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Modularly Adaptable Rover and Integrated Control System

Modularly Adaptable Rover and Integrated Control System. www.psums.org Mars Society International Conference 2003 – Eugene, Oregon. Overview. Modularly adaptable rover Designed to improve efficiency during Mars EVA Integrated astronaut control system Simple and natural input device

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Modularly Adaptable Rover and Integrated Control System

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  1. Modularly Adaptable Rover and Integrated Control System www.psums.org Mars Society International Conference 2003 – Eugene, Oregon

  2. Overview • Modularly adaptable rover • Designed to improve efficiency during Mars EVA • Integrated astronaut control system • Simple and natural input device • Able to be used for any task • Field testing

  3. What Does an Astronaut Need to Explore Mars? • Tools specific to each goal • Geologic, atmospheric, and soil science • Search for water • Search for life • Automate and Delegate: Use of robotic assistants to • Increase efficiency • Reduce risk

  4. What Kind of Tools? • Examples begin with MER inventory • Cameras • Spectrometers • Rock Grinder • Additional equipment would be carried on a Human Mission • Drills • Weather Stations

  5. Why Robotic Assistants? • Astronaut’s time will be the most critical resource • Multitude of experiments to perform • Many places to visit • Many tasks will involve repetitive procedures • Mapping soil water concentration • General maintenance of other equipment (i.e. dusting off solar panels)

  6. Pertinent Robotic Applications • Robots used in industrial automation • Perform simple task repeatedly • Results in greater worker productivity • Rovers used to explore caves in Afghanistan • Enter unknown situation without human risk • Smaller size allows access to more places

  7. Mobile Workstation • Meet all anticipated needs of astronaut in the field • Carry and use equipment • Provide backup of critical functions • Set of standardized rovers and scientific components • Allow greater customization before each EVA • Reduce size needed for backup components

  8. Control Method Requirements • Control a variety of devices with a range of control levels • Issue high level commands • Fine control of robotic arms, aiming cameras, driving rovers • Integrate into space suit • Not too obtrusive • Easy to access when needed

  9. Requirements Cont. • Efficiency considerations • Simplicity and ease of training • No overlap between commands • Multitasking

  10. Our Project • Explore Astronaut/Rover interaction • Build modular, expandable rover • Develop computer interface via virtual reality gloves • Test system to refine design

  11. Rover Info • Short-range rover for long-range missions • Small enough to piggy-back on an ATV • About 2’ by 1.5’ by 1.5’ • Light enough to be picked up • Around 50 lb depending on configuration • Modules can be added to increase flexibility • Scientific instruments can be interchanged

  12. CAD Renderings • (Pictures to be inserted)

  13. Glove Control System Details: • Virtual Reality Gloves are used to communicate with computer • User’s Hand Gestures are interpreted into commands

  14. Glove Control System, Cont: • Glove data is calibrated to accommodate user’s range of motion • Can be used to control any electronic equipment • High level control by issuing commands • Low level control through direct motor control • Continuous control vs. discrete control • Both hands can be incorporated for more advanced control

  15. Testing Obstacle Course requires: 1. Figure Eight 2. Arcing Turn 3. Reverse 4. Slalom Three Input Devices: Glove Joystick Trackball

  16. Course Results • User B has more training than User A • Joystick is the fastest method • Trackball is significantly slower

  17. Results Analysis • Results analyzed in the context of remote operations • Joystick is faster, but the glove has other advantages

  18. Further Development taking placethis Fall: • Complete construction of our second-generation Rover • Mounting cameras on Rover to assist in its control and enable autonomous navigation • Adding Tools/Instruments to be controlled by Glove for greater Rover functionality

  19. Integrating into MDRS Simulation Designed to be operated in full simulation VR gloves allow computer control to be enabled and disabled on the fly All module swapping/equipment connecting will be possible with gloves on

  20. Questions to be Answered • “What control interface works best?” • “What sort of user feedback is necessary?” • “What size/style of rover would be most useful?” • “What tools should be on board the rover?” • “Is modular swapping in the field feasible?”

  21. Predicted Future Project Expansions After Field Testing • VR glove control complimented with voice control, and visual and audio feedback • Micro-rovers to perform reconnaissance • Long-range, unmanned deployment with use of blimp • More advanced analysis equipment allowing for “mobile workstations”

  22. Thank You Questions?

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