Mars/Moon Net: A Human Assisting Planetary System of Intelligent Controllable Spherical Robots (the Moballs)

摘要

We propose Mars/Moon Net, an intelligent and reconfigurable network of steerable, self-powered spherical robots called Moballs. The Moballs are self-rigidized and equipped with various science instruments and tools (e.g. sensors, ground penetrating radar, spectrometers, imagers), robotic tools (e.g. robotic arms, drills), and aviation equipment (e.g. computational, communication and navigation systems). The Moballs are self-propelled. They can use their novel phase-changing pendulum control mechanism to initiate rolling and move along a desired path while avoiding obstacles (e.g. steering away from larger boulders or hopping over cracks and holes). While they do not require wind or downrolling gravity forces to propel themselves, their mechanical control system is specifically designed to take advantage of such forces when the conditions are favorable to move with minimal energy consumption. When in motion, the Moballs are able to keep their center of mass in the geometric center of the Moball to facilitate movement; alternatively, they can lower their center of mass, against the slope or wind, or move it to the side, to stop, or control their speed and trajectory. The Moballs could form a communication wireless mesh network among themselves and base-stations (e.g. human settlement sites, the orbiter, or the Earth) to provide collaborative and optimized exploration, environmental monitoring, navigation, positioning, computation, and relaying communication for future human exploration and settlement missions. Using their robotic arms and science instruments, they can also assist future human missions as solo robots to perform various repair or science tasks in harsh or risky environments and/or situations which would endanger the space personnel. Mars/Moon Net, as described above, is an unprecedented, cost-effective and multifunctioning space system that could ensure the success and safety of future human exploration missions to Mars or the Moon by providing the above capabilities in addition to scouting and finding safe area for future settlements (e.g. underground lava tubes or covered craters which could protect the space crew from harmful radiations, meteorites, dust and sand storms, and large diurnal temperature swings), search and rescue, sample search and retrieval, water reservoir and harmful radiation mapping, safe landing assistance and landing site identification.