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NASA NTRS2004

Robotic End Effectors for Hard-Rock Climbing

Special-purpose robot hands (end effectors) now under development are intended to enable robots to traverse cliffs much as human climbers do. Potential applications for robots having this capability include scientific exploration (both on Earth and other rocky bodies in space), military reconnaissance, and outdoor search and rescue operations. Until now, enabling robots to traverse cliffs has been considered too difficult a task because of the perceived need of prohibitively sophisticated planning algorithms as well as end effectors as dexterous as human hands. The present end effectors are being designed to enable robots to attach themselves to typical rock-face features with less planning and simpler end effectors. This advance is based on the emulation of the equipment used by human climbers rather than the emulation of the human hand. Climbing-aid equipment, specifically cams, aid hooks, and cam hooks, are used by sport climbers when a quick ascent of a cliff is desired (see Figure 1). Currently two different end-effector designs have been created. The first, denoted the simple hook emulator, consists of three "fingers" arranged around a central "palm." Each finger emulates the function of a particular type of climbing hook (aid hook, wide cam hook, and a narrow cam hook). These fingers are connected to the palm via a mechanical linkage actuated with a leadscrew/nut. This mechanism allows the fingers to be extended or retracted. The second design, denoted the advanced hook emulator (see Figure 2), shares these features, but it incorporates an aid hook and a cam hook into each finger. The spring-loading of the aid hook allows the passive selection of the type of hook used. The end effectors can be used in several different modes. In the aid-hook mode, the aid hook on one of the fingers locks onto a horizontal ledge while the other two fingers act to stabilize the end effector against the cliff face. In the cam-hook mode, the broad, flat tip of the cam hook is inserted into a non-horizontal crack in the cliff face. A subsequent transfer of weight onto the end effector causes the tip to rotate within the crack, creating a passive, self-locking action of the hook relative to the crack. In the advanced hook emulator, the aid hook is pushed into its retracted position by contact with the cliff face as the cam hook tip is inserted into the crack. When a cliff face contains relatively large pockets or cracks, another type of passive self-locking can be used. Emulating the function of the piece of climbing equipment called a "cam" (note: not the same as a "cam hook"; see Figure 1), the fingers can be fully retracted and the entire end effector inserted into the feature. The fingers are then extended as far as the feature allows. Any weight then transferred to the end effector will tend to extend the fingers further due to frictional force, passively increasing the grip on the feature. In addition to the climbing modes, these end effectors can be used to walk on (either on the palm or the fingertips) and to grasp objects by fully extending the fingers.

Kennedy, Brett↗

NASA NTRS2011

High-Performance 3D Articulated Robot Display

In the domain of telerobotic operations, the primary challenge facing the operator is to understand the state of the robotic platform. One key aspect of understanding the state is to visualize the physical location and configuration of the platform. As there is a wide variety of mobile robots, the requirements for visualizing their configurations vary diversely across different platforms. There can also be diversity in the mechanical mobility, such as wheeled, tracked, or legged mobility over surfaces. Adaptable 3D articulated robot visualization software can accommodate a wide variety of robotic platforms and environments. The visualization has been used for surface, aerial, space, and water robotic vehicle visualization during field testing. It has been used to enable operations of wheeled and legged surface vehicles, and can be readily adapted to facilitate other mechanical mobility solutions. The 3D visualization can render an articulated 3D model of a robotic platform for any environment. Given the model, the software receives real-time telemetry from the avionics system onboard the vehicle and animates the robot visualization to reflect the telemetered physical state. This is used to track the position and attitude in real time to monitor the progress of the vehicle as it traverses its environment. It is also used to monitor the state of any or all articulated elements of the vehicle, such as arms, legs, or control surfaces. The visualization can also render other sorts of telemetered states visually, such as stress or strains that are measured by the avionics. Such data can be used to color or annotate the virtual vehicle to indicate nominal or off-nominal states during operation. The visualization is also able to render the simulated environment where the vehicle is operating. For surface and aerial vehicles, it can render the terrain under the vehicle as the avionics sends it location information (GPS, odometry, or star tracking), and locate the vehicle over or on the terrain correctly. For long traverses over terrain, the visualization can stream in terrain piecewise in order to maintain the current area of interest for the operator without incurring unreasonable resource constraints on the computing platform. The visualization software is designed to run on laptops that can operate in field-testing environments without Internet access, which is a frequently encountered situation when testing in remote locations that simulate planetary environments such as Mars and other planetary bodies.

