FT-Utah

Field Trials Utah with the TransTerrA System

An inverted riverbed as the center of the potential test area in Utah (Photo: Florian Cordes, DFKI GmbH)
An inverted riverbed as the center of the potential test area in Utah (Photo: Florian Cordes, DFKI GmbH)

The project FT-Utah deals with the evaluation of robotic systems to be used in the field of planetary exploration. An extensive test campaign with a duration of four weeks was conducted in October/November 2016 within the desert of Utah, USA. The robotic systems were put under test within natural and unstructured Mars analogue terrain and remotely operated from a control station in 8300 km distance in Bremen, Germany.

Duration: 01.06.2016 till 31.03.2017
Donee: DFKI GmbH & University of Bremen
Sponsor: Federal Ministry of Economics and Technology
German Aerospace Center e.V.
Grant number: This project is funded by the German Space Agency (DLR Agentur) with federal funds of the Federal Ministry of Economics and Technology in accordance with the parliamentary resolution of the German Parliament, grant no. 50 RA 1621 and 50RA1622 (University of Bremen).
Website: https://twitter.com/ft_utah
Team: Team I - System Design
Team II - Hardware Architectures
Team V - Behavior Control & Simulation
Team VII - Sustained Interaction & Learning
Team VIII - Knowledge-based long-term Autonomy
Application Field: Space Robotics
Related Projects: TransTerrA
Semi-autonomous cooperative exploration of planetary surfaces including the installation of a logistic chain as well as consideration of the terrestrial applicability of individual aspects (05.2013- 12.2017)
Related Robots: SherpaTT
Coyote III
Related Software: NDLCom
Node Level Data Link Communication

Project details

SherpaTT equipped with BaseCamp and GPS-Module driving through the mission test area (Photo: Florian Cordes, DFKI GmbH)
Coyote III climbs a rocky slope (Photo: Tobias Stark, DFKI GmbH)
SherpaTT and Coyote III during slope driving tests (Photo: Florian Cordes, DFKI GmbH)
Mission Control in Bremen. The operator wears an exo-skeleton for control, the screen shows a map generated from the robots in Utah as well as a picture of each robot’s front camera (Photo: Florian Cordes, DFKI GmbH)
A deployed BaseCamp as communication relay (Photo: Florian Cordes, DFKI GmbH)
The field trials were performed using the robotic systems developed and integrated in the project TransTerrA. These are in particular:

  • SherpaTT: A hybrid walking and driving rover with an active suspension system
  • Coyote III: A micro rover for the use in unstructured terrain
  • BaseCamp and Payload-Items: Modular junction station and payload container
  • Mobile mission control station at site
  • Ground control station including an exoskeleton located in Bremen, Germany for long distance mission control

The field trial campaign was based on a system evaluation on three layers: (i) single system tests concerning locomotion capabilities, (ii) single system tests concerning autonomy and (iii) full system test in a simulated mission scenario. The primary focus was on the execution of the semi-autonomous mission sequence, including all robotic systems as listed above.

With the conduction of the field trial, a successful demonstration of a semi-autonomous cooperative exploration of planetary surfaces was conducted. This includes the installation of a logistics chain, within the context of a sample return mission.

In the case of the demonstrated mission sequence, SherpaTT acted as an exploration and sample acquisition rover. Coyote III took the role of a shuttle system, which is collecting the sample containers and transporting them back to the sample return stage. The mission command and control was based in a ground control station located in Bremen, Germany, using a satellite link for communication with the Utah site. The ground control station is equipped with a virtual reality lab for visualizing the mission progress. In order to control the multi robot mission, an exoskeleton is used by the operator for direct control of the systems.

Apart from the demonstration and evaluation of a full mission sequence, performance parameters of the different single robotic systems were tested within the Mars analogue terrain.  Furthermore, different aspects of autonomous exploration tasks could be evaluated on single system level, as well as within multi-robot tests.

The results of the field trials will be used within the project TransTerrA as well, in order to further evaluate extraterrestrial exploration and to study a potential technology transfer for terrestrial applications.

Videos

Field Trials Utah: Roboter-Team simuliert Marsmission in Utah

Eine karge, felsige Wüstenlandschaft und keine Menschenseele weit und breit – um den unwirtlichen Bedingungen auf dem Roten Planeten möglichst nahe zu kommen, testeten Wissenschaftler des Robotics Innovation Center des Deutschen Forschungszentrums für Künstliche Intelligenz (DFKI) vom 24. Oktober bis 18. November 2016 die Kooperation verschiedener Robotersysteme in der Halbwüste des amerikanischen Bundesstaates Utah.

SherpaTT in Außentests

SherpaTT zeigt seine Fähigkeit mittels aktiven Fahrwerk auch große Unebenheiten ausgleichen zu können.

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last updated 10.05.2017
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