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IMAGE GALLERY - TASKS' PRIMARY IMAGES
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A Minimalistic Robot for In-situ Exploration of Small Bodies - The robot will be sealed in one enclosure and actuated through three mutually orthogonal flywheels.
A Minimalistic Robot for In-situ Exploration of Small Bodies 		Active Night-Time Stereo and Localization - Conceptual night-time system and ranging results.
Active Night-Time Stereo and Localization 		ACTUV Phase II -
ACTUV Phase II 		Advanced Sensing and Behaviors for Covert Operations of ACTUV -
Advanced Sensing and Behaviors for Covert Operations of ACTUV
 
Adversarial Game Theory for Enhanced ACTUV -
Adversarial Game Theory for Enhanced ACTUV 		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 		Angel Fire Phase II - An example of JPL data processing handled in real-time for Angel Fire.
Angel Fire Phase II 		Athena Rover Development - The Athena Rover before upgrades, in the JPL Marsyard.
Athena Rover Development 		ATHLETE Low Gravity Testbed - The ATHLETE vehicle is suspended from an cable-driven inverted Stewart platform to enable simulated low gravity operations.
ATHLETE Low Gravity Testbed
 
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 Aerial Cargo Utility System -
Autonomous Aerial Cargo Utility System 		Autonomous Robotic Construction -
Autonomous Robotic Construction
 
Autonomous Robotic Manipulation - Across the top are shown several representative pictures taken during execution of autonomous manipulation activities as indicated. The bottom row shows graphical representations of object recognition and localization, as well as possible trajectories evaluated for the hand, neck, and arm in the system.
Autonomous Robotic Manipulation 		Autonomous Robotic Manipulator Control -
Autonomous Robotic Manipulator Control 		Autonomous Rotorcraft Operations from Unprepared Sites (PHASE II) -
Autonomous Rotorcraft Operations from Unprepared Sites (PHASE II) 		Autonomous Stair Climbing for Portable Unmanned Ground Vehicles - Autonomous stair climbing in action.
Autonomous Stair Climbing for Portable Unmanned Ground Vehicles
 
Autonomy Algorithms for Navigation in High Sea States in Support of ACTUV -
Autonomy Algorithms for Navigation in High Sea States in Support of ACTUV 		Autonomy For Unmanned Underwater Vehicles - Artist's conception of a UUV performing adaptive area mine survey operations.
Autonomy For Unmanned Underwater Vehicles 		Autonomy For USSV For Littoral Combat Ship Missions - Long range stereo perception detects the presence of other boats which are moving obstacles. Red indicates driving directions which will result in a collision, purple indicates directions disallowed by the COLREGS, and green indicates good driving directions.
Autonomy For USSV For Littoral Combat Ship Missions 		Autonomy Integration For The US Navy Griffin Demonstration -
Autonomy Integration For The US Navy Griffin Demonstration
 
AWIMR: Autonomous Walking Inspection and Maintenance Robot -
AWIMR: Autonomous Walking Inspection and Maintenance Robot 		Axel Rovers for Exploring Extreme Terrains - The Axel Rove descends a cliff while suspended from a tether.
Axel Rovers for Exploring Extreme Terrains 		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
 
Combined EDL-Mobility Analysis Trade Study Tool (CEMAT) - Example path derived from CEMAT cost analysis of landing site and desired science target locations for a given terrain.
Combined EDL-Mobility Analysis Trade Study Tool (CEMAT) 		COMPASS - Graphical representation of an operations simulation of the proposed Multi Mission Space Exploration Vehicle (MMSEV).
COMPASS 		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 		GNEIMO: Generalized Internal Coordinate Molecular Dynamics Methods -
GNEIMO: Generalized Internal Coordinate Molecular Dynamics Methods 		Gripping Foot Mechanisms for Anchoring and Mobility in Microgravity and Extreme Terrain - The gripping foot system supports the Lemur IIB robot as it hangs from a vesicular basalt rock slab.
Gripping Foot Mechanisms for Anchoring and Mobility in Microgravity and Extreme Terrain 		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 target tracking.
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 		Implementation and Automation of Imaging Technologies for Angel Fire -
Implementation and Automation of Imaging Technologies for Angel Fire 		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 		Integrated Mission, Vehicle, and Sensor Control of the iPuma AUV - Operational scenario for the iPuma system.
Integrated Mission, Vehicle, and Sensor Control of the iPuma AUV 		ISS Remote Inspection System (IRIS) - Artist's depiction of IRIS inspecting ISS.
ISS Remote Inspection System (IRIS)
 
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 Surface Operations Simulator (LSOS) - A simulated view of a lunar rover with astronauts and solar array.
Lunar Surface Operations Simulator (LSOS) 		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 Ascent Vehicle Front End and Payload - Conceptual design for the front end of a possible Mars Ascent Vehicle and Sample Cache interface.
Mars Ascent Vehicle Front End and Payload 		Mars Rover Fast Traverse - Frame capture of a video documenting the navigation performance of the FPGA-based system. Overlays show the stereo image range map and terrain goodness map derived from it.
Mars Rover Fast Traverse 		Mars Superpressure Balloons -
Mars Superpressure Balloons
 
Medium Array Camera Calibration - An example of terrain geometry reconstruction.
Medium Array Camera Calibration 		Micro Autonomous Systems Collaborative Technology Alliance (MAST CTA) - Graphical representation of experimention in autonomous helicopter landing.
Micro Autonomous Systems Collaborative Technology Alliance (MAST CTA) 		Mobility Mechanics Modeling Toolkit (M3Tk) - Three mobility systems examples modeled with M3Tk.
Mobility Mechanics Modeling Toolkit (M3Tk) 		Moulin Ice Probe Deployment -
Moulin Ice Probe Deployment
 
