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Index

 

Committees

 

 

 

Tuesday, June 17, 2014

Session1: Programmatics

Session 2a: Planetary Rovers 1

Session 2b: Orbital Debris Removal 1

Session 2c: Cooperative Robotics

Session 3a: Planetary Rovers 2

Session 3b: Orbital Debris Removal 2

Session 3c: Navigation 1

Session 4a: Planetary Rovers 3

Session 4b: Manipulator Design 1

Session 4c: Navigation 2

 

Wednesday, June 18, 2014

Plenary Session

Session 5a: Rover Test Campaigns

Session 5b: On-Orbit Servicing

Session 5c: Alternate Mobility

Session 6a: Terrain Assessment

Session 6b: Planning 1

Session 6c: Fault Detection, Isolation and Recovery

Plenary Session

Session 7a: In-Situ Resource Utilization

Session 7b: Manipulator Design 2

Session 7c: Scheduling

 

 

Thursday, June 19, 2014

Session 8a: Wheel/Soil Interaction

Session 8b: Simulation 1

Session 8c: Autonomous Science 1

Session 9a: Rover Mechanical Design

Session 9b: Simulation 2

Session 9c: Autonomous Science 2

Plenary Session

Session 10a: Remote Operations

Session 10b: Vision/Sensors 1

Session 10c: Planning 2

Session 11a: Vision/Sensors 2

Session 11b: Simulation 3

Session 11c: Human-Robot Interaction

 

Posters

 


 

International Executive Committee

CSA

DLR

ESA

JAXA

NASA

 


 

Local Organizing Committee

 

 

 


 

Tuesday, June 17, 2014

Session1: Programmatics

8:45

An Overview of the Canadian Space Agency’s Recent Space Robotics Activities

 

Erick Dupuis, Eric Martin, Martin Picard

 

Canadian Space Agency (CANADA)

9:10

Automation and Robotics in the German Space Program

 

Bernd Sommer

 

German Aerospace Center (GERMANY)

9:35

ESA AI and Robotics at iSAIRAS 2014

 

G. Visentin

 

European Space Agency (NETHERLANDS)

10:00

An Overview of Space Robotics Technology in Japan for Lunar or Planetary Exploration

 

Takashi Kubota

 

Institute of Space and Astronautical Science/Japan Aerospace Exploration Agency (ISAS/JAXA)(JAPAN)

10:25

2014 Robotics Activities at JPL

 

Richard Volpe

 

Jet Propulsion Laboratory, California Institute of Technology (USA)

Session 2a: Planetary Rovers 1

11:15

Design of a High Mobile Micro Rover within a Dual Rover Configuration for Autonomous Operations

 

Roland U. Sonsalla1, Yashodhan Nevatia2, Martin Fritsche1,Joel Bessekon Akpo1, Jeremi Gancet2, Frank Kirchner1,3

 

1 DFKI Robotics Innovation Center (GERMANY), 2 Space Application Services (BELGIUM), 3 University of Bremen (GERMANY)

11:40

Midsize Lunar Rover Development and Testing

 

Peter Visscher, Daniel Woolley

 

Ontario Drive & Gear (CANADA)

12:05

Development and Field Testing of Moonraker, a Four-Wheel Rover in Minimal Design

 

Kazuya Yoshida , Nathan Britton , John Walker

 

Department of Aerospace Engineering, Tohoku University (JAPAN)

Session 2b: Orbital Debris Removal 1

11:15

RTES: Robotic Technologies for Space Debris Removal

 

B. Mädiger, J. Sommer, I. Ahrns, S. Estable, B. Langpap, M. Dörmer

 

Astrium GmbH Bremen (GERMANY)

11:40

Validation of a Net Active Debris Removal simulator within parabolic flight experiment

 

Cercós, L.1, Stefanescu , R.1, Medina, A.1,Benvenuto, R.2, Lavagna, M.2, González, I.3, Rodríguez, N.3, Wormnes, K.4,

 

1 GMV Innovating Solutions (SPAIN), 2 Politecnico di Milano (ITALY), 3 Prodintec (SPAIN), 4 European Space Agency, (NETHERLANDS)

12:05

Reel mechanism design, prototyping and test for tether release, retrieve and control

 

Michèle Lavagna, Mattia Lanzani

 

Politecnico di Milano, Dipartimento di Scienze e Tecnologie Aerospaziali (ITALY)

Session 2c: Cooperative Robotics

11:15

Asteroid Exploration Using Plural Small Rovers and Relative Distance Estimation on Undulating Terrain

 

Masahiko Mikawa

 

University of Tsukuba (JAPAN)

11:40

Cooperative Navigation and Path Planning using a Jumping Robot and Ground Rover for Efficient Exploration

 

Saroj Paudel1, Takashi Kubota2

 

1 The University of Tokyo (JAPAN), 2 Institute of Space and Astronautical Science/Japan Aerospace Exploration Agency (ISAS/JAXA)(JAPAN)

12:05

Towards safe autonomy in space exploration using reconfigurable multi-robot systems

 

Thomas M. Roehr, Ronny Hartanto

 

