Presentation on theme: "The Mother Goose Mission"— Presentation transcript:
1The Mother Goose Mission Tom Meyer - OverviewPenny Boston - ScienceJoe Martin - InstrumentsDan Scheld - SystemsJoe Berger - Mars Glider
2History of Mother Goose Mission Outgrowth of collaborative effortsScout ProposalSeeking funding for individual componentsASTEP - ScienceBoston NIAC Cave ResearchSBIRsInstrument development proposalsDoing in-house development
3What is the Mother Goose? Mission strategy for detection of lifeFlying transformer robotic systemMimics human field biologistAutonomous search for life on MarsSearch at multiple spatial scales:AerialWalkingMicroscopic
4Motivation and Goal Life often leaves tell tail biosignatures Changes in physical appearance of surfaceChemical changes in surface materialLife prefers hospitable locationswarm, wet, protectedhidden in cracks, cervices, cavesThe Challenge: narrow the field search from regional, to local, to microscopicRemote control from Earth is impracticalThe Goal: develop a robotic field biologist
5Approach Mother Goose Overarching Concept Unique approach and goals Intelligent site selection at all levels of encounterRobotic mobility along a continuum of sequentially finer resolutionsGlider / Lander combines hazard avoidance and scientific site selectionIntegrated guidance and data system serves glider, lander, walker and micro-robots
7Mission Architecture - Cruise Integrated guidance and data acquisitionMother Goose is a very bright bird, sheNavigates the glider while in flightCollects remote sensing dataSearches for an optimal landing siteNavigates and takes data on the ground, andCollects data from her micro-robot goslings
8Mission Architecture - Surface Mother Goose:Picks safe landing site near science targetWalks to the science sitesCollects local dataRefines site selectionDeploys Micro-Robot GoslingsWing provides power and communications
9Mission Architecture - Goslings MG deploys micro-robot goslingsGoslings penetrate cracks, crevices, cavesMG communicates high level commandsGoslings send data to Mother GooseGoslings may be sacrificed or recovered for next site
10(Picture credits - Gus Frederick) TeamPenny Boston - Complex SystemsDan Scheld, Joe Martin - Equinox InterscienceJoe Berger - Performance Software IntlJeff Hayden - Prescipoint SolutionsTom Meyer - BCSP/National Link(Picture credits - Gus Frederick)FOR MORE INFO...
19Science Goals & Objectives Recon Phase - Features(TES, Radar, Imaging)WaterReduced gasesTemperature anomaliesMinerals & BiomineralsOutcropsShapeColor and patternTextureRover Phase – Site refinement(Imaging)BiomineralsRover Phase – Microanalysis(Microscopy, Spectroscopy)Mineral grainsSoil propertiesMicrotexturesBiomineralsBiofabricsMicrofossilsOrganic compoundsOrganisms or partsGosling Phase – Seeking(Imaging, Sensing)WaterReduced gasesMineral & BiomineralsOutcropsShapeColor and patternTextureImage of lithified fossil bacteria, filaments, and biofilm. Courtesy L. Melim, M. Spilde, & D. Northup.
20Desert Surfaces On Earth • High intensity sunlight and UV• Low humidity (5-40% typically)• Temperature extremes• Low nutrients (usually)• Mineral-rich (usually)• Extensive weather,e.g. high winds, flash floods, frost, etc.
21Desert Caves On Earth No sunlight High humidity (99-100% in the deep zone)Temperatures relatively constantLow nutrientsMineral-richNo weatherPhoto by David Jagnow
26Glider Mode Instruments Wide FOV imaging . (0.42 kg).The Mike Malin low resolution MARDI descent imagerfrom the ill-fated ‘98 Mars Polar Lander73° FOV for aerial reconnaissance with a 7.1 mm focal lengthIFOV: 1.25 mrad.Thus at 1 km altitude; ground resolution 1.25 mThermal Emission Spectrometer (mini-TES) (1.9 kg)A miniaturized TES evolved from MGS TESreduced 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 resolutionEnergy/sample = 4.4 W x 3.7 min/ sample / 60 min/hr = 0.27 W-hr/sample
27Glider Mode Instruments (Cont.) Ground Penetrating Radar (GPR) (2.4 kg)A surface penetrating radar to determine buried water and water bearing rocksGPR defined by Rolando Jordan (JPL) for Dave Paige’s 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 m100 MHz pulsesThe MG antenna would be built into the skin of the lower surface of the glider.
