Surface Operations Analyses for Lunar Missions

Nayar, Hari; Balaram, Bob; Cameron, Jonathan; DiCicco, M.; Howard, Thomas M.; Jain, Abhinandan; Kuwata, Yoshi; Lim, Christopher; Mukherjee, Rudra; Myint, Steven; Palkovic, Alex; Pomerantz, Marc; Wall, S. D.

doi:10.2514/6.2010-8831

Cited by 3 publications

(6 citation statements)

References 9 publications

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“…Total power consumed is the sum of the energy consumed to operate on-board systems and the driving load due to the motion of the vehicle. Driving load is the energy needed to overcome rolling resistance of the wheels in contact with the ground and the energy needed to climb slopes [1]. A surplus energy in the energy balance equation charges the on-board battery and a net loss drains the battery.…”

Section: Event Descriptionmentioning

confidence: 99%

“…Path planners may be necessary to avoid small hazards not visible in KML editing programs. The PathPlanRoute LSOS KML Event takes the sequence of coordinates and applies the path planning technique described in [1] to generate a more detailed route considering the high-fidelity terrain model used in LSOS. Route path planning is performed during finite state machine construction and currently does not react to changes in the environment.…”

Section: Event Descriptionmentioning

confidence: 99%

“…A synthetic lunar terrain that applied a terrain enhancement technique to a filtered version of the LOLA terrain [1] was used for the experiment to approximate a complex lunar surface. An example mission plan ( Figure 5) was composed by defining a multi-coordinate route and adding several solar panel recharge events along the traverse.…”

Section: Example Lunar Traverse Simulationmentioning

confidence: 99%

“…The Lunar Surface Operations Simulator (LSOS) (Figure 1) has been developed for simulation of rovers, habitats, communication, and power assets in Lunar and Lunar-analog environments [1]. The tool has been used to perform power analyses, path traversability, task durations, lighting analyses, and line-of-sight communication between vehicles, habitats, and the Earth.…”

Section: Introductionmentioning

confidence: 99%

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A KML interface for dynamics simulation of robotic planetary exploration

Howard

Cameron

Myint

et al. 2011

2011 Aerospace Conference

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Abstract-Efficient exploration of the Moon, Mars, and other celestial bodies will require careful coordination between assets in human-robot teams. Such complexity requires mission planning tools to accurately simulate resource consumption, communications, and maneuverability/traversability for multiple vehicles throughout proposed expeditions. This paper presents a Keyhole Markup Language (KML) interface for simulation of complex robotic vehicle missions with the Lunar Surface Operations Simulator (LSOS), a dynamics-based rover simulator based on the Rover Analysis, Modeling, and Simulation (ROAMS) software. This technique outlines simple Schemas that describe complex events in a KML file and replaces manual simulation script construction. Several experiments and simulation studies that utilized this method are presented.

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Section: Event Descriptionmentioning

confidence: 99%

Section: Event Descriptionmentioning

confidence: 99%

Section: Example Lunar Traverse Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A KML interface for dynamics simulation of robotic planetary exploration

Howard

Cameron

Myint

et al. 2011

2011 Aerospace Conference

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“…These missions require the development and use of closedloop simulations for the space platforms and the planetary environments. These simulations can involve entry, descent, landing (EDL) [1] and rover traverses over rough terrain scenarios [2]. The simulations are used for, among other things, landing site selection, science planning, and outreach.…”

Section: Introductionmentioning

confidence: 99%

Large Terrain Modeling and Visualization for Planets

Myint

Jain

Cameron

et al. 2011

2011 IEEE Fourth International Conference on Space Mission Challenges for Information Technology

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Abstract-Physics-based simulations are actively used in the design, testing, and operations phases of surface and nearsurface planetary space missions. One of the challenges in realtime simulations is the ability to handle large multi-resolution terrain data sets within models as well as for visualization. In this paper, we describe special techniques that we have developed for visualization, paging, and data storage for dealing with these large data sets. The visualization technique uses a real-time GPU-based continuous level-of-detail technique that delivers multiple frames a second performance even for planetary scale terrain model sizes.Figure 1: A Mars data set displayed using a continuous level of detail technique. The mesh grid overlaid on the planet, shows the underlying levels of detail.

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Field Applications for Advanced Robotics

Nayar

2015

All Days

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Applications of advanced robotics systems have grown over the past couple of decades in a wide range of industries. These include deployments in the space, military, manufacturing, mining, agriculture, emergency-response, oil and gas, transportation and many other sectors. Innovations in materials, sensors, actuators, mechanical design, computing hardware, software architectures, modeling and simulation, control algorithms, motion planning, machine perception, artificial intelligence and machine learning have all contributed to the highly capable and reliable robotics systems available today. At NASA's Jet Propulsion Laboratory (JPL), robots that integrate technologies from all these disciplines are being developed for a variety of space and terrestrial applications. This paper will give an overview of some of the state-of-the-art technologies being developed at JPL and describe potential applications for them in the oil and gas industry. Robotics skills and expertise at JPL are broadly categorized by discipline into the general areas of mechanical & electrical hardware development, modeling & simulation, mobility systems, manipulation & sampling systems, computer vision & perception, estimation & control, and operations. Through the life cycle of a robotics project, these skills are drawn on, usually with hardware, embedded systems and modeling and simulation development emphasized in the early stages and transitioning to advanced control, behavior and intelligence development at the later stages. Integration of these capabilities into robotics systems has resulted in a number of cutting-edge applications in planetary exploration, in-space servicing, surgery, ground, marine and aerial vehicles, and search & rescue. Areas in the offshore industry where these technologies could be applied include surveillance, inspection and maintenance of offshore surface and underwater facilities, automation of drilling, and production processes, safety and security monitoring and spill monitoring and cleanup. The benefits to be gained in developing robotics systems for oil and gas applications include reduced exposure of human operators to hazardous conditions, improved precision & reliability, and reduced cost. Current robotics technology is sufficiently mature for near-term applications in surveillance, inspection and maintenance operations for facilities and sub-sea systems. More sophisticated systems could be used in the future for challenging applications like autonomous well intervention, pipe inspection, and deepwater maintenance and repair. Potential oil and gas applications for surveillance and inspection of facilities, subsea infrastructure and pipelines are illustrated.

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Surface Operations Analyses for Lunar Missions

Cited by 3 publications

References 9 publications

A KML interface for dynamics simulation of robotic planetary exploration

A KML interface for dynamics simulation of robotic planetary exploration

Large Terrain Modeling and Visualization for Planets

Field Applications for Advanced Robotics

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