AN ANIMATED OVERVIEW of PLANETARY ROBOTICS: Past, Present and Future

Home , Hopper (spacecraft), Lavochkin, Luna 21, MESUR, Sojourner (rover)

7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2002' ESTEC, Noordwijk, The Netherlands, November 19 - 21, 2002

Automation and Robotics Section (TOS-MMA)

AN ANIMATED OVERVIEW OF PLANETARY ROBOTICS: Past, Present and Future

Michel Van Winnendael*, Francesco Grassini*, James Garry**, Gianfranco Visentin*

*European Space Agency, Automation and Robotics Section **Planetary and Space Sciences Research Institute, Open University, Milton Keynes, UK

ASTRA 2002 19-21 November 2002 Issue 2 ESTEC, Noordwijk, The Netherlands

Automation and Robotics Section (TOS-MMA)

Introduction

The subject of this slide show is planetary robotics, defined as

“systems which provide manipulation and/or mobility functions, which moreover have a certain flexibility to perform a variety of tasks, and which are designed to operate on or near the surface of celestial bodies”.

Typically these functions consist of moving around on celestial bodies (on, above or under the surface), transporting, loading/ unloading and positioning items on the surface of a planet, moon, asteroid or comet nucleus.

We have made a (necessarily subjective) selection of missions and developments which we consider most relevant in the frame of planetary robotics.

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Rover Categories

For classification of planetary rovers we use the following definitions: • “large rovers” from few 100s kg to ~1000 kg

• “mini rovers” from few 10s kg to ~100 kg

• “micro rovers” from a few kg to ~10 kg e.g Marsokhod, Russia 1990’s e.g. MUSES-CN, NASA/JPL R&D • “nano rovers” from 10s of g e.g. Nanokhod (ESA R&D 1999) to ~1 kg e.g. Lunokhods, Russia 1970 e.g. Sojourner NASA/JPL 1997

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Past Activities and Missions under Development

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Luna 16, 20, 24

Russia (1970-1976) Luna 16, Luna 20, Luna 24: Lunar Sample Return, returned Lunar soil sample to Earth (100g on Luna 16 in 1970, 30 g on Luna 20 in 1972, 170 g on Luna 24 in 1976))

Luna 16 lander with arm and drilling rig (Credit: NPO Lavochkin / NASA NSSDC)

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Luna 16, 20, 24

Russia (1970-1976) Luna 16, Luna 20, Luna 24: Lunar Sample Return, returned Lunar soil sample to Earth (100g on Luna 16 in 1970, 30 g on Luna 20 in 1972, 170 g on Luna 24 in 1976)

Luna 16 sample return (Credit:CD 'Soviets in Space‘ by “Compact Book Publishing Co, Moscow”)

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Luna 16, 20 & 24

Russia (1970-1976) Luna 16, Luna 20, Luna 24: Lunar Sample Return, returned Lunar soil sample to Earth (100g on Luna 16 in 1970, 30 g on Luna 20 in 1972, 170 g on Luna 24 in 1976)

Luna24 sample return

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Luna 17 & 21

Russia (1970-1973) Luna 17: carried the Lunokhod 1 rover, the first rover on another world, which traveled 10 km on the Lunar Surface (Nov. 1970- Oct. 1971) Luna 21: carried the Lunokhod 2 rover, which covered 37 km of terrain (Jan 1973-Jun 1973)

Lunokhod 1 on lander before deployment (Credit: NPO Lavochkin)

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Luna 17 & 21

Lunokhod mobility system testing (Credit: VNII Transmash)

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Luna 17 & 21

Lunokhod Operation (Credit:CD 'Soviets in Space‘ by “Compact Book Publishing Co, Moscow”)

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Luna 17 & 21

Lunokhod Control Station (Credit: NPO Lavochkin / The Planetary Society)

Lunokhod 2

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LRV APOLLO

USA (1971-1972)

