Mars Exploration Rovers - Part 2

Cameras

The rover has nine cameras total: Six black and white engineering cameras aid in rover navigation while three science cameras make scientific observations. 

Two sets of two Engineering Hazcams (four total) are mounted on the front and back of the rover and work with hazard avoidance software to scan for potential obstacles and risks.   Each camera has a 120 degree field view and can see up to 3 meters in front of it, and four meters wide at the furthest distance.  In addition to the Hazcams, two Engineering Navcams are mounted on the mast of the rover.  Together the Navcams form a stereo view, with each cam having a 45 degree field of view.  3-D Panoramic images created with the Navcams compliment data gathered with the Hazcams. 

Two Science Pancams are mounted on the mast and deliver 3-D color views of the surrounding environment.  The Pancams have a narrow field of view similar to the human eye, and together have 11 unique color filters and two color, solar filters.  In addition to taking high definition panoramic photos, the Pancams can assist in navigation.  It can use the current time with the position of the sun to determine compass directions.  One additional Science Microscopic imager is mounted on the rover’s mechanical arm.   It is used to take extremely close-up pictures of rock and soil.  This not only provides valuable information about Martian soil, but also can impact rover mobility (i.e. if it finds extremely soft soil, it may avoid that path). 

Rock Abrasion Tool

 Source: http://www.marsdaily.com/reports/Spirit_Struggles_While_Opportunity_Rocks_999.html

The rock abrasion tool is located in the bottom of the picture, just after it bore a hole in a rock.  This particular specimen is termed Marquette Island, and is said to be unique in composition when compared to other Martian basalts.  It was first thought to be of meteorite origin, but a low nickel composition suggest it may be a Martian original.

Other Scientific tools

Miniature Thermal Emission Spectrometer (Mini-TES):  Identifies promising rocks and soils for closer examination and for determining the processes that formed Martian rocks.  Designed to look skyward to provide temp. profiles of Martian atmosphere.

Mossbauer Spectrometer (MB): Close-up investigations of the mineralogy of iron-bearing rocks and soils

Alpha Parcticle X-Ray Spectrometer (APXS): Close-up Analysis of the abundances of elements that make up rocks and soils

Magnets: Collect dust particles for the MB and AXPS, which are designed to determine the ratio of magnetic vs. non-magnetic particles. 

Future

Spirit and Opportunity are part of an ongoing effort to classify the past and present geology and climate on Mars.  Specifically, NASA is looking for evidence of past water in the geology.  Opportunity is currently heading towards the Endeavor crater and is less than 3.7 miles away.  NASA is launching another mission in November of this year, Mars Science Laboratory (MSL), which will include another rover named Curiosity.  Curiosity will carry more than ten times the weight of scientific instruments, and be fives times as heavy overall.

The MSL has four main goals:

1) To determine if life ever arose on Mars

2) To characterized the climate of Mars

3) To characterize the geology of Mars

4 )To prepare for human exploration

NASA is looking to send another rover mission to search for potentially habitable areas in 2018.  The Mars Astrobilogy Explore-Cacher is still in the works, but it would be the next logical step if MSL succeeds.

Mars Exploration Rovers - Opportunity Awaits!

Mars Exploration Rovers - Opportunity Awaits!

History

NASA’s exploration of Mars has been ongoing since the 1960’s.  The Mariner program performed the first successful flybys and orbits of Mars in the late 60’s and early 70’s.  The Viking program succeeded in sending two landers and orbiters simultaneously in the mid 70’s.  In 1997, the Pathfinder succeeded in landing a rover on the Martian surface while being more economically feasible than the previous Viking missions ($280 million vs. $3.5 Billion 1997 dollars).  It also validated concepts that would be used by later missions, such as airbag-mediated landing and automated avoidance.

The exploration of Mars continues today with the recent and ongoing success of two mars exploration rovers, Spirit and Opportunity. Their main science goal is to examine local geology for evidence of past water activity.   Both landed on Mars in 2004 and while Spirit was recently named a stationary research platform in January 2010, Opportunity continues to explore the Martian surface more than six years after its touchdown. To date Opportunity has covered over 27.82 Km (17.29 miles), well over the projected 600 m.  The continued success of Opportunity is a testament to the hard work of NASA researchers and engineers

Artist Depiction of Spirit and Opportunity Exploration Rovers

Source: wikipedia

 The rovers have a solar array over it WEB and two solar wings.  Two Hazcams are located on the front and back each.  Two Navcams and Pancams rise from the mast, giving each the ability to create stereo views.  A mechanical arm sits on the front of the rover, with a microscopic camera and rock abrasion tool attached.

Electronics

So what makes Opportunity so successful? The core of this rover is rover contains the rover electronic module (REM), which is designed to survive the harsh condition of the Martian surface, as well as space.  The on board computers and wiring can tolerate temperatures with the range of -40 ˚C to 40˚C, and are radiation hardened. They also are resistant to memory loss or errors during the cyclical operating schedule.  Meanwhile, they still have the processing power of a high end laptop and memory of a standard home computer by 2004 standards. 

