Introduction Surface Telerobotics Simulation to Deploy a Lunar Farside Radio Telescope Array L. Kruger 1 , M. Crist 1 , M. Leitshuh 1 , J. Burns 1 , J. Lazio 2 , T. Fong 3 , Maria Bualat 3 1 University of Colorado Boulder 2 Jet Propulsion Laboratory 3 NASA Ames Research Center LUNAR proposes to build a low frequency radio telescope array to study the early universe a few hundred million to one billion years after the Big Bang using the highly redshifted 21-cm neutral hydrogen line. In order to detect this faint signal buried beneath strong radio sources such as human-generated RFI and terrestrial ionospheric emissions, the array will be deployed on the radio-quiet lunar farside surface. We are conducting a telerobotics simulation in collaboration with the Intelligent Robotics Group (IRG) at NASA Ames Research Center and the flight crew aboard the International Space Station. The simulation is a series of tests divided into three sessions over the summer of 2013 during which the astronauts will remotely pilot IRG’s K10 rover in deploying arms of Kapton (a polyimide film likely to be the telescope’s framework material) on NASA Ames’ Roverscape. One such session has already been successfully completed and future tests will demonstrate the gaps and risks for technology development in joint human-robotic missions. Introduction Telerobotics Simulation Telerobotics in Support of Radio Astrophysics Student Involvement Paving the Way for Future Exploration Funded by the NLSI via Cooperative Agreement NNAo9DB3oA LUNAR and NASA Ames’ Intelligent Robotics Group (IRG) are collaborating in the planning and execution of a terrestrial surface telerobotics test to demonstrate control of a surface robot by a remote crew. A crew member aboard the International Space Station, with no prior experience operating the K10 rover, will complete “just-in-time” training to deploy three arms of the polyimide film constituting the framework of LUNAR’s telescope. Students from various universities have had the opportunity become involved in preparing for the telerobotics test. A student science team at the U. of Colorado Boulder took part in designing K10’s telescope deployer, identifying viable deployment sites, and planning rover traverse sequences. This simulation is the first demonstration of the likely way in which we will continue exploring the solar system. That is, exploration as a joint venture combining the strengths of human and robot. Objectives • Demonstrate that flight crew can remotely operate surface robots • Mature crew control technology (i.e. robotic interfaces) • Identify knowledge and technology gaps LUNAR is working in collaboration with Lockheed Martin to develop a L2 waypoint mission concept. During the first manned test flight of the Orion MPCV in the early 2020’s, a useful science mission could be completed. Astronauts aboard the Orion capsule will teleoperate a rover to deploy LUNAR’s telescope array and complete a sample return. Fig. 4. The student science team sets up a mission control at the U. of Colorado Boulder. Fig. 5. A U. of Colorado student functions as the astronaut for the day as she goes through the same training the astronauts will and suggests improvements. Fig. 1. The K10 rover deploys an arm of polyimide film representing LUNAR’s telescope array. Fig. 2. Flight engineer Chris Cassidy studies the rover interface aboard the ISS during the first crew session. Fig. 3. The “Surface Telerobotics Workbench,” or robotic interface, allows the astronaut to load pre-planned traverse sequences or manually navigate the rover.

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Introduction

Surface Telerobotics Simulation to Deploy a Lunar Farside Radio Telescope Array

L. Kruger1, M. Crist1, M. Leitshuh1, J. Burns1, J. Lazio2, T. Fong3, Maria Bualat3

1University of Colorado Boulder 2Jet Propulsion Laboratory 3NASA Ames Research Center

LUNAR proposes to build a low frequency radio telescope array to study the early universe a few hundred million to one billion years after the Big Bang using the highly redshifted 21-cm neutral hydrogen line. In order to detect this faint signal buried beneath strong radio sources such as human-generated RFI and terrestrial ionospheric emissions, the array will be deployed on the radio-quiet lunar farside surface. We are conducting a telerobotics simulation in collaboration with the Intelligent Robotics Group (IRG) at NASA Ames Research Center and the flight crew aboard the International Space Station. The simulation is a series of tests divided into three sessions over the summer of 2013 during which the astronauts will remotely pilot IRG’s K10 rover in deploying arms of Kapton (a polyimide film likely to be the telescope’s framework material) on NASA Ames’ Roverscape. One such session has already been successfully completed and future tests will demonstrate the gaps and risks for technology development in joint human-robotic missions.

Introduction

Telerobotics Simulation

Telerobotics in Support of Radio Astrophysics

Student Involvement

Paving the Way for Future Exploration

Funded by the NLSI via Cooperative Agreement NNAo9DB3oA

LUNAR and NASA Ames’ Intelligent Robotics Group (IRG) are collaborating in the planning and execution of a terrestrial surface telerobotics test to demonstrate control of a surface robot by a remote crew. A crew member aboard the International Space Station, with no prior experience operating the K10 rover, will complete “just-in-time” training to deploy three arms of the polyimide film constituting the framework of LUNAR’s telescope.

Students from various universities have had the opportunity become involved in preparing for the telerobotics test. A student science team at the U. of Colorado Boulder took part in designing K10’s telescope deployer, identifying viable deployment sites, and planning rover traverse sequences.

This simulation is the first demonstration of the likely way in which we will continue exploring the solar system. That is, exploration as a joint venture combining the strengths of human and robot. Objectives

• Demonstrate that flight crew can remotely operate surface robots

• Mature crew control technology (i.e. robotic interfaces)

• Identify knowledge and technology gaps

LUNAR is working in collaboration with Lockheed Martin to develop a L2 waypoint mission concept. During the first manned test flight of the Orion MPCV in the early 2020’s, a useful science mission could be completed. Astronauts aboard the Orion capsule will teleoperate a rover to deploy LUNAR’s telescope array and complete a sample return. Fig. 4. The student science team sets up

a mission control at the U. of Colorado Boulder.

Fig. 5. A U. of Colorado student functions as the astronaut for the day as she goes through the same training the astronauts will and suggests improvements.

Fig. 1. The K10 rover deploys an arm of polyimide film representing LUNAR’s telescope array.

Fig. 2. Flight engineer Chris Cassidy studies the rover interface aboard the ISS during the first crew session.

Fig. 3. The “Surface Telerobotics Workbench,” or robotic interface, allows the astronaut to load pre-planned traverse sequences or manually navigate the rover.