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NASA NTRSDate not supplied

Leveraging VIPER Geotechnical and Mobility Insights for Endurance Rover and Traverse Development

A new generation of lunar surface rover exploration is rapidly approaching. This is evidenced by the rise of commercially developed rovers from private companies (e.g., Lunar Outpost’s MAPP) and government agencies, like NASA’s Volatiles Investigating Polar Exploration Rover (VIPER), the Lunar Terrain Vehicle (LTV), and the Endurance/Intrepid rover concepts, and the INSPIRE mission concept. The drive distance requirements for off-world vehicles are also rapidly increasing. For example, LTV driving requirements dictate a 20 km range on a single battery charge, with an overall lifetime requirement of 13,000 km over a minimum 10-year service life. Similarly, NASA's Endurance-A mission concept requires a 2000 km vehicle traverse distance, which is nearly 50 times further than the USSR's Lunokhod 2, the longest lunar rover mission to date. Previous planetary surface missions on the Moon and Mars have revealed harsh mobility conditions: aggressive rocky terrains on Mars severely damaged the Curiosity rover’s wheels, soft lunar regolith caused the Lunokhod 2 rover to sink and NASA’s Apollo 15 LRV (Lunar Roving Vehicle) spun out due to poor traction, which required manual correction. This demonstrates that mobility challenges like wheel degradation and soft soil driving performance must be accounted for in a mission’s design phase to meet increasingly aggressive mission durations and mobility goals. The success of these long duration missions requires highly reliable and durable mobility platforms in conjunction with a more developed understanding of the geotechnical properties of the lunar surface. The VIPER mission is uniquely posed to inform future missions about mobility performance, wheel durability, and lunar surface soil mechanics of sunlit and shadowed regions through use of data streams that already exist for other mission purposes. VIPER’s mission to the lunar south pole will provide a new perspective into off-world mobility challenges including traversal into permanently shadowed regions. Mobility data from VIPER’s mission will represent a first glimpse into the surface mobility challenges of the lunar South Pole. Utilization of VIPER’s existing capabilities including cameras, inertial measurement unit (IMU) data, motor currents/torque, drill data, and the rover’s suspension state and kinematics provide the opportunity to determine potentially useful information for future rover and traverse designs, as well as on-Earth testing practices. Data products collected during VIPER’s mission could inform design considerations for the Endurance rover much earlier than NASA’s standard “lessons learned” approach as VIPER has a highly tactical mission operations structure. This work outlines the specific links between possible data products from the VIPER mission and their potential impact on the Endurance/Intrepid mission concepts in their early design phases. From VIPER, we will also gain insights for future development of onboard mobility software as VIPER is a way-point driven rover which requires more constant human operation on Earth than some other rover missions (non-lunar surface). Primary VIPER data products and insights of interest include wheel sinkage, wheel slip, wheel degradation, surface soil shear strength, and terrain slope estimation. VIPER data products will be made available via the Planetary Data System’s Geosciences and Cartography and Imaging Sciences nodes, conforming to the PDS4 standard.

mobility↗

NASA NTRS2021

Development of the Sample Fetch Rover Locomotion Subsystem

A novel system for planetary surface mobility is being designed in response to the challenging requirements of the Sample Fetch Rover (SFR) mission, part of the NASA/ESA Mars Sample Return campaign (MSR). The rover will retrieve tubes with rock and soil samples, previously acquired and cached by NASA’s Perseverance rover in depots on the Martian surface. SFR will have to acquire, transport and deliver the tubes to a lander in a tight time window. This will require significant mobility capabilities, unprecedented for Mars rovers. The highly time-constrained traverse needs, together with the strictly limited mass and volume imposed by the accommodation on the lander, have pushed the design of the SFR locomotion to seek innovative solutions. In response to that, a four-wheel drive system is being developed, integrated with a deployable pitch-averaging suspension. This will be the first time that four-wheel locomotion is used on Mars and on robotic planetary rovers in general. The system, relying on high-efficiency drive actuators designed to operate in Mars environment, shows potential for terrain and obstacle negotiation performance comparable with that of larger vehicles. The implementation also takes advantage of the superelastic Spring-Tyre technology currently being developed by NASA Glenn Research Center, which, thanks to its traction and obstacle compliance properties, will allow SFR to navigate difficult ground and achieve its mission objectives.

