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Experiments with an EVA Assistant Robot

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

Burridge, Robert R.↗

Standardized Modular Power Interfaces for Future Space Explorations Missions

Earlier studies show that future human explorations missions are composed of multi-vehicle assemblies with interconnected electric power systems. Some vehicles are often intended to serve as flexible multi-purpose or multi-mission platforms. This drives the need for power architectures that can be reconfigured to support this level of flexibility. Power system developmental costs can be reduced, program wide, by utilizing a common set of modular building blocks. Further, there are mission operational and logistics cost benefits of using a common set of modular spares. These benefits are the goals of the Advanced Exploration Systems (AES) Modular Power System (AMPS) project. A common set of modular blocks requires a substantial level of standardization in terms of the Electrical, Data System, and Mechanical interfaces. The AMPS project is developing a set of proposed interface standards that will provide useful guidance for modular hardware developers but not needlessly constrain technology options, or limit future growth in capability. In 2015 the AMPS project focused on standardizing the interfaces between the elements of spacecraft power distribution and energy storage. The development of the modular power standard starts with establishing mission assumptions and ground rules to define design application space. The standards are defined in terms of AMPS objectives including Commonality, Reliability-Availability, Flexibility-Configurability and Supportability-Reusability. The proposed standards are aimed at assembly and sub-assembly level building blocks. AMPS plans to adopt existing standards for spacecraft command and data, software, network interfaces, and electrical power interfaces where applicable. Other standards including structural encapsulation, heat transfer, and fluid transfer, are governed by launch and spacecraft environments and bound by practical limitations of weight and volume. Developing these mechanical interface standards is more difficult but an essential part of defining physical building blocks of modular power. This presentation describes the AMPS projects progress towards standardized modular power interfaces.

Spacecraft Power↗

T-38 Primary Flight Display Prototyping and HIVE Support Abstract & Summary

This fall I worked in EV3 within NASA's Johnson Space Center in The HIVE (Human Integrated Vehicles & Environments). The HIVE is responsible for human in the loop testing, getting new technologies in front of astronauts, operators, and users early in the development cycle to make the interfaces more human friendly. Some projects the HIVE is working on includes user interfaces for future spacecraft, wearables to alert astronauts about important information, and test beds to simulate mock missions. During my internship I created a prototype for T-38 aircraft displays using LabVIEW, learned how to use microcontrollers, and helped out with other small tasks in the HIVE. The purpose of developing a prototype for T-38 Displays in LabVIEW is to analyze functions of the display such as navigation in a cost and time effective manner. The LabVIEW prototypes allow Ellington Field AOD to easily make adjustments to the display before hardcoding the final product. LabVIEW was used to create a user interface for simulation almost identical to the real aircraft display. Goals to begin the T-38 PFD (Primary Flight Display) prototype included creating a T-38 PFD hardware display in a software environment, designing navigation for the menu's, incorporating vertical and horizontal navigation bars, and to add a heading bug for compass controls connected to the HSI (Horizontal Situation Indicator). To get started with the project, measurements of the entire display were taken. This enabled an accurate model of the hardware display to be created. Navigation of menu's required some exploration of different buttons on the display. The T-38 simulator and aircraft were used for examining the display. After one piece of the prototype was finished, another trip of to the simulator took place. This was done until all goals for the prototype were complete. Some possible integration ideas for displays in the near future are autopilot selection, touch screen displays, and crew member preferences. Complete navigation, control, and function customization will be achievable once a display is fully developed. Other than the T-38 prototyping, I spent time learning how to design small circuits and write code for them to function. This was done by adding electronic circuit components to breadboard and microcontroller then writing code to speak to those components through the microcontroller. I went through an Arduino starter kit to build circuits and code software that allowed the hardware to act. This work was planned to assist in a lighting project this fall but another solution was discovered for the lighting project. Other tasks that I assisted with, included hands on work such as mock-up construction/removal, logic analyzer repairs, and soldering with circuits. The unique opportunity to be involved work with NASA has significantly changed my educational and career goals. This opportunity has only opened the door to my career with engineering. I have learned over the span of this internship that I am fascinated by the type of work that NASA does. My desire to work in the aerospace industry has increased immensely. I hope to return to NASA to be more involved in the advancement of science, engineering, and spaceflight. My interests for my future education and career lie in NASA’s work - pioneering the future in space exploration, scientific discovery and aeronautics research.

