Enables future missions such as autonomous geology, life seeking and polar exploration ROBOTIC...

Enables future missions such as autonomous geology, life seeking and polar exploration

ROBOTIC SEARCH FOR ANTARCTIC METEORITES

NASA and CARNEGIE MELLON UNIVERSITY http://www.ri.cmu.edu/~meteorobot2000

Robotic Antarctic Meteorite Search Q1-Q2 FY00

• Nomad found and classified 5 indigenous meteorites

• Demonstrated autonomous search and in situ classification of rock samples

• Validated Science Autonomy

– Search architecture

– Multi-sensor automatic classification with learning

– Interwoven sensing, driving, and manipulation

76º S, 157º E

Autonomous Meteorite Search and In Situ Classification

Nomad finds meteorite Acquires hi-res image Deploys science arm

Places spectrometer

Acquires spectrum and classifies

Human collects meteorite

January 22, 2000375 m, 157 min8 rocks classified

10 m

Meteorite

Logs meteorite location

Broadcasts find

Science Autonomy Architecture

Framegrabber

PTU Lens Controller

Motion Controller

DAQCard

Spectrometer

Sensor Manager

Target Acquisition

Manager

NavigationSystem / Obstacle

Avoidance

Ph

ysic

al S

en

sor

Layer

Acti

on

C

oord

inati

on

Layer

Pla

nn

ing

Layer

High-ResCamera Sensor Driver

Manipulator Sensor Driver

MissionPlanner

TargetClassifier

NavigationPlanner

TargetDatabase

Autonomous Search and Target Acquisition

Blue / Green + BlueIn

tensi

ty

Ice & Snow

Rock

Robot

Rock SegmentationPatterned Coverage Search

Autonomous Classification Technology

ColorSize Shape

Hi-res Color Image

10% 20%

Definitely a rock

MeteoriteUncertain0% 100%...

Bayes-based Classifier: Confidence Estimator

Reflection Spectrum

Spectral Feature

Spectral Feature

First find – Jan. 22, 2000

Second find – Jan. 25, 2000 Third find – Jan. 26, 2000

Nomad’s Meteorite Finds - 1

Fourth find – Jan. 27, 2000 Fifth find – Jan. 28, 2000

Sixth find (probably native rock) – Jan. 28, 2000

Seventh find (probably native rock) – Jan. 28, 2000

Nomad’s Meteorite Finds - 2

Meteorite Classification Spectra

Wavelength [nm]

Reflect

an

ce 12097 (misclassified chondrite)

12322 (achondrite)

12372 (chondrite)

12387, 11331, 12067 (chondrites)

• # sample spectra taken during expedition: over 200 (15 meteorite spectra)

• # sample images taken during expedition: over 450

• # meteorites correctly classified: 5

• Level of autonomy in demonstrations

– Human intervention required for 9 out of 42 successful arm deployments (21%)

– Human intervention required for 1 out of 57 successful camera deployments (1.8%)

– Final visual servoing steps required manually lowering wrist to rock due to inoperative touch probe and varying rock sizes

Results

• Robotic search relevant to life seeking, autonomous geology and discovering the unexpected

• Robot as seeker and interpreter beyond data collector, relevant to deep space, far side and autonomous exploration

• Polar mission archetype relevant to Mars, Mercury, the Moon and Earth poles

• Meteorite search for extraterrestrial material on Earth, relevant to NASA planetary interests

Significance