At NASA Ames Research Center, the Intelligent Robotics Group (IRG) fields the K9 and K10 class rovers. Both use a mobile robot hardware architecture designed for extensibility and reconfigurability that allows for rapid changes in instrumentation and provides a high degree of modularity. Over the past ssveral years, we have worked with instrument developers at NASA centers, universities, and national laboratories to integrate or partially integrate their instruments onboard the K9 and K10 rovers. Early efforts required considerable interaction to work through integration issues such as power, data protocol and mechanical mounting. These interactions informed the design of our current avionics architecture, and have simplified more recent integration projects. In this paper, we will describe the IRG extensible avionics and software architecture and the effect it has had on our recent instrument integration efforts, including integration of four Mars Instrument Development Program devices.


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    Titel :

    Flexible Rover Architecture for Science Instrument Integration and Testing


    Beteiligte:
    Bualat, Maria G. (Autor:in) / Kobayashi, Linda (Autor:in) / Lee, Susan Y. (Autor:in) / Park, Eric (Autor:in)

    Kongress:

    AIAA Space 2006 ; 2006 ; San Jose, CA, United States


    Erscheinungsdatum :

    2006-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




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    AIAA-2006-7420 Flexible Rover Architecture for Science Instrument Integration and Testing

    Bualat, M. / Kobayashi, L. / Lee, S. et al. | British Library Conference Proceedings | 2006



    Science Target Assessment for Mars Rover Instrument Deployment

    Pedersen, Liam / Clancy, Daniel | NTRS | 2002


    Rover testing facilities.

    Boyer, K. | NTRS | 1966