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Matthew C. Doyle
Envisioning Robotic Telepresence for
the Terraformation of Mars
The current frequency and strength of natural disasters,
coupled with increasing temperature and global scarcity has
startled humanity with the implications of overpopulation.
It is time to make humanity a multi-planetary species!
Rotation Period (Day)∫ 23.0 Hours 24.6 Hours
Revolution Period (Year) 365.2 Days 686.2 Days
Average Temperature 59 F -91 F
Atmospheric Pressure 1013 millibars 6 millibars
Average Distance From Sun 93 Million Miles 132 Million Miles
Tilt Of Axis 23.5 Degrees 25 Degrees
Gravity 1 G 0.4 G
HOW ABOUT MARS?
BUT...
The atmospheric conditions and temperature on Mars
currently do not facilitate human survival
● Thin atmosphere
● Too Cold
● No Magnetosphere
● No Gravity.
WHEN?
● Predictions:
○ 2025-2030 (SpaceX)
○ 2027 (Mars One)
○ Late 2030s (NASA: Mars Outpost)
TERRAFORMATION
Introduction of photosynthetic organisms, the melting of
polar ice caps, and the introduction of greenhouse gases
could all be used to create an ozone-rich atmosphere.
● Runaway Greenhouse Effect (Carl Sagan)
○ Chloroluorocarbons (CFCs)
○ Orbiting Mirrors
● Ecopiosies
○ Inflatable Biodomes/Greenhouses
○ Drill Microbes
ROBOTIC TELEPRESENCE
Remote operation of a humanoid robot by a human operator to manipulate
objects and carry out tasks in a remote environment by interacting with a virtual
environment.
● Gestures can be recorded from Earth
to carry out tasks on the Martian
terrain to begin the terraforming
process before humans arrive.
● Facilitated through immersive
technology supported by multi-modal
feedback.
IMMERSIVE TECHNOLOGY
Users feel more “present” in virtual environments that effectively leverage these
technologies to provide the user with multi-modal feedback through multiple
sources of sensory input.
● VR Head Mounted Device (Oculus, Hololens, HTC Vive, Sony Morpheus)
● Motion Detection (Microsoft Kinect 2)
● Motion Interaction (Leap Motion)
HUMANOID ROBOTICS
Humanoid Robots are frequently used in space to complete tasks in environments
that are dangerous to humans.
NAO
ROBONAUT
ASIMO VALKYRIE
FUTURE TASKS
● Infrastructure - constructing orbiting mirrors and biodomes.
● Agriculture - planting microbes into Martian surface.
● Maintenance & Repair - ensuring that all the equipment on the base is
running efficiently.
● Regulation of Sensory Data - acting upon a variable that is not behaving
as intended.
● MIning - robots will be able to identify and mine for resources to be used
both on Mars and possibly Earth as well.
TECHNICAL CONSIDERATIONS
● Calibration - users must appear in front of the Kinect motion sensor to
calibrate the cartesian coordinates to degrees of freedom and robot
dexterity.
● Natural Walking - visualize and facilitate walking with humanoid robot with
Leap Motion or 3D mouse
● Object Recognition - humanoid robot can be trained to recognize objects in
its environment.
● Obstacle Avoidance - allowing the robot to navigate around potentially
dangerous objects it has identified.
● Force Controlled Manipulation - users can pick up, move, turn, push, and pull
objects by utilizing force controlled manipulation.
DESIGN CONSIDERATIONS
● Represent robot:
○ State, Sensors, Inferences, Plan
● Re-calibrate plans and sensor data
● Self-monitor plan enactment
● Naturally express complex motion plans in terms of
high level objectives
(Jet Propulsion Laboratory)
HUMAN FACTORS CONSIDERATIONS
Simulator Sickness
● Persistent head tracking at all times
● Avoid sharp changes in acceleration
Motion Fatigue
● Avoid repetitive movements
● Ensure that gestures are comfortable
● Awareness
● Embodied Navigation
● Dashboard
● Task Manager
● Mailbox
● Database
WHAT WILL THIS LOOK LIKE?
AWARENESS
DASHBOARD
TASK MANAGER
MAILBOX
DATABASE
FUTURE
● Humans:
○ AR/VR Arenas
○ Exoskeletons
● Robots:
○ Cooperation & Communication
○ Robotic Self-Replication & Repair
● Technology:
○ Increased AI
○ Internet of Things (IoT)
Questions?
mdoyle@oswego.edu

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Robotic Telepresence for the Terraformation of Mars

  • 1. Matthew C. Doyle Envisioning Robotic Telepresence for the Terraformation of Mars
  • 2. The current frequency and strength of natural disasters, coupled with increasing temperature and global scarcity has startled humanity with the implications of overpopulation. It is time to make humanity a multi-planetary species!
