Human Robotic Systems (HRS): Robotic Technologies for Asteroid Missions: HRS - Prototype Anchoring End Effector for Asteroid with Sensors

Human exploration of Near Earth Asteroids (NEA) would be facilitated by emplacement of an array of anchors (preferably ahead of crew arrival) and knowledge of the internal structure of the NEA (especially knowledge that the configuration is not a gravitationally-unstable rubble-pile).   This task develops prototypes for releasable/reusable anchors, for soft and hard surfaces, including a seismic source and sensors. The existing NASA ATHLETE robotic system will used to test emplacement of the sensor anchors and to drive the single-pulse thumper to test the seismic sensors. Under a separate technology task, the sensor anchors being developed under this task will be utilized by ATHLETE to anchor the robot to a steep slope to test the ability of a robot to climb a steep surface, utilizing a set of anchors which the robot can embed into the surface as it climbs, thereby giving it access to previously unreachable extreme terrain. 

Emplaceable/releasable/reusable anchors can serve human exploration by providing endpoints for safety tethers, allowing human explorers to maneuver over the surface of a Near Earth Asteroid (NEA) as with a “zip line”.  Sensors embedded in the anchor could include acoustic/seismic emitters and receivers so that the array of anchors, perhaps emplaced by a fly-ahead robot that arrives several weeks ahead of the human crew, can perform internal tomography of the NEA.  In prior work, a 1st prototype of an emplaceable/releasable/reusable anchor for soft regolith was demonstrated. During 2013, work on the task focused on prototyping and testing of a releasable/reusable anchor for both soft and hard surfaces, with a thumper and geophone.  In 2014, work will be conducted to develop, build, and test a single-pulse thumper and a network of three seismic sensors.  This work is being performed in partnership with the Caltech Community Seismic Network.  

This technology will provide valuable insight into the design and robotic emplacement of a system of anchors in both hard and soft asteroids, and will provide a means of sensing their internal structure, by including a sensor in the anchors, which will form a network once emplaced. In addition, this technology has several other potential off-world as well as terrestrial uses. A major oil and gas company has already expressed specific interest in emplacing seismic sensors in remote locations as part of the search for new oil and gas deposits. Earthquake research, sensing, and prediction require a huge number of seismic sensors over vast regions, which, in the future, could be better-placed by robots.  For future planetary exploration, this anchor technology, used in conjunction with a robot that can emplace them, could also be used to enable robots to climb steep slopes in extreme terrain that is currently not accessible to planetary rovers. 

This is early/mid-stage (TRL 4) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

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