NDLI: Inspection with robotic microscopic imaging

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Inspection with robotic microscopic imaging

Content Provider	NASA Technical Reports Server (NTRS)
Author	Mungas, Greg Kunz, Clay Deans, Matthew Chen, Alan Sargent, Randy Pedersen, Liam
Copyright Year	2005
Description	Future Mars rover missions will require more advanced onboard autonomy for increased scientific productivity and reduced mission operations cost. One such form of autonomy can be achieved by targeting precise science measurements to be made in a single command uplink cycle. In this paper we present an overview of our solution to the subproblems of navigating a rover into place for microscopic imaging, mapping an instrument target point selected by an operator using far away science camera images to close up hazard camera images, verifying the safety of placing a contact instrument on a sample or finding nearby safe points, and analyzing the data that comes back from the rover. The system developed includes portions used in the Multiple Target Single Cycle Instrument Placement demonstration at NASA Ames in October 2004, and portions of the MI Toolkit delivered to the Athena Microscopic Imager Instrument Team for the MER mission still operating on Mars today. Some of the component technologies are also under consideration for MSL mission infusion.
File Size	9465564
Page Count	12
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_20060017076
Archival Resource Key	ark:/13960/t89h0mn6t
Language	English
Publisher Date	2005-01-01
Access Restriction	Open
Subject Keyword	Cybernetics, Artificial Intelligence And Robotics Productivity Cost Reduction Uplinking Inspection Imaging Techniques Mars Surface Targets Hazards Autonomy Robotics Roving Vehicles Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Article

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