Presentation is loading. Please wait.

Presentation is loading. Please wait.

The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider Tom Meyer.

Similar presentations


Presentation on theme: "The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider Tom Meyer."— Presentation transcript:

1

2 The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider

3 History of Mother Goose Mission Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components –ASTEP - Science –Boston NIAC Cave Research –SBIRs –Instrument development proposals –Doing in-house development Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components –ASTEP - Science –Boston NIAC Cave Research –SBIRs –Instrument development proposals –Doing in-house development

4 What is the Mother Goose? Mission strategy for detection of life Flying transformer robotic system Mimics human field biologist Autonomous search for life on Mars Search at multiple spatial scales: –Aerial –Walking –Microscopic Mission strategy for detection of life Flying transformer robotic system Mimics human field biologist Autonomous search for life on Mars Search at multiple spatial scales: –Aerial –Walking –Microscopic

5 Motivation and Goal Life often leaves tell tail biosignatures –Changes in physical appearance of surface –Chemical changes in surface material Life prefers hospitable locations –warm, wet, protected –hidden in cracks, cervices, caves The Challenge: narrow the field search from regional, to local, to microscopic –Remote control from Earth is impractical The Goal: develop a robotic field biologist Life often leaves tell tail biosignatures –Changes in physical appearance of surface –Chemical changes in surface material Life prefers hospitable locations –warm, wet, protected –hidden in cracks, cervices, caves The Challenge: narrow the field search from regional, to local, to microscopic –Remote control from Earth is impractical The Goal: develop a robotic field biologist

6 Approach Mother Goose Overarching Concept Unique approach and goals –Intelligent site selection at all levels of encounter –Robotic mobility along a continuum of sequentially finer resolutions –Glider / Lander combines hazard avoidance and scientific site selection –Integrated guidance and data system serves glider, lander, walker and micro-robots Mother Goose Overarching Concept Unique approach and goals –Intelligent site selection at all levels of encounter –Robotic mobility along a continuum of sequentially finer resolutions –Glider / Lander combines hazard avoidance and scientific site selection –Integrated guidance and data system serves glider, lander, walker and micro-robots

7 Mission Architecture - Entry Entry capsule deploys Mother Goose glider Glider wings inflate Glider cruise phase begins Begin remote sensing for navigation and science

8 Integrated guidance and data acquisition Mother Goose is a very bright bird, she –Navigates the glider while in flight –Collects remote sensing data –Searches for an optimal landing site –Navigates and takes data on the ground, and –Collects data from her micro-robot goslings Integrated guidance and data acquisition Mother Goose is a very bright bird, she –Navigates the glider while in flight –Collects remote sensing data –Searches for an optimal landing site –Navigates and takes data on the ground, and –Collects data from her micro-robot goslings Mission Architecture - Cruise

9 Mission Architecture - Surface Mother Goose: –Picks safe landing site near science target –Walks to the science sites –Collects local data –Refines site selection –Deploys Micro-Robot Goslings Wing provides power and communications Mother Goose: –Picks safe landing site near science target –Walks to the science sites –Collects local data –Refines site selection –Deploys Micro-Robot Goslings Wing provides power and communications

10 Mission Architecture - Goslings MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site

11 Team Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link FOR MORE INFO... (Picture credits - Gus Frederick)

12 R.D. Frederick © 2001 Human Emulation in Robotic Missions Human Emulation in Robotic Missions

13 The Field Scientist in the Wild

14 The Field Scientist In A Can R.D. Frederick © 2001

15 Science Search Strategy Mimic classic human-conducted field science Mimic classic human-conducted field science Aerial Recon Phase – Airborne Mother GooseAerial Recon Phase – Airborne Mother Goose Walkabout Phase – Rover Mother GooseWalkabout Phase – Rover Mother Goose Intensive Investigation Phase – Scientist Mother GooseIntensive Investigation Phase – Scientist Mother Goose Access to difficult sites via microrobotic Goslings Access to difficult sites via microrobotic Goslings SmallSmall Autonomously actingAutonomously acting Multiple spatial scales Multiple spatial scales Birds eye viewBirds eye view Scientists eye viewScientists eye view Microbes eye viewMicrobes eye view Multiple data sets Multiple data sets ImagingImaging 3 D Microscopy3 D Microscopy Raman spectroscopyRaman spectroscopy Direct sensing of gasesDirect sensing of gases

