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Sudeshna Devi

P.Jyothi

By:

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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.