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Invasion of the SpelioBots. Semi-Autonomous Robotic Exploration of Martian Caves. Dr. P. Boston & G. Frederick. Dr. Boston could not be Here Because:. Preparing a Grant Proposal Crawling Through a Cave someplace Bug Gazing in the SEM Lab Getting her Daughter ready for School

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Presentation Transcript
slide3

Invasion

of the

SpelioBots

Semi-Autonomous Robotic

Exploration of Martian Caves

Dr. P. Boston & G. Frederick

slide5

Dr. Boston could not

be Here Because:

  • Preparing a Grant Proposal
  • Crawling Through a Cave someplace
  • Bug Gazing in the SEM Lab
  • Getting her Daughter ready for School
  • All of the Above
slide6

What is a Lava Tube?

Image Courtesy Hawaiian Volcano Observatory

ancient martian volcanism
Ancient Martian Volcanism

Image Courtesy The International Mars Society

olympus mons today
Olympus Mons Today

Image Courtesy The International Mars Society

slide11

Mother Goose

P. Boston

J. Martin, T. Meyer

M. Tilden - LANL

B. Sprungman - Space Data Resources Info

G. Frederick - Graphics

Oregon Public Education Network

S. Wojciewicz - Add’l Graphics

slide12

Science Search Strategy

  • Mimic classic human-conducted field science
      • Aerial Recon Phase
      • Walkabout Phase
      • Intensive Investigation Phase
  • Multiple spatial scales
      • Bird’s eye view
      • Scientist’s eye view
      • Microbe’s eye view
  • Multiple data sets
      • Imaging
      • 3 D Microscopy
      • Raman spectroscopy
      • Direct sensing of gases
  • Access to “difficult” sites via microrobotic Goslings
      • Small
      • Autonomously acting
slide13

Aeroshell

Seperation

slide14

Glider

Extraction

Aeroshell

Seperation

slide15

Glider

Extraction

Aeroshell

Seperation

Glider Deployment

and Inflation

slide16

Glider

Extraction

Aeroshell

Seperation

Glider Deployment

and Inflation

Release Drogue Chute

Begin Flight Maneuvers

slide17

Science Goals & Objectives

Recon Phase - Features

(TES, Radar, Imaging)

  • Water
  • Reduced gases
  • Temperature anomalies
  • Minerals & Biominerals
  • Outcrops
  • Shape
  • Color and pattern
  • Texture
slide18

Mother Goose Flier

Top View

Front View

Side View

slide20

Wind Direction

1. Circle

A

A

slide21

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

A

A

slide22

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

3. Fly Predicted Radar Area

A

A

slide23

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

4. Fly to Next Radar Area

3. Fly Predicted Radar Area

A

A

slide24

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

4. Fly to Next Radar Area

3. Fly Predicted Radar Area

A

A

5. Choose Landing Spot & Fly There

slide25

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

4. Fly to Next Radar Area

3. Fly Predicted Radar Area

A

5a. Over-fly Landing Spot

A

5. Choose Landing Spot & Fly There

slide26

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

4. Fly to Next Radar Area

3. Fly Predicted Radar Area

A

5a. Over-fly Landing Spot

5b. Turn to Downwind Leg

A

5. Choose Landing Spot & Fly There

slide27

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

4. Fly to Next Radar Area

3. Fly Predicted Radar Area

A

5a. Over-fly Landing Spot

5b. Turn to Downwind Leg

A

5. Choose Landing Spot & Fly There

5c. Redefine Landing Spot (Downwind Leg)

slide28

Wind Direction

2. Fly to Predicted Radar Area

1. Circle

4. Fly to Next Radar Area

3. Fly Predicted Radar Area

A

5a. Over-fly Landing Spot

5b. Turn to Downwind Leg

A

5d. Land on Spot

(Final Approach)

5. Choose Landing Spot & Fly There

5c. Redefine Landing Spot (Downwind Leg)

slide30

Science Goals & Objectives

Rover Phase - Site refinement

(Imaging)

  • Water
  • Reduced gases
  • Temperature anomalies
  • Biominerals
  • Outcrops
  • Shape
  • Color and pattern
  • Texture
slide33

Science Goals & Objectives

Rover Phase - Microanalysis

(Microscopy, Spectroscopy)

  • Mineral grains
  • Soil properties
  • Microtextures
  • Biominerals
  • Biofabrics
  • Microfossils
  • Organic compounds
  • Organisms or parts
slide34

Mother Goose

Right Arm

slide35

Mother Goose

Right Arm

Scoop & Claw

slide36

Mother Goose

Left Arm

slide37

Mother Goose

Left Arm

Various Sensors

slide38

Science Goals & Objectives

Gosling Phase - Seeking

(Imaging, Sensing)

  • Water
  • Reduced gases
  • Mineral & Biominerals
  • Outcrops
  • Shape
  • Color and pattern
  • Texture
slide45

Education and Outreach

  • K-2 – The Mother Goose Society, coordinated reading program
  • K-6 – Adopt-a-Gosling Science Modules
  • 7-12 – Make Your Own Gosling Robotics Module
  • Undergraduate/Graduate Student Dedicated Data Teams
  • User-friendly biomimetic mission “persona”
  • Education and Outreach activities begin with mission start
  • Field Guide to Unknown Organisms project proposal
slide48

Thank You!

gus@open.k12.or.us - pboston@complex.org