Results for “rover simulation” — Page 15

NASA NTRS2010

Lunar Surface Operations with Dual Rovers

Lunar Electric Rovers (LER) are currently being developed that are substantially more capable than the Apollo vehicle (LRN ,"). Unlike the LRV, the new LERs provide a pressurized cabin that serves as short-sleeve environment for the crew of two, including sleeping accommodations and other provisions that allow for long tern stays, possibly up to 60 days, on the hear surface, without the need to replenish consumables from some outside source, such as a lander or outpost. As a consequence, significantly larger regions may be explored in the future and traverse distances may be measured in a few hundred kilometers (1, 2). However, crew safety remains an overriding concern, and methods other than "walk back", the major operational constraint of all Apollo traverses, must be implemented to assure -at any time- the safe return of the crew to the lander or outpost. This then causes current Constellation plans to envision long-tern traverses to be conducted with 2 LERs exclusively, each carrying a crew of two: in case one rover fails, the other will rescue the stranded crew and return all 4 astronauts in a single LER to base camp. Recent Desert Research and Technology Studies (DRATS) analog field tests simulated a continuous 14 day traverse (3), covering some 135 km, and included a rescue operation that transferred the crew and diverse consumables from one LER to another these successful tests add substantial realism to the development of long-term, dual rover operations. The simultaneous utilization of 2 LERs is of course totally unlike Apollo and raises interesting issues regarding science productivity and mission operations, the thrust of this note.

Horz, Friedrich↗

NASA NTRS2003

NASA Tech Briefs, October 2003

Topics covered include: Cryogenic Temperature-Gradient Foam/Substrate Tensile Tester; Flight Test of an Intelligent Flight-Control System; Slat Heater Boxes for Thermal Vacuum Testing; System for Testing Thermal Insulation of Pipes; Electrical-Impedance-Based Ice-Thickness Gauges; Simulation System for Training in Laparoscopic Surgery; Flasher Powered by Photovoltaic Cells and Ultracapacitors; Improved Autoassociative Neural Networks; Toroidal-Core Microinductors Biased by Permanent Magnets; Using Correlated Photons to Suppress Background Noise; Atmospheric-Fade-Tolerant Tracking and Pointing in Wireless Optical Communication; Curved Focal-Plane Arrays Using Back-Illuminated High-Purity Photodetectors; Software for Displaying Data from Planetary Rovers; Software for Refining or Coarsening Computational Grids; Software for Diagnosis of Multiple Coordinated Spacecraft; Software Helps Retrieve Information Relevant to the User; Software for Simulating a Complex Robot; Software for Planning Scientific Activities on Mars; Software for Training in Pre-College Mathematics; Switching and Rectification in Carbon-Nanotube Junctions; Scandia-and-Yttria-Stabilized Zirconia for Thermal Barriers; Environmentally Safer, Less Toxic Fire-Extinguishing Agents; Multiaxial Temperature- and Time-Dependent Failure Model; Cloverleaf Vibratory Microgyroscope with Integrated Post; Single-Vector Calibration of Wind-Tunnel Force Balances; Microgyroscope with Vibrating Post as Rotation Transducer; Continuous Tuning and Calibration of Vibratory Gyroscopes; Compact, Pneumatically Actuated Filter Shuttle; Improved Bearingless Switched-Reluctance Motor; Fluorescent Quantum Dots for Biological Labeling; Growing Three-Dimensional Corneal Tissue in a Bioreactor; Scanning Tunneling Optical Resonance Microscopy; The Micro-Arcsecond Metrology Testbed; Detecting Moving Targets by Use of Soliton Resonances; and Finite-Element Methods for Real-Time Simulation of Surgery.

Source record↗

NASA NTRS2005

Static Aerodynamics of the Mars Exploration Rover Entry Capsule

The static aerodynamics for the Mars Exploration Rover (MER) aeroshell are presented. This aerodynamic database was an integral part of the end-to-end simulation used in pre- entry analysis for determining the MER entry design requirements for development of the MER entry system, as well as targeting the MER landing sites. The database was constructed using the same approach used for Mars Pathfinder (MPF). However, the MER aerodynamic database is of much higher fidelity and tailored to the MER entry trajectories. This set of data includes direct simulation Monte Carlo calculations covering the transitional regime of the entry trajectory and computational fluid dynamics calculations describing the aerodynamics in the hypersonic and supersonic continuum regimes. An overview of the methodology used to generate the data is given along with comparisons to important features in the MPF aerodynamics and related heritage data. The MER and MPF comparison indicates that trajectory specific data is required to properly model the flight characteristics of a.blunt entry capsule at Mars.

