Science and Technology Development for the Robotic Exploration of Mars and Ocean Worlds
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Marteau, Eloise↗
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CHORD: Distributed Data-sharing via Hybrid ROS 1 and 2 for Multi-robot Exploration of Large-scale Complex Environments
No abstract provided
Agha-mohammadi, Ali-akbar↗
Advanced Energy Storage Technologies for NASA’s Robotic Exploration in Extreme Environments
No abstract provided
West, Will↗
Exploration Robotics and Astrobee
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Astrobee↗
Robosphere1: Building A Self-Sustaining Robotic Ecology for Mars Exploration
Robotic exploration of Mars has been a "one shot" approach where each surface mission is planned typically with a rover that will perform a series of experiments for a few weeks or months, until the robot becomes unable to operate in the harsh Mars conditions and simply "dies". It would clearly be desirable to have robots on Mars that can last for much longer periods of time, I propose that there is an approach to sustained robotic exploration that can also pave the way to future human presence. The idea is to continue building a robotic infrastructure with every mission we send. The approach is to built a team of modular robots that could repair individual members when they break down. We could "seed" areas of interest with sturdy power stations (solar, chemical) that teams of robots could use to recharge themselves. We could also seed parts and modules the robots could access for self-repair. No mission could really "fail" if we simply keep adding to and maintaining the existing infrastructure. Simply landing a package of parts will be a success. In time we create a loose infrastructure that can be controlled and augmented from earth on a continuing basis, and which could eventually pave the way for human exploration. I propose that we could begin to build this infrastructure from relatively simple modular robots. Imagine 2 "spider-like" robots built out of small modular snap-in pieces, a bin of these pieces and a bin of snap-in end effectors. One of the spiders breaks down, i.e. one of its modules needs to be replaced. The second spider comes to the rescue and helps the first one replace the broken module. Assuming the input of fresh modules, this process can continue indefinetly. Now start separating robotic explorers from robotic "mechanics", start adding, a category of mechanics that are able to fix at least some of the broken modules (and which in turn can be fixed by the original mechanics), The need for a fresh influx of modules is thus reduced. I submit that we could bootstrap a robotic ecology until it needs very little material from earth and can rely mostly on in-situ resources., We can experiment with this concept in an earthbound facility that can also simulate Mars conditions. I propose that we call this facility Robosphere1.
Colombano, Silvano P.↗
Robotic Recon for Human Exploration
Robotic reconnaissance has the potential to significantly improve scientific and technical return from lunar surface exploration. In particular, robotic recon may increase crew productivity and reduce operational risk for exploration. However, additional research, development and field-testing is needed to mature robot and ground control systems, refine operational protocols, and specify detailed requirements. When the new lunar surface campaign begins around 2020, and before permanent outposts are established, humans will initially be on the Moon less than 10% of the time. During the 90% of time between crew visits, robots will be available to perform surface operations under ground control. Understanding how robotic systems can best address surface science needs, therefore, becomes a central issue Prior to surface missions, lunar orbiters (LRO, Kaguya, Chandrayyan-1, etc.) will map the Moon. These orbital missions will provide numerous types of maps: visible photography, topographic, mineralogical and geochemical distributions, etc. However, remote sensing data will not be of sufficient resolution, lighting, nor view angle, to fully optimize pre-human exploration planning, e.g., crew traverses for field geology and geophysics. Thus, it is important to acquire supplemental and complementary surface data. Robotic recon can obtain such data, using robot-mounted instruments to scout the surface and subsurface at resolutions and at viewpoints not achievable from orbit. This data can then be used to select locations for detailed field activity and prioritize targets to improve crew productivity. Surface data can also help identify and assess terrain hazards, and evaluate alternate routes to reduce operational risk. Robotic recon could be done months in advance, or be part of a continuing planning process during human missions.
Deans, Matthew↗
Micro-Power Sources Enabling Robotic Outpost Based Deep Space Exploration
Robotic outpost based exploration represents a fundamental shift in mission design from conventional, single spacecraft missions towards a distributed risk approach with many miniaturized semi-autonomous robots and sensors. This approach can facilitate wide-area sampling and exploration, and may consist of a web of orbiters, landers, or penetrators. To meet the mass and volume constraints of deep space missions such as the Europa Ocean Science Station, the distributed units must be fully miniaturized to fully leverage the wide-area exploration approach. However, presently there is a dearth of available options for powering these miniaturized sensors and robots. This group is currently examining miniaturized, solid state batteries as candidates to meet the demand of applications requiring low power, mass, and volume micro-power sources. These applications may include powering microsensors, battery-backing rad-hard CMOS memory and providing momentary chip back-up power. Additional information is contained in the original extended abstract.