DFKI GmbH Robotics Innovation Center (GERMANY)

Session 3a: Planetary Rovers 2

14:00

Phobos and Deimos on Mars – Two Autonomous Robots for the DLR SpaceBot Cup

 

Niko Sünderhauf, Peer Neubert, Martina Truschzinski, Daniel Wunschel, Johannes Pöschmann, Sven Lange, and Peter Protzel

 

Chemnitz University of Technology (GERMANY)

14:25

Mechanical Design of a Rover for Mobile Manipulation in Uneven Terrain in the Context of the SpaceBot Cup

 

Marc Manz1, Roland U. Sonsalla1, Jens Hilljegerdes2, Christian Oekermann1, Jakob Schwendner1,Sebastian Bartsch1,Stephan Ptacek1

 

1 DFKI Robotics Innovation Center, 2 University of Bremen, FB3, Robotics Lab, Bremen (GERMANY)

14:50

Development of Planetary Exploration Rover with Advanced Mobility and Intelligence

 

M. Otsuki1, K. Otsu2, S. Sugimura2, T. Oya2, T. Honda2, Ryo Murakami3 , T. Kubota1

 

1 Japan Aerospace Exploration Agency, 2 University of Tokyo, 3Kochi University of Technology (JAPAN)

15:15

Robotic Developments for Extreme Environments – Deep Sea and Earth’s Moon

 

Bernd Schaefer1, Jan Albiez2, Matthias Hellerer1, Martin Knapmeyer1, Gerrit Meinecke3, Olaf PfannKuche4, Laurenz Thomsen5, Martina Wilde6, Thomas Wimböck1, Tim van Zoest1

 

1German Aerospace Center, 2DFKI Robotics Innovation Centre, 3 Marum, Center for Marine Environmental Sciences, 4GEOMAR Helmholtz Center for Ocean Research, 5 Jacobs University, 6Alfred Wegener Institute (GERMANY)

Session 3b: Orbital Debris Removal 2

14:00

Advanced Space Situational Awareness through Automated Conjunction Risk Analysis System (CRAMS)

 

Viqar Abbasi, Michel Doyon, David Golla, Rahman Babiker

 

Canadian Space Agency (CANADA)

14:25

A Scenario and Technologies for Space Debris Removal

 

Shin-Ichiro Nishida1, Naohiko Kikuchi2

 

1Tottori University, 2 The University of Electro-Communications  (JAPAN)

14:50

Initial Orbital Performance Result of Nano-Satellite STARS-II

 

Masahiro Nohmi

 

Kagawa University (JAPAN)

15:15

 Spacecraft Robotic Capture Tool

 

 John Ratti, Richard Rembala

 

 MacDonald Dettwiler and Associates (CANADA)

Session 3c: Navigation 1

14:00

Onboard Detection and Correction of Orbital Registration Errors Using Rover Imagery

 

Greydon Foil, Christopher Cunningham, David S. Wettergreen, William L. "Red" Whittaker

 

Carnegie Mellon University (USA)

14:25

Extraction of Common Regions of Interest from Orbital and Rover (Ground) acquired Imagery

 

Evangelos Boukas1, Antonios Gasteratos1, Gianfranco Visentin2

 

1 University of Thrace Xanthi (GREECE), 2 European Space Agency (NETHERLANDS)

14:50

Infrastructure Free Rover Localization

 

Ara V. Nefian1, Xavier Boyssounousse2, Laurence Edwards2, Taemin Kim3, Emily Hand4, Jared Rhizor4, Matt Deans2, George Bebis4, Terry Fong2

 

1 Carnegie Mellon University, 2 NASA Ames Research Center, 3 Stinger Ghaffarian Technologies, 4 University of Nevada, Reno (USA)

15:15

3D Scan Registration for using Curvelet Features in Planetary Environments

 

Siddhant Ahuja1, Peter Iles2, Steven L. Waslander1

 

1University of Waterloo, 2Neptec Design Group (CANADA)

Session 4a: Planetary Rovers 3

16:00

Development and Evaluation of Novel Pulley Suspension Mechanism for Lunar or Planetary Exploration Rover

 

Tomohiro Oya1, Kyohei Otsu1, Masatsugu Otsuki2, Takashi Kubota2, Tatsuaki Hashimoto2

 

1The University of Tokyo, 2Japan Aerospace Exploration Agency (JAPAN)

16:25

ExoMars Suspension and Locomotion

 

Ryan McCoubrey1, Joseph Smith2, Alberto Cernusco3, Stephen Durrant4, Robin Phillips5, Sean Jessen1, Howard Jones1, Paul Fulford1

 

1MacDonald Dettwiler and Associates (CANADA), 2EADS Astrium (UNITED KINGDOM), 3Thales Alenia Space (ITALY), 4European Space Agency (NETHERLANDS), 5Maxon Motor (SWITZERLAND)

16:50

Control and Mobility of a Novel Wired Exploration Robot for Vertical Hole on the Moon

 

Shuhei Shigeto1, Sayuri Sugimura1, Masatsugu Otsuki2, Takashi Kubota2

 

