The CNES contribution to in-situ exploration : robotic implications

Transcription

1 The CNES contribution to in-situ exploration : robotic implications Pierre W. BOUSQUET Head of Planetology and Microgravity project office With the contribution of Alain GABORIAUD, Philippe GAUDON, Philippe LAUDET, Francis ROCARD, Laurent RASTEL

2 Overview Overview of French involvement in in-situ missions Instrument typology and corresponding robotic needs CNES activities on rover autonomous navigation 2

3 Involvement at lander system level Development of Netlander, Mars geophysics network, up to phase B in 2002 Rosetta s lander, Philae, in cooperation with DLR, launched in 2004 to comet churyumov-gerasimenko Mission analysis Science Operations & Navigation Center Telecom & power sub-systems Mascot, with DLR proposed for flight on Hayabusa-2 (JAXA), Launch to NEO 1999JU3 in 2014 Artist View Optional lander on Marco Polo-R proposal to Cosmic Vision M3 3

4 Instrument contributions, past & present Together with CNRS laboratories, CNES has provided, or will provide, instruments for : - Phobos 1988 mission, with Russia - The penetrators of MARS 96, with Russia - HUYGENS, landed on Titan on 14/01/2005, with ESA - Rosetta s lander, Philae, with DLR and ESA - Phobos-Grunt, to be launched this fall by Roskosmos - MSL s rover Curiosity, to be launched this fall by NASA - EXOMARS, on the 2016 demonstration lander (selection ongoing), and on the Pasteur 2018 Exobiology payload 4

5 Highly sensitive Seismometers <10-9 m.s - ² Hz -½ from 10-3 up to 10 Hz IPGP first delivered the Optimist seismometer for Mars 96. An improved version was later selected for Netlander, and for ExoMars attempted Humboldt payload. Candidate to 2 Discovery proposals (Lunette moon lander and GEMS Mars lander), on JAXA s Selene 2 moon rover, and for a Mars geophysics mission. Deployment by an arm Deployment under descent module 5

6 Active seismology on a small body Measurement of meteorite impacts, and of seismic waves generated by an explosive load or an impactor on a Near Earth Asteroid. IPGP would provide a set of > 1 Hz - medium sensitive geophones, carried on autonomous less than 5 kg - GeoPODs. BASIX Proposal to Discovery with Boulder University and JPL, optional on Marco Polo-R Cosmic Vision M3 proposal. An even spread of the GeoPODs over the asteroid is essential 6

7 In-situ analytical instruments SA, LATMOS, LISA and GSMA labs have provided Gas Chromatograps, Tunable Laser Spectrometers and gas storage and distribution systems for analytical suites on Huygens - GCMS, Philae - COSAC, MSL SAM and Phobos-Grunt GAP. On MSL, SAM (Sample Analysis at Mars) will perform mineralogical and atmospheric analyses. It will detect a wide range of organic compounds and will analyse organic stable isotopes and noble gases. It is based on the coupling between a solid or gaseous sampling preparation module and a gaseous phase analysis module. The various sub-systems of SAM illustrate its robotic complexity : solid sample manipulation samples preparation (pyrolysis, deriving, combustion, enrichment) various pumping stages SAM s Gas Chromatograph is supplied by the Service d'aéronomie. It realises the separation and the detection of the compounds present in the gaseous samples. 7

8 SAM on MSL (courtesy of NASA) 8

9 MicrOmega IR (from IAS lab) Instrument concept : Depth of field ~ 10 mm sample 100 s de λ λ i λ n illumination λ 1 y radiator x electronics 9

10 MicrOmega IR On-going or planned developments : Phobos Grunt, delivery in June this year, mounted outside static lander, fed by a collector mast ExoMars, part of Pasteur on 2018 rover, mounted inside ALD, fed from drill and SPDS Mascot, to land on asteroid from Hayabusa 2 in 2014, mounted inside lander, protuding window touches soil, multiple observation by hopping MicrOmega Conical Adapter of the MicrOmega 10