West, W. C.↗
Envisioning an Analog Work Domain Across Deep-Ocean Exploration and Human-Robot Spaceflight Exploration
What if one existing work domain could be leveraged to inform an instantiation of a second type of work domain? This is the question that informed a three year NASA-funded study, SUBSEA (Systematic Underwater Biogeochemical Science and Exploration Analog), on the use of ocean science and exploration via telepresence as an analog for future human-robot spaceflight. SUBSEA included two field programs performed in 2018 and 2019. Each was comprised of a multidisciplinary team of natural scientists studying deep-sea venting sites in tandem with a team of social scientists conducting work ethnography to understand the existing ocean exploration domain. This paper presents results from the 2018 field program which includes analyses that were required to generate specific “flight-like” conditions for the 2019 field program.
Miller, Matthew J.↗
Autonomy Software Architecture for LORAX (Life On ice Robotic Antarctic eXplorer)
LORAX is a robotic astrobiological study of the ice field surrounding the Carapace Nunatak near the Allan Hills in Antarctica. The study culminates in a l00km traverse, sampling the ice at various depths (from surface to 10cm) at over 100 sites to survey microbial ecology and to record environmental parameters. The autonomy requirements from LORAX are shared by many robotic exploration tasks. Consequently, the LORAX autonomy architecture is a general architecture for on-board planning and execution in environments where science return is to be maximized against resource limitations and other constraints.
Jonsson, Ari↗
Mothers of Invention: Hubble Engineers Push Robotic 'Evolution' to Save Telescope, Enable New Exploration
Robotic technology being developed out of necessity to keep the Hubble Space Telescope operating could also lead to new levels of man-machine team-work in deep-space exploration down the road-if it survives the near-term scramble for funding. Engineers here who have devoted their NASA careers to the concept of humans servicing the telescope in orbit are planning modifications to International Space Station (ISS) robots that would leave the humans on the ground. The work. forced by post-Columbia flight rules that killed a planned shuttle-servicing mission to Hubble, marks another step in the evolution of robot-partners for human space explorers. "Hubble has always been a pathfider for this agency," says Mike Weiss. Hubble deputy program manager technical. "When the space station was flown and assembled, Hubble was the pathfinder. not just for modularity, but for operations, for assembly techniques. Exploration is the next step. Things we're going to do on Hubble are going to be applied to exploration. It's not just putting a robot in space. It's operating a robot in space. It's adapting that robot to what needs to be done the next time you're up there."
Morring, Frank, Jr.↗
Driving rovers on Mars: challenges and opportunities associated with robotic planetary explorers
Mars Exploration Rover (MER) Science objectives: To determine the water, climate, and geologic history of two sites on Mars where evidence has been preserved for past and persistent liquid water activity that may have supported biotic or pre-biotic processes.
explorers↗
A Lunar Communications and Navigation Satellite Concept for the Robotic Lunar Exploration Program
The Second Robotic Lunar Exploration Program (RLEP) mission has two primary objectives. Broadly stated, they are "To See the Light" and "To Touch the Ice", meaning one mission objective is to survey the lighting conditions on the rim of a candidate crater over the course of a year, and the second objective is to descend into th.! s crater to search for water ice. The Space Communications Program Office at NASA/GSFC is supporting the RLEP-2 Project by developing a communications and navigation architecture for the mission. The primary candidate crater studied is the Shackleton Crater near the South Pole of the Moon. The rim of this crater has approximately 14 contiguous days of visibility to the Earth over the course of a month, while mission elements in the crater have no line of sight to either the Earth or potentially an element on the rim of the crater. One solution studied is to launch a relay spacecraft with RLEP-2 to provide communications and navigation services to the elements on the lunar surface. To support operations concepts requiring long duration contacts between the relay and the elements in the crater, an inclined elliptical orbit originally conceived by Todd Ely a t JPL was chosen for the relay. The orbit was adjusted to lower the maximum range while maintaining its "frozen" nature, meaning once placed in this orbit little delta-V is required for orbit maintenance. The orbital parameters were adjusted such that the relay has visibility into the crater for approximately 8.7 hours of the 12 hour orbital period. The relay satellite design draws heavily upon heritage concepts and hardware to achieve a very low risk implementation. The design concept is a 3-axis spacecraft that is capable of supporting return communication links from multiple surface elements concurrently through a four-element S-Band Multiple Access phased array with two forward links provided through single dedicated elements. The payload is a bent-pipe relay with beamforming performed on the ground (Earth). To mitigate concerns with multipath observed during Mars missions, the preliminary design employs PN-spread signal structures which have been used successfully by Tracking and Data Relay Satellite System (TDRSS) users for simultaneous real-time and recorded data playback. Details of the relay communication trade studies and rationale for the selected design elements are discussed in the paper.
Gramling, Jeffrey J.↗
The Robotic Lunar Exploration Program (RLEP): An Introduction to the Goals, Approach, and Architecture
The Vision for Space Exploration calls for undertaking lunar exploration activities to enable sustained human and robotic exploration of Mars and beyond, including more distant destinations in the solar system. In support of this vision, the Robotic Lunar Exploration Program (RLEP) is expected to execute a series of robotic missions to the Moon, starting in 2008, in order to pave the way for further human space exploration. This paper will give an introduction to the RLEP program office, its role and its goals, and the approach it is taking to executing the charter of the program. The paper will also discuss candidate architectures that are being studied as a framework for defining the RLEP missions and the context in which they will evolve.
