Preparing for Crew-Control of Surface Robots from Orbit

Since 2010, the European Space Agency (ESA) and the National Aeronautics and Space Administration (NASA) have been developing robots that can be remotely operated on planetary surfaces by astronauts in orbiting spacecraft. A primary objective of this work has been to test telerobotic technologies that are needed for future deep-space human exploration missions. Specifically, ESA's Multi-Purpose End-To-End Robotic Operations Network (METERON) project and NASA's Human Exploration Telerobotics (HET) project are complementary initiatives that aim to validate communications, operations and robotic systems through a range of ground and flight experiments with humans and robots in the loop. Several experiments have already been successfully completed and others are now in preparation for flight

Telerobotic Sensor-based Tool Control Derived From Behavior-based Robotics Concepts

@font-face { font-family: TimesNewRoman ; }p.MsoNormal, li.MsoNormal, div.MsoNormal { margin: 0in 0in 0.0001pt; font-size: 12pt; font-family: Times New Roman ; }div.Section1 { page: Section1; } Teleoperated task execution for hazardous environments is slow and requires highly skilled operators. Attempts to implement telerobotic assists to improve efficiency have been demonstrated in constrained laboratory environments but are not being used in the field because they are not appropriate for use on actual remote systems operating in complex unstructured environments using typical operators. This work describes a methodology for combining select concepts from behavior-based systems with telerobotic tool control in a way that is compatible with existing manipulator architectures used by remote systems typical to operations in hazardous environment. The purpose of the approach is to minimize the task instance modeling in favor of a priori task type models while using sensor information to register the task type model to the task instance. The concept was demonstrated for two tools useful to decontamination & dismantlement type operations—a reciprocating saw and a powered socket tool. The experimental results demonstrated that the approach works to facilitate traded control telerobotic tooling execution by enabling difficult tasks and by limiting tool damage. The role of the tools and tasks as drivers to the telerobotic implementation was better understood in the need for thorough task decomposition and the discovery and examination of the tool process signature. The contributions of this work include: (1) the exploration and evaluation of select features of behavior-based robotics to create a new methodology for integrating telerobotic tool control with positional teleoperation in the execution of complex tool-centric remote tasks, (2) the simplification of task decomposition and the implementation of sensor-based tool control in such a way that eliminates the need for the creation of a task instance model for telerobotic task execution, and (3) the discovery, demonstrated use, and documentation of characteristic tool process signatures that have general value in the investigation of other tool control, tool maintenance, and tool development strategies above and beyond the benefit sustained for the methodology described in this work

Lunar exploration rover program developments

The Robotic All Terrain Lunar Exploration Rover (RATLER) design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design's capabilities for mobility, the full scale proof-of-concept design currently under development is intended to support field operations for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, and advanced man-machine interface concepts. The development program's current status is described, including an outline of the program's work over the past year, recent accomplishments, and plans for follow-on development work

Automatic planning and programming for robotic construction of planetary/lunar structures

Many difficult material handling needs exist in remote unstructured environments. Currently these operations are accomplished using personnel in direct contact with the hazards. A safe and cost-effective alternative to this approach is the use of intelligent robotic systems for the excavation, handling, transport and manipulation of materials during remote construction operations. A robotic system designed for these tasks has been developed at Sandia National Laboratories which successfully integrates computer controlled manipulation and mobility to deliver these needed robotic capabilities in remote applications such as planetary operations. The mobile robot, RETRVIR, incorporates advanced developments in the integration of sensors, advanced computing environments, and graphical user interfaces. The addition of these elements in the control of remotely operated equipment have shown great promise for reducing the cost of remote construction while providing faster and safer operations

Robotics handbook. Version 1: For the interested party and professional

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics

The NASA SBIR product catalog

The purpose of this catalog is to assist small business firms in making the community aware of products emerging from their efforts in the Small Business Innovation Research (SBIR) program. It contains descriptions of some products that have advanced into Phase 3 and others that are identified as prospective products. Both lists of products in this catalog are based on information supplied by NASA SBIR contractors in responding to an invitation to be represented in this document. Generally, all products suggested by the small firms were included in order to meet the goals of information exchange for SBIR results. Of the 444 SBIR contractors NASA queried, 137 provided information on 219 products. The catalog presents the product information in the technology areas listed in the table of contents. Within each area, the products are listed in alphabetical order by product name and are given identifying numbers. Also included is an alphabetical listing of the companies that have products described. This listing cross-references the product list and provides information on the business activity of each firm. In addition, there are three indexes: one a list of firms by states, one that lists the products according to NASA Centers that managed the SBIR projects, and one that lists the products by the relevant Technical Topics utilized in NASA's annual program solicitation under which each SBIR project was selected

Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1987

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifth in a series of progress updates and covers the period between 16 May 1987 and 30 September 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the mandate of Congress is that an advanced automation and robotics technology be built to support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today