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NASA NTRS2010

Predicting Long-Range Traversability from Short-Range Stereo-Derived Geometry

Based only on its appearance in imagery, this program uses close-range 3D terrain analysis to produce training data sufficient to estimate the traversability of terrain beyond 3D sensing range. This approach is called learning from stereo (LFS). In effect, the software transfers knowledge from middle distances, where 3D geometry provides training cues, into the far field where only appearance is available. This is a viable approach because the same obstacle classes, and sometimes the same obstacles, are typically present in the mid-field and the farfield. Learning thus extends the effective look-ahead distance of the sensors.

Turmon, Michael↗
NASA NTRS2011

Structural Framework for Flight: NASA's Role in Development of Advanced Composite Materials for Aircraft and Space Structures

This serves as a source of collated information on Composite Research over the past four decades at NASA Langley Research Center, and is a key reference for readers wishing to grasp the underlying principles and challenges associated with developing and applying advanced composite materials to new aerospace vehicle concepts. Second, it identifies the major obstacles encountered in developing and applying composites on advanced flight vehicles, as well as lessons learned in overcoming these obstacles. Third, it points out current barriers and challenges to further application of composites on future vehicles. This is extremely valuable for steering research in the future, when new breakthroughs in materials or processing science may eliminate/minimize some of the barriers that have traditionally blocked the expanded application of composite to new structural or revolutionary vehicle concepts. Finally, a review of past work and identification of future challenges will hopefully inspire new research opportunities and development of revolutionary materials and structural concepts to revolutionize future flight vehicles.

Tenney, Darrel R.↗
NASA NTRS2008

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

autonomuys vehicles↗
NASA NTRS2005

Autonomous Navigation by a Mobile Robot

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Huntsberger, Terrance↗
NASA NTRS2005

Magnetically Attached Multifunction Maintenance Rover

A versatile mobile telerobot, denoted the magnetically attached multifunction maintenance rover (MAGMER), has been proposed for use in the inspection and maintenance of the surfaces of ships, tanks containing petrochemicals, and other large ferromagnetic structures. As its name suggests, this robot would utilize magnetic attraction to adhere to a structure. As it moved along the surface of the structure, the MAGMER would perform tasks that could include close-up visual inspection by use of video cameras, various sensors, and/or removal of paint by water-jet blasting, laser heating, or induction heating. The water-jet nozzles would be mounted coaxially within compressed-air-powered venturi nozzles that would collect the paint debris dislodged by the jets. The MAGMER would be deployed, powered, and controlled from a truck, to which it would be connected by hoses for water, compressed air, and collection of debris and by cables for electric power and communication (see Figure 1). The operation of the MAGMER on a typical large structure would necessitate the use of long cables and hoses, which can be heavy. To reduce the load of the hoses and cables on the MAGMER and thereby ensure its ability to adhere to vertical and overhanging surfaces, the hoses and cables would be paid out through telescopic booms that would be parts of a MAGMER support system. The MAGMER would move by use of four motorized, steerable wheels, each of which would be mounted in an assembly that would include permanent magnets and four pole pieces (see Figure 2). The wheels would protrude from between the pole pieces by only about 3 mm, so that the gap between the pole pieces and the ferromagnetic surface would be just large enough to permit motion along the surface but not so large as to reduce the magnetic attraction excessively. In addition to the wheel assemblies, the MAGMER would include magnetic adherence enhancement fixtures, which would comprise arrays of permanent magnets and pole pieces that could be adjusted to maximize or minimize the overall attractive magnetic force. Even with a paint thickness of 2 mm, a preliminary design provides a safety factor of 5 in the magnetic force in the upside- down, water-jets-operating condition, in which the total load (including the weight of the MAGMER and cables and the water-jet force) would be about 260 lb (the weight of 118 kg). Optionally, the MAGMER could carry magnetic shielding and/or could be equipped with a demagnetizing module to remove residual magnetism from the structure. The MAGMER would carry four charge-coupled-device cameras for visual inspection, monitoring of operation, navigation, and avoidance of collisions with obstacles. The control system of the MAGMER would include navigation and collision-avoidance subsystems that would utilize surface features as landmarks, in addition to direct images of obstacles.