1University of Tokyo (JAPAN), 2ISAS Japanese Aerospace Exploration Agency (JAPAN)

17:15

An Active Suspension System for a Planetary Rover

 

F. Cordes, D. Kuehn, C. Oekermann, A. Babu, D. Kuehn, T. Stark, and F. Kirchner

 

DFKI Robotics Innovation Center Bremen (GERMANY)

Session 4b: Manipulator Design 1

16:00

Small modular robot with self-disassembly function for intra-vehicular supporting system

 

Kenichi Tamamushi, Naohiro Uyama, Tomohiro Narumi, Shinichi Kimura

 

Tokyo University of Science (JAPAN)

16:25

Modular Robot Manipulators with Precision Control

 

Wen-Hong Zhu, Tom Lamarche, Erick Dupuis, and Eric Martin

 

Canadian Space Agency (CANADA)

16:50

The Design of key mechanical functions for a super multi-DoF and extendable Space Robotic Arm

 

Kent Yoshikawa, Yuichiro Tanka, Mitsushige Oda, Hiroki Nakanishi

 

Tokyo Institute of Technology (JAPAN)

17:15

Tether-based Robot Locomotion Experiments in REX-J mission

 

Hiroki Nakanishi1, Mitsuhiro Yamazumi1, Sotaro Karakama1, Mitsushige Oda1, Shinichiro Nishida2, Hiroki Kato2, Keisuke Watanabe2, Atsushi Ueta2, Masahiro Yoshii3 and Satoshi Suzuki3

 

1Tokyo Institute of Technology, 2Japan Aerospace Exploration Agency, 3AES Co., Ltd. (JAPAN)

Session 4c: Navigation 2

16:00

Lunar Prospecting: Autonomous Localization of Volatiles on the Moon With a Mobile Robot

 

Rob Hewitt, Brian Lynch

 

Queen’s University (CANADA)

16:25

Time-Dependent Planning for Resource Prospecting

 

Chris Cunningham1, Heather Jones1, Jacqueline Kay2,Kevin M. Peterson3, William “Red” Whittaker1

 

1Carnegie Mellon University, 2 Swarthmore College, 3Astrobotic Technology, Inc. (USA)

16:50

Place Revisiting and Teleoperation for a Sample-Return Mission Control Architecture

Laszlo-Peter Berczi1, Christopher Ostafew1, Braden Stenning1, Timothy D.Barfoot1,  E. Jones3, Livio Tornabene2, Gordon Osinski2, Mike Daly 3

 

1University of Toronto,  2Western University, 3York University, (CANADA)

17:15

An Autonomous Mobile Manipulator for Collecting Sample Containers

 

Sankaranarayanan Natarajan, Sebastian Kasperski, Markus Eich

 

DFKI GmbH, Robotics Innovation Center (GERMANY)

Wednesday, June 18, 2014

Plenary Session

8:10

High Performance Space Flight Computing (HPSC) Next-Generation Space Processor (NGSP)  A Joint Investment of NASA and AFRL

Richard Doyle1, Raphael Some1, Wesley Powell2, Gabriel Mounce3, Montgomery Goforth4, Stephen Horan5, Michael Lowry6

1Jet Propulsion Laboratory (USA), 2NASA Goddard Spaceflight Center, 3Air Force  Research Lab, 4NASA Johnson Space Center, 5NASA Langley Research Center, 6NASA Ames Research Center

Session 5a: Rover Test Campaigns

8:40

SAFER: The promising results of the Mars mission simulation in Atacama, Chile

 

Sev Gunes-Lasnet1, Michel Van Winnendael2, Prof. Guillermo Chong Diaz3, Susanne Schwenzer4 , Derek Pullan5

 

1RAL Space (UNITED KINGDOM), 2European Space Agency (NETHERLANDS), 3Universidad Catolica Del Norte (CHILE), 4Open University (UNITED KINGDOM), 5 Leicester University (UNITED KINGDOM)

9:05

Demonstrating Autonomous Mars Rover Science Operations in the Atacama Desert

 

Woods, M., Shaw, A., Wallace, I., Malinowski, M. & Rendell, P.

 

SCISYS (UNITED KINGDOM)

9:30

Lunar Rover Remote Driving using Monocameras under Multi-Second Latency and Low-bandwidth: Field Tests and Lessons Learned

 

David Gingras, Pierre Allard, Tom Lamarche, Simon Rocheleau, Sébastien Gemme, Laurence Deschenes-Villeneuve and Éric Martin

 

Canadian Space Agency (CANADA)

9:55

Results from testing crew-controlled surface telerobotics on the International Space Station

 

Maria Bualat1, Debra Schreckenghost2, Estrellina Pacis3, Terrence Fong1, Donald Kaler4, Brent Beutter1

 

1NASA, 2TRACLabs, 3SPAWAR Systems Center Pacific  (USA), 4San Jose State University Foundation Inc.

