1. A Design Concept for a Robotic Lunar Regolith Harvesting System Stanford Lunar Regolith Excavation Presentation Authors: Matthew Maniscalco, Nicolas Lee, Nathan Salowitz, Forrest Hetherington, Elizabeth Grote, Shandor Dektor, and Professor Robert Twiggs ICRA '07 Space Robotics Workshop April 14, 2007, Rome, Italy

2. Presentation Outline Motivation for Robotic Regolith Harvesting Lunar Environment Robotic System Requirements –Tasks –Constraints System Concept –Modularity –Semi-Autonomous Control System –Supporting Infrastructure http://universe-review.ca/I14-13-Moonbase.jpg

3. Motivation for Robotic Regolith Harvesting Establish a permanent moon base –Robotic preparation of station and site –In-situ resource utilization (ISRU) “Never send a human to do a robot’s job” Save money Reduce risk http://universe-review.ca/I14-13-Moonbase.jpg

4. Lunar Environment Radiation –Lunar radiation environment consists of solar wind, solar flares, and cosmic rays –Destructive for both humans and machinery Composition of regolith –Oxides of: Si, Fe, Al, Ca, Mg, Ti, Na, Cr, Mn, K, P, and S Uses/products from regolith –Oxygen –Building materials –Helium-3 –Ultimately more complex products Solar panels, computer chips, fiberglass www.moonminer.com/MOONDUST-ON-BLACK-RSC.JPG

5. Lunar Environment Adverse regolith characteristics – dust –Fine –Sharp –Electrostatically attracted http://www.gc.maricopa.edu/earthsci/imagearchive/Coralpnk1.JPG http://www.astro.virginia.edu/class/oconnell/astr121/moondust.html

6. Robotic System Constraints Dust Migration Anthropogenic –Launches and landings –Construction –Regolith excavation Natural –Terminator – Day night ion charging –Meteor impacts http://vesuvius.jsc.nasa.gov/er/seh/sei52.GIF

7. Robotic System Requirements Tasks –Construction –Harvesting of Regolith Constraints –Radiation Protection –Dust Mitigation –Operational Efficiency http://ares.jsc.nasa.gov/HumanExplore/Exploration/EXLibrary/DOCS/Images/EIC033-2.GIF

8. Robotic System Tasks Construction Assembly tasks Radiation protection –Bury manned structures –Robotics reduce EVA trips/time Dust mitigation –Reduced EVA’s –Constant Cleaning Landing and launch port Solar collection stations Rover repair station Cleaning systems (electrostatic, ultrasonic, physical sweepers, fluids) http://www.affordablespaceflight.com/moonbase.gif

9. Robotic System Tasks Harvesting Regolith Harvesting tasks –Clean –Clear –Dig –Transport http://www.psrd.hawaii.edu/WebImg/lunox.gif

10. Robotic System Constraints Radiation Protection Radiation hardened electronics Robust and simple software –Suitable for rad hard (slower) processors –Failures easily detected and corrected

11. Robotic System Constraints Dust Mitigation Four level approach –Prevention –Containment –Equipment Protection –Durable Design http://nssdc.gsfc.nasa.gov/planetary/lunar/images/as11_40_5878.jpg

12. Robotic System Constraints Operational Efficiency Problems –Specific cost of launch –Different rates of wear on equipment –Downtime for repair and recharge Solution –Modularity Less total equipment Replace worn parts Operate during repair & recharge http://www.nasa.gov/images/content/149768main_calv_launch_330.jpg

13. The System Concept Modularity –The Core Platform –The Suite of Modules Semi-Autonomous Control System Supporting Infrastructure

14. The System Concept Modularity Flexibility of 3-point PTO for tractors –Maximizes functions performed by mass Worn out parts can easily be replaced –Minimizes downtime for part repair –Allows full use of parts with different lifespans Swappable batteries –No recharge downtime for rovers

15. The System Concept The Core Platform Power system, electronics, control, data handling, and communication

16. The System Concept The Core Platform Interface: 3-points and wiring

17. The System Concept The Suite of Modules Blade Actuator Module (BAM) - Bulldozer Regolith Transportation Module (RTM) - Truck Integrated Conveyor Module (ICM) - Excavator –Rotating Wheel Attachment (RWA) - Wheel digger –Rotating Sweeper Attachment (RSA) - Power broom Articulated Digging Module (ADM) - Backhoe Articulated Loading Module (ALM) - Loader

18. The System Concept The Suite of Modules Blade Actuator Module (BAM) - Bulldozer

19. The System Concept The Suite of Modules Regolith Transportation Module (RTM) - Truck

20. The System Concept The Suite of Modules Integrated Conveyor Module (ICM) - Excavator

21. The System Concept The Suite of Modules Integrated Conveyor Module (ICM) - Excavator –Rotating Wheel Attachment (RWA) - Wheel digger –Rotating Sweeper Attachment (RSA) - Power broom

22. The System Concept The Suite of Modules Articulated Digging Module (ADM) - Backhoe

23. The System Concept The Suite of Modules Articulated Loading Module (ALM) - Loader

24. The System Concept Control System Machine tool style task assignments –High level thinking and analysis done elsewhere, CNC script sent robots. Semi-autonomy –Advantages over haptic, force- feedback –Advantages over fully autonomous http://www.belmont.k12.ca.us/ralston/programs/itech/SpaceSettlement/spaceresvol4/images/humanfig19.JPG

25. Command Script Scripted Task Completed Sensor Data Acquired Obstruction Operator Analysis No Interference Begin Excavation Process The System Concept Control System

26. The System Concept Supporting Infrastructure Solar Recharging Station Repair/Reassignment Shop Regolith Processing Facility –Conveyor system Human Habitat The Port – landing and launch http://www.hardyart.demon.co.uk/webimage/advbase.jpg

27. The System Concept Supporting Infrastructure Lower Dust Tolerance Higher Dust Tolerance Geographic Separation The Port Habitat Solar Station Repair Shop Regolith Processing Facility Regolith Excavation and Conveyor Area

28. Conclusion Modular, Semi-Autonomous System –Lowers cost –Increases power and mass efficiency –Increases versatility –Reduces human exposure to dust and radiation –Harvests resources and frees astronauts for less mundane tasks http://www.thespacereview.com/archive/93a.jpg

29. Credits Thanks to: SSDL, Stellar Solutions, Pumpkin Inc., Stanford on the Moon, and NASA for public domain images Additional Student Contributors: James Mack, Dave Johnson, Katie Davis, Geoffrey Bower, Jordan McRae http://icb.nasa.gov/2003_Annual_Report/lunar_rover_II.jpg

30. The End