the mother goose mission tom meyer - overview penny boston - science joe martin - instruments dan...
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The Mother Goose MissionThe Mother Goose Mission
Tom Meyer - OverviewPenny Boston - ScienceJoe Martin - Instruments
Dan Scheld - SystemsJoe Berger - Mars Glider
Tom Meyer - OverviewPenny Boston - ScienceJoe Martin - Instruments
Dan Scheld - SystemsJoe Berger - Mars Glider
History of Mother Goose MissionHistory of Mother Goose Mission
Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components
– ASTEP - Science– Boston NIAC Cave Research– SBIRs– Instrument development proposals– Doing in-house development
Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components
– ASTEP - Science– Boston NIAC Cave Research– SBIRs– Instrument development proposals– Doing in-house development
What is the Mother Goose?What is the Mother Goose?
Mission strategy for detection of lifeFlying transformer robotic systemMimics human field biologist Autonomous search for life on MarsSearch at multiple spatial scales:
– Aerial– Walking– Microscopic
Mission strategy for detection of lifeFlying transformer robotic systemMimics human field biologist Autonomous search for life on MarsSearch at multiple spatial scales:
– Aerial– Walking– Microscopic
Motivation and GoalMotivation and Goal
Life often leaves tell tail biosignatures– Changes in physical appearance of
surface– Chemical changes in surface material
Life prefers hospitable locations – warm, wet, protected– hidden in cracks, cervices, caves
The Challenge: narrow the field search from regional, to local, to microscopic – Remote control from Earth is impractical
The Goal: develop a robotic field biologist
Life often leaves tell tail biosignatures– Changes in physical appearance of
surface– Chemical changes in surface material
Life prefers hospitable locations – warm, wet, protected– hidden in cracks, cervices, caves
The Challenge: narrow the field search from regional, to local, to microscopic – Remote control from Earth is impractical
The Goal: develop a robotic field biologist
Approach Approach
Mother Goose Overarching Concept
Unique approach and goals – Intelligent site selection at all levels of encounter– Robotic mobility along a continuum of sequentially finer
resolutions – Glider / Lander combines hazard avoidance and scientific site
selection– Integrated guidance and data system serves glider, lander,
walker and micro-robots
Mother Goose Overarching Concept
Unique approach and goals – Intelligent site selection at all levels of encounter– Robotic mobility along a continuum of sequentially finer
resolutions – Glider / Lander combines hazard avoidance and scientific site
selection– Integrated guidance and data system serves glider, lander,
walker and micro-robots
Mission Architecture - EntryMission Architecture - Entry
Entry capsule deploys Mother Goose glider Glider wings inflate Glider cruise phase begins Begin remote sensing for navigation and science
Integrated guidance and data acquisition
Mother Goose is a very bright bird, she– Navigates the glider while in flight – Collects remote sensing data– Searches for an optimal landing site – Navigates and takes data on the ground, and– Collects data from her micro-robot goslings
Integrated guidance and data acquisition
Mother Goose is a very bright bird, she– Navigates the glider while in flight – Collects remote sensing data– Searches for an optimal landing site – Navigates and takes data on the ground, and– Collects data from her micro-robot goslings
Mission Architecture - CruiseMission Architecture - Cruise
Mission Architecture - SurfaceMission Architecture - Surface
Mother Goose:– Picks safe landing site near science target– Walks to the science sites– Collects local data– Refines site selection– Deploys Micro-Robot Goslings
Wing provides power and communications
Mother Goose:– Picks safe landing site near science target– Walks to the science sites– Collects local data– Refines site selection– Deploys Micro-Robot Goslings
Wing provides power and communications
Mission Architecture - GoslingsMission Architecture - Goslings
MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site
MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site
TeamTeam
Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link
Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link
http://eisci.com/mothergoose
http://norwebster.com/eisci
http://eisci.com/mothergoose
http://norwebster.com/eisci
FOR MORE INFO...
