IDAHO Robotic Lunar Exploration ProgramBackgroundSlide 3MotivationSlide 5Slide 6NASA’s PlanSlide 8Slide 9Slide 10Idaho RLEP DescriptionSlide 12Slide 13RLEP Challenge ExamplesSlide 15Idaho RLEP Project SpecsMobile ManipulationSlide 18Slide 19Slide 20Slide 21Non-prehensile ManipulationResearch and Technical ChallengesSlide 24Slide 25Slide 26Slide 27Conclusions?Questions?IDAHO Robotic Lunar IDAHO Robotic Lunar Exploration ProgramExploration ProgramSponsors: •NASA Idaho Space Grant Consortium•NASA Ames Research Center •University of Idaho College of EngineeringBackgroundBackground•National government has made a goal to return humans to the moon by 2020 and later to Mars and further destinations in the solar system.•Precursor robotic missions to prepare for human exploration and habitat.•NASA established RLEP, later Lunar Precursor and Robotics Program (LPRP), to prioritize and carry out lunar robotic missions.BackgroundBackground• Moon is a nearby place– Astronauts can learn to live and work in a hostile environment before heading off to more distant destinations.MotivationMotivation• Some goals of robotic exploration are to provide:–an early assessment of human exploration targets on the Moon–a risk mitigation strategy for both the technology developments needed for human exploration and the emplacement of supporting infrastructureMotivationMotivation•Non-dexterous mobile manipulators capable of excavating and resource extraction partner with dexterous mobile manipulators to:–Mine raw minerals–Clear pathways–Place landing beacons–Dig trenches–Install habitat modules–Cover them with regolith to protect them from radiationMotivationMotivationThe same machines will transition over time to assist humans that occupy these habitats and will also serve as caretakers in between human crews.NASA’s PlanNASA’s PlanNASA has established the following objectives for the initial robotic elements in the Lunar Precursor and Robotics Program: • Characterization of the Lunar radiation environment, biological impacts, and potential mitigationNASA’s PlanNASA’s Plan•Determination of a high resolution 3-D geodetic grid for the Moon - Global geodetic knowledge of topography - Detailed topographic characterization at landing site scalesNASA’s PlanNASA’s Plan•Polar region resources assessment (and landing site safety) - Largest unknown in present knowledge of lunar resourcesNASA’s PlanNASA’s Plan•High spatial resolution global resource assessment - Elemental composition, mineralogy and regolith characteristicsIdaho RLEP DescriptionIdaho RLEP Description• Team Composition–Up to 5 teams of students from Idaho colleges and universities–From 3 to 8 additional undergraduate members –Graduate team lead–Faculty advisorIdaho RLEP DescriptionIdaho RLEP DescriptionTeams will be assigned one of three challenges related to NASA’s Lunar Precursor and Robotics Program, as prioritized by the NASA Ames Research Center. These devices should be very task versatile and be able to complete a number of task without the use of additional devices.Idaho RLEP DescriptionIdaho RLEP DescriptionThe student’s designs will be delivered to NASA Ames Research Center for integration and testing on an existing robotic platform.RLEP Challenge ExamplesRLEP Challenge Examples• Non-Prehensile Mobile Manipulation (2 Projects)– design of non-prehensile robot manipulation devices for lunar surface operations, such as digging/trenching, loading, cable running, conveying or dumping • Robotic Rock Flipper – design of a lightweight device that can be mounted on a planetary rover robot to grasp/jiggle-free a rock and re-orient for inspectionIdaho RLEP Project SpecsIdaho RLEP Project Specs•Project Descriptions:–Design, fabricate, and test a non-prehensile robotic manipulation device for lunar surface operations –Design should be an electro-mechanical device and be able to accomplish specific deliverables to be determined–Mechanism will be built to test operational concepts involved in the lunar exploration missionsIdaho RLEP Project SpecsIdaho RLEP Project Specs•Design Requirements:–The device should be tested on normal earth soil compositions –The power-to-weight ratio should be maximized –The device should be robust and the operation and control should be repeatable –Sensing, including but not limited to joint encoders and force sensors, must be incorporated into the design –The size, weight, and power consumption of the device should be minimized wherever possibleMobile ManipulationMobile ManipulationDefinition: moving, reorienting, carrying, arranging, assembling or disassembling objects from a mobile platform.• Freedom to locate manipulator relative to task• Mobility may be used in manipulation task• Focused on task mechanics required to complete a task• May involve contact, friction and/or impactMobile ManipulationMobile ManipulationApproaches:• Algorithmic, controls, geometric• Use of task mechanics and non-prehensile manipulation• Integration between manipulation and mobilityProblems:• Platform does not know exactly where it is in space• Mobility and manipulator freedom redundancy• Nonholonomic constraints of a mobile baseMobile ManipulationMobile ManipulationBasic Activities:• Scientific experiments• Habitat construction• Unloading lander and assembling/deploying equipment• Astronaut assistanceMobile ManipulationMobile ManipulationScientific experiments:- Drilling and core sampling- Rock flipping - Conduct “lab” experiments- Collect and process rock/regolith samplesMobile ManipulationMobile ManipulationHabitat construction:- Assembling- Determining location- Placing landing beacons- Leveling- Running/Burying cables- Dig/load/transport regolith- Deployment assistance (ISRU)Non-prehensile ManipulationNon-prehensile ManipulationDefinition: non-dexterous manipulation,or without the use of “fingers”, for grasping to control and maneuver object(s).Modes:• Pushing• Tapping• Striking• Rolling• Toppling• Flipping• Digging• Trenching• Drilling• SweepingResearch and Technical ChallengesResearch and Technical ChallengesEmbodiment: (Power, actuation, packaging, mechanism sensors)• Simple, robust, cost effective mechanical systems combining:- Safety- Load carrying capacity and speed- Dexterity- Power• Reliable integrated packages for actuation- Power source- Power-to-weight ratio-