Lunar Rover Demonstration 
Carnegie Mellon University
(Continuation for FY96)
1.	Objectives 
In the next century, the moon will be a venue for space robotics due to scientific and commercial opportunities. Carnegie Mellon is developing technologies and scenarios to enable robotics on the moon. The objectives of the Lunar Rover Demonstration program are to develop enabling technologies and to demonstrate a convincing, comprehensive mobile robotics mission capability required for an extended lunar rover mission. The program will demonstrate rover technologies suitable for lunar missions, and provide those technologies to NASA and commercial interests for scientific and private enterprises.
In our intended mission, two rovers will traverse a thousand kilometers on the moon over two years. Throughout the traverse commercial sponsors and scientists will share time commanding the rover, while the public participates in the mission through interactive theme parks and television. 
We have produced feasible rover configurations for long-duration operations and have addressed central issues related to remote operations with time-delay of a semi-autonomous rover. We propose the continuation of our activity for developing and demonstrating technologies related to locomotion, imagery, telecommunication and thermal regulation of a robotic lunar rover. For this program year, we propose to perform a series of key demonstrations in those technical areas.
In the area of locomotion we will demonstrate extended operations and robustness of a self-sustained, single wheel unit that incorporates actuator, drivetrain and control components to withstand thousands of cycles on sample terrain. We will demonstrate wide field-of-view imagery that combines state-of-the-art sensors and advanced perception algorithms to enable safe local navigation and visualization for teleoperation. We will forward our studies on antenna pointing technologies and we will develop a prototype mechanism for fast tracking and accurate pointing. Finally, we will assess the potential of a new thermal source to provide adequate heating to the rover during the lunar night and we will develop a prototype unit that can be scaled to provide up to 100W of heat.
Ongoing studies of mission requirements and failure mode analysis, teleoperation and computing hardware will support our focused activities and will, in some cases, set the success criteria for our demonstrations.
2.	Justification 
"During the next 20 years, NASA’s theme will be to engage in revolutionary research and development that will lead towards achievements such as robots on the moon that could be operated by children and high school students"(1). This vision calls for focused development of capable and reliable lunar robots. 
The Lunar Rover Demonstration program funded by NASA’s Code-X is a prominent activity in the telerobotics community dedicated to producing mobile robots for long-duration, long-distance, multi-mode control planetary operations. 
The program is advancing the state-of-art in planetary surface robotics to produce systems and rover technologies crucial to the realization of NASA’s objectives in planetary exploration. Long-lifetime rover technology will benefit NASA by supporting planned planetary missions and by enabling new, longer-range, longer-duration ventures. The developed technologies have the potential to impact the non-aerospace private sector in agriculture, mining, construction, and hazardous waste remediation, as already evidenced by the NASA Robotics Engineering Consortium. 
The Lunar Rover Demonstration program will leverage the insights and practical tools developed by the Code-X’s Autonomous Rover Technologies project at CMU. Specifically, results of the basic research in perception, navigation, and architecture experience will be transferred and applied to the design and experimental activities.
Finally, the proposed research program will include productive partnerships with industry. By including industrial organizations as team members early in the mission’s definition, the program is catalyzing the development and transfer of technologies, which in turn stimulate the economy.
3.	Approach
The design and development of robotic vehicles for extended lunar exploration require understanding of the moon and its implications to components and structures. Over the past two years the Lunar Rover Demonstration program at CMU has implemented a stairstep approach to develop lunar rover configurations and has tackled some of the key aspects of robotic operations on the moon, including issues of antenna pointing while driving, power generation, and thermal regulation to survive the lunar night. For FY96 we propose to conclude subsystem design and demonstrate the performance of the subsystems to challenges similar to those on the moon.
3.1	Locomotion Module Demonstration
The performance of the locomotion system will play a key role to the success of a lunar rover which is expected to traverse 1000km of diverse terrain on the moon in a period of two years. Mission requirements and performance specifications unique to robotic vehicles have led to the consideration of wheeled configurations as the prominent locomotion scheme for the intended traverse. 
