ROAMS: planetary surface rover simulation environment
This paper describes the ongoing development of the ROAMS physics-based simulator for planetary surface exploration rover vehicles.
rovers modeling simulation↗
Engineering topics
Steele, R.
Publications and source records attributed to Steele, R..
X2000 advanced avionics characterization study
The characterization study has shown that adjustments in an application's data accesses can easily create a performance difference of three or more times in actual applications. In general, by iterating over a small portion of a data set rather than its entirety, execution can remain within cache thereby producing a performance increase. Additionally, the approaches used in performing I/O can make a major performance difference.
processor performance factors↗
X2000 advanced avionics characterization study : Living in the modern world of difficult to predict processor performance
The characterization study has shown that adjustments in an application's data accesses can easily create a performance difference of three or more times in actual applications. In general, by iterating over a small portion of a data set rather than its entirety, execution can remain within cache thereby producing a performance increase. Additionally, the approaches used in performing I/O can make a major performance difference.
X2000 advanced avionics project↗
X2000 advanced avionics project performance characterization study
Explore the source record for details and available documents.
X2000 PPC performance↗
An Integrated Architecture for Cooperation Rovers
The paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for planetary science.
multi-rover↗
A Telerobot to Extend the Skill of Microsurgeons
The engineering details of the Robot Assisted MicroSurgery (RAMS) telerobotic system designed to assist microsurgeons improve the precision and dexterity with which they can position surgical instruments is described in this paper.
telerobotics microsurgery precise positioning of s↗
Robot Assisted Microsurgery Development at JPL
A team of engineers at JPL, working in collaboration with MicroDexterity Systems, Inc., and Dr. Steve Charles, recently developed a telerobotic workstation to assist microsurgeons perform surgery.
Microsurgery JPL telerobotic MicroDexterity System↗
Dexterity-Enhanced Telerobotic Microsurgery
A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper.
telerobotic↗
Experiments in Contact Control
The implementation, experimentation, and application of contact control schemes for a 7-DOF Robotics Research arm is presented. Three types of control schemes are presented: compliance cntrol, force control, and dual-mode control. This presentation is concluded with the application of the proposed schemes to perform a contact-based eddy-current inspection task.
robotics contact control compliance control force ↗