Rehmatullah, Faizan↗

DOE OSTI2025

A Life Cycle Analysis Framework for Point Source Capture Systems

NETL studies the costs and benefits of PSC for electricity, industry, and mobile applications. Mobile point source capture (MPSC) and storage applied to freight modes captures emissions directly from exhaust. This poster presents a framework for conducting LCA of PSC systems applied to heavy-duty trucks, freight trains, and marine vessels. The framework defines a wheels-to-storage (gate-to-grave) boundary, including energy demands (electricity, heat, and cooling requirements), solvent use and cycling, onboard system components, carbon storage in a saline aquifer, and upstream manufacturing impacts for equipment, with a suggested functional unit of 1 tonne-km. Potential data sources for analysis include material, energy, and operational data from Oak Ridge National Laboratory, GREET (Greenhouse gases, Regulated Emissions, and Energy use in Technologies) model, and scientific literature. The suggested analytical approach includes comparison to publicly available business-as-usual systems without capture across all modes of transportation, sensitivity to composition of the capture solvent, and sensitivity to capture rate variation, all of which would support a wholistic PSC business case analysis. For future consideration, analysis can be augmented with consideration of different sources of electricity (e.g., nuclear), fuel substitution, deploying supportive infrastructure such as pipeline offloading points, and downstream applications like enhanced oil recovery (EOR).

life cycle analysis (LCA)↗

NASA NTRS1989

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Weisbin, C. R.↗

NASA NTRS2005

Rough and Steep Terrain Lunar Surface Mobility

In the summer of 2004, the NASA Exploration Systems Mission Directorate conducted an open call for projects relevant to human and robotic exploration of the Earth-Moon and Mars systems. A project entitled 'Rough and Steep Terrain Lunar Surface Mobility' was submitted by JPL and accepted by NASA. The principal investigator of this project describes the robotic vehicle being developed for this effort, which includes six 'wheels-on-legs' so that it can roll efficiently on relatively smooth terrain but walk (using locked wheels as footpads) when "the going gets rough".

rough↗

NASA NTRS2011

Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting system, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction System), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using Adams dynamic modeling software. The external library was built in Fortran and called by Adams to model the wheel-soil interactions include the rut-formation effect of deformable soils, lateral and longitudinal forces, bull-dozing effects, and applied wheel torque. The paper presents the details and implementation of the system. To validate the developed system, one study case is presented from a realistic drive on Mars of the Opportunity rover. The simulation results match well from the measurement of on-board telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

rover↗

NASA NTRS1988

A manned lunar outpost. Design considerations for three key elements in an initial manned lunar outpost

The Initial Manned Lunar Outpost (IMLO) is proposed as the initial permanent base for manned activities on the Moon. The study concentrated on identifying the equipment, support systems, and initial base configuration necessary to accomplish the various science, industrial and exploration activities planned. The primary concepts of the MLO were the use of hard modules for habitation areas creating a flexible, modular transportation system; designing a multi-functional vehicle; and using an overhead radiation protection system. The transportation system, dubbed the Lunar Mobile Surface Transport System (LMSTS), carries the hard modules to the surface of the moon and provides a method to move them to the desired location through the use of interchangeable pallets. The avionics pallets are changed-out with wheel and hitch pallets, transforming the LMSTS into a "tractor trailer" used with the Multi-Functional Vehicle (MFV). The modules are placed under the Regolith Support Structure (RSS) which provides a stable environment and radiation protection for the entire base. The overhead structure was chosen over simply burying the modules to provide a study on the advantages and disadvantages of this type of system. The advantages include easy access to the exterior of the modules, providing a protected area for vehicles and equipment used in EVA, and creating an area of constant temperature. Disadvantages include a need for prefabrication of structural components, including the preconstruction and construction phases of the initial MLO. The design approach taken considered existing and near-term materials and technology only, without the consideration of possible future building technologies.

Bell, Larry↗

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 NTRS2017

Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies: Final Report: NASA NIAC - Phase II Study

This study investigated a mission architecture that allows the systematic and affordable in-situ exploration of small solar system bodies, such as asteroids, comets, and Martian moons (Figure 1). The architecture relies on the novel concept of spacecraft/rover hybrids,which are surface mobility platforms capable of achieving large surface coverage (by attitude controlled hops, akin to spacecraft flight), fine mobility (by tumbling), and coarse instrument pointing (by changing orientation relative to the ground) in the low-gravity environments(micro-g to milli-g) of small bodies. The actuation of the hybrids relies on spinning three internal flywheels. Using a combination of torques, the three flywheel motors can produce a reaction torque in any orientation without additional moving parts. This mobility concept allows all subsystems to be packaged in one sealed enclosure and enables the platforms to be minimalistic. The hybrids would be deployed from a mother spacecraft, which would act as a communication relay to Earth and would aid the in-situ assets with tasks such as localization and navigation (Figure 1). The hybrids are expected to be more capable and affordable than wheeled or legged rovers, due to their multiple modes of mobility (both hopping and tumbling), and have simpler environmental sealing and thermal management (since all components are sealed in one enclosure, assuming non-deployable science instruments). In summary, this NIAC Phase II study has significantly increased the TRL (Technology Readiness Level) of the mobility and autonomy subsystems of spacecraft/rover hybrids, and characterized system engineering aspects in the context of a reference mission to Phobos. Future studies should focus on improving the robustness of the autonomy module and further refine system engineering aspects, in view of opportunities for technology infusion.

