Set Partitioning Framework for Identifying LRUs with Built-In Diagnostics

ProtoInnovations, LLC proposes a novel method to define LRUs for space robotic excavators using a set partitioning framework, which analytically factors in key LRU features such as modularity, replaceability, robotic serviceability, built-in diagnostics, and lunar environment tolerances . We also propose an LRU diagnostics system (LRU-DS) which leverages existing onboard sensors and additional sensing as required by LRU key characteristics to perform real-time and efficient fault detection, isolation, and replacement alert generation. The LRU-DS conceptual design in Phase I will be a discrete external unit that will prepare for potential Phase II demonstration and Potential Phase III integration into a prototypical LRU that will provide necessary key LRU features including built-in diagnostic capabilities. We anticipate that the conclusion of a potential Phase II will culminate with a demonstration of an LRU at TRL 6. With this project we aim to impact the creation, development, and application of robotic systems for excavation on the Moon, and similar terrestrial applications.