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Rover and Lander Different Configurations
Solo rover, or working with lander and/or orbiter? Landing: arrest via rocket, parachute, or airbag? Swarms: copters, biomorphs, penetrators
Different Control Strategies Signals direct to rover, or via orbiter, lander? Base, orbiter, lander, rover distribution of control Sensors: pressure, altimeter, laser, radar, vision Control: experiment deployment, data uplink
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Example Missions NASA Pathfinder Sojourner
July-September 1997 Lander base station plus small rover http://www.jpl.nasa.gov/news/fact_sheets/mpf.pdf
NASA Mars Exploration Rovers January-April 2004 (but still active) Two independent rovers Spirit and Opportunity
landed at different locations http://www.jpl.nasa.gov/news/fact_sheets/
mars03rovers.pdf
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NASA Pathfinder Sojourner
Image © Neil English, Exploring Mars, Pole Star Publications Ltd.
Antenna
Solar cells
Multi-wheel drive Steerable
front pair
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Pathfinder Sojourner Lander
Airbags to cushion landing
Exit track for rover
Lander bounces (like ball)
Airbags deflate and shell opens
Lander has uplink
Image © Neil English, Exploring Mars, Pole Star Publications Ltd.
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NASA Spirit Rover (MER)
Image © Neil English, Exploring Mars, Pole Star Publications Ltd.
Stereo imaging
and navigation cameras
Direct-to-Earth uplink
Poseable instrument package
Multi-wheel drive
Special hazard
cameras
Strut for long reach
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Deep Space Communications Distance to Mars
Closest to Earth: 54.5 million km Furthest from Earth: 401.3 million km
Signal times Based on c = 299,793 km/s ~ 3.03 minutes (Earth/Mars closest) ~ 22.31 minutes (Earth/Mars farthest)
Consequences Base cannot react in real-time Rover must act autonomously
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Mission Management Base station (Earth)
Mission goals, priorities, master control Master data uplink, processing science results
Local station (Orbiter, Lander) Local area planning, local priorities, alternate tasks Global hazards, sandstorm warnings, rover safety local data uplink, local processing, data reduction
Rover Navigation, terrain following, obstacle avoidance Experiment selection, control, completion
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Hardware Issues Satellite uplink
Need for Earth/Mars, Rover/Orbiter communications What hardware, comms. protocols, power rating?
Microcontrollers Small processors to read sensors and drive devices What memory, buses/ports, power rating, software?
Communications bus How many sensors, devices, moving parts to control?
Devices and sensors What devices/sensors? What registers to read/write?
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Navigation Global Positioning System (GPS)
Could the Rover use this to find out its location? How many Orbiters/registration signals? How often/accurately measured? How important?
Tilt Sensors (Accelerometers) Compute velocity, position from known starting point
using internal acceleration sensors Integrate acceleration over time for velocity, velocity
over time for distance – but how to correct drift errors? Ultrasonic sensors
Echo location system for computing distance from target
Use in Martian atmosphere for obstacle avoidance?
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Ultrasonic Sensors SRF08 ultrasonic sensor On-chip microcontroller
PIC determines distance from objects
Detects objects from 3cm – 6m
I2C bus communicates with external TINI
TINI concentrates on high-level control
Product image © Total Robots. SRF08 sensors available from Total Robots
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Instrument Packages Navigation
Stereo navcams, hazcams, laser striper, ultrasound, inertial compass (no magnetic field)
Science 360 panoramic camera, HD cameras Spectrometers: infrared/thermal emission (carbon,
minerals), Moessbauer (iron-bearing properties) Rock abrasion tool Microscope (spores, bacteria) Wet science chemistry (lifesign reactions)
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Software Issues Multi-tier
AI for high-level autonomous decisions Stereo vision algorithms for navigation Sensing, analysis and data compression
Reliability Triple-redundant voting system? Cosmic ray damage: reboot and/or reconfigure? Failsafe shutdown options
Communications Coordinate rover, lander, orbiter?
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Future Missions NASA Phoenix Scout
Launched in 2007, Polar Lander Wet chemistry, water-finding, life?
NASA Mars Science Laboratory Launch in 2009, 10*payload of MER Skycrane rocket lander, nuclear power
Projected Biomorph Swarms Aerobot/rotorcraft, biomorph/micro-rovers and
subsurface penetrators Work as cooperating swarm, resilient to failures
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NASA’s Phoenix Scout
Lander only
mission
Mission to northern
polar region
Subsurface water
ice?Wet water chemistry experimen
ts
Image © Neil English, Exploring Mars, Pole Star Publications Ltd.
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NASA Mars Science Laboratory
Direct-to-Earth uplink
Much larger
rover (*10)
Image © Neil English, Exploring Mars, Pole Star Publications Ltd.
Nuclear powered
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Stanford: Mesicopter Swarm
Swarm rotorcraft
Robust and
redundant
Cooperating agents
Image © NASA/DoD Second Biomorphic Explorers Workshop, JPL 2000.
Work by Ilan Kroo, Peter Kunz, Dept. of Aeronautics and Astronomy, Stanford University
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Swarm Exploration
Image © NASA/DoD Second Biomorphic Explorers Workshop, JPL 2000.
Work by Ilan Kroo, Peter Kunz, Dept. of Aeronautics and Astronomy, Stanford University
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Swarm Control Massively parallel system
How to predict all possible interactions? Cannot hope to test all behaviours System must be correct by design
Tools for understanding, specifying swarms Individual-based modelling (FLAME tool) models cellular automata Formal method: X-Machines specifies cellular automata