From the Moon to Mars Base Camp: An Updated Architecture that Builds on Artemis

Edwards, Christopher G.; Cichan, Timothy

doi:10.2514/6.2021-4137

Cited by 6 publications

(3 citation statements)

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“…However, the operator could also deduce whether the rover is sinking by combining the information from the GUI, e.g., knowing pitch and roll angles and stuck status, as described in the video. 1 The following paragraphs provide details of the information displayed in the GUI:…”

Section: A His Graphical User Interfacementioning

confidence: 99%

“…HIS's main objective is to reduce rover's mobility risks in a teleoperation scenario by providing assistance to the operator. Possible scenarios include teleoperation not only from Earth, but also from the future MoonBase or Lunar Gateway [1], [8]. Each location has to deal with different communication delays due to distance to the lunar surface, but the MoonBase and Lunar Gateway will allow near real-time teleoperations [8], which is beneficial for telorobotics.…”

Section: B Scenario and Experimental Setupmentioning

confidence: 99%

“…R OBOTS are the preferred choice for exploring unknown and dangerous space environments. In the last years, their role has increased dramatically since humans are betting on more ambitious space projects, such as the base camps on the Moon or habitats with humans on Mars [1]. These plans require prior preparation and research of the environment.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Enhancing Rover Teleoperation on the Moon With Proprioceptive Sensors and Machine Learning Techniques

Coloma

Martinez

Yalçin

et al. 2022

IEEE Robot. Autom. Lett.

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Geological formations, environmental conditions, and soil mechanics frequently generate undesired effects on rovers' mobility, such as slippage or sinkage. Underestimating these undesired effects may compromise the rovers' operation and lead to a premature end of the mission. Minimizing mobility risks becomes a priority for colonising the Moon and Mars. However, addressing this challenge cannot be treated equally for every celestial body since the control strategies may differ; e.g. the low latency Earth-Moon communication allows constant monitoring and controls, something not feasible on Mars. This letter proposes a Hazard Information System (HIS) that estimates the rover's mobility risks (e.g. slippage) using proprioceptive sensors and Machine Learning (supervised and unsupervised). A Graphical User Interface was created to assist human-teleoperation tasks by presenting mobility risk indicators. The system has been developed and evaluated in the lunar analogue facility (LunaLab) at the University of Luxembourg. A real rover and eight participants were part of the experiments. Results demonstrate the benefits of the HIS in the decision-making processes of the operator's response to overcome hazardous situations.

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Section: A His Graphical User Interfacementioning

confidence: 99%