Automated Global Feature Analyzer - A Driver for Tier-Scalable Reconnaissance

For the purposes of space flight, reconnaissance field geologists have trained to become astronauts. However, the initial forays to Mars and other planetary bodies have been done by purely robotic craft. Therefore, training and equipping a robotic craft with the sensory and cognitive capabilities of a field geologist to form a science craft is a necessary prerequisite. Numerous steps are necessary in order for a science craft to be able to map, analyze, and characterize a geologic field site, as well as effectively formulate working hypotheses. We report on the continued development of the integrated software system AGFA: automated global feature analyzerreg, originated by Fink at Caltech and his collaborators in 2001. AGFA is an automatic and feature-driven target characterization system that operates in an imaged operational area, such as a geologic field site on a remote planetary surface. AGFA performs automated target identification and detection through segmentation, providing for feature extraction, classification, and prioritization within mapped or imaged operational areas at different length scales and resolutions, depending on the vantage point (e.g., spaceborne, airborne, or ground). AGFA extracts features such as target size, color, albedo, vesicularity, and angularity. Based on the extracted features, AGFA summarizes the mapped operational area numerically and flags targets of "interest", i.e., targets that exhibit sufficient anomaly within the feature space. AGFA enables automated science analysis aboard robotic spacecraft, and, embedded in tier-scalable reconnaissance mission architectures, is a driver of future intelligent and autonomous robotic planetary exploration

Visual target tracking for rover-based planetary exploration

Abstract-To command a rover to go to a location of scientific interest on a remote planet, the rover must be capable of reliably tracking the target designated by a scientist from about ten rover lengths away. The rover must maintain lock on the target while traversing rough terrain and avoiding obstacles without the need for communication with Earth. Among the challenges of tracking targets from a rover are the large changes in the appearance and shape of the selected target as the rover approaches it, the limited frame rate at which images can be acquired and processed, and the sudden changes in camera pointing as the rover goes over rocky terrain. We have investigated various techniques for combining 2D and 3D information in order to increase the reliability of visually tracking targets under Mars like conditions. We will present the approaches that we have examined on simulated data and tested onboard the Rocky 8 rover in the JPL Mars Yard and the K9 rover in the ARC Marscape. These techniques include results for 2D trackers, ICP, visual odometry, and 2D/3D trackers

Design And Construction Of A Robotic Vehicle To Assist During Planetary Surface Operations

In the near future, astronauts will explore new planetary surfaces in the Solar System. To enable peak performance, these astronauts will need to utilize all of the tools at their disposal. It is proposed that one such tool is a planetary surface rover designed specifically to assist the astronauts during their Extra-Vehicular-Activities (EVA’s). This rover is designed and built to operate in concert with existing analog planetary surface infrastructure at the University of North Dakota (UND). This rover will be remotely controlled by an astronaut located on the planetary surface, enabling real-time operation and obstacle avoidance. The rover will act primarily as a relay for audio and video communications between the astronauts in the field and the Inflatable Lunar Habitat (ILH), or another planetary outpost. This rover will be designed to enable storage for tools and samples, freeing the astronauts from the tedious and physically demanding task of carrying items for long distances encumbered by an EVA suit. This thesis will describe the design of the rover and the rationale for each design decision. Upon completion of the rover, this thesis will report on the real-world performance of the rover, the effectiveness of the subsystems, and the lessons learned as a result of initial testing. Using the rover and the information obtained from this thesis, future astronaut-rover interaction studies will be conducted that will be important to the future of human planetary exploration

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments

Design, Analysis and Fabrication of a Reconfigurable Stair Climbing Robot

Over the past few years, the scientists have tried to develop robots that can move on rough terrains. However, there are few robots that are suitable for use in rough terrains. A number of new technologies have evolved for reliable localization, obstacle avoidance and even autonomous map building in dynamically changing environment. However, mobility in very rough terrain is often very limited due to the absence of adequate locomotion concepts. The aim of this project is to introduce a new class of locomotive concept that will have excellent off-road capabilities. As a first prototype of this class, this four-wheeled robot will have the capability of climbing the stairs of height equal to its diameter. It will possess maximum gripping capacity and stability during motion in rough terrain owing to the 4 differential driven wheel configurations. The long -term goal of our research is to develop a robust outdoor platform which is suitable to be included in disaster mitigation as well as in security and surveillance missions. The platform should be able to transport application sensors to areas that are dangerous for humans to access, e.g. a collapse-endangered building or an industrial compound after a chemical accident. In those cases, before they enter, the rescue personnel might need some information about the air contamination or the whereabouts of people inside an area. The robot should be upgradeable with a variety of application sensors, e.g. cameras, thermal vision, or chemical sensors. To be usable in any search and rescue or security application, the robot has to be operational without changing batteries for at least two hours. As the first step into these future goals, our work has wireless control of the robot, which will steer the robot in the target area from remote. The robot will be wirelessly controlled through PC using ZigBee technology. In the future work, sensors, cameras, manipulators can be added to the robot frame. The robot can then serve complex tasks in dangerous areas remotely

Mars Pathfinder landing site workshop

The Mars Pathfinder Landing Site Workshop was designed to allow the Mars scientific community to provide input as to where to land Pathfinder on Mars. Over 20 landing sites were proposed at the workshop, and the scientific questions and problems concerning each were addressed. The workshop and the discussion that occurred during and afterward have significantly improved the ability to select a scientifically exciting but safe landing site on Mars.sponsored by Lunar and Planetary Institute.edited by M. GolombekClimatological targets for Mars Pathfinder / Zent, Aaron P. -- Melas Chasma: A Mars Pathfinder view of Valles Marineris / Treiman, Allan H.; Murchie, Scott -- Surface science capabilities from IMP spectral imaging / Singer, Robert B. -- Marte Valles site / Rice, Jim W. -- Cerberus Plains: A most excellent Pathfinder landing site / Plescia, Jeff

Development and Evaluation of a Tool for EVA or Robotic Planetary Sampling

NASA's current plans call for humans to return to the Moon by 2020 and eventually travel to Mars. The primary rational for this undertaking is scientific exploration and discovery, especially in the area of geology. These missions will include both human and robotic explorers. In order to be successful, these human/robot teams will need specialized tools for geologic sampling and analysis. This thesis discusses a proposed multi-purpose tool for planetary sampling useful for researching surface exploration strategies for humans and human-robot teams. Previous planetary science missions were analyzed to define set of requirements for a sampling tool. From this, a concept was conceived and a prototype constructed. Various soil and rock samples were taken to verify the concept and requirements. The tool performance was tested against known soil models. The end result is a set of sampling requirements, a proven concept for a tool, and proposed future development and research

Mars Pathfinder Landing Site Workshop

The Mars Pathfinder Project is an approved Discovery-class mission that will place a lander and rover on the surface of the Red Planet in July 1997. The Mars Pathfinder Landing Site Workshop was designed to allow the Mars scientific community to provide input as to where to land Pathfinder on Mars. The workshop was attended by over 60 people from around the United States and from Europe. Over 20 landing sites were proposed at the workshop, and the scientific questions and problems concerning each were addressed. The workshop and the discussion that occured during and afterward have significantly improved the ability to select a scientifically exciting but safe landing site on Mars