Engineering topics
Backes, Paul
Publications and source records attributed to Backes, Paul.
Functional Autonomy Challenges in Sampling for an Europa Lander Mission
We present a baseline approach to Functional Autonomyfor the purpose of conducting excavation and samplingbehaviors in a proposed Europa Lander mission. Aspects ofthe problems of site selection, excavation progress tracking,and fault identification are related; with particular emphasison parameters peculiar to an icy moon environment. Firstpass approaches to addressing these challenges are presentedin isolation, while motivating the current development goal ofproducing a general Functional Autonomy architecture thatallows state estimation, fault diagnosis, isolation, & recovery(FDIR), and adaptive behaviors to be formulated in concert.
Functional Autonomy Challenges in Sampling for an Europa Lander Mission
No abstract provided
The Dual-Rasp Sampling System Design with Closed Pneumatic Sample Transfer
The novel Dual-Rasp sampling system has been developed for landed missions to low gravity planetary bodies and is particularly well suited for the unique environment of Saturn’s moon Enceladus. The Dual-Rasp sampling system has two counter-rotating rasp cutters that remove material from the surface and direct it into a guide. The cuttings follow the guide into a sample collection cup. When the sampling collection completes, the tool reconfigures by rotating the guide to create a closed circuit for pneumatic sample transfer from the collection cup to science instruments on the lander. A valve opens a gas tank and the gas flows from that tank into the sample collection cup and down rigid tubing to the science instruments chamber on the lander. A two degree of freedom arm with base actuators is used to deploy the sampler and control its sampling location.
The Dual-Rasp Sampling System for an Enceladus Lander
The Dual-Rasp sampling system has been developed for the unique sampling environment of a lander mission to the surface of Saturn’s moon Enceladus. Plume material from the subsurface ocean that has fallen to the surface is desired resulting in an objective to sample the topmost layer of icy material. The low gravity and potential large range of surface properties are challenges for the sampling system. The Dual-Rasp sampling system has two counter-rotating rasp cutters with teeth that remove material that is thrown up between the cutters. Two prototypes of the Dual-Rasp sampling system were built and tested, one with a carousel and one that uses pneumatics for sample transfer.
Sampling tool concepts for Enceladus Lander in-situ analysis
A potential future in-situ lander mission to the surface of Enceladus could be the lowest cost mission to determine if life exists beyond Earth since material from the subsurface ocean, where the presence of hydrothermal activity has been strongly suggested by the Cassini mission, is available on its surface after being ejected by plumes and then settling on the surface. In addition, the low radiation environment of Enceladus would not significantly alter the chemical makeup of samples recently deposited on the surface. A study was conducted to explore various sampling devices that could be used by an in-situ lander mission to provide 1cc to 5cc volume samples to instruments. In addition to temperature and vacuum environmental conditions, the low surface gravity of Enceladus (1% of Earth gravity) represents a new challenge for surface sampling that is not met by sampling systems developed for microgravity (e.g., comets and asteroids) or higher gravity (e.g., Europa 13%g, Moon 16%g, or Mars 38%g) environments. It is desired to acquire surface plume material that has accumulated in the top 1cm to ensure acquisition of the least processed material. Several sampling devices were developed or adapted and then tested in simulated conditions that resemble the Enceladus surface properties. These devices and test results are presented in this paper.
Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian
This work demonstrates dual-arm lifting of bulky objects based on inferred object properties (center of mass (COM) location, weight, and shape) using proprioception (i.e. force torque measurements). Data-driven Bayesian models describe these quantities, which enables subsequent behaviors to depend on confidence of the learned models. Experiments were conducted using the NASA Jet Propulsion Laboratory’s (JPL) RoboSimian to lift a variety of cumbersome objects ranging in mass from 7kg to 25kg. The position of a supporting second manipulator was determined using a particle set and heuristics that were derived from inferred object properties. The supporting manipulator decreased the initial manipulator’s load and distributed the wrench load more equitably across each manipulator, for each bulky object. Knowledge of the objects came from pure proprioception (i.e. without reliance on vision or other exteroceptive sensors) throughout the experiments.
