Settlement Site Selection and Exploration Through Hierarchical Roving
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Transcript of Settlement Site Selection and Exploration Through Hierarchical Roving
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Settlement Site Selection and Exploration ThroughHierarchical Roving
Gregory Konesky
SGK Nanostructures, Inc.
Rutgers Symposium on Lunar Settlements
Rutgers University
3-8 June 2007
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Man
Or
Machine?
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Man
Or
Machine?
YES!
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Machines Scout Ahead
Man Soon Follows
NASA JSC
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Man/Machine Synergism
NASA JSC
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Remote Teleoperated Man/Machine Synergism
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Teleoperation from the Moon
or from the Earth:
Lunokhod 1 (Arrival 11/17/1970)
Traveled 10.5 km
Lunokhod 2 (Arrival 1/15/1973)
Traveled 37 km
Approx. 1.3 second one-way delay
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On-site Rover Teleoperation for
Settlement Site Selection and Exploration
Provide “Ground Truth”
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Given cost of $1,000,000 / day
to support a Man on the Moon
Economic Leveraging effect of
Teleoperated Rovers
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Rover Size Affects Capability
NASA JPL
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Mars Exploration Rovers (MER)
Sojourner
Alpha Proton X-Ray Spectrometer (APXS)
Deployment Mechanism
Imaging
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Spirit/Opportunity
APXS
Rock Abrasion Tool
Microscopic Imager
Deployment Mechanism
Stereoscopic Panoramic Cameras
Navigation Cameras
Hazard Avoidance Cameras
Miniature Thermal Emission Spectrometer
Mossbauer Spectrometer
Magnetic Particle Detection
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Sojourner (1997)
Traveled a few hundred meters
Lasted a few months
Contact Lost
Spirit/Opportunity (2004)
Traveled tens of kilometers
Continue to operate today
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By chance, Sojourner landed in a strewn rock field.
It easily navigated around/between them.
Had Spirit/Opportunity landed there, they might
have had considerable navigation difficulty.
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Small size can be an enabling asset
When proceeding into unknown terrain, it would
be ideal to have both benefits at your disposal
→ Hierarchical Roving
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Payload Capacity and Distribution
- Small Rovers spatially distribute payloads
- Simultaneously sense a much larger environment
- Redundancy
- Navigation Agility
- Levels of Hierarchy
Large/Small Rover Tradeoffs
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Small Rover Specialization
Imaging
Sample Collection and Processing
Analytical
Manipulators
Collective Interaction of Multiple Small Rovers
on a Common Task
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Small Rover Specialization - continued
Imaging Applications
Navigation
Terrain Mapping and Understanding
Hazard Identification
Locating Areas of Interest for Visit by Other Rovers
Standoff Self-Imaging
Self-Rescue
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Carrier Rover Characteristics
Deploy/Recover/Transport Small Rover Fleet
Communications Relay Link between
Command Center(s) and Small Rover Fleet
Recharge Small Rover Batteries
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Traditional Approach
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Distributed Capability Approach
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Operational Scenarios –Identify Region of Interest
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Sample Acquisition and Analysis
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Multiple Analysis Vehicles
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Archive a Sample
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Rover Command Transmission
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Command Reception and Retransmission
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Design Example Characteristics
DimensionsVehicle: 52” Long, 34” Wide, 37” High
Carrier Bay: 31” Long, 24” Wide, 18” High
WeightCarrier Vehicle: 152 Pounds
Available Payload: 48 PoundsTypical Small Rover: 5-10 Pounds
Power66 Watts Solar Panels
56 Amp-Hr Lead Acid Battery Reserve
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Georgia Tech
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Levels of Earth-bound
Teleoperation Users
Vehicle Drivers (10 channels)
Active Viewers (500 channels)
Passive Viewers (unlimited)
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Conclusions
Hierarchical Roving represents a paradigm shiftin the decision between a large and small rover.
Best of both choices incorporated into one platform.
Provides the ability to sense/sample the environment from several mobile points simultaneously.
Multiple levels of Hierarchy are possible.
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Acknowledgements
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