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Project Progress

After experimenting with robot modules (developed in the previous reporting period), the University of Pennsylvania team has developed new modules better suited to the terrain microbiologists and geologists traversed at the Box Canyon Idaho 2004 field trip. Primarily this involves adding rotational leg modules which allow the traversal of larger obstacles while still allowing access to cluttered environments such as between rocks or weeds.

Experimentation with the robotic manipulability of sand were done culminating in a demonstration of the robot digging with 2 modalities over 3 types of sand (varying grain size and water density). Comparisons with Martian photographs of wheel interactions with soil indicate applicable similarities.
Preparations for a field trip to Lake Tyrell field trip in August 2006 include the ability for a small robot to traverse over high viscosity liquids (waste deep mud). This is believed to be the first instance in the world of a robot this size scale to handle terrain of this nature. Development of the ability to survive the harsh saline nature of the lake includes the encapsulation of critical electronics with elastomeric polymers and highly viscous hydrophobic substances.
Robotic manipulators are being developed that are small enough to be maintained onboard and are specific to the microbiology field testing include syringes of different sizes, falcon tubes, scoopulas and Petri dishes. For this August 2006 trip to Lake Tyrell, it is expected that the syringes will be the primary tool to be used.

A key aspect to the design philosophy of these robot modules is the on site reconfigurability of the system as needed. Each tool is treated as a module that maybe swapped into place with varying reach for arms, and varying mobility capabilities. Add on capabilities aimed for the Lake Tyrell trip include, remote video, high resolution image capture, GPS positioning, limited environment manipulation (lifting rocks, etc.) Human habitation of Mars will likely require the ability to build configurable tools to suit unexpected events as they happen, which may include the site specific configuration of a robot in order to reach sample sites that a standard configuration could not reach.

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