The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider Tom Meyer.

The Mother Goose MissionThe Mother Goose Mission

Tom Meyer - OverviewPenny Boston - ScienceJoe Martin - Instruments

Dan Scheld - SystemsJoe Berger - Mars Glider

Tom Meyer - OverviewPenny Boston - ScienceJoe Martin - Instruments

Dan Scheld - SystemsJoe Berger - Mars Glider

History of Mother Goose MissionHistory of Mother Goose Mission

Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components

– ASTEP - Science– Boston NIAC Cave Research– SBIRs– Instrument development proposals– Doing in-house development

Outgrowth of collaborative efforts Scout Proposal Seeking funding for individual components

– ASTEP - Science– Boston NIAC Cave Research– SBIRs– Instrument development proposals– Doing in-house development

What is the Mother Goose?What is the Mother Goose?

Mission strategy for detection of lifeFlying transformer robotic systemMimics human field biologist Autonomous search for life on MarsSearch at multiple spatial scales:

– Aerial– Walking– Microscopic

Mission strategy for detection of lifeFlying transformer robotic systemMimics human field biologist Autonomous search for life on MarsSearch at multiple spatial scales:

– Aerial– Walking– Microscopic

Motivation and GoalMotivation and Goal

Life often leaves tell tail biosignatures– Changes in physical appearance of

surface– Chemical changes in surface material

Life prefers hospitable locations – warm, wet, protected– hidden in cracks, cervices, caves

The Challenge: narrow the field search from regional, to local, to microscopic – Remote control from Earth is impractical

The Goal: develop a robotic field biologist

Life often leaves tell tail biosignatures– Changes in physical appearance of

surface– Chemical changes in surface material

Life prefers hospitable locations – warm, wet, protected– hidden in cracks, cervices, caves

The Challenge: narrow the field search from regional, to local, to microscopic – Remote control from Earth is impractical

The Goal: develop a robotic field biologist

Approach Approach

Mother Goose Overarching Concept

Unique approach and goals – Intelligent site selection at all levels of encounter– Robotic mobility along a continuum of sequentially finer

resolutions – Glider / Lander combines hazard avoidance and scientific site

selection– Integrated guidance and data system serves glider, lander,

walker and micro-robots

Mother Goose Overarching Concept

Unique approach and goals – Intelligent site selection at all levels of encounter– Robotic mobility along a continuum of sequentially finer

resolutions – Glider / Lander combines hazard avoidance and scientific site

selection– Integrated guidance and data system serves glider, lander,

walker and micro-robots

Mission Architecture - EntryMission Architecture - Entry

Entry capsule deploys Mother Goose glider Glider wings inflate Glider cruise phase begins Begin remote sensing for navigation and science

Integrated guidance and data acquisition

Mother Goose is a very bright bird, she– Navigates the glider while in flight – Collects remote sensing data– Searches for an optimal landing site – Navigates and takes data on the ground, and– Collects data from her micro-robot goslings

Integrated guidance and data acquisition

Mother Goose is a very bright bird, she– Navigates the glider while in flight – Collects remote sensing data– Searches for an optimal landing site – Navigates and takes data on the ground, and– Collects data from her micro-robot goslings

Mission Architecture - CruiseMission Architecture - Cruise

Mission Architecture - SurfaceMission Architecture - Surface

Mother Goose:– Picks safe landing site near science target– Walks to the science sites– Collects local data– Refines site selection– Deploys Micro-Robot Goslings

Wing provides power and communications

Mother Goose:– Picks safe landing site near science target– Walks to the science sites– Collects local data– Refines site selection– Deploys Micro-Robot Goslings

Wing provides power and communications

Mission Architecture - GoslingsMission Architecture - Goslings

MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site

MG deploys micro-robot goslings Goslings penetrate cracks, crevices, caves MG communicates high level commands Goslings send data to Mother Goose Goslings may be sacrificed or recovered for next site

TeamTeam

Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link

Penny Boston - Complex Systems Dan Scheld, Joe Martin - Equinox Interscience Joe Berger - Performance Software Intl Jeff Hayden - Prescipoint Solutions Tom Meyer - BCSP/National Link

http://eisci.com/mothergoose

http://norwebster.com/eisci

http://eisci.com/mothergoose

http://norwebster.com/eisci

FOR MORE INFO...