16 Physics Geophysics Hydrology Biology Chemistry Geochemistry Mineralogy Geology Laboratory Analysis TechniqueDevelopment In Situ Techniques 2 Techniques:

17 Non-invasiveTechniques Surface detection methodsSurface detection methods No sample removedNo sample removed Leaves communities intactLeaves communities intact Minimal disturbanceMinimal disturbance

18 P.J. Boston © 2001 Planetary Protection Protocol for possible biological sitesProtocol for possible biological sites Contamination zone model Contamination zone model Suitable for mechanisms Dirty/clean model Dirty/clean model Suitable for humans

19 R.D. Frederick © 2001 Planetary Aseptic reconnaissance Aseptic reconnaissance Preliminary assessments Preliminary assessments Long-term monitoring Long-term monitoring Intermediates in chain of asepsis Intermediates in chain of asepsis Permanent Class IV+ containment Permanent Class IV+ containment Protection

20 Science Goals & Objectives Recon Phase - Features (TES, Radar, Imaging) Water Reduced gases Temperature anomalies Minerals & Biominerals Outcrops Shape Color and pattern Texture Rover Phase – Site refinement (Imaging) Water Reduced gases Temperature anomalies Biominerals Outcrops Shape Color and pattern Texture Rover Phase – Microanalysis (Microscopy, Spectroscopy) Mineral grains Soil properties Microtextures Biominerals Biofabrics Microfossils Organic compounds Organisms or parts Gosling Phase – Seeking (Imaging, Sensing) Water Reduced gases Mineral & Biominerals Outcrops Shape Color and pattern Texture Image of lithified fossil bacteria, filaments, and biofilm. Courtesy L. Melim, M. Spilde, & D. Northup.

21 High intensity sunlight and UV High intensity sunlight and UV Low humidity (5-40% typically) Low humidity (5-40% typically) Temperature extremes Temperature extremes Low nutrients (usually) Low nutrients (usually) Mineral-rich (usually) Mineral-rich (usually) Extensive weather, Extensive weather, e.g. high winds, flash floods, frost, etc. e.g. high winds, flash floods, frost, etc. Desert Surfaces On Earth

22 Photo by David Jagnow Desert Caves On Earth No sunlightNo sunlight High humidity (99-100% in the deep zone)High humidity (99-100% in the deep zone) Temperatures relatively constantTemperatures relatively constant Low nutrientsLow nutrients Mineral-richMineral-rich No weatherNo weather

23 R.D. Frederick © 2001 Life in Mars Caves… Traces on the Surface? Geochemical traces Geochemical traces Change in oxidation states Change in oxidation states Chemistry independent Chemistry independent Visualization of order Visualization of order Biotextures and structure Biotextures and structure Isotopic signatures? Isotopic signatures? Other disequilibria? Other disequilibria? Energy sources Energy sources Energy flow Energy flow Growth Growth Reproduction Reproduction

24 Mother Goose Instruments Joe Martin - Equinox Interscience

25

26 Glider Mode

27 Glider Mode Instruments Wide FOV imaging. (0.42 kg). –The Mike Malin low resolution MARDI descent imager from the ill-fated 98 Mars Polar Lander 73° FOV for aerial reconnaissance with a 7.1 mm focal length IFOV: 1.25 mrad. –Thus at 1 km altitude; ground resolution 1.25 m Thermal Emission Spectrometer (mini-TES) (1.9 kg) –A miniaturized TES evolved from MGS TES reduced 14.4 kg to 1.9 kg, proposed for MESUR missions as mini- TES. Spectral range: 400 to 5000 cm-1 (2-25 µm), 5 cm-1 resolution Energy/sample = 4.4 W x 3.7 min/ sample / 60 min/hr = 0.27 W- hr/sample

28 Glider Mode Instruments (Cont.) Ground Penetrating Radar (GPR) (2.4 kg) –A surface penetrating radar to determine buried water and water bearing rocks –GPR defined by Rolando Jordan (JPL) for Dave Paiges proposed Mars Polar Pathfinder mission. Folded dipole antenna on the bottom of the Pathfinder lander petal. to probe the ground below: –depth of 4.5 km; depth resolution 2 m –100 MHz pulses –The MG antenna would be built into the skin of the lower surface of the glider.

