ESA STUDY CONTRACT REPORT. No ESA Study Contract Report will be accepted unless this sheet is inserted at the beginning of each volume of the Report.

Transcription

1 ESA STUDY CONTRACT REPORT No ESA Study Contract Report will be accepted unless this sheet is inserted at the beginning of each volume of the Report. ESA CONTRACT No AO/1-4469/03/NL/SFe SUBJECT BIONICS & SPACE SYSTEM DESIGN INTRODUCTION DOCUMENT CONTRACTOR UNIVERSITY OF SURREY * ESA CR( )No * STAR CODE No of volumes 1 This is Volume No 1 CONTRACTOR'S REFERENCE ABSTRACT:! "#"$%!&!'!( #($% ) & The work described in this report was done under ESA contract. Responsibility for the contents resides in the author or organisation that prepared it. Names of authors: Dr Alex Ellery, Mr. Gregory Scott and Dr. Yang Gao ** NAME OF ESA STUDY MANAGER Dr Mark Ayre Dr Carlo Menon ** ESA BUDGET HEADING DIV: Advanced Concepts Team DIRECTORATE:

2 2

3 BIONICS & SPACE SYSTEMS DESIGN AO/1-4469/03/NL/SFe Version: 1.0 Date: 15 September 2005 Prepared by: *!)+, -+ (,. + +.&/01! %56'76'66& 8*3455%56'769:;' 3< 3

4

5 Table of Contents 1. Introduction TN1 ABSTRACT TN2 ABSTRACT TN3 ABSTRACT CS1 ABSTRACT CS2 ABSTRACT TN1 Table of contents TN2 Table of Contents TN3 Table of Contents CS1 Table of Contents CS2 Table of Contents

6 =! 3, = =! >?, >! "#"$%! &!'!(#($%) &.#$!.*!.! = >@ * ( * > >! A B A =! A3 * * A ;! A! 4

7 A ( C *D! "%=.. *!.!! E. = *=! * * * * A).#$!.*!.! = ) *! A. #$!.! =! > > :>%; > # $ F * > 5

8 0. EXECUTIVE SUMMARY INTRODUCTION OBJECTIVES PREAMBLE BIOMIMETICS EXPERTISE SURVEY BIOMIMETICS RESEARCH SURVEY INTRODUCTION BIOLOGICAL MODULARITY & PLEIOTROPY Modularity Hierarchical Structures Human Physiology Model BIOMIMETIC MATERIALS Materials of Nature Adaptive Materials BIOMIMETIC STRUCTURES, MECHANISMS & DEPLOYABLES BIOMIMETIC METHODS OF PROPULSION Walking Snake Locomotion Winged Flight Swimming Manipulation Compliant Structures in Actuation Control BIOMIMETIC METHODS OF ENERGY GENERATION & STORAGE Biological Fuel Cells IMMUNOLOGICAL APPROACHES TO SELF-DEFENCE Computer Viruses Key Principles of Immunity Comparison with Other Biomimetic Computing Paradigms Application Areas BIOLOGICAL BEHAVIOUR CONTROL & NAVIGATION MEMORY BEYOND BEHAVIOUR CONTROL BIOLOGICAL LEARNING Learning Automata Neural Networks Chaotic Neural Networks Cerebellar Models Associative Learning Concept Learning in AI GENETIC & NEURAL APPROACHES TO LEARNING Evolutionary Neural Networks Evolutionary Robotics Active Vision and Feature Selection at EPFL Robot Navigation

9 Adaptive Vision-based Flying Robots Blimp Experiments Evolution of Adaptive Spiking Circuits for Vision-Based Behavioural Systems Evolution of Adaptation Rules Reactive Navigation Competitive Co-Evolution of Adaptive Predator-Prey Robots A Sequential Task: The Light-Switching Problem Adaptation to Unpredictable Change Evolution of Learning-Like Behaviours Evolutionary Hardware Multi-Robot Systems Cooperative Tasks Homogeneity and Heterogeneity The Distribution of Control Local and Global Control Why Evolve Cooperative Multi-robot Systems? Review of Evolved Systems Evolution of Cooperation and Labour Division in Artificial Ants BIOMIMETIC SENSORS & SIGNAL TRANSDUCTION Vision Vibration Sensing Vestibular Sensing Tactile Sensing Chemical Sensing Multi-Sensor Fusion HIGH-LEVEL COGNITION BY SYMBOL MANIPULATION Role of Logic in Artificial Intelligence Self-Reference in Logic Planning the Importance of Predicting the Future Knowledge-Based Expert Systems Frames & Semantic Networks Physical Symbol Processing Qualitative Physics as Models of the World Non-Monotonic Logics Truth Maintenance Modelling Uncertainty Problems with AI-based Cognition The Role of Affect in Artificial Intelligence HYBRID APPROACHES TO INTELLIGENT CONTROL Integrative Approaches Symbolic Connectionist Approaches Neuro-Fuzzy Approaches Fuzzy-GA Approaches Fuzzy-GP Approaches Fuzzy-ANN-GA Approaches GROUP BEHAVIOUR CONTROL

