机器人与自动化系统和接口(RAS_).doc

Robotics and Automation Systems and Interfaces 10.1 Overview Due to the harsh conditions on the Martian surface and the many time consuming and monotonous task, robotics and automation will play a vital role in habitat operations. The robotics and automation subsystem is responsible for designing the automated systems and interfaces that are outside of the scope of other subsystems [Hoffman et. al., 1997]. The Robotics and Automation subsystem is also responsible for designing the interfaces between all robotics systems and the habitat, except for the LPR, which is also covered by EVAS. The habitats robotic systems have a major role in the development of infrastructure elements of the habitat and habitat operations, including site analysis, habitat assembly, instrument deployment, and scientific investigation [Hoffman et. al., 1997]. Table 10.1: Requirements table # Requirement Source 10.1 Deploy scientific instruments used for initial analysis and monitoring of mars DRM 10.2 Deploy Infrastructure (nuclear power station, antennas, solar arrays, etc.) DRM 10.3 Provide method of sample acquisition DRM 10.4 Provide method for Infrastructure inspection and maintenance DRM 10.5 Provide for construction and assembly of site and structures (site preparation, drilling, excavation) DRM 10.6 Provide local transportation for EVA activity DRM 10.7 Robotics shall operate through entire mission duration DRM 10.8 Robotics shall support control and communication (telerobotic or fully autonomous based on mission) DRM 10.9 Diagnosis and maintenance of robotics shall be automated (repair if possible) DRM 10.10 Robotics shall meet all fault tolerances and safety standards DRM 10.11 Robotics shall meet all size and weight restrictions DRM 10.12 Robotics shall provide for movement (Auto, teleauto) DRM 10.13 Robotics shall support payload operations DRM 10.14 Equipment shall meet thermal-loading tolerances DRM 10.15 Deploy and operate various mechanisms on habitat