Canadian Robotic Technologies For Lunar Surface Exploration. Frank Teti MDA

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1 Canadian Robotic Technologies For Lunar Surface Exploration Frank Teti MDA 9 th th ILEWG Conference, Sorrento, 2007

2 A New Exploration Era 20 th Century Exploration Low-earth Orbit Human Space infrastructure End of Shuttle Program De-emphasis on Human exploration of LEO Deeper Space Infrastructure Planetary surface exploration 21 st Century Exploration Increased Human / robotic collaboration International Cooperation International Human Exploration Space Missions 2 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

3 Mobility - Locomotion Rapid chassis design & evaluation Representative rover chassis prototyping RCP, ExoMars Ph. B1 BB Controlled-environment field validation Space Missions 3 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

4 Mobility - Autonomous Navigation Credit: MDA Credit: MDA Increased rover autonomy Terrain assessment & global path planning Obstacle avoidance & local path planning Visual Motion Estimation & localization (slip mitigation) Visual odometry field demonstrations Credit: MDA Credit: MDA Space Missions 4 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

5 Autonomous Vehicles MDA has successfully developed a software and controls solution for an underground autonomous vehicle to improve safety and productivity Space Missions 5 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

6 Mobility - Field test sites CSA Mars Yard All-season rover mobility test facility Mars Dome Analogue sites Mojave desert Canadian Arctic Analogue Research Network Space Missions 6 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

7 Advanced Vision - Camera Based Vision-based scene modeling Rapid in-situ photo-real scene modeling Handheld & vehicle-mounted options Technologies being applied in mining, forensic & security industries Autonomous site characterization & prospecting Survey & contextual imaging (tele-op geology) 3D sample acquisition monitoring (e.g. drilling) Cost mapping for autonomous navigation Data-storage & bandwidth efficiency Credit: MDA Triangular Mesh (no texture) QuickTime and a YUV420 codec decompressor are needed to see this picture. QuickTime and a YUV420 codec decompressor are needed to see this picture. Triangular Mesh (texture added) Space Missions 7 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

8 Advanced Vision - Laser based Lidar-based scene modeling Ultra-high accuracy Range independent Lighting and contrast independent Applications Lunar shadowed region scene modelling Lunar shadowed region rover navigation Geological sample classification Optech lidar recently utilized at Haughton Crater with NASA Ames Human-Robot Site Survey Project Credit: Optech Credit: CSA Credit: Optech Credit: UNB / Optech Credit: Optech / NASA Space Missions 8 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

9 Inspection & servicing Laser & Camera based visual inspections Shuttle & ISS safety & logistics Orbital Express satellite inspection Autonomous vehicle docking & servicing XSS-11, Orbital Express Space Missions 9 MDA 9th Proprietary ILEWG Conference, Information Sorrento,

10 Deployment & assembly 25 yrs of robotic deployment & assembly of large-scale human space infrastructure on Shuttle & ISS Heavy cargo transport & deployment Infrastructure assembly & configuration Infrastructure inspection & maintenance Vehicle docking & berthing Space Missions 10 MDA 9th 10 Proprietary ILEWG Conference, Information Sorrento, 2007

11 Human-robot interface 25 years heritage in manned space robotics Safety-criticality & ultra-reliability Physical & operational interfaces Control interfaces & variable autonomy 82% EVAs employ shuttle robotics for astronaut transport & monitoring Space Missions 11 MDA 9th 11 Proprietary ILEWG Conference, Information Sorrento, 2007

12 Prospecting & advance scouting Remote / advance prospecting, mapping and resource assessment Autonomous field geologist Surface & subsurface Pre-EVA tele-op / autonomous scout Site survey (laser + camera) Operations planning Hazard assessment Time, risk conservation Triangular Mesh (no texture) QuickTime and a YUV420 codec decompressor are needed to see this picture. Triangular Mesh (texture added) Space Missions 12 MDA 9th 12 Proprietary ILEWG Conference, Information Sorrento, 2007

13 Astronaut Field Assistance Increased EVA efficiency Mundane, repetitive or potentially hazardous tasks High-strength, dexterity & mobility tasks Potential robotic surface EVA tasks: Pre-EVA Site Survey (prospector dual role) Astronaut Caddie & on-site data management Instrument platform & payload deployment (MULE) Crucial experience from last 25 years astronautrobotic partnership in orbit Ultra-high reliability, safety criticality Space Missions 13 MDA 9th 13 Proprietary ILEWG Conference, Information Sorrento, 2007

14 Infrastructure Assembly & Maintenance Shuttle and ISS assembly heritage supporting manned assembly Heavy lift capability Deployment & transport Construction & configuration Safety inspection Astronaut transport / elevation for servicing Remote, or pre/post human deployment Credit: NASA Space Missions 14 MDA 9th 14 Proprietary ILEWG Conference, Information Sorrento, 2007

15 Computer Assisted Surgical Interface (CASI) Space Missions 15 MDA 9th 15 Proprietary ILEWG Conference, Information Sorrento, 2007

16 Conclusion Robotics systems have supported sustainable human space exploration infrastructure for 30 yrs Scouts, field-scientists and prospectors for planetary have been provided by robotic systems 21st Century space exploration will see a convergence between planetary exploration and human spaceflight Expertise & heritage from both will be crucial to the new era of human lunar surface infrastructure Many key technologies exist now that will form the basis of the early human-robotic activities on the lunar surface Space Missions 16 MDA 9th 16 Proprietary ILEWG Conference, Information Sorrento, 2007