Science Enabling Engineering Enabling Science Enabling Enginee Field Geology from an Engineer’s Perspective Ruthan Lewis, Ph.D. Co-Chair Optimizing Science and Exploration Working Group Co-Chair, Optimizing Science and Exploration Working Group Exploration Systems Mission Directorate NASA Headquarters Workshop on Robots Supporting Human Science and Exploration Lunar Planetary Institute A g st 5 2009 August 5, 2009
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Science Enabling Engineering Enabling Science Enabling EngineeField Geology from an Engineer’s Perspective
Ruthan Lewis, Ph.D.Co-Chair Optimizing Science and Exploration Working GroupCo-Chair, Optimizing Science and Exploration Working Group
Exploration Systems Mission DirectorateNASA Headquarters
Workshop on Robots Supporting Human Science and ExplorationLunar Planetary Institute
A g st 5 2009August 5, 2009
Why the Moon? Global Exploration Themes
Human Civilization Scientific Knowledge
Exploration Preparation Global Partnerships
2Economic Expansion Public Engagement
Constellation Architecture
AltairLunar Lander
Earth Departure Stage
Lunar Lander
Ares ICrew Launch Vehicle
OrionCrew Exploration Vehicle
Ares VCargo Launch Vehicle
3
Exploration Roadmap
Lunar Outpost BuildupLunar Outpost Buildup
Exploration and Science Lunar Robotics MissionsExploration and Science Lunar Robotics Missions
Risk AnalysesProgrammatic and Requirements Impacts
Integrated Performance
Altair Concept
Cost, Risk Assessments
Orion, Ares I, EVA Baseline
Altair Capabilities
Reserves & Margins
Methodology“Basis Mission” Buyback Refinement
Altair Concept
Surface System Design/Analysis
“Trade Set”
Cost, Risk, Scenario AnalysesStrategic Analysis
C ti d A t l di
TransporterTransporter
Ground OperationsTrade Set
Option & Comparisons
Element Configuration ConceptsOperational Strategies
Continued Assessments leading to Surface System LCCR
Functional RelationshipsDesign Reference Scenarios as a Hub
Objectives
Sites ExplorationRequirements
Analog Planning& Operations
ConceptsDesign Reference
Scenarios
• Sequence, Phasing• Servicing
Verification ConceptsScenarios
• Robotic Support• Mobility • Servicing
• Sample Acquisition– Decision Making Criteria– Analysis– Tools
Req’d/SuggestedTechnologies
Payload ID
CampaignAnalysis
• Mobility• Navigation• Communication• Carriers,
Packaging
8
and DataPackaging• Logistics
Design Reference Missions (DRMS): Scenarios
• Scenarios and methodologies based on practical knowledge and experience
• Comparison of scenarios to get a sense of and/or optimize our trade spaces as we build our architecture
• They tell usy– How we do– What we do– Why we do
The Systems Engineering and Science Perspectives are Similar
• From a science perspective: conceive/define the problem (hypothesis), identify the variables needed to be studied, plan and carry out the methodology to collect data, analyze, validate by observing similarities in other areas, conditions, etc. put the puzzle pieces together
• Consider the complete problem, define needs and required functionality (early in the development cycle), document requirements, synthesize design, verify and validate system
• In doing so, one expects– recognition and minimization or reduction of risks– improvement and guarantee of quality: improve understandability and verifiability; consistent,
repeatable, reliable results– reduction of total cost: applying standardized process obtains uniform, easily retraced results– improvement of communication between all stakeholders: standardized and uniform description
of all relevant elements and terms is the basis for mutual understanding between all stakeholders
The Science/Engineering Double Helix
Why is an Engineer Concerned about Field Geology?Needs and Processes
• Transformation of science requirements
• Real-time implementation and processes
• Getting the results through operations and technology planning
• Remote sensing
– Crew interaction and communication• Surface to surface
– EVA to EVA– EVA to IVA
IVA to IVA• Remote sensing• Infrastructure to support science
– Pre mission– During mission
– IVA to IVA• Surface to Orbiter• Surface to Earth
– Crew autonomy– Analytical tools and facilitiesg
– Post mission for future missions
• Human observation– Human factors
M bilit d
Analytical tools and facilities– Decision Making
• Measuring success – were the science objectives addressed?
– Mobility and access– Crew training
– Planning– Replanning
Why is an Engineer Concerned about Field Geology?Informing and Enabling
• Techniques used to determine viability of field sites– Geoscience significance – physical and chemical aspects– Other metrics and “figures of merit” under discussionOther metrics and figures of merit under discussion
• Instrumentation network, global access is of high priority• Resources/utilities available to support science operations and activities
– LightingI t t ti l t i i• Instrumentation placement, viewing
• EVA implications (sighting)• Power (for mobility, instrumentation, etc.)