Powell, Mark W.↗

NASA NTRS2011

The 2010 Desert Rats Science Operations Test: Outcomes and Lessons Learned

The Desert RATS 2010 Team tested a variety of science operations management techniques, applying experience gained during the manned Apollo missions and the robotic Mars missions. This test assessed integrated science operations management of human planetary exploration using real-time, tactical science operations to oversee daily crew science activities, and a night shift strategic science operations team to conduct strategic level assessment of science data and daily traverse results. In addition, an attempt was made to collect numerical metric data on the outcome of the science operations to assist test evaluation. The two most important outcomes were 1) the production of significant (almost overwhelming) volume of data produced during daily traverse operations with two rovers, advanced imaging systems and well trained, scientifically proficient crew-members, and 2) the degree to which the tactical team s interaction with the surface crew enhanced science return. This interaction depended on continuous real-time voice and data communications, and the quality of science return from any human planetary exploration mission will be based strongly on the aggregate interaction between a well trained surface crew and a dedicated science operations support team using voice and imaging data from a planet s surface. In addition, the scientific insight developed by both the science operations team and the crews could not be measurable by simple numerical quantities, and its value will be missed by a purely metric-based evaluation of test outcome. In particular, failure to recognize the critical importance of this qualitative type interaction may result in mission architecture choices that will reduce science return.

Eppler, D. B.↗

NASA NTRS2012

Computational Ghost Imaging for Remote Sensing

This work relates to the generic problem of remote active imaging; that is, a source illuminates a target of interest and a receiver collects the scattered light off the target to obtain an image. Conventional imaging systems consist of an imaging lens and a high-resolution detector array [e.g., a CCD (charge coupled device) array] to register the image. However, conventional imaging systems for remote sensing require high-quality optics and need to support large detector arrays and associated electronics. This results in suboptimal size, weight, and power consumption. Computational ghost imaging (CGI) is a computational alternative to this traditional imaging concept that has a very simple receiver structure. In CGI, the transmitter illuminates the target with a modulated light source. A single-pixel (bucket) detector collects the scattered light. Then, via computation (i.e., postprocessing), the receiver can reconstruct the image using the knowledge of the modulation that was projected onto the target by the transmitter. This way, one can construct a very simple receiver that, in principle, requires no lens to image a target. Ghost imaging is a transverse imaging modality that has been receiving much attention owing to a rich interconnection of novel physical characteristics and novel signal processing algorithms suitable for active computational imaging. The original ghost imaging experiments consisted of two correlated optical beams traversing distinct paths and impinging on two spatially-separated photodetectors: one beam interacts with the target and then illuminates on a single-pixel (bucket) detector that provides no spatial resolution, whereas the other beam traverses an independent path and impinges on a high-resolution camera without any interaction with the target. The term ghost imaging was coined soon after the initial experiments were reported, to emphasize the fact that by cross-correlating two photocurrents, one generates an image of the target. In CGI, the measurement obtained from the reference arm (with the high-resolution detector) is replaced by a computational derivation of the measurement-plane intensity profile of the reference-arm beam. The algorithms applied to computational ghost imaging have diversified beyond simple correlation measurements, and now include modern reconstruction algorithms based on compressive sensing.

Erkmen, Baris I.↗

NASA NTRS2011

Observations of a Unique Type of ULF Wave by Low-Altitude Space Technology 5 Satellites