(Picture credits - Gus Frederick)(Picture credits - Gus Frederick)
R.D. Frederick © 2001
Human Emulation Human Emulation in Robotic in Robotic
MissionsMissions
Human Emulation Human Emulation in Robotic in Robotic
MissionsMissions
The Field Scientist in the WildThe Field Scientist in the Wild
The Field Scientist In A Can
R.D. Frederick © 2001
Science Search StrategyScience Search Strategy Mimic classic human-conducted field scienceMimic classic human-conducted field science
•Aerial Recon Phase – Airborne Aerial Recon Phase – Airborne Mother GooseMother Goose•Walkabout Phase – Rover Walkabout Phase – Rover Mother GooseMother Goose•Intensive Investigation Phase – Scientist Intensive Investigation Phase – Scientist Mother GooseMother Goose
Access to “difficult” sites via microrobotic Access to “difficult” sites via microrobotic GoslingsGoslings•SmallSmall•Autonomously actingAutonomously acting
Multiple spatial scalesMultiple spatial scales•Bird’s eye viewBird’s eye view•Scientist’s eye viewScientist’s eye view•Microbe’s eye viewMicrobe’s eye view
Multiple data setsMultiple data sets•ImagingImaging•3 D Microscopy3 D Microscopy•Raman spectroscopyRaman spectroscopy•Direct sensing of gasesDirect sensing of gases
PhysicsPhysics
GeophysicsGeophysics
HydrologyHydrology
BiologBiologyy
ChemistryChemistryGeochemistryGeochemistry
MineralogyMineralogy
GeologyGeologyLaboratory AnalysisLaboratory Analysis
TechniqueTechniqueDevelopmentDevelopment
In SituIn SituTechniquesTechniques
2 2
Techniques:Techniques:
Non-invasiveNon-invasiveTechniquesTechniques
• Surface detection Surface detection methodsmethods
• No sample removedNo sample removed
• Leaves communities Leaves communities intactintact
• Minimal disturbanceMinimal disturbance
P.J. Boston P.J. Boston ©© 2001 2001
Planetary Protection Planetary Protection
• Protocol for possible biological Protocol for possible biological
sitessites
• Contamination zone Contamination zone
modelmodelSuitable for mechanismsSuitable for mechanisms
• Dirty/clean modelDirty/clean modelSuitable for humansSuitable for humans
R.D. Frederick © 2001R.D. Frederick © 2001
PlanetaryPlanetary
• Aseptic reconnaissanceAseptic reconnaissance
• Preliminary assessmentsPreliminary assessments
• Long-term monitoringLong-term monitoring
• Intermediates in chain of asepsisIntermediates in chain of asepsis
• Permanent Class IV+ containmentPermanent Class IV+ containment
ProtectionProtection
Science Goals & Science Goals & ObjectivesObjectives
Recon Phase - Features (TES, Radar, Imaging)
Water Reduced gases Temperature anomalies Minerals & Biominerals Outcrops Shape Color and pattern Texture
Rover Phase – Site refinement (Imaging)
Water Reduced gases Temperature anomalies Biominerals Outcrops Shape Color and pattern Texture
Rover Phase – Microanalysis (Microscopy, Spectroscopy)
Mineral grains Soil properties Microtextures Biominerals Biofabrics Microfossils Organic compounds Organisms or parts
Gosling Phase – Seeking (Imaging, Sensing)
Water Reduced gases Mineral & Biominerals Outcrops Shape Color and pattern Texture
Image of lithified fossil bacteria, filaments, and biofilm. Courtesy L. Melim, M. Spilde, & D. Northup.
• • High intensity sunlight and UVHigh intensity sunlight and UV
• • Low humidity (5-40% typically)Low humidity (5-40% typically)
• • Temperature extremesTemperature extremes
• • Low nutrients (usually)Low nutrients (usually)
• • Mineral-rich (usually)Mineral-rich (usually)
• • Extensive weather, Extensive weather, e.g. high winds, flash floods, frost, e.g. high winds, flash floods, frost, etc.etc.
