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Sun Tower Concept
             15 kM bed length
             3 GW output beam
             < 5 cents/kW­Hr
             $125B Fab Estimate



            Microwave beam to 
            earth mounted 
            “Rectenna”
Introduction
            Introduction
Laser Beam to Existing Photovoltaic 
Solar Array
Satellite Concept of Operation


                     1. Concentrator focuses 
                     sunlight on space­based 
                     PV array

            2. PV array powers laser diode

            3. Laser diode pumps fibers

               4. Light from fibers is fed to 
               optics and transmitted to Earth
                                                  7. Power is 
                             6. DC electricity    distributed to 
                             is converted to AC   consumers



                    5. Terrestrial PV 
                    receiver array converts 
                    sunlight to DC electricity
Transmitter Face and Robot
                     83,841,250 Radiating Elements
Microwave (5.8GHz)   2.141 GW Radiated
                     •Two robots placed 
                     symmetrically on 
                     transmitter’s frontside

                     •Robots move on a rail 
                     connected at perimeter 
                     and center




                                    Robot assembles and 
                                 repairs transmitter modules
Solar Cell Efficiency vs Wavelength

                                                    1kW/m2 
                                                    ~ Sun on Earth

                                                    Typical earth 
                                                    mounted solar 
                                                    array has 14% 
                                                    efficiency
               Visible Light
               (reference)




 Example: Laser Diode Array achieves 40% with LASER SSP & 
 Photovoltaic ground  Array 
Economic and Market Factors ­ General Cost Findings

               –  For 1996, U.S.
                    •   Generating costs for new plants averaged about 3.8 ¢/kWh (EIA, 1997)
               –  For ~ 2020, U.S.
                    •A “reference case” for generation costs in 2020 is ~ 3.2 to 3.3 ¢/kWh
               – World Bank experts suggested an average generating cost, ~ 2020, for 
                 rapidly growing economics, of ~ 5.5 ¢/kWh
                Under following conditions:
                   • Deregulation of foreign electric power markets 

                   • Resource inputs trade in a world market at world prices

                   • Globalization of investment and technology 

                   • Interfuel competition holds costs down




                                                                                               10
SSP Economic & Market Analysis Team
Preliminary Observations ­ Market


                                  Growth In Electric Capacity Supply
                                               1995 ­ 2020 (GW)
                                                                       695
                           1,043




                                                                                 1,738

                             China                  OECD          Other Developing

                      World Energy Prospects to 2020, IEA, 1998



                                                                                         14
SSP Economic & Market Analysis Team
SPG Pointing Accuracy, Structural Control Trades

• Pointing
   – Off pointing : % of capture (2 degrees of control)
   – Surface accuracy requires active control 
   – 1­2o for PV concentrator cells
   – Each concentrator needs its own control
   – Disturbance while pointing may impact WPT
   – Station keeping
• Lifetime (40 yrs)
   – Rotating machinery
   – Concentrator Materials
   – Actuator control

                                                      Pat George
Robotics
• SSP must be managed by robotics
  – Installation 
  – Perform maintenance
  – Affect repairs
• All are imperative to achieve cost 
  objective of < 5 cents per kW­Hour
LEMUR
                       Legged Excursion Mechanical Utility Robot
                    LEMUR
  A new type of autonomous n­pod walker 
  called LEMUR has been developed for 
  assembly, inspection, and maintenance.  
  This robot demonstrates multi­mode 
  operations (mobility, inspection, and 
  manipulation) with a modular and 
  multifunctional toolset.
             LEMUR Configuration                                    – Demonstrated fine manipulation 
                                                                      and tool based operations
                                                                    – Examined payload identification 
    Stereo Cameras
                                                                      methods 
                                                                    – Implemented fiducial markers for 
                                                                      encoding payload identification, 
                                                                      orientation, and characteristics
                                                                    – Performed visual inspection of 
4 DOF Hex Driver Leg
                                                                      payloads and robots
                       4 DOF Gripper Leg 
                       w/ in­line camera 
                                                                 
