HERRO Mission to Mars Using Telerobotic Surface Exploration from Orbit

This paper presents a concept for a human mission to Mars orbit that features direct robotic exploration of the planet s surface via teleoperation from orbit. This mission is a good example of Human Exploration using Real-time Robotic Operations (HERRO), an exploration strategy that refrains from sending humans to the surfaces of planets with large gravity wells. HERRO avoids the need for complex and expensive man-rated lander/ascent vehicles and surface systems. Additionally, the humans are close enough to the surface to effectively eliminate the two-way communication latency that constrains typical robotic space missions, thus allowing real-time command and control of surface operations and experiments by the crew. Through use of state-of-the-art telecommunications and robotics, HERRO provides the cognitive and decision-making advantages of having humans at the site of study for only a fraction of the cost of conventional human surface missions. It is very similar to how oceanographers and oil companies use telerobotic submersibles to work in inaccessible areas of the ocean, and represents a more expedient, near-term step prior to landing humans on Mars and other large planetary bodies. Results suggest that a single HERRO mission with six crew members could achieve the same exploratory and scientific return as three conventional crewed missions to the Mars surface

The Underpinnings of Workload in Unmanned Vehicle Systems

This paper identifies and characterizes factors that contribute to operator workload in unmanned vehicle systems. Our objective is to provide a basis for developing models of workload for use in design and operation of complex human-machine systems. In 1986, Hart developed a foundational conceptual model of workload, which formed the basis for arguably the most widely used workload measurement techniquethe NASA Task Load Index. Since that time, however, there have been many advances in models and factor identification as well as workload control measures. Additionally, there is a need to further inventory and describe factors that contribute to human workload in light of technological advances, including automation and autonomy. Thus, we propose a conceptual framework for the workload construct and present a taxonomy of factors that can contribute to operator workload. These factors, referred to as workload drivers, are associated with a variety of system elements including the environment, task, equipment and operator. In addition, we discuss how workload moderators, such as automation and interface design, can be manipulated in order to influence operator workload. We contend that workload drivers, workload moderators, and the interactions among drivers and moderators all need to be accounted for when building complex, human-machine systems

System Design, Motion Modelling and Planning for a Recon figurable Wheeled Mobile Robot

Over the past ve decades the use of mobile robotic rovers to perform in-situ scienti c investigations on the surfaces of the Moon and Mars has been tremendously in uential in shaping our understanding of these extraterrestrial environments. As robotic missions have evolved there has been a greater desire to explore more unstructured terrain. This has exposed mobility limitations with conventional rover designs such as getting stuck in soft soil or simply not being able to access rugged terrain. Increased mobility and terrain traversability are key requirements when considering designs for next generation planetary rovers. Coupled with these requirements is the need to autonomously navigate unstructured terrain by taking full advantage of increased mobility. To address these issues, a high degree-of-freedom recon gurable platform that is capable of energy intensive legged locomotion in obstacle-rich terrain as well as wheeled locomotion in benign terrain is proposed. The complexities of the planning task that considers the high degree-of-freedom state space of this platform are considerable. A variant of asymptotically optimal sampling-based planners that exploits the presence of dominant sub-spaces within a recon gurable mobile robot's kinematic structure is proposed to increase path quality and ensure platform safety. The contributions of this thesis include: the design and implementation of a highly mobile planetary analogue rover; motion modelling of the platform to enable novel locomotion modes, along with experimental validation of each of these capabilities; the sampling-based HBFMT* planner that hierarchically considers sub-spaces to better guide search of the complete state space; and experimental validation of the planner with the physical platform that demonstrates how the planner exploits the robot's capabilities to uidly transition between various physical geometric con gurations and wheeled/legged locomotion modes

Developing Nomad for Robotic Exploration of the Atacama Desert

Recent years have seen renewed attention to planetary exploration, and robotics is recognized as essential to many upcoming missions. In this article we describe the ongoing efforts of the Nomad Project to develop robots for planetary and terrestrial exploration. The project is developing, demonstrating, and evaluating systems capable of long-distance, long-duration missions. In 1997 this work has resulted in the Atacama Desert Trek, in which a mobile robot nmaed Nomad explored the Atacama Desert of northern Chile. Nomad’s 45-day objective was to travel 200 kilometers across the rugged, barren landscape. We will describe the technologies for Nomad's transforming chassis, high-data rate communication, safeguarded teleoperation and autonomy, panoramic imaging and visualization, and remote science. We then focus on issues of long-distance, long-duration exploration and describe the events and results of the Atacama Desert Trek

