Research/ PLANETARY ROBOTICS
A Novel Sensing Tether for Rovers
Daniel Kominsky, Emily Templeton, Issa Nesnas, Travis Brown
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Luna has extended the length of its fiber optic shape sensing technology out to a continuous, high-fidelity measurement of a 100-meter sensor, creating a novel concept for a self-monitoring tether for robotic exploration. This tether is capable of measuring its own tension, curvature, and full 3-D shape along its entire length as it is deployed by a robotic rover. Using Optical Frequency Domain Reflectometry (OFDR) and the Rayleigh scatter signature to sense the state of a customized multicore optical fiber, the new technology is lightweight, compact, and immune to electromagnetic interference. Results are presented from tests with a 50-meter tether on the Axel Rover at JPL’s Mars Yard testing ground.