– Communication and Navigation– Operational/Path planning flexibility – nominal and contingency, planned/unplanned (realtime
changes e g new discoveries leading to re-planning)changes, e.g. new discoveries leading to re-planning)– In-Situ Resources for sustainability– Crew health and protection– Mobility
• Observational and tactile access• Robotic assistance• Sample acquisition• Traveling laboratories and analysis
13
Instrument/Payload Characteristics
•• Payload/Instrument Point of Payload/Instrument Point of ContactContact
•• Type of Instrumentation/Sensor (e gType of Instrumentation/Sensor (e g
Requirements/ConcernsRequirements/Concerns
•• Astronaut Time Required for Astronaut Time Required for DeploymentDeployment
•• Type of Instrumentation/Sensor (e.g. Type of Instrumentation/Sensor (e.g. spectrometer, imaging, magnetometer, spectrometer, imaging, magnetometer, etc.)etc.)
•• MeasurementsMeasurements
•• Mass and VolumeMass and Volume
•• Power SystemPower System
•• Power ProfilePower Profile
•• Site RequirementsSite Requirements
•• OperationsOperations
•• RedeploymentRedeployment
•• Thermal DesignThermal Design
•• CommandingCommanding
•• Data Rate/VolumeData Rate/Volume•• RedeploymentRedeployment
•• Pointing or Orientation RequirementsPointing or Orientation Requirements •• ServiceabilityServiceability
14
List of Questions and Preparationfor Field Geology Trip
• Where is each team member with respect to the other and the point(s) of interest?A th lti l i t f i t t b i b d t ti ?• Are there multiple points of interest being observed at one time?
• Is there a differentiation of macro observation vs. micro observation?• What is the sequence of events, questions asked, etc. ? Is the sequence
repeated at each point of interest?repeated at each point of interest? • Is there a checklist for things to ask, or is it in one’s head? • How does one make sure that one hasn’t forgotten to ask a particular question? • How does one know when to move from one point to another, i.e. what is the
decision criteria for moving from one point to another?• My preparation
Had “primer” Field Geology 101 course in Arizona with practicing field geologists and engineering– Had primer Field Geology 101 course in Arizona with practicing field geologists and engineering colleagues
– Met with principal investigator and team to understand the science hypothesis, statement of the problem, objectives of the trip
– Read reference material to better understand the area, geological principles and theories, the relationship of the area to other areas of the islandsrelationship of the area to other areas of the islands
Field Geology Trip Observations
• The Field Team– Communication
• PI control and how briefings were conducted• How communication was conducted in the field• How the group observed in the field• Merging and splitting of personnelg g p g p
– Personnel expertise• Recognition by team members of each other’s
responsibilities and expertise• Previous team member joint excursions;
Weather Conditions: Clear, Very strong winds and windgustsGeologists present: Jim Zimbleman (PI), Larry, Jane, Jake, Brent
11:00am Group overview plan; PI Zimbleman leads
Weather Conditions: Clear, Very strong winds and windgustsGeologists present: Jim Zimbleman (PI), Larry, Jane, Jake, Brent
11:00am Group overview plan; PI Zimbleman leadsPrevious team member joint excursions; “tightness” of the group
• Use of instrumentation• Variation of observational techniques
11:00am Group overview plan; PI Zimbleman leads11:20 regroup to discuss emplacement technique and confirmation of location11:29 group splits up: 2, 2, 1 (total 5 people) characterizing and theorizing emplacement technique
2 persons scouting, 2 persons detailing, 1 person mapping w/GPS11:50 group collects at pit for group pix, heads out to next location12:00 all observing banded ("fishscale") thrust12:20 1 person detailing, 2 persons scouting, 1 person scouting12:32 return to cars for lunch1:20 break from lunch, unload GPS system to take to field1:40 trek to next inflation area; planning four GPS readings across area1:45 set up differential GPS at hand-picked base site
good line of site to area to be mappedusing Real Time Kinematic (RTK) processing vs. Post-Processing Kinematic (PPK)
1:57 GPS base station setup; trek to other survey points2 persons trek with GPS, 1 person detailing, 1 person detailing (note: Jane did not go in field in the afternoon)
Note: The more silicon content the higher the viscosity because have better bonding; so, if add other metals, they break up the viscosity
Note: Strategies discussed in the field with Jake Bleacher: observation, sampling
Note: Need to have discussion in the field between teammembers