10:20

Mobile Robotic Platform Deployment as Part of a Martian Mission Simulation

 

Ewan Reid1, Peter Iles1, Nick Cristello1, Martin Labrie1, Michaela Musilova2, Kai Staats3

 

1Neptec Design Group (CANADA), 2University of Bristol, 3African Institute for Mathematical Sciences

Session 5b: On-Orbit Servicing

8:40

The DARPA Phoenix Spacecraft Servicing Program: Overview and Plans for Risk Reduction  

 

Dr. Carl Glen Henshaw

 

US Naval Research Laboratory (USA)

9:05

Automated Simulation and Configuration of Attitude and Orbit Control and Thermal Subsystems for Reconfigurable Satellites

 

Thomas Meschede, Jens Rießelmann

 

ILR, Technische Universität Berlin (GERMANY)

9:30

Miniature Orbital Dexterous Servicing System

 

Dr. David L. Akin, Katherine McBryan, Nicholas M Limparis, Christopher J. Carlsen, Kevin Davis

 

Space Systems Laboratory, University of Maryland (USA)

9:55

Robotics Servicing Tool for Large Satellites

 

B. Mädiger, B. Langpap, M. Dörmer, I. Ahrns

 

Astrium GmbH Bremen (GERMANY)

10:20

Robotic Refuelling Mission – Demonstrating Satellite Refuelling technology on board the ISS

 

Laurie Metcalfe, Tara Hillebrandt

 

Canadian Space Agency (CANADA)

Session 5c: Alternate Mobility

8:40

Development of hopping rovers for a new challenging asteroid

 

Tetsuo YOSHIMITSU1, Takashi KUBOTA1, Atsushi TOMIKI1, Yoji KURODA2

 

1Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 2Meiji University

9:05

Free-Fall Experiments of Environment-Driven Torquer with Magnetic Latch for Asteroid Exploration

 

Yuichi Tsumaki1, Ryo Kazama1, Yoshitaka Kikuchi1, Kohei Ota1, Atsuhisa Sugai1, Takashi Mineta1, Riichiro Tadakuma1, Tetsuo Yoshimitsu2, Takashi Kubota2, Tadashi Adachi3, Yoji Kuroda4, Hajime Yano2

1 Yamagata University, 2 Institute of Space and Astronautical Science/JAXA, 3 SociaTechno, 4 Meiji University (JAPAN)

9:30

A New Small Body Exploration Robot with Active Thermal Control

 

Takuma Honda1 (The Univ. of Tokyo), Yosuke Miyata1 (The Univ. of Tokyo), Tetsuo Yoshimitsu2 (ISAS/JAXA), Takashi Kubota2 (ISAS/JAXA)

 

1Graduate School of Engineering, The University of Tokyo, 2 Institute of Space and Astronautical Science/Japan Aerospace Exploration Agency (JAPAN)

9:55

Long Throw with Casting Probe System

 

Hitoshi Arisumi1, Masatsugu Otsuki2 and Takeshi Hoshino2

 

1National Institute of Advanced Industrial Science and Technology,  2Japan Aerospace Exploration Agency (JAPAN)

10:20

SUPERball: Exploring Tensegrities for Planetary Probes

 

Jonathan Bruce1,2, Andrew P. Sabelhaus3, Yangxin Chen3, Dizhou Lu3, Kyle Morse5, Sophie Milan5, Ken Caluwaerts4, Alice M. Agogino3, Vytas SunSpiral2

 

1University of California, Santa Cruz; 2NASA Ames Research Cente;3University of California, Berkeley; 4Ghent University   (USA), 5University of Idaho

Session 6a: Terrain Assessment

11:05

Evaluating an Integration of Spacecraft Location Estimation with Crater Detection Toward Smart Lander for Investigating Moon

 

Keiki Takadama1, Tomohiro Harada1,  Hiroyuki Kamata2 , Shinji Ozawa3 , Seisuke Fukuda4 and Syujirou Sawai4

 

1The University of Electro-Communications, 2Meiji University, 3Aichi University of Technology, 4Japan Aerospace Exploration Agency (JAPAN)

11:30

Automatic Sensor Placement for Complex Three-dimensional Inspection and Exploration

 

François-Michel De Rainville, Christian Gagné, and Denis Laurendeau

 

Laboratoire de vision et systèmes numériques, Université Laval (CANADA)

Session 6b: Planning 1

11:05

MAGiC : Multi-Agent Planning using Grid Computing concepts

 

Daniel Saur, Tareq Rezaul Haque, Ralf Herzog and Kurt Geihs

 

Distributed Systems, Kassel University (GERMANY)

11:30

Simulation-based Optimization, Reasoning and Control: The eRobotics Approach Towards Intelligent Robots

 

Linus Atorf, Michael Schluse, Jürgen Rossmann

 

Institute for Man-Machine Interaction, RWTH Aachen University (GERMANY)

Session 6c: Fault Detection, Isolation and Recovery

11:05

Maintaining, Minimizing, and Recovering Machine Language Program through SEU in On-Board Computer

 

Tomohiro Harada, Keiki Takadama

 

The University of Electro-Communications (JAPAN)

11:30

Evaluation Testing of Learning-based Telemetry Monitoring and Anomaly Detection System in SDS-4 Operation

 

