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Appendix G: TA04 Robotics, Tele-Robotics, and Autonomous Systems
Pages 147-166

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From page 147...
... The content of some of the technologies in the revised TABS (the ones that cover important technology gaps in the draft roadmap) are described in the remainder of this introduction.
From page 148...
... The TA04 draft roadmap supports NASA space missions with the development of new capabilities to enable new missions and enhance the efficiency and effectiveness of existing mission concepts. Through a combination of dexterous robotics, better human/robotic interfaces, improved mobility systems, and greater sensing and perception, TA04 technologies will extend the reach of human and robotic exploration.
From page 149...
... Terrain Relative Navigation 4.5.7. FDIR and Diagnosis 4.5.7.
From page 150...
... Relative Guidance Algorithms 4.6.3. Relative Navigation Sensors 4.6.3.
From page 151...
... 3. In Situ Analysis and Sample Return: Develop subsurface sampling and analysis exploration technologies to support in situ and sample return science missions.
From page 152...
... Just two of the medium-priority technologies have a strong connection to one of the top technical challenges. This shows a good level of consistency between the evaluations and the QFD rankings.
From page 153...
... Technology 4.6.2, Relative Guidance Algorithms Relative guidance technologies encompass algorithms that determine the desired trajectories to be followed between vehicles performing rendezvous (at long range) , proximity operations (at short range)
From page 154...
... This can be supported by experiments run parallel to baseline relative guidance operations on ISS visiting vehicles. The committee assessed the relative guidance technologies as "game-changing" because they enable an array of NASA missions including deep space human exploration missions, Mars sample return, large orbital debris capture, and station keeping for closely coordinated spacecraft constellations.
From page 155...
... means for object safe human interaction with subsurface sampling and Develop the capabilities to maneuver in a wide range operations, and recognition and dexterous robotic systems (whether in analysis exploration enable mobile robotic of NASA-relevant capture/attachment to manipulation that supports proximity or remotely) that technologies to support in systems to autonomously environmental, gravitational, (cooperative and non engineering and science accommodate any time situ and sample return and verifiably navigate and and surface and subsurface cooperative)
From page 156...
... The alignment to NASA's needs is high because this technology will impact crewed deep space exploration, sample return, servicing, and orbital debris mitigation. The ISS could be an effective plat form for evaluating the performance of new docking and capture mechanisms by enabling the repeated execution of experiments either inside or outside the ISS to test the reliability of these AR&D interfaces in a microgravity environment.
From page 157...
... The steering committee assessed the ISHM/FDIR/VSM systems as providing a major benefit due to the potential to significantly improve the robustness and reliability of future missions. The alignment to NASA's needs is high because it will impact many missions, such as deep space exploration, robotic science missions, planetary landers and rovers.
From page 158...
... This technology will support the design of game-changing science and exploration missions, such as new robotic missions at remote locations, and simulta neous robotic missions with reduced human oversight. Limited supervisory control has been deployed for the Mars Rovers, thus basic capabilities have a high TRL (9)
From page 159...
... Thus, supervisory control is judged to be a high-priority technology. Technology 4.3.6, Robotic Drilling and Sample Processing Robotic Drilling and Sample Processing (RDSP)
From page 160...
... RDSP technology is applicable to the continued exploration of Mars for in situ missions and for Mars Sample Return. RDSP technology developments will also benefit manned and unmanned missions to small bodies and the Moon, and RDSP will benefit missions to the surfaces of the rocky planets and the moons of the outer planets.
From page 161...
... These technologies included 4.7.3 Onboard Computing, 4.5.3 Autonomous Guidance and Control, 4.1.1 Vision, 4.7.1 Modularity/Commonality, 4.6.1 Relative Navigation Sensors, 4.1.4 Localization and Mapping, and 4.1.2 Tactile
From page 162...
... These technologies included 4.1.6 Multi-Sensor Data Fusion, 4.7.2 V&V of Complex Adaptive Systems; 4.5.5 Adjustable Autonomy; 4.4.7 Safety, Trust, and Interfacing of Robotic/Human Proximity Operations; 4.5.2 Dynamic Planning and Sequencing Tools; 4.4.1 Multi-Modal Human Systems Interaction; 4.4.5 Distributed Collaboration; 4.5.4 Multi-Agent Coordination; 4.5.6 Terrain Relative Navigation; 4.2.3 Above-Surface Mobility; 4.1.8 Terrain Classification and Characterization; and 4.2.2 Below-Surface Mobility. Despite the potential for significant benefits, these technologies were assessed to have a high probability of encountering pitfalls which could complicate the effort and cause additional development problems, possibly leading to significant cost growth and schedule delays.
From page 163...
... Briefing 2: Orbital Debris Removal and Proximity Operations Wade Pulliam (Logos Technology) presented observations that he generated along with other colleagues who have expertise in orbital debris or related technologies.
From page 164...
... mobility and manipulation for Mars Sample Return sample caching robotics; (2) multi-arm dexterous telerobotics (including immersive telepresence, haptics, and operation over delay-tolerant networks)
From page 165...
... Several participants stated that the roadmap covers a lot of ground with a very wide set of topics, which corresponds to a very high-level treatment of individual technologies. As a result, the technical challenges are also at a high level and not very focused.
From page 166...
... Additional autonomy can be tested on existing vehicles during extended missions, where the program risk tolerance is higher. • Technology pull from future missions.


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