On Advanced Mobility Concepts for Intelligent Planetary Surface Exploration

Surface exploration by wheeled rovers on Earth's Moon (the two Lunokhods) and Mars (Nasa's Sojourner and the two MERs) have been followed since many years already very suc-cessfully, specifically concerning operations over long time. However, despite of this success, the explored surface area was very small, having in mind a total driving distance of about 8 km (Spirit) and 21 km (Opportunity) over 6 years of operation. Moreover, ESA will send its ExoMars rover in 2018 to Mars, and NASA its MSL rover probably this year. However, all these rovers are lacking sufficient on-board intelligence in order to overcome longer dis-tances, driving much faster and deciding autonomously on path planning for the best trajec-tory to follow. In order to increase the scientific output of a rover mission it seems very nec-essary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mo-bile wheeled rover with four or six wheels, and having specific kinematics and locomotion suspension depending on the operational terrain of the rover to operate. DLR's Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of light-weight motion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and in increasing the autonomy of any kind of mechatronic systems. The whole design is supported and is based upon detailed modeling, optimization, and simula-tion tasks. We have developed efficient software tools to simulate the rover driveability per-formance on various terrain characteristics such as soft sandy and hard rocky terrains as well as on inclined planes, where wheel and grouser geometry plays a dominant role. Moreover, rover optimization is performed to support the best engineering intuitions, that will optimize structural and geometric parameters, compare various kinematics suspension concepts, and make use of realistic cost functions like mass and consumed energy minimization, static sta-bility, and more. For self-localization and safe navigation through unknown terrain we make use of fast 3D stereo algorithms that were successfully used e.g. in unmanned air vehicle ap-plications and on terrestrial mobile systems. The advanced rover design approach is applica-ble for lunar as well as Martian surface exploration purposes. A first mobility concept ap-proach for a lunar vehicle will be presented

Art and Medicine: A Collaborative Project Between Virginia Commonwealth University in Qatar and Weill Cornell Medicine in Qatar

Four faculty researchers, two from Virginia Commonwealth University in Qatar, and two from Weill Cornell Medicine in Qatar developed a one semester workshop-based course in Qatar exploring the connections between art and medicine in a contemporary context. Students (6 art / 6 medicine) were enrolled in the course. The course included presentations by clinicians, medical engineers, artists, computing engineers, an art historian, a graphic designer, a painter, and other experts from the fields of art, design, and medicine. To measure the student experience of interdisciplinarity, the faculty researchers employed a mixed methods approach involving psychometric tests and observational ethnography. Data instruments included pre- and post-course semi-structured audio interviews, pre-test / post-test psychometric instruments (Budner Scale and Torrance Tests of Creativity), observational field notes, self-reflective blogging, and videography. This book describes the course and the experience of the students. It also contains images of the interdisciplinary work they created for a culminating class exhibition. Finally, the book provides insight on how different fields in a Middle Eastern context can share critical /analytical thinking tools to refine their own professional practices

Evoking agency: Attention model and behavior control in a robotic art installation

Robotic embodiments of artificial agents seem to reinstate a body-mind dualism as consequence of their technical implementation, but could this supposition be a misconception? The authors present their artistic, scientific and engineering work on a robotic installation, the Articulated Head, and its perception-action control system, the Thinking Head Attention Model and Behavioral System (THAMBS). The authors propose that agency emerges from the interplay of the robot’s behavior and the environment and that, in the system’s interaction with humans, it is to the same degree attributed to the robot as it is grounded in the robot’s actions: Agency cannot be instilled; it needs to be evoked