Boniface, Andrew↗

InSight Mars Lander Instrument Deployment Arm Flight Software

The Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) lander landed on Mars on November 26, 2018 and continues to investigate the internal structure of the planet two years later. The Instrument Deployment Arm (IDA), a robotic arm on the lander, was used to deploy the science instrument payloads from the lander deck to the surface of Mars and to take images of the lander and the surrounding environment. This was the first precision deployment and release by a robotic arm on another planet. After deploying the instruments, the IDA has been used for instrument commissioning, scientific data gathering, and to assist with troubleshooting one of the science instruments. This paper provides a high-level summary of the flight software that controls the IDA. The paper provides an overview of the IDA software interfaces, task structure, command handling strategy, motion specification, motion planning, motor control, grapple control, fault protection, and telemetry.

Ali, Khaled S.↗

Improving Cyber Situational Understanding

Effective cybersecurity operations require the ability to analyze large amounts of information to assess security risks and formulate defensive strategies against adversaries. This has become more complex in recent years as the sprawl and interconnectivity of devices grows through implementation of virtualization, cloud computing, and Internet of Things (IoT). The amount of data and analysis required for effective cybersecurity command and control decisions far exceeds humans’ capacity to perform manually. We characterize the analysis problem as cyber situational understanding. The research presented to improve cyber situational understanding focuses on vulnerability analysis and threat intelligence. Regarding vulnerabilities, entities must analyze and plan work for between thousands and tens of thousands of software vulnerabilities annually. Entities heavily use network firewalls to limit vulnerability exposure. As a result, some of these vulnerabilities permit exposure to adversarial exploitation, whereas others are inaccessible and therefore present negligible risk of exploitation. Distinguishing between high and low risk software vulnerabilities requires a deep understanding of the vulnerability, network firewall protection, and characteristics of the targeted device. This problem is solved by extracting network service features from vulnerability data features using both machine-learning and natural language processing. Then, the network firewall topology is parsed to determine which vulnerabilities are reachable by adversaries. Ultimately, a state-based safety analysis ascertains which vulnerabilities are unsafe. A related vulnerability analysis problem occurs in cybersecurity operations when associating an entity’s hardware and software assets to public vulnerability databases. Assets often reveal hardware and software through installation artifacts and network service identification, and entities store these artifacts in inventory databases. However, software and hardware vendors apply a standard Common Platform Enumeration (CPE) naming convention when publicly reporting vulnerabilities. Associating these two datasets often requires many hours to days of manual inspection. The proposed solution automates the mapping approach of human analysts using fuzzy matching techniques, natural language processing, and, ultimately, machine learning to present a small set of recommendations for mapping the two datasets. The result significantly reduces human analysis time and reduces the occurrence of false positives in vulnerability notifications. Finally, cyber threat intelligence (CTI) requires associating cyber observable artifacts, such as IP addresses, URIs, and file hashes, with cyber threat tactics, techniques, and procedures. Unfortunately, most CTI data is compartmentalized across multiple organizations and cannot be shared due to the legal and reputational risk with cyber threat being associated with the entity. The approach to solving this problem inovlves using a distributed ledger with anonymous token spending and authentication. This allows a consortium of semi-trusted entities to share the workload of curating CTI for a threat sharing community’s cooperative benefit.

Huff, Philip↗

Program Helps Design Tests Of Developmental Software

Computer program called "A Formal Test Representation Language and Tool for Functional Test Designs" (TRL) provides automatic software tool and formal language used to implement category-partition method and produce specification of test cases in testing phase of development of software. Category-partition method useful in defining input, outputs, and purpose of test-design phase of development and combines benefits of choosing normal cases having error-exposing properties. Traceability maintained quite easily by creating test design for each objective in test plan. Effort to transform test cases into procedures simplified by use of automatic software tool to create cases based on test design. Method enables rapid elimination of undesired test cases from consideration and facilitates review of test designs by peer groups. Written in C language.