Desert Surfaces Desert Surfaces On EarthOn Earth
Photo by David JagnowPhoto by David Jagnow
Desert Caves On Earth
•No sunlight No sunlight
•High humidity (99-100% in High humidity (99-100% in the deep zone)the deep zone)
•Temperatures relatively Temperatures relatively constantconstant
•Low nutrientsLow nutrients
•Mineral-rich Mineral-rich
•No weatherNo weather
R.D. Frederick © 2001R.D. Frederick © 2001
Life in Mars Caves…Life in Mars Caves…Traces on the Traces on the
Surface?Surface?• Geochemical tracesGeochemical traces• Change in oxidation statesChange in oxidation states• Chemistry independentChemistry independent
• Visualization of orderVisualization of order• Biotextures and structureBiotextures and structure
• Isotopic signatures?Isotopic signatures?• Other disequilibria?Other disequilibria?
• Energy sourcesEnergy sources• Energy flowEnergy flow• GrowthGrowth• ReproductionReproduction
Mother Goose InstrumentsMother Goose Instruments
Joe Martin - Equinox InterscienceJoe Martin - Equinox Interscience
Glider ModeGlider Mode
Glider Mode InstrumentsGlider Mode InstrumentsWide FOV imaging . (0.42 kg).
– The Mike Malin low resolution MARDI descent imager from the ill-fated ‘98 Mars Polar Lander 73° FOV for aerial reconnaissance with a 7.1 mm focal length IFOV: 1.25 mrad.
– Thus at 1 km altitude; ground resolution 1.25 mThermal Emission Spectrometer (mini-TES) (1.9 kg)
– A miniaturized TES evolved from MGS TES reduced 14.4 kg to 1.9 kg, proposed for MESUR missions as mini-
TES. Spectral range: 400 to 5000 cm-1 (2-25 µm), 5 cm-1 resolutionEnergy/sample = 4.4 W x 3.7 min/ sample / 60 min/hr = 0.27
W-hr/sample
Glider Mode InstrumentsGlider Mode Instruments (Cont.) (Cont.)
Ground Penetrating Radar (GPR) (2.4 kg)– A surface penetrating radar to determine buried
water and water bearing rocks– GPR defined by Rolando Jordan (JPL) for Dave
Paige’s proposed Mars Polar Pathfinder mission. Folded dipole antenna on the bottom of the Pathfinder lander
petal. to probe the ground below:
– depth of 4.5 km; depth resolution 2 m – 100 MHz pulses
– The MG antenna would be built into the skin of the lower surface of the glider.
Rover ModeRover Mode
Rover Mode InstrumentsRover Mode InstrumentsStereo Imaging (0.54 kg)
– Panoramic stereo camera system;Assess site geology and morphology and select targets for investigation.
– Use a version of 2003 Mars Exploration Rovers (MER)
MER system has 1024 x 2048 pixel CCDs, 280 µrad resolution
42.7 mm focal length optics for 16x16° FOV.8 filters from 400 to 1100 nmAnalysis time: 10 sec/frame 62 Mp/frame (both cameras)
Rover Mode InstrumentsRover Mode Instruments (Cont.) (Cont.)
Raman Spectrometer (RS) (0.7-1.1kg)– The roving robot presses its robotic arm against a rock.
Thin green or ultraviolet laser beam scans the rock, Raman scattered light identifies photon wavelength shifting effect of
molecular and crystalline structures in the target rock.
– Potential Raman developmentsLarry Haskin green light RS (0.7 kg); for mineralsMichael Storrie-Lombardi UV RS (1.1Kg); for organics or prebiotic
molecules.EIC labs (NASA SBIR); rugged, portable, high resolution RS with
illumination Raman measurement through fiber optic extension.
– Fiber optic extension: insert the fiber optic probe inside a crevice.
