Robot Technology Development: Perception, User Interfaces and Architecture
Overview presentations of the NASA Ames Intelligent Robotics Group: (1) Robot Technology Development and (2) NASA Ames Planetary Mapping.
planetary exploration↗
Engineering topics
Fong, Terrence
Publications and source records attributed to Fong, Terrence.
Robotic Follow-Up for Human Exploration
We are studying how "robotic follow-up" can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated with this technique, we are conducting analog field tests with human and robot teams at the Haughton Crater impact structure on Devon Island, Canada. In this paper, we discuss the motivation for robotic follow-up, describe the scientific context and system design for our work, and present results and lessons learned from field testing.
Fong, Terrence↗
Real-Time Assessment of Robot Performance During Remote Exploration Operations
To ensure that robots are used effectively for exploration missions, it is important to assess their performance during operations. We are investigating the definition and computation of performance metrics for assessing remote robotic operations in real-time. Our approach is to monitor data streams from robots, compute performance metrics, and provide Web-based displays of these metrics for assessing robot performance during operations. We evaluated our approach for measuring robot performance with the K10 rovers from NASA Ames Research Center during a field test at Moses Lake Sand Dunes (WA) in June 2008. In this paper we present the results of evaluating our software for robot performance and discuss our conclusions from this evaluation for future robot operations.
SBIR TOPIC X7.02 PHASE 1↗
Field Testing of Utility Robots for Lunar Surface Operations
Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program is to establish significant infrastructure and an outpost. Achieving these objectives will enable long-duration stays and long-distance exploration of the Moon. To do this, robotic systems will be needed to perform tasks which cannot, or should not, be performed by crew alone. In this paper, we summarize our work to develop "utility robots" for lunar surface operations, present results and lessons learned from field testing, and discuss directions for future research.
Fong, Terrence↗
The Human-Robot Interaction Operating System
In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.
Fong, Terrence↗
A Preliminary Study of Peer-to-Peer Human-Robot Interaction
The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.
Fong, Terrence↗
Common Metrics for Human-Robot Interaction
This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally, we present suggested common metrics for standardization and a case study. Preparation of a larger, more detailed toolkit is in progress.
Steinfeld, Aaron↗
Human-Robot Site Survey and Sampling for Space Exploration
NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.
Fong, Terrence↗
Interaction Challenges in Human-Robot Space Exploration
In January 2004, NASA established a new, long-term exploration program to fulfill the President's Vision for U.S. Space Exploration. The primary goal of this program is to establish a sustained human presence in space, beginning with robotic missions to the Moon in 2008, followed by extended human expeditions to the Moon as early as 2015. In addition, the program places significant emphasis on the development of joint human-robot systems. A key difference from previous exploration efforts is that future space exploration activities must be sustainable over the long-term. Experience with the space station has shown that cost pressures will keep astronaut teams small. Consequently, care must be taken to extend the effectiveness of these astronauts well beyond their individual human capacity. Thus, in order to reduce human workload, costs, and fatigue-driven error and risk, intelligent robots will have to be an integral part of mission design.
Fong, Terrence↗
Peer-to-Peer Human-Robot Interaction for Space Exploration
NASA has embarked on a long-term program to develop human-robot systems for sustained, affordable space exploration. To support this mission, we are working to improve human-robot interaction and performance on planetary surfaces. Rather than building robots that function as glorified tools, our focus is to enable humans and robots to work as partners and peers. In this paper. we describe our approach, which includes contextual dialogue, cognitive modeling, and metrics-based field testing.
Fong, Terrence↗