INTELLIGENCE FOR SPACE

Edited By

Ayanna M. Howard Edward W. Tunstel Georgia Institute of Technology NASA Jet Propulsion Laboratory

FOR SPACE CONNOISSEURS AND RESEARCHERS ALIKE Space exploration missions employ robots, instrumented with a variety of sensors and tools, on remote planetary surfaces, on orbit, or as assistants to astronauts. The utility of space robots is a function of their ability to move about, perform work, and explore intelligently without frequent contact with, or strong reliance on, human operators. This requires capabilities for sensing and perception of surrounding unstructured or uncharted environments. It also requires intelligent reasoning about CHAPTERS perceptions to perform tasks in a purposeful and reliable manner in such CHALLENGES OF SPACE ROBOTICS environments. As such, robotic intelligence or autonomy is closely Robotics Challenges for Space and Planetary Robot Systems, related to success of space missions involving robots and automated JPL, USA space systems. With the increasing successes of robotic missions by Space Computing Challenges and Future Directions, JPL, space agencies worldwide, robot autonomy technology has boldly USA confronted the challenging proving grounds of space and its planetary PLANETARY SURFACE ROBOTICS surfaces, further demonstrating its utility and practicality with each Surface Navigation and Mobility Intelligence on the mission. The need for intelligent space robots has increased as well, and Exploration Rovers, JPL, USA will continue to increase with the ever-challenging pursuits of the Vision-Based Localization and Terrain Modeling for international space agencies requiring teams of humans and smart robots. Planetary Rovers, MDA Space Missions, CANADA Design Methodologies for a Colony of Autonomous Space

Robot Explorers, Politecnico di Milano, ITALY Space missions present unique robotics challenges. Advanced autonomy Intelligent Rover with Advanced Mobility for Minor Body must function reliably and within strict limitations on data processing and Surface Exploration, ISAS/JAXA, JAPAN computational hardware resources while also dealing with effects of Autonomy of Planetary Rovers, LAAS/CNRS, FRANCE challenging space environments. Intelligence for Space Robotics ON-ORBIT ROBOTIC OPERATIONS addresses a broad range of relevant topics, focusing on the use of Modeling Human Intelligence for Robotic Capture of Space intelligent sensing and computing techniques for addressing space Objects, Chinese University of Hong Kong, CHINA robotics problems. The authors, who are experts in their respective Toward Intelligent System Health Monitoring for NASA's application domains, present cutting-edge and emerging technologies, Robonaut, Vanderbilt University/NASA JSC, USA Guidance, Navigation and Control for Space Inspection space mission scenarios, and results of recent applications of robotic Robots, ESTEC/European Space Agency, NETHERLANDS intelligence in space and in laboratories worldwide. A Framework for Autonomous Space Robotic Operations, Canadian Space Agency, CANADA FEATURES ASTRONAUTS AND ROBOT ASSISTANTS Applying Intelligence Techniques for Task Allocation in • Provides an in-depth overview of practical sensor-based Human-Robot Mission Scenarios, Georgia Institute of Technology, USA and computer-based intelligence techniques for Intelligence for Human-Assistant Planetary Surface Robots, addressing space robotics problems. NASA JSC, USA Characteristics Common to the Utility of Robotic Astronaut Assistants, Lockheed Martin/NASA JSC, USA • Offers an international perspective with contributions Humanoids for Lunar and Planetary Surface Operations, JPL, from roboticists at Space Agencies and affiliated USA Universities located around the world. MODELING, SENSING AND INTELLIGENT CONTROL Dynamic Characteristics of Space Robots for Smart Motion Control: From on-orbit manipulators to surface mobile • Conveys the state of the art and future directions in a robots, Tohoku University, JAPAN manner equally suited for space robotics experts as well Terrain Estimation for Enhanced Autonomous Rover Mobility, MIT, USA as engineering and science students. Robot Fault Diagnosis Methods, QSS, Inc. at NASA ARC, USA • Presents a cross-section of robotic intelligence applied in Intelligent Control for Agile Biomorphic Robotics, JPL, USA practice and under development for future space missions. Onboard Learning Strategies for Planetary Surface Rovers, JPL, USA TSI Press (http://tsipress.org), 2006 *** See next page to order your copy

Contributors

Hrand Aghazarian, NASA Jet Propulsion Laboratory, USA Robert Kozma, University of Memphis, Tennessee, USA Ken Alder, NASA Johnson Space Center, USA Takashi Kubota, ISAS/JAXA, JAPAN Pierre Allard, Canadian Space Agency, CANADA Simon Lacroix, LAAS-CNRS, FRANCE Robert Ambrose, NASA Johnson Space Center, USA Chris Leger, NASA Jet Propulsion Laboratory, USA Régent L’Archevêque, Canadian Space Agency, CANADA Bin Liang, Harbin Institute of Technology, CHINA Christopher Assad, NASA Jet Propulsion Laboratory, USA Mark Maimone, NASA Jet Propulsion Laboratory, USA Timothy Barfoot, Space Missions, MDA, CANADA Eric Martin, Canadian Space Agency, CANADA Jeffrey Biesiadecki, NASA Jet Propulsion Laboratory, USA Elena Cristina Paul, Politecnico di Milano, ITALY William Bluethmann, NASA Johnson Space Center, USA Yongsheng Ou, The Chinese University of Hong Kong, CHINA Raja Chatila, LAAS-CNRS, FRANCE Palis Ratanaswasd, Vanderbilt University, USA Yang Cheng, NASA Jet Propulsion Laboratory, USA Fredrik Rehnmark, Lockheed Martin Space Systems Co., USA William J. Clancey, NASA , USA Ioannis Rekleitis, Canadian Space Agency, CANADA Will Dodd, Vanderbilt University, USA Alberto Rovetta, Politecnico di Milano, ITALY Erick Dupuis, Canadian Space Agency, CANADA Nilanjan Sarkar, Vanderbilt University, USA Steven C. Ferguson, Vanderbilt University, USA Stephen Se, Space Missions, MDA, CANADA Jeffrey Graham, S&K Technologies, Inc., USA Maarten Sierhuis, RIACS/NASA Ames Research Center, USA Guillermo Ortega Hernando, ESA/ESTEC, THE NETHERLANDS Raphael Some, NASA Jet Propulsion Laboratory, USA Robert Hirsh, NASA Johnson Space Center, USA Adrian Stoica, NASA Jet Propulsion Laboratory, USA Ayanna M. Howard, Georgia Institute of Technology, USA Edward W. Tunstel, NASA Jet Propulsion Laboratory, USA Panfeng Huang, The Chinese University of Hong Kong, CHINA Kimberly S. Tyree, NASA Johnson Space Center, USA Terry Huntsberger, NASA Jet Propulsion Laboratory, USA Vandi Verma, QSS Inc. at NASA Ames Research Center, USA Karl Iagnemma, Massachusetts Institute of Technology, USA Wenfu Xu, Harbin Institute of Technology, CHINA Félix Ingrand, LAAS-CNRS, FRANCE Yangsheng Xu, The Chinese University of Hong Kong, CHINA Piotr Jasiobedzki, Space Missions, MDA, CANADA Kazuya Yoshida, Tohoku University, JAPAN Kazuhiko Kawamura, Vanderbilt University, USA Tetsuo Yoshimitsu, ISAS/JAXA, JAPAN

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Intelligence for Space Robotics ISBN: 1-889335-26-6, $79 (Hard bound) pp. 425, 2006, Subject Index included ISBN: 1-889335-29-0, $49 (Soft bound)