invasion of the speliobots semi-autonomous robotic exploration of martian caves dr. p. boston &...

InvasionInvasion

of theof the

SpelioBotsSpelioBotsSemi-Autonomous RoboticSemi-Autonomous Robotic

Exploration of Martian CavesExploration of Martian Caves

Dr. P. Boston & G. FrederickDr. P. Boston & G. Frederick

Dr. Boston could notDr. Boston could notbe Here Because:be Here Because:

Preparing a Grant ProposalPreparing a Grant Proposal

Crawling Through a Cave someplaceCrawling Through a Cave someplace

Bug Gazing in the SEM LabBug Gazing in the SEM Lab

Getting her Daughter ready for SchoolGetting her Daughter ready for School

All of the AboveAll of the Above

What is a Lava Tube?What is a Lava Tube?

Image Courtesy Hawaiian Volcano Observatory

Ancient Martian VolcanismAncient Martian Volcanism

Image Courtesy The International Mars Society

Olympus Mons TodayOlympus Mons Today

Image Courtesy The International Mars Society

P. Boston P. Boston J. Martin, T. MeyerJ. Martin, T. Meyer

M. Tilden - LANLM. Tilden - LANL

B. Sprungman - B. Sprungman - Space Data Space Data Resources InfoResources Info

G. Frederick - GraphicsG. Frederick - GraphicsOregon Public Education NetworkOregon Public Education Network

S. Wojciewicz - Add’l GraphicsS. Wojciewicz - Add’l Graphics

Science Search StrategyScience Search Strategy Mimic classic human-conducted field scienceMimic classic human-conducted field science

• Aerial Recon PhaseAerial Recon Phase• Walkabout PhaseWalkabout Phase• Intensive Investigation PhaseIntensive Investigation Phase

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

Access to “difficult” sites via microrobotic GoslingsAccess to “difficult” sites via microrobotic Goslings• SmallSmall• Autonomously actingAutonomously acting

AeroshellAeroshellSeperationSeperation

AeroshellAeroshellSeperationSeperation

GliderGliderExtractionExtraction

AeroshellAeroshellSeperationSeperation

GliderGliderExtractionExtraction

Glider DeploymentGlider Deploymentand Inflationand Inflation

AeroshellAeroshellSeperationSeperation

GliderGliderExtractionExtraction

Glider DeploymentGlider Deploymentand Inflationand Inflation

Release Drogue ChuteRelease Drogue ChuteBegin Flight ManeuversBegin Flight Maneuvers

Science Goals & ObjectivesScience Goals & Objectives

WaterWater Reduced gasesReduced gases Temperature anomaliesTemperature anomalies Minerals & BiomineralsMinerals & Biominerals Outcrops Outcrops ShapeShape Color and patternColor and pattern TextureTexture

Recon Phase - FeaturesRecon Phase - Features(TES, Radar, Imaging)(TES, Radar, Imaging)

Mother Goose FlierMother Goose Flier

Front ViewFront View

Top ViewTop View

Side ViewSide View

1. Circle1. Circle

Wind Wind DirectionDirection

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area Wind Wind DirectionDirection

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

Wind Wind DirectionDirection

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

4. Fly to Next Radar Area4. Fly to Next Radar Area

Wind Wind DirectionDirection

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

5. Choose Landing Spot & Fly There5. Choose Landing Spot & Fly There

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

4. Fly to Next Radar Area4. Fly to Next Radar Area

Wind Wind DirectionDirection

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

5a. Over-fly Landing Spot5a. Over-fly Landing Spot

5. Choose Landing Spot & Fly There5. Choose Landing Spot & Fly There

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

4. Fly to Next Radar Area4. Fly to Next Radar Area

Wind Wind DirectionDirection

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

5a. Over-fly Landing Spot5a. Over-fly Landing Spot

5. Choose Landing Spot & Fly There5. Choose Landing Spot & Fly There

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

4. Fly to Next Radar Area4. Fly to Next Radar Area

Wind Wind DirectionDirection

5b. Turn to Downwind Leg5b. Turn to Downwind Leg

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

5a. Over-fly Landing Spot5a. Over-fly Landing Spot

5. Choose Landing Spot & Fly There5. Choose Landing Spot & Fly There

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

4. Fly to Next Radar Area4. Fly to Next Radar Area

Wind Wind DirectionDirection

5c. Redefine Landing Spot 5c. Redefine Landing Spot (Downwind Leg)(Downwind Leg)

5b. Turn to Downwind Leg5b. Turn to Downwind Leg

AA

AA

1. Circle1. Circle

2. Fly to Predicted Radar Area2. Fly to Predicted Radar Area

5a. Over-fly Landing Spot5a. Over-fly Landing Spot

5. Choose Landing Spot & Fly There5. Choose Landing Spot & Fly There

3. Fly Predicted Radar Area3. Fly Predicted Radar Area

4. Fly to Next Radar Area4. Fly to Next Radar Area

Wind Wind DirectionDirection

5c. Redefine Landing Spot 5c. Redefine Landing Spot (Downwind Leg)(Downwind Leg)

5b. Turn to Downwind Leg5b. Turn to Downwind Leg5d. Land on Spot5d. Land on Spot(Final Approach)(Final Approach)

AA

AA

Science Goals & ObjectivesScience Goals & Objectives

WaterWater Reduced gasesReduced gases Temperature anomaliesTemperature anomalies BiomineralsBiominerals OutcropsOutcrops ShapeShape Color and patternColor and pattern TextureTexture

Rover Phase - Site refinementRover Phase - Site refinement(Imaging)(Imaging)

Science Goals & ObjectivesScience Goals & Objectives

Mineral grains Mineral grains Soil propertiesSoil properties MicrotexturesMicrotextures BiomineralsBiominerals Biofabrics Biofabrics MicrofossilsMicrofossils Organic compoundsOrganic compounds Organisms or partsOrganisms or parts

Rover Phase - MicroanalysisRover Phase - Microanalysis(Microscopy, Spectroscopy)(Microscopy, Spectroscopy)

Mother GooseMother GooseRight ArmRight Arm

Scoop & ClawScoop & Claw

Mother GooseMother GooseRight ArmRight Arm

Mother GooseMother GooseLeft ArmLeft Arm

Mother GooseMother GooseLeft ArmLeft Arm

Various SensorsVarious Sensors

Science Goals & ObjectivesScience Goals & Objectives

WaterWater Reduced gasesReduced gases Mineral & BiomineralsMineral & Biominerals OutcropsOutcrops ShapeShape Color and patternColor and pattern TextureTexture

Gosling Phase - SeekingGosling Phase - Seeking(Imaging, Sensing)(Imaging, Sensing)

Education and OutreachEducation and Outreach K-2 – K-2 – The Mother Goose SocietyThe Mother Goose Society, coordinated reading program, coordinated reading program

K-6 – K-6 – Adopt-a-GoslingAdopt-a-Gosling Science Modules Science Modules

7-12 – 7-12 – Make Your Own GoslingMake Your Own Gosling Robotics Module Robotics Module

Undergraduate/Graduate Student Dedicated Data TeamsUndergraduate/Graduate Student Dedicated Data Teams

User-friendly biomimetic mission “persona”User-friendly biomimetic mission “persona”

Education and Outreach activities begin with mission startEducation and Outreach activities begin with mission start

Field Guide to Unknown OrganismsField Guide to Unknown Organisms project proposal project proposal

As For the Future . . .As For the Future . . .

Thank You!Thank You!

gus@open.k12.or.us - pboston@complex.orggus@open.k12.or.us - pboston@complex.org