Software System for the Mars 2020 Mission Sampling and Caching Testbeds
The development of the Sampling and Caching Subsystem (SCS) of the Mars 2020 Rover Mission is highly dependent on testing of prototype hardware and software operating in explicit conditions as part of integrated testbeds. To achieve relevant integration of hardware and software while maintaining rapid algorithm development capabilities and high testing throughput, the Controls and Autonomy for Sample Acquisition and Handling (CASAH) software system was developed. CASAH is an implementation of the Intelligent Robotics System Architecture (IRSA),which mimics JPL Flight Software (FSW) in that it is divided into hierarchical modules that run separate processes that communicate via message passing, each module is assigned an owner that is a single developer, and the operator initiates requests via a text-based interface that interprets sequences of commands.IRSA enables a modular breakdown of CASAH that follows that of 2020 Flight Software,so developers can take an algorithm from a module in CASAH and re-code it into the same module in FSW. As deployment of CASAH has grown to ten testbeds - each with different hardware and objectives - bottom-up design decisions have been intentionally made to keep the system lightweight and maintainable by a very small team. To date, CASAH has been used to run 1393 different tests. This work describes CASAH, the testbeds and functionality it supports, the tools used to manage the development and sharing of code, and the features of the software. Lessons learned over the past three years of development and deployment are provided.
BiBlade Sampling Tool Validation for Comet Surface Environments
The BiBlade sampling chain was developed for use in a potential Comet Surface Sample Return mission. Following prior versions of the sampling tool, a new tool was developed and validated to TRL 6. Sample acquisition testing was performed across a range of comet simulants and operational conditions. Tool operation was validated in a thermal-vacuum chamber. The end-to-end sampling chain was validated including sampling, sample measurement, and sample transfer. The sampling system is now ready for flight implementation.
Manufactured Porous Ambient Surface Simulants
The planetary science decadal survey for 2013-2022 (Vision and Voyages, NRC 2011) has promoted mission concepts for sample acquisition from small solar system bodies. Numerous comet-sampling tools are in development to meet this standard. Manufactured Porous Ambient Surface Simulants (MPASS) materials provide an opportunity to simulate variable features at ambient temperatures and pressures to appropriately test potential sample acquisition systems for comets, asteroids, and planetary surfaces. The original "flavor" of MPASS materials is known as Manufactured Porous Ambient Comet Simulants (MPACS), which was developed in parallel with the development of the Biblade Comet Sampling System (Backes et al., in review). The current suite of MPACS materials was developed through research of the physical and mechanical properties of comets from past comet missions results and modeling efforts, coordination with the science community at the Jet Propulsion Laboratory and testing of a wide range of materials and formulations. These simulants were required to represent the physical and mechanical properties of cometary nuclei, based on the current understanding of the science community. Working with cryogenic simulants can be tedious and costly; thus MPACS is a suite of ambient simulants that yields a brittle failure mode similar to that of cryogenic icy materials. Here we describe our suite of comet simulants known as MPACS that will be used to test and validate the Biblade Comet Sampling System (Backes et al., in review).
The Hitchhiker's Guide to the Outer Solar System
We propose a novel deep space propulsion method called the Comet Hitchhiker. The concept is to perform momentum exchange with small bodies (i.e., asteroid and comet) using an extendable/retrievable tether and a harpoon. Unlike previously proposed tethered fly-by, the use of extendable tether enables to change the relative speed with a target. Hence Hitchhiker would be a prospective means of providing orbit insertion deltaV, particularly for rendezvous missions to small bodies in the outer Solar System such as Kuiper belt objects and Centaurs, which are not easily manageable with chemical propulsion or solar electric propulsion. Furthermore, by applying regenerative brake during a hitchhike maneuver, a Hitchhiker can harvest energy. The stored energy can be used to make a departure from the target by quickly retrieving the tether, which we call a inverse hitchhike maneuver. By repeating hitchhike and inverse Hitchhike maneuvers, a Hitchhiker could perform a mission to rendezvous with multiple targets efficiently, which we call a multi-hitchhike mission. We derive the basic equation of Hitchhiker, namely the Space Hitchhike Equation, which relates the specific strength and mass fraction of tether to achievable ∆V. We then perform detailed feasibility analysis through finite element simulations of tether as well as hypervelocity impact simulations of the harpoon using the Adaptive Mesh Refinement Objected-oriented C++ (AMROC) algorithm. The analysis results suggest that a hitchhike maneuver with deltaV = approximately 1.5km/s is feasible with flight proven materials such as Kevlar/Zylon tether and tungsten harpoon. A carbon nanotube tether, combined with diamond harpoon, would enable approximately 10 km/s hitchhike maneuver. Finally, we present two particular mission scenarios for Hitchhiker: Pluto rendezvous and a multi-hitchhike mission to the Themis family asteroids in the main belt.