29Rover Mode Instruments Stereo Imaging (0.54 kg)Panoramic stereo camera system;Assess site geology and morphology andselect targets for investigation.Use a version of 2003 Mars Exploration Rovers (MER)MER system has 1024 x 2048 pixel CCDs, 280 µrad resolution42.7 mm focal length optics for 16x16° FOV.8 filters from 400 to 1100 nmAnalysis time: 10 sec/frame62 Mp/frame (both cameras)
30Rover 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 developmentsLarry Haskin green light RS (0.7 kg); for mineralsMichael 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.
31Raman Spectrograph EIC LABORATORIES, INC. Small Business Innovation ResearchRaman SpectrographEIC LABORATORIES, INC.NORWOOD, MARugged, portable, high resolution Ramanspectrograph with fiber optic samplingINNOVATIONACCOMPLISHMENTSSpecific gas-phase sensing of hydrazine and other air contaminantsNovel micro-optics probe head allows point and shoot fiber optic sampling and monitoring from over 500 meters10 times more compact than prior equipment and no moving partsCOMMERCIALIZATION$3 million in sales in last two yearsPatented Raman probeNew company division organized to provide commercial Raman instrumentation and servicesSpectrograph with fiber optic sensorGOVERNMENT/SCIENCE APPLICATIONSSpace applications: sensing hypergolic vapors; hydrogen monitoring; rapid analysis of minerals; compact, on-board chemical analysisCommercial applications: chemical process monitoring, pharmaceutical analysis, forensics, environmental site characterization, and a general laboratory complement to IR spectroscopyKennedy Space Center1988 Phase 2; SS-52; 10/18/95
32Rover 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.MIBIXAProposed by Equinox as NASA SBIRDeep depletion 600 x 600 CCD (e2v Technologies) measures:photon energies from 200 eV to 20 keVscattering angle of elastically scattered photons.energy of fluorescent photons.Carbon nanotube field emission cathode x-ray source (Applied Nanotechnologies, Inc.).
33Rover 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.MIBIXAProposed by Equinox as NASA SBIRDeep depletion 600 x 600 CCD (e2v Technologies) measures:photon energies from 200 eV to 20 keVscattering angle of elastically scattered photons.energy of fluorescent photons.Carbon nanotube field emission cathode x-ray source (Applied Nanotechnologies, Inc.).
34Rover 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.
38Mother Goose MOTHER GOOSE Mission Systems MG I Astrobiology Mission MOTHER GOOSE and GoslingsEnter Cave Site at MarsMother Goose TEAMEquinox Interscience Inc.Complex Systems Res., Inc.Aerostar/Raven IndustriesBoulder Center for Space Science/National LinkMITPerformance Software AssociatesOregon Public Education NetworkITN Energy Systems/GlobalsolarMOTHER GOOSE has Landed and Deposited Rover and Micro-Rovers(Goslings) in Area Of High Scientific Interest.
