INTELLIGENT ROBOT/SENSOR OPERATIONS PLANNING SYSTEMS

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: N/A
Agency Tracking Number: 16946
Amount: $495,269.00
Phase: Phase II
Program: SBIR
Awards Year: 1992
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Cybernet Systems Corp.
1919 Green Rd #b 101, Ann Arbor, MI, 48105
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
A TELEROBOT-SENSOR PLANNING SYSTEM WILL BE DEVELOPED BY COMBINING MATURE VISION-BASED GUIDANCE TECHNOLOGY, STANDARDIZED ROBOTIC PLATFORM INTERFACES, AND AN INTERACTIVEROBOT PLANNING SYSTEM INTEGRATED INTO A GRAPHICAL ROBOTIC VISUALIZATION SYSTEM. TO SUPPORT ADVANCED ROBOTIC SERVICINGOPERATED FROM THE GROUND (THROUGH TIME DELAYS AND BANDWIDTH LIMITATIONS), THIS TECHNOLOGY WILL ACCOMMODATE RAPID SERVICER RE-PLANNING AND MISSION MODIFICATION DUE TO THE VARIABILITY OF ON-ORBIT TASKS. AN IMPROVED SENSOR-ROBOT PROGRAMMING ENVIRONMENT WILL SIGNIFICANTLY EXTEND THE CURRENT GROUND-BASED TECHNOLOGY IN ROBOTS. THE APPROACH BEGINS WITH INCORPORATING CAD-BASED COMPUTER VISION INTO A STANDARDIZED ROBOTIC COMMAND AND CONTROL STRUCTURE (E.G., NASREM-LIKE). THEN STANDARDIZED SIMULATION MODULES WITH EQUIVALENT FUNCTION TO THE STANDARDIZED ROBOTIC AND SENSOR PROCESSING SUBSYSTEMS WILL BE IMPLEMENTED AND USED (IN PHASEII) BY AN AL PLANNING ENVIRONMENT (AND CONNECT TO A CONVENTIONAL GRAPHICS SYSTEM). THIS EFFORT IS EXPECTED TO INTEGRATE WITH OTHER SUPERVISED TELEROBOTIC SERVER TESTBED DEVELOPMENT WORK AT JPL (ESPECIALLY SINCE THE FIRST TASK ELEMENTS WOULD DEMONSTRATE GEOMETRICAL MODEL-DRIVEN VISION COMPONENTS ON A VME COMPATIBLE PLATFORM, DRIVING STANDARD ROBOTS LIKE JPL'S PUMAS). A TELEROBOT-SENSOR PLANNING SYSTEM WILL BE DEVELOPED BY COMBINING MATURE VISION-BASED GUIDANCE TECHNOLOGY, STANDARDIZED ROBOTIC PLATFORM INTERFACES, AND AN INTERACTIVEROBOT PLANNING SYSTEM INTEGRATED INTO A GRAPHICAL ROBOTIC VISUALIZATION SYSTEM. TO SUPPORT ADVANCED ROBOTIC SERVICINGOPERATED FROM THE GROUND (THROUGH TIME DELAYS AND BANDWIDTH LIMITATIONS), THIS TECHNOLOGY WILL ACCOMMODATE RAPID SERVICER RE-PLANNING AND MISSION MODIFICATION DUE TO THE VARIABILITY OF ON-ORBIT TASKS. AN IMPROVED SENSOR-ROBOT PROGRAMMING ENVIRONMENT WILL SIGNIFICANTLY EXTEND THE CURRENT GROUND-BASED TECHNOLOGY IN ROBOTS. THE APPROACH BEGINS WITH INCORPORATING CAD-BASED COMPUTER VISION INTO A STANDARDIZED ROBOTIC COMMAND AND CONTROL STRUCTURE (E.G., NASREM-LIKE). THEN STANDARDIZED SIMULATION MODULES WITH EQUIVALENT FUNCTION TO THE STANDARDIZED ROBOTIC AND SENSOR PROCESSING SUBSYSTEMS WILL BE IMPLEMENTED AND USED (IN PHASEII) BY AN AL PLANNING ENVIRONMENT (AND CONNECT TO A CONVENTIONAL GRAPHICS SYSTEM). THIS EFFORT IS EXPECTED TO INTEGRATE WITH OTHER SUPERVISED TELEROBOTIC SERVER TESTBED DEVELOPMENT WORK AT JPL (ESPECIALLY SINCE THE FIRST TASK ELEMENTS WOULD DEMONSTRATE GEOMETRICAL MODEL-DRIVEN VISION COMPONENTS ON A VME COMPATIBLE PLATFORM, DRIVING STANDARD ROBOTS LIKE JPL'S PUMAS).

* information listed above is at the time of submission.

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