Engineering topics
Publications and source records attributed to Schenker, P..
Planetary surface mobility has to date been limited to benign locations. If rover systems could be developed for more challenging terrain, e.g., sloped and irregularly feathered areas, then planetary science opportunities would be greatly expanded.
This paper describes recent field trials performed using the FIDO rover, an advanced NASA technology development platform and research prototype for the next planned rover mission to Mars.
We present an algorithm that uses the Oriented Bounding Box (OBB) and a new primitive called the Oriented Bounding Prism (OBP) to detect potential self-collisions and collisions with terrain object sensed with the rover's on-board stereo camera; the algorithm thus has both model-based and sensor-based components.
We describe the approach taken to improve mission-relevant fidelity of the rover system in support of resource modeling, contingency sequencing, and added rover functionality as proposed for the actual mission.
This paper reviews recent advances in these technologies, with a particular focus on experimental state-of-the-art robot work crew system demonstrations at JPL, that are being conducted now to begin to realize the futuristic robotic colony vision.
A workshop on Antartic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society in February to discuss scientific objectives and benefits of the use of rovers such as are being developed for use in planetary exploration.
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Site construction operations by autonomous robotic systems are essential for a sustained robotic presence and human habitation on mars.
The Mars 2003 Mission may include a rover to acquire remote sensing and in-situ measurements of surface materials, including rock surfaces that have been cleared of dust and coatings by use of an abrasion tool. Mars Sample Return Missions for 2005 and beyond may include rovers with remote sensing and in-situ measurement capabilities. Further, these mobility platforms may have systems to drill into rocks and collect cores, acquire soil samples, and place the rock and soil samples in ascent vehicles. The point of this abstract is to document that these operations have already been shown to be tractable based on continuing field trials of the FIDO Mars prototype rover.
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This paper describes several Jet Propulsion Laboratory research efforts being conducted to support Mars sample return in the coming decade.
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.
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We report on the development of new mobile robots for Mars exploration missions.
Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources.
We report a significant advance in space robotics design based on innovation of 3D composite structures and piezoelectronic actuation.