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IMAGE GALLERY - TASKS' PRIMARY IMAGES
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Aerocapture Systems Definition - The task involves development of aerocapture technology which is an alternative orbit insertion technique to the conventional propulsive orbit insertion used on all past missions. In this maneuver, the spacecraft uses atmospheric drag to decelerate and effect a hyperbolic to elliptical orbit change. Aerocapture has never been attempted, although missions have been conducted in the related aeroassist domains of atmospheric entry and aerobraking. The output of this task is close to a Phase A feasibility assessment and preliminary design of an aerocapture mission. As such it will either lead to an actual mission or (if the feasibility is not indicated) exclude the destination from the candidate mission set.
Aerocapture Systems Definition 		ALHAT: Autonomous Landing and Hazard Avoidance Technology - Results from LIDAR-based terrain analysis algorithms developed at JPL. The top of the figure shows the steps necessary to detect landing hazards and select a safe landing site in topographic data provided by a LIDAR. The process is called Hazard Detection and Avoidance (HDA). The bottom left shows how two LIDAR scans are aligned to estimate surface relative velocity. The image on the bottom right shows the result of aligning a small 3D scan taken by a lidar with a larger topographic map to estimate the position of the a lander relative to the desired landing site to enable Terrain Relative Navigation (TRN).
ALHAT: Autonomous Landing and Hazard Avoidance Technology 		AMASE: ASTEP Mars Analogue Svalbard Expedition -
AMASE: ASTEP Mars Analogue Svalbard Expedition 		An Analytical Configuration Model for Modular Cooperative-repair Robot Teams Given Mission Constraints - Conceptual design of a modular rover.
An Analytical Configuration Model for Modular Cooperative-repair Robot Teams Given Mission Constraints
 
Athena Rover Development - The Athena Rover before upgrades, in the JPL Marsyard.
Athena Rover Development 		ATHLETE: Rough and Steep Terrain Lunar Surface Mobility - Docking experiments with two ATHLETE rovers.
ATHLETE: Rough and Steep Terrain Lunar Surface Mobility 		Automated Plant Micro-Propagation - The
Automated Plant Micro-Propagation 		Autonomous Aerobots for Exploration of Titan and Venus - The JPL aerobot technology testbed flying autonomously, with the Southern California mountains in the background.
Autonomous Aerobots for Exploration of Titan and Venus
 
Autonomous Robotic Construction -
Autonomous Robotic Construction 		Autonomous Robotic Manipulator Control -
Autonomous Robotic Manipulator Control 		Autonomous Stair Climbing for Portable Unmanned Ground Vehicles - A robot height image of an ascending stair- well showing the vanishing point of the stair edges. The solid green lines will fail the equidistant consistency check. The red line represents the continuation of the series of stair edges to the ground plane.
Autonomous Stair Climbing for Portable Unmanned Ground Vehicles 		AWIMR: Autonomous Walking Inspection and Maintenance Robot -
AWIMR: Autonomous Walking Inspection and Maintenance Robot
 
Biosleeve: Multi-electrode EMG Sleeve Human-Machine Interface -
Biosleeve: Multi-electrode EMG Sleeve Human-Machine Interface 		Cluster-Based Large Scale Surface Rover Simulations - Simulated rock grid used to verify that the MER navigation algorithm, GESTALT, can detect and circumvent specific obstacles. Tests varied the size and spacing of obstacles, as well as the start pose and goal position.
Cluster-Based Large Scale Surface Rover Simulations 		COTS Terminal Descent Sensor Flight Test - The Mars Science Laboratory landing scenario, showing a visible representation of the three beam landing radar emanating from the right side of the propulsive
COTS Terminal Descent Sensor Flight Test 		D* Integration into MER - A Field D* path through a D* cost map.
D* Integration into MER
 