Watzin, James G.↗
Improving Lunar Exploration with Robotic Follow-up
We are investigating how augmenting human field work with subsequent robot activity can improve lunar exploration. Robotic "follow-up" might involve: completing geology observations; making tedious or long-duration measurements of a target site or feature; curating samples in-situ; and performing unskilled, labor-intensive work. To study this technique, we have begun conducting a series of lunar analog field tests at Haughton Crater (Canada). Motivation: In most field geology studies on Earth, explorers often find themselves left with a set of observations they would have liked to make, or samples they would have liked to take, if only they had been able to stay longer in the field. For planetary field geology, we can imagine mobile robots - perhaps teleoperated vehicles previously used for manned exploration or dedicated planetary rovers - being deployed to perform such follow-up activities [1].
Fong, T.↗
Human-Robot Planetary Exploration Teams
The EVA Robotic Assistant (ERA) project at NASA Johnson Space Center studies human-robot interaction and robotic assistance for future human planetary exploration. Over the past four years, the ERA project has been performing field tests with one or more four-wheeled robotic platforms and one or more space-suited humans. These tests have provided experience in how robots can assist humans, how robots and humans can communicate in remote environments, and what combination of humans and robots works best for different scenarios. The most efficient way to understand what tasks human explorers will actually perform, and how robots can best assist them, is to have human explorers and scientists go and explore in an outdoor, planetary-relevant environment, with robots to demonstrate what they are capable of, and roboticists to observe the results. It can be difficult to have a human expert itemize all the needed tasks required for exploration while sitting in a lab: humans do not always remember all the details, and experts in one arena may not even recognize that the lower level tasks they take for granted may be essential for a roboticist to know about. Field tests thus create conditions that more accurately reveal missing components and invalid assumptions, as well as allow tests and comparisons of new approaches and demonstrations of working systems. We have performed field tests in our local rock yard, in several locations in the Arizona desert, and in the Utah desert. We have tested multiple exploration scenarios, such as geological traverses, cable or solar panel deployments, and science instrument deployments. The configuration of our robot can be changed, based on what equipment is needed for a given scenario, and the sensor mast can even be placed on one of two robot bases, each with different motion capabilities. The software architecture of our robot is also designed to be as modular as possible, to allow for hardware and configuration changes. Two focus areas of our research are safety and crew time efficiency. For safety, our work involves enabling humans to reliably communicate with a robot while moving in the same workspace, and enabling robots to monitor and advise humans of potential problems. Voice, gesture, remote computer control, and enhanced robot intelligence are methods we are studying. For crew time efficiency, we are investigating the effects of assigning different roles to humans and robots in collaborative exploration scenarios.
Tyree, Kimberly↗
Intelligent robots for planetary exploration and construction
Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.
Albus, James S.↗
Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.
NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.
Colombano, Silvano P.↗
Fit to be Tied: Embracing Tethered Robots for Exploring Extreme Planetary Environments
Tethers are supportive wires that could provide power, communication, and even science instrument capabilities to planetary rovers, landers, and future human settlements. Whether it be power distribution and optical communication connecting robots exploring extreme, undersea and deep subsurface environments, to your home office on Earth, we live, and will continue to live, in a predominantly ‘wired’ world. Accordingly, as humanity continues to push beyond Earth to exploring extreme planetary terrains like caves, cliffs, craters, and crevasses, and moves towards establishing human settlements on the Moon and Mars, we can expect tethers to play a major role. For exploration purposes, tethers are critical to enabling next-generation, science-focused missions to access high-value, resource-limited targets, where exploring rovers or astronauts lack direct communication or access to viable sunlight for solar power. NASA’s Jet Propulsion Laboratory (JPL) is formulating new mission concepts that could deploy robotic assets into some of the Solar System’s harshest and steepest terrain and, in many cases, tethers are the enabling technology. Examples include i) a rappelling rover to explore vertically along lunar pit walls to determine how the Moon formed, ii) tethered rovers to reach ice deposits on Mars and the Moon, iii) large, tether-deployed antenna structures to probe into the subsurface of a planet and/or look skyward to image the highly red-shifted, early universe, iv) probes that descend into the icy layers of Europa and Enceladus in search of subsurface oceans and, potentially, extant life, and v) science instruments that could be suspended on supportive tethers from balloons on Venus to directly image the surface and sample its clouds. This paper will present a survey of the state-of-the-art for tether related exploration of the solar system and chronicle ongoing work at JPL, which is leading to robust tether designs, high-power and communication transmission over multi-km distances, and highly capable, tether-based rover systems.
McGarey, Patrick↗