29 Rover Mode

30 Rover Mode Instruments Stereo Imaging (0.54 kg) –Panoramic stereo camera system; Assess site geology and morphology and select targets for investigation. –Use a version of 2003 Mars Exploration Rovers (MER) MER system has 1024 x 2048 pixel CCDs, 280 µrad resolution 42.7 mm focal length optics for 16x16° FOV. 8 filters from 400 to 1100 nm Analysis time: 10 sec/frame 62 Mp/frame (both cameras)

31 Rover Mode Instruments (Cont.) Raman Spectrometer (RS) ( kg) –The roving robot presses its robotic arm against a rock. Thin green or ultraviolet laser beam scans the rock, Raman scattered light identifies photon wavelength shifting effect of molecular and crystalline structures in the target rock. –Potential Raman developments Larry Haskin green light RS (0.7 kg); for minerals Michael Storrie-Lombardi UV RS (1.1Kg); for organics or prebiotic molecules. EIC labs (NASA SBIR); rugged, portable, high resolution RS with illumination Raman measurement through fiber optic extension. –Fiber optic extension: insert the fiber optic probe inside a crevice.

32 1988 Phase 2; SS-52; 10/18/95 Small Business Innovation Research Kennedy Space Center ACCOMPLISHMENTS Specific gas-phase sensing of hydrazine and other air contaminants Novel micro-optics probe head allows point and shoot fiber optic sampling and monitoring from over 500 meters 10 times more compact than prior equipment and no moving parts COMMERCIALIZATION $3 million in sales in last two years Patented Raman probe New company division organized to provide commercial Raman instrumentation and services GOVERNMENT/SCIENCE APPLICATIONS Space applications: sensing hypergolic vapors; hydrogen monitoring; rapid analysis of minerals; compact, on-board chemical analysis Commercial applications: chemical process monitoring, pharmaceutical analysis, forensics, environmental site characterization, and a general laboratory complement to IR spectroscopy Raman Spectrograph EIC LABORATORIES, INC. NORWOOD, MA Rugged, portable, high resolution Raman spectrograph with fiber optic sampling INNOVATION Spectrograph with fiber optic sensor

33 Rover Mode Instruments (Cont.) Mineral Identification by In-situ X-ray Analysis (MIBIXA) (0.4 kg) –The roving robot presses its robotic arm against a rock. The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays. –MIBIXA Proposed by Equinox as NASA SBIR Deep depletion 600 x 600 CCD (e2v Technologies) measures: –photon energies from 200 eV to 20 keV –scattering angle of elastically scattered photons. –energy of fluorescent photons. Carbon nanotube field emission cathode x-ray source (Applied Nanotechnologies, Inc.).

34 Rover Mode Instruments (Cont.) Confocal Microscope (1.5 kg) –The roving robot presses its robotic arm against a rock. The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays. –MIBIXA Proposed by Equinox as NASA SBIR Deep depletion 600 x 600 CCD (e2v Technologies) measures: –photon energies from 200 eV to 20 keV –scattering angle of elastically scattered photons. –energy of fluorescent photons. Carbon nanotube field emission cathode x-ray source (Applied Nanotechnologies, Inc.).

35 Rover Mode Instruments (Cont.) Confocal Microscope (1.5 kg0) (Leica) All out of focus structures are suppressed at image formation by an arrangement of diaphragms which, at optically conjugated points of the path of rays, act as a point source and as a point detector respectively. Out-of-focus rays are suppressed by the detection pinhole. The focal plane depth is determined by the wavelength, the objective numerical aperture, and the diaphragm diameter. To obtain a full image, the image point is moved across the specimen by mirror scanners. The emitted/reflected light passing through the detector pinhole is detected by a photomultiplier and displayed on a computer monitor.