DARPA Urban Challenge - Alice, the Caltech-led entry for the DARPA Urban Challenge. As a collaborator, JPL will provide technology for sensing, mission management, simulation, and testing.
DARPA Urban Challenge 		Distributed Motor Controller for Flight - A prototype version of the Distributed Motor Controller for spaceflight applications.
Distributed Motor Controller for Flight 		Distributed Rover Avionics Software -
Distributed Rover Avionics Software 		Distributed Spectroscopy for Mobile Science Laboratories - Conceptual scene depicting a surveying rover taking measurements with a mast-mounted, open-path absorption spectrometer. Tunable diode laser beams are aimed at a distant retroreflector; the spectrometer detects absorbed biogenic gases.
Distributed Spectroscopy for Mobile Science Laboratories
 
DSENDS Validation -
DSENDS Validation 		Elasmobranch Brain-Machine Interface -
Elasmobranch Brain-Machine Interface 		Enhancements for Stereo Obstacle Detection - Stereo vision-based obstacle detection in complex environments. Shown are the left monocular image and the computed, color-coded, depth map.
Enhancements for Stereo Obstacle Detection 		Exoskeleton - The Exoskeleton system is a master slave teleoperation system. On the right, the operator's hand and arm motions are measured by an instrumented glove and force reflecting hand controller. On the left, these motions are replicated in the action of grasping a wrench.
Exoskeleton
 
FIDO 5 Development - A plan view block diagram of the rover, showing the distribution of modular electronics throughout. The front, back, and mast mounted cameras have local processing, and rover central cavity has driving and steering motor control.
FIDO 5 Development 		HABBOT Two Arms Coordination -
HABBOT Two Arms Coordination 		Hazbot: Ground Emergency Response Vehicle - The Hazbot III mobile robot opening a door.
Hazbot: Ground Emergency Response Vehicle 		High-Resolution, Continuous Field-Of-View (FOV), Non-Rotating Imaging System Advanced Demonstration Model - Digital periscope prototype.
High-Resolution, Continuous Field-Of-View (FOV), Non-Rotating Imaging System Advanced Demonstration Model
 
Human Detection - Demonstration of moving person detection. Left: input image. Right: input image labeled with detected moving person.
Human Detection 		Humanoid Robot for Intelligent Handling and Assembly Tasks - Hope 2, turning on one leg.
Humanoid Robot for Intelligent Handling and Assembly Tasks 		Implementation and Automation of Imaging Technologies - Two overlapping images and a detail of their seamless mosaic.
Implementation and Automation of Imaging Technologies 		In Situ Hydrothermal Vent Probing and Sampling Device for Microbial Analysis -
In Situ Hydrothermal Vent Probing and Sampling Device for Microbial Analysis
 
In Space Robotic Assembly and Maintenance -
In Space Robotic Assembly and Maintenance 		Innovative Mobility Systems: Hopping Robots - The Frogbot hopping robot prototype.
Innovative Mobility Systems: Hopping Robots 		Instrument Placement Algorithm Validation - Approach and instrument placement validation.
Instrument Placement Algorithm Validation 		JSC ISS Cell Growth Experiments with JPL Micro-Imagers -
JSC ISS Cell Growth Experiments with JPL Micro-Imagers
 
JTARS: Joint Technical Architecture for Robotic Systems -
JTARS: Joint Technical Architecture for Robotic Systems 		Launchable and Retrievable Tetherbot Exploration System -
Launchable and Retrievable Tetherbot Exploration System 		Learning Perception for Autonomous Navigation -
Learning Perception for Autonomous Navigation 		Long Range Science Rover - Three views of the Rocky 7 rover, the platform created to prototype and demonstrate all technoologies for long range science roving.
Long Range Science Rover
 
Long-range Autonomous Rover Localization - Localization results for the Spirit MER rover traverse up Columbia Hills.
Long-range Autonomous Rover Localization 		Lunar Wheel - Conceptual new ATHLETE lunar wheel.
Lunar Wheel 		MACS: Multifunction Automated Crawling System - The MACS system being tested on a large military aircraft.
MACS: Multifunction Automated Crawling System 		Mars Superpressure Balloons -
Mars Superpressure Balloons
 
