ENAE 788X Overview and Introduction - UMD · Course Overview ENAE 788X - Planetary Surface Robotics...
Transcript of ENAE 788X Overview and Introduction - UMD · Course Overview ENAE 788X - Planetary Surface Robotics...
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Course Overview ENAE 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
• Overview of Planetary Robot Mobility• Term Design Project
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© 2018 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu
http://spacecraft.ssl.umd.edu
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Course Overview ENAE 788X - Planetary Surface Robotics
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Contact Information
Dr. Dave AkinNeutral Buoyancy Research Facility/Room [email protected] http://spacecraft.ssl.umd.edu
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mailto:[email protected]://spacecraft.ssl.umd.edu
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Course Overview ENAE 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 Overview ENAE 788X - Planetary Surface Robotics
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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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https://elms.umd.edu
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Course Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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Syllabus - Rover Software• Software engineering• Robot control• Sensors• Manipulation• Navigation and mapping• Path planning• Obstacle detection and avoidance
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Course Overview ENAE 788X - Planetary Surface Robotics
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Grading Scheme• 20% homework• 30% midterm (take-home)• 50% team project (groups of 3-4)
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Course Introduction/Team Projects ENAE 483/788D - Principles of Space Systems Design
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Grading Policies
• Grade Distribution – 20% Homework Problems – 30% Midterm Exam (take-home) – 15% Term Project midterm submission* – 35% Term Project final submission*
• Late Policy – On time: Full credit – Before solutions: 70% credit – After solutions: 20% credit
* Team Grades
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Course Introduction/Team Projects ENAE 483/788D - Principles of Space Systems Design
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A Word on Homework Submissions...
• Good methods of handing in homework – Hard copy in class (best!) – Scanned or electronic copies via e-mail (MUST put
“ENAE788X” in subject line)
• Methods that don’t work so well – Leaving it in my mailbox (particularly in EGR) – Leaving it in my office – Spreadsheets or .m files – Handing it to me in random locations – Handing it to Dr. Bowden
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Course Introduction/Team Projects ENAE 483/788D - Principles of Space Systems Design
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A Word about Homework Grading
• Homework is graded via a discrete filter – ✓ for homework problems which are essentially
correct (10 pts) – ✓- for homework with significant problems (7 pts) – ✓-- for homework with major problems (4 pts) – ✓+ for homework demonstrating extra effort (12 pts) – 0 for missing homework
• A detailed solution document is posted for each problem after the due date, which you should review to ensure you understand the techniques used
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Course Overview ENAE 788X - Planetary Surface Robotics
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Robotic Mobility• Free space• Relative orbital motion• Micro-g environments (asteroids, comets)• Airless major bodies (larger 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 Overview ENAE 788X - Planetary Surface Robotics
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Gabrielli-von Karman Diagram
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Course Overview ENAE 788X - Planetary Surface Robotics
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Possible Domains for Robotic Mobility• Free Space• Lunar• Mars• Venus• Minor bodies• Technologies in development
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Course Overview ENAE 788X - Planetary Surface Robotics
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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
Pressure101,350 Pa (14.7 psi)
– – 560 Pa(0.081 psi)
Atmospheric Constituents
78% N221% O2
– – 95% CO23% 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 Overview ENAE 788X - Planetary Surface Robotics
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AERCam/SPRINT
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Course Overview ENAE 788X - Planetary Surface Robotics
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Orbital Express
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Course Overview ENAE 788X - Planetary Surface Robotics
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SPHERES
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Course Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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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 Overview ENAE 788X - Planetary Surface Robotics
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Current Status Based on Distance
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• Opportunity: Sol 4497 45.16 km
• Curiosity: Sol 2154 19.601 km
• Spirit: Sol 2555 (dead) 7.73 km
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Course Overview ENAE 788X - Planetary Surface Robotics
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Mars Science Laboratory (and MER)
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MSL Mission Overview
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Video shown in class available on web site
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Course Overview ENAE 788X - Planetary Surface Robotics
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MSL Wheel Problems
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Course Overview ENAE 788X - Planetary Surface Robotics
