Robotic Technologies for Early Lunar Exploration
- Paper number
IAC-08.A3.2.B14
- Author
Dr. Nadeem Ghafoor, MDA, Canada
- Coauthor
Mr. Michael G. Daly, MDA, Canada
- Coauthor
Dr. Peter Dietrich, MDA, Canada
- Coauthor
Mr. Howard Jones, MDA, Canada
- Coauthor
Mr. Sam Ng, MDA, Canada
- Coauthor
Mr. Menachem (Manny) Nimelman, MDA Corporation, Canada
- Coauthor
Mr. Frank Teti, MDA, Canada
- Coauthor
Dr. Nadeem Ghafoor, MDA, Canada
- Year
2008
- Abstract
This paper considers the early phases of lunar exploration and presents four key technologies: adaptable precursor rover systems; multi-purpose advanced robotic manipulators; precision landing and hazard avoidance systems; and an instrument for site survey and characterization, Ground-Penetrating Radar (GPR). Small unmanned rovers will likely be a key component within the early lunar architectures. The paper presents a concept in which the precursor rovers are designed with an adaptable architecture with the ability to implement variable autonomy control. This multi-mode capability supports a range of manned and unmanned scenarios, including precursor prospecting, pre-EVA advance reconnaissance and an evolutionary role as an astronaut companion. Lunar manipulators will be required during early exploration missions for a number of operations such as sample handling, instrument positioning and cargo / payload transfer and deployment. The paper discusses the concept of a family of manipulators that could be redeployed across a number of missions and operational scenarios. Landing lidar is an emerging key technology for lunar missions starting with precursor robotic landers, and extending to umanned cargo and manned crew landers. Current developments in landing lidar explore landing-site selection high altitude down to hazard-avoidance as the vehicle approaches closer to the surface. Finally, Ground-Penetrating Radar (GPR) will be a valuable sensor for early site-survey, gravity mapping, mineral deposit identification, and the searching for water ice. The resulting data will be used to identify locations of interest for further exploration activities and human missions. It can also be used to investigate sub-surface stability for construction activities during later exploration phases. The paper presents concepts and developments in these four areas, and discusses the role of the technologies in lunar exploration architecture and operations. A roadmap is discussed addressing the evolution of these technologies to support later stages of lunar exploration, including human sorties and outpost deployment missions.
- Abstract document
- Manuscript document
(absent)