1988 Phase 2; SS-52; 10/18/95
SmallBusinessInnovation Research
Kennedy Space Center
ACCOMPLISHMENTS
Specific gas-phase sensing of hydrazine and other air contaminants
Novel micro-optics probe head allows point and shoot fiber optic sampling and monitoring from over 500 meters
10 times more compact than prior equipment and no moving parts
COMMERCIALIZATION
$3 million in sales in last two years
Patented Raman probe
New company division organized to provide commercial Raman instrumentation and services
GOVERNMENT/SCIENCE APPLICATIONS
Space applications: sensing hypergolic vapors; hydrogen monitoring; rapid analysis of minerals; compact, on-board chemical analysis
Commercial applications: chemical process monitoring, pharmaceutical analysis, forensics, environmental site characterization, and a general laboratory complement to IR spectroscopy
Raman SpectrographEIC LABORATORIES, INC.
NORWOOD, MA
Rugged, portable, high resolution Raman
spectrograph with fiber optic sampling
INNOVATION
Spectrograph with fiber optic sensor
Rover Mode InstrumentsRover Mode Instruments (Cont.) (Cont.)
Mineral Identification by In-situ X-ray Analysis (MIBIXA) (0.4 kg)– The roving robot presses its robotic arm against a rock.
The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays.
– MIBIXA Proposed by Equinox as NASA SBIRDeep depletion 600 x 600 CCD (e2v Technologies) measures:
– photon energies from 200 eV to 20 keV
– scattering angle of elastically scattered photons.
– energy of fluorescent photons.Carbon nanotube field emission cathode x-ray source (Applied
Nanotechnologies, Inc.).
Rover Mode InstrumentsRover Mode Instruments (Cont.) (Cont.)
Confocal Microscope (1.5 kg)– The roving robot presses its robotic arm against a rock.
The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays.
– MIBIXA Proposed by Equinox as NASA SBIRDeep depletion 600 x 600 CCD (e2v Technologies) measures:
– photon energies from 200 eV to 20 keV
– scattering angle of elastically scattered photons.
– energy of fluorescent photons.Carbon nanotube field emission cathode x-ray source (Applied
Nanotechnologies, Inc.).
Rover Mode InstrumentsRover Mode Instruments (Cont.) (Cont.) Confocal Microscope (1.5 kg0) (Leica)Confocal Microscope (1.5 kg0) (Leica)
All out of focus structures are suppressed at image formation by an arrangement of diaphragms which, at optically conjugated points of the path of rays, act as a point source and as a point detector respectively. Out-of-focus rays are suppressed by the detection pinhole.
The focal plane depth is determined by the wavelength, the objective numerical aperture, and the diaphragm diameter.
To obtain a full image, the image point is moved across the specimen by mirror scanners. The emitted/reflected light passing through the detector pinhole is detected by a photomultiplier and displayed on a computer monitor.
Microbots ModeMicrobots Mode
Microbot Mode InstrumentsMicrobot Mode InstrumentsImagers (50g x 10 microbots = 0.5 kg)
– Supercircuits Model: PC-169XS– High resolution color microvideo camera– 1/3" Color CCD; 768(H) x 492(V); 377,856 pixels
– Power: 1W– Interchangeable lens
Chemical Sensors (50g x 10 microbots = 0.5 kg)– Temp, pH, conductivity– Gas sensors– Anion, cation sensors
MOTHER GOOSE Related Technologies & Robotics
MOTHER GOOSE Mission Systems MG I Astrobiology Mission
MOTHER GOOSE has Landed and Deposited Rover and Micro-Rovers (Goslings) in Area Of High Scientific Interest.
