Pan/Tilt-Unit as a Perception Module for Extra- Terrestrial Vehicle and Landing Systems

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$de\rm Chart 1 > ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.$ 05.2013 Pan/Tilt-Unit as a Perception Module for Extra- Terrestrial

1 Chart 1 > ASTRA Pan/Tilt-Unit as a Perception Module Pan/Tilt-Unit as a Perception Module for Extra- Terrestrial Vehicle and Landing Systems DLR-RMC Robotic and Mechatronic Center Armin Wedler (armin.wedler@dlr.de) ASTRA May 2013 Noordwijk

$de\rm Chart 2 > ASTRA 2013 - Pan/Tilt-Unit as a Perception$ Module 16.05.

2 Chart 2 > ASTRA Pan/Tilt-Unit as a Perception Module Content - Requirments of the Pan Tilt - Hardware and System Design - Prototype on a small Rover design - Project Integration of the PTU - Conclusion

$de\rm Chart 3 > ASTRA 2013 - Pan/Tilt-Unit as a$ Perception Module 16.05.

different camera heads are planed - Baseline

3 Chart 3 > ASTRA Pan/Tilt-Unit as a Perception Module Pan-Tilts for Rovers and Landers - Light weight pan tilt mechanism - Prototype design for small rover - Different Applications with different camera heads are planed - Baseline can be extended for largen Lander Camera systems Lunar Lander (Source: ESA) MPE-LL Payload EXOMARS Rover GLXP PTS-DLR

$de\rm Chart 4 > ASTRA 2013 - Pan/Tilt-Unit as a$ Perception Module 16.05.

PTUs - Further more scientists needs PT Units for

4 Chart 4 > ASTRA Pan/Tilt-Unit as a Perception Module State of Development (JPL/NASA) - Mobility functions increase with PT mechanismes in use for perception and navigation - Autonomous driving need PTUs - Further more scientists needs PT Units for scientific analysis - PTU can avoid navigation of the spacecraft Source: NASA / JPL / CALTECH -Soujourner/MER/Curriosity Source: NASA / JPL Curriosity PTU Mechanisme

5 Chart 5 > ASTRA Pan/Tilt-Unit as a Perception Module Requirements for PTU mechanisme - Light weight - Reliability - High reparable absolute position accuracy - Wide view area, full overview arround the space craft Minimal tilt opening angle -90 up to 90 Minimal pan opening angle 360 Minimal repeatable pointing 0.5 accuracy

$www.dlr.de\rm Chart 6 > ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.05.$ structure - High shielded harness is planned for high bandwidth - flex PCB cables can not provide this

structure - High shielded harness is planned for high bandwidth - flex PCB cables can not provide this

6 Chart 6 > ASTRA Pan/Tilt-Unit as a Perception Module PTU mechanics / kinematics - Pan Tilt DOF crossing in the center of the camera head - Harness inside the structure - High shielded harness is planned for high bandwidth - flex PCB cables can not provide this shielding -> external filtering can be reduced - Prototype Baseline: 90 mm - For small rovers - View area approximately 0,6 m - 5 m stereo depth image

$www.dlr.de\rm Chart 7 > ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.05.$

7 Chart 7 > ASTRA Pan/Tilt-Unit as a Perception Module Drive Train modules for different applications - Modular motor and gear units combined with electronics - Depending the application different sensors are implemented (Pos & FT) - Only power and signal connection to serial robot moduls - Left: ROKVISS Modul - Right: LBR Module ROKVISS 15.5 Bertleff 14:40 Friction of ROKVISS LBR module

$de\rm Chart 8 > ASTRA 2013 - Pan/Tilt-Unit as a$ Perception Module 16.05.

8 Chart 8 > ASTRA Pan/Tilt-Unit as a Perception Module Motor (development at DLR-RMC) - Brushless motors in different sizes - Optimised for robotics - Designed for specific HD drives

$de\rm Chart 9 > ASTRA$ 2013 - Pan/Tilt-Unit as a

9 Chart 9 > ASTRA Pan/Tilt-Unit as a Perception Module The DEXHAND Hardware - The PTU Motor modules are modules from DEXHAND

$www.dlr.de\rm Chart 10> ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.05.$ HFUC8 special version - 2,4 Nm nominal, 4,8 Nm peak, 9 Nm collision torque - 46 g mass of the

HFUC8 special version - 2,4 Nm nominal, 4,8 Nm peak, 9 Nm collision torque - 46 g mass of the

10 Chart 10> ASTRA Pan/Tilt-Unit as a Perception Module Space compliant Actuator Modules ILM25 Robodrive Motor (DEXHAND, MASCOT) - Harmonic Drive HFUC8 special version - 2,4 Nm nominal, 4,8 Nm peak, 9 Nm collision torque - 46 g mass of the whole unit rpm (HD limited) - dia. 27mm x 17,5 mm length (motor and gear housing, without the pulley)