10 4. CONCLUSIONS

11 1 INTRODUCTION INTRODUCTION TO DOSSIER INTRODUCTION TO THE ESA TECHNOLOGY TREE INTRODUCTION TO THE BIOMIMETIC TECHNOLOGY TREE METHODOLOGY OF REPORT TECHNOLOGY DOMAINS ON-BOARD DATA SYSTEMS SPACE SYSTEM SOFTWARE SPACECRAFT ENVIRONMENT AND EFFECTS SPACECRAFT POWER SPACE SYSTEM CONTROL RF PAYLOAD SYSTEMS ELECTROMAGNETICS TECHNOLOGY SYSTEMS DESIGN AND VERIFICATION MISSION CONTROL AND OPERATIONS FLIGHT DYNAMICS AND PRECISE NAVIGATION MISSION ANALYSIS AND SPACE DEBRIS GROUND STATION SYSTEM AND NETWORKING AUTOMATION, TELEPRESENCE AND ROBOTICS LIFE AND PHYSICAL SCIENCES INSTRUMENTATION MECHANISMS AND TRIBOLOGY OPTICS AND OPTO-ELECTRONICS AEROTHERMODYNAMICS PROPULSION STRUCTURES AND PYROTECHNICS THERMAL ENVIRONMENTAL CONTROL LIFE SUPPORT (ECLS) AND ISRU COMPONENTS MATERIALS AND PROCESSES QUALITY, DEPENDABILITY AND SAFETY USER SEGMENT APPLICATION SPECIFIC TECHNOLOGIES SERVICE DOMAINS EARTH OBSERVATION TELECOMMUNICATIONS NAVIGATION AND POSITIONING SCIENCE & EXPLORATION MANNED SPACE FLIGHT & LIFE/PHYSICAL SCIENCES IN SPACE LONG TERM APPLICATIONS (AURORA) SPACE TRANSPORTATION

12 4 KEY AREAS OF APPLICATION SUMMARY REFERENCE DOCUMENTS APPENDIX A: ESA ABBREVIATED TECHNOLOGY TREE APPENDIX B: ESA BIOMIMICRY TECHNOLOGY TREE

13 0. Executive Summary Introduction SPACE MISSION AUTONOMY CAVEATS TO BIOMIMETIC SPACE SYSTEMS APPLICATION OF BIOMIMETICS TO SPACE SYSTEMS Microtechnology as a Biomimetic Context INTRODUCTION TO MICROTECHNOLOGY Definitions and Terminology What is MST and where is it used? Why MST? MST TECHNOLOGIES Basic Pattern Generation Bulk micro-machining MECHANICAL PROPERTIES OF SINGLE CRYSTALLINE SILICON Properties of anisotropic etching solutions Etching mechanisms SURFACE MICRO-MACHINING Surface micromachining principle Examples of applications SURFACE AND BULK MICROMACHINING Comparison of the two techniques Examples of applications INTEGRATED SURFACE MICROMACHINING TECHNOLOGIES ALTERNATIVE MICROSYSTEM TECHNOLOGIES LIGA Electro discharge Machining SOI Bulk micromachining SOI surface micromachining MICROSYSTEMS FOR SPACE Introduction Sensors Actuators and propulsion Other subsystems COST OF MST Packaging and Integration Flight experiments Transition out of the Laboratory Radiation Patents SPACECRAFT CONCEPTS WITH MST MEMS FOR SPACE BIOMIMICRY The biomimicry fields from TN1 that are relevant to MEMS Review of references to MEMS from TN

