space & planetary robotics group ral 28 th february 2012 robotics & autonomy test facility...
TRANSCRIPT
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Robotics & Autonomy Test Facility Workshop
Prof. Dave Barnes
Head of Space RoboticsDepartment of Computer Science
Aberystwyth University
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
AU Planetary Exploration FacilitiesAU Planetary Exploration Facilities
PATLab &rover on Marssoil simulant
Aerobot
Idris
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012 3
AU PanCam Emulator (AUPE-1)
Right WAC
Left WAC
HRC
Filterwheel
Filterwheel
Lightweightoptical bench
Mount
Pan/tiltunit
Multi-spectral cameras, AUPE-2 in development (14-bit, GigE, improved optics)
Radiometric &colourimetric
calibration facility
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012 4
Bridget the rover traversingnorthwards at Clarach Bay (July 2010)
AUPE and Field Trials – Clarach Bay, UK
Bridget on her way back to the ‘mission control centre’
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Clarach Bay Science Assessment
CourtesyDerek Pullan& EU FP7PRoViScoutProject
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012 6
AU Idris rover undergoinghardware integrationtrials at AU.
AUPE and Field Trials – Local and Tenerife
Bridget in Tenerife withAUPE (PRoVisG)
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
ESA & CNES conducted a Remote Experiment on 23rd of November 2011.
Image courtesyESA/CNES
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012 8
AUPE and Field Trials – AMASE
Artic Mars Analog Svalbard Expedition
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Requires planetary scientists and engineers
Requires good organisation and logistics - not trivial
Health and safety issues
Need to know about the science targets
Need to know about the robotics constraints
Requires ground truth – scientific and engineering!
‘Mars Yards’ and Analogue Field Trails
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Simulation SoftwareOverview
Visualisation
CalibratedRobot Model (ground/air)
+ Kinematics &Dynamics
GIS terrain data +Science Instrument
data
Environment DataCFD + Meteorological +
Radiometric Data
ComputerGraphics
Ray-Tracing +Rendering etc.
DEM
CAD
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Beagle 2 Simulation Capability
Beagle 2 Mars Shadow Prediction Software
Beagle 2 terrain interactionSoftware
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
The camera view has been set to provide a distant view of theExoMars rover. The right image shows the virtual terrain rock
under investigation
The Need For Instrument Simulation
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Example Simulation Results
ExoMarsPanCam
MER
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
‘Particulate’ SimulationUnder Micro-Gravity
Asteroid Sample Collection Simulation:testing capture mechanism forces!
Capture Mechanism
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
FP7 Europlanet TNA1: Planetary Field Analogues Rio Tinto a 100 km long acidic aqueous river environment located in the Huelva province in South West Spain.
Tunisian Chott, located in South West Tunisia is a seasonal lake that is completely dry most of the year.
Ny-Alesund, Svalbard archipelago. Ny-Ålesund is the world's northernmost permanent settlement situated on the island of Spitsbergen in the Svalbard archipelago, only 1,200 km from the North Pole.
Ibn Battuta Centre near Marrakech in Morocco is a desert field facility. This extreme environment is used to test rover, landing systems, instruments dedicated to the Mars exploration and to perform scientific analysis of Mars analogues.
The Kamchatka Peninsula in Siberia Russia is one of four regions in the world with extensive geyser activity allowing a study of the complex inter-relationship between volcanism and landform development, highly relevant to some planetary bodies, whilst the hot springs are also the habitat of diverse microbiology.
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Mars simulation facilities at the Vrije Universiteit, Amsterdam and the Open University UK that can simulate Martian atmospheric conditions.
Mars surface analogue at Aberystwyth University composed of Mars Soil simulant that provides a facility for testing robotic instrumentation for future space missions to Mars to analyse and collect geological samples.
Titan atmosphere and surface simulation chamber at the Open University capable of both reproducing the Titan atmosphere and providing an analogue for the physical and chemical conditions found on its surface.
Suite of Planetary Simulation chambers at the Centre for Astrobiology Research, Madrid, the Deutsches Zentrum für Luft-und Raumfahrt (DLR), Germany and the Instituto Nazonale di Astrofisica – Osservation Astronomico di Capodimonte, Italy designed to study planetary surfaces, atmospheres and space environments that may be used for testing instrumentation for potential future space missions.
Dust impact facility at the Max-Planck-Institute fur Kernphysik, Heidelberg, Germany that allows the investigation of hypervelocity dust impacts onto various materials to explore dust impact onto planetary minerals caused by the interplanetary dust background.
Dusty wind tunnel, University of Aarhus, Denmark which simulates wind driven dust exposure on Mars.
FP7 Europlanet TNA2: Planetary Simulation Facilities
Space & Planetary Robotics GroupSpace & Planetary Robotics GroupRAL 28RAL 28thth February 2012 February 2012
Future Required Capabilities• Extensive test programmes make space missions more robust• Mars yards, indoor facilities and analogue sites are required [New Specialist Infrastructure?]• Ideally a central facility could advise on most suitable test
regime, campaign [Available UK & European Expertise?]• A central facility could provide the logistics for analogue
site campaigns• Simulation can identify problems at an early design stage• Ideally a central facility could provide expertise on simulation techniques [Available UK & European Expertise?]• A central facility could bring together researchers and institutions to develop future simulators (e.g. simulators integrated with ESA Concurrent Design Facility [Required Research?]• ESA at Harwell could be such a central facility for test and
simulation supported through ISIC ‘Hub & Spoke’ Model