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Balaram, J.

Publications and source records attributed to Balaram, J..

At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Simulating Operation of a Planetary Rover

Simulating Operation of a Planetary Rover Rover Analysis, Modeling, and Simulations (ROAMS) is a computer program that simulates the operation of a robotic vehicle (rover) engaged in exploration of a remote planet. ROAMS is a roverspecific extension of the DARTS and Dshell programs, described in prior NASA Tech Briefs articles, which afford capabilities for mathematical modeling of the dynamics of a spacecraft as a whole and of its instruments, actuators, and other subsystems. ROAMS incorporates mathematical models of kinematics and dynamics of rover mechanical subsystems, sensors, interactions with terrain, solar panels and batteries, and onboard navigation and locomotion-control software. ROAMS provides a modular simulation framework that can be used for analysis, design, development, testing, and operation of rovers. ROAMS can be used alone for system performance and trade studies. Alternatively, ROAMS can be used in an operator-in-the-loop or flight-software closed-loop environment. ROAMS can also be embedded within other software for use in analysis and development of algorithms, or for Monte Carlo studies, using a variety of terrain models, to generate performance statistics. Moreover, taking advantage of realtime features of the underlying DARTS/Dshell simulation software, ROAMS can also be used for real-time simulations.

Jain, Abhinandan↗
NASA NTRS2002

Mars Smart Lander Simulations for Entry, Descent, and Landing

Two primary simulations have been developed and are being updated for the Mars Smart Lander Entry, Descent, and Landing (EDL). The high fidelity engineering end-to-end EDL simulation that is based on NASA Langley's Program to Optimize Simulated Trajectories (POST) and the end-to-end real-time, hardware-in-the-loop simulation testbed, which is based on NASA JPL's (Jet Propulsion Laboratory) Dynamics Simulator for Entry, Descent and Surface landing (DSENDS). This paper presents the status of these Mars Smart Lander EDL end-to-end simulations at this time. Various models, capabilities, as well as validation and verification for these simulations are discussed.

Striepe, S. A.↗
NASA NTRS1997

Autonomous Mobility, Navigation, and Control for Venus Aerobots

Ballons systems which operate under robotic contol, called aerobots, offer rich potential for exploration of the planets. Telerobotics technology allows an aerobot to control its vertical motion and exploit prevailing winds to autonomously move to different planetery locations.

Control for Venus Aerobots Robotic Control Navigat↗
NASA NTRS1997

Mars 2001 Aerobot/Balloon System Overview

The purpose of the study was to determine technical feasibiltiy of a long duration 2001 aerobot mission in the Martian atmosphere, to formulate a baseline concept, to identify pre-project technology requirements and to develop a preliminary cost, schedule and plan.

Mars↗
NASA NTRS1997

On-board State Estimation for Planetary Aerobots

Oscillatory balloon systems with telerobotic capabilities are being studied to support future space exploration by probes which will move up and down in a planetary atmosphere, land and explore numerous surface sites.

Planetary↗
NASA NTRS1997

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 ↗
NASA NTRS1996

Microrover Research for Exploration of Mars

There is great interest in the science community to explore Mars by using microrovers that carry seveal science instruments and are capable of traversing long distances[1]. NASA has planned six additional missions to Mars for 2001, 2003, and 2005. There is an excellent chance that rovers will be utilized in some of these missions. Such rovers would traverse to sites separated by seveal kilometers and place instruments against outcrops or loose rocks, search an area for a sample of interest, and collect rocks and soil samples for return to Earth (2005 mission). Our research objectives are to develop technologies that enable such scenarios within the mission constraints of mass, power, volume, and cost.

microrovers missions to Mars↗
NASA NTRS1996

On-Board Perception System For Planetary Aerobot Balloon Navigation

NASA's Jet Propulsion Laboratory is implementing the Planetary Aerobot Testbed to develop the technology needed to operate a robotic balloon aero-vehicle (Aerobot). This earth-based system would be the precursor for aerobots designed to explore Venus, Mars, Titan and other gaseous planetary bodies. The on-board perception system allows the aerobot to localize itself and navigate on a planet using information derived from a variety of celestial, inertial, ground-imaging, ranging, and radiometric sensors.

Planetary Aerobot Testbed robotic balloon aero-veh↗
NASA NTRS1996

Automated Telerobotic Inspection Of Surfaces

Method of automated telerobotic inspection of surfaces undergoing development. Apparatus implementing method includes video camera that scans over surfaces to be inspected, in manner of mine detector. Images of surfaces compared with reference images to detect flaws. Developed for inspecting external structures of Space Station Freedom for damage from micrometeorites and debris from prior artificial satellites. On Earth, applied to inspection for damage, missing parts, contamination, and/or corrosion on interior surfaces of pipes or exterior surfaces of bridges, towers, aircraft, and ships.

Balaram, J.↗