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  • 1
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    Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System (2013)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: During Summer 2013, we conducted a series of tests to examine how astronauts in the In- ternational Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed mission, in which an astronaut in lunar orbit remotely operates a planetary rover to deploy a radio telescope on the lunar farside. In this paper, we present the design, implementation, and preliminary test results.
    Schlagwort(e): Cybernetics, Artificial Intelligence and Robotics; Ground Support Systems and Facilities (Space)
    Materialart: ARC-E-DAA-TN11288-2 , Space 2013; Sep 10, 2013 - Sep 12, 2013; San Diego, CA; United States
    Format: application/pdf
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  • 2
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    Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System (2013)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and operational risks. These assumptions, however, have not been grounded by experimental data. Moreover, to date, no crew-controlled surface telerobot has been fully tested in a high-fidelity manner. To address these issues, we developed the "Surface Telerobotics" tests to do three things: 1) Demonstrate interactive crew control of a mobile surface telerobot in the presence of short communications delay. 2) Characterize a concept of operations for a single astronaut remotely operating a planetary rover with limited support from ground control. 3) Characterize system utilization and operator work-load for a single astronaut remotely operating a planetary rover with limited support from ground control.
    Schlagwort(e): Cybernetics, Artificial Intelligence and Robotics; Ground Support Systems and Facilities (Space)
    Materialart: AIAA 2013-5475 , ARC-E-DAA-TN11288-1 , Space 2013; Sep 10, 2013 - Sep 12, 2013; San Diego, CA; United States
    Format: application/pdf
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  • 3
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    Tele-Operated Lunar Rover Navigation Using Lidar (2012)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: 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.
    Schlagwort(e): Communications and Radar
    Materialart: ARC-E-DAA-TN5509 , International Symposium on Artificial Intelligence, Robotics and Automation in Space (I-SAIRAS); Sep 04, 2012 - Sep 06, 2012; Turin; Italy
    Format: application/pdf
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  • 4
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    An Integrated System for Autonomous Search and Track with a Small Unmanned Aerial Vehicle (2017)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-20
    Beschreibung: This article presents a framework for searching, detecting, and tracking an object of interest with a small unmanned aerial vehicle (sUAV). The vehicle is given an area to search for an object of interest. Once the object is detected, the sUAV follows the target while maintaining a fixed distance and centered on its image plane. This paper describes an architecture for integrating autonomy capabilities for search and track for sUAVs. The system has been implemented in the Robot Operating System (ROS) framework using the Parrot ARDrone platform. In this paper we present our technical approach, the system architecture and demonstrate the principles of the approach in a simulation environment and indoor flight tests.
    Schlagwort(e): Cybernetics, Artificial Intelligence and Robotics; Aircraft Design, Testing and Performance
    Materialart: ARC-E-DAA-TN37960 , AIAA SciTech 2017; Jan 09, 2017 - Jan 13, 2017; Grapevine, TX; United States
    Format: application/pdf
    Standort Signatur Erwartet Verfügbarkeit
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  • 5
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    Structured Light-Based Hazard Detection For Planetary Surface Navigation (2017)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: This paper describes a structured light-based sensor for hazard avoidance in planetary environments. The system presented here can also be used in terrestrial applications constrained by reduced onboard power and computational complexity and low illumination conditions. The sensor is on a calibrated camera and laser dot projector system. The onboard hazard avoidance system determines the position of the projected dots in the image and through a triangulation process detects potential hazards. The paper presents the design parameters for this sensor and describes the image based solution for hazard avoidance. The system presented here was tested extensively in day and night conditions in Lunar analogue environments. The current system achieves over 97 detection rate with 1.7 false alarms over 2000 images.
