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AGATE: Autonomous Go and Touch Exploration

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNG05CA89C
Agency Tracking Number: 041064
Amount: $70,000.00
Phase: Phase I
Program: SBIR
Solicitation Topic Code: N/A
Solicitation Number: N/A
Timeline
Solicitation Year: N/A
Award Year: 2005
Award Start Date (Proposal Award Date): N/A
Award End Date (Contract End Date): N/A
Small Business Information
715 W. Michigan Ave.
Urbana, IL 61801
United States
DUNS: 824923056
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Michael Seelinger
 Principal Investigator
 (217) 377-5952
 mseelinger@yodersoftware.com
Business Contact
 Michael Seelinger
Title: Vice President
Phone: (217) 377-5952
Email: mseelinger@yodersoftware.com
Research Institution
N/A
Abstract

The innovation (AGATE, for Autonomous Go And Touch Exploration) will enable single-sol "go and touch" instrument placement from distances of up to five meters for scientific exploration rovers. It will reduce the number of sols required to examine objects of scientific interest, while increasing the accuracy of instrument placement relative to visually-specified targets. AGATE, based on the proposing firm's patented MCSM control algorithm, is innovative in providing, for the first time, stereo-vision based precision control of the mobile base of the rover and the onboard robotic arm relative to a visually-specified target. This provides a significant advantage over current MER technology since the new system will automatically compensate for wheel slippage and kinematic inaccuracy in order to ensure accurate placement of the instrument relative to that target. The algorithm will use the NASA-JPL standard CAHVOR stereo-camera model used on the Sojourner, Spirit, and Opportunity rovers. A key element of the innovation will be the capability of autonomous, precise, and robust transfer of target information from the navigation cameras (used for long-range) to the front hazard cameras (used for positioning the robotic arm). In the commercial market, AGATE will enable a vision-guided forklift to engage autonomously pallets located on high shelves.

* Information listed above is at the time of submission. *

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