Lunar Roving Vehicle, a foldable 208 kg rover, designed to transport 2 astronauts, scientific equipment and lunar samples

LRV-1 on Apollo 15 (1971) LRV-2 on Apollo 16 (1972) LRV-3 on Apollo 17 (1972)

The various LRV parts LRV-1 onLRV Apollo-1 on 15,Apollo with 15 astronaut (Credit: (Credit:NASA) NASA) LRV with astronaut (Credit: NASA) LRV wheel (Credit: NASA) LRV Control Console (Credit: NASA)

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Mars2, Mars 3 ProP-M

Russia (1971)

The Mars2 and Mars3 landers both carried a ski-walking microrover called ProP-M, which was attached to the lander by means of a tether cable.

They both arrived during a big martian dust storm. Mars2 crashed. The Mars3 landing succeeded but after 20 s the communication was lost. ProP-M microrover (Credit: VNII Transmash)

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Mars2, Mars 3 ProP-M

Russia (1971)

The Mars2 and Mars3 landers both carried a ski-walking microrover called ProP-M, which was attached to the lander by means of a tether cable.

They both arrived during a big martian dust storm. Mars2 crashed. The Mars3 landing succeeded but after 20 s the communication was lost. ProP-M deployment simulation (Credit:CD 'Soviets in Space‘ by “Compact Book Publishing Co, Moscow”)

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Viking

USA (1975-1982)

First successful soft landings at two locations on the Martian surface.

Both landershad a furlable boom with a soil scoop to collect surface samples.

Viking Orbiters (Credit: NASA/JPL) Vikingimage Lander of trench with made stowed by the furlable soil scoopboom (Credit: (Credit: NASA/JPL) NASA/JPL)

Viking Lander withsoil deployed scoop (Credit: furlable NASA/JPL)boom (Credit: NASA/JPL) Viking 1 in cleanroom(Credit: NASA/JPL)

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Phobos2 Phobos Hopper

Russia (1988-1989)

The Phobos2 spacecraft carried a small “hopper” lander, called ProP-F, designed to land on Phobos (one of the moons of Mars).

Contact with the spacecraft was lost shortly before release of the hopper and another lander.

ProP-F (Credit: VNII Transmash)

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Phobos2 Phobos Hopper

Russia (1988-1989)

The Phobos2 spacecraft carried a small “hopper” lander, called ProP-F, designed to land on Phobos (one of the moons of Mars).

Contact with the spacecraft was lost shortly before release of the hopper and another lander.

ProP-F in operation (simulation) (Credit: James Garry)

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M94-M96 Marsokhod

Russia (1990-1995)

In view of a planned ambitious mission the Russians developed a minirover for Mars surface operations, called Marsokhod. The mission was repeatedly postponed and finally cancelled.

Marsokhod testing in USA, 1996 (Credit: NASA) Marsokhod testing in USA, 1996 (Credit: NASA) The M94 Marsokhod (Credit: VNII Transmash)

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M94-M96 Marsokhod

Russia (1990-1995)

In view of a planned ambitious mission the Russians developed a minirover for Mars surface operations, called Marsokhod. The mission was repeatedly postponed and finally cancelled.

Marsokhod testing in Kamchatka, Russia (Credit: VNII Transmash)

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Mars Pathfinder Sojourner Rover

USA (1996-1997) Mars lander using airbag technology. The first successful Mars landing since Viking. Deployed a micro-rover called “Sojourner”. Its operation was restricted to the immediate vicinity of the lander. Rover mass 11 kg Top speed 40 cm/minute Airbags testing (Credit: NASA/JPL) Artist’s impression of lander and rover (Credit: NASA ) The rover operated 12 times longer than its design lifetime of 7 days.

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Mars Pathfinder Sojourner Rover

USA (1996-1997) Mars lander using airbag technology. The first successful Mars landing since Viking. Deployed a micro-rover called “Sojourner”. Its operation was restricted to the immediate vicinity of the lander. Rover mass 11 kg Top speed 40 cm/minute Airbags drop tests (Credit: NASA/JPL) The rover operated 12 times longer than its design lifetime of 7 days.