We report a unique type of ULF waves observed by low-altitude Space Technology 5 (ST-5) constellation mission. ST-5 is a three-microsatellite constellation deployed into a 300 x 4500 km dawn-dusk and Sun-synchronous polar orbit with 105.6deg inclination angle. Because of the Earth's rotation and the dipole tilt effect, the spacecraft's dawn-dusk orbit track can reach as low as subauroral latitudes during the course of a day. Whenever the spacecraft traverse the dayside closed field line region at subauroral latitudes, they frequently observe strong transverse oscillations at 30-200 mHz, or in the Pc2-3 frequency range. These Pc2-3 waves appear as wave packets with durations in the order of 5-10 min. As the maximum separations of the ST-5 spacecraft are in the order of 10 min, the three ST-5 satellites often observe very similar wave packets, implying these wave oscillations occur in a localized region. The coordinated ground-based magnetic observations at the spacecraft footprints, however, do not see waves in the Pc2-3 band; instead, the waves appear to be the common Pc4-5 waves associated with field line resonances. We suggest that these unique Pc2-3 waves seen by ST-5 are in fact the Doppler-shifted Pc4-5 waves as a result of rapid traverse of the spacecraft across the resonant field lines azimuthally at low altitudes. The observations with the unique spacecraft dawn-dusk orbits at proper altitudes and magnetic latitudes reveal the azimuthal characteristics of field line resonances.

Le, G.↗

NASA NTRS2012

Hybrid Wing Body Shielding Studies Using an Ultrasonic Configurable Fan Artificial Noise Source Generating Simple Modes

An Ultrasonic Configurable Fan Artificial Noise Source (UCFANS) was designed, built, and tested in support of the Langley Research Center s 14- by 22-Foot wind tunnel test of the Hybrid Wing Body (HWB) full three-dimensional 5.8 percent scale model. The UCFANS is a 5.8 percent rapid prototype scale model of a high-bypass turbofan engine that can generate the tonal signature of candidate engines using artificial sources (no flow). The purpose of the test was to provide an estimate of the acoustic shielding benefits possible from mounting the engine on the upper surface of an HWB aircraft and to provide a database for shielding code validation. A range of frequencies, and a parametric study of modes were generated from exhaust and inlet nacelle configurations. Radiated acoustic data were acquired from a traversing linear array of 13 microphones, spanning 36 in. Two planes perpendicular to the axis of the nacelle (in its 0 orientation) and three planes parallel were acquired from the array sweep. In each plane the linear array traversed five sweeps, for a total span of 160 in. acquired. The resolution of the sweep is variable, so that points closer to the model are taken at a higher resolution. Contour plots of Sound Pressure Level, and integrated Power Levels are presented in this paper; as well as the in-duct modal structure.

Sutliff, Daniel, L.↗

NASA NTRS2012

Optical multi-species gas monitoring sensor and system

The system includes at least one light source generating light energy having a corresponding wavelength. The system's sensor is based on an optical interferometer that receives light energy from each light source. The interferometer includes a free-space optical path disposed in an environment of interest. The system's sensor includes an optical device disposed in the optical path that causes light energy of a first selected wavelength to continue traversing the optical path whereas light energy of at least one second selected wavelength is directed away from the optical path. The interferometer generates an interference between the light energy of the first selected wavelength so-traversing the optical path with the light energy at the corresponding wavelength incident on the optical interferometer. A first optical detector detects the interference. At least one second detector detects the light energy at the at least one second selected wavelength directed away from the optical path.

Polzin, Kurt A.↗

NASA NTRS2010

Electrostatic Evaluation of the ARES I FTS Antenna Materials

Surface resistivity and volume resistivity data show all the tested non-metallic materials of the Ares I FTS antenna assembly to be insulative. The external materials (White foam, phenolic) should be able to develop a large surface charge density upon tribocharging with ice crystal impingement. Dielectric breakdown tests on the FTS antenna housing materials show that each of the insulative materials are very resistive to electrical breakdown. The thicknesses of these materials in a nominal housing should protect the antenna from direct breakdown from external triboelectric charging potentials. Per data from the Air Force study, a maximum external electric potential in the range of 100kV can be developed on surfaces tribocharged by ice crystal impingement. Testing showed that under operational pressure ranges, this level of exterior voltage can result in a potential of about 6 kV induced on the electrically floating interior antenna vanes. Testing the vanes up to this voltage level showed that electrostatic discharges can occur between the electrically floating vanes and the center, grounded screw heads. Repeated tests with multiple invisible and visible discharges caused only superficial physical damage to the vanes. Fourier analysis of the discharge signals showed that the frequency range of credible discharges would not interfere with the nominal operation of the FTS antenna. However, due to the limited scope, short timetable, and limited funding of this study, a direct measurement of the triboelectric charge that could be generated on the Ares I antenna housing when the rocket traverses an ice cloud at supersonic speeds was not performed. Instead, data for the limited Air Force study [3] was used as input for our experiments. The Air Force data used was not collected with a sensor located to provide us with the best approximation at the geometry of the Ares I rocket, namely that of the windshield electrometer, because brush discharges to the metal frame of the windshield periodically depleted any charge accumulated. The configuration of the Ares I antenna assembly does not include any exposed metals in the vicinity and the windshield data could not be used. Since the windshield sensor data was unusable, we decided that the Patch 2 location would provide us with a rough approximation to the Ares I antenna configuration and would give us an indication of the possible charging levels that would develop. This was the data that we used in this study. Whether these charging levels would be of the same order of magnitude as the actual charges developed by the Ares I traversing a cloud with ice particles is at this point unknown. An actual experimental test, requiring the acquisition of additional instrumentation, is strongly advised before a final recommendation can be formulated regarding the safe levels of electrostatic charging on the antenna housing. Thus the results of this study should be considered to be preliminary.