T. Yairi1, T. Oda1, Y. Nakajima2, N. Miura2, N. Takata2

 

1The University of Tokyo, 2 Japan Aerospace Exploration Agency (JAPAN)

Plenary Session

12:05

What Drives Curiosity? Robotic Technologies on the Mars Science Laboratory

Mark Maimone

Jet Propulsion Laboratory (USA)

Session 7a: In-Situ Resource Utilization

14:15

Towards a Heterogeneous Modular Robotic Team in a Logistic Chain for Extended Extraterrestrial Exploration

 

Roland U. Sonsalla1, Florian Cordes1, Leif Christensen1, Ste en Planthaber1, Jan Albiez1, Ingo Scholz1 and Frank Kirchner1, 2

 

1 DFKI Robotics Innovation Center  (GERMANY), 2 University of Bremen (GERMANY)

14:40

Resources Prospecting & Mobility Beyond Earth

 

Martin Picard1, Taryn Tomlinson1, Régent L’Archevêque1, Daniel Lefebvre1,Steeve Montminy1,

 

Gerald B. Sander2, Anthony Colaprete3, Jacqueline Quinn4,William E. Larson4, Donald G. Chavers5, Daniel R. Andrews3, Richard C. Elphic3

 

1Canadian Space Agency (CANADA), 2National Aeronautics and Administration Johnson Space Center, 3National Aeronautics and Administration Ames Research Center, 4National Aeronautics and Administration Kennedy Space Center, 5National Aeronautics and Administration Marshall Space Flight Center

15:05

Manna from Heaven – Preliminary Efforts for a Self-Replicating 3D Printer for Lunar In-Situ Resource Utilisation

 

Alex Ellery

 

Carleton University – Department of Mechanical & Aerospace Engineering (CANADA)

Session 7b: Manipulator Design 2

14:15

The laboratory model of the manipulator arm (WMS LEMUR) dedicated for on-orbit operation

 

Karol Seweryn, Jakub Lisowski, Tomasz Barciński, Monika Ciesielska, Kamil Grassmann, Jerzy Grygorczuk, Marcin Krzewski, Tomasz Kuciński,

 

Janusz Nicolau-Kukliński, Rafał Przybyła, Konrad Rutkowski, Tomasz Rybus, Konrad Skup, Tomasz Szewczyk, Roman Wawrzaszek

14:40

Space Research Centre of the Polish Academy of Sciences (CBK PAN) (POLAND)

 

Structure Design of An End Effector For The Chinese Space Station Experimental Module Manipulator

 

Kui Sun, Fenglei Ni, Yingyuan Zhu, Zongwu Xie, Hong Liu

 

Harbin Institute of Technology (CHINA)

 

Session 7c: Scheduling

14:15

Activity-based Scheduling of Science Campaigns for the Rosetta Orbiter: An Early Report on Operations

 

S. Chien1, G. Rabideau1, D. Tran1, D. Chao1, F. Nespoli2, M. Fernandez2, M. Kueppers2, B. Geiger2, C. Vallat2, F. Vallejo2

 

1Jet Propulsion Laboratory, California Institute of Technology (USA), 2European Space Agency (NETHERLANDS)

14:40

Onboard Autonomy on the Intelligent Payload EXperiment (IPEX) Cubesat Mission: A pathfinder for the proposed HyspIRI mission Intelligent Payload Module

 

S. Chien1, J. Doubleday1, D. Thompson1, K. Wagstaff1, J. Bellardo2, C. Francis2, E. Baumgarten2, A. Williams2, E. Yee2, D. Fluitt2, E. Stanton2, J. Piug-Suari2

 

1Jet Propulsion Laboratory, California Institute of Technology, 2California Polytechnic State University, San Luis Obispo (USA)

15:05

Building Flexible Downloads Plans for Agile Earth-observing satellites

 

A. Maillard1,2,3, C. Pralet1, G. Verfaillie1, J. Jaubert2, T. Desmousceaux3

 

1 ONERA, 2 Centre National d'Etudes Spatiales, 3 Astrium (FRANCE)

Thursday, June 19, 2014

Session 8a: Wheel/Soil Interaction

8:30

Modeling and validation of mobility characteristics of the Mars Science Laboratory Curiosity rover

 

Carmine Senatore1, Feng Zhou2, Keith Bennett2, Raymond E. Arvidson2,, N. Stein2, Brian Trease3, Randy Lindemann3, Paolo Bellutta3, Matthew Heverly3, Karl Iagnemma1

 

1Massachusetts Institute of Technology, 2Washington University in St. Louis, 3Jet Propulsion Laboratory, California Institute of Technology (USA)

8:55

Accurate Estimation of Wheel Pressure-Sinkage Traits on Sandy Terrain using In-wheel Sensor System

 

Takayuki Shirai, Genya Ishigami

 

Department of Mechanical Engineering, Keio University (JAPAN)

9:20

On-Line Estimation of Soil Parameters Using the Kapvik Micro Rover

 

Christopher Nicol1, Alex Ellery1, Edward Cloutis2

 

1Carleton University, 2University of Winnipeg (CANADA)