We will develop a single wheel and drivetrain assembly and we will demonstrate its capability to achieve a million cycles of driving on moderate terrain. The design of the module will be constrained by reliability metrics for lunar excursions. Actuator and driveline components will be rated for lunar operations. The primary goal of the demonstration will be to evaluate the performance of the assembly over a large number of cycles and in some cases significant loading. We will also partner with NASA centers to test the module in environmental chambers that simulate lunar-like conditions. Sealing and lubrication will be designed for vacuum operations and significant temperature fluctuations. 
3.2	Panoramic Imagery Demonstration
Two important aspects of robotic lunar exploration are obtaining near-field range information and providing views for teleprescence. Without proximity data, the rover cannot safeguard its operation or perform local route planning, and the return of panoramic imagery enables efficient teleoperation and large audience involvement.
We will prototype and demonstrate an optical sensor which captures wide field-of-view imagery and uses depth-of-focus techniques to gather proximity data. Immersive views will be displayed using either a headset or dome projection, along with the generation of near-field range data on a simulated lunar environment. This development effort will leverage on the expertise of the Autonomous Technologies group at CMU with issues of perception and proximity sensing, and testing using the RATLER vehicle.
3.3	Heat Source Demonstration
A concern of lunar missions is heat and power to survive the lunar night. During these periods ambient temperatures are cryogenic, requiring heating of the rover for survival. Conventional Radioactive Thermal Units (RHU) are infeasible due to environmental concerns, high cost and low power. Using trickle current from batteries dictates larger battery mass than would otherwise be required.
We are assessing a highly promising thermal source on the beta-decay of Kr85 gas. This design could also be extended to provide varying levels of electric power; from a trickle current to full operational power. We propose to deliver a small scale demonstration of this technology in the form of a small heat source suppling a continuous 100W. This type of success would have far reaching implications in not only space vehicles, but also earth bound commercial endeavors.
3.4	Communication Technology Demonstration
Rich teleprescence calls for high data rate communication which is possible only by precision pointing of a narrow transmission beam. For a space robot application, such a mechanism needs to be lightweight with fast response (in order to maintain lock during base-disturbance caused rover motion). Existing pointing mechanisms, sensing and controls are inadequate. Phased-array technologies are being investigated as promising means of fine pointing appended to a coarse pointing mechanism. A lightweight, low cost pointing mechanism will be designed and simulated for pointing the antenna from a lunar mobile rover to an earth station. Control algorithms for pointing the antenna will be developed and simulated. The mechanism design will be integrated into the rover by using a common base of perception and sensing. A proof of concept model will be developed for evaluation.
It is easier to perform precise pointing from a stationary platform (and such earth based system exists thought they are heavy). Most of the disturbances are due to motion of a vehicle on rough terrain. We propose to design and demonstrate a dual-stage (coarse/fine) pointing mechanism. The main function of the first stage (coarse) pointing is to isolate the vehicle motion from the pointing platform, thus reducing the requirements from the second stage (fine) pointing. The second stage might be a servo controlled gimbal or a directional phased array antenna. We anticipate that this antenna would be capable of precisely pointing over a limited range even if the first stage fails, thus increasing the reliability. The proposed mechanism would be able to provide pointing accuracy of 0.5 deg at slew rate of 20 deg/sec and 40 deg/sec2. This is far beyond the capabilities of any existing pointing mechanisms. 
3.5	Computing Hardware and Software Architecture 
Space robotic systems are complex and tend to be difficult to develop due to integration issues, processing requirements, and development team coordination. A well defined software architecture is essential for achieving reliable, maintainable, and cost-effective systems. In addition, since these systems must operate in the space environment, it is crucial to identify appropriate computing hardware and processing support systems. Given the limited choice of space processors currently available, it is also necessary to constrain processing and software tasks based on anticipated deployability.
During this year we will evaluate the most mature software architectures and processors for space mobile robots. Issues that we will address include evaluation of existing robotic architectures (NASA, ARPA, and DOE), study of high-end space processors and operating systems, and analysis of computing needs for the lunar rover. We will conclude this study by selecting candidate architectures and components for software along with computing hardware.
4.	Participants
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA
Software Engineering Institute, Pittsburgh, PA 

