enae 788x overview and introductionspacecraft.ssl.umd.edu › academics › 788xf12 › 788xf12l01...
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ENAE 788X Overview and Introduction• Course Overview
– Goals– Web-based Content– Syllabus– Policies– Project Content
• Group Design Project• Overview of Planetary Robot Mobility
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© 2012 David L. Akin - All rights reservedhttp://spacecraft.ssl.umd.edu
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Contact Information
Dr. Dave AkinNeutral Buoyancy Research Facility/Room [email protected] http://spacecraft.ssl.umd.edu
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Goals of ENAE 788X
• Learn the underlying fundamentals of mobility in extraterrestrial environments
• Learn the principles of mechanism design relevant to mobility systems
• Understand mobility trade-offs in the context of planetary surface robotics
• Perform an open-ended design task for a planetary surface rover
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Web-based Course Content• Data web site at http://spacecraft.ssl.umd.edu
– Course information– Syllabus– Lecture notes– Problems and solutions
• Interactive web site at https://elms.umd.edu/– Communications for team projects– Lecture videos
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Syllabus - Mobility Overview• Free-space mobility• Orbital maneuvering (proximity operations)• Atmospheric flight
– Lifting– Buoyant
• Liquid mobility• Subsurface mobility• Surface mobility
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Syllabus - Rover Hardware• Terramechanics• Wheel drive systems• Wheel design• Suspension systems• Motors and gear trains• Steering systems• Tracked systems• Legged locomotion
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Syllabus - Rover Software• Software engineering• Robot control• Sensors• Manipulation• Navigation and mapping• Path planning• Obstacle detection and avoidance
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Grading Scheme• 30% homework and labs• 30% midterm• 40% team project (team grades)
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Planetary Surface Simulation Facility
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
UMd Moonyard
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MiniRAVEN
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Tumbler Small Survey Rover
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Term Design Project Goals• Provide opportunity to use principles of class to
perform open-ended realistic design • Reinforce experiences with engineering in teams,
making technical presentations• Address a problem of real relevance to NASA• Provide opportunity for graduate involvement in
design competitions (e.g., RASC-AL)
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Term Design Projects• Astronaut assistance rover• Sample collection rover• Minimum pressurized exploration rover
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Design Project Statement• Perform a detailed design of a small astronaut
assistance rover, emphasizing mobility systems– Chassis systems (e.g., wheels, steering, suspension...)– Navigation and guidance system (e.g., sensors,
algorithms...)
• Design for Moon, then assess feasibility of systems for Mars, and conversion to Earth analogue rover
• This is not a hardware project - focus is on detailed design (but may be built later!)
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN in Telerobotic Sample Config
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN in EVA Transport Config
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SP Crater - 30° slope
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Design Project Statement• Design a small remotely operated rover to
participate in the 2013 RoboOps competition• Rover must be capable of rapid and highly robust
maneuverability in all terrains at the JSC Rockyard• Design will be implemented by a group of
undergrads in the spring (although you can help, too, if you want!)
