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Lunar Constructors

JIP Team:

Deepanshu Kamlesh Punjabi (AE)�Mikolaj Helinski (AE)�Yuanfu Pan (AE)�Rienk Marsman (CESE)�Yuran Wang (AM)

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Coaches:

Dr. Dipl.-Ing. Henriette Bier (BK)�Dr. ir. Chris Verhoeven (EWI)

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CONTENT

• Introduction​
• Problem Statement
• Concept of Operations
• Building Blocks
• 3D Printing
• Swarm Robotics
• The Robot
• Concepts Summary
• Structure
• Simulation
• Discussion and Recommendations

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Introduction

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https://phys.org/news/2018-11-image-future-moon-base.html

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Problem

Statement

The project aims to perform a feasibility study of setting up a structure on the surface of the Moon by using in-situ resources to 3D print the structure and assembling it using a swarm of robots.​

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Concept of Operations

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Building Blocks

Deepanshu

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Building Blocks

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Circular Interlocking Blocks

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All dimensions in mm

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Interlocking Blocks

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Konstantatou M, Navarro Perez SC, Piker D, Dall’Igna M, Gallou I. Off-Earth infrastructure assembly: a conceptual method for scaffoldless and mortarless component-based structures in static equilibrium. International Journal of Space Structures. 2022 Sep;37(3):196-210.

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Interlocking Blocks

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All dimensions in mm

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3D Printing

Deepanshu

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Material for 3D Printing

• In-situ resource utilization (ISRU)

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• Lunar regolith

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• JSC-1 Lunar Regolith Simulant

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Image Courtesy: ESA

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Assumption for 3D Printing

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3D Printing Methods

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Isachenkov, M., Chugunov, S., Akhatov, I., & Shishkovsky, I. (2021). Regolith-based additive manufacturing for sustainable development of lunar infrastructure–An overview. Acta Astronautica, 180, 650-678.

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Swarm

Robotics

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Rienk

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Multi Robot Systems

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Benefits of Swarm Robotics?

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The Robot

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Rienk

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Lunar Zebro

Specifications:

• Dimensions: 297 x 210 x 100 mm
• Mass: 2.5kg
• TRL 5/6

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Image Courtesy: Lunar Zebro

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Modifications to Lunar Zebro

• Added Robotic Arm
• Camera
• Processor
• Future Design iteration:
• Regolith Collector
• Solar Panel

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Concepts Summary

Rienk

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Concepts Summary

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Concepts Summary

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Structure

Mikolaj

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Swarm Robotics Rule Set

1. A single robot shall map the surface of the Moon where the structure is supposed to be built.
2. A single robot shall act as a beacon (point of reference) for other robots to assemble the blocks.
3. The robots shall place the blocks at a minimum distance of <TBD> m from the beacon.
4. The robots shall place the blocks at a maximum distance of <TBD> m from the beacon.
5. The robots shall go to the block collection site when it has no blocks in it robotic arms.
6. The robots shall go to the charging station when its battery level is below <TBD>%.
7. The robots shall complete the existing layer before moving to the next layer.
8. The robots shall place the block in the next layer only if the existing layer is complete.
9. The robots shall place the block <TBD> m inwards at every subsequent layer.
10. The robots shall assist other robots if the other robot requests for assistance.
11. The robots shall communicate with each other.
12. The robots shall interact with the existing structure to perform any modifications if it deems it necessary.
13. The robots shall define and find its own path.
14. The robots shall not cause two adjacent blocks to collide with each other on the same layer.
15. The robots shall mechanically interlock the blocks with its adjacent blocks in the layer below.

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Blocks Assembly

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Stacking Sequence

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Possible Structures

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Konstantatou M, Navarro Perez SC, Piker D, Dall’Igna M, Gallou I. Off-Earth infrastructure assembly: a conceptual method for scaffoldless and mortarless component-based structures in static equilibrium. International Journal of Space Structures. 2022 Sep;37(3):196-210.

https://kideo.nl/en/products/grimms-grote-houten-blokken-pyramide-naturel

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Simulation

Mikolaj

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Gazebo Simulation World

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Building Blocks in Simulation

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Lunar Zebro-like Rover

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The Rover and the Structure

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Stair Climbing

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Visual Feed

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Discussion & Recommendations

Mikolaj

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Discussion

3D Printing using Lunar Regolith:

• Material Viability: Regolith is suitable construction material; SLS printing allos for creating durable blocks, No binder material required
• Challenges: Printers require maintenance, No currently available printers

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Swarm Robotics:

• Advantages: Autonomy and adaptability to unknown environments, scalability
• Limitations: Limits the possible complexity of the design blocks, Limits the possible designs of the structure

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Recommendations

3D Printing and Building Blocks:

• Investigate adapting the SLS printers for lunar conditions
• Investigate the implementation of the structure in creating safe lunar habitats

Swarm Robotics:

• Adapt the architecture of the Lunar Zebro, Design the robotic manipulator

Simulation:

• Include the adapted rover and manipulator architectures
• Simulate pick and place procedures, swarm behaviour and navigation
• Optimise the system and ruleset based on the simulation results

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Summary

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Why Swarm?

Robustness

Scalability

Flexibility

Cost-effective

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Limitations

Level Surface

Powdery Regolith

Idealized Sensing Conditions

Simplified Architectures

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Rules

Obstacle Avoidance

Local Communication

Resource Detection

Home Location

Random Movement

Structure Interaction

Energy Management

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Goals

Evaluate the feasibility of the solution

Evaluate the Swarm Ruleset

Visualize assembly process

Optimise operation logistics

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Gazebo

• Open-source Simulation Environment
• Adjustable environment
• Object Interactions
• Flexible Robot definitions
• Good performance for swarm robot simulations

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Quote

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Ros 2

The Robot Operating System

Robot Simulation Communication

Real-time coding

Data Distribution Service

Gazebo Integration

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Obtainable Goals

Lunar-like Conditions

Integrate Sensing

Simulate Assembly

Analyse effect of Scale

Blender Models

Simulate Communication

Optimise Process

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