Bar-Cohen, Yoseph↗
NASA NTRS2003

Hopping Robot with Wheels

A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

Barlow, Edward↗
NASA NTRS2003

Block QCA Fault-Tolerant Logic Gates

Suitably patterned arrays (blocks) of quantum-dot cellular automata (QCA) have been proposed as fault-tolerant universal logic gates. These block QCA gates could be used to realize the potential of QCA for further miniaturization, reduction of power consumption, increase in switching speed, and increased degree of integration of very-large-scale integrated (VLSI) electronic circuits. The limitations of conventional VLSI circuitry, the basic principle of operation of QCA, and the potential advantages of QCA-based VLSI circuitry were described in several NASA Tech Briefs articles, namely Implementing Permutation Matrices by Use of Quantum Dots (NPO-20801), Vol. 25, No. 10 (October 2001), page 42; Compact Interconnection Networks Based on Quantum Dots (NPO-20855) Vol. 27, No. 1 (January 2003), page 32; Bit-Serial Adder Based on Quantum Dots (NPO-20869), Vol. 27, No. 1 (January 2003), page 35; and Hybrid VLSI/QCA Architecture for Computing FFTs (NPO-20923), which follows this article. To recapitulate the principle of operation (greatly oversimplified because of the limitation on space available for this article): A quantum-dot cellular automata contains four quantum dots positioned at or between the corners of a square cell. The cell contains two extra mobile electrons that can tunnel (in the quantummechanical sense) between neighboring dots within the cell. The Coulomb repulsion between the two electrons tends to make them occupy antipodal dots in the cell. For an isolated cell, there are two energetically equivalent arrangements (denoted polarization states) of the extra electrons. The cell polarization is used to encode binary information. Because the polarization of a nonisolated cell depends on Coulomb-repulsion interactions with neighboring cells, universal logic gates and binary wires could be constructed, in principle, by arraying QCA of suitable design in suitable patterns. Heretofore, researchers have recognized two major obstacles to realization of QCA-based logic gates: One is the need for (and the difficulty of attaining) operation of QCA circuitry at room temperature or, for that matter, at any temperature above a few Kelvins. It has been theorized that room-temperature operation could be made possible by constructing QCA as molecular-scale devices. However, in approaching the lower limit of miniaturization at the molecular level, it becomes increasingly imperative to overcome the second major obstacle, which is the need for (and the difficulty of attaining) high precision in the alignments of adjacent QCA in order to ensure the correct interactions among the quantum dots.

Firjany, Amir↗
NASA NTRS2003

Small, Untethered, Mobile Robots for Inspecting Gas Pipes

Small, untethered mobile robots denoted gas-pipe explorers (GPEXs) have been proposed for inspecting the interiors of pipes used in the local distribution natural gas. The United States has network of gas-distribution pipes with a total length of approximately 109 m. These pipes are often made of iron and steel and some are more than 100 years old. As this network ages, there is a need to locate weaknesses that necessitate repair and/or preventive maintenance. The most common weaknesses are leaks and reductions in thickness, which are caused mostly by chemical reactions between the iron in the pipes and various substances in soil and groundwater. At present, mobile robots called pigs are used to inspect and clean the interiors of gas-transmission pipelines. Some carry magnetic-flux-leakage (MFL) sensors for measuring average wall thicknesses, some capture images, and some measure sizes and physical conditions. The operating ranges of pigs are limited to fairly straight sections of wide transmission- type (as distinguished from distribution- type) pipes: pigs are too large to negotiate such obstacles as bends with radii comparable to or smaller than pipe diameters, intrusions of other pipes at branch connections, and reductions in diameter at valves and meters. The GPEXs would be smaller and would be able to negotiate sharp bends and other obstacles that typically occur in gas-distribution pipes.

Wilcox, Brian↗
NASA NTRS2011

NASA, Building Tomorrow's Future

We, as NASA, continue to Dare Mighty Things. Here we are in October. In my country, the United States of America, we celebrate the anniversary of Christopher Columbus's arrival in the Americas, which occurred on October 12, 1492. His story, although happening over 500 years ago, is still very valid today. It is a part of the American spirit; part of the international human spirit. Columbus is famous for discovering the new world we now call America, but he probably never envisioned what great discoveries would be revealed many generations later. But in order for Columbus to begin his great adventure, he needed a business plan. Ho~ would he go about obtaining the funds and support necessary to build, supply, and man the ships required for his travels? He had a lot of obstacles and distractions. He needed a strong, internal drive to achieve his plans and recruit a willing crew of explorers also ready to risk their all for the unknown journey ahead. As Columbus set sail, he said "By prevailing over all obstacles and distractions, one may unfailingly arrive at his chosen goal or destination." Columbus may not have known he was on a journey for all human exploration. Recently, Charlie Bolden, the NASA Administrator, said, "Human exploration is and has always been about making life better for humans on Earth." Today, NASA and the U.S. human spaceflight program hold many of the same attributes as did Columbus and his contemporaries - a willing, can-do spirit. We are on the threshold of exciting new times in space exploration. Like Columbus, we need a business plan to take us into the future. We need to design the best ships and utilize the best designers, with their past knowledge and experience, to build those ships. We need funding and support from governments to achieve these goals of space exploration into the unknown. NASA does have that business plan, and it is an ambitious plan for human spaceflight and exploration. Today, we have a magnificent spaceflight laboratory, built over many years by the United States and other nations. Last month, the last man to step off the moon, Gene Cernan, told the U.S. Congress, "Today the International Space Station, the assembly of which may well go down in history as man's greatest engineering accomplishment of all time, circles the globe sixteen times every day - all in keeping with JFK's challenge to do the other things." The International Space Station (ISS) is a ship which provides an outstanding platform 'for performing spaceborne scientific, engineering, and Earth studies. Numerous nations utilize this unique cooperative partnership by sending scientists, engineers, astronauts, and cosmonauts to the ISS to spend time aboard the station in order to further scientific research, truly an asset for the entire planet.

