Charles R. Weisbin

A New Method to Evaluate Human-Robot System Performance

One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

NASA Rover and Telerobotics Technology Program

This paper summarizes salient activities within the NASA Telerobotics Program, emphasizing complete telerobotic system prototypes which have been built and tested in realistic scenarios relevant to prospective users. The paper also describes complementary developments in longer-term component technologies.<<ETX>>

Evolving directions in NASA's planetary rover requirements and technology

Abstract Weisbin, C.R., Montemerlo, M. and Whittaker, W., Evolving directions in NASAs planetary rover requirements and technology, Robotics and Autonomous Systems, 11 (1993) 3–11. This paper reviews the evolution of NASAs planning for planetary rovers (i.e. robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that has been developed to achieve the desired capabilities. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. We first describe robotic vehicles, and their associated control systems, developed by NASA in the late 1980s as part of a proposed Mars Rover Sample Return (MRSR) mission. Suggested goals at that time for such an MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Subsequently, we present the current plans (considerably more modest) which have evolved both from technological ‘lessons learned’ in the previous period, and modified aspirations of NASA missions. This paper describes some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible.

A structured approach to strategic decision making for NASA's technology development

A method for collecting quantitative technology development information and matching it with capability needs of future NASA missions is described.

NASA's telerobotics research program

In 1985, NASA instituted a research program in Telerobotics to develop and provide the technology for applications of telerobotics to the United States Space program. The purpose of this paper is to describe the goals, organizing framework and content of that endeavor. The body of the paper reviews the actual tasks which comprise the content of the program which is now seven years old and has evolved significantly in terms of its content, goals and approach. The lessons learned in that time comprise the organizing framework of the current program. This organizing framework is also described.

A Systems Engineering Approach to Estimating Uncertainty in Above-Ground Biomass AGB Derived from Remote-Sensing Data

We integrate systems of measurement and modeling to improve estimation of uncertainties in above-ground biomass AGB derived from remote sensing. The outcome provides a unified starting point for the climate-change carbon community to assess uncertainty and sensitivity data and methodologies, and ultimately supports decision-making about which missions and instruments to develop for a desired cost/benefit ratio. Initial results include fusion of remote-sensing techniques e.g., radar and lidar, uncertainties associated with measurement and modeling, and the impact of potential uncertainty correlations across aggregated unit areas. Biomass uncertainty estimates are presented at the single-hectare level for the forestlands of California. Using a forest biomass map of California, we calculate changes in variance e.g., 2 orders of magnitude as a function of uncertainty correlation assumptions, with correlations extending to spatial scales up to 100 km. Using a variogram formalism to derive the correlation shape and magnitude, we show that the estimated variance for California above-ground biomass is between 1% and 2% 1 standard deviation for our current best estimate of the correlation range at 5-10 km-i.e., we bound the standard deviation by a factor of 2. This contrasts with 0.025% 1 standard deviation if one does not include the correlation term.

Robots in Space: U.S. Missions and Technology Requirementsinto the Next Century

The Telerobotics Program of the National Aeronautics and Space Administration (NASA) Office of Space Science is developing innovative telerobotics technologies to enable or support a wide range of space missions over the next decade and beyond. These technologies fall into four core application areas: landers, surface vehicles (rovers), and aerovehicles for solar system exploration and science; rovers for commercially supported lunar activities; free-flying and platform-attached robots for in-orbit servicing and assembly; and robots supporting in-orbit biotechnology and microgravity experiments. Such advanced robots will enable missions to explore Mars, Venus, and Saturns moon Titan, as well as probes to sample comets and asteroids. They may also play an important role in commercially funded exploration of large regions on Earths Moon, as well as the eventual development of a human-supporting Lunar Outpost. In addition, in-orbit servicing of satellites and maintenance of large platforms like the International Space Station will require extensive robotics capabilities.

Autonomous Operations for the Crew Exploration Vehicle — Trade Study Design Considerations

In the design of the operational concept for the CEV there are numerous choices regarding the locus of command and control. Systems such as power, propulsion, GN&C, life support, C&DH, etc. can be monitored and controlled by the flight crew, by onboard autonomous systems, by ground crew, or by ground autonomous systems. The decision of how to distribute control must be based on a complex trade‐off between development and validation costs, operations costs, and reliability/risks. Getting these trade‐offs wrong can lead to unnecessary growth in mission cost and risk, and unnecessary decreases in the time the crew has available for core exploration tasks. Over the next two years we will be performing an in depth analysis of the return on investment that we can expect from software tools that automate, or partially automate, the operation of CEV systems. In this paper we preview the issues in performing a trade study of this type, and the technical approach that will be used to gather and analyze the data req...

Temporal investment strategy to enable JPL future space missions

The Jet Propulsion Laboratory (JPL) formulates and conducts deep space missions for NASA (the National Aeronautics and Space Administration). The chief technologist of JPL has the responsibility for strategic planning of the laboratorys advanced technology program to assure that the required technological capabilities to enable future JPL deep space missions are ready as needed; as such he is responsible for the development of a Strategic Plan. As part of the planning effort, he has supported the development of a structured approach to technology prioritization based upon the work of the START (Strategic Assessment of Risk and Technology) team. A major innovation reported here is the addition of a temporal model that supports scheduling of technology development as a function of time. The JPL Strategic Technology Plan divides the required capabilities into 13 strategic themes. The results reported here represent the analysis of an initial seven

A methodology to determine impact of robotic technologies on space exploration missions

This paper presents a new method for evaluating relative strengths and impact of robotic technologies utilized for space exploration missions. The method uses a three tiered process involving mission analysis, technology performance characterization, and technology influence models. Mission analysis focuses on determining the goals of the mission and evaluating the metrics that quantify those goals. Technology performance characterization allows the method to classify the capabilities of a diverse set of robotic technologies, in a systematic fashion, whereas the technology influence models allow understanding of the relationships between technology output and mission requirements. This three-tiered process is designed to provide a general framework for understanding the relative benefits of robotic technologies. Details on the method are provided in this paper and are illustrated on a representative Mars exploration mission