A warm electronics box (WEB) protects the REM from the harsh Martian atmosphere, which can dip to   -96˚C.  The walls of the box are insulated with gold paint and aerogel.  Excess heat from electronics and radioisotopic heater units (RHUs) provide the majority of heat in the WEB.  RHUs continually produce about 1 watt of heat through the decay of a low grade isotope.  This is crucial, because it reduces the amount of energy used on electronic heaters that are also contained in the WEB.  Excess heat generated by the electronics when the rover is cruising can pose a threat to the REM.  In this case, a heat rejection system pumps CFC-12, a fluid similar to Freon, through the WEB to absorb excess heat.  This pump operates similar to a cars air conditioner, and can shuttle 150 watts of rover waste heat out of the WEB.

Energy

The rover generates energy using solar panel wings and is equipped with two rechargeable batteries.  It was expected to generate 140 watts during a sol (Martian day), with that number slowly dropping over time due to dust covering the panels.  Unexpected cleaning events have allowed the energy generation to remain at reasonably high levels throughout the mission.   The rover requires around 100 watts per drive to drive, and it also must maintain acceptable internal temperatures during the Martian night in order to protect its vital instruments. 

Mobility

The rovers have six wheels, each with an individual motor.  The front two and back two wheels also have their own independent steering motors, giving the rover an ability to turn 360 degrees in place.  Rocker-bogie suspension allows it to both swivel side to side and rock up and down.  Opportunity is designed to handle up to a 45 degree tilt, but the rover is programmed with hazard avoidance software to avoid tilts exceeding 30 degrees.  The rover has a top speed of 2 inches per second on flat hard ground.  However, hazard avoidance software forces the rover to stop every few seconds and reassess it environment.  

Communication

The Rover has 4 antennas that operate in low, medium and high gain frequencies, as well as UHF.  This gives the mission team multiple ways to communicate with the rover.  Communication can either be direct or it can be relayed through a craft orbiting Mars.  Communicating with orbiters saves energy because the rover doesn't have to "yell" as loud.  Also, satellites are in view for longer periods of time.  When direct communication occurs, lag time can be anywhere from 1.5 to 5 hours.  This requires mission team members to pre-plan routes for the rover, and rely on automated sensors, as well as hazard avoidance software.   

Nanorobotics

Nanorobotics   

Construction of the robot: Nanorobots are made out of parts from 1 to 100 nanometers, mainly composed of carbon in the diamond/fullerene nanocomposites forms because of the strength and chemical inertness of these forms. The best coating to avoid the immune system attacking them is a passive diamond coating.

Visual scale size of nanorobots

History: No artificial non-biological nanobots have been made, so they are still hypothetical. However, they were envisioned as early as the 1860’s. James Clerk Maxwell proposed a thought experiment in which a tiny entity dubbed “Maxwell’s Demon” would be able to handle individual molecules. Richard Adolf Zsigmondy published a book in 1914 about using an ultramicroscope and the dark field method to see particles like gold sols with size 10nm an less.

Nanorobot image

Who is using it? Anybody that does work that requires precision interactions with nanoscale objects. Doctors may be able to use it to help treat patients more efficiently, and there are other professionals that might be able to use it.  Nanorobots involve a multidisciplinary approach between cell biology, biochemistry, and biomaterials engineering, and the potential applications of nanobots are almost unending.

What are they using it for?  The main purpose will be maintaining and protecting the human body against pathogens. They can cure skin diseases; be used in mouthwash to identify and destroy pathogenic bacteria as well as lifting particles of food, plaque, or tartar off of teeth to wash them away; augment the immune system to find and disable unwanted bacteria and viruses; and also getting rid of arteriosclerotic deposits in the bloodstream to widen the affected blood vessels.

Nanorobots in the bloodstream

                                                           

 “Lab-on-a-chip (LOC) devices have become familiar in recent years to the general public. Nanotechnology is enabling new generations of LOCs to become highly specific for the detection of viruses, bacteria and a wide range of metabolic functions using tiny quantities of analyte and returning a wide range of results extremely rapidly. New generations of biosensors, likewise, have been developed that are able to detect minute changes in physiological state or the presence of pathological agents down to single molecules or viral/bacterial entities. The combination of both will facilitate the development of new generations of medical devices including very fast and accurate in vitro diagnostics and implantable in vivo diagnostic devices that can operate in real time, perhaps transmitting signals back to other devices like implantable cardiac devices or insulin pumps.”—Institute of Nanotechnology (08 December 2009), NANO magazine (Issue 5)

Nanosensor CPU--"The Brain"

How does it work?

What does the future look like? The future is everything for nanotechnology. Since nothing has been built, there are many opportunities for the scientists working with them to develop nanobots with a variety of different uses. They have potential usage in medicine, chemistry, energy, information and communication, heavy industry, and even consumer goods.

