Canadian Space Robotic Technologies for Lunar Exploration
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1 Canadian Space Robotic Technologies for Lunar Exploration Nadeem Ghafoor Christian Sallaberger MDA International Lunar Conference Toronto, 19th-23rd September, 2005
2 Overview Space Robotics in Canada - building on heritage Lunar exploration mission & robotics roadmap Docking & Rendezvous Remote prospecting Landing Planetary science instrumentation Rovers and sub-surface sample handling & processing Commercial & human presence Conclusions - a Canadian lunar robotic exploration technology roadmap
3 Space Robotics Heritage Canada s space robotic reputation has built over 25 years Shuttle Remote Manipulator System (SRMS) Payload deployment, retrieval, rescue & servicing, astronaut transport Space Station Robotics (1) ISS Remote Manipulator System (SSRMS) Canadarm-2, (2) Mobile Base System (MBS), (3) Special Purpose Dexterous Manipulator (SPDM) ISS assembly, ISS vehicle capture & berthing Shuttle Return to Flight Test which became a reality, watched by millions 1 st ever in-orbit inspection and astronaut repair of shuttle thermal protection system using Inspection Boom Assembly (IBA) SPDM MBS SSRMS
4 Building on flight heritage Orbital Robotics Orbital Cargo Handling Satellite Servicing Shuttle ISS Large Infrastructure / Spacecraft Assembly & Servicing
5 Building on flight heritage Orbital Robotics Orbital Cargo Handling Satellite Servicing Shuttle ISS Large Infrastructure / Spacecraft Assembly & Servicing Robot assisted Human Exploration Robotic Science Planetary Robotics Robotic Exploration Robotic Exploitation / ISRU
6 Lidars Cameras Precision Landing Chassis Landing Robotic Planetary Exploration: Technology Roadmap Mechanisms, Traction GNC Rovers Systems Inspection & Science instruments Sample Acquisition Sample Triage & Processing Radar Vision Systems & Sensors Planetary Exploration Robotics End-to-end Mission Design Moon Mars Advanced Orbital Robotics Heritage NEOs
7 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS Rendezvous & Servicing STS & ISS Orbital Rendezvous Remote Sensing systems Landing Capability & subsurface instruments Mobility & GNC Sample Acquisition & Processing ISRU assembly Robotic LSS & Astronaut Assistance
8 Orbital Infrastructure Rendezvous & Servicing XSS-11 Lidar (USAF) MDA / Optech Rendezvous Lidar provided autonomous on-orbit operations demonstration mission Lidar sensor ( laser radar ) provides relative position and velocity data for rendezvous and inspection Launched April 11, 2005 Orbital Express Demonstration of autonomous onorbit satellite servicing technologies and development of non-proprietary satellite servicing interface standards Launch 2006
9 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS Rendezvous & Servicing Remote Sensing systems STS & ISS Orbital Rendezvous & Servicing Remote Sensing Systems Landing Capability & subsurface instruments Mobility & GNC Sample Acquisition & Processing ISRU assembly Robotic LSS & Astronaut Assistance
10 Orbital science Remote Sensing Planetary SAR World leading SAR heritage: Radarsat 1 & 2 3m 100m resolution 20km 500km swath Single, dual & quad polarization Apply capability to 400kg spacecraft class planetary missions & subsurface mapping Regolith, ice and bedrock topography for landing site selection and resource ISRU Spiral scanning Lidar altimetry instrument (SALLI) Efficient generation of lunar topography from polar orbiting spacecraft
11 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS Rendezvous & Servicing Remote Sensing systems Landing Capability STS & ISS Orbital Rendezvous & Servicing Remote Sensing Systems Landing & subsurface instruments Mobility & GNC Sample Acquisition & Processing ISRU assembly Robotic LSS & Astronaut Assistance
12 MDA is partnered with Optech on all space lidar programs Selected by NASA to develop precision landing technology with Boeing/JPL Under contract to CSA to develop lidar-based hazard avoidance technology for planetary landing MDA is prime contractor to ESA for the development of Lidar GN&C for automatic rendezvous and planetary landing Robotic Landing Rendezvous, Descent & Precision Landing Systems
13 Robotic Vision Systems & Sensors SSRMS/SPDM Color Cameras (a) SPDM OTCM Video B/W Cameras (b) SPDM/SSRMS Fluorescent Lights JEM Fluorescent Lights (c) Space Qualified LEDs Rendezvous Lidars (d) 3D Object Recognition and Pose Estimation Software (e) (a) (b) (c) (d) (e)
14 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS Rendezvous & Servicing Remote Sensing systems Landing Capability & subsurface instruments Mobility & GNC Sample Acquisition & Processing STS & ISS Orbital Rendezvous & Servicing Remote Sensing Systems Landing & Subsurface Instruments ISRU assembly Robotic LSS & Astronaut Assistance
15 Phoenix - MET MDA is prime contractor to CSA for the Phoenix MET instrument (Launch in 2007) MET consists of a lidar, temperature sensors and a pressure sensor used to characterize the Martian atmosphere Robotic Science & Prospecting Instruments MSL - APXS MDA was selected by NASA to provide the Alpha Particle X-ray Spectrometer (APXS) instrument for the 2009 MSL mission APXS determines the elemental abundance in soil and rock rock finger prints
