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8/2/2019 space ppt (1)
1/14
Sudeshna Devi
P.Jyothi
By:
8/2/2019 space ppt (1)
2/14
CONTENTS
INTRODUCTION
MARS EXPLORATION ROVER
WHAT IS SPACE ROBOTICS
FUNDAMENTAL RESEARCHCHALLENGES
APPLICATIONS
FUTURE DIRECTIONS
CONCLUSION
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What is Space Robotics?
Space Robotics is thedevelopment of machinesfor the space environmentthat perform Exploration,
or to Assemble/Construct,Maintain, or Service otherhardware in Space.
Humans generally controlspace robots locally (e.g.
Space Shuttlerobotic arm)or from a great distance(e.g. Mars ExplorationRovers)
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Space robots are important to our overall abilityto operate in space because they can performtasks less expensively or on an acceleratedschedule, with less risk and occasionally with
improved performance over humans doing thesame tasks. They operate for long durations, oftenasleep for long periods before their operationalmission begins. They can be sent into situationsthat are so risky that humans would not beallowed to go.
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WHAT IS THE NEED OF SPACE ROBOTS?
Repetitive tasks that robots can do24/7.
Robots never get sick or needtime off.
Robots can do tasks considered
too dangerous for humans. Robots can operate equipment to
much higher precision thanhumans.
May be able to perform tasks thatare impossible for humans .
Perform tasks less expensively,sooner, and/or with less risk ormore delicate "touch" than withhuman astronauts
Go where people cant go (withinreason), and for long durationsSpace is a hazardous environmentAccess to space is expensive
Robots don't need to return toEarth (which can be very costly)
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MARS EXPLORATION ROVER
Two "robotic field
geologists" have explored
opposite sides of Mars since
Jan '04, traversing many
kilometers each,
taking over 80,000 images
and 1.5 million spectra from
multiple instruments, on
both unprepared andprepared rock samples,
commanded less than once
per day.
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FUNDAMENTAL RESEARCH
CHALLENGES
Mobility: Finding accurateanswers to the questions:Wheream I (in some useful coordinatesystem)?
Where is the current "goal point(in the same coordinate system)?
Where are any obstacles orhazards, including hazards thatmay not be visible (e.g. soft sand)
How can I know where I amrelative to everything else asmove
Environments
operating despiteintense heat or cold, ionizingradiation, hard vacuum, corrosiveatmospheres, very fine dust, etc
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FUNDAMENTAL RESEARCH
CHALLENGES Manipulation: How can I
senseand impart forces thatare sufficient but not excessiveto accomplish the task? Howcan I move bothquickly
enough to assist humanastronauts but not pose a riskto them?
Time Delay: How to endowthe space robot with sufficientsensing,perception, and
reasoning to work safely andproductively for a period atleast as great as the speed-oflight round trip for humanupdate?
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PRINCIPLES OF SPACE ROBOTICS
A mechanical structure,
such as a wheeled platform,
arm, or other construction,
capable of interacting with
its environment.
Sensors to sense the
environment and give useful
feedback to the device.
Systems to process sensoryinput in the context of the
current situation and instruct
the device to perform
actions in response to thesituation.
Robonaut, developed by the
Johnson Space Center, is used to study
the use of anthropomorphic astronaut
equivalent upper body sensing and
manipulation as applied to space tasks
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How? What technology is needed?
Mobility: Need to plan paths that
move quickly and accurately from A
to B without collisions or putting
robot or worksite elements at risk.
Manipulation arms and hands:
Needto contact worksite elementssafely,quickly, and accurately without
imparting excessive forces beyond
those needed for the task.
Time Delay: The speed-of-light delay
between humans on Earth and the
robot is seconds in the Earth-moon
vicinity and ~30 minutes to Mars.
Extreme Environments: Radiation,
temperature, very fine dust, etc.
Power, communications: difficult
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TECHNOLOGY CHALLENGES
Perception and computer
vision Robot health monitoring
Planning, replanning andadaptation
Non-visual feedback to humanoperator (e.g.,
haptic, kinematic)
High DOF systems
Actuation
Sensing
ControlReplication of humandexterity
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APPLICATIONS
ROBOTIC MANIPULATORSsuch devices are proposed
for deployment in space or on planetary surfaces to emulate
human manipulation capabilities; they may be deployed on
free-flyer spacecraft or on-orbit servicing of other spacecraft,
within space vehicles for payload tending, or on planetarylanders or rovers for the acquisition of samples.
ROBOTIC ROVERSsuch devices are proposed for
deployment on planetary surfaces to emulate human mobility
capabilities; they are typically deployed on the surfaces ofterrestrial planets, small bodies of the solar system, planetary
atmospheres (aerobots), or for penetration of ice layers
(cryobots) or liquid layers (hydrobots).
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FUTURE DIRECTIONS
Planetary rovers that can operate many days without
commands, and can approach and analyze science
targets from a substantial distance with only a single
command. Robots that can Assemble/Construct, Maintain, and
Service space hardware using very precise force
control, dexterous hands, despite multi-second time
delay.
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CONCLUSION
Future trends in SpaceRobotics are expected to leadto planetary rovers that canoperate many days withoutcommands, and can approachand analyze science targetsfrom a substantial distancewith only a single command,and robots that canassemble/construct, maintain,and service space hardwareusing very precise force
control, dexterous hands,despite multi-second timedelay.
For furthurdevelopment we engineersshould do researchs on this
space robotics.