(Picture credits - Gus Frederick)(Picture credits - Gus Frederick)

R.D. Frederick © 2001

Human Emulation Human Emulation in Robotic in Robotic

MissionsMissions

Human Emulation Human Emulation in Robotic in Robotic

MissionsMissions

The Field Scientist in the WildThe Field Scientist in the Wild

The Field Scientist In A Can

R.D. Frederick © 2001

Science Search StrategyScience Search Strategy Mimic classic human-conducted field scienceMimic classic human-conducted field science

•Aerial Recon Phase – Airborne Aerial Recon Phase – Airborne Mother GooseMother Goose•Walkabout Phase – Rover Walkabout Phase – Rover Mother GooseMother Goose•Intensive Investigation Phase – Scientist Intensive Investigation Phase – Scientist Mother GooseMother Goose

Access to “difficult” sites via microrobotic Access to “difficult” sites via microrobotic GoslingsGoslings•SmallSmall•Autonomously actingAutonomously acting

Multiple spatial scalesMultiple spatial scales•Bird’s eye viewBird’s eye view•Scientist’s eye viewScientist’s eye view•Microbe’s eye viewMicrobe’s eye view

Multiple data setsMultiple data sets•ImagingImaging•3 D Microscopy3 D Microscopy•Raman spectroscopyRaman spectroscopy•Direct sensing of gasesDirect sensing of gases

PhysicsPhysics

GeophysicsGeophysics

HydrologyHydrology

BiologBiologyy

ChemistryChemistryGeochemistryGeochemistry

MineralogyMineralogy

GeologyGeologyLaboratory AnalysisLaboratory Analysis

TechniqueTechniqueDevelopmentDevelopment

In SituIn SituTechniquesTechniques

2 2

Techniques:Techniques:

Non-invasiveNon-invasiveTechniquesTechniques

• Surface detection Surface detection methodsmethods

• No sample removedNo sample removed

• Leaves communities Leaves communities intactintact

• Minimal disturbanceMinimal disturbance

P.J. Boston P.J. Boston ©© 2001 2001

Planetary Protection Planetary Protection

• Protocol for possible biological Protocol for possible biological

sitessites

• Contamination zone Contamination zone

modelmodelSuitable for mechanismsSuitable for mechanisms

• Dirty/clean modelDirty/clean modelSuitable for humansSuitable for humans

R.D. Frederick © 2001R.D. Frederick © 2001

PlanetaryPlanetary

• Aseptic reconnaissanceAseptic reconnaissance

• Preliminary assessmentsPreliminary assessments

• Long-term monitoringLong-term monitoring

• Intermediates in chain of asepsisIntermediates in chain of asepsis

• Permanent Class IV+ containmentPermanent Class IV+ containment

ProtectionProtection

Science Goals & Science Goals & ObjectivesObjectives

Recon Phase - Features (TES, Radar, Imaging)

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

Rover Phase – Site refinement (Imaging)

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

Rover Phase – Microanalysis (Microscopy, Spectroscopy)

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

Gosling Phase – Seeking (Imaging, Sensing)

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

Image of lithified fossil bacteria, filaments, and biofilm. Courtesy L. Melim, M. Spilde, & D. Northup.

• • High intensity sunlight and UVHigh intensity sunlight and UV

• • Low humidity (5-40% typically)Low humidity (5-40% typically)

• • Temperature extremesTemperature extremes

• • Low nutrients (usually)Low nutrients (usually)

• • Mineral-rich (usually)Mineral-rich (usually)

• • Extensive weather, Extensive weather, e.g. high winds, flash floods, frost, e.g. high winds, flash floods, frost, etc.etc.