Hogue, Michael D.↗

NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗

NASA NTRS2014

Recent Improvements to the Acoustical Testing Laboratory at the NASA Glenn Research Center

The Acoustical Testing Laboratory (ATL) consists of a 27- by 23- by 20-ft (height) convertible hemi/anechoic chamber and separate sound-attenuating test support enclosure. Absorptive fiberglass wedges in the test chamber provide an anechoic environment down to 100 Hz. A spring-isolated floor system affords vibration isolation above 3 Hz. These specifications, along with very low design background levels, enable the acquisition of accurate and repeatable acoustical measurements on test articles that produce very low sound pressures. Removable floor wedges allow the test chamber to operate in either a hemi-anechoic or anechoic configuration, depending on the size of the test article and the specific test being conducted. The test support enclosure functions as a control room during normal operations. Recently improvements were accomplished in support of continued usage of the ATL by NASA programs including an analysis of the ultra-sonic characteristics. A 3-D traverse system inside the chamber was utilized for acquiring acoustic data for these tests. The traverse system drives a linear array of 13, 1/4 in.-microphones spaced 3 in. apart (36 in. span). An updated data acquisition system was also incorporated into the facility.

Podboy, Devin M.↗

NASA NTRS2014

Hybrid Wing Body Shielding Studies Using an Ultrasonic Configurable Fan Artificial Noise Source Generating Typical Turbofan Modes

An Ultrasonic Configurable Fan Artificial Noise Source (UCFANS) was designed, built, and tested in support of the NASA Langley Research Center's 14- by 22-ft wind tunnel test of the Hybrid Wing Body (HWB) full 3-D 5.8 percent scale model. The UCFANS is a 5.8 percent rapid prototype scale model of a high-bypass turbofan engine that can generate the tonal signature of proposed engines using artificial sources (no flow). The purpose of the test was to provide an estimate of the acoustic shielding benefits possible from mounting the engine on the upper surface of an HWB aircraft using the projected signature of the engine currently proposed for the HWB. The modal structures at the rating points were generated from inlet and exhaust nacelle configurations--a flat plate model was used as the shielding surface and vertical control surfaces with correct plan form shapes were also tested to determine their additional impact on shielding. Radiated acoustic data were acquired from a traversing linear array of 13 microphones, spanning 36 in. Two planes perpendicular, and two planes parallel, to the axis of the nacelle were acquired from the array sweep. In each plane the linear array traversed four sweeps, for a total span of 168 in. acquired. The resolution of the sweep is variable, so that points closer to the model are taken at a higher resolution. Contour plots of Sound Pressure Levels, and integrated Power Levels, from nacelle alone and shielded configurations are presented in this paper; as well as the in-duct mode power levels

Sutliff, Daniel l.↗

NASA NTRS2014

Meteorological Aspects of Two Modes of Lightning Triggered Upward Lightning (LTUL) Events in Sprite-Producing MCSs

