iloa galaxy forum usa 2013 - marco pavone
TRANSCRIPT
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Surface exploration of small solar system bodies:challenges and prospects
Marco Pavone
Autonomous Systems Laboratory
Department of Aeronautics and Astronautics
Stanford University
Email: [email protected]
Website: http://www.stanford.edu/~pavone/index.html
July 4, 2013
Galaxy Forum USA 2013
M. Pavone, Stanford Aero/Astro In-situ small bodies exploration 1
[email protected]://www.stanford.edu/~pavone/index.html
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Space rovers
How would you change the design for low gravity environments?
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Space rovers
How would you change the design for low gravity environments?
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Small bodies
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Small bodies exploration so far
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Future: its all about close proximity observations...
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...and sampling...
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...in risky areas...
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...and very specific regions...
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...at multiple sites
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Concepts for in-situ exploration: static platforms
Philae lander
Payload of ESAs Rosettaspacecraft (2014)
Designed to land on Comet67P/Churyumov-Gerasimenko
Comet hopper
Mission to comet46P/Wirtanen
Preselected for a NASADiscovery-class mission in 2011
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Concepts for in situ exploration: mobile platforms
Wheeled rovers: Nanorover
Designed by NASA-JPL forHayabusa mission (2000)
Project cancelled
Spring-actuated hoppers: PROP-F
Payload for Phobos 2 Sovietmission (1988)
Mission failed JPL also developed three
generations of spring-actuatedhoppers
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Concepts for in situ exploration: mobile platforms
Internally-actuated hoppers:MINERVA
Payload of JAXAs Hayabusamission (2003)
Deployment failed
Internally-actuated hoppers:MASCOT
Payload of JAXAs Hayabusa 2 Developed by DLR To be launched in 2014
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Spacecraft/rover hybrids for small bodies exploration
Develop a mission architecture that allows the systematic andaffordable in-situ exploration of small Solar System bodies
Key idea: minimalistic, internally-actuated mobile robotic platforms
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Joint work with R. Allen (Stanford), J. Castillo (JPL), J. Lang (JPL), I. Nesnas (JPL), N. Strange(JPL), and J. Hoffman (MIT).Funded by 2011 NASA NIAC program.
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Robotic platform
Key philosophy: Exploit low gravity, rather than facing it as a constraint
Minimalistic platform specifically designed for microgravity:Systematic exploration (all access mobility, versatility and scalability)3 mobility options: 1) tumbling, 2) hopping, 3) pseudo-orbital flight
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Basic concept
Basic concept: Swapping angular momentum
H = Iplatform platform +3
i=1
Iflywheel,i flywheel,i
Reaction torque
Rotating flywheel
Robot enclosure
Attitude-controlled hop
Torque generated by flywheel
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momentum.movMedia File (video/quicktime)
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Prototypes and test beds
Prototypes:
Motor Controller
Motor & Encoder
Brake
Flywheel
Processor
Can Adapter
Batteries
DC/DC Converter
Test beds:
Spinning mass Air-bearing platform
Tilted table
Emulated gravity
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Reference mission to Phobos
Main questions:
1 What is the origin of Phobos materials?
Phobos comes from Mars?Phobos is a captured asteroid?
2 Water and organics at Phobos?
Blue spectral unit water-rich?Putative phyllosilicates associated withorganics?
3 What is the structure of Phobos soil?
Degree of maturation of the regolith?
4 What is the nature of the surfacedynamics?
Degree of mobility of the soil?
Dark dust
Phobos bulk material?
Image small crater structure
Ejecta from impactor?
Search for block ejecta
?
Fine-Scale Sampling of Phobos Surface Diversity
5Km
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Mission operations
1 Initial reconnaissance of object
2 Deployment of hybrid
3 Initial free roaming by hybrid4 Command and execute guided rolling/hopping trajectories via
synergistic mission operationshybrid relies on the mothership for localization/trajectory planning
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HandBrake 0.9.8 2012071700
architecture.mp4Media File (video/mp4)
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Conclusion
Robotic exploration of small bodieswill be one of the main NASA objectives in the years to comerequires disruptively new mobility concepts ad hoc for low gravityenvironments
Spacecraft/rover hybrids:new paradigm for in-situ exploration of small bodiestechnology to obtain new science at an affordable costproof of concept successfully demonstrated
Contact: [email protected]: http://www.stanford.edu/~pavone/index.html
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[email protected]://www.stanford.edu/~pavone/index.html