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Three Technologies for Human/Robotic Collaboration at Asteroids

Three Technologies for Human/Robotic Collaboration at Asteroids. Dr. David L. Akin University of Maryland Space Systems Laboratory 301-405-1138 dakin@ssl.umd.edu. Small Camera and Mobility Platform.

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Three Technologies for Human/Robotic Collaboration at Asteroids

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  1. Three Technologies for Human/Robotic Collaboration at Asteroids Dr. David L. Akin University of Maryland Space Systems Laboratory 301-405-1138 dakin@ssl.umd.edu

  2. Small Camera and Mobility Platform • 50-kg freeflyer with dual interchangeable advanced mission packages (AMPs) for multiple tasks • Visual inspection • Science instrument placement (e.g., magnetometer surveys) • Sample selection and collection • 8 hour, 40 m/sec sortie limits • Autonomous docking and resupply with base station • Launched with retrieval spacecraft

  3. SCAMP for Dexterous Applications • AMP with dual dexterous manipulators, vision system • Capable of anchor and instrument placement, sample collection, maintenance tasks • Prototype flight-qualifiable manipulator complete in and test • 80 cm long • 7 DOF with interchangeable end effectors • 5 kg

  4. Astronaut Restraint and Mobility System • Tether cables secured into asteroid surface at disparate locations • Three cables provide restraint and down-force for locomotion • Active tension control and real-time navigation data • Theory developed for adaptive control implementation

  5. ARMS Experimental Verification • Test subject in microgravity (neutral buoyancy) restrained with three constant-force tethers • Verified locomotion on underwater treadmill • Motion capture cameras documented gait • Tests demonstrated basic feasibility of concept

  6. Space Utility Vehicles • Single-person spacecraft for extravehicular activity • Suit helmet and arms provide human dexterity and vision • Robotic manipulators for capture, instrument placement, positioning • Provides rigid structure as protection against shifting aggregate, radiation, MMOD • Free-flight capability in crewed and autonomous/teleoperated modes

  7. ARM-Specific SUV • Launched with robotic retrieval mission • Provides support for crew visit • Dual Orion docking interfaces • Serves as both conventional airlock and suitports • Provides free-flight mobility, EVA support as mini-MMSEV • Capable of robotic exploration and support tasks prior to crew arrival or after departure

  8. For More Information http://www.ssl.umd.edu dakin@ssl.umd.edu

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