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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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© 2020 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu
http://spacecraft.ssl.umd.edu
Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Up Front, a Word about Zoom• All lectures are recorded and posted on ELMS• My chat window is open - feel free to use that to
ask questions• My goal is to maximize the flow of information in
both directions - please help with suggestions as we go through the term
• I’m still learning, too
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
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
U N I V E R S I T Y O FMARYLAND
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/– Lecture videos
• Interactive Microsoft Teams site– Collaboration between design teams (think Slack/Zoom)– Backup to Zoom for lectures
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https://elms.umd.edu
Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
Grading Policies• Grade Distribution
– 25% Homework Problems– 25% Midterm Exam (take-home)– 20% Term Project midterm submission*– 20% Term Project final submission*– 10% Peer Evaluations
• Late Policy for Homework– On time: Full credit– Before solutions: 70% credit– After solutions: 20% credit
* Team Grades
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
A Word on Homework Submissions...• Good methods of handing in homework
– Scanned or electronic copies via e-mail (MUST put “ENAE788X” in subject line)
– Or attached to person-person chat in Teams– We may use grading apps like GradeScope - still
investigating
• Comments about homework submissions– Write neatly!– Put boxes around your answers
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
Gabrielli-von Karman Diagram
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
AERCam/SPRINT
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Orbital Express
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SPHERES
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Current Status Based on Distance
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• Opportunity: Sol 5111 (dead) 45.16 km
• Curiosity: Sol 2863 23.06 km
• Spirit: Sol 2555 (dead) 7.73 km
• Perseverance Landing February 18, 2021
Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Science Laboratory (and MER)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MSL Mission Overview
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MSL Wheel Problems
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Planetary Aerial Mobility• Deployed during EDL phase
or surface deployed• Lighter-than-atmosphere
– Thermal balloons– Light gases
• Heavier-than-atmosphere– Fixed wing (glider or powered)– Rotary wing
• Single mission or multiple flights
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Ingenuity – Mars Helicopter 2021
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ARES Deployment
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Balloons
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Field Trials for New Mobility Technologies
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCOUT (JSC)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robonaut/Centaur (JSC)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE (JPL)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE With Larger Legs
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Desert RATS 2008 - Moses Lake, WA
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Drill Sampling Robot - CMU
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
K-10 (NASA Ames)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE (JPL)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot (NASA JSC)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot with Plow Blade
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot B Climbs a Boulder Field
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Space Exploration Vehicle
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Walking Robots
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Scorpion King (JSC)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Serpentine Mobility
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Sub (Solid) Surface Access
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
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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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
BioBot Concept
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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 – the human must never have to wait on the robot!
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
BioBot Initial Proof-of-Concept Tests
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
BioBot Umbilical Handling Concept
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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
U N I V E R S I T Y O FMARYLAND
Term Project, Part 1• Teams of 3-4 students (~5 teams in class)• Design a BioBot mobility chassis for the following
mission scenario– Pair launched to the moon on a CLPS lander (
Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN in Telerobotic Sample Config
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN in EVA Transport Config
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
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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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SP Crater - 30° slope
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Planned Test Site: HI-SEAS
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Term Project, Part 2• Final designs will be submitted by teams by late
October (date TBD)• Designs will be evaluated and significant
innovations identified• Class will redistribute into 2-3 teams• Teams will take best designs and features and do
more detailed designs and analysis• Best design will be built and tested (not part of this
class)
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Final Use of Your Design(s)• Space Systems Laboratory currently has two grants
to develop and test a BioBot-class rover– NASA Innovative and Advanced Concepts (NIAC)
Phase 2– NASA Moon-Mars X-Hab project
• Goal is to use rover for field testing at Lava Bed National Monument in northern California in Summer of 2021
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Homework for This Lecture• Form teams of 3-4 students for term project• Post your team roster to “General” discussion group on
Teams site by end of this week• Feel free to use discussion area of Teams to find team
members if you need to• Also, find a technical paper on some aspect of rovers
applicable to the term project• Upload a PDF of the paper to the “background research”
channel on Teams, along with a brief description in the message you attach it to
• Papers must be unique! If someone else posts your paper first you have to start over. (It pays to do this assignment early!) Papers are due by Wednesday 9/9
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Course Overview ENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
A Note on Online Research• Some good places to start
– https://ntrs.nasa.gov/search (NASA documents)– https://arc.aiaa.org (AIAA papers)– https://ttu-ir.tdl.org/handle/2346/58495 (Proceedings
of the International Conference on Environmental Systems)
• The UMd library has access to many journals - they also have code you can load to add a “reload@umcp” button in your browser so you can download using the university’s licenses
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https://ntrs.nasa.gov/searchhttps://arc.aiaa.orghttps://ttu-ir.tdl.org/handle/2346/58495