The Hitchhiker's Guide to the Outer Solar System
We propose a novel deep space propulsion method called the Comet Hitchhiker. The concept is to perform momentum exchange with small bodies (i.e., asteroid and comet) using an extendable/retrievable tether and a harpoon. Unlike previously proposed tethered fly-by, the use of extendable tether enables to change the relative speed with a target. Hence Hitchhiker would be a prospective means of providing orbit insertion deltaV, particularly for rendezvous missions to small bodies in the outer Solar System such as Kuiper belt objects and Centaurs, which are not easily manageable with chemical propulsion or solar electric propulsion. Furthermore, by applying regenerative brake during a hitchhike maneuver, a Hitchhiker can harvest energy. The stored energy can be used to make a departure from the target by quickly retrieving the tether, which we call a inverse hitchhike maneuver. By repeating hitchhike and inverse Hitchhike maneuvers, a Hitchhiker could perform a mission to rendezvous with multiple targets efficiently, which we call a multi-hitchhike mission. We derive the basic equation of Hitchhiker, namely the Space Hitchhike Equation, which relates the specific strength and mass fraction of tether to achievable ∆V. We then perform detailed feasibility analysis through finite element simulations of tether as well as hypervelocity impact simulations of the harpoon using the Adaptive Mesh Refinement Objected-oriented C++ (AMROC) algorithm. The analysis results suggest that a hitchhike maneuver with deltaV = approximately 1.5km/s is feasible with flight proven materials such as Kevlar/Zylon tether and tungsten harpoon. A carbon nanotube tether, combined with diamond harpoon, would enable approximately 10 km/s hitchhike maneuver. Finally, we present two particular mission scenarios for Hitchhiker: Pluto rendezvous and a multi-hitchhike mission to the Themis family asteroids in the main belt.
Dynamic Acquisition and Retrieval Tool (DART) for Comet Sample Return : Session: 2.06.Robotic Mobility and Sample Acquisition Systems
The 2011 Decadal Survey for planetary science released by the National Research Council of the National Academies identified Comet Surface Sample Return (CSSR) as one of five high priority potential New Frontiers-class missions in the next decade. The main objectives of the research described in this publication are: develop a concept for an end-to-end system for collecting and storing a comet sample to be returned to Earth; design, fabricate and test a prototype Dynamic Acquisition and Retrieval Tool (DART) capable of collecting 500 cc sample in a canister and eject the canister with a predetermined speed; identify a set of simulants with physical properties at room temperature that suitably match the physical properties of the comet surface as it would be sampled. We propose the use of a dart that would be launched from the spacecraft to impact and penetrate the comet surface. After collecting the sample, the sample canister would be ejected at a speed greater than the comet's escape velocity and captured by the spacecraft, packaged into a return capsule and returned to Earth. The dart would be composed of an inner tube or sample canister, an outer tube, a decelerator, a means of capturing and retaining the sample, and a mechanism to eject the canister with the sample for later rendezvous with the spacecraft. One of the significant unknowns is the physical properties of the comet surface. Based on new findings from the recent Deep Impact comet encounter mission, we have limited our search of solutions for sampling materials to materials with 10 to 100 kPa shear strength in loose or consolidated form. As the possible range of values for the comet surface temperature is also significantly different than room temperature and testing at conditions other than the room temperature can become resource intensive, we sought sample simulants with physical properties at room temperature similar to the expected physical properties of the comet surface material. The chosen DART configuration, the efforts to identify a test simulant and the properties of these simulants, and the results of the preliminary testing will be described in this paper.
End-to-End Dexterous Manipulation with Deliberate Interactive Estimation
No abstract available
Sample Sealing Approaches for Mars Sample Return Caching
Objective ot this project was to investigate sealing methods for encapsulating samples in 1 cm diameter thin-walled sample tubes applicable to future proposed Mars Sample Return Techniques implemented include a spring energized Teflon sleeve plug, a crimped tube seal, a heat-activated shape memory alloy plug, a shape memory alloy activated cap, a solder-based plug, and a solder-based cap