Moulin Ice Probe Deployment -
Moulin Ice Probe Deployment 		Multi-model Image Registration and Mapping - Hand vs. Automatic registration of Huygens Descent Imager Spectral Radiometer (DISR) image mosaic to Cassini Synthetic Aperture Radar (SAR).
Multi-model Image Registration and Mapping 		Multi-Sensor Hazard Assessment and Safe Site Selection - Color coding of an elevation map to show safe (green) and unsafe (red) landing areas.
Multi-Sensor Hazard Assessment and Safe Site Selection 		Multi-Sensor Terrain Classification and Terrain-Adaptive Navigation for Rovers in Very Rough Terrain -
Multi-Sensor Terrain Classification and Terrain-Adaptive Navigation for Rovers in Very Rough Terrain
 
Nano Rover - Prototype of the nanonrover, only 20cm long.
Nano Rover 		Passively Imaged, Multi-Cue HDA for Safe Landing - Image processing results for crater detection (center), flanked by next generation Mars lander (left) and balloon (right) concepts.
Passively Imaged, Multi-Cue HDA for Safe Landing 		PAUSE: Picosat and UAV Systems Engineering -
PAUSE: Picosat and UAV Systems Engineering 		PDM: Planetary Dexterous Manipulators - Landers view of Rocky 7 autonomously picking up 3 rocks (circa 1999).
PDM: Planetary Dexterous Manipulators
 
Planetary Sample Sealing for Caching - Preliminary sample caching subsystem conceptual design.
Planetary Sample Sealing for Caching 		PRoSPECT: Wide Area Prospecting Using Supervised Autonomous Robot - Artist conception of multi-robot remote supervision on the Moon.
PRoSPECT: Wide Area Prospecting Using Supervised Autonomous Robot 		RAMS: Robot Assisted Microsurgery - The RAMS system undergoing laboratory tests led by system developer Hari Das Nayar. Shown are two 6-DOF arms control by two 6 DOF force-reflecting haptic interfaces.
RAMS: Robot Assisted Microsurgery 		Real-time Landmark Tracking - Image sequence (left to right, top to bottom) while tracking a rock edge during rover navigation (blue - target lock; orange - search window)
Real-time Landmark Tracking
 
Remote Surface Inspection - A scaled space station truss mockup is inspected by a seven degrees-of-freedom robot arm carrying the ISEE sensor payload.
Remote Surface Inspection 		Reusable Robotic Software - CLARAty - A schematic representation of CLARAty's layered component architecture.
Reusable Robotic Software - CLARAty 		ROAMS Interface for Rover Technologies - A captured screen graphic depicting a rover in a dense Mars-like terrain.
ROAMS Interface for Rover Technologies 		ROAMS: Rover Modeling and Simulation - A captured screen graphic depicting a rover, with shaded cones showing the terrain viewed by the front and back stereo cameras, during simulation of rough terrain navigation.
ROAMS: Rover Modeling and Simulation
 
Robust Autonomous Instrument Placement for Rovers - The NASA Ames K9 rover approaching a rock for instrument placement operations. Technology developed at JPL under this effort is contributing the full system. (K9 has been developed from a JPL mechanical design, also used for JPL rovers FIDO and Rocky 8.)
Robust Autonomous Instrument Placement for Rovers 		Rock Detection Study for Phoenix - Rocks detected in orbital imagery using shadow analysis. Left shows the original image, and right shows the estimated size and position of each rock. Comparison with spacecraft capabilities determines if rock sizes and distribution presents a hazard for landing.
Rock Detection Study for Phoenix 		Rover for Steep Terrain Access - Preliminary tests of Axel descending a steep slope in the JPL MarsYard.
Rover for Steep Terrain Access 		Rover Maintenance and Upgrades - The Mars Science Laboratory Project focused technology development testbeds.
Rover Maintenance and Upgrades
 