  • 3. Rotation Period (Day)∫ 23.0 Hours 24.6 Hours Revolution Period (Year) 365.2 Days 686.2 Days Average Temperature 59 F -91 F Atmospheric Pressure 1013 millibars 6 millibars Average Distance From Sun 93 Million Miles 132 Million Miles Tilt Of Axis 23.5 Degrees 25 Degrees Gravity 1 G 0.4 G HOW ABOUT MARS?
  • 4. BUT... The atmospheric conditions and temperature on Mars currently do not facilitate human survival ● Thin atmosphere ● Too Cold ● No Magnetosphere ● No Gravity.
  • 5. WHEN? ● Predictions: ○ 2025-2030 (SpaceX) ○ 2027 (Mars One) ○ Late 2030s (NASA: Mars Outpost)
  • 6. TERRAFORMATION Introduction of photosynthetic organisms, the melting of polar ice caps, and the introduction of greenhouse gases could all be used to create an ozone-rich atmosphere. ● Runaway Greenhouse Effect (Carl Sagan) ○ Chloroluorocarbons (CFCs) ○ Orbiting Mirrors ● Ecopiosies ○ Inflatable Biodomes/Greenhouses ○ Drill Microbes
  • 7. ROBOTIC TELEPRESENCE Remote operation of a humanoid robot by a human operator to manipulate objects and carry out tasks in a remote environment by interacting with a virtual environment. ● Gestures can be recorded from Earth to carry out tasks on the Martian terrain to begin the terraforming process before humans arrive. ● Facilitated through immersive technology supported by multi-modal feedback.
  • 8. IMMERSIVE TECHNOLOGY Users feel more “present” in virtual environments that effectively leverage these technologies to provide the user with multi-modal feedback through multiple sources of sensory input. ● VR Head Mounted Device (Oculus, Hololens, HTC Vive, Sony Morpheus) ● Motion Detection (Microsoft Kinect 2) ● Motion Interaction (Leap Motion)
  • 9. HUMANOID ROBOTICS Humanoid Robots are frequently used in space to complete tasks in environments that are dangerous to humans. NAO ROBONAUT ASIMO VALKYRIE
  • 10. FUTURE TASKS ● Infrastructure - constructing orbiting mirrors and biodomes. ● Agriculture - planting microbes into Martian surface. ● Maintenance & Repair - ensuring that all the equipment on the base is running efficiently. ● Regulation of Sensory Data - acting upon a variable that is not behaving as intended. ● MIning - robots will be able to identify and mine for resources to be used both on Mars and possibly Earth as well.
  • 11. TECHNICAL CONSIDERATIONS ● Calibration - users must appear in front of the Kinect motion sensor to calibrate the cartesian coordinates to degrees of freedom and robot dexterity. ● Natural Walking - visualize and facilitate walking with humanoid robot with Leap Motion or 3D mouse ● Object Recognition - humanoid robot can be trained to recognize objects in its environment. ● Obstacle Avoidance - allowing the robot to navigate around potentially dangerous objects it has identified. ● Force Controlled Manipulation - users can pick up, move, turn, push, and pull objects by utilizing force controlled manipulation.
  • 12. DESIGN CONSIDERATIONS ● Represent robot: ○ State, Sensors, Inferences, Plan ● Re-calibrate plans and sensor data ● Self-monitor plan enactment ● Naturally express complex motion plans in terms of high level objectives (Jet Propulsion Laboratory)
  • 13. HUMAN FACTORS CONSIDERATIONS Simulator Sickness ● Persistent head tracking at all times ● Avoid sharp changes in acceleration Motion Fatigue ● Avoid repetitive movements ● Ensure that gestures are comfortable
  • 14. ● Awareness ● Embodied Navigation ● Dashboard ● Task Manager ● Mailbox ● Database WHAT WILL THIS LOOK LIKE?
  • 15.
  • 21. FUTURE ● Humans: ○ AR/VR Arenas ○ Exoskeletons ● Robots: ○ Cooperation & Communication ○ Robotic Self-Replication & Repair ● Technology: ○ Increased AI ○ Internet of Things (IoT)