Duration: 48 months
Proposed research aims to develop a materially, structurally, and environmentally optimised 3D printed structure by means of Robot-Robot and Human-Robot Interaction (R/ HRI) supported Design-to-Robotic- Production-Assembly and Operation (D2RPA&O). It will demonstrate the scalability of the concept developed in the ESA-funded Rhizome [1] study from 2021-20 with the aim to (a) understand whether it is applicable to large ‘real life’ construction scale and (b) outline the associated challenges and develop appropriate solutions for material optimisation, component design, and collaborative R/ HRI construction. It advances knowledge and technology developed so far at Technical University Delft (TUD) in collaboration with industrial partner, Vertico, for the construction of a habitat in an empty lava tube on Mars. While the subsurface habitat has natural protection from radiation and profits from lesser temperature fluctuations its construction relies on a swarm of autonomous mobile robots equipped with various end-effectors. They are deployed to mine for materials used to 3D print building components that are assembled using R/ HRI-supported D2RP&A methods. The assembled structure hosts a Life Support System (LSS), which relies on D2RO methods. Both habitat construction and inhabitation are powered by an energy system combining solar- and kite power [2]. The ultimate goal is to develop an autarkic R/ HRI-supported D2RPA&O system employing In-situ Resource Utilisation (ISRU) for building subsurface habitats. [1] Link to Rhizome 1.0 documentation: http://cs.roboticbuilding.eu/index.php/Shared:RhizomeReview6 [2] Link to KP: http://www.kitepower.eu/home.html
