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Mobile Manipulation of a Laser-induced Breakdown Spectrometer for Planetary Exploration

Lehner, Peter and Sakagami, Ryo and Boerdijk, Wout and Dömel, Andreas and Durner, Maximilian and Franchini, Giacomo and Fonseca Prince, Andre and Lakatos, Kristin and Risch, David Lennart and Meyer, Lukas and Vodermayer, Bernhard and Dietz, Enrico and Frohmann, Sven and Seel, Fabian and Schröder, Susanne and Hübers, Heinz-Wilhelm and Albu-Schäffer, Alin Olimpiu and Wedler, Armin (2023) Mobile Manipulation of a Laser-induced Breakdown Spectrometer for Planetary Exploration. In: 2023 IEEE Aerospace Conference, AERO 2023. IEEE. 2023 IEEE Aerospace Conference, 2023-03-05 - 2023-03-10, Big Sky, USA. doi: 10.1109/AERO55745.2023.10115597. ISBN 978-166549032-0. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/10115597/

Abstract

Laser-induced Breakdown Spectrometry (LIBS) is an established analytical technique to measure the elemental composition of rocks and other matter on the Martian surface. We propose an autonomous in-contact sampling method based on an attachable LIBS instrument, designed to measure the composition of samples on the surface of planets and moons. The spectrometer module is picked up by our Lightweight Rover Unit (LRU) at the landing site and transported to the sampling location, where the manipulator establishes a solid contact between the instrument and the sample. The rover commands the instrument to trigger the measurement, which in turn releases a laser-pulse and captures the spectrum of the resulting plasma. The in-contact deployment ensures a suitable focus distance for the spectrometer, without a focusing system that would add to the instrument's volume and weight, and allows for flexible deployment of the instrument. The autonomous software computes all necessary manipulation operations on-board the rover and requires almost no supervision from mission control. We tested the LRU and the LIBS instrument at the moon analogue test site on Mt. Etna, Sicily and successfully demonstrated multiple LIBS measurements, in which the rover automatically deployed the instrument on a rock sample, recorded a measurement and sent the data to mission control, with sufficient quality to distinguish the major elements of the recorded sample.

Item URL in elib:https://elib.dlr.de/195008/
Document Type:Conference or Workshop Item (Speech)
Title:Mobile Manipulation of a Laser-induced Breakdown Spectrometer for Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186134612254
Sakagami, RyoUNSPECIFIEDhttps://orcid.org/0000-0002-0149-4378UNSPECIFIED
Boerdijk, WoutUNSPECIFIEDhttps://orcid.org/0000-0003-0789-5970UNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Durner, MaximilianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Franchini, GiacomoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Fonseca Prince, AndreUNSPECIFIEDhttps://orcid.org/0000-0001-6820-3689146581944
Lakatos, KristinUNSPECIFIEDhttps://orcid.org/0000-0003-3881-9639UNSPECIFIED
Risch, David LennartUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Meyer, LukasUNSPECIFIEDhttps://orcid.org/0000-0001-9514-8494UNSPECIFIED
Vodermayer, BernhardUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Dietz, EnricoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Frohmann, SvenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Seel, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-8627-9967UNSPECIFIED
Schröder, SusanneUNSPECIFIEDhttps://orcid.org/0000-0003-1870-3663UNSPECIFIED
Hübers, Heinz-WilhelmUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115941
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE Aerospace Conference, AERO 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/AERO55745.2023.10115597
Publisher:IEEE
ISSN:1095-323X
ISBN:978-166549032-0
Status:Published
Keywords:mobile manipulation, planetary exploration, autonomy, LIBS
Event Title:2023 IEEE Aerospace Conference
Event Location:Big Sky, USA
Event Type:international Conference
Event Start Date:5 March 2023
Event End Date:10 March 2023
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Optical Sensor Systems
Deposited By: Lehner, Peter
Deposited On:09 May 2023 08:29
Last Modified:24 Apr 2024 20:55

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