Hops, Jonathan↗

Material Protection, Accounting and Control Technologies (MPACT) Implementation Plan: Lab-Scale Demonstration of Advanced Safeguard and Security Systems

The Materials Protection, Accounting, and Control Technologies (MPACT) campaign is working towards the goal of developing and demonstrating the next generation of nuclear materials management for the peaceful use of civilian nuclear energy. A major milestone of the campaign is the “Lab-scale demonstration of an advanced safeguards and security system,” due in 2020. This implementation plan describes how tools developed in the MPACT campaign will be used to meet this milestone. These tools consist of instrumentation and devices as well as computer software for modelling, simulation and integration of data and information for safeguard and security analysis. The plan is focused on demonstrating an advanced safeguard and security systems for electrochemical processing plants, but also identifies activities needed to address advanced reactor, aqueous processing and other advanced fuel cycle facilities. A key component to achieving the 2020 milestone is the development of a virtual distributed test bed that incorporates the instruments, data, analysis tools, and models currently under development and provides a framework to link and normalize the data in a way that simulates a facility, including uncertainty quantification. This virtual distributed test bed will integrate computer simulated facilities that make up a fuel cycle of interest, with distributed test beds located in actual operating facilities and laboratories. The MPACT campaign recently issued roadmaps for both Modelling & Simulation and Advanced Integration which address this component, and activities necessary to achieve the 2020 milestone. Research, development and testing of specific technologies have been supported by the MPACT campaign in coordination with other DOE-NE and DOE-NNSA programs. These technologies provide the essential data needed by the safeguard and security systems, and feed into the data analysis and facility models. This plan will identify these technologies, their current status and activities needed to demonstrate the technologies at the laboratory scale. Wherever possible, test of technologies in field conditions using suitable nuclear materials will be used to define performance. Where necessary, surrogate materials and/or simulation will be used to provide useful information for the demonstration. When completed, the 2020 milestone will provide a demonstration of advanced safeguard and security technologies, including advanced modelling, simulation and analysis approaches, applied to electrochemical processing. It will also identify applications of the technology and approaches in other advanced fuel cycle and reactor concepts.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

AMOS: Generic Planetary Mission Ops

The spacecraft control community is focusing increasing attention on various forms of architectures. Studies on software architectures and related technologies have been commissioned by DOD programs. The purpose of planning a series of annual workshops is to bring together participants working in the Spacecraft Ground System (SGS) domain. The overall intent of these workshops is to expedite the transition to common consensus-based open software architectures for SGSs.

workshops SGS technologies↗

Hybridized Agile Software Development of Flight Control Team Tools for International Space Station's Payload Operations Integration Center

Ground systems operations at the National Aeronautics and Space Administration's (NASA) Payload Operations and Integration Center (POIC) at Marshall Space Flight Center (MSFC) recently increased via a High Operations Tempo (HOT) initiative, in order to support more science activities with a fourth crew member on the International Space Station (ISS). The Flight Control Team's (FCT) need to support this increasing pace of payload science operations was the impetus for creating a series of new tools. While their need was clear, the full scope and user experience for each tool was not as well-understood, thus establishing a fixed set of initial requirements was not feasible. A hybridized Agile Software Development (ASD) paradigm was created to take advantage of this uncertainty, plan for it, permit the exploration of novel concepts, and also facilitate a rapid and flexible response to inevitably changing requirements. The POIC's hybridized ASD approach places preeminent focus on providing customer value through the delivery of high quality, customer-focused solutions in short timeframes. This has been successfully achieved through creating unprecedented modes of cooperation and collaboration between operations and software development teams, frequent user evaluations of the software with well-defined feedback mechanisms, increased human factors involvement, and a dedication to successful outcomes by the whole of the POIC. Since space science operations and software development are not typically so closely linked, this paper discusses an approach that offers an optimal way to provide an increased return on investment and a faster time-to-completion than traditional software development paradigms, while aiming at delivering high quality products and customer-driven value.

