Wiki source code of Amadee-24-SAMPLE

Last modified by Hermann Hinterhauser on 2024/07/03 19:04

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1.1	1	=== Details ===
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27.1	3	\|Acronym\|SAMPLE
	4	\|Description\|Rover traversability, teleoperations for sample acquisition and transport to Hab using semi-autonomous traverse finding rover.
28.1	5	\|Principal Investigator (PI)\|Gerald Steinbauer-Wagne ~\| [[steinbauer@ist.tugraz.at>>mailto:steinbauer@ist.tugraz.at]]
	6	\|Organisation \|Research Group for Autonomous Intelligent Systems, Institute of Software Technology, Graz University of Technology
	7	\|Co-Investigators\|(((
	8	Matthias Eder (Robot Software Specialist)
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28.1	10	Hamid Didari (Robot Software Specialist)
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	12	Richard Halatschek (Robot Engineer)
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1.1	15	=== Summary ===
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28.1	22	Rover systems used in planetary exploration, for example Curiosity and Perseverance, have already proven successful in past missions. However, the time delay between the Martian exploration site and the Mission Support Center (MSC) on earth as well as safety issues constitute limiting factors in the autonomy of a rover. Semi-Autonomous Robot Assistance for Planetary Exploration (SAMPLE) addresses this issue.
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28.1	24	Based on the MERCATOR experiment in AMADEE-20, SAMPLE aims to extend the aera of use and autonomy of rovers. SAMPLE investigates robot capabilities such as photogrammetry, in-situ instrument placing, and sample collection combined with improved semi-autonomous robot control and the integration into the exploration cascade for supporting geological hypotheses.
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28.1	26	The expected outcome of the SAMPLE project is to provide data products like 3D maps, images, or special measurements shortly after the exploration task of a robot. Moreover, SAMPLE aims to provide sophisticated visualization and tools for better integration of the scientific capabilities of the rover into the daily exploration routine of the remote science support and the analog astronauts.
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28.1	28	To meet the experiment objectives, in-situ measurements and data collection will be improved by implementing a robotic arm. The level of autonomy can be adjusted by the analog astronaut. Implementing machine learning algorithms allows for improving the long-range navigation skills of the rover. To provide detailed insights on remote locations of interest to the analog astronauts and the remote science team, SAMPLE applies methods from photogrammetry and mapping.
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33.1	30	[[image:mercator.jpeg\|\|height="385" width="578"]]
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10.1	32	=== Experiment Data ===
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6.1	34	(% style="height:10px; width:1000px" %)
11.1	35	\|=(% style="width: 127px;" %)Date\|=(% style="width: 871px;" %)Files
12.1	36	\|(% style="width:127px" %)[[2021-10-04>>https://mission.oewf.org/archive_downloads/amadee20/ACT/2021-10-04]]\|(% style="width:871px" %)types of files for each experiment day, size of the cells: width 1000px, height 10px
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