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Innovations in Human-Robotic Collaboration for Asteroid Missions

This presentation highlights three cutting-edge technologies developed at the University of Maryland's Space Systems Laboratory aimed at enhancing human-robotic collaboration during asteroid missions. Key features include a versatile 50-kg freeflyer equipped with advanced mission packages for tasks like visual inspection, sample collection, and autonomous docking. The ARMS experimental verification demonstrates adaptive control for locomotion in microgravity. Additionally, the design of Space Utility Vehicles supports both crew and robotic operations, ensuring safety and efficiency in extraterrestrial environments.

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Innovations in Human-Robotic Collaboration for Asteroid Missions

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  1. Three Technologies for Human/Robotic Collaboration at Asteroids Dr. David L. Akin University of Maryland Space Systems Laboratory 301-405-1138 dakin@ssl.umd.edu

  2. Small Camera and Mobility Platform • 50-kg freeflyer with dual interchangeable advanced mission packages (AMPs) for multiple tasks • Visual inspection • Science instrument placement (e.g., magnetometer surveys) • Sample selection and collection • 8 hour, 40 m/sec sortie limits • Autonomous docking and resupply with base station • Launched with retrieval spacecraft

  3. SCAMP for Dexterous Applications • AMP with dual dexterous manipulators, vision system • Capable of anchor and instrument placement, sample collection, maintenance tasks • Prototype flight-qualifiable manipulator complete in and test • 80 cm long • 7 DOF with interchangeable end effectors • 5 kg

  4. Astronaut Restraint and Mobility System • Tether cables secured into asteroid surface at disparate locations • Three cables provide restraint and down-force for locomotion • Active tension control and real-time navigation data • Theory developed for adaptive control implementation

  5. ARMS Experimental Verification • Test subject in microgravity (neutral buoyancy) restrained with three constant-force tethers • Verified locomotion on underwater treadmill • Motion capture cameras documented gait • Tests demonstrated basic feasibility of concept

  6. Space Utility Vehicles • Single-person spacecraft for extravehicular activity • Suit helmet and arms provide human dexterity and vision • Robotic manipulators for capture, instrument placement, positioning • Provides rigid structure as protection against shifting aggregate, radiation, MMOD • Free-flight capability in crewed and autonomous/teleoperated modes

  7. ARM-Specific SUV • Launched with robotic retrieval mission • Provides support for crew visit • Dual Orion docking interfaces • Serves as both conventional airlock and suitports • Provides free-flight mobility, EVA support as mini-MMSEV • Capable of robotic exploration and support tasks prior to crew arrival or after departure

  8. For More Information http://www.ssl.umd.edu dakin@ssl.umd.edu

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