Albers, Cerese M.↗

Radiometric characterization process for locating radioactivity hold-up and measuring non-uniformly distributed sources - 15342

A novel approach to facility radiometric characterization for non-uniformly distributed radiation sources has been developed by ANTECH and is currently being employed at the Argonne National Laboratory. It is being applied to the measurement of a wide range of objects and the interiors and contents of laboratories and buildings. The integrated non destructive assay measurement process involves the use of a scanning spectroscopic gamma ray camera as well as high purity Germanium detectors with different collimators and hence differing detector fields of view to measure and quantify non-uniformly distributed sources of radioactivity in laboratory equipment, glove boxes, storage tanks, pipework and general laboratory objects and process components. The purpose of the radiometric characterization is to quantify radiation sources and radioactive contamination levels in facilities containing nuclear material and to ensure compliance with facility characterization requirements and for decontamination and decommissioning planning and execution. The integrated measurement process also involves automated data capture and processing software and a database with which both measurement instrument operators and subject matter expert analysts can interact. An appropriate measuring instrument (gamma camera, scintillation detector, high purity Germanium detector system, neutron detector or alpha-beta counter) records the measurement data and the measurement site is recorded in a photograph. All of the data relevant to the measurement (or set of measurements for a particular object) are recorded in the database including measured gamma ray spectra, equipment description and relevant calibration, measurement site photograph and measurement descriptive data. Once data analysis protocols are established for specific geometries and measurement situations they can be applied to the measured data in a partially automated manner, reducing analysis and transcription errors. In addition to measurements and data analysis the process also utilises radiometric modelling computer codes including MicroShield and Monte Carlo Neutrons Photons in order to perform model calculations where appropriate. In a typical measurement, the ANTECH RadSearch spectroscopic gamma camera is utilized to find areas of concentrated activity so that these areas can be measured and calculated separately from areas with diffuse contamination. The use of the gamma camera in scanning mode helps to ensure that the assay does not overestimate the detected radiation source, which is a frequent consequence of using standard far field geometry and attenuation analysis codes that assume uniformity of both density and radioactive source distribution. Once the hot spots are identified, high purity Germanium detector measurements are made using various collimators with wide or narrow fields of view as required. These measurements are then processed through a semi-automatic calculation process assuming an appropriate source configuration as identified by RadSearch. These source configurations include point sources, line sources or surface sources. The Generalized Geometry Hold-up algorithms are employed to determine an estimate of the activity of the various sources that are identified in a measurement. The ANTECH integrated measurement process provides an automated calculation procedure where the analyst can select the source type, geometry and appropriate input data, and then the software calculates the activity by radionuclide for all sources identified in the measurement. The measurement and analysis process is controlled under the ANTECH ISO9001: 2008 Quality Assurance System and managed by a site specific Quality Assurance Plan. Both Argonne National Laboratory and Department of Energy technical reviewers have vetted the Integrated Measurement and Analysis Process. The application of the measurement and analysis process is described and measurement examples are provided. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Neurovascular bundle–sparing radiotherapy for prostate cancer using MRI-CT registration: A dosimetric feasibility study

Purpose: Sexual dysfunction after radiotherapy for prostate cancer remains an important late adverse toxicity. The neurovascular bundles (NVB) that lie posterolaterally to the prostate are typically spared during prostatectomy, but in traditional radiotherapy planning they are not contoured as an organ-at-risk with dose constraints. Our goal was to determine the dosimetric feasibility of “NVB-sparing” prostate radiotherapy while still delivering adequate dose to the prostate. Methods: Twenty-five consecutive patients with prostate cancer (with no extraprostatic disease on pelvic magnetic resonance imaging [MRI]) who that were treated with external beam radiotherapy, with the same primary planning target volume margins, to a dose of 79.2 Gy were evaluated. Pelvic MRI and simulation computed tomography scans were registered using dedicated software to allow for bilateral NVB target delineation on T2-weighted MRI. A volumetric modulated arc therapy plan was generated using the NVB bilaterally with 2 mm margin as an organ to spare and compared to the patient’s previously delivered plan. Dose-volume histogram endpoints for NVB, rectum, bladder, and planning target volume 79.2 were compared between the 2 plans using a 2-tailed paired t-test. Results: The V70 for the NVB was significantly lower on the NVB-sparing plan (p <0.01), while rectum and bladder endpoints were similar. Target V100% was similar but V{sub 105%} was higher for the NVB-sparing plans (p <0.01). Conclusions: “NVB-sparing” radiotherapy is dosimetrically feasible using CT-MRI registration, and for volumetric modulated arc therapy technology — target coverage is acceptable without increased dose to other normal structures, but with higher target dose inhomogeneity. The clinical impact of “NVB-sparing” radiotherapy is currently under study at our institution.