    Schlagwort(e): Lunar and Planetary Science and Exploration
    Materialart: ARC-E-DAA-TN46999 , IROS 2017- International Conference on Intelligent Robots and Systems; Sep 24, 2017 - Sep 28, 2017; Vancouver, BC; Canada
    Format: application/pdf
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  • 6
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    The Trajectory Synthesizer Generalized Profile Interface (2010)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: The Trajectory Synthesizer is a software program that generates aircraft predictions for Air Traffic Management decision support tools. The Trajectory Synthesizer being used by researchers at NASA Ames Research Center was restricted in the number of trajectory types that could be generated. This limitation was not sufficient to support the rapidly changing Air Traffic Management research requirements. The Generalized Profile Interface was developed to address this issue. It provides a flexible approach to describe the constraints applied to trajectory generation and may provide a method for interoperability between trajectory generators. It also supports the request and generation of new types of trajectory profiles not possible with the previous interface to the Trajectory Synthesizer. Other enhancements allow the Trajectory Synthesizer to meet the current and future needs of Air Traffic Management research.
    Schlagwort(e): Air Transportation and Safety
    Materialart: ARC-E-DAA-TN2147 , 10th AIAA Aviation Technology, Integration, and Operations; Sep 13, 2010 - Sep 15, 2010; Fort Worth, TX; United States
    Format: application/pdf
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  • 7
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    Characterization of Stereo Vision Performance for Roving at the Lunar Poles (2016)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: Surface rover operations at the polar regions of airless bodies, particularly the Moon, are of particular interest to future NASA science missions such as Resource Prospector (RP). Polar optical conditions present challenges to conventional imaging techniques, with repercussions to driving, safeguarding and science. High dynamic range, long cast shadows, opposition and white out conditions are all significant factors in appearance. RP is currently undertaking an effort to characterize stereo vision performance in polar conditions through physical laboratory experimentation with regolith simulants, obstacle distributions and oblique lighting.
    Schlagwort(e): Lunar and Planetary Science and Exploration; Optics
    Materialart: ARC-E-DAA-TN34061 , NASA Exploration Science Forum 2016; Jul 20, 2016 - Jul 22, 2016; Moffett Field, CA; United States
    Format: application/pdf
    Standort Signatur Erwartet Verfügbarkeit
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  • 8
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    Challenges of Rover Navigation at the Lunar Poles (2015)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: Observations from Lunar Prospector, LCROSS, Lunar Reconnaissance Orbiter (LRO), and other missions have contributed evidence that water and other volatiles exist at the lunar poles in permanently shadowed regions. Combining a surface rover and a volatile prospecting and analysis payload would enable the detection and characterization of volatiles in terms of nature, abundance, and distribution. This knowledge could have impact on planetary science, in-situ resource utilization, and human exploration of space. While Lunar equatorial regions of the Moon have been explored by manned (Apollo) and robotic missions (Lunokhod, Cheng'e), no surface mission has reached the lunar poles.
    Schlagwort(e): Lunar and Planetary Science and Exploration; Ground Support Systems and Facilities (Space)
    Materialart: ARC-E-DAA-TN25257 , Annual NASA Exploration Science Forum (ESF); Jul 21, 2015 - Jul 23, 2015; Moffett Field, CA; United States
    Format: application/pdf
    Standort Signatur Erwartet Verfügbarkeit
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  • 9
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    Field Testing of Utility Robots for Lunar Surface Operations (2008)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: 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.
    Schlagwort(e): Cybernetics, Artificial Intelligence and Robotics
    Materialart: ARC-E-DAA-TN164 , Space 2008; Sep 09, 2009; California; United States
    Format: application/pdf
    Standort Signatur Erwartet Verfügbarkeit
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  • 10
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    Robotic Follow-Up for Human Exploration (2010)
    In:  CASI
    Details
    Publikationsdatum: 2019-07-13
    Beschreibung: We are studying how "robotic follow-up" can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated with this technique, we are conducting analog field tests with human and robot teams at the Haughton Crater impact structure on Devon Island, Canada. In this paper, we discuss the motivation for robotic follow-up, describe the scientific context and system design for our work, and present results and lessons learned from field testing.
    Schlagwort(e): Cybernetics, Artificial Intelligence and Robotics
    Materialart: ARC-E-DAA-TN2055 , AIAA SPACE 2010 Conference and Exposition; Aug 30, 2010 - Sep 02, 2010; Los Angeles, CA; United States
    Format: application/pdf
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