A5082967192- Planetary Science and Exploration
- Robotics and Sensor-Based Localization
- Astro and Planetary Science
- Space Exploration and Technology
- Robotic Path Planning Algorithms
- Space Science and Extraterrestrial Life
- 3D Surveying and Cultural Heritage
- Space Satellite Systems and Control
- Remote Sensing and LiDAR Applications
- Induction Heating and Inverter Technology
- Nursing Education, Practice, and Leadership
- Underwater Vehicles and Communication Systems
- Tactile and Sensory Interactions
- Evacuation and Crowd Dynamics
- Robotics and Automated Systems
- Aeolian processes and effects
- Social Robot Interaction and HRI
- Distributed systems and fault tolerance
- Oil Spill Detection and Mitigation
- Spaceflight effects on biology
- Electric Motor Design and Analysis
- Marine and environmental studies
- Science, Research, and Medicine
- Advanced DC-DC Converters
- Advanced Vision and Imaging
Jet Propulsion Laboratory
2005-2023
Carnegie Mellon University
1993-2015
California Institute of Technology
2007-2012
University of North Carolina at Chapel Hill
1993
RTI International
1993
MCNC Research and Development Institute
1993
PPG Industries (United States)
1993
University of Pittsburgh
1993
Abstract The Mars Science Laboratory Curiosity rover performed coordinated measurements to examine the textures and compositions of aeolian sands in active Bagnold dune field. are rounded subrounded, very fine medium sized (~45–500 μm) with ≥6 distinct grain colors. In contrast examined by a dust‐covered, inactive bedform called Rocknest soils at other landing sites, darker, less red, better sorted, have fewer silt‐sized or smaller grains, show no evidence for cohesion. Nevertheless,...
NASA's Perseverance rover uses robotic autonomy to achieve its mission goals on Mars. Its self-driving autonomous navigation system (AutoNav) has been used evaluate 88% of the 17.7-kilometer distance traveled during first Mars year operation. Previously, maximum total evaluated was 2.4 kilometers by Opportunity 14-year lifetime. AutoNav set multiple planetary records, including greatest driven without human review (699.9 meters) and single-day drive (347.7 meters). The Autonomous Exploration...
We present in detail some of the challenges developing reusable robotic software. base that on our experience CLARAty robotics software, which is a generic object-oriented framework used for integration new algorithms areas motion control, vision, manipulation, locomotion, navigation, localization, planning and execution. was adapted to number heterogeneous robots with different mechanisms hardware control architectures. In this paper, we also describe how addressed these development
Safe navigation under resource constraints is a key concern for autonomous planetary rovers operating on extraterrestrial bodies. Computational power in such applications typically constrained by the radiation hardness and energy consumption requirements. For example, even though microprocessors used Mars Science Laboratory (MSL) mission rover are an order of magnitude more powerful than those Exploration Rovers (MER) mission, computational still significantly less that contemporary desktop...
The Perseverance rover landed in Jezero Crater on Mars February 18, 2021, marking the beginning of an epic road trip across Mars. guiding principle design was to replicate Curiosity, except for when new mission objectives mandated a change. scientific require that drive more quickly and efficiently through complex terrain than its predecessors. mobility system exemplifies this, key portions are identical, yet others have had major upgrades. Key upgrades include tractive robust tires,...
In order to achieve the ambitious objectives of Mars 2020 (M2020) mission, in particular ability autonomously traverse more challenging terrains efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision made early project, before most flight (FSW) existed, which created a need separate framework where navigation algorithms could be quickly prototyped and tested, realistic FSW-based testbeds became available. The JPL robotics team chose Robot...
The Mars 2020 (M2020) Perseverance Rover is NASA's most advanced planetary rover mission to date. It includes a novel Sample Caching Subsystem (SCS) which will collect rock cores for possible future return Earth, as well an improved mobility system with enhanced autonomous navigation enable it traverse faster and farther than prior rovers. development of both systems required extensive flight software hardware testing. To support this testing, we developed the Surface System Development...
As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory has developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists pair small FireWire cameras and standard Pentium-based computer. The inputs to software consist of: 1) crude grid-based map describing positions buildings, 2) an initial estimate robot location 3) video streams produced by stereo pair. At each step during traverse system: captures...
The Science Operations On Planetary Surfaces (SOOPS) task was created with the goal of evaluating, developing and validating methods for increasing productivity science operations on planetary surfaces. highly integrated spacecraft-instrument payload systems surface missions create operational constraints (e.g. power, data volume, number ground control interactions) that can reduce effective capabilities. Technological solutions have been proposed to mitigate impact those return. For...