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Mars Pathfinder Sojourner Rover

USA (1996-1997) Mars lander using airbag technology. The first successful Mars landing since Viking. Deployed a micro-rover called “Sojourner”. Its operation was restricted to the immediate vicinity of the lander. Rover mass 11 kg Top speed 40 cm/minute Airbags drop tests (Credit: NASA/JPL) The rover operated 12 times longer than its design lifetime of 7 days.

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Mars Pathfinder Sojourner Rover

USA (1996-1997) Mars lander using airbag technology. The first successful Mars landing since Viking. Deployed a micro-rover called “Sojourner”. Its operation was restricted to the immediate vicinity of the lander. Rover mass 11 kg Top speed 40 cm/minute Sojourner tests (Credit: NASA/JPL) The rover operated 12 times longer than its design lifetime of 7 days.

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Mars Pathfinder Sojourner Rover

The rover operated 12 times SojournerL integrationaunch (Credit: (Credit: NASA NASA/JPL)) longer than its design lifetime of Closing of the lander petals 7 days. (Credit: NASA)

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Mars Pathfinder Sojourner Rover

USA (1996-1997) Mars lander using airbag technology. The first successful Mars landing since Viking. Deployed a micro-rover called “Sojourner”. Its operation was restricted to the immediate vicinity of the lander. Rover mass 11 kg Top speed 40 cm/minute Sojourner deployment The rover operated 12 times longer than its design lifetime of 7 days. Sojourner deployment (Credit: NASA/JPL)

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Mars Pathfinder Sojourner Rover

Rover mass 11 kg Surface image (Credit: NASA/JPL) Top speed 40 cm/minute The rover operated 12 times Sojourner control station (Credit: NASA/JPL) longer than its design lifetime of 7 days.

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Mars Polar Lander

USA (1999)

A 290 kg Mars soft lander equipped with a 2 m long robotic arm, which would acquire samples of Martian soil. The arm included a probe to measure the temperature of surface and subsurface soils. The Robotic Arm Camera could take close-up images of the arm’s scoop and soil samples. Contact with the lander was lost Surface operations artist impression (Credit: NASA/JPL) shortly before landing, it crash- SoilLanderIllustration scoop testing operation of at parts Lockheed artist of the impression landerMartin (Credit: (Credit: (Credit: NASA/JPL) NASA/JPL) NASA/JPL) landed. Lander during integration (Credit: NASA/JPL)

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Mars Polar Lander

USA (1999)

Contact with the lander was lost Entry, descent, landing and surface operations shortly before landing, it crash- (Credit: NASA/JPL) landed.

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Mars Polar Lander

USA (1999)

A 290 kg Mars soft lander equipped with a 2 m long robotic arm, which would aquire samples of Martian soil. The arm included a probe to measure the temperature of surface and subsurface soils. The Robotic Arm Camera could take close-up images of the arm’s scoop and soil samples. Contact with the lander was lost shortly before landing, it crash- Entry, descent, landing and surface operations landed. (Credit: NASA/JPL)

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Mars Polar Lander

USA (1999)

Contact with the lander was lost Entry, descent, landing and surface operations shortly before landing, it crash- (Credit: NASA/JPL) landed.

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Mars Exploration Rovers 2003

USA (planned 2003-2004)

Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in May-July of 2003, and will arrive at Mars in January 2004 at two different sites.

Mass of each rover: 180 kg Daily travel distance: 100 m

A robotic arm will be used to position scientific instruments MERMERMER-B- A artistrover rover’ ’duringss impressionstowedimpression testing on lander(Credit:(Credit: (Credit: during NASA/JPL)NASA/JPL) NASA/JPL) testing and a rock abrasion tool (RAT) MER-B rover(Credit: with NASA/JPL)Sojourner Flight Spare Illustration of(Credit: MER parts NASA/JPL) (Credit: NASA/JPL)

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Mars Exploration Rovers 2003

USA (planned 2003-2004)

Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in the May-July 2003, and will arrive at Mars in January 2004 at two different sites.