39MOTHER GOOSE Mission Systems MG II Astrobiology Mission Mother Goose II TEAMEquinox Interscience, Inc.Complex Systems Res., Inc.Aerostar International, Inc.Boulder Center for Space Science/National LinkMITField & Space Robotics LabMD Roboticsfor Canadian Space AgencyPerformance Software AssociatesOregon Public Education NetworkITN Energy Systems/GlobalsolarPrescipoint Solutions
40MOTHER GOOSE Mission Systems DDB Detectable Desert BioMarkers DDB Layers of Investigation“ROCKTASTER” SchematicDDB TEAMEquinox Interscience, Inc.Complex Systems Res., Inc.Performance Software AssociatesBoulder Center for Space Science/National LinkUTD, Inc.Prescipoint Solutions
41Autonomous Landing Techniques -WHY FLY in with Mother Goose MOTHER GOOSE DELIVERY SYSTEMTarget Zone dependence is gone – WE LAND where the Science DemandsOn-board Guidance (LEIF) particpates fully in the landingLEIF system continuously monitors and learns from the evironment minimizing the unknowns to safe touchdownNear Zero velocity touchdown requires no impact protection systemThe configuration is inherently stable - no tip over – in addition, the LEIF system has sought out the inherently safest site closest to the science objectiveNASA Smart LandersCurrent Target Zones no smaller then 161x97 km (100x60 miles)*Smart Lander Target Zones smaller but “undefined”On-board guidance ends to early in landingNo ability to handle unknowns at the landing siteMust carry impact protection systemsMust carry additional capability to prevent tip overSmart in this case really means “safer” than
43Mars Located vs Star Field Earth Relative Doppler Signal LEIF– Landing Enabled byIntelligent FunctionsMars Located vs Star FieldEarth Relative Doppler SignalØ3Ø1Ø2APPLICATIONSMars Sample Return-Europa Lander-Titan Organics Explorer Lander-Mars Cargo Landers-Comet Nucleus Sample Return-Near Earth Asteroid LandersSAILSaR TEAMEquinox Interscience Inc.Boulder Center for Space Science/National LinkPrescipoint SolutionsPerformance Software AssociatesITN Energy SystemsLimb ViewLandmark ViewAutonomous Pre-EntryLEIF Pilots the Way!Lune ViewLEIF Provides Methods for Complete Autonomous Approach and Safe LandingIn Area of Scientific Interest.
45Next Generation Control for Scientific Spacecraft and Instruments SAIF– Science Augmented byIntelligent FunctionsNext Generation Control for Scientific Spacecraft and InstrumentsSAIF/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 PartnersSAIF/LEIF TEAMEquinox Interscience Inc..Prescipoint SolutionsPerformance Software Associates
46SAIF-LEIF SystemsTo Investigate and verify aspects of Landing on hostile planetary surfaces.Frequent testing of approaches on local test ranges.Key is the Autonomous Control SystemLEIF (Landing Enabled by Intelligent Functions)An integrated computer and control system based on:Miniaturized electronics using HDISoftware derived fromPerformance Software Anchor productsBased on successful IECcommercial automation softwareProposed as NASA SBIRCentral Instrument Controller-awarded phase I, Phase II not funded but rated highly.FPGA based Programmable Direct Memory Accessdesigned by Beyond the HorizonSimplified SAIF/LEIF ElectronicsUnit Block Diagram
47SAIF-LEIF Sytems LEIF Presented Iceland Mars Polar Science ConferenceLEIF Introduced by Dave Paige/UCLAFull presentation on Equinox web siteDescribes the Equinox thrustAutomated Landing TechnologyProposals by Equinox Interscience in DSF .Development of LEIFFlight demonstrationAutonomous RendezvousFine Pointing Laser TrackerFlight Demonstration (FPLTD)Deep Space Comm.Extended EffortPropose Avionics Navigation SystemLockheed Martin for Pluto/Kuiper mission.LEIF Applied to MOTHER GOOSEGlider Control and Landing
50Secondary Landed Systems Robotics Concepts & NotionalsGosling 1Walker4 legsMicro VisTop Mounted Solar CellMicro ManipulatorGosling 2Walker6 legsMicro VisTop Mounted Solar CellMicro Manipulator
51Secondary Landed Systems Robotics Concepts & NotionalsMIT Micro-rover ConceptMIT Evolutionary Roadmap From Discreteto Continuous Robotic SystemsTilden (LANL) Skitter Bug Concept
52Secondary Landed Systems Robotics Concepts & NotionalsInvestigations ofLIFE BELOW & LIFE “OUT THERE”SPELEOSCOPE TEAMEquinox Interscience Inc.Complex Systems Res., Inc.Boulder Center for Space Science/National LinkPerformance Software AssociatesOregon Public Education Network
53Secondary Landed Systems Robotics Concepts & NotionalsSpeleoscope Locomotion Concepts
54Secondary Landed Systems Robotics Concepts & NotionalsSpeloscope robotic variationsSPELEOSCOPE Team ConceptNASA (JPL) SnakeTilden (LANL) Snake Concepts
55Welcome The Future … & …Thank You! EQUINOX INTERSCIENCEEngineering Instruments of SCIence