Lunar Worthy Embedded Systems Red Whittaker Carnegie Mellon - - PowerPoint PPT Presentation

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Lunar Worthy Embedded Systems Red Whittaker Carnegie Mellon - - PowerPoint PPT Presentation

Nov 22, 2023 224 likes •758 views

Lunar Worthy Embedded Systems Red Whittaker Carnegie Mellon University 1 Exascale Atom InertiaDot 2 SSD Embedded Systems in Motion Single Cores 5 25 Years of I ntel I nside Early Motivation was Hazard 7 8 9 8086 with interprocessor

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Lunar‐Worthy Embedded Systems

Red Whittaker Carnegie Mellon University

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SSD Exascale Atom InertiaDot

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Embedded Systems in Motion

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Single Cores

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25 Years of I ntel I nside

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Early Motivation was Hazard

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8086 with interprocessor comm

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Robots at Work

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286 Boards

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The Need for Speed

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Perception

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Planning

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GPS and Communication Denial

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Why Grand Challenges?

  • Raise all ships
  • Transform belief
  • Create Enterprise
  • Discover

Grand Challenges

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Kasparov defeated by Computer

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Urban Driving with multi-cores

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Prize: Land Drive Send TV Bonus prizes: Travel 5 km Visit Apollo Survive night Find Water

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Launch Lunar Orbit Trans‐ Lunar Injection Earth Orbit Fairing Separation First Stage Separation Second Stage Separation Lunar Orbit Insertion De‐orbit and Braking Descent

Mission

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Spacecraft

Wet Mass: 2000kg Surface Mass: 672kg Rover: 60kg Auxiliary payload: ~100kg 2.6m (D) x 2.9m (H) Six OX/Methane thrusters Monopropellant attitude control

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Sensors

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  • 2 Sun Sensors
  • 2 Earth Sensors
  • Star Tracker
  • Inertial Measurement Unit
  • Radar Altimeter
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Sensors

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  • 2 Sun Sensors
  • 2 Earth Sensors
  • Star Tracker
  • Inertial Measurement Unit
  • Radar Altimeter
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Sensors

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  • 2 Sun Sensors
  • 2 Earth Sensors
  • Star Tracker
  • Inertial Measurement Unit
  • Radar Altimeter
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  • 2 Sun Sensors
  • 2 Earth Sensors
  • Star Tracker
  • Inertial Measurement Unit
  • Radar Altimeter

Sensors

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  • 2 Sun Sensors
  • 2 Earth Sensors
  • Star Tracker
  • Inertial Measurement Unit
  • Radar Altimeter

Sensors

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Rover

  • Mass: 60kg
  • 120W Solar Array
  • 273Wh Battery
  • Chain‐Driven four‐wheel drive
  • Skid Steering
  • Motorized Actuators:

– 2 drive – 2 mast pan/tilt – 3 Zoom Camera

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Mobility

  • Actuators:

– Brushless motor – Planetary primary gearing – Harmonic final drive

  • 4 Wheel Chain Drive
  • Speed: 5 cm/s
  • Skid Steering
  • Body Differencing

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Wheels

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Hot and Cold

Thermal Regulation

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Freeze-tolerant Batteries

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Cameras

  • Two HD Stereo cameras
  • One HD Telephoto Camera

– Zoom – Focus – Iris

  • Pan & Tilt

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Communication

  • Bandwidth

– Primary: 40 kbps – Secondary: 1.0 Mbps

  • Frequency: S‐Band
  • Antenna: Evolved
  • Transmitter Power: 35 watts
  • RF power out: 10 watts

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Power

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Power A z i m u t h Elevation

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Solid State Drive

  • Memory essential for HD Video

store/forward

  • Tolerates shock
  • Tolerates vacuum
  • Corrects for error
  • Endures cold
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ATOM Processor endures cold

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I nertiaDot World’s Smallest 6-Axis Motion Sensor

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Molecule

Multi-Atom Operation for Long-term Endurance of Computing Under Lunar Extremes

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Exascale and RTOS

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Testing

  • Electronics thermal, shock, vacuum and radiation
  • Software and system
  • Communication bandwidth, delay and teleoperation
  • Mission rehearsals

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4

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SSDSolid State Drive ExascaleE Atome I I I nertiaDot

  • t
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