Multi-range traversability indices for terrain-based navigation
This paper presents novel measures of terrain traversability at three different ranges.
robotics rovers navigation↗
Engineering topics
Bon, B.
Publications and source records attributed to Bon, B..
MVACS Robotic Arm
The primary purpose of the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm is to support to the other MVACS science instruments by digging trenches in the Martian soil; acquiring and dumping soil samples into the thermal evolved gas analyzer (TEGA); positioning the Soil Temperature Probe (STP) in the soil: positioning the Robotic Arm Air Temperature Sensor (RAATS) at various heights above the surface, and positioning the Robotic Arm Camera (RAC) for taking images of the surface, trench, soil samples, magnetic targets and other objects of scientific interest within its workspace.
robotics robotic arm sampling MVACS↗
Autonomous Navigation of Planetary Rovers: A Fuzzy Logic Approach
This paper presents an new strategy for autonomous navigation of planetary rovers using the fuzzy logic framework and novel on-board measure of terrain traversability.
autonomous navigation planetary rovers fuzzy logic↗
Ground Control Station Development for the Dexterous Orbital Servicing System
The Dexterous Orbital Servicing System (DOSS) flight test program is being developed by NASA to verify the ability to utilize telerobotics for servicing Space Station Alpha. The development of a ground control station for Earth based control of DOSS is described. This flight test program provides a manipulator which is mounted on a multi-purpose experiment support structure in a Space Shuttle bay.
remote robotic control dexterous orbital servicing↗
The sensing and perception subsystem of the NASA research telerobot
A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.
Wilcox, B.↗
International space policy and the interests of the United States and developing countries
The paper discusses principles which must be upheld in order to protect U.S. interests in space, the potential impact of the Moon Treaty on these principles, how to satisfy the legitimate needs of developing countries while protecting U.S. interests, and how to enhance the probability of success in future negotiations concerning space. It is suggested that, in order to preserve the rights of its citizens and industry to exploit space, the United States must make a strong effort to help solve the problems of the developing countries, maintain a strong space program, and develop and follow a space policy that reflects the interests of the American people.
Bon, B.↗
Automated optical navigation with application to Galileo
This paper presents an overview of an automated optical navigation (AON) system, a lower-cost, faster, earth-based stepping stone to onboard systems. AON provides estimation (orbit determination) and maneuver subsystems which are automatically linked to provide the fast response required by the Galileo mission, AON's first user. A real-time interactive executive schedules the subsystems to run concurrently or sequentially and enables interactive computer-graphics displays designed to speed evaluation and certification of navigation solutions. A compact trajectory integrator provides a favorable combination of speed and accuracy. Resident on a low-cost minicomputer and coded primarily in HAL/S, the NASA standard language for flight software, AON approaches a prototype for autonomous onboard navigation systems of the future.
Klumpp, A. R.↗