SAILSaR Safe Autonomous Intelligent Landed

Sample Return

Joseph P. Martin303-794-0348

joesensors@mac.comEquinox Interscience

Landing Safely Where the Science Demands

• Safe Autonomous Intelligent Landed Sample Return (SAILSaR)– Stepwise approach to safe and intelligent landing of autonomous

robot craft – Real time analysis and fusion of sensor data with feedback for

terminal guidance & landing.• Selectable site using aerial or space reconnaissance

– Observables-based targeting and steering criteria• Landing site selection & navigation

– To avoid steep slopes, edges, large rocks, abutments, holes– With specific hazard indicators reducible to steering criteria

– Generic control system-for remote sample return applications to, • Earth Operations: Prospecting, Field Research, Safety

• Space Operations: including Moon, Mars, Asteroids, Comets

SAILSaR Approach

• Investigate and verify aspects of Landing on hostile, rough or uncertain topography.

• Frequent testing of approaches on local test ranges.• Key Concept: Autonomous Control System

– LEIF (Landing Enabled by Intelligent Functions)

– A generic computer with ample input/output (I/O)

– Inputs from all sensor sources — star tracker/nav camera, earth relative doppler, stereo imager, stored picture files, radar

– Outputs to all the necessary actuators — thrusters, chute, control surfaces

– Software: e.g.: remote agent, stereo image processing provide real-time steering cues for hazard avoidance and intelligent target approach.

SAILSaR Goals

• Demonstrate lander mission strategies with low cost terrestrial tests.– Drop tests in a parking lot– Drop tests in Utah from airplane or balloon– Drop tests at Devon Island in the Arctic

• Generate level-of-confidence that multiple landings and sample collection are viable and cost effective.

• Provide near-term risk assessment for proposed missions.

• Develop empirical methods for autonomously dealing with chaotic environments and “unexpected” surface conditions.

Landing Enabled by Intelligent Functions (LEIF)Cameras and Ultra-Wideband Transceivers Devices

Device Control Module

Computer, Memory, I/O

From External Sensors

To Control External Devices• Motors• Actuators• Thrusters• Switched Power

Power

LEIF Electronics Unit (LEU)

Impulse

Returns

Higher Level System Interface

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LEIF:• Senses hazards, objects,

science cues, terrain. • Controls the robotic system

with resident software such as remote agent.

• Performs navigation, rendezvous, target approach, or avoidance operations autonomously.

Preliminary Autonomous Entry and Landing Ops

A. After entry, LEIF flies the Aeroshell toward landing oval by controlling Aeroshell steering vanes.

B. Using landmarks, LEIF flies the parachute toward landing target area by controlling parachute steering vents.

C. Using 3D Vision and Radar, LEIF flies the lander toward safe landing and close to science target by controlling thrusters and engines.

A.

C.

B.

Preliminary Autonomous Navigation Ops

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Autonomous Navigation to MarsLEIF Finds the Way!

Mars Located vs Star Field

Earth Relative Doppler Signal

Landmark View

Lune View

Limb View

Autonomous Pre-EntryLEIF Pilots the Way!

SAILSaR Team

• Equinox Interscience – Project Lead, System Concepts, Optical Systems, Mechanisms

• Performance Software Associates– Guidance & Control software, Artificial intelligence

• Environmental Aerosciences Corp.– Thrusters and Thrust Control

• ITN Energy Systems– Composite Structures

• Global Solar– Photovoltaics, Power systems

• Big Ideas/Aerostar– Gravity Offload Balloons

• Individual Participants– Tom Meyer (BCSP, CU Bioserve) - Strategy, Sensor Interpretations, Student Help– Jeff Hayden (PresciPoint Solutions) - System Concepts, LEIF