Schoenenberger, Mark↗

NASA NTRS2012

Desert Research and Technology Studies (DRATS) Traverse Planning

Slide 1] The Desert Research and Technology Studies (DRATS) include large scale field tests of manned lunar surface exploration systems; these tests are sponsored by the Director s Office of Integration (DOI) [sic, Directorate Integration Office (DIO)] within the Constellation Program and they include geological exploration objectives along well designed traverses. These traverses are designed by the Traverse Team, an ad hoc group of some 10 geologists form NASA and academia, as well as experts in mission operation who define the operational constraints applicable to specific simulation scenarios. [Slide 2] These DRATS/DOI tests focus on 1) the performance of major surface systems, such as rovers, mobile habitats, communication architecture, navigation tools, earth-moving equipment, unmanned reconnaissance robots etc. under realistic field conditions and 2) the development of operational concepts that integrate all of these systems into a single, optimized operation. The participation of science is currently concentrating on geological sciences, with the objective of developing suitable tools and documentation protocols to sample representative rocks for Earth return, and to generate some conceptual understanding of the ground support structure that will be needed for the real time science-support of a lunar surface crew. [Slide 3] Major surface systems exercised in the June 2008 analog tests at the Moses Lake site, WA. [Upper left] The Chariot Rover (developed at Johnson Space Center) is an unpressurized vehicle driven by fully suited crews. [Upper right] Mobile Habitat provided by the Jet Propulsion Laboratory. Chariot is the more nimble and mobile vehicle and the idea is to drive the habitat remotely to some rendezvous place where Chariot would catch up - after a lengthy traverse - at the end of the day. [Lower left] The K-10 remotely operated robot (provided by NASA Ames Research Center) conducting scientific/geologic reconnaissance of the prospective traverse region, locating specific sites for more detailed exploration by Chariot and its crew. [Lower right] This earth-moving equipment (provided by NASA KSC) can be attached to Chariot and is envisioned to, for example, level an outpost site or to mine lunar soi

Horz, Friedrich↗

NASA NTRS2004

Environmental test program for the Mars Exploration Rover Project

This paper will present an overview of the test campaign that included vibration, pyro-shock, landing loads, acoustic noise, thermal vacuum and solar simulation testing at the Jet Propulsion Laboratory Environmental Test Laboratory facilities in Pasadena, California.

Van Velzer, Paul L.↗

NASA NTRS1980

Study of sample drilling techniques for Mars sample return missions

To demonstrate the feasibility of acquiring various surface samples for a Mars sample return mission the following tasks were performed: (1) design of a Mars rover-mounted drill system capable of acquiring crystalline rock cores; prediction of performance, mass, and power requirements for various size systems, and the generation of engineering drawings; (2) performance of simulated permafrost coring tests using a residual Apollo lunar surface drill, (3) design of a rock breaker system which can be used to produce small samples of rock chips from rocks which are too large to return to Earth, but too small to be cored with the Rover-mounted drill; (4)design of sample containers for the selected regolith cores, rock cores, and small particulate or rock samples; and (5) design of sample handling and transfer techniques which will be required through all phase of sample acquisition, processing, and stowage on-board the Earth return vehicle. A preliminary design of a light-weight Rover-mounted sampling scoop was also developed.

