Engineering topics
Maimone, M.
Publications and source records attributed to Maimone, M..
Mars Exploration Rover surface operations: driving opportunity at Meridiani Planum
This paper will detail the experience of driving Opportunity through this alien landscape from the point of view of the Rover Planners, the people who tell the rover where to drive and how to use its robotic arm.
Performance and 6 DOF ground truth evaluation of the GESTALT Mars Rover surface navigation system: first results
In this paper we outline our approach and present preliminary results from the Athena Software Development Model (SDM) Summer 2001 Datasets.
Mars Exploration Rover autonomous surface navigation capabilities
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The Athena SDM Rover: a testbed for Mars rover mobility
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Robust Stereo Ego-Motion for Long Distance Navigation
Several methods for computing observer motion from monocular and stereo image sequences have been proposed.
Autonomous Vision-Based Manipulation from a Rover Platform
Current rover designs use on-board manipulators to enhance their capabilities for planetary exploration and in-situ science. In this paper, we describe how these manipulators can be used to perform two types of operations: rock sample aquisition for return to earth and instrument placement for in-situ science meausrements.
Autonomous Rock Tracking and Acquisition from a Mars Rover
Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth.
An Object-Oriented Software Architecture For Planetary Dextrous Manipulators
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Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation
Manipulators mounted on-board rovers have limited dexterity due to power and weight constraints imposed by rover designs.
Robot Manipulator Technologies for Planetary Exploration
NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: 1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, 2) new piezoelectric ultrasonic motors (USM) for light-weight and high torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.
A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chornobyl
We present a novel stereoscopic mapping system for use in nuclear accident settings. First we discuss a radiation shielded sensor array desigtned to tolerate 10(sup 6)R of cumulative dose. Next we give procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information into a 3-D, textured, metrically accurate surface mesh.
Autonomous Rock Tracking and Acquisition from a Mars Rover
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