                       (Palm­cam)           3 DOF Gripper Leg
LEMUR
             Legged Excursion Mechanical Utility Robot
• Accomplishments
   – Designed and integrated LEMUR mobile 
     platform
   – Developed a three­fingered manipulator                          Three­
     with compliant grasp adjustment for                             fingered 
     manipulation of fine/delicate payloads                          manipulator 
                                                                     with 
   – Developed a hex driver end­effector with 
                                                                     integrated 
     retractable foot
                                                                     camera optics
   – Developed a miniature macroscopic 
     imaging camera (Palm­cam) for 
     integration into grasping manipulator
   – Developed algorithms and computer code 
     for stereo vision and pattern recognition 
     using wavelet decomposition of fiducials
   – Demonstrated visual object and self­
     inspection using the Palm­cam                Hex driver with 
                                                  retractable foot
• Current Work
   – Developing software for autonomous 
     navigation, inspection, and manipulation 
     of target                                
Hyper Redundant Intelligent Systems
Description
•Develop small,  identical robotic elements that can 
 accomplish tasks collectively that are well beyond the 
 capabilities of its individual members.
•Approach
•Utilize serpentine chain of linkages with integrated 
 computing, sensing, and power as testbed for 
 cooperative robotics executing construction, inspection, 
 and maintenance
Participants
NASA ­ Haith, Wright, Loch, Thomas
CMU ­ Howie Choset
Industry ­ Randy Sargent (Newton Labs)




                                                                 Technology Elements
                                                                 • Mechanism Configuration: advanced actuators, 
                                                                   packaging, lightweight structure, power, 
                                                                   biomimetic skin
                                                                 • Single Robot Control: force and redundancy 
                                                                   control strategies, communication, simulation & 
                                                                   modelling of hyper­redundant systems 
                                                                 • Cooperative Robot Control: Autonomy;Mobility 
                                                                   planning in complex structures, payload strategies, 
                                                                   data sharing/sensing  
Hyper Redundant Intelligent Systems
• Benefits
  – Highly Redundant (> 7 DOF) serial 
    link manipulator chains
  – Capable of long reach into highly 
    constrained spaces (trusses, 
    frames)
  – Capable of prehensile grasping, 
    limbless locomotion
  – Redundant to multiple joint failures
• Research Challenges
  – Path and motion planning to 
    arbitrary locations in a complex 3D 
    structure using generalized voronoi 
    graph search

                                    
Assessing Technology Readiness Levels

System Test, Launch 
& Operations           TRL 9   Actual system “flight proven” through successful 
                               mission operations
System/Subsystem       TRL 8   Actual system completed and “flight qualified” through 
Development                    test and demonstration (Ground or Flight)

                       TRL 7   System prototype demonstration in a space 
Technology 
                               environment
Demonstration
                       TRL 6   System/subsystem model or prototype demonstration 
                               in a relevant environment (Ground or Space)
Technology 
                       TRL 5   Component and/or breadboard validation in relevant 
Development
                               environment

                       TRL 4   Component and/or breadboard validation in laboratory 
Research to Prove 
Feasibility                    environment

                       TRL 3
                               Analytical and experimental critical function and/or 
Basic Technology 
                               characteristic proof­of­concept
Research
                       TRL 2
                               Technology concept and/or application formulated