Mitchell, D. C.↗

NASA NTRSDate not supplied

Grain Shape Characterization as an Enabling Capability for Lunar Surface Technologies

Lunar regolith has unique physical and geotechnical properties compared with familiar granular materials on Earth, and most lunar simulants as well. Specifically, the cohesion, angle of repose, and compressibility are much higher, and flowability is much lower for lunar regolith than otherwise similar terrestrial-derived materials[1,2]. There is confusion in the literature about the relative importance of vacuum, gravity, and inherent grain characteristics in driving these differences. Here we emphasize the importance of characterizing grain types and shapes for designing and test-ing lunar surface technologies, including for rover mobility, material handling, soil sampling, and heat transfer analyses. We demonstrate laboratory capabilities and preliminary studies, and outline further work to better characterize and simulate lunar grains to reduce risks for surface activities

K. M. Cannon↗

NASA NTRSDate not supplied

AmesDT: Digital Twin and Autonomy Validation Environment

A simulation of NASA Ames Research Center was developed to provide a common testbed for multiple areas of research within the Intelligent Systems Division, primarily related to verification and validation of autonomous technologies, machine learning, and digital twin systems. AmesSim corresponds a physical rover that is capable of navigation in the real-world environment; in this way, the same experiments can be run in both settings, with the same software and hardware stacks in the loop. The simulation is built in Unreal Engine 4 and uses the AirSim plugin for API convenience. Several custom modifications allow deterministic, faster-than-realtime execution, which enables consistent testing of on-line algorithms and large-scale data collection. This paper describes the architecture and capabilities of the simulation and discusses development challenge.

simulation↗

NASA NTRS2005

NASA Tech Briefs, March 2005

Topics covered include: Scheme for Entering Binary Data Into a Quantum Computer; Encryption for Remote Control via Internet or Intranet; Coupled Receiver/Decoders for Low-Rate Turbo Codes; Processing GPS Occultation Data To Characterize Atmosphere; Displacing Unpredictable Nulls in Antenna Radiation Patterns; Integrated Pointing and Signal Detector for Optical Receiver; Adaptive Thresholding and Parameter Estimation for PPM; Data-Driven Software Framework for Web-Based ISS Telescience; Software for Secondary-School Learning About Robotics; Fuzzy Logic Engine; Telephone-Directory Program; Simulating a Direction-Finder Search for an ELT; Formulating Precursors for Coating Metals and Ceramics; Making Macroscopic Assemblies of Aligned Carbon Nanotubes; Ball Bearings Equipped for In Situ Lubrication on Demand; Synthetic Bursae for Robots; Robot Forearm and Dexterous Hand; Making a Metal-Lined Composite-Overwrapped Pressure Vessel; Ex Vivo Growth of Bioengineered Ligaments and Other Tissues; Stroboscopic Goggles for Reduction of Motion Sickness; Articulating Support for Horizontal Resistive Exercise; Modified Penning-Malmberg Trap for Storing Antiprotons; Tumbleweed Rovers; Two-Photon Fluorescence Microscope for Microgravity Research; Biased Randomized Algorithm for Fast Model-Based Diagnosis; Fast Algorithms for Model-Based Diagnosis; Simulations of Evaporating Multicomponent Fuel Drops; Formation Flying of Tethered and Nontethered Spacecraft; and Two Methods for Efficient Solution of the Hitting- Set Problem.

Source record↗

NASA NTRSDate not supplied

A Distributed Simulation-to-Flight Framework to Support Investigating Trust/Trustworthiness in Multi-Agent Systems

As autonomous systems continue to grow both in use and complexity, the necessity for robust and extensible simulation-to-flight methods is paramount for establishing an effective architecture for autonomous systems. A fundamental objective of the ATTRACTOR (Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability) project was to design and develop a distributed mixed-reality simulation environment to begin establishing a basis for certification of autonomous systems via research into trust and trustworthiness. In this paper, we present an autonomous systems architecture and development framework paired with a persistent distributed modeling and simulation environment for test and evaluation of autonomous systems. The Autonomous Entity Operations Network (AEON) framework enables autonomous system development with an easily extensible collection of libraries and plug-n-play nodes facilitated by the Data Distribution Service (DDS) communication protocol standard. The Baseline Environment for Autonomous Modeling (BEAM) simulation environment is a distributed mixed-reality Unity™-based environment built around the same DDS communication paradigm allowing for easy integration with AEON-based autonomous applications. They were designed under ATTRACTOR in order to measure and establish trustworthiness and trust in single- and multi-agent human-machine systems whether these machines are fixed-wing general aviation, rotary-wing Unmanned Aerial Vehicles (UAVs), ground rovers, or even spacecraft. Together AEON and BEAM enable sim-to-flight with minimal configuration changes. By using AEON and BEAM, source code that runs in simulation ports directly to hardware and has successfully flown in the lab and in the National Airspace System (NAS) at NASA LaRC many times over the lifetime of ATTRACTOR.

