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A Design Concept for a Robotic Lunar Regolith Harvesting System

ICRA '07 Space Robotics Workshop April 14, 2007, Rome, Italy. A Design Concept for a Robotic Lunar Regolith Harvesting System. Stanford Lunar Regolith Excavation Presentation Authors: Matthew Maniscalco, Nicolas Lee, Nathan Salowitz, Forrest Hetherington,

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A Design Concept for a Robotic Lunar Regolith Harvesting System

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  1. ICRA '07 Space Robotics Workshop April 14, 2007, Rome, Italy A Design Concept for a Robotic Lunar Regolith Harvesting System Stanford Lunar Regolith Excavation Presentation Authors: Matthew Maniscalco, Nicolas Lee, Nathan Salowitz, Forrest Hetherington, Elizabeth Grote, Shandor Dektor, and Professor Robert Twiggs

  2. Presentation Outline • Motivation for Robotic Regolith Harvesting • Lunar Environment • Robotic System Requirements • Tasks • Constraints • System Concept • Modularity • Semi-Autonomous Control System • Supporting Infrastructure http://universe-review.ca/I14-13-Moonbase.jpg

  3. Motivation for Robotic Regolith Harvesting • Establish a permanent moon base • Robotic preparation of station and site • In-situ resource utilization (ISRU) “Never send a human to do a robot’s job” • Save money • Reduce risk http://universe-review.ca/I14-13-Moonbase.jpg

  4. Lunar Environment • Radiation • Lunar radiation environment consists of solar wind, solar flares, and cosmic rays • Destructive for both humans and machinery • Composition of regolith • Oxides of: Si, Fe, Al, Ca, Mg, Ti, Na, Cr, Mn, K, P, and S • Uses/products from regolith • Oxygen • Building materials • Helium-3 • Ultimately more complex products • Solar panels, computer chips, fiberglass www.moonminer.com/MOONDUST-ON-BLACK-RSC.JPG

  5. Lunar Environment • Adverse regolith characteristics – dust • Fine • Sharp • Electrostatically attracted http://www.gc.maricopa.edu/earthsci/imagearchive/Coralpnk1.JPG http://www.astro.virginia.edu/class/oconnell/astr121/moondust.html

  6. Robotic System Constraints Dust Migration • Anthropogenic • Launches and landings • Construction • Regolith excavation • Natural • Terminator – Day night ion charging • Meteor impacts http://vesuvius.jsc.nasa.gov/er/seh/sei52.GIF

  7. Robotic System Requirements • Tasks • Construction • Harvesting of Regolith • Constraints • Radiation Protection • Dust Mitigation • Operational Efficiency http://ares.jsc.nasa.gov/HumanExplore/Exploration/EXLibrary/DOCS/Images/EIC033-2.GIF

  8. Robotic System TasksConstruction • Assembly tasks • Radiation protection • Bury manned structures • Robotics reduce EVA trips/time • Dust mitigation • Reduced EVA’s • Constant Cleaning • Landing and launch port • Solar collection stations • Rover repair station • Cleaning systems (electrostatic, ultrasonic, physical sweepers, fluids) http://www.affordablespaceflight.com/moonbase.gif

  9. Robotic System Tasks Harvesting Regolith • Harvesting tasks • Clean • Clear • Dig • Transport http://www.psrd.hawaii.edu/WebImg/lunox.gif

  10. Robotic System Constraints Radiation Protection • Radiation hardened electronics • Robust and simple software • Suitable for rad hard (slower) processors • Failures easily detected and corrected

  11. Robotic System Constraints Dust Mitigation • Four level approach • Prevention • Containment • Equipment Protection • Durable Design http://nssdc.gsfc.nasa.gov/planetary/lunar/images/as11_40_5878.jpg

  12. Robotic System Constraints Operational Efficiency • Problems • Specific cost of launch • Different rates of wear on equipment • Downtime for repair and recharge • Solution • Modularity • Less total equipment • Replace worn parts • Operate during repair & recharge http://www.nasa.gov/images/content/149768main_calv_launch_330.jpg

  13. The System Concept • Modularity • The Core Platform • The Suite of Modules • Semi-Autonomous Control System • Supporting Infrastructure

  14. The System ConceptModularity • Flexibility of 3-point PTO for tractors • Maximizes functions performed by mass • Worn out parts can easily be replaced • Minimizes downtime for part repair • Allows full use of parts with different lifespans • Swappable batteries • No recharge downtime for rovers

  15. The System ConceptThe Core Platform • Power system, electronics, control, data handling, and communication

  16. The System ConceptThe Core Platform • Interface: 3-points and wiring

  17. The System ConceptThe Suite of Modules • Blade Actuator Module (BAM) - Bulldozer • Regolith Transportation Module (RTM) - Truck • Integrated Conveyor Module (ICM) - Excavator • Rotating Wheel Attachment (RWA) - Wheel digger • Rotating Sweeper Attachment (RSA) - Power broom • Articulated Digging Module (ADM) - Backhoe • Articulated Loading Module (ALM) - Loader

  18. The System ConceptThe Suite of Modules • Blade Actuator Module (BAM) - Bulldozer

  19. The System ConceptThe Suite of Modules • Regolith Transportation Module (RTM) - Truck

  20. The System ConceptThe Suite of Modules • Integrated Conveyor Module (ICM) - Excavator

  21. The System ConceptThe Suite of Modules • Integrated Conveyor Module (ICM) - Excavator • Rotating Wheel Attachment (RWA) - Wheel digger • Rotating Sweeper Attachment (RSA) - Power broom

  22. The System ConceptThe Suite of Modules • Articulated Digging Module (ADM) - Backhoe

  23. The System ConceptThe Suite of Modules • Articulated Loading Module (ALM) - Loader

  24. The System ConceptControl System • Machine tool style task assignments • High level thinking and analysis done elsewhere, CNC script sent robots. • Semi-autonomy • Advantages over haptic, force-feedback • Advantages over fully autonomous http://www.belmont.k12.ca.us/ralston/programs/itech/SpaceSettlement/spaceresvol4/images/humanfig19.JPG

  25. No Interference Operator Analysis Begin Excavation Process Scripted Task Completed Command Script Obstruction Sensor Data Acquired The System ConceptControl System

  26. The System ConceptSupporting Infrastructure • Solar Recharging Station • Repair/Reassignment Shop • Regolith Processing Facility • Conveyor system • Human Habitat • The Port – landing and launch http://www.hardyart.demon.co.uk/webimage/advbase.jpg

  27. The System ConceptSupporting Infrastructure Higher Dust Tolerance Lower Dust Tolerance Geographic Separation Solar Station Regolith Excavation and Conveyor Area Habitat The Port Regolith Processing Facility Repair Shop

  28. Conclusion • Modular, Semi-Autonomous System • Lowers cost • Increases power and mass efficiency • Increases versatility • Reduces human exposure to dust and radiation • Harvests resources and frees astronauts for less mundane tasks http://www.thespacereview.com/archive/93a.jpg

  29. Credits • Thanks to: • SSDL, Stellar Solutions, Pumpkin Inc., • Stanford on the Moon, and • NASA for public domain images • Additional Student Contributors: • James Mack, Dave Johnson, Katie Davis, Geoffrey Bower, Jordan McRae http://icb.nasa.gov/2003_Annual_Report/lunar_rover_II.jpg

  30. The End

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