Mars miniature science instruments
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instruments↗
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Lavery, David
Publications and source records attributed to Lavery, David.
Mars Miniature Science Instruments
For robotic Mars missions, all the science information is gathered through on-board miniature instruments that have been developed through many years of R&D. Compared to laboratory counterparts, the rover instruments require miniaturization, such as low mass (1-2 kg), low power (> 10 W) and compact (1-2 liter), yet with comparable sensitivity. Since early 1990's, NASA recognized the need for the miniature instruments and launched several instrument R&D programs, e.g., PIDDP (Planetary Instrument Definition and Development). However, until 1998, most of the instrument R&D programs supported only up to a breadboard level (TRL 3, 4) and there is a need to carry such instruments to flight qualifiable status (TU 5, 6) to respond to flight AOs (Announcement of Opportunity). Most of flight AOs have only limited time and financial resources, and can not afford such instrument development processes. To bridge the gap between instrument R&D programs and the flight instrument needs, NASA's Mars Technology Program (MTP) created advanced instrumentation program, Mars Instrument Development Project (MIDP). MIDP candidate instruments are selected through NASA Research Announcement (NRA) process [l]. For example, MIDP 161998-2000) selected and developed 10 instruments, MIDP II (2003-2005) 16 instruments, and MIDP III (2004-2006) II instruments.Working with PIs, JPL has been managing the MIDP tasks since September 1998. All the instruments being developed under MIDP have been selected through a highly competitive NRA process, and employ state-of-the-art technology. So far, four MIDP funded instruments have been selected by two Mars missions (these instruments have further been discussed in this paper).
Mars Instrument Development Project (MIDP)↗
Software For Monitoring VAX Computer Systems
VAX Continuous Monitoring System (VAXCMS) computer program developed at NASA Headquarters to aid system managers in monitoring performances of VAX computer systems through generation of graphic images summarizing trends in performance metrics over time. VAXCMS written in DCL and VAX FORTRAN for use with DEC VAX-series computers running VMS 5.1 or later.
Farkas, Les↗
Robotics technology developments in the United States space telerobotics program
In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.
Lavery, David↗
1991 NASA Planetary Rover Program
The principal accomplishments of the 1991 Nasa Planetary Rover Program are described. The work to date has focused on development of unmanned science rover technology within the context of high mobility wheeled vehicles at the JPL and an innovative legged locomotion concept at Carnegie Mellon University. Attention is given to mission operations research including simulation environment, mission scenario simulation experiments, and the rover system executive software that will reside onboard a rover in future planetary surface missions.
Lavery, David↗
NASA Planetary Rover Program
The NASA Planetary Rover Project was initiated in 1989. The emphasis of the work to date has been on development of autonomous navigation technology within the context of a high mobility wheeled vehicle at the JPL and an innovative legged locomotion concept at Carnegie Mellon University. The status and accomplishments of these two efforts are discussed. First, however, background information is given on the three rover types required for the Space Exploration Initiative (SEI) whose objective is a manned mission to Mars.
Lavery, David↗
Navigation of military and space unmanned ground vehicles in unstructured terrains
Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.
Lescoe, Paul↗
NASA Planetary Rover Program
The NASA Planetary Rover Project was initiated in 1989. The emphasis of the work to date has been on development of autonomous navigation technology within the context of a high mobility wheeled vehicle at the JPL and an innovative legged locomotion concept at Carnegie Mellon University. The status and accomplishments of these two efforts are discussed. First, however, background information is given on the three rover types required for the Space Exploration Initiative.
Lavery, David↗