Desert Surfaces Desert Surfaces On EarthOn Earth

Photo by David JagnowPhoto by David Jagnow

Desert Caves On Earth

•No sunlight No sunlight

•High humidity (99-100% in High humidity (99-100% in the deep zone)the deep zone)

•Temperatures relatively Temperatures relatively constantconstant

•Low nutrientsLow nutrients

•Mineral-rich Mineral-rich

•No weatherNo weather


Life in Mars Caves…Life in Mars Caves…Traces on the Traces on the

Surface?Surface?• Geochemical tracesGeochemical traces• Change in oxidation statesChange in oxidation states• Chemistry independentChemistry independent

• Visualization of orderVisualization of order• Biotextures and structureBiotextures and structure

• Isotopic signatures?Isotopic signatures?• Other disequilibria?Other disequilibria?

• Energy sourcesEnergy sources• Energy flowEnergy flow• GrowthGrowth• ReproductionReproduction

Mother Goose InstrumentsMother Goose Instruments

Joe Martin - Equinox InterscienceJoe Martin - Equinox Interscience

Glider ModeGlider Mode

Glider Mode InstrumentsGlider Mode InstrumentsWide FOV imaging . (0.42 kg).

– The Mike Malin low resolution MARDI descent imager from the ill-fated ‘98 Mars Polar Lander 73° FOV for aerial reconnaissance with a 7.1 mm focal length IFOV: 1.25 mrad.

– Thus at 1 km altitude; ground resolution 1.25 mThermal Emission Spectrometer (mini-TES) (1.9 kg)

– A miniaturized TES evolved from MGS TES reduced 14.4 kg to 1.9 kg, proposed for MESUR missions as mini-

TES. Spectral range: 400 to 5000 cm-1 (2-25 µm), 5 cm-1 resolutionEnergy/sample = 4.4 W x 3.7 min/ sample / 60 min/hr = 0.27

W-hr/sample

Glider Mode InstrumentsGlider Mode Instruments (Cont.) (Cont.)

Ground Penetrating Radar (GPR) (2.4 kg)– A surface penetrating radar to determine buried

water and water bearing rocks– GPR defined by Rolando Jordan (JPL) for Dave

Paige’s proposed Mars Polar Pathfinder mission. Folded dipole antenna on the bottom of the Pathfinder lander

petal. to probe the ground below:

– depth of 4.5 km; depth resolution 2 m – 100 MHz pulses

– The MG antenna would be built into the skin of the lower surface of the glider.

Rover ModeRover Mode

Rover Mode InstrumentsRover Mode InstrumentsStereo Imaging (0.54 kg)

– Panoramic stereo camera system;Assess site geology and morphology and select targets for investigation.

– Use a version of 2003 Mars Exploration Rovers (MER)

MER system has 1024 x 2048 pixel CCDs, 280 µrad resolution

42.7 mm focal length optics for 16x16° FOV.8 filters from 400 to 1100 nmAnalysis time: 10 sec/frame 62 Mp/frame (both cameras)

Rover Mode InstrumentsRover Mode Instruments (Cont.) (Cont.)

Raman Spectrometer (RS) (0.7-1.1kg)– The roving robot presses its robotic arm against a rock.

Thin green or ultraviolet laser beam scans the rock, Raman scattered light identifies photon wavelength shifting effect of

molecular and crystalline structures in the target rock.

– Potential Raman developmentsLarry Haskin green light RS (0.7 kg); for mineralsMichael Storrie-Lombardi UV RS (1.1Kg); for organics or prebiotic

molecules.EIC labs (NASA SBIR); rugged, portable, high resolution RS with

illumination Raman measurement through fiber optic extension.

– Fiber optic extension: insert the fiber optic probe inside a crevice.