11 Raman & LIBS spectrometers IRAP (ex CESR) provides laser control electronics of Pasteur s Raman A continuous laser pulse excites solid target Laser 532 nm Low power Inelastic scattering related to vibration of molecules (vibrational Raman effect) Spectro. Raman peak all unambiguous identification of minerals, water ice and organic molecules 11

12 Raman & LIBS spectrometers IRAP provides Mast Unit of MSL s LIBS : ChemCam ChemCam performs elemental analyses through laser-induced breakdown spectroscopy (LIBS) Rapid characterization of rocks and soils up to seven meters away Will identify and classify rocks, soils, pebbles, hydrated minerals, weathering layers, and ices Analysis spot size < 0.5 mm nm spectral range High-resolution : ~1 mm at 10 m Mast Unit Body Unit J.-L. Lacour(CEA) 12

13 Raman & LIBS spectrometers Laser spectrometers can perform remote analysis. They can be external on a pointing platform (MSL) or fixed and internal, robotically fed (ExoMars) Potential contributions to candidate missions for : Selene 2 - LIBS : mounted on rover JEDI - LIBS (Dicovery) : Lunar polar volatile and mineralogy in situ. Same as ChemCam, mounted on rover body, 1 dof SAGE Raman LIBS (New Frontiers), mounted in static Venus lander, 1dof, points through window 13

14 Radars, Consert & Wisdom CONSERT will perform tomography of a comet by transmitting a radio signal from Rosetta through the comet nucleus to the Philae lander, and back. The UHF ground-penetrating radar WISDOM will construct a stratigraphic map of Mars subsurface and identify underground targets down to 2 to 3 m depth. The map accuracy is related to the precision of the ExoMars rover navigation. 14

15 Autonomous navigation support to ExoMars EDRES (Environnement de Développement pour la Robotique d'exploration Spatiale) is the result of 18 years of software development for autonomous rovers at CNES. It consists of a collection of algorithms, applications and tools covering most of the functions for autonomous movement generation and execution for exploration rovers. EDRES has been built to serve as a workshop for the creation of new algorithms, tools or applications. Since 2008, CNES has been transferring EDRES knowledge to the ExoMars rover vehicle s prime contractor, and supports ESA on : Design of stereovision benches (NAVcams, LOCcams) Perception and navigation algorithms Visual Motion Estimation Operations definition Test facilities 15

16 Autonomous navigation support to ExoMars Recent results and short term activities Operations definition Successful remote experiment (ESTEC/SEROM - June 2010) Wisdom Pattern : precision < 0,5 % Study of the impact on Autonomous Navigation of RAM size increase VME chain optimisation + test campaign (robustness, precision, speed) 2011: continue remote experiment : Pancams tests, Clupi? Provision of new chassis (~ ExoMars design, Actron / St-Petersburg) 16

17 Visual Motion Estimation performances Results obtained during real rover tests in our Mars yard, involving 2000 stereo image acquisitions over a 260m trajectory. The whole VME software was transferred to a Leon2 processor. Main results - 1% ( 1σ) accuracy position => 1m after a daily trip of 100 m. - Heading accuracy is 1.5 ( 1σ) at the end of the daily trip. - Computing time estimated at 7.5 seconds on the flight hardware. Accuracy is obtained using the sun sensor once a day to limit heading drift. Computing time reduction through code optimisation currently in progress. 17

18 Rover navigation perspectives Magellium/CSA => EDRES (set of Perception, Navigation, VME algorithms) EDRES candidate solution in GMV study : MARS Sample Fetching Rover Sparing Robotics Technologies for Autonomous Navigation (ESA-SPARTAN) CNES/ONERA R&D program, to improve rover autonomy in mission execution => increase TRL of locomotion active control => Simultaneous Localisation And Map building (SLAM) New ExoMars rover : ExoMars-C? Our ultimate target is to prepare for a fetch rover for MSR 18