mobility platforms↗

NASA NTRS2020

High-capacity ATHLETE Offloader Mobility Constructor Concept for Human Surface Exploration

Using cross-cabled, winch-tendon four-bar frames, a new Artemis-class ATHLETE system is a multi-limbed robotic mobility platform that is designed for surface traverse, precision placement, and offloading of heavy habitats and other large human exploration payloads from high-decked landers. Building upon lessons learned from the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system developed for Constellation Lunar Surface Systems and Evolvable Mars Campaign, a high-capacity articulated crane / lift vehicle concept has been devised that would be equipped with multi-limb six-degree-of-freedom dexterity for a variety of tasks supporting planetary surface human exploration missions and outposts. The Artemis-class ATHLETE vehicle would use any combination of three to six wheel-onlimb combinations to provide a wide “outrigger” stance to transfer loads from a high center-of-gravity on sloped terrain to low stable carry configurations for long-distance traverses, and be capable of precision docking of payloads to previously positioned elements. The new vehicle concept improves upon previous Constellation-class ATHLETE versions by allowing modular hot-swapping of individual limbs to improve maintenance and flexibility. The extreme-capacity independent limbs can individually function as single cranes, and can be delivered separately via multiple lander manifests for later congregation into self-driving “Tri-ATHLETE” vehicles after delivery to the surface. This paper provides mission architecture targets and vehicle masses for stepped payload capacity values in Earth, Mars, and Lunar gravity environments, and discusses a variety of swappable tools, including wheeled mobility attachments, grippers, excavation tools, repair fixtures, ISRU extraction, winches, block & tackle rigging combinations, 3D printheads, and construction aids.

Wilcox, Brian↗

NASA NTRS2007

Robotics

Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and power modules over long distances, pre-positioning them for the arrival of crew on a subsequent lander. Surface Handling 1. Offload surface system payloads from the lander, breaking launch restraints and power/data connections. Payloads may be offloaded to a wheeled vehicle for transport. 2. Deploy payloads from a wheeled vehicle at a field site, placing the payloads in their final use site on the ground or mating them with existing surface systems. 3. Support regolith collection, site preparation, berm construction, or other civil engineering tasks using tools and implements attached to rovers. Human-Systems Interaction 1. Provide a safe command and control interface for suited EVA to ride on and drive the vehicles, making sure that the systems are also safe for working near dismounted crew. 2. Provide an effective control system for IV crew to tele-operate vehicles, cranes and other equipment from inside the surface habitats with evolving independence from Earth. .. Provide a supervisory system that allows machines to be commanded from the ground, working across the Earth-Lunar time delays on the order of 5-10 seconds (round trip) to support operations when crew are not resident on the surface. Technology Development Needs 1. Surface vehicles that can dock, align and mate with outpost equipment such as landers, habitats and fluid/power interfaces. 2. Long life motors, drive trains, seals, motor electronics, sensors, processors, cable harnesses, and dash board displays. 3. Active suspension control, localization, high speed obstacle avoidance, and safety systems for operating near dismounted crew. 4. High specific energy and specific power batteries that are safe, rechargeable, and long lived.

Ambrose, Robert O.↗

NASA NTRS2003

A Wheel Electrometer to Measure Electrostatic Fields on the Martian Surface

A system of embedded sensors that can be incorporated into the wheel of any future mission rover would provide for a simple and fairly unobtrusive way to measure the distribution of electrostatic fields on the Martian surface and to measure variations in soil electrostatic response. This technology could perhaps be applied to different types of sensors that require the mobility provided by a rover s wheel.

C.I. Calle↗

NASA NTRS1973

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

The following tasks related to the design, construction, and evaluation of a mobile planetary vehicle for unmanned exploration of Mars are discussed: (1) design and construction of a 0.5 scale dynamic vehicle; (2) mathematical modeling of vehicle dynamics; (3) experimental 0.4 scale vehicle dynamics measurements and interpretation; (4) vehicle electro-mechanical control systems; (5) remote control systems; (6) collapsibility and deployment concepts and hardware; (7) design, construction and evaluation of a wheel with increased lateral stiffness, (8) system design optimization; (9) design of an on-board computer; (10) design and construction of a laser range finder; (11) measurement of reflectivity of terrain surfaces; (12) obstacle perception by edge detection; (13) terrain modeling based on gradients; (14) laser scan systems; (15) path selection system simulation and evaluation; (16) gas chromatograph system concepts; (17) experimental chromatograph separation measurements and chromatograph model improvement and evaluation.

