Enables future missions such as autonomous geology, life seeking and polar exploration

ROBOTIC SEARCH FOR ANTARCTIC METEORITES

NASA and CARNEGIE MELLON UNIVERSITY http://www.ri.cmu.edu/~meteorobot2000

Robotic Antarctic Meteorite Search Q1-Q2 FY00

• Nomad found and classified 5 indigenous meteorites

• Demonstrated autonomous search and in situ classification of rock samples

• Validated Science Autonomy

– Search architecture

– Multi-sensor automatic classification with learning

– Interwoven sensing, driving, and manipulation

76º S, 157º E

Autonomous Meteorite Search and In Situ Classification

Nomad finds meteorite Acquires hi-res image Deploys science arm

Places spectrometer

Acquires spectrum and classifies

Human collects meteorite

January 22, 2000375 m, 157 min8 rocks classified

10 m

Meteorite

Logs meteorite location

Broadcasts find

Science Autonomy Architecture

Framegrabber

PTU Lens Controller

Motion Controller

DAQCard

Spectrometer

Sensor Manager

Target Acquisition

Manager

NavigationSystem / Obstacle

Avoidance

Ph

ysic

al S

en

sor

Layer

Acti

on

C

oord

inati

on

Layer

Pla

nn

ing

Layer

High-ResCamera Sensor Driver

Manipulator Sensor Driver

MissionPlanner

TargetClassifier

NavigationPlanner

TargetDatabase

Autonomous Search and Target Acquisition

Blue / Green + BlueIn

tensi

ty

Ice & Snow

Rock

Robot

Rock SegmentationPatterned Coverage Search

Autonomous Classification Technology

ColorSize Shape

Hi-res Color Image

10% 20%

Definitely a rock

MeteoriteUncertain0% 100%...

Bayes-based Classifier: Confidence Estimator

Reflection Spectrum

Spectral Feature

Spectral Feature

First find – Jan. 22, 2000

Second find – Jan. 25, 2000 Third find – Jan. 26, 2000

Nomad’s Meteorite Finds - 1

Fourth find – Jan. 27, 2000 Fifth find – Jan. 28, 2000

Sixth find (probably native rock) – Jan. 28, 2000

Seventh find (probably native rock) – Jan. 28, 2000

Nomad’s Meteorite Finds - 2

Meteorite Classification Spectra

Wavelength [nm]

Reflect

an

ce 12097 (misclassified chondrite)

12322 (achondrite)

12372 (chondrite)

12387, 11331, 12067 (chondrites)

• # sample spectra taken during expedition: over 200 (15 meteorite spectra)

• # sample images taken during expedition: over 450

• # meteorites correctly classified: 5

• Level of autonomy in demonstrations

– Human intervention required for 9 out of 42 successful arm deployments (21%)

– Human intervention required for 1 out of 57 successful camera deployments (1.8%)

– Final visual servoing steps required manually lowering wrist to rock due to inoperative touch probe and varying rock sizes

Results

• Robotic search relevant to life seeking, autonomous geology and discovering the unexpected

• Robot as seeker and interpreter beyond data collector, relevant to deep space, far side and autonomous exploration

• Polar mission archetype relevant to Mars, Mercury, the Moon and Earth poles

• Meteorite search for extraterrestrial material on Earth, relevant to NASA planetary interests

Significance