Developing Nomad for Robotic Exploration of the Atacama Desert

Recent years have seen renewed attention to planetary exploration, and robotics is recognized as essential to many upcoming missions. In this article we describe the ongoing efforts of the Nomad project to develop robots for planetary and terrestrial exploration. The project is developing, demonstrating, and evaluating systems capable of long-distance, long-duration missions. In 1997 this work has resulted in the Atacama Desert Trek, in which a mobile robot named Nomad, explored the Atacama Desert of northern Chile. Nomad's 45-day objective was to travel 200 km across the rugged, barren landscape. We then will describe the technologies for Nomad's transforming chassis, high data-rate communication, safeguarded teleoperation and autonomy, panoramic imaging and visualization, and remote science. We then focus on issues of long-distance, long-duration exploration and describe the events and results of the Atacama Desert Trek

Sustainable Qatar

This open access book provides a topical overview of the key sustainability issues in Qatar, focusing on environmental sustainability from a socio-political perspective. The transition to a sustainable Qatar requires engagement with diverse areas of social-political, human, and environmental development. On the environmental aspects, the contributors address climate change, food security, water reuse and desalination, energy, and biodiversity. The socio-political section examines state strategy and regulation, the place of environmental law and geopolitics and sustainability innovators and catalysts. The human section considers economics, sustainability education, the knowledge economy, and waste management. In doing so, the book demarcates the ways in which the country encounters and grapples with significant challenges and delves into the range of options for future pathways to sustainability in Qatar. Relevant to policymakers and scholars in energy and environment, urban and developmental studies, as well as the arenas of politics, climate change and policy, this book is a landmark collection on environmental policy in the Gulf and beyond. ; This volume provides a topical overview of the key sustainability issues in Qatar, focusing on environmental sustainability from a socio-political perspective. The transition to a sustainable Qatar weaves together pillars of social-political, human, and environmental development, and so this book tackles each aspect accordingly. In the environmental section, the contributors address climate change, food security, water reuse and desalination, energy, air quality and biodiversity. The socio-political section examines state strategy and regulation, the place of environmental law and geopolitics, and sustainability innovators and catalysts. The human section considers demographic trends and models, economics – including the circular economy and green finance – transport, the built environment, and waste management. In doing so, the volume demarcates the ways in which the country encounters and grapples with significant challenges, and delves into the range of options for future pathways to sustainability in Qatar. Relevant to policymakers and scholars in energy and environment, urban, and developmental studies, as well as the arenas of politics, climate change, and policy, this book is a landmark collection on environmental policy in the Gulf, and beyond

Sustainable Qatar

This open access book provides a topical overview of the key sustainability issues in Qatar, focusing on environmental sustainability from a socio-political perspective. The transition to a sustainable Qatar requires engagement with diverse areas of social-political, human, and environmental development. On the environmental aspects, the contributors address climate change, food security, water reuse and desalination, energy, and biodiversity. The socio-political section examines state strategy and regulation, the place of environmental law and geopolitics and sustainability innovators and catalysts. The human section considers economics, sustainability education, the knowledge economy, and waste management. In doing so, the book demarcates the ways in which the country encounters and grapples with significant challenges and delves into the range of options for future pathways to sustainability in Qatar. Relevant to policymakers and scholars in energy and environment, urban and developmental studies, as well as the arenas of politics, climate change and policy, this book is a landmark collection on environmental policy in the Gulf and beyond. ; This volume provides a topical overview of the key sustainability issues in Qatar, focusing on environmental sustainability from a socio-political perspective. The transition to a sustainable Qatar weaves together pillars of social-political, human, and environmental development, and so this book tackles each aspect accordingly. In the environmental section, the contributors address climate change, food security, water reuse and desalination, energy, air quality and biodiversity. The socio-political section examines state strategy and regulation, the place of environmental law and geopolitics, and sustainability innovators and catalysts. The human section considers demographic trends and models, economics – including the circular economy and green finance – transport, the built environment, and waste management. In doing so, the volume demarcates the ways in which the country encounters and grapples with significant challenges, and delves into the range of options for future pathways to sustainability in Qatar. Relevant to policymakers and scholars in energy and environment, urban, and developmental studies, as well as the arenas of politics, climate change, and policy, this book is a landmark collection on environmental policy in the Gulf, and beyond