61 RADIATION PROTECTION AND DOSIMETRY↗

SU-E-T-237: Deformable Image Registration and Deformed Dose Composite for Volumetric Evaluation of Multimodal Gynecological Cancer Treatments

Purpose: Radiotherapy plans for patients with cervical cancer treated with EBRT followed by HDR brachytherapy are optimized by constraining dose to organs at risk (OARs). Risk of treatment related toxicities is estimated based on the dose received to the hottest 2cc (D2cc) of the bladder, bowel, rectum, and sigmoid. To account for intrafractional variation in OAR volume and positioning, a dose deformation method is proposed for more accurate evaluation of dose distribution for these patients. Methods: Radiotherapy plans from five patients who received 50.4Gy pelvic EBRT followed by 30Gy in five fractions of HDR brachytherapy, using split-ring and tandem applicators, were retrospectively evaluated using MIM Software version 6.0. Dose accumulation workflows were used for initial deformation of EBRT and HDR planning CTs onto a common HDR planning CT. The Reg Refine tool was applied with user-specified local alignments to refine the deformation. Doses from the deformed images were transferred to the common planning CT. Deformed doses were scaled to the EQD2, following the linear-quadratic BED model (considered α/β ratio for tumor as 10, and 3 for rest of the tissues), and then combined to create the dose composite. MIM composite doses were compared to the clinically-reported plan assessments based upon the American Brachytherapy Society (ABS) guidelines for cervical HDR brachytherapy treatment. Results: Bladder D2cc exhibited significant reduction (−11.4%±3.85%, p< 0.02) when evaluated using MIM deformable dose composition. Differences observed for bowel, rectum, and sigmoid D2cc were not significant (−0.58±7.37%, −4.13%±13.7%, and 8.58%±4.71%, respectively and p>0.05 for all) relative to the calculated values used clinically. Conclusion: Application of deformable dose composite techniques may lead to more accurate total dose reporting and can allow for elevated dose to target structures with the assurance of not exceeding dose to OARs. Further study into deformable dose composition and correlation with clinical outcomes is warranted.

60 APPLIED LIFE SCIENCES↗

Advanced Modeling Fast Simulation Algorithms for Alternate Arm Converters

There is increasing interest in alternate arm converter (AAC) due to the fault-tolerant characteristics it could offer in high-voltage direct current (HVdc) systems. The simulation of AACs is important to assist with the design of hardware, control systems, and planning of power system expansions. However, simulation of AAC-HVdc using existing software takes a long time due to the presence of a large number of states and non-linear devices. An ultra-fast single-or multi-CPU simulation algorithm to simulate the AAC-HVdc system based on state-space models and using hybrid discretization algorithm with a relaxation technique that reduces the imposed computational burden is presented in this paper. The developed algorithm is validated with respect to reference PSCAD/EMTDC model.

Debnath, Suman↗

SU-F-T-645: To Test Spatial Anddosimetric Accuracy of Small Cranial Target Irradiation Based On 1.5 T MRIscans Using Static Arcs with MLCDefined Fields

Purpose: To test spatial and dosimetric accuracy of small cranial target irradiation based on 1.5 T MRI scans using static arcs with MLC-defined fields Methods: A plastic (PMMA) phantom simulating a small brain lesion was mounted on a GammaKnife headframe equipped with MRI localizer. The lesion was a 3 mm long, 3.175 mm diameter cylindrical cavity filled with MRI contrast. Radiochromic film passing through the cavity was marked with pin pricks at the cavity center. The cavity was contoured on an MRI image and fused with CT to simulate treatment of a lesion not visible on CT. The transfer of the target to CT involved registering the MRI contrast cannels of the localizer that were visible on both modalities. Treatments were planned to deliver 800 cGy to the cavity center using multiple static arcs with 5.0×2.4 mm MLC-defined fields. The phantom was aligned on a STx accelerator by registering the conebeam CT with the planning CT. Films from coronal and sagittal planes were scanned and evaluated using ImageJ software Results: Geographic errors in treatment based on 1.5 T scans agreed within 0.33, −0.27 and 1.21 mm in the vertical, lateral and longitudinal dimensions, respectively. The doses delivered to the cavity center were 7.2% higher than planned. The dose distributions were similar to those of a GammaKnife. Conclusion: Radiation can be delivered with an accelerator at mm accuracy to small cranial targets based on 1.5 MRI scans fused to CTs using a standard GammaKnife headframe and MRI localizer. MLC-defined static arcs produce isodose lines very similar to the GammaKnife.

