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Dr. Jennifer Rochlis

Dr. Jennifer Rochlis. Build a technology testbed for future rover concepts Develop and demonstrate operations and mission concepts . Overview. Overview. Transport 2 crew members Traverse 10 degree slopes (30 degree Mars equivalent) and 1 ft tall rocks

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Dr. Jennifer Rochlis

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  1. Dr. Jennifer Rochlis

  2. Build a technology testbed for future rover concepts Develop and demonstrate operations and mission concepts Overview

  3. Overview • Transport 2 crew members • Traverse 10 degree slopes (30 degree Mars equivalent) and 1 ft tall rocks • Provide up to a 6 mile drive capability

  4. On-board driving by 1 or 2 suited crewmembers Off-board driving (Teleoperation ) using panoramic camera and joystick Multiple listener stations like Mission Control Driving

  5. Stereo tracking, object following, waypoint navigation and obstacle avoidance Automated sequencing of frequent/repetitious actions Control via hand signals & Voice recognition Autonomous System

  6. The surface speed record on the Moon is 10.56 miles per hour set by the Lunar Rover What is the top travel speed for SCOUT? Audience Poll

  7. The Lunar Rover averaged 8mph SCOUT travels at a top speed of: A: 10 mph (on pavement) B: 13 mph C: 8 mph (on grass) D: 17 mph Audience Poll

  8. Subsystems

  9. Structure EVA Lights Laser EVA Camera Wireless Router Access Point Battery System GPS Antenna Drive Motor DCS Liquid Air Recharge Dewar Steering System Embedded GPS/INS

  10. Drive/Suspension/Steering • Four wheel drive - motors, gearboxes & fail-safe brakes in each • Front, rear or all-wheel steer • Four wheel independent adjustable suspension

  11. Crew Accommodations • Crew Interfaces on vehicle (seats/hand controller, etc.) • Ingress aids (hand holds/grab bar/step bar) • Mark III and I-Suitwith suit recharge • Increase ergonomic adjustability

  12. What do scientists & engineers at NASA believe to be the #1 environmental challenge for long duration missions to the Moon and Mars? Audience Poll

  13. Scientists & engineers at NASA believe that #1 environmental challenge for long duration Moon/Mars missions will be: Audience Poll • A: Temperature • B: Dust • C: Radiation

  14. Navigation System 10 km operational range Range and range-rate data provided by comm system relative to lander. Lander planetary location surveyed by DSN. (Use GPS solution as known location for field test.) IMU’s onboard rover propagate path between comm measurement updates Initial rover deploy location wrt lander well known Navigated path stored on lander and rover for retracing

  15. Navigation System

  16. Display and Control System • Enables on-board andteleoperated drivingand monitoring • Provides vehicle andenvironmentalstatus information &commanding

  17. Display and Control System (cont.) • LabView software running on rugged touchscreen & hand-held computers • Designed to be operated by suited crewmember

  18. Raw Image 360 deg 180 deg

  19. Point to point navigation (track to a fixed point) Human following (continuous tracking to a moving point) Obstacle avoidance Pose gathering, recording, monitoring (waypoints, astronaut, vehicle ground track) Data management, recording Autonomy & Onboard Software

  20. Stereo Tracking & Following • Enables SCOUT to track a person (by pointing cameras at them), follow the target around (by driving towards them) & receive commands based on gestures

  21. Stereo Tracking & Following (cont.) • Use combination of gestures, recognized by stereo vision, & speech so a person off-board can command SCOUT • Track the closest human for safety • Upgrade to higher resolution cameras to increase range over which smaller objects (arms) can be tracked

  22. SCOUT’s empty weight is 1800lbs. What was the approximate empty weight of the Lunar Rover? Audience Poll

  23. LRV's gross operational weight was 1535 pounds with crew, equipment, and payload. But its empty weight was... Audience Poll • A: 1000 lbs • B: 1500 lbs • C: 500 lbs • D: 2000 lbs

  24. Vehicle on-board COTS LAN connects all vehicle computers to Ethernet backbone 5.8GHz Wireless Video Link to base station (4 mi. range/ 10 Channels) Can set up portable relay points Wireless encryption To and From Base Station EG Laptop Powerplant Controller DCS Wireless Ethernet Transceiver Ethernet backbone To Base Station ER Laptop EP Laptop EV Laptop Wireless Video Transmitter Video Camera Data Communications

  25. Operations • Planned operations testing with the following partners: • Advanced Cockpit Evaluation System (ACES) • Mars Drill • CB crew office (Seismic Sensors) • End of Year Field Test - Meteor Crater

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