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Settlement Site Selection and Exploration Through Hierarchical Roving

Settlement Site Selection and Exploration Through Hierarchical Roving. Gregory Konesky SGK Nanostructures, Inc. Rutgers Symposium on Lunar Settlements Rutgers University 3-8 June 2007. Man Or Machine?. Man Or Machine? YES!. NASA JSC. Machines Scout Ahead Man Soon Follows. NASA JSC.

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Settlement Site Selection and Exploration Through Hierarchical Roving

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  1. Settlement Site Selection and Exploration ThroughHierarchical Roving Gregory Konesky SGK Nanostructures, Inc. Rutgers Symposium on Lunar Settlements Rutgers University 3-8 June 2007

  2. Man Or Machine?

  3. Man Or Machine? YES!

  4. NASA JSC Machines Scout Ahead Man Soon Follows

  5. NASA JSC Man/Machine Synergism

  6. Remote Teleoperated Man/Machine Synergism

  7. 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

  8. On-site Rover Teleoperation for Settlement Site Selection and Exploration Provide “Ground Truth”

  9. Given cost of $1,000,000 / day to support a Man on the Moon Economic Leveraging effect of Teleoperated Rovers

  10. NASA JPL Rover Size Affects Capability

  11. Mars Exploration Rovers (MER) Sojourner Alpha Proton X-Ray Spectrometer (APXS) Deployment Mechanism Imaging

  12. 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

  13. Sojourner (1997) Traveled a few hundred meters Lasted a few months Contact Lost Spirit/Opportunity (2004) Traveled tens of kilometers Continue to operate today

  14. 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.

  15. 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

  16. Large/Small Rover Tradeoffs Payload Capacity and Distribution - Small Rovers spatially distribute payloads - Simultaneously sense a much larger environment - Redundancy - Navigation Agility - Levels of Hierarchy

  17. Small Rover Specialization Imaging Sample Collection and Processing Analytical Manipulators Collective Interaction of Multiple Small Rovers on a Common Task

  18. 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

  19. Carrier Rover Characteristics Deploy/Recover/Transport Small Rover Fleet Communications Relay Link between Command Center(s) and Small Rover Fleet Recharge Small Rover Batteries

  20. Traditional Approach

  21. Distributed Capability Approach

  22. Operational Scenarios –Identify Region of Interest

  23. Sample Acquisition and Analysis

  24. Multiple Analysis Vehicles

  25. Archive a Sample

  26. Rover Command Transmission

  27. Command Reception and Retransmission

  28. Design Example Characteristics Dimensions Vehicle: 52” Long, 34” Wide, 37” High Carrier Bay: 31” Long, 24” Wide, 18” High Weight Carrier Vehicle: 152 Pounds Available Payload: 48 Pounds Typical Small Rover: 5-10 Pounds Power 66 Watts Solar Panels 56 Amp-Hr Lead Acid Battery Reserve

  29. Georgia Tech

  30. Levels of Earth-bound Teleoperation Users Vehicle Drivers (10 channels) Active Viewers (500 channels) Passive Viewers (unlimited)

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