1988 Phase 2; SS-52; 10/18/95

SmallBusinessInnovation Research

Kennedy Space Center

ACCOMPLISHMENTS

Specific gas-phase sensing of hydrazine and other air contaminants

Novel micro-optics probe head allows point and shoot fiber optic sampling and monitoring from over 500 meters

10 times more compact than prior equipment and no moving parts

COMMERCIALIZATION

$3 million in sales in last two years

Patented Raman probe

New company division organized to provide commercial Raman instrumentation and services

GOVERNMENT/SCIENCE APPLICATIONS

Space applications: sensing hypergolic vapors; hydrogen monitoring; rapid analysis of minerals; compact, on-board chemical analysis

Commercial applications: chemical process monitoring, pharmaceutical analysis, forensics, environmental site characterization, and a general laboratory complement to IR spectroscopy

Raman SpectrographEIC LABORATORIES, INC.

NORWOOD, MA

Rugged, portable, high resolution Raman

spectrograph with fiber optic sampling

INNOVATION

Spectrograph with fiber optic sensor


Mineral Identification by In-situ X-ray Analysis (MIBIXA) (0.4 kg)– The roving robot presses its robotic arm against a rock.

The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays.

– MIBIXA Proposed by Equinox as NASA SBIRDeep depletion 600 x 600 CCD (e2v Technologies) measures:

– photon energies from 200 eV to 20 keV

– scattering angle of elastically scattered photons.

– energy of fluorescent photons.Carbon nanotube field emission cathode x-ray source (Applied

Nanotechnologies, Inc.).


Confocal Microscope (1.5 kg)– The roving robot presses its robotic arm against a rock.

The surface is illuminated by X-rays, Measures Bragg scattered X-rays and fluorescent X-rays.

– MIBIXA Proposed by Equinox as NASA SBIRDeep depletion 600 x 600 CCD (e2v Technologies) measures:

– photon energies from 200 eV to 20 keV

– scattering angle of elastically scattered photons.

– energy of fluorescent photons.Carbon nanotube field emission cathode x-ray source (Applied

Nanotechnologies, Inc.).

Rover Mode InstrumentsRover Mode Instruments (Cont.) (Cont.) Confocal Microscope (1.5 kg0) (Leica)Confocal Microscope (1.5 kg0) (Leica)

All out of focus structures are suppressed at image formation by an arrangement of diaphragms which, at optically conjugated points of the path of rays, act as a point source and as a point detector respectively. Out-of-focus rays are suppressed by the detection pinhole.

The focal plane depth is determined by the wavelength, the objective numerical aperture, and the diaphragm diameter.

To obtain a full image, the image point is moved across the specimen by mirror scanners. The emitted/reflected light passing through the detector pinhole is detected by a photomultiplier and displayed on a computer monitor.

Microbots ModeMicrobots Mode

Microbot Mode InstrumentsMicrobot Mode InstrumentsImagers (50g x 10 microbots = 0.5 kg)

– Supercircuits Model: PC-169XS– High resolution color microvideo camera– 1/3" Color CCD; 768(H) x 492(V); 377,856 pixels

– Power: 1W– Interchangeable lens

Chemical Sensors (50g x 10 microbots = 0.5 kg)– Temp, pH, conductivity– Gas sensors– Anion, cation sensors

MOTHER GOOSE Related Technologies & Robotics

MOTHER GOOSE Mission Systems MG I Astrobiology Mission

MOTHER GOOSE has Landed and Deposited Rover and Micro-Rovers (Goslings) in Area Of High Scientific Interest.