The future of technology--Nanosurgery

Written by:  Abby and Blain

Sources:

http://www.nanotech-now.com/Art_Gallery/svidinenko-yuriy.htm
http://www.nano.org.uk/articles/19/

Robot Suit – HAL

What is HAL?

In June of 2004, Dr. Sankai, a professor at the University of Tsukuba (in Japan), established the company CYBERDYNE Incorporated in order to introduce the world to his “Robotic suit,” which he has designed specifically for “the benefits of mankind.” According to Dr. Sankai it was the book I, Robot by Isaac Asimov, which he read in the third grade, which inspired him to dedicate his life and profession to the development of a “Robotic suit” that “…has both advantages of a robot and a cyborg.” Now, after years of work, Dr. Sankai has made his “Robot suit,” known as HAL (Hibrid Assistive Limb), available for use in Japan.

The HAL system (seen in the picture to the left) is described as a cyborg-type robot that can expand and improve physical capability. When a person attempts to move, nerve signals are sent from the brain to the muscles via motoneuron, moving the musculoskeletal system as a consequence. At that moment, very weak biosignals can be detected on the surface of the skin. "HAL" catches these signals through a sensor attached on the skin of the wearer. Based on the signals obtained, the power unit is controlled to move the joint simultaneously with the wearer's muscle movement, enabling to support the wearer's daily activities. This is referred to as a 'voluntary control system' that provides movement interpreting the wearer's intention from the biosignals in advance of the actual movement. HAL has not only a 'voluntary control system', but also a 'robotic autonomous control system' that provides human-like movement based on a robotic system which integrally work together with the 'autonomous control system'. HAL is the world's first cyborg-type robot controlled by this unique hybrid system. HAL is expected to be applied in various fields such as rehabilitation support and physical training support in medical field, ADL support for disabled people, heavy labor support at factories, and rescue support at disaster sites, as well as in the entertainment field. The possibilities are endless!

HAL Details:

Size: Wearable robot

Height: 1,600mm

Weight: Full Body Type (Approx. 23kg), Lower body (Approx. 15kg)

Power: Battery - AC100V

Continuous Operating Time: Approximately 2 hours 40 minutes

Motions: Daily activities(standing up from a chair, walking, climbing up and down stairs),
hold and lift heavy objects, and more...

Operation: Hybrid Control System

Working Environment: Indoor and outdoor

How does HAL work?
Two distinct systems:
1. Cybernic Voluntary Control (Bio-Cybernic Control System)

• When a person attempts to walk, for instance, the brain sends electrical impulses to muscles. when they arrive at muscles, faint bio-electrical signals appear on skin surfaces (Picture 1).

• Power units generate torque and put limbs into action (Picture 2).
• Thus, HAL assists the wearer with an intended movement (Picture 3).

2. Robotic Autonomous Control System

• A human motion (for example standing up from a chair) can be recognized as an aggregate of several elemental movements.It is similar to a sentence that consists of several words. For a given motion, "HAL" assembles small movements from the database, just as words from a dictionary are concatenated to form a sentence. Using the database (which is also automatically augmented by the information that sensors collect from the body) "HAL" autonomously coordinates each motion to be assisted smoothly by power units. Furthermore, in the case that no good bio-electrical signals are detectable due to some problems in the central nervous system or in the muscles, "HAL" can be of use through the Robotic Autonomous Control.

Check out this awesome video on HAL!

HAL for Well-Being

"Robot Suit HAL" for Well-being product configuration:

The basic bipedal model of "Robot Suit HAL" for Well-being is pictured above. Accessories such as a dedicated PC to monitor HAL status or settings, battery charger, custom batteries, maintenance tools, etc, are supplied as well.

Background of "Robot Suit HAL" for Well-being:

"Robot Suit HAL" for Well-being was created with the most recent technologies that could be utilized for welfare purposes, resulting from the development of the Robot Suit HAL series. "Robot Suit HAL" for Well-being assists the walking motion of a wearer who has difficulty in walking or who has weakened muscles. Robot Suit HAL can help the wearer achive freedom and independence to stand and walk. "Robot Suit HAL" moves in accordance with the wearer's intention.

Robot Suit HAL Hybrid Control System:

When a person tries to move their body, biosignals is sent from the brain via moto-neuron. These biosignals can be detected on the surface of the skin with sensors attached. The biosignals sent are then relayed to the HAL computer and analyzed, along with the activity of the power units attached to each joint. Controlling the power units based on these relayed biosignals enables assistance according to the wearer's intention. Types and Size of "Robot Suit HAL" for Well-being Bipedal and single leg (right/left) types are available in 3 leg length sizes (S, M, L) and 2 hip width sizes (wide/normal). Fine adjustment of HAL is possible to meet the wearer's physique.

Price:

Both Cyberdyne and Daiwa House plan to produce 400 units of Robot Suit HAL annually and each will cost you US $4,200!

Written by: Chris Schuldt

Sources:
http://www.cyberdyne.jp/english/index.html