MSL Mobility and Manipulation Planning - Reduced resolution screenshot of one view from the RSVP system.
MSL Mobility and Manipulation Planning 		Multi-mission EDL Reconstruction - Two views from the Multi-mission EDL Reconstruction tool.
Multi-mission EDL Reconstruction 		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 		Nighttime Perception and Visual Odometry for Small Unmanned Ground Vehicles - An example of nighttime illumination and feature tracking.
Nighttime Perception and Visual Odometry for Small Unmanned Ground Vehicles 		Orbiting Rainbows - As shown in the figure, 1) the aerosol cloud is first released; 2) it is contained by laser pressure to avoid dissipation and disruption by tidal forces, 3) it is shaped by optical manipulation into a two-dimensional object (coarse control), and 4) ultimately into a surface with imaging characteristics (fine control). The cloud shape has to be maintained against orbital disturbances by continuous optical figure control, also achieved optically. Applying differential light pressure re-targets the entire cloud, so that a change of line-of-sight can be induced. Selected parts of the aerosol are reshaped when required for precision wavefront control, thus enabling higher quality optics. The entire imaging system is now in full operation, searching for exoplanets (5), or engaged in remote sensing investigations (6).
Orbiting Rainbows
 
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 		Perception For High-Speed Legged Vehicles - A screen shot of a video showing Boston Dynamic's BigDog robot using a JPL perception system to see large rocks as an obstacle in its path and plan a route to avoid them.
Perception For High-Speed Legged Vehicles
 
Perception System Design for FCS ANS - Browse Caption test text.
Perception System Design for FCS ANS 		Phoenix Gecko Gripper - Gecko Gripper combines JPL’s space rated gecko adhesive and Altius’ selectively compliant capture head to make a universal gripper that can Touch-to-Grip. The tool provides revolutionary gripping capability using ON-OFF adhesion to grab any shape – even flat plates and blankets.
Phoenix Gecko Gripper 		Planetary Aerial and Surface Access Systems - Three of JPL's prototype airships undergoing inflation tests.
Planetary Aerial and Surface Access Systems 		Planetary Sample Sealing for Caching - Current working design of a Mars sample caching subsystem.
Planetary Sample Sealing for Caching
 
Power Efficient Fast Traverse for Mars Rovers -
Power Efficient Fast Traverse for Mars Rovers 		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 		Prototype Grapple Arm for Space Exploration Vehicle - Artist's concept of the appearance of the SEV arms.
Prototype Grapple Arm for Space Exploration Vehicle 		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
 
Rapid 3D Object Visualization For Mobile Robots - Terrain reconstruction is accomplished using imagery obtained from a number of frame locations.
Rapid 3D Object Visualization For Mobile Robots 		Real-time High-Fidelity Simulation for Autonomous Ground Vehicles -
Real-time High-Fidelity Simulation for Autonomous Ground Vehicles 		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 		Robot Humanoid Challenge - RoboSimian - An artist's depiction of the RoboSimian robot.
Robot Humanoid Challenge - RoboSimian
 
Robotic Reconnaissance Systems – Aerial Reconnaissance - Elevation map of a parked car obtained from multiple images.
Robotic Reconnaissance Systems – Aerial Reconnaissance 		Robotic Reconnaissance Systems – Dynamic Micro Ground Vehicle - The Durable Reconnaissance and Observation Platform (DROP).
Robotic Reconnaissance Systems – Dynamic Micro Ground Vehicle 		Robotic Reconnaissance Systems – Micro Air Vehicles - Views of the test system in flight, acquired imagery, and processing for navigation and determination of a safe landing zone.
Robotic Reconnaissance Systems – Micro Air Vehicles 		Robotics Collaborative Technology Alliance (RCTA) - JPL participates in RCTA research on Perception, and Dexterous Manipulation and Unique Mobility.
Robotics Collaborative Technology Alliance (RCTA)
 
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 		Sample Acquisition and Caching for a Potential Mars Caching Mission - Sample acquisition and caching is accomplished utilizing the Sample Acquisition Tool (SAT) which will be deployed to the surface by the Robotic Arm, and the Sample Handling, Encapsulation, and Containerization (SHEC) mechanism which will be mounted on the rover body. Hardware prototypes of a robotic arm, SAT, and SHEC are shown in the accompanying figure.
Sample Acquisition and Caching for a Potential Mars Caching Mission
 
Sampling Chain for Primitive Body Surface Sample Return - Components of the TAGSim Testbed.
Sampling Chain for Primitive Body Surface Sample Return 		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 		Small Body Surface Sampler and Explorer (SmalBoSSE) -
Small Body Surface Sampler and Explorer (SmalBoSSE) 		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
 
Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies - Once deployed, the hybrids would perform attitude-controlled hops for long-range traverses (steps A to B to C in the figure) and would tumble to reach specific locations (steps C to D in the figure).
Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies 		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 		Structured Light Imaging Module for Rover Navigation -
Structured Light Imaging Module for Rover Navigation
 
Surface Exploration Analysis and Simulation - Simulating ballistic trajectories on a small planetary body with non-uniform gravity using a polyhedral gravity model.
Surface Exploration Analysis and Simulation 		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 		Terrain Ontology and Massively Parallel Granular Media Models for Mobility - Graphical depiction of a simulation with a sphere on granular media.
Terrain Ontology and Massively Parallel Granular Media Models for Mobility 		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 		USSV Operations in Challenging Environments -
USSV Operations in Challenging Environments 		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 Navigation of a Small Rotorcraft - Visual range data for navigation of a small rotorcraft.
Visual Navigation of a Small Rotorcraft 		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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