Benjamin N Kelley↗

NASA NTRSDate not supplied

A Distributed Simulation-to-Flight Framework to Support Investigating Trust/Trustworthiness in Multi-Agent Systems

As autonomous systems continue to grow both in use and complexity, the necessity for robust and extensible simulation-to-flight methods is paramount for establishing an effective architecture for autonomous systems. A fundamental objective of the ATTRACTOR (Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability) project was to design and develop a distributed mixed-reality simulation environment to begin establishing a basis for certification of autonomous systems via research into trust and trustworthiness. In this paper, we present an autonomous systems architecture and development framework paired with a persistent distributed modeling and simulation environment for test and evaluation of autonomous systems. The Autonomous Entity Operations Network (AEON) framework enables autonomous system development with an easily extensible collection of libraries and plug-n-play nodes facilitated by the Data Distribution Service (DDS) communication protocol standard. The Baseline Environment for Autonomous Modeling (BEAM) simulation environment is a distributed mixed-reality Unity™-based environment built around the same DDS communication paradigm allowing for easy integration with AEON-based autonomous applications. They were designed under ATTRACTOR in order to measure and establish trustworthiness and trust in single- and multi-agent human-machine systems whether these machines are fixed-wing general aviation, rotary-wing Unmanned Aerial Vehicles (UAVs), ground rovers, or even spacecraft. Together AEON and BEAM enable sim-to-flight with minimal configuration changes. By using AEON and BEAM, source code that runs in simulation ports directly to hardware and has successfully flown in the lab and in the National Airspace System (NAS) at NASA LaRC many times over the lifetime of ATTRACTOR.

Benjamin N Kelley↗

NASA NTRSDate not supplied

Can Resilience Assessments Inform Early Design Human Factors Decision-making?

There is a growing call among researchers for tighter coupling between human factors and human reliability assessments. In this research, we explore if early design stage resilience assessments can help bridge some of the gaps between human factors and human reliability assessments. Resilience in systems is their ability to recover reasonably and operate within acceptable bounds during failures and unexpected events. The fmdtools toolkit allows designers to assess the resilience of a system by modeling the human error and machine-related failure propagation in both nominal and faulty scenarios during the early design stages. As a result, the fmdtools toolkit has a low-fidelity dynamic human reliability assessment component built into it. In this paper, we study if the results from the fmdtools simulations can help inform and prioritize human factors design decision-making, resulting in tighter coupling between human factors and human reliability assessments during the design process. Specifically, we explore the results from a rover design example to understand the types of information that can help guide human factor-related decision-making.

Resilience-based Design↗

NASA NTRS2007

Mars Science Laboratory: Entry, Descent, and Landing System Performance

In 2010, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems, by delivering the largest and most capable rover to date to the surface of Mars. To do so, MSL will fly a guided lifting entry at a lift-to-drag ratio in excess of that ever flown at Mars, deploy the largest parachute ever at Mars, and perform a novel Sky Crane maneuver. Through improved altitude capability, increased latitude coverage, and more accurate payload delivery, MSL is allowing the science community to consider the exploration of previously inaccessible regions of the planet. The MSL EDL system is a new EDL architecture based on Viking heritage technologies and designed to meet the challenges of landing increasing massive payloads on Mars. In accordance with level-1 requirements, the MSL EDL system is being designed to land an 850 kg rover to altitudes as high as 1 km above the Mars Orbiter Laser Altimeter defined areoid within 10 km of the desired landing site. Accordingly, MSL will enter the largest entry mass, fly the largest 70 degree sphere-cone aeroshell, generate the largest hypersonic lift-to-drag ratio, and deploy the largest Disk-Gap-Band supersonic parachute of any previous mission to Mars. Major EDL events include a hypersonic guided entry, supersonic parachute deploy and inflation, subsonic heatshield jettison, terminal descent sensor acquisition, powered descent initiation, sky crane terminal descent, rover touchdown detection, and descent stage flyaway. Key performance metrics, derived from level-1 requirements and tracked by the EDL design team to indicate performance capability and timeline margins, include altitude and range at parachute deploy, time on radar, and propellant use. The MSL EDL system, which will continue to develop over the next three years, will enable a notable extension in the advancement of Mars surface science by delivering more science capability than ever before to the surface of Mars. This paper describes the current MSL EDL system performance as predicted by end-to-end EDL simulations, highlights the sensitivity of this baseline performance to several key environmental assumptions, and discusses some of the challenges faced in delivering such an unprecedented rover payload to the surface of Mars.

