Contemporary planetary robotics: an approach toward autonomous systems

✍ Scribed by Gao, Yang

• Publisher: Wiley-VCH
• Year: 2016
• Tongue: English
• Leaves: 429
• Edition: 1
• Category: Library

✦ Synopsis

For readers from both academia and industry wishing to pursue their studies and /or careers in planetary robotics, this book represents a one-stop tour of the history, evolution, key systems, and technologies of this emerging field.

The book provides a comprehensive introduction to the key techniques and technologies that help to achieve autonomous space systems for cost-effective, high performing planetary robotic missions. Main topics covered include robotic vision, surface navigation, manipulation, mission operations and autonomy, being explained in
both theoretical principles and practical use cases.

The book recognizes the importance of system design hence discusses practices and tools that help take mission concepts to baseline design solutions, making it a practical piece of scientific reference suited to a variety of practitioners in planetary robotics.

✦ Table of Contents

Content: Cover
Title Page
Copyright
Contents
List of Contributors
Chapter 1 Introduction
1.1 Evolution of Extraterrestrial Exploration and Robotics
1.2 Planetary Robotics Overview
1.3 Scope and Organization of the Book
1.4 Acknowledgments
Chapter 2 Planetary Robotic System Design
2.1 Introduction
2.2 A System Design Approach: From Mission Concept to Baseline Design
2.2.1 Mission Scenario Definition
2.2.2 Functional Analysis
2.2.3 Requirements Definition and Review
2.2.4 Design Drivers Identification
2.2.5 Concept Evaluation and Trade-Off 2.3 Mission Scenarios: Past, Current, and Future2.3.1 Lander Missions
2.3.1.1 Luna Sample-Return Landers
2.3.1.2 Viking Landers
2.3.1.3 Mars Surveyor Lander Family and Successors
2.3.1.4 Huygens Lander
2.3.1.5 Beagle 2 Lander
2.3.1.6 Philae Lander
2.3.2 Rover Missions
2.3.2.1 Lunokhod 1 and 2 Rovers
2.3.2.2 Prop-M Rover
2.3.2.3 Sojourner Rover
2.3.2.4 Spirit and Opportunity Rovers
2.3.2.5 Curiosity Rover
2.3.2.6 Chang'E 3 Rover
2.3.2.7 ExoMars Rover
2.3.2.8 Mars 2020 Rover
2.3.3 Future Mission Concepts
2.3.3.1 Toward New Business Models
2.3.3.2 Medium-Term Mission Concepts 2.3.3.3 Long-Term Mission Ideas2.4 Environment-Driven Design Considerations
2.4.1 Gravity
2.4.2 Temperature
2.4.3 Atmosphere and Vacuum
2.4.4 Orbital Characteristics
2.4.4.1 Distance to the Sun
2.4.4.2 Length of Days
2.4.5 Surface Conditions
2.4.5.1 Rocks
2.4.5.2 Dusts
2.4.5.3 Liquid
2.4.6 Properties of Planetary Bodies and Moons
2.5 Systems Design Drivers and Trade-Offs
2.5.1 Mission-Driven System Design Drivers
2.5.1.1 Mass
2.5.1.2 Target Environment
2.5.1.3 Launch Environment
2.5.1.4 Surface Deployment
2.5.1.5 Surface Operations 2.5.2 System Design Trade-Offs: A Case Study2.5.2.1 Mission Scenario Definition: MSR/SFR
2.5.2.2 SFR System Design Drivers
2.5.2.3 SFR Subsystem Design Drivers
2.5.2.4 SFR Design Evaluation
2.6 System Operation Options
2.6.1 Operation Sequence
2.6.2 Operational Autonomy
2.6.2.1 Autonomous Functions
2.6.2.2 Autonomy Levels: Teleoperation versus Onboard Autonomy
2.7 Subsystem Design Options
2.7.1 Power Subsystem
2.7.1.1 Power Generation
2.7.1.2 Power Storage
2.7.2 Thermal Subsystem
2.7.2.1 Sizing Warm/Cold Cases
2.7.2.2 Heat Provision 2.7.2.3 Heat Management (Transport and Dissipation)2.7.2.4 Trade-Off Options
References
Chapter 3 Vision and Image Processing
3.1 Introduction
3.2 Scope of Vision Processing
3.2.1 Onboard Requirements
3.2.2 Mapping by Vision Sensors: Stereo as Core
3.2.3 Physical Environment
3.3 Vision Sensors and Sensing
3.3.1 Passive Optical Vision Sensors
3.3.2 Active Vision Sensing Strategies
3.3.3 Dedicated Navigation Vision Sensors: Example Exomars
3.3.3.1 Navigation (Perception/Stereo Vision)
3.3.3.2 Visual Localization and Slippage Estimation
3.3.3.3 Absolute Localization

✦ Subjects

Space robotics.;Roving vehicles (Astronautics);Robotics.;TECHNOLOGY & ENGINEERING / Engineering (General)