Mass of each rover: 180 kg Daily travel distance: 100 m

A robotic arm will be used to position scientific instruments and a rock abrasion tool (RAT) Fromentry to surface operations – simulation (Credit: NASA/JPL)

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Automation and Robotics Section (TOS-MMA)

Mars Exploration Rovers 2003

USA (planned 2003-2004)

Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in the May-July 2003, and will arrive at Mars in January 2004 at two different sites.

Mass of each rover: 180 kg Daily travel distance: 100 m

A robotic arm will be used to position scientific instruments and a rock abrasion tool (RAT) Fromentry to surface operations – simulation (Credit: NASA/JPL)

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Mars Exploration Rovers 2003

USA (planned 2003-2004)

Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in the May-July 2003, and will arrive at Mars in January 2004 at two different sites.

Mass of each rover: 180 kg Daily travel distance: 100 m

A robotic arm will be used to position scientific instruments and a rock abrasion tool (RAT) Fromentry to surface operations – simulation (Credit: NASA/JPL)

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Mars Exploration Rovers 2003

USA (planned 2003-2004)

Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in the May-July 2003, and will arrive at Mars in January 2004 at two different sites.

Mass of each rover: 180 kg Daily travel distance: 100 m

A robotic arm will be used to position scientific instruments Rover instruments (Credit: NASA/JPL) and a rock abrasion tool (RAT) The robotic arm with instruments and RAT (Credit: NASA/JPL)

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Mars Express Beagle 2 Lander

Europe (planned 2003-2004) ESA’s Mars orbiter Mars Express, to be launched in June 2003, will carry a small (65kg) exobiology lander, named ‘Beagle 2’, designed and built in the UK. The lander has a small robotic arm, which carries a “PAW”, including scientific instruments, a mole which can collect Qualification model of the mole subsurface soil samples, and a (Credit: Beagle 2 team) tool to collect rock samples. SchemeBeagleBeagleFlight of 2 2 thesurface modelairbags PAW operationsof releaseof the Beagle arm (Credit: at(Credit: 2 ’deliverys robotic ESA) ESA) arm DevelopmentRelease(Credit:Beagle (Credit: ofmodel 2 AstriumBeagle Mars of Beagle entry the2,/ Beagleartist arm (Credit: 2 team) ’ons 2impression mounting Team) ESA) plate Mars Express and Beagle 2 will PAW qualification(Credit:(Credit: ESA/ model Beagle Beagle (Credit: 2 team) 2 team) Beagle 2 team) arrive at Mars on 26 December BeagleBeagle2 2 landing model (Credit:(Credit: BeagleBeagle 2 team)Team) 2003.

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MUSES-C

Japan (planned 2003 - 2007)

The Muses-C mission will visit the 400 m diameter asteroid 1989ML and test the technology to return samples to earth of an asteroid ’s surface. Launch is planned for May 2003. After a 22 months flight Muses-C will meet the asteroid, make observations, collect samples and return them to Earth by 2007. Muses-C at touchdown with sampler horn (Credit: ISAS) Approach to the asteroid – artist’s impression Muses-C will release a hopping Muses-C before(Credit: touchdown ISAS) (Credit: ISAS) “robot” named Minerva to make model of Muses-C with return capsule close inspections. MinervaSampler hopping(Credit: horn robot (Credit: ISAS) (Credit: ISAS) ISAS)

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MUSES-C

Japan (planned 2003 - 2007)

Muses-C will release a hopping Minerva release (Credit: James Garry) “robot” named Minerva to make close inspections.