60 APPLIED LIFE SCIENCES↗

Sequencing System Building Blocks: Using a Component Architecture for Sequencing Software

Over the last few years software engineering has made significant strides in making more flexible architectures and designs possible. However, at the same time, spacecraft have become more complex and flight software has become more sophisticated. Typically spacecraft are often one-of-a-kind entities that have different hardware designs, different capabilities, different instruments, etc. Ground software has become more complex and operations teams have had to learn a myriad of tools that all have different user interfaces and represent data in different ways. At Jet Propulsion Laboratory (JPL) these themes have collided to require a new approach to producing ground system software. Two different groups have been looking at tackling this particular problem. One group is working for the JPL Mars Technology Program in the Mars Science Laboratory (MSL) Focused Technology area. The other group is the JPL Multi-Mission Planning and Sequencing Group. The major concept driving these two approaches on a similar path is to provide software that can be a more cohesive flexible system that provides a set of planning and sequencing system of services. This paper describes the efforts that have been made to date to create a unified approach from these disparate groups.

multi mission planning↗

IDC reengineering Phase 2 & 3 US industry standard cost estimate summary

Sandia National Laboratories has prepared a ROM cost estimate for budgetary planning for the IDC Reengineering Phase 2 & 3 effort, using a commercial software cost estimation tool calibrated to US industry performance parameters. This is not a cost estimate for Sandia to perform the project. This report provides the ROM cost estimate and describes the methodology, assumptions, and cost model details used to create the ROM cost estimate. ROM Cost Estimate Disclaimer Contained herein is a Rough Order of Magnitude (ROM) cost estimate that has been provided to enable initial planning for this proposed project. This ROM cost estimate is submitted to facilitate informal discussions in relation to this project and is NOT intended to commit Sandia National Laboratories (Sandia) or its resources. Furthermore, as a Federally Funded Research and Development Center (FFRDC), Sandia must be compliant with the Anti-Deficiency Act and operate on a full-cost recovery basis. Therefore, while Sandia, in conjunction with the Sponsor, will use best judgment to execute work and to address the highest risks and most important issues in order to effectively manage within cost constraints, this ROM estimate and any subsequent approved cost estimates are on a 'full-cost recovery' basis. Thus, work can neither commence nor continue unless adequate funding has been accepted and certified by DOE.

97 MATHEMATICS AND COMPUTING↗

An experiment with interactive planning models

Experiments on decision making in planning problems are described. Executives were tested in dealing with capital investments and competitive pricing decisions under conditions of uncertainty. A software package, the interactive risk analysis model system, was developed, and two controlled experiments were conducted. It is concluded that planning models can aid management, and predicted uses of the models are as a central tool, as an educational tool, to improve consistency in decision making, to improve communications, and as a tool for consensus decision making.

Beville, J.↗

FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover

The ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) vehicle consists of six identical, six degree of freedom limbs. FootFall is a ground tool for ATHLETE intended to provide an operator with integrated situational awareness, terrain reconstruction, stability and safety analysis, motion planning, and decision support capabilities to enable the efficient generation of flight software command sequences for walking. FootFall has been under development at NASA Ames for the last year, and having accomplished the initial integration, it is being used to generate command sequences for single footfalls. In this paper, the architecture of FootFall in its current state will be presented, results from the recent Human Robotic Systems Project?s Integrated Field Test (Moses Lake, Washington, June, 2008) will be discussed, and future plans for extending the capabilities of FootFall to enable ATHLETE to walk across a boulder field in real time will be described.

SunSpiral, Vytas↗