MOTHER GOOSE and GoslingsEnter Cave Site at Mars
Mother GooseMother Goose
Mother Goose TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Aerostar/Raven Industries Boulder Center for Space Science/ National Link MIT Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar
MOTHER GOOSE Mission SystemsMG II Astrobiology Mission
Mother Goose II TEAM Equinox Interscience, Inc. Complex Systems Res., Inc. Aerostar International, Inc. Boulder Center for Space Science/ National Link MIT Field & Space Robotics Lab MD Robotics for Canadian Space Agency Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar Prescipoint Solutions
MOTHER GOOSE Mission SystemsDDB Detectable Desert BioMarkers
DDB TEAMEquinox Interscience, Inc.Complex Systems Res., Inc.Performance Software AssociatesBoulder Center for Space Science/ National LinkUTD, Inc.Prescipoint Solutions
“ROCKTASTER” SchematicDDB Layers of Investigation
Autonomous Landing Techniques-WHY FLY in with Mother Goose
MOTHER GOOSE DELIVERY SYSTEM• Target Zone dependence is gone – WE
LAND where the Science Demands• On-board Guidance (LEIF) particpates
fully in the landing• LEIF system continuously monitors and
learns from the evironment minimizing the unknowns to safe touchdown
• Near Zero velocity touchdown requires no impact protection system
• The configuration is inherently stable - no tip over – in addition, the LEIF system has sought out the inherently safest site closest to the science objective
NASA Smart Landers• Current Target Zones no smaller then 161x97 km
(100x60 miles)• *Smart Lander Target Zones smaller but
“undefined”• On-board guidance ends to early in landing• No ability to handle unknowns at the landing site• Must carry impact protection systems• Must carry additional capability to prevent tip
over• Smart in this case really means “safer” than
Ø1Ø2
Ø3
Mars Located vs Star Field
Earth Relative Doppler Signal
Landmark View
Lune View
Limb View
Autonomous Pre-EntryLEIF Pilots the Way!
LEIF– Landing Enabled by Intelligent Functions
LEIF Provides Methods for Complete Autonomous Approach and Safe LandingIn Area of Scientific Interest.
APPLICATIONS-Mars Sample Return-Europa Lander-Titan Organics Explorer Lander-Mars Cargo Landers-Comet Nucleus Sample Return-Near Earth Asteroid Landers
SAILSaR TEAM Equinox Interscience Inc. Boulder Center for Space Science/ National Link Prescipoint Solutions Performance Software Associates ITN Energy Systems
LEIF– Landing Enabled by Intelligent Functions
Next Generation Control for Scientific Spacecraft and Instruments
SAIF/LEIF Design Highlights -Reduced Mass/Power Consumption/COST-Functional Superiority-Uniquely Synergistic Hardware/Software
Design-Extreme Dense Electronic Miniaturization-Commercial Packaging-In Development by Equinox and Partners
SAIF/LEIF TEAM Equinox Interscience Inc.. Prescipoint Solutions Performance Software Associates
SAIF– Science Augmented byIntelligent Functions
To Investigate and verify aspects of Landing on hostile planetary surfaces.
Frequent testing of approaches on local test ranges.
Key is the Autonomous Control System– LEIF (Landing Enabled by Intelligent Functions)– An integrated computer and control system based on:
Miniaturized electronics using HDI Software derived from Performance Software Anchor products
– Based on successful IEC 1131-3• commercial automation software
– Proposed as NASA SBIR • Central Instrument Controller• -awarded phase I, Phase II not funded
but rated highly. FPGA based Programmable Direct Memory Access
– designed by Beyond the Horizon
Simplified SAIF/LEIF Electronics Unit Block Diagram
SAIF-LEIF Systems
LEIF Presented – Iceland Mars Polar Science Conference
LEIF Introduced by Dave Paige/UCLA
– Full presentation on Equinox web site www.eisci.com
– Describes the Equinox thrust Automated Landing Technology
Proposals by Equinox Interscience in DSF .– Development of LEIF
Flight demonstration – Autonomous Rendezvous
– Fine Pointing Laser Tracker Flight Demonstration (FPLTD)
– Deep Space Comm.