11 Chart 11> ASTRA Pan/Tilt-Unit as a Perception Module PTU wheights - Mass estimation of the light weight space unit for small mobile vehicles (camera separation of 90 mm) Item Number of units Mass PTU terrestrial industry ETHERCAT motor driver g PTU structure with the two motors and gears (90mm g Baseline) Internal harness (PTU) 1 70 g Actual Camera Head with three Firewire terrestrial g cameras Harness of the camera Head 1 95 g Total 1769 g - Mass estimation of the light weight space unit for Lander application (camera separation of 900 mm) Item Number of units Mass PTU motor/gear g PTU electronics (two failed redundancy) g PTU structure (90mm Baseline) g Internal harness (PTU) g Subtotal 1955 g Margin 20% 390 g Total 2345 g

12 Chart 12> ASTRA Pan/Tilt-Unit as a Perception Module TRL Level - Overall TRL always depend the module with the lowest TRL - TRL of the sub componets is high Item TRL Comments PTU motor/gear (Mascot Tests finish 6 DEXHAND/ MASCOT 2013) PTU electronics (two failure redundancy Mascot test finish 2013) 6 MASCOT Radiation and TV Tests PTU electronics (one failure redundancy) 5 DEXHAND Radiation and thermal Tests PTU structure (90mm Baseline) 4 Terrestrial Prototype Functional Tests PTU structure Lander version (900mm Baseline) 2 Equal design concept - PTU System Tests and qualifications will be performed within specific space projects - TRL classifications are difficult to map between different missions and scenarios

$de\rm Chart 13> ASTRA 2013$ - Pan/Tilt-Unit as a

13 Chart 13> ASTRA Pan/Tilt-Unit as a Perception Module Technology Readiness Level

$www.dlr.de\rm Chart 14> ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.05.$ available - One way failure tollerace - Full redundand electronics - COTS elements up

available - One way failure tollerace - Full redundand electronics - COTS elements up

electronics Item Power (W) Power (W) + 20% margin PTU electronics 3 3.

14 Chart 14> ASTRA Pan/Tilt-Unit as a Perception Module Modular Electronics for the PTU - Different space electronic concepts are available - One way failure tollerace - Full redundand electronics - COTS elements up to full RADHARD components Estimated power consumption of the PTU electronics DEXHAND electronics Item Power (W) Power (W) + 20% margin PTU electronics PTU motor average 5 6 PTU motor peak Electronics motor 16.5 Reill 11:35 MASCOT MASCOT electronics

$www.dlr.de\rm Chart 15> ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.05.$

15 Chart 15> ASTRA Pan/Tilt-Unit as a Perception Module DEXHAND Electronic Design Goals - radiation tolerance - sufficient heat dissipation - size/performance - power limitation - 12 active joints requires both: high-performance and small electronic components - motor controller components: have been suceessfully tested in a rad-test-facility under a 120 Gy irradiation - DSP, FPGA and all other componets are rad-hard or tolerant in size, power and function compatible available

$www.dlr.de\rm Chart 16> ASTRA 2013 - Pan/Tilt-Unit as a Perception Module 16.05.$ with the bitstream to program the FPGA RAM module with storage size of 128 MB Power and communication driver electronic - Can be completely switched on/off - Enhances the MPEs autonomy

with the bitstream to program the FPGA RAM module with storage size of 128 MB Power and communication driver electronic - Can be completely switched on/off - Enhances the MPEs autonomy

16 Chart 16> ASTRA Pan/Tilt-Unit as a Perception Module PTU Project Integration LL APE - Autonomy Payload Experiment Optional payload on MPE Additional pan/tilt unit Additional FPGA (Virtex 4QV (XQR4VFX60) or Virtex 5) Flash module with the bitstream to program the FPGA RAM module with storage size of 128 MB Power and communication driver electronic - Can be completely switched on/off - Enhances the MPEs autonomy functions Advanced dense stereo matching methods can be implemented (e.g. SGM) Allows stereo rectification Further image compression allows 1.5 Hz image stream down to Earth Allows full autonomous driving Increases accuracy & robustness Increases the MPE 16.5 Haarmann 17:00 MPE Presentation

$de\rm Chart 17> ASTRA$ 2013 - Pan/Tilt-Unit as a

17 Chart 17> ASTRA Pan/Tilt-Unit as a Perception Module GLXP PTS - Rover

$de\rm Chart 18> ASTRA 2013 - Pan/Tilt-Unit as a Perception$ Module 16.05.2013 Thank you for your attention!

18 Chart 18> ASTRA Pan/Tilt-Unit as a Perception Module Thank you for your attention!!! The DLR-RMC Space Team DEXHAND has been partly financed by the ESA Contract No /08/NL/EM MPE is financed by the DLR Agency

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