***********************
			1998 TRIWG PREPROPOSALS 
			     DECEMBER 1997
			***********************
Dimi Apostolopoulos
_________________________

A. OLD PREPROPOSAL TITLES
_________________________

FEBRUARY 1997 - PROPOSAL ABSTRACTS FOR FY98
-------------------------------------------
(Dimi's folder in MAC's tobor5 disk in the computer room)

* Operations Autonomy / Whittaker, Stentz
* Unified Lander-Rover for Planetary Exploration / Whittker, Moorhead
* An In-Process Reliability Measurement System for Mobile Robot Development /
  Silberman, Whittaker
* Stereo Benchmarking for Flight Hardware / Maimone
* SYNERGY - Software Environment for Mobile Robot Design / Katragadda, 
  Whittaker
* Space Station Telerobotic Truss Worksystem / Apostolopoulos, Whittaker

FEBRUARY 1996 - PROPOSAL ABSTRACTS FOR FY97
-------------------------------------------
/afs/cs/project/lri/doc/proposals/96triwgSpring/pre

* Desert Trek 97: Public Participation & Desert Operations / Whittaker, Krotkov
* Precision Payload Pointing from Mobile Robots / Bapna, Whittaker
* Walking Mini-Rovers for Planetary Exploration / Whittaker, Wettergreen, Bares
* Automatic Configuration Design of Telerobotic Rovers / Apostolopoulos, 
  Whittaker
* Camera Control & Calibration for the International Space Station / Krotkov
* Precision Space Motion Controller / Silberman, Whittaker
* SYNERGY - Integrated Environment for Mobile Robot Design / Katragadda, 
  Whittaker
* Stereo-Based Safeguarding for External Work Systems / Hebert, Krotkov
* Micropropagation for Space Missions / Singh, Simmons    

FEBRUARY 1995 - PROPOSAL ABSTRACTS FOR FY96
-------------------------------------------
/afs/cs/project/lri/doc/proposals/95triwgSpring/pre/txt

* Dante II: Technology Advancement / Bares, Wettergeen, Apostolopoulos
* Dante III: Terrestrial Explorer / Bares, Wettergreen, Apostolopoulos
* Integrated Robot Control Architecture / Simmons, Schneider (RTI)
* World-Wide Rover / Whittaker, Simmons, Krotkov
* Integrated Modeling Environment for Mobile Robot Configuration / 
  Katragadda, Whittaker
* Robot Development Toolkit / Simmons, Boyer (KSC)
* Sphereoscopic Imaging / Murphy, Whittaker
* Reducing Training Requirements for Telemanipulator Operators / Whittaker,
  Simmons, Osborn
* Image Understanding Aids for Supervised Control of Rovers
  in Natural Terrain / krotkov, Cozman, Murphy, Fong
* Passive Proximity Sensing in Bright Sunlight / Krotkov
* Precision Pointing from a Mobile Robot / Bapna, Krotkov
* Mobile Lander / Krotkov
* Ground Processing Robot Architecture / Simmons

FEBRUARY 1994 - PROPOSAL ABSTRACTS FOR FY95
-------------------------------------------
/afs/cs/project/lri/doc/proposals/94triwgSpring/preproposal

(I have to use my memory of who the authors were)
* Task Communications for Building Robotic Architectures / Simmons
* European Space Robotics Study / Whittaker, Schempf
* Task Control & Communications / Simmons
* High Impact Survival of Planetary Robots / Krotkov, Whittaker, Apostolopoulos
* Limbless Rover Locomotion / Dowling, Whittaker
* Precision Pointing from a Mobile Robot / Whittaker, Bapna
* Fisheye Stereo for Robot Teleoperation & Automated Perception / Whittaker, 
  Krotkov
* Ground Processing Architecture / Simmons
* Proximity from Focus Ranging / Krotkov
* Tumbling Bodies Perception / Krotkov
* Appendage Stabilized Spacecraft / ?
* Walking Robots / Whittaker, ?


_____________________________________

B. 1998 PREPROPOSAL IDEAS & ABSTRACTS
_____________________________________


B1. FROM BRAINSTORMING MEETING, NOVEMBER 25/97
----------------------------------------------

-    2 radar sensors: GPR and mm wave for nav.
-    bouncing robot on moon
-    flight?!!!
-    spherical joint (ask lewis)
  -    space qualified
  -    moon qualified
-    transforming chassis
-    minimum actuation laser scanner (using AOTF tech)
-    sample return (mars 05)
  -    simple mechanism for getting sample (reliable, mass? )
  -    sample manipulation
-    lander rover (repeat)
  -    could really help mars 03 (200kg - 45 kg rover)
     -    8 kg stuff to deploy from lander
     -    150 kg dead weight
     -    15 kg science
     -     22kg rover!
-    phase array antenna + solar collector
  -    cylinder, dome, plate
  -    direct pointing
  -    mobile sat comms.
-    baloons on venus
-    space balls on Luna
-    scannerless laser + panospheric + nav
-    space relevant panospheric
  -    simplest + other tech
  -    fiber-mushroom or fish eye.
  -    "sphereoscope"
  -    landmark
  -    active mirror (reflective membrane with actuators to
     distort it as desired)
  -    stereo
  -    science
  -    active pixel units (1k x 1k) JPL?
  -    control/user interface
-    Instrument on sample and dwell
  -    target designation, tracking and holding
  -    point spectrometer or other instrument on sample
  -    ultra-res 8k x 8k
  -    hyperspectral imagery (using active pixel sensors)
-    speech recognition technology
  -    robot talks
  -    dialogue
  -    important in publics eye
-    planetary pose estimator
  -    star tracking for mobile robots
-    defeat entropy?
-    big jobes, low power, long duration missions
  -    plant bag of corn / day
  -    site preparation (HEDS)
  -    500 W/m2 on mars, 12% efficiency  60 W. 1kW = array
     size of FRC100
  -    very low power activities.
  -    lunar stonehenge
  -    cover shelters w/ regolith.
-    use of indigenous material
-    SW for robot design
-    wireless comms an integration
-    <1 robot
  -    cooperative ventures
  -    crevasse crossing
  -    safety rope
  -    50 ft sensor
  -    vantage points
  -    assembly of a work system
  -    tethered?
  -    regolith collection
- snake