Enables future missions such as autonomous geology, life seeking and polar exploration ROBOTIC...
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Transcript of Enables future missions such as autonomous geology, life seeking and polar exploration ROBOTIC...
Enables future missions such as autonomous geology, life seeking and polar exploration
ROBOTIC SEARCH FOR ANTARCTIC METEORITES
NASA and CARNEGIE MELLON UNIVERSITY http://www.ri.cmu.edu/~meteorobot2000
Robotic Antarctic Meteorite Search Q1-Q2 FY00
• Nomad found and classified 5 indigenous meteorites
• Demonstrated autonomous search and in situ classification of rock samples
• Validated Science Autonomy
– Search architecture
– Multi-sensor automatic classification with learning
– Interwoven sensing, driving, and manipulation
76º S, 157º E
Autonomous Meteorite Search and In Situ Classification
Nomad finds meteorite Acquires hi-res image Deploys science arm
Places spectrometer
Acquires spectrum and classifies
Human collects meteorite
January 22, 2000375 m, 157 min8 rocks classified
10 m
Meteorite
Logs meteorite location
Broadcasts find
Science Autonomy Architecture
Framegrabber
PTU Lens Controller
Motion Controller
DAQCard
Spectrometer
Sensor Manager
Target Acquisition
Manager
NavigationSystem / Obstacle
Avoidance
Ph
ysic
al S
en
sor
Layer
Acti
on
C
oord
inati
on
Layer
Pla
nn
ing
Layer
High-ResCamera Sensor Driver
Manipulator Sensor Driver
MissionPlanner
TargetClassifier
NavigationPlanner
TargetDatabase
Autonomous Search and Target Acquisition
Blue / Green + BlueIn
tensi
ty
Ice & Snow
Rock
Robot
Rock SegmentationPatterned Coverage Search
Autonomous Classification Technology
ColorSize Shape
Hi-res Color Image
10% 20%
Definitely a rock
MeteoriteUncertain0% 100%...
Bayes-based Classifier: Confidence Estimator
Reflection Spectrum
Spectral Feature
Spectral Feature
First find – Jan. 22, 2000
Second find – Jan. 25, 2000 Third find – Jan. 26, 2000
Nomad’s Meteorite Finds - 1
Fourth find – Jan. 27, 2000 Fifth find – Jan. 28, 2000
Sixth find (probably native rock) – Jan. 28, 2000
Seventh find (probably native rock) – Jan. 28, 2000
Nomad’s Meteorite Finds - 2
Meteorite Classification Spectra
Wavelength [nm]
Reflect
an
ce 12097 (misclassified chondrite)
12322 (achondrite)
12372 (chondrite)
12387, 11331, 12067 (chondrites)
• # sample spectra taken during expedition: over 200 (15 meteorite spectra)
• # sample images taken during expedition: over 450
• # meteorites correctly classified: 5
• Level of autonomy in demonstrations
– Human intervention required for 9 out of 42 successful arm deployments (21%)
– Human intervention required for 1 out of 57 successful camera deployments (1.8%)
– Final visual servoing steps required manually lowering wrist to rock due to inoperative touch probe and varying rock sizes
Results
• Robotic search relevant to life seeking, autonomous geology and discovering the unexpected
• Robot as seeker and interpreter beyond data collector, relevant to deep space, far side and autonomous exploration
• Polar mission archetype relevant to Mars, Mercury, the Moon and Earth poles
• Meteorite search for extraterrestrial material on Earth, relevant to NASA planetary interests
Significance