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Targeting and Localization for Mars Rover Operations

A design and a partially developed application framework were presented for improving localization and targeting for surface spacecraft. The program has value for the Mars Science Laboratory mission, and has been delivered to support the Mars Exploration Rovers as part of the latest version of the Maestro science planning tool. It also has applications for future missions involving either surface-based or low-altitude atmospheric robotic vehicles.

Posted in: Briefs, Information Sciences, Architecture, Ground vehicle operations, Robotics, Spacecraft

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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, Adaptive control, Terrain, Ground vehicle operations, Spacecraft

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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, Mathematical models, Sensors and actuators, Diagnostics, Prognostics, Spacecraft, Unmanned aerial vehicles

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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, Architecture, Robotics, Autonomous vehicles, Marine vehicles and equipment, Spacecraft, Unmanned aerial vehicles

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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, Mathematical models, Computer software and hardware, Remote sensing

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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, Communication protocols, Computer software and hardware, Data exchange

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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, Computer software and hardware, Spacecraft

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