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RHEA – RoboOps 2012
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mobility in Craters (Moon)
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Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mobility in Sand (Mars)
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Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mobility in Rocks (Mars)
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Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RoboOps Requirements• Rovers must fit within a 1x1x0.5 meter volume to
start and deploy to operational configuration• Rover must be <45 kg; tactical advantages go to
lighter rovers• Rovers must operate without local interaction for
one hour• Rovers must be controlled via cell networks from
participating university’s campus• Rovers collect colored rocks to score points
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Design Project Statement• Design a mobility chassis for a minimum
pressurized rover for lunar exploration• Design for the moon, and do design modifications
for implementation on Earth• Goal is to keep complete rover below 2000 kg
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
NASA Space Exploration Vehicle
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
TURTLE Exterior
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
TURTLE Interior
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Initializing Term Projects• Form four-person teams• E-mail me your team roster and prioritized list of
project choices • Remote students should choose a project and work
on it solo (e-mail me and let me know)• In the near future, detailed requirements and
grading criteria will be posted for each project• Progress on design project should proceed
throughout the term
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robotic Mobility• Free Space• Relative Orbital Motion• Airless Major Bodies (moons)• Gaseous Environments (Mars, Venus, Titan)
– Lighter-than-”air” (balloons, dirigibles)– Heavier-than-”air” (aircraft, helicopters)
• Aquatic Environments (Europa)• Surface Mobility (wheels, legs, etc.)• Subsurface Access (drills, excavation)
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Comparison of Basic Characteristics
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Quantity Earth Free Space
Moon Mars
Gravitational Acceleration
9.8 m/s2
(1 g)– 1.545 m/s2
(0.16 g)3.711 m/s2
(0.38 g)Atmospheric
Density101,350 Pa (14.7 psi)
– – 560 Pa(0.081 psi)
Atmospheric Constituents
78% N2
21% O2– – 95% CO2
3% N2
Temperature Range
120°F-100°F
150°F-60°F
250°F-250°F
80°F-200°F
Length of Day 24 hr 90 min-Infinite
28 days 24h37m22.6s
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
AERCam/SPRINT
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Orbital Express
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SPHERES
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Surveyor• Seven mission May
1966 - January 1968 (5 successful)
• Mass about 625 lbs• Surveyor 6
performed a “hop”– November 1967– 4 m peak altitude,
2.5 m lateral motion
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Lunakhod 1 and 2• Soviet lunar rovers
– 2000 lbs– 3 month design lifetime
• Lunakhod 1– November, 1970– 11 km in 11 months
• Lunakhod 2– January, 1973– 37 km in 2 months
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Lunar Roving Vehicle• Flown on Apollo 15, 16, 17• Empty weight 460 lbs• Payload 1080 lbs• Maximum range 65 km• Total 1 HP• Max speed 13 kph
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Pathfinder• Sojourner rover flown as
engineering experiment• 23 lbs, $25M• Design life 1 week• Survived for 83 sols
(outlived lander vehicle)• Total traverse ~100 m
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Exploration Rovers• Two rovers landed on
Mars in January 2004• Design lifetime 90 sols, 1
km (total)• Mission success defined
as 600 m total traverse• By August 28, 2012:
– Spirit 7731 m– Opportunity 35,017 m
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Historical Comparison of Traverses
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from James W. Head (Brown University), “Human-Robotic Partnerships in Apollo and Lessons for the Future” presentation to the NASA OSEWG Workshop on Robots Supporting Human Science and Exploration, Houston, TX, August 5, 2009
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Science Laboratory (and MER)
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MSL Mission Overview
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Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Aircraft• Deployed during EDL
phase• Glider or powered
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ARES - NASA LaRC Proposal
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ARES Deployment
45
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ARES Half-Scale Dropped from 100Kft
46
Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Balloons
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Huygens Probe• Titan entry January 2005• Descent imaging used to
survey surface at different scales
• Wind motion provided horizontal traverse of surface
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Field Trials for New Mobility Technologies
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCOUT (JSC)
50
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robonaut/Centaur (JSC)
51
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE (JPL)
52
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE With Larger Legs
53
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Desert RATS 2008 - Moses Lake, WA
54
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Drill Sampling Robot - CMU
55
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
K-10 (NASA Ames)
56
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE (JPL)
57
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot (NASA JSC)
58
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot with Plow Blade
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot B Climbs a Boulder Field
60
Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Lunar Electric Rover
61
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Walking Robots
62
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Scorpion King (JSC)
63
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Serpentine Mobility
64
Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Serpentine Climbing and Grasping
65
Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Tetwalker (GSFC)
66
Video shown in class available on web site
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Sub (Solid) Surface Access
67
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Course OverviewENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Future Human Planetary Exploration• Will involve mobility
platforms at multiple levels– Small explorers– Unpressurized crew-
carrying vehicles– Pressurized rovers– Specialized systems
• Need for robustness and repairability
68