16 CSA-funded 1 year instrument concept studies with MDA as technical lead Robotic Science & Prospecting & Subsurface Instruments Borehole Gamma Ray Spectrometer Martian subsurface geology through in situ U, Th & K mapping Martian igneous geochemistry ESA ExoMars & NASA Scout 2011 Microscopic Imager Essential geological tool for future Mars contact science & sample triage ESA ExoMars, NASA MSL & Scout 2011 No space-qualified sensor yet available with sufficient resolution
17 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS Rendezvous & Servicing Remote Sensing systems Landing Capability & subsurface instruments Mobility & GNC STS & ISS Orbital Rendezvous & Servicing Remote Sensing Systems Landing & Subsurface Instmts Mobility / GNC Sample Acquisition & Processing ISRU assembly Robotic LSS & Astronaut Assistance
18 Rover System Design Prime contractor to ESA for the design of the ExoMars Rover and science payload during the ExoMars Phase A Study Robotic Exploration Rover Technologies Rover Chassis Rover chassis design Validation of RCAST and rover prototype platform Rover Navigation Terrain Assessment and Global path planning Obstacle Avoidance and Local path planning Visual Motion Estimation for Localization
19 Camera Enclosure Pasteur Payload Drill X-Band High Gain Antenna UHF Antenna Solar Array Service Equipment Box Chassis Modules VHF Antenna Ground Penetrating Radar Rover System Design ExoMars Rover Phase A Rover-Pasteur Study performed for ESA (2004) MDA (p), Alcatel, Alenia/Laben, Carlo Gavazzi Space & Kayser- Threde Optimized conceptual design of a rover for the ExoMars Mission Phase B1 due 2006 ExoMars Rover 240kg rover, launch 2011 traverse of tens of kilometres over rocky terrain cf. MERs: 5 & 6km Search for signs of past & present life on Mars Drill, on-board sample analysis Key challenges GNC Locomotion & terrain navigability
20 Terrain navigability & locomotion performance Terrain physical characteristics Wheel-soil interactions RCAST: Rover Chassis Analysis & Simulation Tool Mobility analysis & performance prediction Design, verification & ops planning Features: 3-D multi-body dynamic simulation & visualization Experimentally validated wheel-soil module CoG position and slip optimizations Single wheel testbed (MIT Field & Space Robotics Lab) Parameter based terrain characterisation Wide range of Mars soil analogues Prototype Chassis Internally funded R&D for ExoMars support RCAST validation Integration & functional tests end 2005 Rover Chassis Design Prototype Chassis & RCAST Sinkage (+ marker at 2cm) Longitudinal slip (+ marker at 0.5) Longitudina l Forces x Forward motion z Sloped Terrain Normal Forces y
21 Goal: Demonstrate fully autonomous 1 km traverse in Mars relevant terrain irobot ATRVJr Laser & stereo camera based GNC system Odometers, DGPS & IMU / Gyro Key demonstrations: Terrain assessment & global path planning Obstacle avoidance & local path planning Visual motion estimation for localization including slip detection and mitigation GNC Rover GNC Testing Stereo Camera Laser Odometers DGPS / Compass IMU/Gyro VISION GNC SUCCESSFUL ODOMETRY FAILURE DUE TO SLIP
22 GNC Rover GNC Testing Valley of Fire, Nevada Next steps Migrate vision technologies to ExoMars rover chassis prototype Demonstrate 1km autonomous navigation of rocky Mars analogue terrain
23 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS STS & ISS Rendezvous & Servicing Remote Sensing systems Landing Capability & subsurface instruments Mobility & GNC Sample Acquisition & Processing Orbital Rendezvous & Servicing Remote Sensing Systems Landing & Subsurface Instruments Mobility / GNC Sample Acquisition & Processing ISRU assembly Robotic LSS & Astronaut Assistance
24 Material Handling and Sorting Devices Robotic Exploitation Robotic Sample Acquisition, Processing & Handling Crusher SA/SPaH Arms Drills Scoops and Rakes Sample Acquisition Sample Processing & Triage Sample Analysis Instruments Multi Spectral Imager GRS Lidar Microscopic Imager GPR Systems APXS
25 Robotic Exploitation Sample Acquisition: Exploration Arm Scalable, reconfigurable family of manipulators Range from 4-7 dof, 1-4m length Highly autonomous Low power (35W avg., 50W peak) Low mass ( 15kg for 2m arm) Tip loads (50 100N) High repeatability (1 3mm) Range of end effectors (scoop shown)
26 Robotic Exploitation Sample Acquisition: Drilling / Coring Developed, with mining partners, planetary coring systems (10cm - 10m depths), based on rotary diamond dry-drilling technology Drill bit designs developed from Canadian hard rock and Arctic experience, optimised for media from hard rock to regolith Optimized cuttings transport & core capture technology Proof of principle tests: Low mass, low power, low down force ( 25W and 6kg for 100mm drill, N) Low rpm / low thrust rock comminution due to power, thermal, & reaction constraints. Range of materials from silt to basalt.