14 Applicability of MEMS to the ESA Biomimicry Technology Tree from TN Biological Analogues to Spacecraft Subsystems Matrix Case studies and MEMS Glossary of Space-Related MST terms MEMS ACTUATORS NANOSATELLITE TECHNOLOGY NANOROVERS Spacecraft Systems Engineering Onboard Propulsion Systems LOCOMOTION SYSTEMS Land Locomotion Marine Locomotion Aerial Locomotion MANIPULATION SYSTEMS Onboard Power Systems ELECTRIC POWER SYSTEMS BIOMIMETIC ENERGY STORAGE THERMAL CONTROL SYSTEMS BIOMIMETIC THERMAL CONTROL Onboard Data Handling Systems INTRODUCTION COMPUTATIONAL ARCHITECTURES BIO-INSPIRED SOFTWARE PROGRAMMING BIOMIMETIC COMPUTATIONAL HARDWARE NEURAL NETWORK HARDWARE Onboard Control Systems INTRODUCTION INTELLIGENT CONTROL ARCHITECTURES BEHAVIOUR CONTROL ONBOARD PLANNING & NAVIGATION Artificial Intelligence as Search Artificial Intelligence as Knowledge NEURAL & GENETIC APPROACHES TO CONTROL HYBRID APPROACHES TO CONTROL Spacecraft Communications & Electronic Systems INTRODUCTION APPLICATION SPECIFIC CIRCUITS & FIELD PROGRAMMABLE GATE ARRAYS EVOLVABLE HARDWARE Ground Station & Human-Machine Interfacing INTRODUCTION VIRTUAL REALITY SYSTEMS AUTOMATED SPEECH RECOGNITION

15 9.4. NEURO-ELECTRONIC INTERFACING Spacecraft Structural and Mechanical Systems INTRODUCTION SMART STRUCTURES BIOMIMETIC STRUCTURES MECHANICAL COMPLIANCE Spacecraft Payloads (Sensors) INTRODUCTION MICRO-ELECTROMECHANICAL SENSOR/ACTUATOR SYSTEMS VISION SYSTEMS TACTILE SENSING HAIR TRANSDUCTION CHEMICAL SENSING MAGNETIC FIELD SENSING SENSOR FUSION Spacecraft Reliability INTRODUCTION BIOLOGICAL RELIABILITY RECONFIGURABLE HARDWARE MULTI-AGENT ARCHITECTURES Imitation Learning IMMUNOLOGICAL FAULT TOLERANCE Human Spaceflight INTRODUCTION CLOSED ECOLOGICAL LIFE SUPPORT SYSTEM HUMAN HIBERNATION Conclusions Appendix A: Neural Networks SUPERVISED NEURAL NETWORKS LEARNING RULES HOPFIELD NET BOLTZMANN MACHINE SELF-ORGANISING NETWORKS REINFORCEMENT LEARNING ASSOCIATIVE LEARNING FRACTAL & CELLULAR NETWORKS COMPACT ENCODING Appendix B: Evolutionary Algorithms GENETIC ALGORITHMS CLASSIFIER SYSTEMS GENETIC PROGRAMMING Appendix C: Artificial Intelligence SYMBOLIC SYSTEMS

16 CONNECTIONIST SYSTEMS GENETIC ALGORITHMS SITUATED COGNITION Appendix D: Architecture of the Human Brain THE NEURON THE SYNAPTIC JUNCTION ARCHITECTURE OF THE HUMAN BRAIN CEREBRAL CORTEX BRAINSTEM THALAMUS SUBTHALAMUS HYPOTHALAMUS BASAL GANGLIA VESTIBULAR & CEREBELLAR SYSTEM LIMBIC SYSTEM VISION PROCESSING SENSORIMOTOR PATHWAYS MEMORY SYSTEMS Appendix E: Space Medicine IMMUNE SYSTEM RADIATION SHIELDING SPACE DEBRIS SHIELDING

17 I. INTRODUCTION AND HISTORY INTRODUCTION MARS CHARACTERISTICS BRIEF HISTORY OF MARS SURFACE EXPLORATION... 3 II. FROM BIOLOGY TO ROBOTICS BIOMIMETIC ANALOGUES TO SPACE ROBOTICS II.1.1. Biomimetic Planetary Rovers INSECT BEHAVIOUR INSECT WALKING II.3.1. Gaits and Leg Movement II.3.2. Reflex Motion III. CONDITIONS FOR SURFACE TRAVEL ON MARS SOIL COMPOSITION BEKKER THEORY III.2.1. Soil Properties and Dynamics III.2.2. Motion Resistances III.2.3. Drawbar Pull ROCK DISTRIBUTION MEAN FREE PATH (MFP) IV. SYSTEM REQUIREMENTS LANDING SITE SELECTION VEHICLE LIFETIME LOCOMOTION SYSTEM MASS REQUIREMENTS POWER PAYLOADS IV.6.1. Primary Payload IV.6.2. Secondary Payload THERMAL COMMUNICATIONS COMMAND AND DATA HANDLING V. MISSION PROFILE MISSION OBJECTIVES LANDING SITE SELECTION V.2.1. Additional VL2 Region Environment Data MISSION PAYLOAD AND SCIENTIFIC OBJECTIVES V.3.1. Primary Payload V.3.2. Secondary Payload VI. VEHICLE DESIGN SYSTEM OVERVIEW VI.1.1. Vehicle Mass Classification VI.1.2. Operational Modes