36 Microbots Mode

37 Microbot Mode Instruments Imagers (50g x 10 microbots = 0.5 kg) –Supercircuits Model: PC-169XS –High resolution color microvideo camera –1/3" Color CCD; 768(H) x 492(V); 377,856 pixels –Power: 1W –Interchangeable lens Chemical Sensors (50g x 10 microbots = 0.5 kg) –Temp, pH, conductivity –Gas sensors –Anion, cation sensors

38 MOTHER GOOSE Related Technologies & Robotics

39 MOTHER GOOSE Mission Systems MG I Astrobiology Mission MOTHER GOOSE has Landed and Deposited Rover and Micro-Rovers (Goslings) in Area Of High Scientific Interest. MOTHER GOOSE and Goslings Enter Cave Site at Mars Mother Goose Mother Goose TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Aerostar/Raven Industries Boulder Center for Space Science/ National Link MIT Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar

40 MOTHER GOOSE Mission Systems MG II Astrobiology Mission Mother Goose II TEAM Equinox Interscience, Inc. Complex Systems Res., Inc. Aerostar International, Inc. Boulder Center for Space Science/ National Link MIT Field & Space Robotics Lab MD Robotics for Canadian Space Agency Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar Prescipoint Solutions

41 MOTHER GOOSE Mission Systems DDB Detectable Desert BioMarkers DDB TEAM Equinox Interscience, Inc. Complex Systems Res., Inc. Performance Software Associates Boulder Center for Space Science/ National Link UTD, Inc. Prescipoint Solutions ROCKTASTER SchematicDDB Layers of Investigation

42 Autonomous Landing Techniques -WHY FLY in with Mother Goose MOTHER GOOSE DELIVERY SYSTEM Target Zone dependence is gone – WE LAND where the Science Demands On-board Guidance (LEIF) particpates fully in the landing LEIF system continuously monitors and learns from the evironment minimizing the unknowns to safe touchdown Near Zero velocity touchdown requires no impact protection system The configuration is inherently stable - no tip over – in addition, the LEIF system has sought out the inherently safest site closest to the science objective NASA Smart Landers Current Target Zones no smaller then 161x97 km (100x60 miles) *Smart Lander Target Zones smaller but undefined On-board guidance ends to early in landing No ability to handle unknowns at the landing site Must carry impact protection systems Must carry additional capability to prevent tip over Smart in this case really means safer than

43

44 Ø1Ø1 Ø2Ø2 Ø3Ø3 Mars Located vs Star Field Earth Relative Doppler Signal Landmark View Lune View Limb View Autonomous Pre-Entry LEIF Pilots the Way! LEIF– Landing Enabled by Intelligent Functions LEIF Provides Methods for Complete Autonomous Approach and Safe Landing In Area of Scientific Interest. APPLICATIONS -Mars Sample Return -Europa Lander -Titan Organics Explorer Lander -Mars Cargo Landers -Comet Nucleus Sample Return -Near Earth Asteroid Landers SAILSaR TEAM Equinox Interscience Inc. Boulder Center for Space Science/ National Link Prescipoint Solutions Performance Software Associates ITN Energy Systems

45 LEIF– Landing Enabled by Intelligent Functions

46 Next Generation Control for Scientific Spacecraft and Instruments SAIF/LEIF Design Highlights -Reduced Mass/Power Consumption/COST -Functional Superiority -Uniquely Synergistic Hardware/Software Design -Extreme Dense Electronic Miniaturization -Commercial Packaging -In Development by Equinox and Partners SAIF/LEIF TEAM Equinox Interscience Inc.. Prescipoint Solutions Performance Software Associates SAIF– Science Augmented by Intelligent Functions

47 To Investigate and verify aspects of Landing on hostile planetary surfaces. Frequent testing of approaches on local test ranges. Key is the Autonomous Control System – LEIF (Landing Enabled by Intelligent Functions) – An integrated computer and control system based on: Miniaturized electronics using HDI Software derived from Performance Software Anchor products –Based on successful IEC commercial automation software –Proposed as NASA SBIR Central Instrument Controller -awarded phase I, Phase II not funded but rated highly. FPGA based Programmable Direct Memory Access – designed by Beyond the Horizon Simplified SAIF/LEIF Electronics Unit Block Diagram SAIF-LEIF Systems

