Autonomous Instrument Placement (AutoPlace) is onboard software that enables a Mars Exploration Rover to act autonomously in using its manipulator to place scientific instruments on or near designated rock and soil targets. Prior to the development of AutoPlace, it was necessary for human operators on Earth to plan every motion of the manipulator arm in a time-consuming process that included downlinking of images from the rover, analysis of images and creation of commands, and uplinking of commands to the rover. AutoPlace incorporates image analysis and planning algorithms into the onboard rover software, eliminating the need for the downlink/uplink command cycle. Many of these algorithms are derived from the existing ground-based image analysis and planning algorithms, with modifications and augmentations for onboard use.
AutoPlace also utilizes pre-existing onboard arm control, arm collision-detection, and stereoscopic image processing software. In addition, to satisfy needs specific to the Mars Exploration Rovers and to increase safety, AutoPlace incorporates a volumetric terrain visibility analysis algorithm, a uniform target selection algorithm, and a template-based trajectory generation algorithm that were not parts of the prior onboard or ground software.
This program was written by P. Chris Leger and Mark Maimone of Caltech for NASA’s Jet Propulsion Laboratory.
This software is available for commercial licensing. Please contact Karina Edmonds of the California Institute of Technology at (626) 395-2322. Refer to NPO-44820.
This Brief includes a Technical Support Package (TSP).
Autonomous Instrument Placement for Mars Exploration Rovers
(reference NPO-44820) is currently available for download from the TSP library.
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Overview
The document titled "Autonomous Instrument Placement for Mars Exploration Rovers" (NPO-44820) outlines advancements in robotic technology developed by NASA's Jet Propulsion Laboratory (JPL) aimed at enhancing the operational capabilities of Mars rovers. Traditionally, the operation of planetary manipulators required a time-consuming process where rovers would send images of the Martian surface back to Earth for human planners to analyze and create command sequences. This cycle could take several hours, delaying scientific observations.
To address this inefficiency, the document introduces a new capability known as Autonomous Instrument Placement, or "AutoPlace." This technology allows rovers to autonomously analyze images and plan movements to deploy scientific instruments without needing an intervening command cycle from Earth. By incorporating advanced image analysis and planning algorithms directly into the rover's onboard software, the time required to drive to a target and perform observations can be significantly reduced.
The document details the algorithms that were integrated into the rover's software, many of which were originally developed for ground-based planning but modified for onboard use. Key functionalities include the construction of 3D volumetric models for terrain analysis, surface normal calculations for optimal arm movement, and automatic selection of kinematic configurations for the arm. New algorithms were also developed specifically for Mars Exploration Rover (MER) needs, such as volumetric terrain visibility analysis and template-based trajectory generation.
The novelty of the AutoPlace system lies in its ability to eliminate the downlink-uplink cycle, which previously required human operators to plan every motion of the rover's arm. This advancement not only enhances the rover's autonomy but also improves safety and efficiency in conducting scientific research on Mars.
The document serves as a technical support package under NASA's Commercial Technology Program, aiming to disseminate aerospace-related developments with broader technological, scientific, or commercial applications. It provides contact information for further inquiries and emphasizes the importance of these advancements in the context of space exploration.
In summary, the document highlights a significant leap in rover technology that allows for autonomous operation, thereby streamlining the process of scientific exploration on Mars and reducing the reliance on Earth-based command sequences.