During the 2013 convective storm season, a high resolution 3-D Lightning Mapping Array was deployed to north central Kansas (Cummins et al, this conference.) In conjunction with fixed and mobile camera systems and electric field mills, this allowed for detailed investigations of lightning induced upward lighting (LTUL) discharges from tall objects in the region, including wind turbines. Also, concurrent observations using a network of low-light cameras deployed over the central U.S. as part of the PhOCAL program detected transient luminous events (TLEs) above the Kansas LMA (KSLMA). During the night of 29-30 May 2013, waves of precipitation associated with several large MCSs traversing Kansas moved through the KSLMA domain. We focus on two LTUL events that exemplify two modes of upward lightning production from tall structures. At 0859Z, 30 May 2013, a nearby + 92 kA CG, with extensive in-cloud branching passing overhead a wind farm, was followed by complex LTUL discharges from four turbines. In addition, a sprite was confirmed by the Bennett, CO SpriteNet camera. The parent flash covered a very large area. It initiated near the MCS convective leading line ~150 km to the south, and traveled into a stratiform precipitation maximum over the KSLMA. Typically when a +CG precedes an LTUL, the triggering component is either 1) the return stroke that traverses the leader network which initially forms near the towers or 2) new negative leader activity that develops once the return stroke reaches the end of the initial leader network that may not have initially been near the tower. In the latter case, the new leader development passes near the towers and triggers upward positive leaders similar to those associated with only an intracloud flash. The +CG return stroke may hit >10 km from the towers and the new leader development may travel extensive distances before getting close enough to the towers to trigger upward lightning. In this case, there was the typical long delay between the +CG return stroke and LTUL initiation (10s to 100s of ms). The parent lightning discharges for both sprites and LTULs have many common aspects and tend to occur in similar meteorological regimes, with the two phenomena often occurring together. An earlier LUTL, at 2320Z, 29 May 2013 was captured at 9900 fps by a Phantom camera in the PhOCAL mobile Lightning Investigation Vehicle (LIV). This discharge, exhibiting numerous recoil leaders, also occurred in a stratiform region some ~50-100 km north of an MCS convective core. While there was no preceding +CG, there was an extensive network of IC channels, one of which passed overhead close to the turbine. These observations are consistent with the ongoing UPLIGHTS studies of LTULs from tall towers in Rapid City. While a +CG is usually involved (~85% of the time), the LTUL occurs because of the associated extensive in cloud components passing over towers. The earlier case without a +CG typifies this second mode where the triggering component is a negative leader associated with the IC activity passing near the towers initiates the upward positive leaders. We will discuss the parent discharges, shown in their meteorological (radar and satellite) context, and attempt to better understand the charge structures present in both the convective and stratiform regions of the MCS. The sprite and its relationship to the parent discharge will similarly be discussed

Lyons, W. A.↗

NASA NTRS2014

Push-Pull Locomotion for Vehicle Extrication

For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.

extrication↗

NASA NTRS2015

Centimeter to Decimeter Size Spherical and Cylindrical Features in Gale Crater Sediments

The Curiosity rover traverse in Gale crater has explored a large series of sedimentary deposits in an ancient lake on Mars. Over the nine kilometers of traverse a recurrent observation has been southward-dipping sedimentary strata, from Shaler at the edge of Yellowknife Bay to the striated units near the Kimberley. Within the sedimentary strata cm- to decimeter- size hollow spheroidal objects and some apparent cylindrical objects have been observed. These features have not been seen by previous landed missions. The first of these were observed on sol 122 in the Gillespie Lake member at Yellowknife Bay. Additional hollow features were observed in the Point Lake outcrop in the same area. More recently a spherical and apparently hollow object, Winnipesaukee, was observed by ChemCam and Mastcam on sol 653. Here we describe the settings, morphology, and associated compositions, and we discuss possible origins of these objects.

Wiens, R. C.↗

NASA NTRS2014

Parametric Trace Slicing

A program trace is obtained and events of the program trace are traversed. For each event identified in traversing the program trace, a trace slice of which the identified event is a part is identified based on the parameter instance of the identified event. For each trace slice of which the identified event is a part, the identified event is added to an end of a record of the trace slice. These parametric trace slices can be used in a variety of different manners, such as for monitoring, mining, and predicting.

