Introduction
This report describes progress made during the first quarter of FY 1995
(from October 1 to December 31, 1994) and plans for the next quarter in the
CMU Telerobotics program.
The CMU Telerobotics program consists of two tasks:
- Lunar Rover Demonstration (LRD):
The objective of this project is to develop and demonstrate a convincing,
comprehensive mobile robot mission capability that motivates a commitment to
launch a Lunar Rover Flight Mission. FY95 project goals are to:
- Design a Lunar-relevant rover
- Perform detailed functional and mission simulations
- Autonomous Rover Technologies (ART):
The objective of this program is to develop innovative technologies to enhance
the capabilities and reliability of planetary rovers. FY95 project goals are
to:
- Develop and demonstrate safeguarded, time-delayed teleoperation
techniques
- Develop and demonstrate autonomous navigation techniques in
Lunar-relevant environments
A. Significant Activities and Events During this Period
Held configuration review for Lunar Rover Initiative (level 2 milestone).
Review presented mission scenario and requirements and reported on progress in
the areas of communications, locomotion and software. Special attention was
given to issues of thermal design and mission definition.
Continued to define mission and rover requirements through a workshop on
Quality Function Deployment held in conjunction with the Software Engineering
Institute, the Robotics Institute and LunaCorp. Edited document detailing the
lunar rover configuration and generated initial mission scenario and mission
scripts. Also generated a matrix of tasks, people, and timeline.
Identified new technologies and have been investigating how to incorporate
them into the lunar rover design. In particular there are three technologies
of interest:
- Spherical viewing sensor
- Phased array for continuous communication
- Kr-85 battery for power generation to enable lunar night operations.
Have been pursuing frequency licensing for communications with FCC and
International Telecommunication Union.
Presented papers at i-SAIRAS and the International Conference on Space
Exploration on the Lunar Rover Initiative program, rover configuration, and
rover navigation.
B. Plans for the Next Reporting Period
Begin developing rover and mission simulation, including simulation of imagery
products. Refine mission scripts. Perform locomotion tests on diffused
materials (sand, gravel) using a six-wheeled prototype chassis.
D. Concerns/Issues
None at this time.
A. Significant Activities and Events During this Period
To support safeguarded teleoperation: Developed infrastructure to run
time-delayed teleoperation experiments, in order to quantify the advantage of
using safeguarded teleoperation. Specified a laser-based proximity sensor for
safeguarded teleoperation. Solved power problems on the Ratler and began
development of a battery monitor.
To support autonomous navigation: Performed experiments to characterize the
dead-reckoning ability of the Ratler. Investigated radio Ethernet to improve
communications with the Ratler. Analyzed map merging capabilities of
navigation planner.
Article on Ambler accepted in IJRR.
B. Plans for the Next Reporting Period
To support safeguarded teleoperation: Perform time-delayed teleoperation
experiments to quantify advantage of safeguarding over conventional
teleoperation techniques. Install proximity sensor and incorporate into
safeguarded navigation techniques. Integrate battery monitor into execution
monitoring system.
To support autonomous navigation: Develop alternative methods of map merging,
and their compare effectiveness in performing autonomous navigation. Finish
characterizing dead-reckoning of rover. Procure and install radio Ethernet,
to facilitate off-board communications with Ratler.
Complete initial prototype of TCA Design Tool, which will facilitate defining
communications interfaces for TCA-based systems.
D. Concerns/Issues
None at this time.
More information on CMU robotics program