Modularly Adaptable Rover and Integrated Control System Mars Society International Conference 2003 – Eugene, Oregon

Overview Modularly adaptable rover –Designed to improve efficiency during Mars EVA Integrated astronaut control system –Simple and natural input device –Able to be used for any task Field testing

What Does an Astronaut Need to Explore Mars? Tools specific to each goal –Geologic, atmospheric, and soil science –Search for water –Search for life Automate and Delegate: Use of robotic assistants to –Increase efficiency –Reduce risk

What Kind of Tools? Examples begin with MER inventory –Cameras –Spectrometers –Rock Grinder Additional equipment would be carried on a Human Mission –Drills –Weather Stations

Why Robotic Assistants? Astronaut’s time will be the most critical resource –Multitude of experiments to perform –Many places to visit Many tasks will involve repetitive procedures –Mapping soil water concentration –General maintenance of other equipment (i.e. dusting off solar panels)

Pertinent Robotic Applications Robots used in industrial automation –Perform simple task repeatedly –Results in greater worker productivity Rovers used to explore caves in Afghanistan –Enter unknown situation without human risk –Smaller size allows access to more places

Mobile Workstation Meet all anticipated needs of astronaut in the field –Carry and use equipment –Provide backup of critical functions Set of standardized rovers and scientific components –Allow greater customization before each EVA –Reduce size needed for backup components

Control Method Requirements Control a variety of devices with a range of control levels –Issue high level commands –Fine control of robotic arms, aiming cameras, driving rovers Integrate into space suit –Not too obtrusive –Easy to access when needed

Requirements Cont. Efficiency considerations –Simplicity and ease of training –No overlap between commands –Multitasking

Our Project Explore Astronaut/Rover interaction –Build modular, expandable rover –Develop computer interface via virtual reality gloves –Test system to refine design

Rover Info Short-range rover for long-range missions –Small enough to piggy-back on an ATV About 2’ by 1.5’ by 1.5’ –Light enough to be picked up Around 50 lb depending on configuration Modules can be added to increase flexibility –Scientific instruments can be interchanged

CAD Renderings (Pictures to be inserted)

Glove Control System Details: Virtual Reality Gloves are used to communicate with computer User’s Hand Gestures are interpreted into commands

Glove data is calibrated to accommodate user’s range of motion Can be used to control any electronic equipment High level control by issuing commands Low level control through direct motor control Continuous control vs. discrete control Both hands can be incorporated for more advanced control Glove Control System, Cont:

Testing Obstacle Course requires: 1. Figure Eight 2. Arcing Turn 3. Reverse 4. Slalom Three Input Devices: Glove Joystick Trackball

Course Results User B has more training than User A Joystick is the fastest method Trackball is significantly slower

Results Analysis Results analyzed in the context of remote operations Joystick is faster, but the glove has other advantages

Further Development taking place this Fall: Complete construction of our second- generation Rover Mounting cameras on Rover to assist in its control and enable autonomous navigation Adding Tools/Instruments to be controlled by Glove for greater Rover functionality

Integrating into MDRS Simulation Designed to be operated in full simulation –VR gloves allow computer control to be enabled and disabled on the fly –All module swapping/equipment connecting will be possible with gloves on

Questions to be Answered “What control interface works best?” “What sort of user feedback is necessary?” “What size/style of rover would be most useful?” “What tools should be on board the rover?” “Is modular swapping in the field feasible?”

Predicted Future Project Expansions After Field Testing VR glove control complimented with voice control, and visual and audio feedback Micro-rovers to perform reconnaissance Long-range, unmanned deployment with use of blimp More advanced analysis equipment allowing for “mobile workstations”

Thank You Questions?