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MUSES-C

Japan (planned 2003 - 2007)

Muses-C will release a hopping Minerva hopping (Credit: James Garry) “robot” named Minerva to make close inspections.

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ROSETTA

Europe (planned 2003-2011)

ESA’s Rosetta Mission will study the nucleus of comet Wirtanen.

It will be launched in January 2003. After a journey of 8 years it will deploy a lander on the the comet’s surface.

Lander on the comet’s surface – artist’s impression (Credit: ESA) Rosetta releasesthe Sample its lander Drill – andartist Distribution’s impression payload (Credit: ESA) (Credit: Tecnospazio)

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CONCEPTS FOR MEDIUM TERM FUTURE

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MARS MINIROVER

USA (planned 2009-2010)

NASA has planned to land an even bigger rover on the Martian surface with the 2009 Smartlander

Sojourner, MER03 and 2009 Rover – Artist impression (credit: NASA)

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ExoMars

Europe (planned 2009-2010)

As part of the Aurora Programme, ESA’s ExoMars mission, to be launched in 2009, will carry an exobiology rover of about 200 kg, incl. 40 kg of instruments.

the ExoMars rover (credit: ESA)

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ExoMars

Europe (planned 2009-2010)

As part of the Aurora Programme, ESA’s ExoMars mission, to be launched in 2009, will carry an exobiology rover of about 200 kg, incl. 40 kg of instruments.

the ExoMars rover (credit: ESA)

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ExoMars

Europe (planned 2009-2010)

As part of the Aurora Programme, ESA’s ExoMars mission, to be launched in 2009, will carry an exobiology rover of about 200 kg, incl. 40 kg of instruments.

thethe ExoMars roverrover (credit:(credit: ESA)

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ExoMars

Europe (planned 2009-2010)

As part of the Aurora Programme, ESA’s ExoMars mission, to be launched in 2009, will carry an exobiology rover of about 200 kg, incl. 40 kg of instruments.

the ExoMars rover (credit: ESA)

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Icebreaker Rover Lunacorp

USA (???2005- 2010 ???)

The company Lunacorp has planned to send a rover to the Moon which can be teleoperated by the public from Earth.

Icebreaker Rover (credit: Lunacorp)

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Tumbleweed

Concept

A large ball which travels over the Martian surface due to wind force.

Tumbleweed cross-section (Credit: NASA/JPL)

Tumbleweed artist’s impression (Credit: NASA/JPL)

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Rovers with inflatable wheels

Concept

Rovers with inflatable wheels have good locomotion abilities, on a variety of terrain conditions, and are light and compact

rovers with inflatable wheels (Credit: NASA/JPL)

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Cliffbots

Concept

Vertical cliff walls e.g. on Mars are scientifically interesting locations which can be reached using cliffbots.

cliffbots (Credit: NASA/JPL)

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Hopping Robots

Concept

Small hopping robots can surmount big rocks.

Hopping robot (Credit: NASA/JPL)

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Aerobots

Concept

Balloon type robots for e.g. Mars and Venus Exploration, or for Titan, Saturn’s largest moon which is believed to have a methane-ethane atmosphere and oceans.

MontgolfiereSolar Montgolfiereon Mars – artistoperation impression (Credit: NASA/JPL)

Aerobot on Titan – artist’s impression (Credit: NASA/JPL)

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Cryobots

Concept

Cryobots are probes which penetrate though ice layers by melting the ice locally.

They may be usable on parts of the Martian surface or on Europa, a moon of Jupiter which is believed to have an ice layer many kilometres thick covering a water ‘ocean’.

Mars cryobot – artist’s impression (Credit: NASA/JPL)

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Hydrobots

Concept

Hydrobots are probes which can operate in liquid oceans, e.g. on Europa, underneath its ice crust.

hydrobot on Europa, released by cryobot – artist impression (Credit: NASA/JPL)

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ROBOTICS FOR LUNAR AND PLANETARY BASES

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Lunar Bases

When permanent are be established on the Earth ’s moon robotic technologies will be needed, both during the robotic and manned phases.