9:45

Wheel-Soil Interaction Data Generation and Analysis on Characterized Martian Soil Simulants

 

S. Michaud1, G. Kruse2, M. van Winnendael3

 

1 RUAG Space (SWITZERLAND),  2 Deltares (NETHERLANDS), 3 European Space Agency (NETHERLANDS)

Session 8b: Simulation 1

8:30

Hybrid Motion Simulator for Capturing H-II Transfer Vehicle by Flexible Space Manipulator

 

Ippei Takahashi1, Satoko Abiko1, Xin Jiang1, Teppei Tsujita1, Masaru Uchiyama1, Hiroki Nakanishi2, Hiroshi Ueno3, and Mitsushige Oda2,3

 

1Tohoku University, 2Tokyo Institute of Technology, 3Japan Aerospace Exploration Agency (JAPAN)

8:55

Robotics Rendezvous&Capture Test Facility "Inveritas"

 

J. Paul1, F. Kirchner1, I. Ahrns2, J. Sommer2

 

1DFKI-Robotics Innovation Centre (GERMANY), 2Airbus Defense and Space (GERMANY)

9:20

Hardware-in-the-Loop Simulation of Satellite Capture on a Ground-based Robotic Testbed

 

Craig Carignan1, Nicholas Scott2, Stephen Roderick3

 

1University of Maryland, 2J & T, Inc., 3PTR Group (USA)

9:45

A Reasonable and Robust Attitude Determination and Control System for Nano Satellite TSUBAME

 

Ting HAO1, Takashi Kamiya1, XuanHuy Le1, Shota Kawajiri1 and Saburo MATUNAGA2

 

1Tokyo Institute of Technology, 2The Institute of Space and Astronautical Science, Sagamihara (JAPAN)

Session 8c: Autonomous Science 1

8:30

Agile Science: Using Onboard Autonomy for Primitive Bodies and Deep Space Exploration

 

Steve Chien, Gregg Rabideau, Dero Gharibian, David Thompson, Kiri Wagstaff, Brian Bue, Julie Castillo-Rogez

 

Jet Propulsion Laboratory, California Institute of Technology (USA)

8:55

Adaptive sampling for rover x-ray lithochemistry

 

David R. Thompson, Abigail Allwood, Christopher Assad, David Flannery, Robert Hodyss, Emily Knowles, Lawrence Wade

 

Jet Propulsion Laboratory, California Institute of Technology (USA)

9:20

Automated Targeting for the MSL Rover ChemCam Spectrometer

 

Tara Estlin1, Robert C. Anderson1, Diana Blaney1, Benjamin Bornstein1, Michael Burl1, Rebecca Castaño1, Lauren De Flores1, Daniel Gaines1, Vandi Tompkins1, David R. Thompson1, Alphan Altinok1, Roger Wiens2, Steve Schaffer2, Tony Nelson2

 

1Jet Propulsion Laboratory, California Institute of Technology, 2Los Alamos National Laboratory (USA)

Session 9a: Rover Mechanical Design

10:30

Analysis of Grouser Performance to Develop Guidelines for Design for Planetary Rovers

 

Hiroaki Inotsume, Krzysztof Skonieczny and David S. Wettergreen

 

Carnegie Mellon University (USA)

10:55

Soil Interaction Model of Hemispherical Sampling Device based on PIV Analysis

 

Daiki Mori and Genya Ishigami

 

Department of Mechanical Engineering Keio University (JAPAN)

11:20

Structural Dynamics Qualification of Space Exploration Rover Prototypes

 

Yvan Soucy, Frédérik Brassard, Wanping Zheng

 

Canadian Space Agency (CANADA)

Session 9b: Simulation 2

10:30

Simulating Rigid-bodies, Strings and Nets for Engineering Applications Using Gaming Industry Physics Simulators

 

Jan Hein de Jong1, Kjetil Wormnes1, Paolo Tiso2

 

1European Space Agency, 2TU Delft, Delft University of Technology  (NETHERLANDS)

10:55

Dynamic Simulator for HTV Capture with Space Station Remote Manipulator System

 

Ryo YOSHIMITSU1, Akinori KOBAYASHI1, Yudai YUGUCHI1, Riku TAKANO1, Satoko ABIKO1, Kenji NAGAOKA1, Kazuya YOSHIDA1, Hiroki NAKANISHI2, Mitsushige ODA2, Hiroshi UENOS3

 

1Tohoku University, 2Tokyo Institute of Technology, 3Japan Aerospace Exploration Agency (JAPAN)

11:20

Contact Dynamics of Internally-Actuated Platforms for the Exploration of Small Solar System Bodies

 

Loris Roveda1, Robert G. Reid2, Issa A. D. Nesnass2

 

1Institute of Industrial Technologies and Automation (ITIA - CNR) & Politecnico di Milano (ITALY), 2Jet Propulsion Laboratory (USA)

Session 9c: Autonomous Science 2

10:30

Autonomous mapping of outcrops Using Multiclass Linear Discriminant Analysis

 

Raymond Francis1, Kenneth McIsaac1, David R. Thompson2, Gordon R. Osinski1

 