                               Basic principles observed and reported
                       TRL 1

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Space solarpower

  • 1. Sun Tower Concept 15 kM bed length 3 GW output beam < 5 cents/kW­Hr $125B Fab Estimate Microwave beam to  earth mounted  “Rectenna”
  • 2. Introduction Introduction Laser Beam to Existing Photovoltaic  Solar Array
  • 3. Satellite Concept of Operation 1. Concentrator focuses  sunlight on space­based  PV array 2. PV array powers laser diode 3. Laser diode pumps fibers 4. Light from fibers is fed to  optics and transmitted to Earth 7. Power is  6. DC electricity distributed to  is converted to AC consumers 5. Terrestrial PV  receiver array converts  sunlight to DC electricity
  • 4. Transmitter Face and Robot 83,841,250 Radiating Elements Microwave (5.8GHz) 2.141 GW Radiated •Two robots placed  symmetrically on  transmitter’s frontside •Robots move on a rail  connected at perimeter  and center Robot assembles and  repairs transmitter modules
  • 5. Solar Cell Efficiency vs Wavelength 1kW/m2  ~ Sun on Earth Typical earth  mounted solar  array has 14%  efficiency Visible Light (reference) Example: Laser Diode Array achieves 40% with LASER SSP &  Photovoltaic ground  Array 
  • 6. Economic and Market Factors ­ General Cost Findings –  For 1996, U.S. • Generating costs for new plants averaged about 3.8 ¢/kWh (EIA, 1997) –  For ~ 2020, U.S. •A “reference case” for generation costs in 2020 is ~ 3.2 to 3.3 ¢/kWh – World Bank experts suggested an average generating cost, ~ 2020, for  rapidly growing economics, of ~ 5.5 ¢/kWh Under following conditions: • Deregulation of foreign electric power markets  • Resource inputs trade in a world market at world prices • Globalization of investment and technology  • Interfuel competition holds costs down 10 SSP Economic & Market Analysis Team
  • 7. Preliminary Observations ­ Market Growth In Electric Capacity Supply 1995 ­ 2020 (GW) 695 1,043 1,738 China OECD Other Developing World Energy Prospects to 2020, IEA, 1998 14 SSP Economic & Market Analysis Team
  • 8. SPG Pointing Accuracy, Structural Control Trades • Pointing – Off pointing : % of capture (2 degrees of control) – Surface accuracy requires active control  – 1­2o for PV concentrator cells – Each concentrator needs its own control – Disturbance while pointing may impact WPT – Station keeping • Lifetime (40 yrs) – Rotating machinery – Concentrator Materials – Actuator control Pat George
  • 9. Robotics • SSP must be managed by robotics – Installation  – Perform maintenance – Affect repairs • All are imperative to achieve cost  objective of < 5 cents per kW­Hour
  • 10. LEMUR Legged Excursion Mechanical Utility Robot LEMUR A new type of autonomous n­pod walker  called LEMUR has been developed for  assembly, inspection, and maintenance.   This robot demonstrates multi­mode  operations (mobility, inspection, and  manipulation) with a modular and  multifunctional toolset. LEMUR Configuration – Demonstrated fine manipulation  and tool based operations – Examined payload identification  Stereo Cameras methods  – Implemented fiducial markers for  encoding payload identification,  orientation, and characteristics – Performed visual inspection of  4 DOF Hex Driver Leg payloads and robots 4 DOF Gripper Leg    w/ in­line camera    (Palm­cam) 3 DOF Gripper Leg
  • 11. LEMUR Legged Excursion Mechanical Utility Robot • Accomplishments – Designed and integrated LEMUR mobile  platform – Developed a three­fingered manipulator  Three­ with compliant grasp adjustment for  fingered  manipulation of fine/delicate payloads manipulator  with  – Developed a hex driver end­effector with  integrated  retractable foot camera optics – Developed a miniature macroscopic  imaging camera (Palm­cam) for  integration into grasping manipulator – Developed algorithms and computer code  for stereo vision and pattern recognition  using wavelet decomposition of fiducials – Demonstrated visual object and self­ inspection using the Palm­cam Hex driver with  retractable foot • Current Work – Developing software for autonomous  navigation, inspection, and manipulation    of target  
  • 12. Hyper Redundant Intelligent Systems Description •Develop small,  identical robotic elements that can  accomplish tasks collectively that are well beyond the  capabilities of its individual members. •Approach •Utilize serpentine chain of linkages with integrated  computing, sensing, and power as testbed for  cooperative robotics executing construction, inspection,  and maintenance Participants NASA ­ Haith, Wright, Loch, Thomas CMU ­ Howie Choset Industry ­ Randy Sargent (Newton Labs) Technology Elements • Mechanism Configuration: advanced actuators,  packaging, lightweight structure, power,  biomimetic skin • Single Robot Control: force and redundancy  control strategies, communication, simulation &  modelling of hyper­redundant systems  • Cooperative Robot Control: Autonomy;Mobility      planning in complex structures, payload strategies,  data sharing/sensing  
  • 13. Hyper Redundant Intelligent Systems • Benefits – Highly Redundant (> 7 DOF) serial  link manipulator chains – Capable of long reach into highly  constrained spaces (trusses,  frames) – Capable of prehensile grasping,  limbless locomotion – Redundant to multiple joint failures • Research Challenges – Path and motion planning to  arbitrary locations in a complex 3D  structure using generalized voronoi  graph search    
  • 14. Assessing Technology Readiness Levels System Test, Launch  & Operations TRL 9 Actual system “flight proven” through successful  mission operations System/Subsystem  TRL 8 Actual system completed and “flight qualified” through  Development test and demonstration (Ground or Flight) TRL 7 System prototype demonstration in a space  Technology  environment Demonstration TRL 6 System/subsystem model or prototype demonstration  in a relevant environment (Ground or Space) Technology  TRL 5 Component and/or breadboard validation in relevant  Development environment TRL 4 Component and/or breadboard validation in laboratory  Research to Prove  Feasibility environment TRL 3 Analytical and experimental critical function and/or  Basic Technology  characteristic proof­of­concept Research TRL 2 Technology concept and/or application formulated Basic principles observed and reported TRL 1