Crane to unload arriving modules LunarPressurizedPressurized mining(Credit: (Credit: NASA/ roverrover withwithNASA/ P. Rawlings) roboticrobotic P. Rawlings) armsarm lunarLoader productionRoving andRobotic hauler vehiclesplant(Credit:(Credit:NASA) support offloading (Credit: NASA)(Credit: equipment NASA/ (Credit: NASA) P. NASA) Rawlings) (Credit:(Credit: NASANASA/ / J.J. FrassanitoFrassanito&& Associates)Associates)

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Mars Bases

When permanent bases are established on Mars robotic technologies will be needed, both during the robotic and manned phases.

MartianMartian mining production (Credit: plant NASA) (Credit:Robotic NASA/ support P. equipment Rawlings) Roving vehicles (Credit:Rover NASA deployment / J. Frassanito from& lander Associates) (Credit: NASA/ P. Rawlings)

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Web Resources

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Automation and Robotics Section (TOS-MMA)

Past Space Missions: NASA/JPL Pathfinder Mission: http://www.astronautix.com, http://mars.jpl.nasa.gov/MPF/index1.html, http://www.hq.nasa.gov/office/pao/History/ http://nssdc.gsfc.nasa.gov/planetary/mesur.html http://www.nasa.gov/gallery/photo/ http://nssdc.gsfc.nasa.gov/planetary/chronology.html http://www.solarviews.com NASA/JPL Viking Missions: http://nssdc.gsfc.nasa.gov/planetary/viking.html Russian Lunar Missions and Lunokhods: http://www.private.peterlink.ru/rcl/ ESA/UK Mars Express and Beagle-2 Lander: http://www.astronautix.com http://sci.esa.int/home/marsexpress/index.cfm http://vsm.host.ru/ http://beagle2.open.ac.uk/index.htm

RussianMarsokhoddevelopments: ISAS MUSES-C Mission: http://www.private.peterlink.ru/rcl/ http://www.muses-c.isas.ac.jp/INDEX.html NASA/JPL Mars Exploration Rovers (MER03): http://mars.jpl.nasa.gov/mer/ http://astrogeology.usgs.gov/Projects/MER-AthenaMI/ http://www.nirgal.net/rover_2003.html

ASTRA 2002 19-21 November 2002 ESTEC, Noordwijk, The Netherlands

Automation and Robotics Section (TOS-MMA)

Commercial Lunar Missions: http://www.lunacorp.com

Planetary and Lunar Bases: http://www.buriedonthemoon.com/lunox.htm, http://www.challenger.org/gallery/mars/marsgallery1.html, http://www.marssociety.org/interactive/mars_charts.asp

Space Exploration Robotic Technology: http://robotics.jpl.nasa.gov/robotics.html, http://mars.jpl.nasa.gov/mep/tech/rovers.html, http://prl.jpl.nasa.gov/, http://robots.mit.edu/projects/index.html, http://www.mdrobotics.ca/spaceex.html

ASTRA 2002 19-21 November 2002 ESTEC, Noordwijk, The Netherlands

30 7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2002' ESTEC, Noordwijk, The Netherlands, November 19 - 21, 2002

Automation and Robotics Section (TOS-MMA) Conditions for Use of Photographs, Images and Videos

All materials used in the presentation are believed to be in the public domain. However no warranty is made and use of such materials is at your own risk. Any such use should not credit ESA except in case of ESA copyrighted images.

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The CD “Soviets in Space” is edited by "Compact Book Publishing Co, Moscow, part of the Ultimax Group Inc, and published in 1994-1997“

Material from James Garry can be used 'as is' in Print, CD-ROM's, or other web sites provided: – Picture credit is given with © James Garry noted. – James Garry () is notified of their use

ASTRA 2002 19-21 November 2002 ESTEC, Noordwijk, The Netherlands