1 Centre for Planetary Science and Exploration, University of Western Ontario (CANADA), 2 Jet Propulsion Laboratory, California Institute of Technology (USA)

10:55

Autonomous Onboard Surface Feature Detection for Flyby Missions

 

Thomas J. Fuchs, Brian B. Due, Julie Castillo-Rogez, Steve A. Chien, Kiri Wagstaff, David R. Thompson

 

Jet Propulsion Laboratory  (USA)

11:20

Area Coverage Planning for Sub-dividable Framing Instruments

 

Russell Knight

 

Jet Propulsion Laboratory, California Institute of Technology (USA)

 

Plenary Session

11:55

An Overview of the Space Robotics Progress in China

Hong Liu

Harbin Institute of Technology (China)

Session 10a: Remote Operations

14:00

Challenges and Solutions for Communication in Space Robotics

 

Markus Plura, Heiko Mueller, Mark Woods,and Michael Henke

 

SCISYS Deutschland GmbH (GERMANY)

14:25

3D Rover Operations Control System: application to the ExoMars mission

 

K. Kapellos1, K. Wormnes2, L. Joudrier2

 

1TRASYS (BELGIUM), 2European Space Agency  (NETHERLANDS)

14:50

Experimental Evaluation of Data Flow Control on Three-Layered Architecture for Planetary Rover

 

Yasuharu Kunii, Masaru Furukawa, Yoshiki Matsui, Noriaki Mizukami

 

Chuo University (JAPAN)

Session 10b: Vision/Sensors 1

14:00

The SPHERES VERTIGO Goggles: An Overview of Vision-Based Navigation Research Results from the International Space Station

 

Brent E. Tweddle1, Steve Ulrich2, Timothy Setterfield1, Alvar Saenz-Otero1, David W. Miller1 and John J. Leonard3

 

1Space Systems Laboratory, Massachusetts Institute of Technology (USA)

2 Spacecraft Dynamics and Control Laboratory, Carleton University (CANADA

3 Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology (USA)

14:25

Evaluation of On-line 3D Motion Measurement by On-orbit Monitoring Image

 

Hiroshi Ueno1, Yasufumi Wakabayashi1, Hironobu Takahashi2, Yoshiaki Inoue2

 

1JAXA, 2Applied Vision Systems (JAPAN)

14:50

A High-Accuracy 2D Visual Marker for Dexterous Manipulation Robot in Space

 

Atsushi Ueta1, Keisuke Watanabe1, Yuto Takei2, Satoshi Suzuki3, Hideyuki Tanaka4

 

1Japan Aerospace Exploration Agency, 2Tokyo Institute of Technology, 3AES Co., Ltd. (JAPAN), 4Advanced Industrial Science and Technology (JAPAN)

Session 10c: Planning 2

14:00

Toward Autonomy for Deep-Space Infrastructure

 

Chris Langley1, Andrew Allen1, Froduald Kabanza2, Philipe Bellefeuille2

 

1 MacDonald, Dettwiler, and Associates, Inc., 2 Menay Solutions (CANADA)

14:25

A Constraint-based Data Management Tool for Dawn Science Planning

 

G. Rabideau1, C. Polanskey1, S. Chien1, S. Joy2, Joshua Doubleday1

 

1Jet Propulsion Laboratory, California Institute of Technology,  2Institute of Geophysics and Planetary Physics, University of California (USA)

14:50

Budgeting Samples for Exploration in Unknown Environments

 

P. Michael Furlong, David S. Wettergreen

 

Robotics Institute, Carnegie Mellon University (USA)

Session 11a: Vision/Sensors 2

15:30

Technology Transfer for a 360 Scanning Lidar

 

Adam Deslauriers1, Sean Zhu1, Mike Sekerka2, Evan Trickey2

 

1Neptec Design Group, 2 Neptec Technologies Corp. (CANADA)

15:55

Towards Space-hardened, Small-lightweight Laser Range Imager for Planetary Exploration Rover

 

Genya Ishigami1, Takahide Mizuno2

 

1Keio University,  2Japan Aerospace Exploration Agency (JAPAN)

16:20

Light-Independent Feature Detection using Intensity Data of Laser Range Finder

 

Kentaro Kimura and Genya Ishigami

 

Department of Mechanical Engineering, Keio University (JAPAN)

Session 11b: Simulation 3

15:30

A Comparative Study on Ground Surface Reconstruction for Rough Terrain Exploration

 

Kyohei Otsu1, Takashi Kubota2, Masatsugu Otsuki2

 

1The University of Tokyo, 2ISAS / Japan Aerospace Exploration Agency (JAPAN)

15:55

Reliable and Efficient Simulation of Nets for Active Space Debris Removal Purposes

 

Wojciech Gołębiowski1, Rafał Michalczyk1, M. Dyrek2, Z. Derda2, Umberto Battista3, Kjetil Wormnes4

 

1SKA Polska (POLAND), 2OptiNav (POLAND), 3Stam Industrial Research (ITALY), 4European Space Agency (NETHERLANDS)

