SAILSaR Safe Autonomous Intelligent Landed Sample Return Joseph P. Martin Equinox Interscience

Landing Safely Where the Science Demands Safe Autonomous Intelligent Landed Sample Return (SAILSaR) –Stepwise approach to safe and intelligent landing of autonomous robot craft –Real time analysis and fusion of sensor data with feedback for terminal guidance & landing. Selectable site using aerial or space reconnaissance –Observables-based targeting and steering criteria Landing site selection & navigation –To avoid steep slopes, edges, large rocks, abutments, holes –With specific hazard indicators reducible to steering criteria –Generic control system-for remote sample return applications to, Earth Operations: Prospecting, Field Research, Safety Space Operations: including Moon, Mars, Asteroids, Comets

SAILSaR Approach Investigate and verify aspects of Landing on hostile, rough or uncertain topography. Frequent testing of approaches on local test ranges. Key Concept: Autonomous Control System –LEIF (Landing Enabled by Intelligent Functions) –A generic computer with ample input/output (I/O) –Inputs from all sensor sources — star tracker/nav camera, earth relative doppler, stereo imager, stored picture files, radar –Outputs to all the necessary actuators — thrusters, chute, control surfaces –Software: e.g.: remote agent, stereo image processing provide real-time steering cues for hazard avoidance and intelligent target approach.

SAILSaR Goals Demonstrate lander mission strategies with low cost terrestrial tests. –Drop tests in a parking lot –Drop tests in Utah from airplane or balloon –Drop tests at Devon Island in the Arctic Generate level-of-confidence that multiple landings and sample collection are viable and cost effective. Provide near-term risk assessment for proposed missions. Develop empirical methods for autonomously dealing with chaotic environments and “unexpected” surface conditions.

Landing Enabled by Intelligent Functions (LEIF) Cameras and Ultra-Wideband Transceivers Devices Device Control Module Computer, Memory, I/O From External Sensors To Control External Devices Motors Actuators Thrusters Switched Power Power LEIF Electronics Unit (LEU) Impulse Returns Higher Level System Interface UWB Tx/Rx Camera UWB Tx/Rx Camera LEIF: Senses hazards, objects, science cues, terrain. Controls the robotic system with resident software such as remote agent. Performs navigation, rendezvous, target approach, or avoidance operations autonomously.

Preliminary Autonomous Entry and Landing Ops A.After entry, LEIF flies the Aeroshell toward landing oval by controlling Aeroshell steering vanes. B.Using landmarks, LEIF flies the parachute toward landing target area by controlling parachute steering vents. C.Using 3D Vision and Radar, LEIF flies the lander toward safe landing and close to science target by controlling thrusters and engines. A. C. B.

Preliminary Autonomous Navigation Ops Ø1Ø1 Ø2Ø2 Ø3Ø3 Autonomous Navigation to Mars LEIF Finds the Way! Mars Located vs Star Field Earth Relative Doppler Signal Landmark View Lune View Limb View Autonomous Pre-Entry LEIF Pilots the Way!

SAILSaR Team Equinox Interscience – Project Lead, System Concepts, Optical Systems, Mechanisms Performance Software Associates – Guidance & Control software, Artificial intelligence Environmental Aerosciences Corp. – Thrusters and Thrust Control ITN Energy Systems – Composite Structures Global Solar – Photovoltaics, Power systems Big Ideas/Aerostar – Gravity Offload Balloons Individual Participants – Tom Meyer (BCSP, CU Bioserve) - Strategy, Sensor Interpretations, Student Help – Jeff Hayden (PresciPoint Solutions) - System Concepts, LEIF