COMPLETED RESEARCH TASKS

NASA Science Mission Directorate (SMD) funded: 09/30/2012 - Combined EDL-Mobility Analysis Trade Study Tool (CEMAT) 08/31/2012 - Multi-mission EDL Reconstruction 09/30/2010 - Multi-modal Image Registration and Mapping 09/30/2010 - Tactical Rover-Based Geologic Mapping 09/30/2009 - Telesupervised Adaptive Ocean Sensor Fleet 09/30/2008 - ROAMS Interface for Rover Technologies 09/30/2008 - AMASE: Arctic Mars Analogue Svalbard Expedition 09/30/2008 - Reusable Robotic Software - CLARAty 09/30/2008 - Rock Hazard Detection Analysis 09/30/2008 - Large-Scale Terrain Support in ROAMS 09/28/2008 - High-Resolution Terrain Database for DSENDS 01/31/2008 - SHERPA System 12/31/2007 - DSENDS for AutoNav IPP 10/31/2007 - Rover Maintenance and Upgrades 10/31/2007 - Multi-Sensor Hazard Assessment and Safe Site Selection 10/31/2007 - Passively Imaged, Multi-Cue HDA for Safe Landing 10/31/2007 - DSENDS Enhancement 09/30/2007 - SCAIP: Integrated System for Single Command Approach and Instrument Placement 09/30/2007 - Mars Superpressure Balloons 09/30/2007 - Spacecraft Pin-Point Landing 09/30/2007 - Multi-Sensor Terrain Classification and Terrain-Adaptive Navigation for Rovers in Very Rough Terrain 09/30/2007 - Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Planetary Rovers 09/30/2007 - COTS Terminal Descent Sensor Flight Test 08/31/2007 - Whole Rover-Arm Coordination 07/31/2007 - Distributed Spectroscopy for Mobile Science Laboratories 07/30/2007 - Long-range Autonomous Rover Localization 05/31/2007 - Rock Detection Study for Phoenix 03/31/2007 - D* Integration into MER 01/31/2007 - Distributed Motor Controller for Flight 12/31/2006 - Athena Rover Development 12/31/2006 - DSENDS Validation 09/30/2006 - Instrument Placement Algorithm Validation 09/30/2006 - Aerocapture Systems Definition 09/30/2006 - Machine Vision Algorithm Toolbox 09/30/2006 - Moulin Ice Probe Deployment 09/30/2006 - In Situ Hydrothermal Vent Probing and Sampling Device for Microbial Analysis 09/30/2006 - Robust Autonomous Instrument Placement for Rovers 07/31/2006 - Rover-based Manipulation Technology 06/30/2006 - Rover Technology Integration - CLARAty 06/30/2006 - Rover Navigation Algorithm Validation 06/30/2006 - Visual Tracking Integration into MER 09/30/2005 - ROAMS: Rover Modeling and Simulation 09/30/2005 - SHPE/Landmark Models 09/30/2005 - MAESTRO for MSL 09/01/2005 - FIDO 5 Development 09/30/2001 - Nano Rover 09/30/1999 - PDM: Planetary Dexterous Manipulators 09/30/1998 - Long Range Science Rover NASA Office of the Chief Technologist (OCT): 09/23/2012 - Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies NASA Exploration Systems Mission Directorate (ESMD) funded: 01/01/2011 - Lunar Surface Operations Simulator (LSOS) 10/31/2010 - ALHAT: Autonomous Landing and Hazard Avoidance Technology 09/30/2010 - ATHLETE: Rough and Steep Terrain Lunar Surface Mobility 09/30/2009 - Rover for Steep Terrain Access 09/30/2007 - Lunar Wheel 12/31/2006 - Launchable and Retrievable Tetherbot Exploration System 09/30/2006 - HABBOT Two Arms Coordination 09/30/2006 - Humanoid Robot for Intelligent Handling and Assembly Tasks 04/30/2006 - A Plug-and-play Architecture for Real-time Intelligent Avionics 03/31/2006 - Telepresense for Remote Supervision of Robots 11/30/2005 - An Analytical Configuration Model for Modular Cooperative-repair Robot Teams Given Mission Constraints 11/30/2005 - Autonomous Robotic Manipulator Control 11/30/2005 - Automated Assembly and Reconfiguration of Future Large-Scale Space Systems 11/30/2005 - SimScape: Autonomy Infusion Simulation Environment 11/30/2005 - DARE: Distributed & Re-Taskable Electronics 11/30/2005 - AWIMR: Autonomous Walking Inspection and Maintenance Robot 11/30/2005 - Ultralightweight, Inflatable, Thin Film Ballutes for Earth Return from the Moon 11/30/2005 - JTARS: Joint Technical Architecture for Robotic Systems 11/30/2005 - In Space Robotic Assembly and Maintenance 11/30/2005 - SuperBot: Modular, Multifunctional, Reconfigurable Robot 11/30/2005 - PRoSPECT: Wide Area Prospecting Using Supervised Autonomous Robot 09/30/2005 - Autonomous Robotic Construction 09/30/2005 - Spiderbot: Robotic Colonies NASA Office of Aeronautics and Space Technology (Code R): 09/30/1997 - RAMS: Robot Assisted Microsurgery 09/30/1995 - Remote Surface Inspection 09/30/1995 - Hazbot: Ground Emergency Response Vehicle 09/30/1993 - STELER: Supervised Telerobotics Laboratory 09/30/1992 - Shared and Traded Control for Remote Teleoperation 09/30/1991 - Exoskeleton 09/30/1989 - Telerobot Testbed JPL Internal Research Programs funded: 09/30/2012 - Mars Ascent Vehicle Front End and Payload 09/30/2012 - Gripping Foot Mechanisms for Anchoring and Mobility in Microgravity and Extreme Terrain 09/30/2011 - Power Efficient Fast Traverse for Mars Rovers 09/30/2010 - Planetary Sample Sealing for Caching 09/30/2007 - SOOPS: Science Operations on Planetary Surfaces 09/30/2007 - Rover Testbed for Technology Infusion to JPL 09/30/2007 - Robotic Arm Design Process 09/30/2006 - Real-time Landmark Tracking 09/30/2006 - Tumbleweed Rover Concept for in situ Martian Exploration 09/30/2006 - Adaptive Human-Machine Interfaces for Collaborative Construction 09/30/2006 - Biosleeve: Multi-electrode EMG Sleeve Human-Machine Interface 09/30/2006 - Cluster-Based MSL Simulation Data Manager For Design & Performance Space Exploration 06/30/2006 - Towards a New Generation of Spacecraft Landing Testbeds: Emulating Spacecraft Landing Dynamics on a Helicopter 09/30/2005 - Cluster-Based Large Scale Surface Rover Simulations 09/30/2005 - Distributed Rover Avionics Software 09/30/2005 - Titan Aerobots 12/31/2000 - Innovative Mobility Systems: Hopping Robots Non-NASA funded: 04/28/2013 - Terrain Ontology and Massively Parallel Granular Media Models for Mobility 04/08/2013 - Night-Time Perception and Visual Odometry for Small Unmanned Ground Vehicles 02/24/2013 - UUV Dynamic High Level Planner 01/27/2013 - Real-time High-Fidelity Simulation for Autonomous Ground Vehicles 12/30/2012 - Autonomy For Unmanned Underwater Vehicles 09/25/2012 - Aerial Processing 12/31/2011 - Mobility Mechanics Modeling Toolkit (M3Tk) 10/02/2011 - Rapid 3D Object Visualization For Mobile Robots 10/01/2011 - Micro Autonomous Systems and Technology (MAST) 09/25/2011 - Medium Array Camera Calibration 07/17/2011 - Advanced Behaviors and Sensing for Unmanned Surface Vehicles 03/01/2011 - Autonomous Stair Climbing for Portable Unmanned Ground Vehicles 01/02/2011 - Autonomy Integration For The US Navy Griffin Demonstration 12/26/2010 - High-Resolution, Continuous Field-Of-View (FOV), Non-Rotating Imaging System Advanced Demonstration Model 10/03/2010 - Perception System Design for FCS ANS 09/26/2010 - Integrated Mission, Vehicle, and Sensor Control of the iPuma AUV 06/13/2010 - Visual Navigation of a Small Rotorcraft 01/31/2010 - Implementation and Automation of Imaging Technologies for Angel Fire 12/27/2009 - Integrated Mission, Vehicle, and Sensor Control of the I-PUMA AUV 10/25/2009 - Intelligent Autonomy for Maritime Navigation on Unmanned Surface Vehicles 09/30/2009 - Water Detection 09/30/2009 - Human Detection 09/30/2008 - Learning Perception for Autonomous Navigation 09/30/2008 - Vision System Development for BigDog 09/30/2008 - Robotic Perception Technology Transfer 12/31/2007 - DARPA Urban Challenge 09/30/2007 - Implementation and Automation of Imaging Technologies 12/31/2006 - Robotics Technology Transfer 09/30/2006 - Elasmobranch Brain-Machine Interface 09/30/2006 - Enhancements for Stereo Obstacle Detection 09/30/2005 - Vision System for Autonomous Helicopter 12/31/2004 - PAUSE: Picosat and UAV Systems Engineering 09/30/2004 - JSC ISS Cell Growth Experiments with JPL Micro-Imagers 09/30/2001 - Urbie: Urban Robot 09/30/2001 - Automated Plant Micro-Propagation 09/30/1996 - MACS: Multifunction Automated Crawling System Show Current Research Tasks