Set Partitioning Framework for Identifying LRUs with Built-In Diagnostics

ProtoInnovations, LLC proposes a novel method to define LRUs for space robotic excavators using a set partitioning framework, which analytically factors in key LRU features such as modularity, replaceability, robotic serviceability, built-in diagnostics, and lunar environment tolerances . We also propose an LRU diagnostics system (LRU-DS) which leverages existing onboard sensors and additional sensing as required by LRU key characteristics to perform real-time and efficient fault detection, isolation, and replacement alert generation. The LRU-DS conceptual design in Phase I will be a discrete external unit that will prepare for potential Phase II demonstration and Potential Phase III integration into a prototypical LRU that will provide necessary key LRU features including built-in diagnostic capabilities. We anticipate that the conclusion of a potential Phase II will culminate with a demonstration of an LRU at TRL 6. With this project we aim to impact the creation, development, and application of robotic systems for excavation on the Moon, and similar terrestrial applications.

The NASA SBIR subtopic ‘Z14.01 Modularity of Excavation and Mining Systems’ calls for studies to identify LRUs and define them with systems engineering methods and rationale. This project directly addresses that call with a set partitioning formulation that would allow for rapid assessment of many types of robotic platforms, extending its applications to future NASA robotic systems for upcoming missions and the broader Moon to Mars architecture. Within the SBIR subtopic, we target specific areas of interest related to built-in diagnostic capabilities and robotic handling. Modularity, quick replacement, plug-and-play, and field replacement are quantitatively assessed as metrics in formulating the set partitions. The technology produced within the scope of this project would also be valuable to industries other than robotic space exploration, such as autonomous earthbound excavation and automotive. The demonstration of a set partitioning formulation for LRU development in space systems will advance the ability to develop modular, repairable platforms for terrestrial excavation and mining systems.

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