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  • 1
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    Advanced light microscopy core facilities: Balancing service, science and career (2016)
    Wiley
    Details
    Publication Date: 2016-04-05
    Description: ABSTRACT Core Facilities (CF) for advanced light microscopy (ALM) have become indispensable support units for research in the life sciences. Their organizational structure and technical characteristics are quite diverse, although the tasks they pursue and the services they offer are similar. Therefore, throughout Europe, scientists from ALM-CFs are forming networks to promote interactions and discuss best practice models. Here, we present recommendations for ALM-CF operations elaborated by the workgroups of the German network of ALM-CFs, German Bio-Imaging (GerBI). We address technical aspects of CF planning and instrument maintainance, give advice on the organization and management of an ALM-CF, propose a scheme for the training of CF users, and provide an overview of current resources for image processing and analysis. Further, we elaborate on the new challenges and opportunities for professional development and careers created by CFs. While some information specifically refers to the German academic system, most of the content of this article is of general interest for CFs in the life sciences. Microsc. Res. Tech., 2016 . © 2016 THE AUTHORS MICROSCOPY RESEARCH AND TECHNIQUE PUBLISHED BY WILEY PERIODICALS, INC.
    Print ISSN: 1059-910X
    Electronic ISSN: 1097-0029
    Topics: Natural Sciences in General
    Published by Wiley
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    PAPER CURRENT
  • 2
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    Software Architecture for Planetary and Lunar Robotics (2006)
    In:  CASI
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    Publication Date: 2018-06-06
    Description: A viewgraph presentation on the role that software architecture plays in space and lunar robotics is shown. The topics include: 1) The Intelligent Robotics Group; 2) The Lunar Mission; 3) Lunar Robotics; and 4) Software Architecture for Space Robotics.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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    NASA TECHNICAL REPORTS
  • 3
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    Tele-Operated Lunar Rover Navigation Using Lidar (2012)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Near real-time tele-operated driving on the lunar surface remains constrained by bandwidth and signal latency despite the Moon s relative proximity. As part of our work within NASA s Human-Robotic Systems Project (HRS), we have developed a stand-alone modular LIDAR based safeguarded tele-operation system of hardware, middleware, navigation software and user interface. The system has been installed and tested on two distinct NASA rovers-JSC s Centaur2 lunar rover prototype and ARC s KRex research rover- and tested over several kilometers of tele-operated driving at average sustained speeds of 0.15 - 0.25 m/s around rocks, slopes and simulated lunar craters using a deliberately constrained telemetry link. The navigation system builds onboard terrain and hazard maps, returning highest priority sections to the off-board operator as permitted by bandwidth availability. It also analyzes hazard maps onboard and can stop the vehicle prior to contacting hazards. It is robust to severe pose errors and uses a novel scan alignment algorithm to compensate for attitude and elevation errors.
    Keywords: Communications and Radar
    Type: ARC-E-DAA-TN5509 , International Symposium on Artificial Intelligence, Robotics and Automation in Space (I-SAIRAS); Sep 04, 2012 - Sep 06, 2012; Turin; Italy
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    NASA TECHNICAL REPORTS
  • 4
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    Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned (2013)
    In:  CASI
    Details
    Publication Date: 2019-07-12
    Description: This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.
    Keywords: Computer Programming and Software; Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN10355
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  • 5
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    RAPID and DDS (2011)
    In:  CASI
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    Publication Date: 2019-07-12
    Description: This talk gives an overview of the the Robot Applications Programmers Interface Delegate (RAPID) as well as the distributed systems middleware Data Distribution Service (DDS). DDS is an open software standard, RAPID is cleared for open-source release under NOSA. RAPID specifies data-structures and semantics for high-level telemetry published by NASA robotic software. These data-structures are supported by multiple robotic platforms at Johnson Space Center (JSC), Jet Propulsion Laboratory (JPL) and Ames Research Center (ARC), providing high-level interoperability between those platforms. DDS is used as the middleware for data transfer. The feature set of the middleware heavily influences the design decision made in the RAPID specification. So it is appropriate to discuss both in this introductory talk.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN3066
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    NASA TECHNICAL REPORTS
  • 6
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    D-RATS 2011: RAFT Protocol Overview (2011)
    In:  CASI
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    Publication Date: 2019-08-13
    Description: A brief overview presentation on the protocol used during the D-RATS2011 field test for file transfer from the field-test robots at Black Point Lava Flow AZ to Johnson Space Center, Houston TX over a simulated time-delay. The file transfer actually uses a commercial implementation of an open communications standard. The focus of the work lies on how to make the state of the distributed system observable.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN4366 , 2011 CCSDS Fall Technical Meeting; Oct 31, 2011 - Nov 04, 2011; Boulder, CO; United States
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    NASA TECHNICAL REPORTS
  • 7
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    Human-Robot Site Survey and Sampling for Space Exploration (2006)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: AIAA Space 2006; Sep 19, 2006 - Sep 21, 2006; San Jose, CA; United States
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    NASA TECHNICAL REPORTS
  • 8
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    Field Testing of Utility Robots for Lunar Surface Operations (2008)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program is to establish significant infrastructure and an outpost. Achieving these objectives will enable long-duration stays and long-distance exploration of the Moon. To do this, robotic systems will be needed to perform tasks which cannot, or should not, be performed by crew alone. In this paper, we summarize our work to develop "utility robots" for lunar surface operations, present results and lessons learned from field testing, and discuss directions for future research.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN164 , Space 2008; Sep 09, 2009; California; United States
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    NASA TECHNICAL REPORTS
  • 9
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    Reactive, Safe Navigation for Lunar and Planetary Robots (2008)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: When humans return to the moon, Astronauts will be accompanied by robotic helpers. Enabling robots to safely operate near astronauts on the lunar surface has the potential to significantly improve the efficiency of crew surface operations. Safely operating robots in close proximity to astronauts on the lunar surface requires reactive obstacle avoidance capabilities not available on existing planetary robots. In this paper we present work on safe, reactive navigation using a stereo based high-speed terrain analysis and obstacle avoidance system. Advances in the design of the algorithms allow it to run terrain analysis and obstacle avoidance algorithms at full frame rate (30Hz) on off the shelf hardware. The results of this analysis are fed into a fast, reactive path selection module, enforcing the safety of the chosen actions. The key components of the system are discussed and test results are presented.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN-160 , Space 2008; Sep 08, 2008; San Diego, CA; United States
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  • 10
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    Real-Time Assessment of Robot Performance During Remote Exploration Operations (2009)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: To ensure that robots are used effectively for exploration missions, it is important to assess their performance during operations. We are investigating the definition and computation of performance metrics for assessing remote robotic operations in real-time. Our approach is to monitor data streams from robots, compute performance metrics, and provide Web-based displays of these metrics for assessing robot performance during operations. We evaluated our approach for measuring robot performance with the K10 rovers from NASA Ames Research Center during a field test at Moses Lake Sand Dunes (WA) in June 2008. In this paper we present the results of evaluating our software for robot performance and discuss our conclusions from this evaluation for future robot operations.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: AD-A518168 , IEEEAC Paper #1684 , 2009 IEEE Aerospace Conference; Mar 07, 2009 - Mar 14, 2009; Big Sky, MT; United States
    Format: text
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    NASA TECHNICAL REPORTS
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