<2% for the main U-Pb geochronometers). To better constrain the P-T conditions during the shock experiment, we complement impedance matching pressure calculations with iSALE2D impact simulations. The simulated results yield a range of P-T conditions experienced during the experiment and show that much of the sample may have reached >30 GPa, which is consistent with formation of reidite. In the recovered shocked material, we identified lamellae of reidite, some of which interlock with zircon lamellae. Reidite {112} twins were identified, which we interpret to have formed to reduce stress between the crystal structure of the host zircon and reidite. These two findings support the interpretation that shear transformation enabled the transition of zircon to reidite. The size and presence of reidite found here indicate that this phase is probably common in impact-shocked crustal rocks that experienced ~25 to ~35 GPa, especially when the target material has porosity. Additionally, shock loading of the zircon and transformation to reidite at these pressures in porous materials is unlikely to significantly disturb the U-Pb system in zircon and that the reidite inherits the primary U and Pb elemental and isotopic ratios from the zircon.
Bishop Tuff↗
Planetary rover technology development requirements
Planetary surface (including lunar) mobility and sampling capability is required to support proposed future National Aeronautics and Space Administration (NASA) solar system exploration missions. The NASA Office of Aeronautics and Space Technology (OAST) is addressing some of these technology needs in its base research and development program, the Civil Space Technology Initiative (CSTI) and a new technology initiative entitled Pathfinder. The Pathfinder Planetary Rover (PPR) and Sample Acquisition, Analysis and Preservation (SAAP) programs will develop and validate the technologies needed to enable both robotic and piloted rovers on various planetary surfaces. The technology requirements for a planetary roving vehicle and the development plans of the PPR and SAAP programs are discussed.
Bedard, Roger J., Jr.↗
Development of Training Programs to Optimize Planetary Ambulation
Astronauts experience disturbances in functional mobility following their return to Earth due to adaptive responses that occur during exposure to the microgravity conditions of space flight. Despite significant time spent performing in-flight exercise routines, these training programs have not been able to mitigate postflight alterations in postural and locomotor function. Therefore, the goal of our two inter-related projects (NSBRI-ground based and ISS flight study, "Mobility") is to develop and test gait training programs that will serve to optimize functional mobility during the adaptation period immediately following space flight, thereby improving the safety and efficiency of planetary ambulation. The gait training program entails manipulating the sensory conditions of treadmill exercise to systematically challenge the balance and gait control system. This enhances the overall adaptability of locomotor function enabling rapid reorganization of gait control to respond to ambulation in different gravitational environments. To develop the training program, we are conducting a series of ground-based studies evaluating the training efficacy associated with variation in visual flow, body loading, and support surface stability during treadmill walking. We will also determine the optimal method to present training stimuli within and across training sessions to maximize both the efficacy and efficiency of the training procedure. Results indicate that variations in both visual flow and body unloading during treadmill walking leads to modification in locomotor control and can be used as effective training modalities. Additionally, the composition and timing of sensory challenges experienced during each training session has significant impact on the ability to rapidly reorganize locomotor function when exposed to a novel sensory environment. We have developed the capability of producing support surface variation during gait training by mounting a treadmill on a six-degree-of-freedom motion device. This hardware development will allow us to evaluate the efficacy of this type of training in conjunction with variation in visual flow and body unloading.
Bloomberg, J. J.↗
Dexterous Robotic Sampling For Mars in-situ Science
Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources.
Mars sample return↗
Conceptual design of a multiple cable crane for planetary surface operations
A preliminary design study is presented of a mobile crane suitable for conducting remote, automated construction operations on planetary surfaces. A cursory study was made of earth based mobile cranes and the needs for major improvements were identified. Current earth based cranes have a single cable supporting the payload, and precision positioning is accomplished by the use of construction workers controlling the payload by the use of tethers. For remote, autonomous operations on planetary surfaces it will be necessary to perform the precision operations without the use of humans. To accomplish this the payload must be stabilized relative to the crane. One approach for accomplishing this is to suspend the payload on multiple cable. A 3-cable suspension system crane concept is discussed. An analysis of the natural frequency of the system is presented which verifies the legitimacy of the concept.
Mikulas, Martin M., Jr.↗
A Survey of Space Robotics
In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.