MOTHER GOOSE and GoslingsEnter Cave Site at Mars

Mother GooseMother Goose

Mother Goose TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Aerostar/Raven Industries Boulder Center for Space Science/ National Link MIT Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar

MOTHER GOOSE Mission SystemsMG II Astrobiology Mission

Mother Goose II TEAM Equinox Interscience, Inc. Complex Systems Res., Inc. Aerostar International, Inc. Boulder Center for Space Science/ National Link MIT Field & Space Robotics Lab MD Robotics for Canadian Space Agency Performance Software Associates Oregon Public Education Network ITN Energy Systems/Globalsolar Prescipoint Solutions

MOTHER GOOSE Mission SystemsDDB Detectable Desert BioMarkers

DDB TEAMEquinox Interscience, Inc.Complex Systems Res., Inc.Performance Software AssociatesBoulder Center for Space Science/ National LinkUTD, Inc.Prescipoint Solutions

“ROCKTASTER” SchematicDDB Layers of Investigation

Autonomous Landing Techniques-WHY FLY in with Mother Goose

MOTHER GOOSE DELIVERY SYSTEM• Target Zone dependence is gone – WE

LAND where the Science Demands• On-board Guidance (LEIF) particpates

fully in the landing• LEIF system continuously monitors and

learns from the evironment minimizing the unknowns to safe touchdown

• Near Zero velocity touchdown requires no impact protection system

• The configuration is inherently stable - no tip over – in addition, the LEIF system has sought out the inherently safest site closest to the science objective

NASA Smart Landers• Current Target Zones no smaller then 161x97 km

(100x60 miles)• *Smart Lander Target Zones smaller but

“undefined”• On-board guidance ends to early in landing• No ability to handle unknowns at the landing site• Must carry impact protection systems• Must carry additional capability to prevent tip

over• Smart in this case really means “safer” than

Ø1Ø2

Ø3

Mars Located vs Star Field

Earth Relative Doppler Signal

Landmark View

Lune View

Limb View

Autonomous Pre-EntryLEIF Pilots the Way!

LEIF– Landing Enabled by Intelligent Functions

LEIF Provides Methods for Complete Autonomous Approach and Safe LandingIn Area of Scientific Interest.

APPLICATIONS-Mars Sample Return-Europa Lander-Titan Organics Explorer Lander-Mars Cargo Landers-Comet Nucleus Sample Return-Near Earth Asteroid Landers

SAILSaR TEAM Equinox Interscience Inc. Boulder Center for Space Science/ National Link Prescipoint Solutions Performance Software Associates ITN Energy Systems

LEIF– Landing Enabled by Intelligent Functions

Next Generation Control for Scientific Spacecraft and Instruments

SAIF/LEIF Design Highlights -Reduced Mass/Power Consumption/COST-Functional Superiority-Uniquely Synergistic Hardware/Software

Design-Extreme Dense Electronic Miniaturization-Commercial Packaging-In Development by Equinox and Partners

SAIF/LEIF TEAM Equinox Interscience Inc.. Prescipoint Solutions Performance Software Associates

SAIF– Science Augmented byIntelligent Functions

To Investigate and verify aspects of Landing on hostile planetary surfaces.

Frequent testing of approaches on local test ranges.

Key is the Autonomous Control System– LEIF (Landing Enabled by Intelligent Functions)– An integrated computer and control system based on:

Miniaturized electronics using HDI Software derived from Performance Software Anchor products

– Based on successful IEC 1131-3• commercial automation software

– Proposed as NASA SBIR • Central Instrument Controller• -awarded phase I, Phase II not funded

but rated highly. FPGA based Programmable Direct Memory Access

– designed by Beyond the Horizon

Simplified SAIF/LEIF Electronics Unit Block Diagram

SAIF-LEIF Systems

LEIF Presented – Iceland Mars Polar Science Conference

LEIF Introduced by Dave Paige/UCLA

– Full presentation on Equinox web site www.eisci.com

– Describes the Equinox thrust Automated Landing Technology

Proposals by Equinox Interscience in DSF .– Development of LEIF

Flight demonstration – Autonomous Rendezvous

– Fine Pointing Laser Tracker Flight Demonstration (FPLTD)

– Deep Space Comm.

