Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion

Range imager performance comparison in homodyne and heterodyne operating modes

Range imaging cameras measure depth simultaneously for every pixel in a given field of view. In most implementations the basic operating principles are the same. A scene is illuminated with an intensity modulated light source and the reflected signal is sampled using a gain-modulated imager. Previously we presented a unique heterodyne range imaging system that employed a bulky and power hungry image intensifier as the high speed gain-modulation mechanism. In this paper we present a new range imager using an internally modulated image sensor that is designed to operate in heterodyne mode, but can also operate in homodyne mode. We discuss homodyne and heterodyne range imaging, and the merits of the various types of hardware used to implement these systems. Following this we describe in detail the hardware and firmware components of our new ranger. We experimentally compare the two operating modes and demonstrate that heterodyne operation is less sensitive to some of the limitations suffered in homodyne mode, resulting in better linearity and ranging precision characteristics. We conclude by showing various qualitative examples that demonstrate the system’s three-dimensional measurement performance

NASA Capability Roadmaps Executive Summary

This document is the result of eight months of hard work and dedication from NASA, industry, other government agencies, and academic experts from across the nation. It provides a summary of the capabilities necessary to execute the Vision for Space Exploration and the key architecture decisions that drive the direction for those capabilities. This report is being provided to the Exploration Systems Architecture Study (ESAS) team for consideration in development of an architecture approach and investment strategy to support NASA future mission, programs and budget requests. In addition, it will be an excellent reference for NASA's strategic planning. A more detailed set of roadmaps at the technology and sub-capability levels are available on CD. These detailed products include key driving assumptions, capability maturation assessments, and technology and capability development roadmaps

NASA Strategic Roadmap Summary Report

In response to the Vision, NASA commissioned strategic and capability roadmap teams to develop the pathways for turning the Vision into a reality. The strategic roadmaps were derived from the Vision for Space Exploration and the Aldrich Commission Report dated June 2004. NASA identified 12 strategic areas for roadmapping. The Agency added a thirteenth area on nuclear systems because the topic affects the entire program portfolio. To ensure long-term public visibility and engagement, NASA established a committee for each of the 13 areas. These committees - made up of prominent members of the scientific and aerospace industry communities and senior government personnel - worked under the Federal Advisory Committee Act. A committee was formed for each of the following program areas: 1) Robotic and Human Lunar Exploration; 2) Robotic and Human Exploration of Mars; 3) Solar System Exploration; 4) Search for Earth-Like Planets; 5) Exploration Transportation System; 6) International Space Station; 7) Space Shuttle; 8) Universe Exploration; 9) Earth Science and Applications from Space; 10) Sun-Solar System Connection; 11) Aeronautical Technologies; 12) Education; 13) Nuclear Systems. This document contains roadmap summaries for 10 of these 13 program areas; The International Space Station, Space Shuttle, and Education are excluded. The completed roadmaps for the following committees: Robotic and Human Exploration of Mars; Solar System Exploration; Search for Earth-Like Planets; Universe Exploration; Earth Science and Applications from Space; Sun-Solar System Connection are collected in a separate Strategic Roadmaps volume. This document contains memebership rosters and charters for all 13 committees

Rover and Telerobotics Technology Program

The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs

Space exploration: The interstellar goal and Titan demonstration

Automated interstellar space exploration is reviewed. The Titan demonstration mission is discussed. Remote sensing and automated modeling are considered. Nuclear electric propulsion, main orbiting spacecraft, lander/rover, subsatellites, atmospheric probes, powered air vehicles, and a surface science network comprise mission component concepts. Machine, intelligence in space exploration is discussed