16:20

Current Status and Prospects of Terramechanics-based Simulation Techniques for Planetary Rover Locomotion

 

Taizo Kobayashi1, Genya Ishigami2, Shingo Ozaki3, Masataku Sutoh4

 

1University of Fukui, 2Keio University, 3Yokohama National University, 4Japan Aerospace Exploration Agency (JAPAN)

Session 11c: Human-Robot Interaction

15:30

Advancing Safe Human-Robot Interactions with Robonaut 2

 

Julia M. Badger1, Aaron Hulse2, Allison Thackston3

 

1NASA-Johnson Space Center, 2Rethink Motion (USA), 3Oceaneering Space Systems (USA)

15:55

Toward the first force-reflection experiment on the International Space Station

 

Andre Schiele1,2, Manuel Aiple1, Frank van der Hulst1, Thomas Krueger1, Emiel Den Exter2,  Joao Rebelo1,2, Stefan Kimmer1,2, Jan Smisek1, 2

 

1ESA Telerobotics & Haptics Laboratory, 2Delft University of Technology  (NETHERLANDS)

16:20

Teleoperation of a 7 DOF Humanoid Robot Arm Using Human Arm Accelerations and EMG Signals

 

Jürgen Leitner, Matthew Luciw, Alexander Förster, Jürgen Schmidhuber

 

Dalle Molle Institute for AI (IDSIA) / Scuola universitaria professionale della Svizzera (SWITZERLAND)

Poster Session

Attention in Autonomous Robotic Visual Search

Amir Rasouli, John K. Tsotsos

Department of Electrical Engineering and Computer Science, York University (CANADA)

Using A Robot Workspace Description for Planning On-Orbit-Servicing Tasks on Modular Satellites

Steffen W. Ruehl, Jan Oberlaender, Arne Roennau, Ruediger Dillmann

FZI Research Center for Information Technology (GERMANY)

The importance of preparation to realize the successful teleoperation of a space explorer in mysterious caverns beneath the lunar surface

Kazuya Imaki and Satoru Nishizawa

Japan Manned Space Systems Corporation (JAPAN)

A Self-Contained Localization Unit for Terrestrial Applications and its Use in Space Environments

Markus Emde, Björn Sondermann, Jürgen Roßmann

Institute for Man-Machine Interaction, RWTH Aachen University, (GERMANY)

Experimental Verification of Attitude Determination using Solar Panels and Inclinometer

Takayuki ISHIDA, Masaki TAKAHASHI

Keio University Graduate School of Science and Technology, (JAPAN)

Fuzzy-DL Perception for Multi-Robot System

Markus Eich, Ronny Hartanto

DFKI, Robotics Innovation Center (GERMANY)

Characterization of Environmental-driven Thermal Buckling Actuator for an Asteroid Exploration Rover

Takashi Mineta, Atsuhisa Sugai, Yuichi Tsumaki, R. Kazama

Yamagata University (JAPAN)

Simultaneous Bending and Torsion Deflection Measurement of Flexible Robotic Link Using Position Sensing Detectors

G. Balyasin (Ryerson University), G. Liu (Ryerson University), and W.-H. Zhu (Canadian Space Agency)

Aerospace Engineering Department, Ryerson University (CANADA)

Terrain Exploration, Planning and Autonomous Navigation with MRPTA Rover

V. Polotski1,3, F.J. Ballotta2, J. James3

1Ecole de Technologie Superieure, 2Software professional currently working at Bloomberg, 3Cohort Systems Inc (CANADA)

A Lunar Lander FDIR Strategy using Advanced Particle Filtering-based Fault Diagnosis

Hiroki Kato1, Isao Kawano1, Jun Ota2

1Japan Aerospace Exploration Agency, 2University of Tokyo (JAPAN)

Collision Avoidance of the Space Solar Power Satellite in GEO - Necessity of orbit cleaner

Mitsushige Oda

Tokyo Tech. (JAPAN)

Tele-Navigated Trajectory Evaluation based on Similarity of Command Path by using Virtual Electrostatic Potential Field for Planetary Rover

Hiroyuki MAEHARA, Ryota KARITANI and Yasuharu KUNII

Electronic and Communication Engineering Department, Graduate School of Chuo University (JAPAN)

Modular Software for an Autonomous Space Rover

Sylvain Joyeux1, Jakob Schwendner1, Thomas Roehr1

1DFKI Robotics Innovation Center (GERMANY), 2

Evidence Based Exercise Therapy Assisted by Robot and Network for Locomotive Syndrome on the earth and future Mars Base

Akiyoshi KABE

Department of Health Science and Social Welfare, Faculty of Human Sciences, and Institute of Applied Brain Sciences, Waseda University (JAPAN)

Evaluation of an Advanced Operator Interface for Teleoperation of a Satellite Servicing Spacecraft

Kevin P. Davis, Dr. David L. Akin

Space Systems Laboratory, University of Maryland (USA)

The Method of Constructing Large Modular Deployable Structures

Hongwei Guo, Xiaoke Song, Bing Li, Zongquan Deng, Rongqiang Liu

Harbin Institute of Technology (CHINA)