Extended Effort – Propose Avionics Navigation System

Lockheed Martin for Pluto/Kuiper mission. LEIF Applied to MOTHER GOOSEGlider Control and Landing

SAIF-LEIF Sytems

Primary Landed SystemsRobotics Concepts & Notionals

BIG MAMA• Walker• 6 legs• Stereo Vision• 2 Micro Manipulators

UREY MISSION style Tethered Rover

Primary Landed SystemsRobotics Concepts & Notionals

Secondary Landed SystemsRobotics Concepts & Notionals

Gosling 1• Walker• 4 legs• Micro Vis• Top Mounted Solar Cell• Micro Manipulator

Gosling 2• Walker• 6 legs• Micro Vis• Top Mounted Solar Cell• Micro Manipulator

MIT Micro-rover Concept

MIT Evolutionary Roadmap From Discrete to Continuous Robotic Systems

Tilden (LANL) Skitter Bug Concept


Investigations ofLIFE BELOW & LIFE “OUT THERE”

SPELEOSCOPE TEAM Equinox Interscience Inc. Complex Systems Res., Inc. Boulder Center for Space Science/ National Link Performance Software Associates Oregon Public Education Network



Speleoscope Locomotion ConceptsSpeleoscope Locomotion Concepts

Speloscope robotic variations

SPELEOSCOPE Team Concept

Tilden (LANL) Snake Concepts

NASA (JPL) Snake


Welcome The Future … & …Thank Welcome The Future … & …Thank You!You!

EQUINOX INTERSCIENCEEQUINOX INTERSCIENCE

Engineering Instruments of SCIenceEngineering Instruments of SCIence

The Mars Flying WingJoe Berger


The Mars Flying Wing

Features:• Low Wing Loading• High Lift over Drag (L/D)• Capable of Low Speed Landing• Autonomous Operation• Precision Landing

Features:• Low Wing Loading• High Lift over Drag (L/D)• Capable of Low Speed Landing• Autonomous Operation• Precision Landing



Wing Performance Prediction:• Approx 35:1 L/D• Speed Range from 8 to

40 Kts IAS• Full Stall Landing at Less

Than 8 Kts IAS• Highly Maneuverable Throughout

Flight Regime

Wing Performance Prediction:• Approx 35:1 L/D• Speed Range from 8 to

40 Kts IAS• Full Stall Landing at Less

Than 8 Kts IAS• Highly Maneuverable Throughout

Flight Regime



Wing Current Progress: 8 Foot Model Flying Successfully

Flight Controls Proven

12 Foot Model to Fly 3 Qtr 2002Higher Performance AirfoilHigh Tech Wing Tips with Winglettes

21 Foot Model Higher Aspect RatioFlight Computer integrated to VideoReal-time RF link to Ground Station for Telemetry, Video

Wing Current Progress: 8 Foot Model Flying Successfully

Flight Controls Proven

12 Foot Model to Fly 3 Qtr 2002Higher Performance AirfoilHigh Tech Wing Tips with Winglettes

21 Foot Model Higher Aspect RatioFlight Computer integrated to VideoReal-time RF link to Ground Station for Telemetry, Video


Mars Flying WingMars Flying WingMars Flying WingMars Flying Wing

The 8 Foot Wing:The 8 Foot Wing:With Pilot & Launch AssistantWith Pilot & Launch Assistant

The 8 Foot Wing:The 8 Foot Wing:With Pilot & Launch AssistantWith Pilot & Launch Assistant

Mars Glider Movie:

The Mars Flying Wing:The Mars Flying Wing:

MissionAccomplished!

MissionAccomplished!


The Mother Goose Mission Tom Meyer - Overview Penny Boston - Science Joe Martin - Instruments Dan Scheld - Systems Joe Berger - Mars Glider Tom Meyer.

Documents

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data acquisition mother

robotic field biologist

field search

robotic field biologist

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data system

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