Lunar surface operations. Volume 3: Robotic arm for lunar surface vehicle (original) (raw)
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2007
In the 21 st Century, space exploration will focus on surface exploration, with human-robotic collaboration allowing extended-duration stays at challenging lunar and planetary sites. This paper focuses on three early phases of lunar exploration: (i) in-situ characterisation and site survey for science, prospecting and reconnaissance in advance of human sorties (ii) in-situ human sortie field assistance, and (iii) transport of samples, equipment and small-scale infrastructure. In particular two technologies relevant to these phases are examined: surface mobility and advanced vision. For surface mobility, three areas of MDA technology development are discussed: (i) rover chassis simulation and evaluation, (ii) chassis prototype construction and field testing, and (iii) autonomous rover navigation systems for localisation, motion estimation and path planning. An overview of recent activities is given, including the development of a prototype chassis in preparation for the ESA ExoMars m...
2009
Faculty of Applied Science and Engineering University of Toronto Institute for Aerospace Studies Master of Applied Science 2008 by Nader Abu El Samid NASA‘s planned permanent return to the Moon by the year 2018 will demand advances in many technologies. Just as those pioneers who built a homestead in North America from abroad, it will be necessary to use the resources and materials available on the Moon, commonly referred to as in-situ resource utilization. In this concept study, we propose a role for autonomous, multirobot robotic precursor excavation missions that would prepare a lunar site for the arrival of astronauts, serving to establish methods of collecting oxygen, water and various other critical resources. A novel quantitative approach is presented that combines real-time 3D simulation with the use of Artificial Neural Tissues, a machine learning approach that produces autonomous controllers requiring little human supervision. Advantages of the autonomous multirobot approa...
Design Concept of Lunar Multi-Rover Robotics System (MRRS
IJSES, 2023
The Moon, with its vast potential for scientific discovery and resource utilization, demands advanced robotic systems for comprehensive exploration. This paper introduces the Lunar Multi-Rover Robotics System (MRRS), a preliminary prototype designed to traverse and operate on the Moon's diverse terrains. The MRRS, comprising both a rover for mobility and mounted robotic arm(s) for precision tasks, is envisioned to support a multitude of lunar exploration missions. This paper elucidates the design concepts, differentiating features, and the underlying testbed system used for evaluation and refinement of the MRRS. While the prototype exhibits promising capabilities, it necessitates further development of robust control algorithms. Future research endeavors will focus on calibration, testing, and validation of the hardware to ensure its readiness for lunar operations. This work serves as a foundational step towards the creation of versatile and efficient robotic systems for lunar exploration.
Leveraging Autonomous Moon-Based Rovers for Multiple, Near-Term Applications in Field Operations
Day 3 Wed, October 18, 2023
Lunar Outpost is an advanced technology startup specializing in the development of sophisticated robotic platforms for both space and terrestrial applications. Recognizing the need for automated site inspection and observation in industries such as upstream oil and gas, Lunar Outpost has developed the ‘Hound’ rover—a terrestrial robot designed for monitoring and gathering operational measurements of various field assets, including wellheads, flowlines, separators, tanks, pump stations, and pipelines. This paper describes the research and development efforts behind the Hound rover, focusing on the discovery of end-user requirements to effectively address industry pain points. The development process involved extensive stakeholder engagement, allowing for the identification of critical needs and challenges faced by the industry. The resulting platform was designed to meet these requirements and underwent rigorous verification and validation processes to ensure its capability and effec...