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Mars Aircraft• Deployed during EDL
phase• Glider or powered
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ARES - NASA LaRC Proposal
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ARES Deployment
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ARES Half-Scale Dropped from 100Kft
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Video shown in class available on web site
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Mars Balloons
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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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Field Trials for New Mobility Technologies
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Course Overview ENAE 788X - Planetary Surface Robotics
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SCOUT (JSC)
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Robonaut/Centaur (JSC)
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ATHLETE (JPL)
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Course Overview ENAE 788X - Planetary Surface Robotics
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ATHLETE With Larger Legs
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Desert RATS 2008 - Moses Lake, WA
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Drill Sampling Robot - CMU
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K-10 (NASA Ames)
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ATHLETE (JPL)
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Chariot (NASA JSC)
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Chariot with Plow Blade
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Chariot B Climbs a Boulder Field
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Space Exploration Vehicle
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Walking Robots
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Scorpion King (JSC)
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Serpentine Mobility
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Tetwalker (GSFC)
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Video shown in class available on web site
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Course Overview ENAE 788X - Planetary Surface Robotics
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Sub (Solid) Surface Access
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Course Overview ENAE 788X - Planetary Surface Robotics
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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
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Course Overview ENAE 788X - Planetary Surface Robotics
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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
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Course Overview ENAE 788X - Planetary Surface Robotics
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Term Design Project• Near-term rover design, focusing on chassis and
supporting systems• 2-3 person teams• Single design focus, although receptive to other
proposals
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BioBot Concept
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Course Overview ENAE 788X - Planetary Surface Robotics
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BioBot Concept and Potential• More than half of an astronaut’s mass in EVA is
due to the portable life support system (PLSS)• PLSS mass moves CG up and aft, reducing stability• PLSS mass drives EVA physiological workload• Concept: move the PLSS to an accompanying rover
to relieve the “weight on back” to the astronaut• Robot needs to travel across any terrain accessible
by humans at top human speed
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BioBot Initial Proof-of-Concept Tests
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BioBot Umbilical Handling Concept
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Course Overview ENAE 788X - Planetary Surface Robotics
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Design Project Statement• Perform a detailed design of a BioBot rover,
emphasizing mobility systems– Chassis systems (e.g., wheels, steering, suspension…)– Support systems (e.g., energy storage)– 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 Overview ENAE 788X - Planetary Surface Robotics
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Term Project Logistics• Teams of 2-3 students (6-8 teams in class)• Assume the PLSS and consumables requires a
payload of 100 kg and a volume of 1.0m3
• Each team should pick one canonical scale(a) Smallest possible rover (nothing but PLSS)(b) Small rover with additional exploration tools(c) Rover capable of carrying one crew only(d) Rover capable of carrying one nominally, two if needed(e) Rover designed for two crew (and two PLSS payloads)(f) Pressurized rover with two crew
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BioBot Carrying Single Person
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RAVEN in Telerobotic Sample Config
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RAVEN in EVA Transport Config
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Level 1 Requirements (Performance)1. Rover shall have a maximum operating speed of
at least 3 m/sec on level, flat terrain2. Rover shall be designed to accommodate a 0.3
meter obstacle at minimal velocity3. Rover shall be designed to accommodate a 0.1 m
obstacle at a velocity of 1.75 m/sec4. Rover shall be designed to accommodate a 30°
slope in any direction at a speed of at least 1 m/sec with positive static and dynamic margins
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SP Crater - 30° slope
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Planned Test Site: HI-SEAS
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Homework for Term Project• Form teams of 2-3 students for term project• Post your team roster to ELMS site, along with
prioritized list of rover categories you would like to focus on
• Due by end of Monday (Labor Day, but you can e-mail me) 9/3 so I can have project assignments by class on 9/5
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