Robotic Planetary Drill Tests

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Robotic Planetary Drill Tests

Robotic Planetary Drill Tests

B. J. Glass / S. Thompson / G. Paulsen

Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

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Title :

Robotic Planetary Drill Tests

Contributors:

B. J. Glass (author) / S. Thompson (author) / G. Paulsen (author)

Publication date :

2010

Size :

7 pages

Type of media :

Report

Type of material :

No indication

Language :

English

Keywords :

Computers, Control & Information Theory , Automatic control , Drilling , Field tests , Robotics , Space missions , Heuristic methods , Neural nets

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