A5008968332- Planetary Science and Exploration
- Spacecraft Dynamics and Control
- Astro and Planetary Science
- Space Satellite Systems and Control
- Robotic Path Planning Algorithms
- Space Exploration and Technology
- Aerospace Engineering and Energy Systems
- Spacecraft Design and Technology
- Robot Manipulation and Learning
- Robotics and Sensor-Based Localization
- Modular Robots and Swarm Intelligence
- Teleoperation and Haptic Systems
- Spacecraft and Cryogenic Technologies
- Rocket and propulsion systems research
- Manufacturing Process and Optimization
- Advanced Control Systems Optimization
- Underwater Vehicles and Communication Systems
- Mobile Agent-Based Network Management
- Simulation Techniques and Applications
- Nuclear reactor physics and engineering
- Risk and Portfolio Optimization
- Adaptive Control of Nonlinear Systems
- Aerospace Engineering and Control Systems
- Optical measurement and interference techniques
- Real-time simulation and control systems
Jet Propulsion Laboratory
2011-2024
California Institute of Technology
1989-2021
Space Information Laboratories (United States)
1990
Rensselaer Polytechnic Institute
1982-1984
Abstract Before the Perseverance rover landing, acoustic environment of Mars was unknown. Models predicted that: (1) atmospheric turbulence changes at centimetre scales or smaller point where molecular viscosity converts kinetic energy into heat 1 , (2) speed sound varies surface with frequency 2,3 and (3) high-frequency waves are strongly attenuated distance in CO 2 (refs. 2–4 ). However, theoretical models were uncertain because a lack experimental data low pressure difficulty to...
On April 19, 2021, NASA's Ingenuity Mars Helicopter successfully executed humanity's historic first flight on Mars. In the flights that followed, continued to explore boundaries of what was aerodynamically, energetically, and operationally possible, took increasingly daring missions in process. Over time, Ingenuity's mission has evolved from a “Technology Demonstration” rotorcraft fly an “Operations scientific aerial exploration scenarios activities...
This paper describes the design and implementation at Jet Propulsion Laboratory of a small rover for future Mars missions requiring long traverses rover-based science experiments. The prototype, called Rocky 7, is capable traverses, autonomous navigation, instrument control. carries three instruments, can be commanded from any computer platform location using World Wide Web. In this we describe mobility system, sampling sensor suite, navigation control, onboard ground command control system....
This paper provides a system overview of new Mars rover prototype, Rocky 7. We describe all aspects: mechanical and electrical design, computer software infrastructure, algorithms for navigation manipulation, science data acquisition, outdoor testing. In each area, the improved or added functionality is explained in context its path to flight, need within constraints desired missions.
This paper provides a system overview of new Mars rover prototype, Rocky 7. We describe all aspects: mechanical and electrical design, computer software infrastructure, algorithms for navigation manipulation, science data acquisition, outdoor testing. In each area, the improved or added functionality is explained in context its path to flight within constraints desired missions.
Covers advancements in spacecraft and tactical strategic missile systems, including subsystem design application, mission analysis, materials structures, developments space sciences, processing manufacturing, operations, applications of technologies to other fields.
Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, have more near-surface capability than orbiters. Aerial mobility is a promising possibility for exploration as it reduces challenges difficult obstacles pose ground vehicles. The first use rotorcraft mission will in 2021, when Ingenuity Mars helicopter technology demonstrator deployed via Perseverance rover. NASA's Jet Propulsion Laboratory NASA Ames Research...
This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. includes models various subsystems and components of vehicle including its mechanical subsystem, sensors, on-board resources, control software, terrain environment terrain/vehicle interactions. The can be used stand-alone mode, closed-loop simulation with software or operator-in-the-loop simulations.
While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges. These include increased autonomy operation, traverse challenging terrain, and fault-tolerance under long, unattended periods use. We have begun work which addresses some these issues, with an initial focus on problems high risk access, that is, autonomous roving over highly variable, rough terrain. This is a dual problem sensing those conditions...
The Jet Propulsion Laboratory (JPL) is developing a high-fidelity spacecraft simulator for entry, descent and landing (EDL) on planetary small-bodies. This simulator, DSENDS (Dynamics Simulator Entry, Descent Surface landing), an EDL-specific extension of JPL multi-mission simulation toolkit (Darts/Dshell) which capable modeling dynamics, devices, subsystems, in use by interplanetary science-craft missions such as Cassini, Galileo, SIM, Starlight. currently the Smart Lander project to...
Lessons from the CubeSat and Mars Exploration programs may guide infusion of robotics for planetary science exploration.
Robust navigation through rocky terrain by small mobile robots is important for maximizing science return from missions to Mars. We are addressing this problem at multiple levels the development of intelligent sequencing, sensor constrained path planning, natural visual localization, and real-time state estimation. Each these techniques described their complementary aspects discussed. Experimental results provided implementation on our Mars rover prototype operating in realistic scenarios.
The Jet Propulsion Laboratory (JPL) is embarking on a series of exploration missions to Mars. Long-range rovers with several science instruments board will traverse many kilometers the surface. This paper describes some research underway at JPL as they pertain navigation these long-range rovers. A brief description provided Sojourner rover which recently completed short-range, near-lander Mars mission. called Rocky-7 under development implements number new technologies for traverses....
With Ingenuity's successful technology demonstration flights, NASA has unlocked a new dimension of mobility, exploration, and science for Mars. Just as Sojourner lead to Perseverance, so shall Ingenuity larger more capable exploration platforms. This paper will present the latest future Mars rotorcraft concept in its early formulation stages, called Science Helicopter (MSH). The focus MSH is deliver scientific payloads 2-5kg range newly frontiers Such would need be significantly...
This paper introduces an autonomous navigation system suitable for supporting a future Mars Science Helicopter concept. mission concept requires low-drift localization to reach science targets far apart from each other on the surface of Mars. Our modular state estimator achieves this through range, solar and Visual-Inertial Odometry (VIO). We propose novel range update model constrain visual-inertial scale drift in absence motion excitation using single-point static laser finder, that is...
We present the Sample Recovery Helicopter (SRH) element that serves as primary backup for tube retrieval part of Mars Return (MSR) Campaign. SRH was officially incorporated into MSR in July 2022. Concept operations, aerial and ground mobility, manipulation, avionics, thermal telecom will be described context SRH's Mission Review held June The summarized Operations (ConOps) is follows: 1. would ride along with Retrieval Lander to deploy onto surface. 2. perform mapping flights aid...
A state estimator design is presented for a Mars rover prototype. Odometry estimates are obtained by utilizing the fall kinematics of vehicle including nonlinear internal rocker-bogey mechanism as well contact between wheels and ground. Additional sensing using gyroscopes, accelerometers visual sensors allows robust motion estimation. Simulation experimental results to illustrate operation.
This paper presents a novel joint chance-constrained dynamic programming algorithm, which explicitly bounds the probability of failure to satisfy given state constraints. Existing constrained approaches cannot handle chance constraint since their application is limited constraints in same form as cost function, that is, an expectation over sum one-stage costs. We overcome this challenge by reformulating into on indicator functions, can be incorporated function dualizing optimization problem....
Ingenuity may be the first of many Mars aerial vehicles. Rotorcraft increase range and speed that can traveled to locations interest. This enables mission concepts previously considered not viable on Mars, such as missions performing science investigations in regions high elevation, steep terrain, caves/lava tubes, surveys lower atmosphere. Recent work done at NASA Ames Research Center NASA's Jet Propulsion Laboratory (JPL) show significant performed by rotorcraft either independently or...