Way, David W.↗

NASA NTRS2006

Mars Science Laboratory: Entry, Descent, and Landing System Performance

In 2010, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems, by delivering the largest and most capable rover to date to the surface of Mars. To do so, MSL will fly a guided lifting entry at a lift-to-drag ratio in excess of that ever flown at Mars, deploy the largest parachute ever at Mars, and perform a novel Sky Crane maneuver. Through improved altitude capability, increased latitude coverage, and more accurate payload delivery, MSL is allowing the science community to consider the exploration of previously inaccessible regions of the planet. The MSL EDL system is a new EDL architecture based on Viking heritage technologies and designed to meet the challenges of landing increasing massive payloads on Mars. In accordance with level-1 requirements, the MSL EDL system is being designed to land an 850 kg rover to altitudes as high as 1 km above the Mars Orbiter Laser Altimeter defined areoid within 10 km of the desired landing site. Accordingly, MSL will enter the largest entry mass, fly the largest 70 degree sphere-cone aeroshell, generate the largest hypersonic lift-to-drag ratio, and deploy the largest Disk-Gap-Band supersonic parachute of any previous mission to Mars. Major EDL events include a hypersonic guided entry, supersonic parachute deploy and inflation, subsonic heatshield jettison, terminal descent sensor acquisition, powered descent initiation, sky crane terminal descent, rover touchdown detection, and descent stage flyaway. Key performance metrics, derived from level-1 requirements and tracked by the EDL design team to indicate performance capability and timeline margins, include altitude and range at parachute deploy, time on radar, and propellant use. The MSL EDL system, which will continue to develop over the next three years, will enable a notable extension in the advancement of Mars surface science by delivering more science capability than ever before to the surface of Mars. This paper describes the current MSL EDL system performance as predicted by end-to-end EDL simulations, highlights the sensitivity of this baseline performance to several key environmental assumptions, and discusses some of the challenges faced in delivering such an unprecedented rover payload to the surface of Mars.

Way, David W.↗

NASA NTRS2002

Brahms Mobile Agents: Architecture and Field Tests

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

Clancey, William J.↗

NASA NTRS2009

Techniques and Results for Determining Window Placement and Configuration for the Small Pressurized Rover (SPR)

A natural component to driving any type of vehicle, be it Earth-based or space-based, is visibility. In its simplest form visibility is a measure of the distance at which an object can be seen. With the National Aeronautics and Space Administration s (NASA) Space Shuttle and the International Space Station (ISS), there are human factors design guidelines for windows. However, for planetary exploration related vehicles, especially land-based vehicles, relatively little has been written on the importance of windows. The goal of the current study was to devise a proper methodology and to obtain preliminary human-in-the-loop data on window placement and location for the small pressurized rover (SPR). Nine participants evaluated multiple areas along the vehicle s front "nose", while actively maneuvering through several lunar driving simulations. Subjective data was collected on seven different aspects measuring areas of necessity, frequency of views, and placement/configuration of windows using questionnaires and composite drawings. Results indicated a desire for a large horizontal field-of-view window spanning the front of the vehicle for most driving situations with slightly reduced window areas for the lower front, lower corners, and side views.

Thompson, Shelby↗

NASA NTRS2011

Lessons Learned for Geologic Data Collection and Sampling: Insights from the Desert RATS 2010 Geologist Crewmembers

Since 1997, Desert Research and Technology Studies (D-RATS) has conducted hardware and operations tests in the Arizona desert that advance human and robotic planetary exploration capabilities. D-RATS 2010 (8/31-9/13) simulated geologic traverses through a terrain of cinder cones, lava flows, and underlying sedimentary units using a pair of crewed rovers and extravehicular activities (EVAs) for geologic fieldwork. There were two sets of crews, each consisting of an engineer/commander and an experienced field geologist drawn from the academic community. A major objective of D-RATS was to examine the functions of a science support team, the roles of geologist crewmembers, and protocols, tools, and technologies needed for effective data collection and sample documentation. Solutions to these problems must consider how terrestrial field geology must be adapted to geologic fieldwork during EVAs