Mango, Edward↗
NASA NTRS2012

Automation of Hubble Space Telescope Mission Operations

On June 13, 2011, after more than 21 years, 115 thousand orbits, and nearly 1 million exposures taken, the operation of the Hubble Space Telescope successfully transitioned from 24x7x365 staffing to 815 staffing. This required the automation of routine mission operations including telemetry and forward link acquisition, data dumping and solid-state recorder management, stored command loading, and health and safety monitoring of both the observatory and the HST Ground System. These changes were driven by budget reductions, and required ground system and onboard spacecraft enhancements across the entire operations spectrum, from planning and scheduling systems to payload flight software. Changes in personnel and staffing were required in order to adapt to the new roles and responsibilities required in the new automated operations era. This paper will provide a high level overview of the obstacles to automating nominal HST mission operations, both technical and cultural, and how those obstacles were overcome.

Burley, Richard↗
NASA NTRS2012

The Discharging of Roving Objects in the Lunar Polar Regions

In 2007, the National Academy of Sciences identified the lunar polar regions as special environments: very cold locations where resources can be trapped and accumulated. These accumulated resources not only provide a natural reservoir for human explorers, but their very presence may provide a history of lunar impact events and possibly an indication of ongoing surface reactive chemistry. The recent LCROSS impacts confirm that polar crater floors are rich in material including approx 5%wt of water. An integral part of the special lunar polar environment is the solar wind plasma. Solar wind protons and electrons propagate outward from the Sun, and at the Moon's position have a nominal density of 5 el/cubic cm, flow speed of 400 km/sec, and temperature of 10 eV (approx. equal 116000K). At the sub-solar point, the flow of this plasma is effectively vertically incident at the surface. However, at the poles and along the lunar terminator region, the flow is effectively horizontal over the surface. As recently described, in these regions, local topography has a significant effect on the solar wind flow. Specifically, as the solar wind passes over topographic features like polar mountains and craters, the plasma flow is obstructed and creates a distinct plasma void in the downstream region behind the obstacle. An ion sonic wake structure forms behind the obstacle, not unlike that which forms behind a space shuttle. In the downstream region where flow is obstructed, the faster moving solar wind electrons move into the void region ahead of the more massive ions, thereby creating an ambipolar electric field pointing into the void region. This electric field then deflects ion trajectories into the void region by acting as a vertical inward force that draws ions to the surface. This solar wind 'orographic' effect is somewhat analogous to that occurring with terrestrial mountains. However, in the solar wind, the ambipolar E-field operating in the collision less plasma replaces the gradient in pressure that would act in a collisional neutral gas. Human systems (roving astronauts or robotic systems created by humans) may be required to gain access to the crater floor to collect resources such as water and other cold-trapped material. However, these human systems are also exposed to the above-described harsh thermal and electrical environments in the region. Thus, the objective of this work is to determine the nature of charging and discharging for a roving object in the cold, plasma-starved lunar polar regions. To accomplish this objective, we first define the electrical charging environment within polar craters. We then describe the subsequent charging of a moving object near and within such craters. We apply a model of an astronaut moving in periodic steps/cadence over a surface regolith. In fact the astronaut can be considered an analog for any kind of moving human system. An astronaut stepping over the surface accumulates charge via contact electrification (tribocharging) v.lith the lunar regolith. We present a model of this tribo-charge build-up. Given the environmental plasma in the region, we determine herein the dissipation time for the astronaut to bleed off its excess charge into the surrounding plasma.