11:00am Group overview plan; PI Zimbleman leads11:20 regroup to discuss emplacement technique and confirmation of location11:29 group splits up: 2, 2, 1 (total 5 people) characterizing and theorizing emplacement technique
2 persons scouting, 2 persons detailing, 1 person mapping w/GPS11:50 group collects at pit for group pix, heads out to next location12:00 all observing banded ("fishscale") thrust12:20 1 person detailing, 2 persons scouting, 1 person scouting12:32 return to cars for lunch1:20 break from lunch, unload GPS system to take to field1:40 trek to next inflation area; planning four GPS readings across area1:45 set up differential GPS at hand-picked base site
good line of site to area to be mappedusing Real Time Kinematic (RTK) processing vs. Post-Processing Kinematic (PPK)
1:57 GPS base station setup; trek to other survey points2 persons trek with GPS, 1 person detailing, 1 person detailing (note: Jane did not go in field in the afternoon)
Note: The more silicon content the higher the viscosity because have better bonding; so, if add other metals, they break up the viscosity
Note: Strategies discussed in the field with Jake Bleacher: observation, sampling
Note: Need to have discussion in the field between teammembersq
– By training background– Where trained, and by who– Where experienced; previous excursions
Note: Need to have discussion in the field between teammembers
2:44 "End" discussion with Jake Bleacher, re: lunar and Mars equivalents2:53 Jake Bleacher conducts sample collection:
1) took GPS waypoint reading2) took pix with guide/reference card in view3) took compass reading4) marked visible arrows in direction of compass reading (North) on sample area with whiteout pen5) took pix of sample area with compass and marked arrows in view6) bagged samples of non-altered (more prominent/common in the area of interest) and altered (tannish/orange sample) samples
3:04 Jake Bleacher concludes sample collection3:11 Jake Bleacher and Ruthan Lewis meet with Brent, Jim, and Larry at edge of inflated emplacement
Jake Bleacher measures depth of differentiation between old and new emplacement with tape measure3:22 Brent places GPS staff; Jim leaves to meet him
Others gather together to discuss metrics and another locationR. Lewis and Jake briefly discuss Jake's MMAMA proposal: influence of mental fatigue and time in field, results of following Apollo style multiple times and repeated
3:30 Group observes "lava falls"3:45 Larry observes vesicle density in a large cross section
Jake measures depth of top layer of a pit3:59 Group gathers back at GPS base unit location4:15 Breakdown/wrap-up GPS base station, head back to car
Note: Need to have discussion in the field between teammembers
2:44 "End" discussion with Jake Bleacher, re: lunar and Mars equivalents2:53 Jake Bleacher conducts sample collection:
1) took GPS waypoint reading2) took pix with guide/reference card in view3) took compass reading4) marked visible arrows in direction of compass reading (North) on sample area with whiteout pen5) took pix of sample area with compass and marked arrows in view6) bagged samples of non-altered (more prominent/common in the area of interest) and altered (tannish/orange sample) samples
3:04 Jake Bleacher concludes sample collection3:11 Jake Bleacher and Ruthan Lewis meet with Brent, Jim, and Larry at edge of inflated emplacement
Jake Bleacher measures depth of differentiation between old and new emplacement with tape measure3:22 Brent places GPS staff; Jim leaves to meet him
Others gather together to discuss metrics and another locationR. Lewis and Jake briefly discuss Jake's MMAMA proposal: influence of mental fatigue and time in field, results of following Apollo style multiple times and repeated
3:30 Group observes "lava falls"3:45 Larry observes vesicle density in a large cross section
Jake measures depth of top layer of a pit3:59 Group gathers back at GPS base unit location4:15 Breakdown/wrap-up GPS base station, head back to car
4:15 Breakdown/wrap up GPS base station, head back to car4:24 Team back at car
Note: GPS system readings were "spotty" according to Jim and Brent
4:15 Breakdown/wrap up GPS base station, head back to car4:24 Team back at car
Note: GPS system readings were "spotty" according to Jim and Brent
Field Geology Trip Observations
Field Geology Trip Observations
Field Geology Trip Observations
An Example of General Surface Exploration Philosophy
• Each mission should explore new territory and continue to push back the frontier
• Each mission builds on previous missions• Each mission extends range and time away from outpost as confidence
is gained in surface systems and operational experienceg y p p• Every mission should plan time for revisits to prior sites based on