18 2. STRUCTURE LOCOMOTION SYSTEM VI.3.1. Locomotion Expectations VI.3.2. Leg Design VI.3.3. Structural Analysis VI.3.4. Motors VI.3.5. Compliance POWER VI.4.1. Solar Arrays VI.4.2. Batteries THERMAL VI.5.1. Thermal Control VI.5.2. Thermal analysis COMMUNICATIONS VI.6.1. Rover Radio VI.6.2. Rover Antennas VI.6.3. Mars Surface to Mars Orbit Communication VI.6.4. Mars Orbit to Earth Communication VI.6.5. Communication System Requirements DATA CAMERAS VI.8.1. Panoramic Cameras (PanCam) VI.8.2. Navigation Cameras (NavCam) VI.8.3. Hazard Avoidance Sonar VII. BEHAVIOUR CONTROL EVOLVED DYNAMICAL NEURAL NETWORKS EVOLVED WALKING MACHINES DESIGN WALKING ROUGH TERRAIN NAVIGATION OBSTACLE AVOIDANCE EFFICIENCY ROBUSTNESS VII.9.1. Damage VII.9.2. Motor Failure CONTROL SYSTEM SUMMARY VIII. CONCLUSIONS

19 I. INTRODUCTION CONVENTIONAL SPACE DRILLS A NOVEL BIOMIMETIC DRILL I.2.1. Wood wasp ovipositor I.2.2. Reciprocating drill, novelty & advantages II. FEASIBILITY STUDIES OF BIOMIMETIC DRILL DRILL BIT DESIGN SAMPLER DESIGN DRIVE MECHANISM II.3.1. Dragon fly click mechanism II.3.2. Helicopter rotary disc mechanism II.3.3. Cam mechanism II.3.4. Grove in shaft mechanism II.3.5. Chosen cam mechanism pin & crank II.3.6. Actuation method EXPERIMENTS & RESULTS II.4.1. Test model and apparatus II.4.2. Calculation of cutting speed II.4.3. Experiments on different rake angles II.4.4. Experiments on different substrates III. ASTEROID MISSION PROFILE MISSION RATIONALE & OBJECTIVES CHOICE OF TARGET ASTEROID SYSTEM OVERVIEW III.3.1. Micro-penetrator III.3.2. Biomimetic drill III.3.3. Scientific instruments SYSTEM REQUIREMENT & SPECIFICATION IV. DESIGN OF MICRO-PENETRATOR & BIOMIMETIC DRILL BACKGROUND MICRO-PENETRATOR CONFIGURATION IV.2.1. Forebody IV.2.2. Aftbody IV.2.3. Flexible cabling BIOMIMETIC DRILL IV.3.1. Design constraints & specifications IV.3.2. Drill & sampler subsystem design SCIENTIFIC INSTRUMENTS & EXPERIMENTS IV.4.1. Biomarker detector IV.4.2. Broadband seismometer IV.4.3. Piezoelectric accelerometer IV.4.4. Thermometer PENETRATION MODELS

20 IV.5.1. Empirical models IV.5.2. Physical models IV.5.3. Numerical models V. OVERALL SYSTEM-LEVEL DESIGN PRELIMINARY SYSTEM DESIGN FLIGHT DYNAMICS, DEPLOYMENT, TARGETING & AOCS/GNC STRUCTURES & MATERIAL THERMAL & ENVIRONMENTS OPERATIONAL TIMELINE POWER AND ELECTRONICS DATA HANDLING & COMMUNICATION PENETRATOR BUDGETS V.8.1. Mass budget V.8.2. Power budget V.8.3. Data rate budget DISCUSSION ON USING MEMS TECHNOLOGY VI. CONCLUSIONS VII. APPENDIX A: SPACE MISSIONS INVOLVING AUTOMATED PENETRATION, DRILLING AND SAMPLING ACTIVITIES VIII. APPENDIX B: ABOUT ASTEROIDS WHAT ARE ASTEROIDS? VIII.1.1. Near earth asteroids (NEAs) VIII.1.2. Asteroids taxonomic classifications VIII.1.3. Asteroids density and porosity WHY TO STUDY ASTEROIDS? ASTEROID MISSIONS VIII.3.1. Past missions VIII.3.2. Present missions VIII.3.3. Future missions IX. APPENDIX C: ANALYSIS ON SAWING & MACHINING NOTATION ORTHOGONAL CUTTING MERCHANT HYPOTHESIS SHEAR STRESS SHEAR STRAIN SHEAR ANGLE VELOCITY RELATIONS MATERIAL REMOVAL RATE ENERGY CONSUMPTION