48 LEIF Presented – Iceland Mars Polar Science Conference LEIF Introduced by Dave Paige/UCLA – Full presentation on Equinox web site – Describes the Equinox thrust Automated Landing Technology Proposals by Equinox Interscience in DSF. – Development of LEIF Flight demonstration –Autonomous Rendezvous – Fine Pointing Laser Tracker Flight Demonstration (FPLTD) –Deep Space Comm. Extended Effort – Propose Avionics Navigation System Lockheed Martin for Pluto/Kuiper mission. LEIF Applied to MOTHER GOOSE Glider Control and Landing SAIF-LEIF Sytems

49 Primary Landed Systems Robotics Concepts & Notionals BIG MAMA Walker 6 legs Stereo Vision 2 Micro Manipulators

50 UREY MISSION style Tethered Rover Primary Landed Systems Robotics Concepts & Notionals

51 Secondary Landed Systems Robotics Concepts & Notionals Gosling 1 Walker 4 legs Micro Vis Top Mounted Solar Cell Micro Manipulator Gosling 2 Walker 6 legs Micro Vis Top Mounted Solar Cell Micro Manipulator

52 MIT Micro-rover Concept MIT Evolutionary Roadmap From Discrete to Continuous Robotic Systems Tilden (LANL) Skitter Bug Concept Secondary Landed Systems Robotics Concepts & Notionals

53 Investigations of LIFE BELOW & LIFE OUT THERE SPELEOSCOPE TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Boulder Center for Space Science/ National Link Performance Software Associates Oregon Public Education Network Secondary Landed Systems Robotics Concepts & Notionals

54 Secondary Landed Systems Robotics Concepts & Notionals Speleoscope Locomotion Concepts

55 Speloscope robotic variations SPELEOSCOPE Team Concept Tilden (LANL) Snake Concepts NASA (JPL) Snake Secondary Landed Systems Robotics Concepts & Notionals

56 Welcome The Future … & …Thank You! EQUINOX INTERSCIENCE Engineering Instruments of SCIence

57 The Mars Flying Wing Joe Berger R.D. Frederick © 2001

58 The Mars Flying Wing Features: Low Wing Loading High Lift over Drag (L/D) Capable of Low Speed Landing Autonomous Operation Precision Landing Features: Low Wing Loading High Lift over Drag (L/D) Capable of Low Speed Landing Autonomous Operation Precision Landing R.D. Frederick © 2001

59 The Mars Flying Wing Wing Performance Prediction: Approx 35:1 L/D Speed Range from 8 to 40 Kts IAS Full Stall Landing at Less Than 8 Kts IAS Highly Maneuverable Throughout Flight Regime Wing Performance Prediction: Approx 35:1 L/D Speed Range from 8 to 40 Kts IAS Full Stall Landing at Less Than 8 Kts IAS Highly Maneuverable Throughout Flight Regime R.D. Frederick © 2001

60 The Mars Flying Wing Wing Current Progress: 8 Foot Model Flying Successfully Flight Controls Proven 12 Foot Model to Fly 3 Qtr 2002 Higher Performance Airfoil High Tech Wing Tips with Winglettes 21 Foot Model Higher Aspect Ratio Flight Computer integrated to Video Real-time RF link to Ground Station for Telemetry, Video Wing Current Progress: 8 Foot Model Flying Successfully Flight Controls Proven 12 Foot Model to Fly 3 Qtr 2002 Higher Performance Airfoil High Tech Wing Tips with Winglettes 21 Foot Model Higher Aspect Ratio Flight Computer integrated to Video Real-time RF link to Ground Station for Telemetry, Video R.D. Frederick © 2001

61 Mars Flying Wing The 8 Foot Wing: With Pilot & Launch Assistant The 8 Foot Wing: With Pilot & Launch Assistant

62 Mars Glider Movie:

63 The Mars Flying Wing: Mission Accomplished! Mission Accomplished! R.D. Frederick © 2001

64


Download ppt "The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider Tom Meyer."

Similar presentations


Ads by Google