Home

Terrain-Adaptive Navigation Architecture

A navigation system designed for a Mars rover has been designed to deal with rough terrain and/or potential slip when evaluating and executing paths. The system also can be used for any off-road, autonomous vehicles. The system uses more sophisticated terrain analysis, but also converges to computational complexity similar to that of currently deployed navigation systems when the terrain is benign. The system consists of technologies that have been developed, integrated, and tested onboard research rovers in Mars analog terrains, including goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following.

Posted in: Briefs, Information Sciences

Read More >>

An Efficient Reachability Analysis Algorithm

A document discusses a new algorithm for generating higher-order dependencies for diagnostic and sensor placement analysis when a system is described with a causal modeling framework. This innovation will be used in diagnostic and sensor optimization and analysis tools. Fault detection, diagnosis, and prognosis are essential tasks in the operation of autonomous spacecraft, instruments, and in-situ platforms. This algorithm will serve as a power tool for technologies that satisfy a key requirement of autonomous spacecraft, including science instruments and in-situ missions.

Posted in: Briefs, TSP, Information Sciences

Read More >>

Control Architecture for Robotic Agent Command and Sensing

Plans and behaviors are updated in response to changing requirements and conditions. Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels.

Posted in: Briefs, TSP, Information Sciences

Read More >>

Algorithm for Wavefront Sensing Using an Extended Scene

The restriction to a point source has been removed. A recently conceived algorithm for processing image data acquired by a Shack-Hartmann (SH) wavefront sensor is not subject to the restriction, previously applicable in SH wavefront sensing, that the image be formed from a distant star or other equivalent of a point light source. That is to say, the image could be of an extended scene. (One still has the option of using a point source.) The algorithm can be implemented in commercially available software on ordinary computers.

Posted in: Briefs, TSP, Information Sciences

Read More >>

XML-Based SHINE Knowledge Base Interchange Language

The SHINE Knowledge Base Interchange Language software has been designed to more efficiently send new knowledge bases to spacecraft that have been embedded with the Spacecraft Health Inference Engine (SHINE) tool. The intention of the behavioral model is to capture most of the information generally associated with a spacecraft functional model, while specifically addressing the needs of execution within SHINE and Livingstone. As such, it has some constructs that are based on one or the other.

Posted in: Briefs, TSP, Information Sciences

Read More >>

SHINE Virtual Machine Model for In-flight Updates of Critical Mission Software

This software is a new target for the Spacecraft Health Inference Engine (SHINE) knowledge base that compiles a knowledge base to a language called Tiny C — an interpreted version of C that can be embedded on flight processors. This new target allows portions of a running SHINE knowledge base to be updated on a “live” system without needing to halt and restart the containing SHINE application. This enhancement will directly provide this capability without the risk of software validation problems and can also enable complete integration of BEAM and SHINE into a single application.

Posted in: Briefs, TSP, Information Sciences

Read More >>

Mars Image Collection Mosaic Builder

A computer program assembles images from the Mars Global Surveyor (MGS) Mars Observer Camera Narrow Angle (MOCNA) collection to generate a uniform-high-resolution, georeferenced, uncontrolled mosaic image of the Martian surface. At the time of reporting the information for this article, the mosaic covered 7 percent of the Martian surface and contained data from more than 50,000 source images acquired under various light conditions at various resolutions.

Posted in: Briefs, Information Sciences

Read More >>

The U.S. Government does not endorse any commercial product, process, or activity identified on this web site.