discoveries and Earth-based research (e.g., initial reconnaissance can be followed up with detailed investigation)p g )
• Every mission will likely involve local fieldwork (e.g., science station emplacement, regolith studies)
20
Basic Geological Field Approach
• Determine temporal relationships from spatial relationships– uses the superposition principle– observe such relationships for exposed strataobserve such relationships for exposed strata
• in impact or volcano-tectonic formations• in surface deposits, such as ejecta or pyroclastic deposits• by traversing regolith for expression of underlying geochemical boundaries, such as flow fronts
• Surface expression of underlying stratigraphy will be found in discernableSurface expression of underlying stratigraphy will be found in discernable stratigraphic contacts and nonconformities
• Ground Truth is currently limited– to a small number of nearside, mostly near equatorial sites– extended by remote sensing and imaging with relatively low spatial resolution (by terrestrial
standards)standards)
• Processes as observed and sampled in these landings sites will utilize– previous limited lunar field work– major contribution from terrestrial analogue studies
21
Example: South Pole Lunar Outpost Exploration(Crew Mission #1, FY2019, 4 crew, 7 days)
Scenario 4.2.0 South Pole Lunar OutpostManifest-Driven Case
7080 120
Scenario 4.2.0 South Pole Lunar OutpostManifest-Driven Case
7080 120
1260 km220 km14 days2
310 km210 km7 days1
Approximate area available for exploration based on max. radius
Approximate max. radius of exploration
Mission DurationCrew Mission
1260 km220 km14 days2
310 km210 km7 days1
Approximate area available for exploration based on max. radius
Approximate max. radius of exploration
Mission DurationCrew Mission
1260 km220 km14 days2
310 km210 km7 days1
Approximate area available for exploration based on max. radius
Approximate max. radius of exploration
Mission DurationCrew Mission
1260 km220 km14 days2
310 km210 km7 days1
Approximate area available for exploration based on max. radius
Approximate max. radius of exploration
Mission DurationCrew Mission
10203040506070
Mis
sion
Dur
atio
n (d
ays)
20
40
60
80
100
App
rox.
Max
. Ra
dius
of
Exp
lora
tion
(km
)
10203040506070
Mis
sion
Dur
atio
n (d
ays)
20
40
60
80
100
App
rox.
Max
. Ra
dius
of
Exp
lora
tion
(km
)
7850 km250 km30 days5
5030 km240 km21 days4
2830 km230 km21 days3
7850 km250 km30 days5
5030 km240 km21 days4
2830 km230 km21 days3
7850 km250 km30 days5
5030 km240 km21 days4
2830 km230 km21 days3
7850 km250 km30 days5
5030 km240 km21 days4
2830 km230 km21 days30
1 2 3 4 5 6 7 8
Mission
0
Mission Duration Approximate Maximum Radius of Exploration (km)
01 2 3 4 5 6 7 8
Mission
0
Mission Duration Approximate Maximum Radius of Exploration (km)
31,420 km2100 km75 days8
25,450 km290 km50 days7
20,110 km280 km45 days6
31,420 km2100 km75 days8
25,450 km290 km50 days7
20,110 km280 km45 days6
31,420 km2100 km75 days8
25,450 km290 km50 days7
20,110 km280 km45 days6
31,420 km2100 km75 days8
25,450 km290 km50 days7
20,110 km280 km45 days6 Scenario 4.2.0 South Pole Lunar OutpostManifest-Driven Case
607080
atio
n
25000
30000
35000
ea
or
km*2
)
Scenario 4.2.0 South Pole Lunar OutpostManifest-Driven Case
607080
atio
n
25000
30000
35000
ea
or
km*2
)
01020304050
1 2 3 4 5 6 7 8
Mis
sion
Dur
a(d
ays)
0
5000
10000
15000
20000
Appr
ox. A
reAv
aila
ble
foEx
plor
atio
n (k
01020304050
1 2 3 4 5 6 7 8
Mis
sion
Dur
a(d
ays)
0
5000
10000
15000
20000
Appr
ox. A
reAv
aila
ble
foEx
plor
atio
n (k
25
1 2 3 4 5 6 7 8
Mission
Mission DurationApproximate Area Available for Exploration Based on Maximum Radius (km*2)
1 2 3 4 5 6 7 8
Mission
Mission DurationApproximate Area Available for Exploration Based on Maximum Radius (km*2)
ModelingPath Planning, What If’s
ModelingPath Planning, What If’s
• Data gaps influence simulated pathp
• Variation between “planned/desired” path and possible
thpath• More like
“Orienteering”
11 22
33 4444
Surface Scenario Assessments
Figures of Merit
Manifest Trades and Analysis
Figures of Merit
Page 29
Scenarios
System Integration Flow
30
Appreciating that Science Enables Engineering Enables Science…
• Provides an understanding of the complexities and subtleties of field study and the accompanying implementation techniques
• The process is not all that different from an systems engineering approach
• Challenges our definition of “success” and the “metrics” by which we g ymake trades for architecture evolution while considering that science is the evolution of discovery
• Take advantage of the opportunity to strike a balance and facilitate one g pp yof the primary reasons for going to the Moon – Scientific Knowledge
Inspiration, Innovation and DiscoveryWho Knows What We’ll Discover