Frederick, D. K.↗

NASA NTRS2010

Controlling Precision Stepper Motors in Flight Using (Almost) No Parts

This concept allows control of high-performance stepper motors with minimal parts count and minimal flight software complexity. Although it uses a small number of common flight-qualified parts and simple control algorithms, it is capable enough to meet demanding system requirements. Its programmable nature makes it trivial to implement changes to control algorithms both during integration & test and in flight. Enhancements such as microstepping, half stepping, back-emf compensation, and jitter reduction can be tailored to the requirements of a large variety of stepper motor based applications including filter wheels, focus mechanisms, antenna tracking subsystems, pointing and mobility. The hardware design (using an H-bridge motor controller IC) was adapted from JPL's MER mission, still operating on Mars. This concept has been fully developed and incorporated into the MCS instrument on MRO, currently operating in Mars orbit. It has been incorporated into the filter wheel mechanism and linear stage (focus) mechanism for the AMT instrument. On MCS/MRO, two of these circuits control the elevation and azimuth of the MCS telescope/radiometer assembly, allowing the instrument to continuously monitor the limb of the Martian atmosphere. Implementation on MCS/MRO resulted in a 4:1 reduction in the volume and mass required for the motor driver electronics (100:25 square inches of PCB space), producing a very compact instrument. In fact, all of the electronics for the MCS instrument are packaged within the movable instrument structure. It also saved approximately 3 Watts of power. Most importantly, the design enabled MCS to meet very its stringent maximum allowable torque disturbance requirements.

Randall, David↗

NASA NTRS1990

Mobile Centers For Secondary Power Distribution

Concept for distribution of 60-Hz ac power in large building devoted to assembly and testing of equipment improves safety, reduces number of outlets and lengthy cables, and readily accommodates frequent changes in operations and configuration. Power from floor recess fed via unobtrusive cable to portable power management center. A cart containing variety of outlets and circuit breakers, wheeled to convenient location near equipment to be assembled or tested. Power distribution system presents larger range of operational configurations than fixed location. Meets tighter standards to feed computers and delicate instruments. Industrial-grade power suitable for power tools and other hardware. Three-phase and single-phase outlets available from each.

Mears, Robert L.↗

NASA NTRS1973

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of a mobile planetary vehicle to implement a systematic plan for the exploration of Mars are reported. Problem areas include: vehicle configuration, control, dynamics, systems and propulsion; systems analysis, terrain modeling and path selection; and chemical analysis of specimens. These tasks are summarized: vehicle model design, mathematical model of vehicle dynamics, experimental vehicle dynamics, obstacle negotiation, electrochemical controls, remote control, collapsibility and deployment, construction of a wheel tester, wheel analysis, payload design, system design optimization, effect of design assumptions, accessory optimal design, on-board computer subsystem, laser range measurement, discrete obstacle detection, obstacle detection systems, terrain modeling, path selection system simulation and evaluation, gas chromatograph/mass spectrometer system concepts, and chromatograph model evaluation and improvement.

Frederick, D. K.↗

NASA NTRS1995

Soil runway friction evaluation in support of USAF C-17 transport aircraft operations

A series of NASA Diagonal-Braked Vehicle (DBV) test runs were performed on the soil runway 7/25 at Holland landing zone, Fort Bragg, North Carolina, near Pope Air Force Base in March 1995 at the request of the Air Force C-17 System Program Office. These ground vehicle test results indicated that the dry runway friction level was suitable for planned C-17 transport aircraft landing and take-off operations at various gross weights. These aircraft operations were successfully carried out. On-board aircraft deceleration measurements were comparable to NASA DBV measurements. Additional tests conducted with an Army High Mobility Multi-Purpose Wheeled Vehicle equipped with a portable decelerometer, showed good agreement with NASA DBV data.

Yager, Thomas J.↗

NASA NTRSDate not supplied

Parametric Optimization of Rigid Wheels for Planetary Surface Mobility Applications

Design-Build-Test approaches for spaceflight hardware are time and cost intensive, which can result in suboptimal mechanism designs. Optimization-based approaches that utilize high-fidelity models and physics simulation could overcome these limitations while simultaneously speeding up the mechanical design process and reducing cost. In this work, we present a toolchain that enables the multi-objective optimization of rigid rover wheels for planetary surface mobility applications. The toolchain uses Chrono’s Continuous Representation Model (CRM) functionality to simulate granular soil and performs multi-objective parametric optimization on candidate rover wheels to meet a desired performance criterion. The resulting wheel design is then evaluated experimentally using a single-wheel testbed. We end with a discussion of how the toolchain can be extended to simultaneously co-optimize other system parameters, such as system power consumption and feedback control gains.

Optimization↗