RealTime 3D Lunar Excavation Simulation using the Digital Spaces OpenSource Platform FINAL PROJECT P

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Real-Time 3D Lunar Excavation Simulation using
the Digital Spaces Open-Source PlatformFINAL
PROJECT PRESENTATION

• Bruce Damer, CEO, Digitalspace Corp
• Dave Rasmussen, Merryn Nelson, Peter Newman, DM3D
  Studios
• Brad Blair, Engineering Consultant
• May 31, 2007

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Precursor Simulations

• Digitalspace (DS) generated prior driveable
  simulations of mobile lunar exploration and ISRU
  systems
• Relevant NASA SBIR-funded work included
• CSM Bucket Wheel Excavator
• NASA Robotic Lunar Exploration Rover
• Physics models for these sims were limited to
  vehicle mobility and arm articulation only
• A Clean Room simulation of a grabber arm and
  blocks was also created by DS for experimental
  purposes

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CSM Bucket Wheel Excavator Simulation
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RLEP 2 Mobility trade studyUse of Plow as
Trenching Tool in Sampling Area
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RLEP 2 Mobility trade studyDeployment of Drill
Assembly-Lower Pose
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RLEP 2 Mobility trade studyCut Away of Drill
Action
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RLEP 2 Mobility trade studyEngage Plow for
Braking
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DS Clean Room sim of grabber arm with blocks
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DS Clean Room sim of grabber arm with blocks
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Lunar Excavation Simulation

• A real-time, driveable, physics-based simulation
  was then proposed to NASA-SOMD as a tool to
  examine lunar excavation operations
• The physics model would be expanded to include
  soil mechanics
• An output file would be generated containing
  engineering data
• Partners for the project included National
  Securities Technology LLC and Los Alamos National
  Laboratories

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Sketch of Jell-O Block concept
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Sim 1 Backhoe in Clean-Room Environment

• Backhoe style excavator was created and rigged
  using physics model
• Jell-O blocks introduced into clean room
  environment
• Volumetric friction (viscosity) used to provide
  drag forces while bucket is inside block

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Sim 2 Excavators and Balovnev Soil Mechanics
Model

• No mobility in Sim 2
• Concentrated on implementing proof-of-concept for
  Balovnev soil mechanics model for excavator blade
  resistance
• Three excavators were modeled Bucket Wheel,
  Front-end loader and Clamshell
• Lack of constraints caused tipping of mobility
  platforms (validating force increase with depth
  of penetration)

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Sim 3 Lunar Excavators at Polar Lunar Base Site

• Three lunar excavation systems were then rigged,
  constrained to dig into the uppermost regolith
  layer, and placed in a simulated lunar polar base
  site
• Waypoints were added to automatically guide each
  excavator through a mining sequence
• Output files were generated for torques and
  forces for each excavator
• Sophisticated user interaction with physics model
  (including Balovnev soil resistance) was enabled
  through input windows

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Sim 3 Cut-Away Views of Excavation Box

• An Excavation Test Box was rigged with the
  Balovnev soil mechanics model in order to collect
  force and torque data
• The following views show the excavators
  penetrating the surface plane into the test box
• Three excavators automatically repeat the mining
  cycle by loading regolith then driving to the
  dump zone and unloading using waypoints
• Notice suspended rock hazards

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Sim 4 Bucket Ladder Excavator

• A fourth simulation was built for the fourth
  excavator a bucket ladder
• The system was placed in an improved version of
  the lunar polar base site
• Physics modeling and user input windows were
  derived from simulation 3
• Minor improvements were made to debug the DSS
  software platform and improve sim performance

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