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Technical Paper

VEVI: A Virtual Environment Teleoperations Interface for Planetary Exploration

1995-07-01
951517
Remotely operating complex robotic mechanisms in unstructured natural environments is difficult at best. When the communications time delay is large, as for a Mars exploration rover operated from Earth, the difficulties become enormous. Conventional approaches, such as rate control of the rover actuators, are too inefficient and risky. The Intelligent Mechanisms Laboratory at the NASA Ames Research Center has developed over the past four years an architecture for operating science exploration robots in the presence of large communications time delays. The operator interface of this system is called the Virtual Environment Vehicle Interface (VEVI), and draws heavily on Virtual Environment (or Virtual Reality) technology. This paper describes the current operational version of VEVI, which we refer to as version 2.0. In this paper we will describe the VEVI design philosophy and implementation, and will describe some past examples of its use in field science exploration missions.
Technical Paper

Component-based Control System for the Rotating-Disk Analytical System (R-DAS)

2003-07-07
2003-01-2529
The Rotating Disk Analytical System (R-DAS) is an in-situ, bio-analytical technology, which utilizes a micro-fluidic disk with similar form factor as an audio compact disc to enhance and augment microgravity-based cellular and molecular biology research. The current micro-fluidic assay performs live cell/dead cell analysis using fluorescent microscopy. Image acquisition and analysis are performed for each of the selected microscope slide windows. All images are stored for later download and possible further post analysis. The flight version of the R-DAS will occupy a double mid-deck shuttle locker or one quarter of an ISS rack. The control system for the R-DAS consists of a set of interactive software components. These components interact with one another to control disk rotation, vertical and horizontal stage motion, sample incubation, image acquisition and analysis, and human interface.
Technical Paper

Air and Water System (AWS) Design and Technology Selection for the Vision for Space Exploration

2005-07-11
2005-01-2810
This paper considers system design and technology selection for the crew air and water recycling systems to be used in long duration human space exploration. The ultimate objective is to identify the air and water technologies likely to be used for the vision for space exploration and to suggest alternate technologies that should be developed. The approach is to conduct a preliminary systems engineering analysis, beginning with the Air and Water System (AWS) requirements and the system mass balance, and then to define the functional architecture, review the current International Space Station (ISS) technologies, and suggest alternate technologies.
Journal Article

Autonomy and Intelligent Technologies for Advanced Inspection Systems

2013-09-17
2013-01-2092
This paper features a set of advanced technologies for autonomy and intelligence in advanced inspection systems of facility operations. These technologies offer a significant contribution to set a path to establish a system and an operating environment with autonomy and intelligence for inspection, monitoring and safety via gas and ambient sensors, video mining and speech recognition commands on unmanned ground vehicles and other platforms to support operational activities in the Cryogenics Test bed and other facilities and vehicles. These advanced technologies are in current development and progress and their functions and operations require guidance and formulation in conjunction with the development team(s) toward the system architecture.
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