Surface systems technology

Surface systems technology

Development of surface systems technology for NASA programme

Research activities carried out to support the NASA Cross-Enterprise Technology Development Programme are discussed in a report, Surface Systems Technology Developments published by NASA. It is concerned with research at the NASA Johnson Space Center, at the NASA Ames Research Center and at the Jet Propulsion Laboratory of the California Institute of Technology.

An account of the research associated with these developments at several universities (Stanford, Carnegie Mellon, and Massachusetts Institute of Technology) is also included.

A number of topics are discussed and reports presented. They include:High-risk access systems; Robotic outposts and colonies; Deep subsurface systems; Hybrid human and robot systems; Sample acquisition, handling and curation systems; In situ resource utilization systems; and details of collaboration with the universities.

The compilers of this report believe that in the last several years, since the successful 1997 deployment and operation of the Sojourner rover on the surface of Mars, NASA has entered a new era of space exploration, where the emphasis is on in situ exploration of planetary surfaces by means of a new class of robotic systems. The report says, for example, that:

… [the] advanced sample return rovers with demonstrated technology far beyond Sojourner are in preparation for Mars sample return missions within the next decade. In response to challenges on the more distant horizon, robots capable of autonomous reconfiguration for all-terrain navigation, and for multirobot cooperative operations within robotic outposts, are technology development topics of intense interest.

Robotic outposts are, we are told, relatively new mission concepts. They aim,the report says:

… to establish a permanent robotic presence on planetary surfaces, to conduct extensive science operations using multiple surface robots, and to pave the way for eventual human presence by the robotic deployment and assembly of the infrastructure necessary for subsequent human missions. These robotic outposts also include "sensor-web" technology investigations that are concurrently applicable to exploring our own planet and other planetary surfaces.

Another important topic under consideration is that of deep drilling using robots. The goal of this research the report says is to demonstrate:

… technology to search the Mars subsurface for water and signs of past life using autonomous robotic systems that can penetrate tens and even hundreds of meters below the surface. Other important applications of this drilling technology occur for mission concepts under development to acquire and return samples from asteroid and comet surfaces and subsurfaces.

In addition, technologies for scientific sample handling, packaging and curation, highly reliable long-life surface systems for use in wide temperature ranges, and astronaut-robot interactions are being explored and developed.

The research presented is to establish technology in readiness for currently planned missions, as well as for developments under way for more futuristic missions to be implemented in the next decade.

The "spin-off" from this research will, of course, be enormous and there is little doubt about its contribution to science and technology and also to the fields of cybernetics and systems.

Systems research initiatives

Obviously, the actual report has to be read to gain the detail of these endeavours and the more specific detail has to be obtained from the programme administration and the researchers themselves. The systems discussed were:

• High-risk access systems. The high-risk access systems theme area develops smarter, faster, and more manoeuvrable rovers and other types of robotic surface systems, including unique mobility robotic mechanisms for risky tasks, such as descending cliffs and craters, as well as multimode hybrid aerial/surface systems for wide-area coverage and for traversing extremely rugged territory.

• Robotic outposts and colonies. The robotic outposts and colonies theme area focuses on multiple cooperating robots that will form autonomous robotic surface system colonies for in situ surface measurement and communications and will pave the way for human exploration of planetary surfaces. This theme encompasses multirobot control architectures for robot coordination and self-sustaining robotic systems to achieve permanent and even perpetual presence by means of such technologies as autonomous robotic repair systems.

• Deep subsurface systems. The deep subsurface systems theme area develops techniques for subsurface sampling of planets and comets at depths of ten meters and more, including drills and moles, as well as ice-penetrating robotic probes.

• Hybrid human and robot systems. The hybrid human and robot systems theme area focuses on robotic assistance to surface EVA to do tasks that are more easily done by robots under supervisory human control; and technology to allow humans and robots to work together in achieving complex (e.g. repair)tasks.

• Sample acquisition, handling and curation systems. The sample acquisition, handling, and curation systems theme area develops techniques for in situ handling and sample acquisition, sample storage and transport,and earth-returned sample curation and handling.

• In situ resource utilization systems. The in situ resource utilization (ISRU) systems theme area develops surface systems that use in situ resources and that balance their energy usage and generation in order to achieve mission goals with minimal transport of energy and other resources from earth. These surface systems enable science and human missions that would otherwise be impossible (e.g. hoppers, pneumatic equipment, and long-term science gases).

Collaboration with the universities

A major objective of the surface system thrust is to engage a wide spectrum of researchers external to NASA, in particular those at university research institutions with strong interdisciplinary programs in robotic research. Currently active in support of NASA surface systems research are efforts at Carnegie Mellon University (CMU), Stanford University, and the Massachusetts Institute of Technology (MIT).

Cyberneticians and systemists who are researching in these areas may wish to know the research titles of the projects being carried out with the individual university departments. They are:

• Robotic Search for Antarctic Meteorite Demonstration (CMU) Contact: da1v@ri.cmu.edu

• Autonomous Rover Technologies (CMU) Contact: wlw@frc2.ri.cmu.edu

• Multiple Cooperating Rovers (Stanford) Contact: rock@.sun-valley.stanford

• Physics-Based Rover Navigation and Sampling (MIT) Contact: dubowsky@mit.edu

Long range developments

The surface systems technology under development has long range objectives which are, the report says, "quite challenging". They will undoubtedly lead to revolutionary capabilities, but, of course, many of the technologies needing development are in their infancy. They include:

• Multiple, coordinated, multiscale (small and large), special robots that form networks.

• Remote robotic work systems (to deploy habitats, drill, and maintain other robots).

• The extension of lifetime and power performance envelopes by orders of magnitude.

• Local robotic outpost communication architectures and systems; high-rate surface switching and aggregation centers, and/or aerosynchronous network relays.

• The manufacture and use of propellants, oxygen, and water from in situresources.

The report ends by stating that investigators are making substantial initial steps towards long range goals by seeking and supporting activities that lead to early proof-of-principle experiments in selected areas. The evolution of technology, it says, and its infusion into flight systems will require major achievements from the community of researchers involved, and the attainment of these goals promises to be an extremely interesting and exciting endeavour.

For more information about the report, Surface Systems Technology Developments, contact: Charles R. Weisbin, Deputy Manager, Cross-Enterprise Technology Development Program Manager, Surface System Thrust Area, Jet Propulsion Laboratory, MS 179-224, 4800 Oak Grove Drive, Pasadena, California 91109-8099. Tel: +1 (818) 354-2013; Fax: +1 (818) 393-3602; E-mail: charles.r.weisbin@jpl.nasa.gov;URL: http://cetdp.jpl.nasa.gov/ssys.html