Engineering topics
Nesnas, I.
Publications and source records attributed to Nesnas, I..
Development of a Lander Autonomy Testbed for Ocean Worlds Missions/ Exploration and Utilization of Extra-Terrestial Bodies
No abstract provided
Conceptual Design of the Lunar Crater Radio Telescope (LCRT) on the Far Side of the Moon
In this paper, we present the conceptual design of a Lunar Crater Radio Telescope (LCRT) on the far side of the Moon. We propose to deploy a wire mesh using wall-climbing DuAxel robots in a 3–5 km diameter lunar crater on the farside, with a suitable depth-to-diameter ratio, to form a parabolic reflector with a 1 km diameter. LCRT will be the largest filled-aperture radio telescope in the Solar System. LCRT could enable scientific discoveries in the field of cosmology by observing the early Universe in the 10–50 m wavelength band (i.e., 6-–30 MHz frequency band), which has not been explored for cosmological observations to date. We have described LCRT’s science objectives and key technology challenges, that we need to overcome to make this concept a reality. We envisage that LCRT will open a new window for humanity’s exploration of the Universe.
Mars Rover research and software infrastructure development with CLARAty
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A reconfigurable robotic exploratory vehicle for navigation on rough terrain
This paper discusses the development of a new family of reconfigurable robotic vehicles for use in exploration of the surfaces of Mars and other remote planets.
Estimation module
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Continuous planning and execution for an autonomous Mars Rover
This paper describes how continuous planning and execution techniques can be used to perform intelligent decision-making for an autonomous Mars rover.
Decision-making for a robotic architecture
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Toward Developing Reusable Software Components for Robotic Applications
We will present an overview of the CLARAty architecture which aims at developing reusable software components for robotic systems.
Decision making in a robotic architecture for autonomy
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Decision-making in a robotic architecture for autonomy
This paper presents an overview of the intelligent decison-making capabilities of the CLARAty robotic architecture for autonomy.
The CLARAty architecture for robotic autonomy
This paper presents an overview of a newly developed Coupled Layer Architecture for Robotic Autonomy (CLARAty), which is designed for improving the modularity of system software while more tightly coupling the interaction of autonomy and controls.