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Robotic Deployment ofExtraterrestrial Seismic Networks
Daniel Leidner, Selma Musić, and Armin Wedler
German Aerospace Center (DLR), Institute of Robotics and Mechatronics
Noordwijk, 12.05.2015
DLR.de • Chart 2 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Motivation
Manual deployment of extraterrestrial seismic networks
● Expensive
● Dangerous
● And error-prone
DLR.de • Chart 3 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Motivation
Manual deployment of extraterrestrial seismic networks
● Expensive
● Dangerous
● And error-prone
Recent LRO Images of the ALSEP network on Moon revealed signi-ficant misalignment up to 40 m (Czeluschke et. al. 2015)
A. Czeluschke, M. Knapmeyer, J. Oberst, and I. Haase,“New Lunar Depth Profiles Derived From LROC-based
Coordinates of Apollo 17 Seismic Equipment”, In Proc. of the European Lunar Symposium, May 2015
DLR.de • Chart 4 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
The ROBEX Field Mission (scheduled for 2017)
The ROBEX Alliance Field Mission
● Simulate extraterrestrial soil conditions
● in a volcanic environment
● to deploy a seismic network
DLR.de • Chart 5 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
The ROBEX Field Mission (scheduled for 2017)
Isola di Vulcano
DLR.de • Chart 6 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Robotic geophone deployment
Considering geological aspects
● analytically,
● numerically.
● and empirically,.
w.r.t. robotic control strategies
● Cartesian impedance control
● with feed-forward force term.
Experimental validation under laboratory conditions
DLR.de • Chart 7 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Geophones in Seismic Networks
Requirements:
● Full spike insertion
● minimized reaction force
● Tilting angle < 7°
DLR.de • Chart 8 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Robot Control for Contact Situations
Cartesian Impedance
● Suitable for compliant environment interaction
– unknown environment
– e.g. soil or regolith
● Cartesian Impedance control action for the regulation task (quasi static):
C. Ott, “Cartesian impedance control of redundant and flexible-joint robots”, Vol. 49. Springer Science & Business Media, 2008
DLR.de • Chart 9 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Robot Control for Contact Situations (cont.)
Soil Insertion Depth with Cartesian Impedance Control
DLR.de • Chart 10 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Robot Control for Contact Situations (cont.)
Soil Insertion Depth with Cartesian Impedance Control
inappropriate
DLR.de • Chart 11 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Robot Control for Contact Situations (cont.)
Feed-Forward Force Term is required
● Dynamical equation of the impedance control action
DLR.de • Chart 12 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Robot Control for Contact Situations (cont.)
Feed-Forward Force Term is required
● Dynamical equation of the impedance control action
Force exerted by the imp. controller
External forces of the environment
Desired feed-forward force
DLR.de • Chart 13 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
The Fundamental Earth Moving Equation (FEME)
● Analytical approach
● 2D model of a blade cutting into soil
Tool-Soil Interaction: Estimating Soil Resistance Force 1
Soil Weight
CohesionSurcharge
Adhesion
Reece, A. R. "The Fundamental Equation of Earth-Moving Mechanics." Proceedings of the Institution of Mechanical Engineers, Conference Proceedings. Vol. 179. No. 6. SAGE Publications, 1964.
DLR.de • Chart 14 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
The Fundamental Earth Moving Equation (FEME)
Tool-Soil Interaction: Estimating Soil Resistance Force 1
DLR.de • Chart 15 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Tool-Soil Interaction: Estimating Soil Resistance Force 2
Discrete Element Method (DEM)
● Numerical Approach
● Time Discrete Simulation
● Open source Yade-DEM
Kozicki, J., and F. V. Donzé. "Yade-open DEM: An open-source software using a discrete element method to simulate granular material." Engineering Computations pp. 786-805, 2009
DLR.de • Chart 16 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Tool-Soil Interaction: Estimating Soil Resistance Force 2
Discrete Element Method (DEM)
DLR.de • Chart 17 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Tool-Soil Interaction: Estimating Soil Resistance Force 3
Empirical Approach
● Inserting the geophone with a stiff position controller
● Measuring the force, and estimating the soil model
DLR.de • Chart 18 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Tool-Soil Interaction: Estimating Soil Resistance Force 3
● Relating the FEME Approach to the modeled soil stiffness
● Estimation of C1 and C2 with the least squares method
DLR.de • Chart 19 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Experimental Evaluation
● Insertion of a geophone dummy
● Three different soil samples:
– Basalt Rocks (22 – 8 mm)
– Clay Particles (8 – 2 mm)
– Martian Soil Simulant (< 2 mm)
● Three different control strategies:
– State Space
– Cart. Impedance Ctrl.
– Cart. Impedance Ctrl. w/ fd
DLR.de • Chart 20 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Experimental Evaluation
Depth deviation plots
DLR.de • Chart 21 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Experimental Evaluation
Soil reaction force plots
DLR.de • Chart 22 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Toward Isola di Volcano (Future Work)
● Development of a docking interface for more robust sensor deployment
● Executing the procedure with the LRU rover
● The mission:
– Automated deployment of a full seismic network consisting of
– geophones, seismometers and a seismic source
– Validating the deployment with real geologic experiments
DLR.de • Chart 23 > Robotic Deployment of Extraterrestrial Seismic Networks > Daniel Leidner • Noordwijk > May 12, 2015
Conclusion
Autonomous deployment of a geophone
● Utilizing a Cart. Imp. controller w/ fd
Estimation of the feed-forward force
● Analytically (FEME method)
● Numerically (Yade-DEM simulation)
● Empirically with the robot
Laboratory validation
● Three different soil samples