dr. jennifer rochlis. overview build a technology testbed for future rover concepts develop and...
TRANSCRIPT
Dr. Jennifer Rochlis
Overview
• Build a technology testbed for future rover concepts
• Develop and demonstrate operations and mission concepts
Overview• Transport 2 crew members
• Traverse 10 degree slopes (30 degree Mars equivalent) and 1 ft tall rocks
• Provide up to a 6 mile drive capability
Driving
• On-board driving by 1 or 2 suited crewmembers
• Off-board driving (Teleoperation ) using panoramic camera and joystick
• Multiple listener stations like Mission Control
Autonomous System
• Stereo tracking, object following, waypoint navigation and obstacle avoidance
• Automated sequencing of frequent/repetitious actions
• Control via hand signals & Voice recognition
Audience Poll• The surface speed record on the Moon is 10.56
miles per hour set by the Lunar Rover
• What is the top travel speed for SCOUT?
Audience Poll• The Lunar Rover averaged 8mph• SCOUT travels at a top speed of:
A: 10 mph (on pavement)
B: 13 mph
C: 8 mph(on grass)
D: 17 mph
Subsystems
Wireless Router Access Point
Structure
Battery System
Liquid Air Recharge Dewar
DCS
EVA Lights
GPS Antenna
EVA Camera
Drive Motor
Steering System
Embedded GPS/INS
Laser
Drive/Suspension/Steering• Four wheel drive - motors, gearboxes & fail-
safe brakes in each
• Front, rear or all-wheel steer
• Four wheel independent adjustable suspension
Crew Accommodations• Crew Interfaces on
vehicle (seats/hand controller, etc.)
• Ingress aids (hand holds/grab bar/step bar)
• Mark III and I-Suitwith suit recharge
• Increase ergonomic adjustability
Audience Poll
What do scientists & engineers at NASA believe to be the #1 environmental challenge for long duration missions to the Moon and Mars?
• Scientists & engineers at NASA believe that #1 environmental challenge for long duration Moon/Mars missions will be:
Audience Poll
A: Temperature
B: Dust
C: Radiation
Navigation System
Lander planetary locationsurveyed by DSN. (Use GPS solution as known location for field test.)
Initial rover deploy location wrt lander well known
Range and range-rate data provided by comm system relative to lander.
10 km operational range
Navigated path stored on lander and rover for retracing
IMU’s onboard rover propagate path between comm measurement updates
Navigation System
Display and Control System
• Enables on-board andteleoperated drivingand monitoring
• Provides vehicle andenvironmentalstatus information &commanding
Display and Control System (cont.) • LabView software running on rugged
touchscreen & hand-held computers
• Designed to be operated by suited crewmember
Raw Image
360deg
180deg
Autonomy & Onboard Software • Point to point navigation (track to a fixed point)
• Human following (continuous tracking to a moving point)
• Obstacle avoidance
• Pose gathering, recording, monitoring (waypoints, astronaut, vehicle ground track)
• Data management, recording
Stereo Tracking & Following
• Enables SCOUT to track a person (by pointing cameras at them), follow the target around (by driving towards them) & receive commands based on gestures
Stereo Tracking & Following (cont.)
• Use combination of gestures, recognized by stereo vision, & speech so a person off-board can command SCOUT
• Track the closest human for safety
• Upgrade to higher resolution cameras to increase range over which smaller objects (arms) can be tracked
Audience Poll
• SCOUT’s empty weight is 1800lbs. What was the approximate empty weight of the Lunar Rover?
• LRV's gross operational weight was 1535 pounds with crew, equipment, and payload. But its empty weight was...
Audience Poll
A: 1000 lbs
B: 1500 lbs
C: 500 lbs
D: 2000 lbs
Data Communications• Vehicle on-board COTS LAN connects all vehicle
computers to Ethernet backbone• 5.8GHz Wireless Video Link to base station (4 mi.
range/ 10 Channels)• Can set up portable relay points• Wireless encryption
Ethernet backboneWirelessEthernet
Transceiver
EGLaptop
EVLaptop
ERLaptop
DCS
EPLaptop
PowerplantController
To and FromBase Station
VideoCamera
WirelessVideo
Transmitter
To Base Station
Operations–Planned operations
testing with the following partners:
–Advanced Cockpit Evaluation System (ACES)
–Mars Drill
–CB crew office (Seismic Sensors)
–End of Year Field Test - Meteor Crater