Rosu, Grigore↗

NASA NTRS2012

Survey of Coherent Approximately 1 Hz Waves in Mercury's Inner Magnetosphere from MESSENGER Observations

We summarize observations by the MESSENGER spacecraft of highly coherent waves at frequencies between 0.4 and 5 Hz in Mercury's inner magnetosphere. This survey covers the time period from 24 March to 25 September 2011, or 2.1 Mercury years. These waves typically exhibit banded harmonic structure that drifts in frequency as the spacecraft traverses the magnetic equator. The waves are seen at all magnetic local times, but their observed rate of occurrence is much less on the dayside, at least in part the result of MESSENGER's orbit. On the nightside, on average, wave power is maximum near the equator and decreases with increasing magnetic latitude, consistent with an equatorial source. When the spacecraft traverses the plasma sheet during its equatorial crossings, wave power is a factor of 2 larger than for equatorial crossings that do not cross the plasma sheet. The waves are highly transverse at large magnetic latitudes but are more compressional near the equator. However, at the equator the transverse component of these waves increases relative to the compressional component as the degree of polarization decreases. Also, there is a substantial minority of events that are transverse at all magnetic latitudes, including the equator. A few of these latter events could be interpreted as ion cyclotron waves. In general, the waves tend to be strongly linear and characterized by values of the ellipticity less than 0.3 and wave-normal angles peaked near 90 deg. Their maxima in wave power at the equator coupled with their narrow-band character suggests that these waves might be generated locally in loss cone plasma characterized by high values of the ratio beta of plasma pressure to magnetic pressure. Presumably both electromagnetic ion cyclotron waves and electromagnetic ion Bernstein waves can be generated by ion loss cone distributions. If proton beta decreases with increasing magnetic latitude along a field line, then electromagnetic ion Bernstein waves are predicted to transition from compressional to transverse, a pattern consistent with our observations. We hypothesize that these local instabilities can lead to enhanced ion precipitation and directly feed field-line resonances.

ultra-low-frequency↗

NASA NTRS2012

Methods for Improving Long-Range Wireless Communication Between Extreme Terrain Vehicles

Axel is an extreme terrain, two-wheeled rover designed to traverse rocky surface and sub-surface landscapes in order to conduct remote science experiments in hard-to-reach locations. The rover's design meets many requirements for a mobile research platform capable of reaching water seeps on Martian cliff sides. Axel was developed by the Mobility and Robotic Systems section at the Caltech Jet Propulsion Laboratory. Unique design criteria associated with extreme terrain mobility led to a unique rover solution, consisting of a central module, which provides long-term energy storage and space for large-scale science payloads, and two detachable Axels that can detach and explore extreme terrain locations that are inaccessible to conventional rovers. The envisioned mission could involve a four-wheeled configuration of Axel called 'DuAxel' that is able to traverse the benign, flattened terrain of a landing site and approach the edge of the targeted crater or cave where it would deploy anchoring legs and detach one of the Axel rovers [1]. A tether provides a secure link between the Axel rover and the central module, acting as an anchor to allow Axel to descend along steep crater walls to collect data from the scientifically relevant sites along the water seeps or crater ledges. After completing its scientific mission Axel would hoist itself up to the central module and dock autonomously (using its on-board stereo cameras), allowing the once-again recombined DuAxel to travel to another location to repeat data collection.

wireless communication↗

NASA NTRS2011

D.R.O.P: The Durable Reconnaissance and Observation Platform

Robots can provide a remote presence in areas that are either inaccessible or too dangerous for humans. However, robots are often limited by their ability to adapt to the terrain or resist environmental factors. The Durable Reconnaissance and Observation Platform (DROP) is a lightweight robot that addresses these challenges with the capability to survive falls from significant heights, carry a useable payload, and traverse a variety of surfaces, including climbing vertical surfaces like wood, stone, and concrete. DROP is manufactured using a combination of rapid prototyping and shape deposition manufacturing. It uses microspine technology to create a new wheel-like design for vertical climbing. To date, DROP has successfully engaged several vertical surfaces, hanging statically without assistance, and traversed horizontal surfaces at approximately 30 cm/s. Unassisted vertical climbing is capable on surfaces up to 85deg at a rate of approximately 25cm*s(sup -1). DROP can also survive falls from up to 3 meters and has the ability to be thrown off of and onto rooftops. Future efforts will focus on improving the microspine wheels, selecting more resilient materials, customizing the controls, and performing more rigorous and quantifiable testing.

Durable Reconnaissance and Observation Platform (D↗