27 Robotic Exploitation Sample Processing & Triage: Crusher & Sample Handling Unit Sample Handling Unit concept design Crusher proof of principle tests: Variety of jaw configurations and profiles Reduce 95% sample to 1mm particulate (70% 500m) Low power ( 10W avg. flight) Low mass ( 12kg flight)
28 Terrestrial tests of Sample Acquisition, Processing and Handling systems performed to validate mission operations concept Robotic Exploitation Sample Acquisition Testing: Planetary Simulants Tests conducted using breadboard hardware Simulant based on JSC lunar regolith simulant
29 Earth orbit infrastructure Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital infrastructure infrastructure Manned presence STS & ISS STS & ISS Rendezvous & Servicing Remote Sensing systems Landing Capability & subsurface instruments Mobility & GNC Sample Acquisition & Processing Orbital Rendezvous & Servicing Remote Sensing Systems Landing & Subsurface Instruments Mobility / GNC Sample Acquisition & Processing Landing (Sub)surface Instmts Mobility / GNC ISRU ISRU assembly Assembly Assembly Robotic LSS & Astronaut Assistance
30 Robotic Infrastructure Assembly Cislunar Infrastructure Prime contractor for the Phase A development of a large GEO based structure concept The study focus is on spacebased manufacture and assembly of large structures utilizing both terrestrial and lunar materials This contract is a follow on study to previous work that focused on concepts for lunar resource utilization
31 STS & ISS Rendezvous & Servicing Remote Sensing systems Earth orbit infrastructure STS & ISS Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital Rendezvous & Servicing Remote Sensing Systems Orbital infrastructure infrastructure Manned presence STS & ISS Landing Capability & subsurface instruments Mobility & GNC Landing & Subsurface Instruments Mobility / GNC Landing (Sub)surface Instmts Mobility / GNC Sample Acquisition & Processing Sample Acquisition & Processing ISRU ISRU assembly Assembly Assembly Robotic LSS & Astronaut Assistance Robotic LSS & Astronaut Support
32 Robotic Assisted Human Exploration Manned exploration robotics Canada is a world leader in robotic systems in support of human space exploration High reliability Safety critical 25 years experience in astronaut operated space robotics and the astronaut-robot interface Ongoing research in the area of robotic space suit enhancement, mobility systems and life support systems
33 Robotic Exploration End to End Mission Design Sun-Synchrony Concept Icebreaker LDD MSR Mars Long Day s Drive CLMM Concept ExoMars Concept
34 Robotic Exploration Commercial Robotic Missions MDA has experience in commercially-funded planetary exploration missions
35 STS & ISS Rendezvous & Servicing Remote Sensing systems Earth orbit infrastructure STS & ISS Orbital science & prospecting Robotic lunar exploration roadmap & subsurface science & propsecting exploration exploitation & ISRU Orbital Rendezvous & Servicing Remote Sensing Systems Orbital infrastructure infrastructure Manned presence STS & ISS Landing Capability & subsurface instruments Mobility & GNC Landing & Subsurface Instruments Mobility / GNC Landing (Sub)surface Instmts Mobility / GNC Sample Acquisition & Processing Sample Acquisition & Processing ISRU ISRU assembly Assembly Assembly Robotic LSS & Astronaut Assistance Robotic LSS & Astronaut Support
36 Dank Thank Shukran Spaciba Shukria Gracias Arigato Xie Grazie Do Danke je Merci you wel Xie jeh
37 Reference Slides
38 Thank you
39 Locomotion Courtesy JSC Full chassis testing in thermal vacuum on simulated terrain could be possible but very expensive Reduced traverse (1000 km) might be viable Test rig might need to emulate reference terrain using linear actuators and applied friction
40 Locomotion Energetics: Lunar gravity is 0.17 of Earth s and irradiance is 1.4 times Earth s = 8- fold energy advantage on Moon Gravity-uplift with constant-force spring mechanism and tethered power could provide means to emulate lunar energetics Similar technique was used by Russian VNIITRANSMASH team during Lunakhod development
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