5.	Deliverables 
Figure 1 illustrates the milestones scheduled for FY96. Level 1 milestones, in bold type, are shown along with level 2 and level 3 milestones. FY96 will conclude with a Design Review examining critical subsystems developed during the year and evaluating their performance during the demonstrations. 

Subsystem Demonstrations	96Q1	96Q2	96Q3	96Q4	
Locomotion	Develop space qualified wheel assembly	Develop space qualified actuator and drivetrain unit	Integrate wheel and drive components
Demonstrate 106 cycles of driving 	Demonstrate performance in vacuum chamber
Design Review	
Imagery	Develop panoramic optical sensor 
	Develop display and visualization environment	Demonstrate proximity sensing using panoramic sensor	Demonstrate teleoperation using panoramic sensor
Design Review
	
Communication	Design two-stage pointing mechanism
	Develop space qualified telecommunication pointing unit 	Demonstrate pointing accuracy 	Design Review
	
Thermal 		Develop Kr85 prototype unit 	Harden and improve design 	Demonstrate production of 100W of heat
Design Review	
Figure 1   Lunar Rover Demonstration FY95 schedule					
6.	Commercialization potential
A mission to the moon for the purposes of science and excursion is a marketable commodity. Near-term opportunities include robotic teleoperation via Cyberspace, paid Internet services and sponsored CD-ROM production. Via the Internet, CompuServe and America OnLine net users will drive replicas of lunar rovers through a moon-like course at Carnegie Mellon University. Nominal fees will apply for each use of this highly interactive and realistic experience. As a measure for comparison, multimedia files about CMU’s Dante II walking robot attracted 500,000 Internet accesses during the two weeks of on line coverage of its mission to Mount Spurr.
The biggest commercial impact will come from mission-related theme park activities and conventional media advertisement during the mission. From the several benefits the moon rover expedition will provide to a theme park, we will emphasize the profits that will come from "teleporting" visitors to the moon for live exploration as it happens, database of lunar terrain for virtual reality rides and increased visitor turnout due to the enormous publicity of the robotic lunar mission. Advertisers will target promotions and contests with direct sales and marketing value.
Moreover, the Lunar Rover Demonstration program will provide technologies with commercialization potential to NASA’s Robotics Technology Initiative. Applications of the developed technologies will impact the non-aerospace private sector in agriculture, mining, construction, and hazardous waste remediation. Agriculture applications, including planting, plowing, harvesting, and soil conditioning, appear to be especially promising.
7.	Funding 
The following table summarizes the program expenses for FY96:

NAGW-3863 Renewal Budget Summary 
Expenses	FY96	
 Personnel & Fringe (includes CMU overhead)	$547,000	
Travel, Lab. & Data Supplies, Misc.	$53,000	
Equipment	$150,000	
Total	$750,000	
8.	Facilities
The research proposed here will be performed at the Robotics Institute of Carnegie Mellon University. Established in 1979 as the nation’s first comprehensive robotics research center to conduct research in robotic technologies relevant to scientific, industrial, and governmental needs, the Robotics Institute has grown into a powerful, interdisciplinary research organization, drawing upon Carnegie Mellon’s strengths in computer science, engineering, science, and industrial administration. The Institute pursues a comprehensive research agenda that culminates in competent, working robots and boasts the only Ph.D. granting program in robotics.
The Robotics Institute, and the associated Field Robotics Center, have state-of-the-art computational and laboratory facilities. The Software Engineering Institute will provide expertise in fault analysis and systems integration, as well as providing student support through their Master’s of Software Engineering program.
9.	Principal Investigators

Dr. Eric KrotkovRobotics Institute/Smith HallCarnegie Mellon University5000 Forbes AvenuePittsburgh, PA 15213(412) 268-3058, fax (412) 268-5570epk@cs.cmu.edu

Dr. Reid SimmonsSchool of Computer ScienceCarnegie Mellon University5000 Forbes AvenuePittsburgh, PA 15213(412) 268-2621, fax (412) 268-5576reids@cs.cmu.edu

Dr. William (Red) WhittakerField Robotics CenterCarnegie Mellon University5000 Forbes AvenuePittsburgh, PA 15213(412) 268-6559, fax (412) 682-1793red@cs.cmu.edu

(1) Daniel Goldin, NASA’s Administrator during his Testimony to the House Committee on Science, January 1995