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Enables future missions such as autonomous geology, life seeking and polar exploration
ROBOTIC SEARCH FOR ANTARCTIC METEORITES
NASA and CARNEGIE MELLON UNIVERSITY http://www.ri.cmu.edu/~meteorobot2000
Robotic Antarctic Meteorite Search Q1-Q2 FY00
• Nomad found and classified 5 indigenous meteorites
• Demonstrated autonomous search and in situ classification of rock samples
• Validated Science Autonomy
– Search architecture
– Multi-sensor automatic classification with learning
– Interwoven sensing, driving, and manipulation
76º S, 157º E
Autonomous Meteorite Search and In Situ Classification
Nomad finds meteorite Acquires hi-res image Deploys science arm
Places spectrometer
Acquires spectrum and classifies
Human collects meteorite
January 22, 2000375 m, 157 min8 rocks classified
10 m
Meteorite
Logs meteorite location
Broadcasts find
Science Autonomy Architecture
Framegrabber
PTU Lens Controller
Motion Controller
DAQCard
Spectrometer
Sensor Manager
Target Acquisition
Manager
NavigationSystem / Obstacle
Avoidance
Ph
ysic
al S
en
sor
Layer
Acti
on
C
oord
inati
on
Layer
Pla
nn
ing
Layer
High-ResCamera Sensor Driver
Manipulator Sensor Driver
MissionPlanner
TargetClassifier
NavigationPlanner
TargetDatabase
Autonomous Search and Target Acquisition
Blue / Green + BlueIn
tensi
ty
Ice & Snow
Rock
Robot
Rock SegmentationPatterned Coverage Search
Autonomous Classification Technology
ColorSize Shape
Hi-res Color Image
10% 20%
Definitely a rock
MeteoriteUncertain0% 100%...
Bayes-based Classifier: Confidence Estimator
Reflection Spectrum
Spectral Feature
Spectral Feature
First find – Jan. 22, 2000
Second find – Jan. 25, 2000 Third find – Jan. 26, 2000
Nomad’s Meteorite Finds - 1
Fourth find – Jan. 27, 2000 Fifth find – Jan. 28, 2000
Sixth find (probably native rock) – Jan. 28, 2000
Seventh find (probably native rock) – Jan. 28, 2000
Nomad’s Meteorite Finds - 2
Meteorite Classification Spectra
Wavelength [nm]
Reflect
an
ce 12097 (misclassified chondrite)
12322 (achondrite)
12372 (chondrite)
12387, 11331, 12067 (chondrites)
• # sample spectra taken during expedition: over 200 (15 meteorite spectra)
• # sample images taken during expedition: over 450
• # meteorites correctly classified: 5
• Level of autonomy in demonstrations
– Human intervention required for 9 out of 42 successful arm deployments (21%)
– Human intervention required for 1 out of 57 successful camera deployments (1.8%)
– Final visual servoing steps required manually lowering wrist to rock due to inoperative touch probe and varying rock sizes
Results
• Robotic search relevant to life seeking, autonomous geology and discovering the unexpected
• Robot as seeker and interpreter beyond data collector, relevant to deep space, far side and autonomous exploration
• Polar mission archetype relevant to Mars, Mercury, the Moon and Earth poles
• Meteorite search for extraterrestrial material on Earth, relevant to NASA planetary interests
Significance