INTELLIGENT ROBOT/SENSOR OPERATIONS PLANNING SYSTEMS

A TELEROBOT-SENSOR PLANNING SYSTEM WILL BE DEVELOPED BY COMBINING MATURE VISION-BASED GUIDANCE TECHNOLOGY, STANDARDIZED ROBOTIC PLATFORM INTERFACES, AND AN INTERACTIVEROBOT PLANNING SYSTEM INTEGRATED INTO A GRAPHICAL ROBOTIC VISUALIZATION SYSTEM. TO SUPPORT ADVANCED ROBOTIC SERVICINGOPERATED FROM THE GROUND (THROUGH TIME DELAYS AND BANDWIDTH LIMITATIONS), THIS TECHNOLOGY WILL ACCOMMODATE RAPID SERVICER RE-PLANNING AND MISSION MODIFICATION DUE TO THE VARIABILITY OF ON-ORBIT TASKS. AN IMPROVED SENSOR-ROBOT PROGRAMMING ENVIRONMENT WILL SIGNIFICANTLY EXTEND THE CURRENT GROUND-BASED TECHNOLOGY IN ROBOTS. THE APPROACH BEGINS WITH INCORPORATING CAD-BASED COMPUTER VISION INTO A STANDARDIZED ROBOTIC COMMAND AND CONTROL STRUCTURE (E.G., NASREM-LIKE). THEN STANDARDIZED SIMULATION MODULES WITH EQUIVALENT FUNCTION TO THE STANDARDIZED ROBOTIC AND SENSOR PROCESSING SUBSYSTEMS WILL BE IMPLEMENTED AND USED (IN PHASEII) BY AN AL PLANNING ENVIRONMENT (AND CONNECT TO A CONVENTIONAL GRAPHICS SYSTEM). THIS EFFORT IS EXPECTED TO INTEGRATE WITH OTHER SUPERVISED TELEROBOTIC SERVER TESTBED DEVELOPMENT WORK AT JPL (ESPECIALLY SINCE THE FIRST TASK ELEMENTS WOULD DEMONSTRATE GEOMETRICAL MODEL-DRIVEN VISION COMPONENTS ON A VME COMPATIBLE PLATFORM, DRIVING STANDARD ROBOTS LIKE JPL'S PUMAS). A TELEROBOT-SENSOR PLANNING SYSTEM WILL BE DEVELOPED BY COMBINING MATURE VISION-BASED GUIDANCE TECHNOLOGY, STANDARDIZED ROBOTIC PLATFORM INTERFACES, AND AN INTERACTIVEROBOT PLANNING SYSTEM INTEGRATED INTO A GRAPHICAL ROBOTIC VISUALIZATION SYSTEM. TO SUPPORT ADVANCED ROBOTIC SERVICINGOPERATED FROM THE GROUND (THROUGH TIME DELAYS AND BANDWIDTH LIMITATIONS), THIS TECHNOLOGY WILL ACCOMMODATE RAPID SERVICER RE-PLANNING AND MISSION MODIFICATION DUE TO THE VARIABILITY OF ON-ORBIT TASKS. AN IMPROVED SENSOR-ROBOT PROGRAMMING ENVIRONMENT WILL SIGNIFICANTLY EXTEND THE CURRENT GROUND-BASED TECHNOLOGY IN ROBOTS. THE APPROACH BEGINS WITH INCORPORATING CAD-BASED COMPUTER VISION INTO A STANDARDIZED ROBOTIC COMMAND AND CONTROL STRUCTURE (E.G., NASREM-LIKE). THEN STANDARDIZED SIMULATION MODULES WITH EQUIVALENT FUNCTION TO THE STANDARDIZED ROBOTIC AND SENSOR PROCESSING SUBSYSTEMS WILL BE IMPLEMENTED AND USED (IN PHASEII) BY AN AL PLANNING ENVIRONMENT (AND CONNECT TO A CONVENTIONAL GRAPHICS SYSTEM). THIS EFFORT IS EXPECTED TO INTEGRATE WITH OTHER SUPERVISED TELEROBOTIC SERVER TESTBED DEVELOPMENT WORK AT JPL (ESPECIALLY SINCE THE FIRST TASK ELEMENTS WOULD DEMONSTRATE GEOMETRICAL MODEL-DRIVEN VISION COMPONENTS ON A VME COMPATIBLE PLATFORM, DRIVING STANDARD ROBOTS LIKE JPL'S PUMAS).