Rover Navigation Algorithm Validation - Driving over obstacle test setup.
Rover Navigation Algorithm Validation 		Rover Technology Integration - CLARAty - Supported Platforms.
Rover Technology Integration - CLARAty 		Rover-based Manipulation Technology - One of several alternative manipulator designs considered for the Mars Science Laboratory Rover Project.
Rover-based Manipulation Technology 		SCAIP: Integrated System for Single Command Approach and Instrument Placement - The FIDO rover placing a close focus imager against surface rocks during desert field tests.
SCAIP: Integrated System for Single Command Approach and Instrument Placement
 
Shared and Traded Control for Remote Teleoperation -
Shared and Traded Control for Remote Teleoperation 		SHERPA System -
SHERPA System 		SimScape: Autonomy Infusion Simulation Environment - MER Gusev crater data in Simscape.
SimScape: Autonomy Infusion Simulation Environment 		SOOPS: Science Operations on Planetary Surfaces - Simulation of the rover and unknown planetary surfaces is a key part of the SOOPS effort.
SOOPS: Science Operations on Planetary Surfaces
 
Spacecraft Pin-Point Landing - Block diagram of system implementation and image processing products used by the helicopter testbed.
Spacecraft Pin-Point Landing 		Spiderbot: Robotic Colonies - The mesh crawling version of Spiderbot was developed and tested for low gravity mobility in structured environments.
Spiderbot: Robotic Colonies 		STELER: Supervised Telerobotics Laboratory - An operator uses force reflecting hand controllers to guide the performance of remote manipulation tasks.
STELER: Supervised Telerobotics Laboratory 		Tactical Rover-Based Geologic Mapping - Alignment of two overhead mosaics of surface images taken from two different rover positions. Above: miscorrelation of surface features (Rocks A and B) from localization error. Below: improved correlation of surface features and estimated rover position after manual image alignment.
Tactical Rover-Based Geologic Mapping
 
Telepresense for Remote Supervision of Robots -
Telepresense for Remote Supervision of Robots 		Telerobot Testbed - The JPL Telerobot Testbed, circa 1989. Shown are two semi-autonomous robot arms, with custom end effectors used to capture and service a slowly spinning satellite mockup on the left. Not show is the vision system tracking the satellite, and the operator control station with remote visual displays and dual force-reflecting hand controllers for teleoperation of the system.
Telerobot Testbed 		Telesupervised Adaptive Ocean Sensor Fleet - The TAOSF aerostat observation platform. The photo on the left shows the aerostat, which is an unmanned, lighter-than-air (LTA) unpowered blimp on a tether. Helium is used for buoyancy. The gimballed TAOSF observation platform avionics package is shown on the right. It includes a GPS, a barometric altimeter, a magnetic compass, a serial wireless data link, a wide-angle color camera, and a video transmitter.
Telesupervised Adaptive Ocean Sensor Fleet 		Towards a New Generation of Spacecraft Landing Testbeds: Emulating Spacecraft Landing Dynamics on a Helicopter -
Towards a New Generation of Spacecraft Landing Testbeds: Emulating Spacecraft Landing Dynamics on a Helicopter
 
Tumbleweed Rover Concept for in situ Martian Exploration -
Tumbleweed Rover Concept for in situ Martian Exploration 		Unmanned Sea Surface Vehicle -
Unmanned Sea Surface Vehicle 		Urbie: Urban Robot - Urbie climbing stairs autonomously.
Urbie: Urban Robot 		Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Planetary Rovers -
Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Planetary Rovers
 
Visual Tracking Integration into MER - Ground based demonstration of tracking with MER rover imagery from Mars.
Visual Tracking Integration into MER 		Water Detection - Demonstration of water detection in natural terrain. Left: pond reflecting sky and terrain. Right: detected water regions.
Water Detection 		Whole Rover-Arm Coordination - Evaluation of different robot designs for overall mission objectives. 2 DOF manipulator utilizing degrees of freedom of base to accomplish drilling task (left). 5 DOF manipulator capable of accomplishing task without requiring base movement (right).
Whole Rover-Arm Coordination


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