Hurtado, J. M., Jr.↗

NASA NTRS2025

Lunar Terrain Vehicle (LTV) Remote Teleoperation Studies Under Four Lunar Communication Latencies

Remotely operating a lunar rover from Earth while subject to an Earth-Moon time delay of multiple seconds could result in a dangerous state where the roving vehicle is either damaged or lost, thereby potentially compromising an entire mission or series of missions. Providing the right capabilities to the remote operator to manage inherent communication latencies will be important for remote driving to be successful. The National Aeronautics and Space Administration (NASA) conducted two studies to investigate the average speed and number of kilometers per day that an operator on Earth could teleoperate a notional Artemis unpressurized rover with minimal remote operator capabilities under 0- and 4-second communication delays (April 2023 study) and 6- and 8-second delays (August 2023 study). A primary goal of these studies was to understand if an Artemis Lunar Terrain Vehicle (LTV) could cover 6 kilometers (km) in 24 hours when operated remotely. During the April 2023 evaluation, eight test operators used an in-house simulation of the lunar surface South Pole to teleoperate a NASA government reference LTV. Each operator received approximately 30 minutes of remote driving familiarization/training prior to their test run. Operators viewed the surrounding terrain via a single, rover mast-mounted, high-resolution camera with pan/tilt/zoom capabilities; continuous communication was provided throughout all testing. In the August 2023 evaluation, remote operators received approximately 3 hours of familiarization training in each latency, and the simulation environment provided remote operators with an operator-selected rate limiter to enable finer sensitivity in the hand controller and a predictive circle function to better assist operators with predicting the path the vehicle could take. All test operators were able to successfully navigate and drive through six different types of terrain and five planned traverse scenarios using natural lighting under all communication delays. Results for average speeds for each communication delay, computed by averaging the data from all test conditions for that latency and all operators, are shown in the table below. The average speed data was then used to derive the total time needed to cover 6 km, 8 km, and 20 km. Remote operators drove slower and used the brake more frequently when subject to a communication latency as opposed to no communication latency. Subjective workload assessments revealed that while operating in a latency the overall workload significantly increased when compared to a 0-s delay with mental demand, frustration, and performance being the primary contributing factors. Driving strategies in the 0-s delay did not vary significantly among subjects; however, in the 4-s delay condition, three different driving strategies were identified. In the 6-s and 8-s latency conditions the operator’s use of the cruise control to maintain speed was more apparent. Additionally, over the course of the August study, the operator took advantage of the predictive circle indicator on the navigation display and over 95% of the operator’s navigation used the mast camera 180-degree panning function for ground truthing in terms of boulders and craters. Operators started to define more specific parameters in driving strategies for general operations. This consisted of setting the vehicle into a low-speed cruise mode of approximately 1–1.5 kph and noticing driving performance of the vehicle seemed to be much harder at slower speeds 0.4–0.8 kph; however, the vehicle was more responsive at speeds of 2.9–3.6 kph. Regardless of communication delay, operators used both the horizontal translation rails and the vehicle fenders as guides to predict a path for the vehicle through heavily concentrated terrain features. Test operators acknowledged that the teleoperations training for this study was substantially less than what an actual LTV remote operator will ultimately receive. They estimated a minimum of 20 to 100 hours spread across multiple days and weeks (e.g., strategies included immersion training over a 3-day period, to a short 8-week starter program) would be needed to get an operator ~ 60% proficient (i.e., able to complete a subset of remote driving tasks), to a yearlong program for full proficiency in remote driving tasks under all terrain types and natural lighting conditions. Remotely operating a vehicle on another planetary body while subject to communication latency is a complex task. Speed, distance covered, time spent driving, time spent navigating, brake usage and rock contacts are all affected by operator workload, driving strategies, workstation ergonomics and training. These studies provided a “firstlook” answer to a potential system requirement (namely if a remote operator could cover a given distance in a given amount of time); however, considerable general knowledge was gained to begin to understand what it will take to make a successful lunar rover teleoperator.

LTV↗