2010 Robotic Follow-up Field Test Haughton Crater, Devon Island, Canada
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1 Haughton Crater, Devon Island, Canada Terry Fong Maria Bualat Matt Deans Intelligent Robotics Group NASA Ames Research Center
2 An Exploration Problem If only I could have Explorers often cannot do everything during a mission More observations to make More samples to collect Field geologists routinely face this problem on Earth The problem is worse in space or on other worlds Limited work time & resources High-risk environment Extremely difficult to return 2
3 Case in Point: Apollo 17 Landing Site Shorty Crater 3
4 Robotic Follow-up A new field exploration technique Augment human field work with subsequent robot activity Use robots for work that is tedious or unproductive for humans to do Collect supplementary and complementary data 4
5 July 12 August 13, 2010 Use robots to follow-up after humans Geologic mapping & subsurface survey K10 robots remotely operated from NASA Ames Variety of sites in and around Haughton Crater Follows 2009 crew mission simulation (by Mark Helper, EssamHeggy& Pascal Lee) Funded by NASA MMAMA (SMD) & ETDP (ESMD) 20 km Haughton Crater (Devon Island, Canada) 5
6 Locations Devon Island Haughton Crater 4,500 km NASA Ames 6
7 Devon Island Devon Island is the largest uninhabited island on the Earth (66,800 sq. km) Haughton Crater 170 km Resolute Bay (YRB) 7
8 Haughton Crater: A Lunar Analog Shackleton Crater at the South Pole of the Moon is 19 km in diameter and might present H 2 O ice in surrounding shadowed zones. It is a prime candidate site for human exploration. Haughton Crater, also ~ 20 km in size, is by far the best preserved impact structure of its class on Earth and is located in a H 2 O ground ice rich rocky desert. Haughton may be the best. overall scientific and operational analog for lunar craters such as Shackleton. 19 km 20 km Shackleton Crater (lunar South Pole) 2005 Arecibo radar image Haughton Crater (Devon Island, Canada) radar image 8
9 NASA Robotic Follow-up Project Objectives Identify surface science scenarios for human explorers to draw maximum benefit from robotic follow-up to vehicular traverses &EVAs Identify science operations requirements for conducting robotic follow-up on planetary surfaces after human exploration Identify mission operations protocols for optimizing human field work and robotic follow-up activities Simulated multi-mission campaign May 2009 Define science objectives June 2009 Plan crew mission #1 July 2009 Crew mission #1 (Mark Helper &EssamHeggy) Oct 2009 Develop robotic follow-up #1 July 2010 Robotic follow-up #1 Aug 2010 Crew mission #2 (Kelsey Young) Dec 2010 Develop robotic follow-up #2 July 2011 Robotic follow-up #2 9
10 Key Questions Robotic rover How do we adapt follow-up work to specific sites, science and tasks? What scientific field work can be effectively performed by robots following humans? Ground control What ground control structure (including science team) is needed to support robotic follow-up activities? How much time and resources are required for planning and executing a robotic follow-up mission? Human-robot exploration How should robotic follow-up be incorporated into campaign planning? How can we optimize human productivity, given what robots can do afterwards? 10
11 K10 Robot Wi-Fi GigaPan 3D Lidar Sun tracker GPS IMU Hazcams Rockers Microscopic Imager XRF Spectrometer Ground Penetrating Radar 11
12 K10 Instruments (1) 3D Scanning Lidar Optech ILRIS-3D 3D topography measurements 500m GigaPan (Pancam) Canon G9 + pan-tilt Oblique, wide-angle, color, context views 60x180 deg Microscopic Imager (MI) Canon G9 High-res, close-up, color, terrain views 33 micron / pixel 12
13 K10 Instruments (2) XRF Spectrometer Niton XL3t 900 Bulk analysis of geologic materials Identify light elements Ground-penetrating radar Mala X3M 800 MHz antenna Suitable for shallow depth mapping 13
