1. Dr. Jennifer Rochlis

2. Overview Build a technology testbed for future rover concepts Develop and demonstrate operations and mission concepts

3. Overview Transport 2 crew members Traverse 10 degree slopes (30 degree Mars equivalent) and 1 ft tall rocks Provide up to a 6 mile drive capability

4. Driving On-board driving by 1 or 2 suited crewmembers Off-board driving (Teleoperation ) using panoramic camera and joystick Multiple listener stations like Mission Control

5. Autonomous System Stereo tracking, object following, waypoint navigation and obstacle avoidance Automated sequencing of frequent/repetitious actions Control via hand signals & Voice recognition

6. Audience Poll The surface speed record on the Moon is 10.56 miles per hour set by the Lunar Rover What is the top travel speed for SCOUT?

7. Audience Poll The Lunar Rover averaged 8mph SCOUT travels at a top speed of: A: 10 mph (on pavement) B: 13 mph C: 8 mph (on grass) D: 17 mph

8. Subsystems

9. Wireless Router Access Point Structure Battery System Liquid Air Recharge Dewar DCS EVA Lights GPS Antenna EVA Camera Drive Motor Steering System Embedded GPS/INS Laser

10. Drive/Suspension/Steering Four wheel drive - motors, gearboxes & fail- safe brakes in each Front, rear or all-wheel steer Four wheel independent adjustable suspension

11. Crew Accommodations Crew Interfaces on vehicle (seats/hand controller, etc.) Ingress aids (hand holds/grab bar/step bar) Mark III and I-Suit with suit recharge Increase ergonomic adjustability

12. Audience Poll What do scientists & engineers at NASA believe to be the #1 environmental challenge for long duration missions to the Moon and Mars?

13. Scientists & engineers at NASA believe that #1 environmental challenge for long duration Moon/Mars missions will be: Audience Poll A: Temperature B: Dust C: Radiation

14. Navigation System Lander planetary location surveyed by DSN. (Use GPS solution as known location for field test.) Initial rover deploy location wrt lander well known Range and range-rate data provided by comm system relative to lander. 10 km operational range Navigated path stored on lander and rover for retracing IMU’s onboard rover propagate path between comm measurement updates

15. Navigation System

16. Display and Control System Enables on-board and teleoperated driving and monitoring Provides vehicle and environmental status information & commanding

17. Display and Control System (cont.) LabView software running on rugged touchscreen & hand-held computers Designed to be operated by suited crewmember

18. Raw Image 360 deg 180 deg

19. Autonomy & Onboard Software Point to point navigation (track to a fixed point) Human following (continuous tracking to a moving point) Obstacle avoidance Pose gathering, recording, monitoring (waypoints, astronaut, vehicle ground track) Data management, recording

20. Stereo Tracking & Following Enables SCOUT to track a person (by pointing cameras at them), follow the target around (by driving towards them) & receive commands based on gestures

21. Stereo Tracking & Following (cont.) Use combination of gestures, recognized by stereo vision, & speech so a person off-board can command SCOUT Track the closest human for safety Upgrade to higher resolution cameras to increase range over which smaller objects (arms) can be tracked

22. Audience Poll SCOUT’s empty weight is 1800lbs. What was the approximate empty weight of the Lunar Rover?

23. LRV's gross operational weight was 1535 pounds with crew, equipment, and payload. But its empty weight was... Audience Poll A: 1000 lbs B: 1500 lbs C: 500 lbs D: 2000 lbs

24. Data Communications Vehicle on-board COTS LAN connects all vehicle computers to Ethernet backbone 5.8GHz Wireless Video Link to base station (4 mi. range/ 10 Channels) Can set up portable relay points Wireless encryption Ethernet backbone Wireless Ethernet Transceiver EG Laptop EV Laptop ER Laptop DCS EP Laptop Powerplant Controller To and From Base Station Video Camera Wireless Video Transmitter To Base Station

25. Operations –Planned operations testing with the following partners: –Advanced Cockpit Evaluation System (ACES) –Mars Drill –CB crew office (Seismic Sensors) –End of Year Field Test - Meteor Crater