Wilcox, B., "Nanorovers for Planetary Exploration," AIAA Robotics Technology Forum, Madison, WI, August 1996, pp. 11-1-11-6.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....and manipulation sensors makes way for increased science throughput; and sensor systems of low mass permit larger payloads for science instruments. In many rover design trades, multiple conflicting objectives abound, simultaneously requiring miniaturization, low mass and low power, for example [7]. As a result, sensing and perception system design for rovers is a challenging undertaking, and a fertile area for innovation by developers of sensor science and technology. LIMITED EARTH BASED SOLUTIONS In this section, we highlight some of the sensors commonly used for outdoor robotics ....

Wilcox, B., "Nanorovers for Planetary Exploration," AIAA Robotics Technology Forum, Madison, WI, August 1996, pp. 11-1-11-6.

....reliability. On the software side the robot must exhibit partial autonomy for reactive local navigation maneuvers, should be able to navigate globally and ask for help in situations which are beyond its capacities. Similar requirements must be satisfied for remote exploration in space robotics [Wilcox96] These type of missions, for robots in the size of Alice, are an on going research subject and still remain to be realized. However the building blocks and tools for mobile micro robots in the abovementioned application scenarios can be identified as: local and global localization, map building, ....

B. Wilcox et al, "Nanorovers for Planetary Exploration" AIAA Robotics Technology Forum, Madison, WI, August 1996, pp. 11-1-11-6.

....mobility based science surveys on planetary surfaces with a small fraction of the science payload expected for currently planned, and future, rover missions. Nanorovers have been proposed as possible payloads on landers used for missions to Mars, small bodies, or the moons of gas giant planets [1]. They could be used as individual units or cooperative teams to survey areas around a lander, or even to conduct long range exploration involving measurement of surface mineralogic and morphologic properties. Research efforts are underway to develop nanorovers that include mobility, computation, ....

....areas around a lander, or even to conduct long range exploration involving measurement of surface mineralogic and morphologic properties. Research efforts are underway to develop nanorovers that include mobility, computation, power, and communications in a package of several hundred grams in mass [1]. Thus far, a functional nanorover prototype has been developed that is capable of autonomous mobility, science data gathering, and transmission of telemetry to an operator control station [2] A flight version of the rover is currently under development as a technology experiment on an asteroid ....

B. Wilcox et al. Nanorovers for planetary exploration. In AIAA Robotics Technology Forum, pages 11--1--11--6, Madison, WI, Aug 1996.

....exploration involving surface chemical analysis. We are developing a highly integrated prototype rover system using current generation technology including mobility, Figure 1. Miniature rover prototype. computation, power, and communications in a package of several hundred grams in mass [5]. The product of this ongoing technology development is a miniature, but scientifically capable, rover that should easily fit within the projected mass volume reserves of future missions to Mars as well as small planetary bodies such as asteroids and comets. In this paper, we discuss embedded ....

....scanned holographic diffraction grating from which spectra are reflected onto a pair of IR point detectors. The lens of each instrument focuses at a common point several centimeters in front of the rover. To limit our discussion to relevant aspects of instrument control, we refer the reader to [5] for more detailed descriptions of the instruments and the internal optical arrangement. The instrument suite inside the chassis provides a single motor actuator for moving the camera focus tube and indexing an eight position filter wheel, as well as for scanning the spectrometer grating (via a ....

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Wilcox, B.H. et al. "Nanorovers for Planetary Exploration." AIAA Robotics Technology Forum. Madison, WI, (August, 1996), 11-1--11-6.

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