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Shaun Azimi

Publications and source records attributed to Shaun Azimi.

8 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2024

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Crew time in space is precious – every hour could yield immense scientific discoveries and exploration milestones. However, overhead tasks such as logistics, maintenance, and assembly take a large portion of crew time. Remotely operated robotics capabilities offer a way to free the crew from many overhead tasks, but operating mobile dexterous robots in human-centered environments presents many unknowns and challenges for potential technology providers, limiting adoption for flight missions. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation to space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular (IVA) environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of integrated technologies for missions requiring remote space robotics operations.

iMETRO↗
NASA NTRS2024

Hierarchical Semantic Frames for Grounding Language in Robot Control Primitives

As robots become increasingly present in human environments, we need robots to be intuitively commanded by and effectively communicate with humans. In particular, non-expert users should be able to communicate task goals with robots. Language emerges as a logical mode of interaction due to its ubiquity in human environments and, more importantly, as the way humans naturally express tasks. Natural language commands present challenges in that robots must reason over ambiguous language probabilistically and reason over commands they may not be able to execute. We present hierarchical semantic frames , which ground commands in robot control primitives through hierarchies that construct high-level commands from lower-level commands. We demonstrate that hierarchical semantic frames allow robots to understand and execute a variety of commands, such as those involving multiple verb meanings, command variations, and compound nouns. The robot quickly processes hierarchical semantic frames and accurately grounds and executes the commanded tasks, demonstrating the power of hierarchical semantic frames for allowing users to intuitively interact with robots.

Emily Sheetz↗
NASA NTRS2024

Valkyrie Robot Capability Demonstration: Thermal Camera and Body Stored Hand-Tool Usage

A video that provides an automated tool grasp industrial scenario for the NASA Valkyrie Robot from the NASA Dexterous Robotics Team. The scenario is where the Valkyrie uses externally mounted sensors and tools to investigate a room for objects of interest and removes any hazards. Video running time is 4 min., 56 sec.; in color with no sound.

Valkyrie↗
NASA NTRS2024

Valkyrie Robot Capability Demonstration: Autonomous Grab of Body Stored Hand-Tool

A video that provides an automated tool grasp industrial scenario for the NASA Valkyrie Robot from the NASA Dexterous Robotics Team. The scenario is where the Valkyrie uses externally mounted sensors and tools to investigate a room for objects of interest and removes any hazards. This video highlights the tool pick component of the full demonstration. Video run time is 3 min. 28 sec, in color with no sound.

Valkyrie↗
NASA NTRSDate not supplied

Comparing Human Input in RViz and Virtual Reality Interfaces for 3D Object Manipulation Tasks

Effective human-in-the-loop robot control requires intuitive and easy to use interfaces. We present a within-subjects user study design to compare the ease of use of interfaces for human-robot teleoperation, specifically the ROS 3D visualization tool RViz and a virtual reality interface. Our proposed study will determine which interface is easiest to use and minimizes operator cognitive load in shared autonomy tasks.

Emily Sheetz↗
NASA NTRSDate not supplied

Composable Semantic Frames for Grounding Language in Robot Control Primitives

As robots become increasingly capable of taking on challenging tasks, we want robots to be commanded in intuitive ways. Non-expert users in particular should be able to communicate with robots about task goals. As a result, modes of interaction such as language have gained interest for commanding robots. We present composable semantic frames, which ground commands in robot control primitives by composing high-level commands from lower-level commands. We demonstrate that composable semantic frames allow robots to understand and execute a variety of challenging commands, such as those involving multiple verb meanings, command variations, and compound nouns. The robot quickly processes composable semantic frames and accurately grounds and executes the commanded tasks, demonstrating the power of composable semantic frames for allowing users to intuitively interact with robots.

Emily Sheetz↗
NASA NTRSDate not supplied

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Exploration crew time in space is precious – every hour could yield immense scientific discovery. However, overhead tasks such as logistics, maintenance, and assembly greatly limit crew time available for science and exploration. Robotic remote operations capabilities offer a solution, but operating mobile dexterous robots in human centered environments presents many unknowns and challenges, therefore testing is needed. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation for space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular task environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of remote space robot operations systems with Earth supervision.

Robotics↗