Jackson, T. L.↗
NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗
NASA NTRS2012

NASA's Lunar Polar Ice Prospector, RESOLVE: Mission Rehearsal in Apollo Valley

After the completion of the Apollo Program, space agencies didn't visit the moon for many years. But then in the 90's, the Clementine and Lunar Prospector missions returned and showed evidence of water ice at the poles. Then in 2009 the Lunar Crater Observation and Sensing Satellite indisputably showed that the Cabeus crater contained water ice and other useful volatiles. Furthermore, instruments aboard the Lunar Reconnaissance Orbiter (LRO) show evidence that the water ice may also be present in areas that receive several days of continuous sunlight each month. However, before we can factor this resource into our mission designs, we must understand the distribution and quantity of ice or other volatiles at the poles and whether it can be reasonably harvested for use as propellant or mission consumables. NASA, in partnership with the Canadian Space Agency (CSA), has been developing a payload to answer these questions. The payload is named RESOLVE. RESOLVE is on a development path that will deliver a tested flight design by the end of 2014. The team has developed a Design Reference Mission using LRO data that has RESOLVE landing near Cabeus Crater in May of2016. One of the toughest obstacles for RESOLVE's solar powered mission is its tight timeline. RESOLVE must be able to complete its objectives in the 5-7 days of available sunlight. The RESOLVE team must be able to work around obstacles to the mission timeline in real time. They can't afford to take a day off to replan as other planetary missions have done. To insure that this mission can be executed as planned, a prototype version of RESOLVE was developed this year and tested at a lunar analog site on Hawaii, known as Apollo Valley, which was once used to train the Apollo astronauts. The RESOLVE team planned the mission with the same type of orbital imagery that would be available from LRO. The simulation team prepositioned a Lander in Apollo Valley with RESOLVE on top mounted on its CSA rover. Then the mission simulation began as the operations team's consoles came alive with data and images. They executed the mission just like the real mission with lunar communications delays and limited bandwidth and a realistic remote mission control room. This paper will describe the RESOLVE payload in detail and describe the results of the mission simulation in Hawaii.

Larson, William E.↗
NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗
NASA NTRS2012

Hybrid Simulation of the Shock Wave Trailing the Moon

A standing shock wave behind the Moon was predicted by Michel (1967) but never observed nor simulated. We use 1D hybrid code in order to simulate the collapse of the plasma-free cavity behind the Moon and for the first time to model the formation of this shock. Starting immediately downstream of the obstacle we consider the evolution of plasma expansion into the cavity in the frame of reference moving along with the solar wind. Well-known effects as electric charging of the cavity affecting the plasma flow and counterstreaming ion beams in the wake are reproduced. Near the apex of the inner Mach cone where the plasma flows from the opposite sides of the obstacle meet, a shock wave arises. We expect the shock to be produced at periods of high electron temperature solar wind streams (T(sub i) much less than T(sub e) approximately 100 eV). The shock is produced by the interaction of oppositely directed proton beams in the plane containing solar wind velocity and interplanetary magnetic field vectors. In the direction across the magnetic field and the solar wind velocity, the shock results from the interaction of the plasma flow with the region of the enhanced magnetic field inside the cavity that plays the role of the magnetic barrier. The appearance of the standing shock wave is expected at the distance of approximately 7R(sub M) downstream of the Moon.

Moon↗
NASA NTRS2011

The Challenge of Grounding Planning in Simulation with an Interactive Model Development Environment

A principal obstacle to fielding automated planning systems is the difficulty of modeling. Physical systems are modeled conventionally based on specification documents and the modeler's understanding of the system. Thus, the model is developed in a way that is disconnected from the system's actual behavior and is vulnerable to manual error. Another obstacle to fielding planners is testing and validation. For a space mission, generated plans must be validated often by translating them into command sequences that are run in a simulation testbed. Testing in this way is complex and onerous because of the large number of possible plans and states of the spacecraft. Though, if used as a source of domain knowledge, the simulator can ease validation. This paper poses a challenge: to ground planning models in the system physics represented by simulation. A proposed, interactive model development environment illustrates the integration of planning and simulation to meet the challenge. This integration reveals research paths for automated model construction and validation.

radio occultation↗
NASA NTRS1952

The Cylinder and Semicylinder in Subsonic Flow

In studying the diffraction of shock waves around various two-dimensional obstacles we have observed that flow separation and the formation of vortices contributes in an important way to transient loading of the obstacle. The cases of a cylinder and semicylinder are especially interesting because the breakaway point is not clearly defined as it is for objects having sharp corners. Accordingly a number of experiments have been made in the shock tube to observe the influence of Reynolds number and Mach number on the transient flow patterns about a cylinder and about a semicylinder mounted on a smooth plane. Some differences might be anticipated since the plane would impose a symmetry on the flow and produce a viscous boundary layer for which there is no counterpart with the cylinder. In the course of these experiments it was noted that a condition of steady subsonic flow about both the cylinder and semicylinder was approached. Thus a comparison with von Karrnan's theoretical calculation of the drag on a cylinder, from certain characteristics of its wake or "vortex street", was undertaken.

Bingham, Harry J.↗
NASA NTRS2016

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia↗