Extended Effort – Propose Avionics Navigation System
Lockheed Martin for Pluto/Kuiper mission. LEIF Applied to MOTHER GOOSEGlider Control and Landing
SAIF-LEIF Sytems
Primary Landed SystemsRobotics Concepts & Notionals
BIG MAMA• Walker• 6 legs• Stereo Vision• 2 Micro Manipulators
UREY MISSION style Tethered Rover
Primary Landed SystemsRobotics Concepts & Notionals
Secondary Landed SystemsRobotics Concepts & Notionals
Gosling 1• Walker• 4 legs• Micro Vis• Top Mounted Solar Cell• Micro Manipulator
Gosling 2• Walker• 6 legs• Micro Vis• Top Mounted Solar Cell• Micro Manipulator
MIT Micro-rover Concept
MIT Evolutionary Roadmap From Discrete to Continuous Robotic Systems
Tilden (LANL) Skitter Bug Concept
Secondary Landed SystemsRobotics Concepts & Notionals
Investigations ofLIFE BELOW & LIFE “OUT THERE”
SPELEOSCOPE TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Boulder Center for Space Science/ National Link Performance Software Associates Oregon Public Education Network
Secondary Landed SystemsRobotics Concepts & Notionals
Secondary Landed SystemsRobotics Concepts & Notionals
Speleoscope Locomotion ConceptsSpeleoscope Locomotion Concepts
Speloscope robotic variations
SPELEOSCOPE Team Concept
Tilden (LANL) Snake Concepts
NASA (JPL) Snake
Secondary Landed SystemsRobotics Concepts & Notionals
Welcome The Future … & …Thank Welcome The Future … & …Thank You!You!
EQUINOX INTERSCIENCEEQUINOX INTERSCIENCE
Engineering Instruments of SCIenceEngineering Instruments of SCIence
The Mars Flying WingJoe Berger
R.D. Frederick © 2001R.D. Frederick © 2001
The Mars Flying Wing
Features:• Low Wing Loading• High Lift over Drag (L/D)• Capable of Low Speed Landing• Autonomous Operation• Precision Landing
Features:• Low Wing Loading• High Lift over Drag (L/D)• Capable of Low Speed Landing• Autonomous Operation• Precision Landing
R.D. Frederick © 2001R.D. Frederick © 2001
The Mars Flying Wing
Wing Performance Prediction:• Approx 35:1 L/D• Speed Range from 8 to
40 Kts IAS• Full Stall Landing at Less
Than 8 Kts IAS• Highly Maneuverable Throughout
Flight Regime
Wing Performance Prediction:• Approx 35:1 L/D• Speed Range from 8 to
40 Kts IAS• Full Stall Landing at Less
Than 8 Kts IAS• Highly Maneuverable Throughout
Flight Regime
R.D. Frederick © 2001R.D. Frederick © 2001
The Mars Flying Wing
Wing Current Progress: 8 Foot Model Flying Successfully
Flight Controls Proven
12 Foot Model to Fly 3 Qtr 2002Higher Performance AirfoilHigh Tech Wing Tips with Winglettes
21 Foot Model Higher Aspect RatioFlight Computer integrated to VideoReal-time RF link to Ground Station for Telemetry, Video
Wing Current Progress: 8 Foot Model Flying Successfully
Flight Controls Proven
12 Foot Model to Fly 3 Qtr 2002Higher Performance AirfoilHigh Tech Wing Tips with Winglettes
21 Foot Model Higher Aspect RatioFlight Computer integrated to VideoReal-time RF link to Ground Station for Telemetry, Video
R.D. Frederick © 2001R.D. Frederick © 2001
Mars Flying WingMars Flying WingMars Flying WingMars Flying Wing
The 8 Foot Wing:The 8 Foot Wing:With Pilot & Launch AssistantWith Pilot & Launch Assistant
The 8 Foot Wing:The 8 Foot Wing:With Pilot & Launch AssistantWith Pilot & Launch Assistant
Mars Glider Movie:
The Mars Flying Wing:The Mars Flying Wing:
MissionAccomplished!
MissionAccomplished!
R.D. Frederick © 2001R.D. Frederick © 2001