14 Ground Control Structure K10 Robot telemetry Analog (Haughton Crater) commands Science Operations Team Flight Control Team Robot Expert Instrument Leads Scientists Science PI Flight Director Metrics Robot Officer Robot Driver Plan Lead Science Officer GDS Lead Data Downlink Ground Data System (GDS) Ground control (NASA Ames) 14
15 Operations Timeline Start of shift Command cycle A Command cycle B End of shift Planning Tag-Up (optional) Create Plan Submit Plan Review Plan (go / no-go) Start Plan (go / no-go) Uplink Plan Execute Plan (multi-modes) A A A A B- A A B A B B B C- B B B Science Operations Team Flight Control Team Robot Operations Team Robot Active Robot Idle Robot Active 15
16 Google Earth Ops (GEOps) Task timeline Instruments Waypoint Task list Instrument FOV Control Pane Google Earth 16
17 VERVE 17
18 Science Data Interface 18
19 Performance Monitoring 19
20 Crew Mission (2009) Mark Helper and Pascal Lee Geologic Mapping Document geologic history, structural geometry & major units Example impact breccia&clasts Take photos & collect samples EssamHeggy and Pascal Lee Geophysical Survey Examine subsurface structure 3D distribution of buried ground ice in permafrost layer Ground-penetrating radar: manual deploy, 400/900 MHz 20
21 Geologic Mapping stratified sediments contact between carbonates View East into crater Gray carbonate breccia 21
22 Geologic Mapping top row: shock metamorphosed basement clasts bottom: shatter cone, polymict gray breccia, vesicular carbonate 22
23 Geophysical Survey subsurface ice wedges 23
24 Robotic Follow-up Plan crater rim
25 Robotic Follow-up Mission (2010) Schedule July 16 Field team departs NASA Ames July 21 Complete K10 check-out July Geologic mapping (locale 8) July Subsurface mapping (locales 1, 2&3) July 29 - Aug 1Complete remote ops check-out July 29 - Aug 2Subsurface mapping (locale 9) Aug 3-5 Geologic mapping (locale 7) 25
26 K10 Robot at Haughton Crater 26
27 Results: Science Geologic Mapping Robot data enabled verifying and amending the geologic map in several locations In some places, robot data was ambiguous, or lacked sufficient detail to re-interpret the map Geophysical Survey Robot data enabled study of polygon features and determination of the average depth of the buried ice layer 27
28 Lessons Learned Benefits Robotic follow-up can support geologic mapping & geophysical survey Robotic follow-up can provide quantitative data that complements and supplements data previously collected by humans Robotic follow-up can improve the coverage, completeness and quality of planetary exploration Requirements Planning for human missions needs to consider what robots will do: Must consider robot capabilities (instruments, mobility, etc.) Must consider how long robot mission will operate Consistent localization (including orientation) is needed to co-register and coordinate data between missions Orbital remote sensing, human field work and robotic follow-up are highly complementary Each provides different types of data, viewpoints, and resolution None is fully sufficient to completely explore planetary surfaces 28
29 Robotic Follow-up Team Experiment Team PI : Terry Fong Test Manager: Linda Kobayashi Sim Sup: EstrellinaPacis, Maria Bualat Flight Control Team Flight Directors: Tim Kennedy (JSC), Rob Landis (ARC), Frank Jurgens (JSC) Controllers: Mark Allan, Xavier Bouyssounouse, Lorenzo Fluckiger, Jason Lum, Mike Lundy Science Operations Team Plan Leads:EssamHeggy (JPL), Mark Helper (UT Austin), Jose Hurtado (UTEP) Scientists: Martha Altobelli (UT Austin), Joshua Garber (UC Davis), Elizabeth Palmer (Case), Tim Shin (UT Austin) GDS: Tamar Cohen, Dave Lees K10 Expert: DW Wheeler, Liam Petersen K10 Robot Team (at HMP) Field Lead: Matt Deans Robot System Lead: Hans Utz Robot Engineers: Susan Lee, Eric Park, Vinh To Data Systems: Trey Smith Science: Byron Adams (ASU), Kelsey Young (ASU) Support Team (at HMP) HMP Manager: Pascal Lee Logistics: KiraLorber Communications: Steve Braham and many others 29
30 Questions? Intelligent Robotics Group Intelligent Systems Division NASA Ames Research Center irg.arc.nasa.gov 30
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