Scanning Aircraft Structures Using Open-Architecture Robotic Crawlers as Platforms with NDE Boards and Sensors
Rapid inspection of large areas has been an ongoing challenge to the NDE community.
NDE aircraft inspection scanners open architecture↗
Engineering topics
Backes, P.
Publications and source records attributed to Backes, P..
The Rocky 7 Rover: A Mars Sciencecraft Prototype
This paper describes the design and implementation of a small rover for future Mars missions requiring long traverses and rover-based science experiments at the Jet Propulsion Laboratory.
navigation perception science instrument pointing ↗
The Web Interface for Telescience (WITS)
The Web Interface for Telescience (WITS) is an Internet-based tool that enables members of geographically distributed science teams to participate in daily planetary lander and rover mission planning.
rovers sequence generation telescience↗
The Multifunction Automated Crawling System (MACS)
A new robotic crawler is being developed for inspection of large aircraft external surfaces.
multifunction↗
Extended Impedance Control Using Real and Virtual Sensors for Redundant Manipulators
Control of a redundant manipulator based on an impedence control framework with multiple simultaneous control sources is described. Each control source provides a different behavior type. An application is decomposed into multiple simultaneous behaviors whose resultant behavior will provide the motion necessary to execute the task. The simultaneous control inputs are merged using impedance control to compute a resultant command to the manipulator. The task space of each behavior can have the dimensionality of the mechanism being controlled. Control of a seven degree of freedom manipulator is described here with an available task space for each behavior of dimensionality seven.
telerobotics control architecture simultaneous beh↗
Supervised Autonomy for Space Telerobotics
Telerobotics continues to provide a means for extending human presence in space as an integral part of the control architecture of unmanned spacecraft. Supervised autonomy for control of space manipulators provides a safe and effective means for time delayed remote control of unmanned spacecraft.
space↗
A testbed for a unified teleoperated-autonomous dual-arm robotic system
This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.
Hayati, S.↗