Changes for page Amadee-24-Genes4Mars

Last modified by Hermann Hinterhauser on 2024/03/26 12:01

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edited by Hermann Hinterhauser
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--Amadee-24-RAMSES
++Amadee-24-MEROP

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  === Details ===
--|**Acronym**|RAMSES
--|**Description**|Fully autonomous multi-sensor-based helicopter system capable of taking off from a charging dock atop a Mars rover, then conducting aerial reconnaissance for operator-requested POI inspection or autonomous terrain mapping before landing back on the rover to recharge.
--|**Principal Investigator (PI)**|Martin Scheiber ~| [[Martin.Scheiber@aau.at>>mailto:Martin.Scheiber@aau.at]]
--|**Organisation** |Control of Networked Systems Group, Institute of Smart System Technologies, University of Klagenfurt
++|**Acronym**|MEROP
++|**Description**|Human-robotic multimodal teleoperation interface for AA teleoperations and MSC t/m visualization; this shall allow AA's to switch between semi-autonomous teleoperation and direct control.
++|**Principal Investigator (PI)**|Rute Luz ~| [[rute.luz@tecnico.ulisboa.pt>>mailto:rute.luz@tecnico.ulisboa.pt]]
++|**Organisation** |Institute for Systems and Robotics, Instituto Superior Técnico, University of Lisbon
  |**Co-Investigators**|(((
--Marim Faroun | [[mafaroun@edu.aau.at>>mailto:mafaroun@edu.aau.at]]
++Jéssica Corujeira | [[jessica.corujeira@tecnico.ulisboa.pt>>mailto:jessica.corujeira@tecnico.ulisboa.pt]]
--Tanguy Gerniers | [[t1gerniers@edu.aau.at>>mailto:t1gerniers@edu.aau.at]]
++Rodrigo Ventura | [[rodrigo.ventura@isr.tecnico.ulisboa.pt>>mailto:rodrigo.ventura@isr.tecnico.ulisboa.pt]]
++
++José Luís Silva | [[jlcsa@iscte-iul.pt>>mailto:jlcsa@iscte-iul.pt]]
  )))
  === Summary ===
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  [[image:ACT_manifest.png||height="266" width="399"]]
  )))
--In 2021, the first Uncrewed Aerial Vehicle (UAV) performed its first flight on Mars. With this flight, Ingenuity developed by NASA, proved that VTOL aircraft can operate under Martian conditions. However, furtherresearch and development is necessary to take out full advantage of flying vehicles during a Mars mission.
++Effective interaction between the analog astronaut and a remote rover is essential to take out full advantage of the supporting asset and to ensure a successful exploration during a mission. A rover is teleoperated via the Operator Control Unit (OCU). The physical distance from the operator and the robotic vehicle leads to poor situation awareness and may cause inadequate decision-making. The OCU must be designed wisely to ensure proper human-robot interaction.
--The Rover Aerial Mars Support and Exploration System (RAM-SES) is a technology system for future UAVs using an AI-based network to autonomously detect landing sites in Mars-like environments. With participation in AMADEE-24, RAMSES’s novel approach demonstrates the process of detecting visual points of interest, either scientifically or for safe UAV navigation.
++MEROP improvesthe teleoperation of rovers by providing a problem-solving toolbox to the OCU. It addresses two major issues: situation awareness and communication. Unexpected, autonomous action of the robot may cause operator insecurity and influences situation awareness in a negative way. The second challenge deals with communication and communication reliability between the operator and the robot. Issues concerning bandwidth or loss of communication impose constant risks, which need to be mitigated.
--The expected outcome is to utilize an AI-based network togenerate a heat map for successfully detecting landing sites inthe mission area. Additionally, the system contains gener-ated pixel-wise maps and provides comprehensive and detaileddepictions of scientific points of interest in Mars-like environments. RAMSES evaluates data gathered by other robotic vehicles to create the aforementioned heat map and points of interest. In turn, this data can enhance the mission capabilities ofother teams to further demonstrate collaboration between experiments.
++The expected outcome of the MEROP experiment is an improved teleoperation of robotic vehicles and the implementation of an effective visualization tool that support the flight planning team in the decision-making process.
--To achieve the defined experiment objectives within AMADEE-24,RAMSES focuses on evaluating data gathered by the SAMPLE experiment. With the help of the ground truth of the mission area data,we are able to compare the system’s pixel-wise map coordinates andimprove the precision of the location of notable features for scientific research in order to contribute to the advancement of scientificknowledge about the environment. In the context of collaborative experimentation, RAMSES shall be subjected to proof-of-concept teststhat aim to exhibit its capabilities in supporting AMADEE-24 andfuture missions.
++To achieve experiment objectives, the MEROP team will implement a teleoperation interface, where the analog astronaut can choose between two interaction levels: Semi-autonomous teleoperation and direct teleoperation. Semi-autonomous teleoperation features indirect control of the robot using a virtual avatar and interface augmentation techniques. Direct teleoperation allows for the direct control of the robot to enhance situation awareness.