Space robotics survey↗
Active Electrostatic flight for airless bodies
The environment near the surface of asteroids, comets, and the Moon is electrically charged due to the Sun’s photoelectric bombardment and lofting dust, which follows the Sun illumination as the body spins. Charged dust is ever present, in the form of dusty plasma, even at high altitudes, following the solar illumination. If a body with high surface resistivity is exposed to the solar wind and solar radiation, sunexposed areas and shadowed areas become differentially charged. The E-Glider (Electrostatic Glider) is an enabling capability for operation at airless bodies, a solution applicable to many types of in-situ missions, which leverages the natural environment. This platform directly addresses the "All Access Mobility" Challenge, one of the NASA’s Space Technology Grand Challenges. Exploration of comets, asteroids, moons and planetary bodies is limited by mobility on those bodies. The lack of an atmosphere, the low gravity levels, and the unknown surface soil properties pose a very difficult challenge for all forms of know locomotion at airless bodies. This EGlider levitates by extending thin, charged, appendages, which are also articulated to direct the levitation force in the most convenient direction for propulsion and maneuvering. The charging is maintained through continuous charge emission. It lands, wherever it is most convenient, by retracting the appendages or by firing a cold-gas thruster, or by deploying an anchor. Preliminary calculations indicate that a 1 kg mass can be electrostatically levitated in a microgravity field with a 2 m diameter electrostatically inflated ribbon structure at 19kV, hence the need for a “balloon-like” system. The wings could be made of very thin Au-coated Mylar film, which are electrostatically inflated, and would provide the lift due to electrostatic repulsion with the naturally charged asteroid surface. Since the E-glider would follow the Sun’s illumination, the solar panels on the vehicle would constantly charge a battery. Further articulation at the root of the lateral strands or inflated membrane wings, would generate a component of lift depending on the articulation angle, hence a selective maneuvering capability which, to all effects, would lead to electrostatic (rather than aerodynamic) flight.
Schaub, Hanspeter↗
Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover
Planetary exploration rovers are expensive, weight constrained, and cannot be serviced once deployed. Here, we explore one way to increase their capabilities while avoiding the cost, mass, and complexity leading to these issues. We propose to re-use the large wheel actuators for trenching and other digging operations, which will enable a range of missions such as sampling deeper layers of soil. We present a new, closed-form model of the soil displaced by an angled, spinning wheel to analyze the trenching potential of a driving strategy and inform the control of the wheel. The model is demonstrated with single wheel experiments under different driving conditions. The model suggests: that a deep trench does not require large tractive efforts; that the shape of the trench can be controlled; and that a rear wheel has a lower risk of entrapment when trenching than a front wheel. Ultimately this model could be used in a nonprehensile manipulation planning or learning algorithm to enable autonomous trenching.
Wheels↗
Envelopes for Robotic Balloon Vehicles
Use of ballons, or aerobots, is being planned for mobile exploration of planets. In this paper we focus on the development of balloon envelopes for the three classes of balloons which are being considered.
robotic balloons mobile exploration planetary expl↗
NASA Tech Briefs, March 2007
Topics include: Advanced Systems for Monitoring Underwater Sounds; Wireless Data-Acquisition System for Testing Rocket Engines; Processing Raw HST Data With Up-to-Date Calibration Data; Mobile Collection and Automated Interpretation of EEG Data; System for Secure Integration of Aviation Data; Servomotor and Controller Having Large Dynamic Range; Digital Multicasting of Multiple Audio Streams; Translator for Optimizing Fluid-Handling Components; AIRSAR Web-Based Data Processing; Pattern Matcher for Trees Constructed From Lists; Reducing a Knowledge-Base Search Space When Data Are Missing; Ground-Based Correction of Remote-Sensing Spectral Imagery; State-Chart Autocoder; Pointing History Engine for the Spitzer Space Telescope; Low-Friction, High-Stiffness Joint for Uniaxial Load Cell; Magnet-Based System for Docking of Miniature Spacecraft; Electromechanically Actuated Valve for Controlling Flow Rate; Plumbing Fixture for a Microfluidic Cartridge; Camera Mount for a Head-Up Display; Core-Cutoff Tool; Recirculation of Laser Power in an Atomic Fountain; Simplified Generation of High-Angular-Momentum Light Beams; Imaging Spectrometer on a Chip; Interferometric Quantum-Nondemolition Single-Photon Detectors; Ring-Down Spectroscopy for Characterizing a CW Raman Laser; Complex Type-II Interband Cascade MQW Photodetectors; Single-Point Access to Data Distributed on Many Processors; Estimating Dust and Water Ice Content of the Martian Atmosphere From THEMIS Data; Computing a Stability Spectrum by Use of the HHT; Theoretical Studies of Routes to Synthesis of Tetrahedral N4; Estimation Filter for Alignment of the Spitzer Space Telescope; Antenna for Measuring Electric Fields Within the Inner Heliosphere; Improved High-Voltage Gas Isolator for Ion Thruster; and Hybrid Mobile Communication Networks for Planetary Exploration.
Source record↗