Wiki source code of Amadee-24-iROCS
Last modified by Hermann Hinterhauser on 2024/03/25 13:10
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1.1 | 1 | === Details === |
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17.1 | 3 | |**Acronym**|iROCS |
| 4 | |**Description**|Robotic scene-understanding/obstacle evaluation, sample collection and identification, semantic mapping and terrain modeling in desert environments with mobile, spherical robots or with handheld devices. | ||
| 5 | |**Principal Investigator (PI)**|Raimund Edlinger ~| [[raimund.edlinger@fh-wels.at>>mailto:raimund.edlinger@fh-wels.at]] | ||
| 6 | |**Organisation** |FH OÖ Forschungs & Entwicklungs GmbH | ||
| 7 | |**Co-Investigators**|((( | ||
| 8 | Andreas Nüchter | [[andreas.nuechter@uni-wuerzburg.de>>mailto:andreas.nuechter@uni-wuerzburg.de]] or [[andreas@nuechti.de>>mailto:andreas@nuechti.de]] | ||
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17.1 | 10 | Dorit Borrmann | [[dorit.borrmann@fhws.de>>mailto:dorit.borrmann@fhws.de]] |
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1.1 | 13 | === Summary === |
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3.1 | 14 | |
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4.1 | 17 | [[image:ACT_manifest.png||height="266" width="399"]] |
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3.1 | 18 | ))) |
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17.1 | 20 | As previous AMADEE missions have shown, robotic systems can support astronauts very well during extra-vehicular activities (EVAs). Therefore, human-robot operations will be an essential tool in future Mars missions. |
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17.1 | 22 | The iROCS experiment is looking into how the terrain in a desert can be properly mapped with mobile robots and what intuitive operating concepts need to be developed for remote control access. The trafficability of the terrain is to be investigated and possible obstacles analyzed. After all, these could have an impact on the following tasks, the accessibility for astronauts and the design of spacesuits with mobility restrictions. Furthermore, it will be tested how a robotic system can support analogue astronauts in terms of sample collection, identification, and analysis. |
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16.1 | 23 | |
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17.1 | 24 | 3 robots will be used during this experiment: Intelligent Robot for Mapping Applications in 3D (Irma3D), robot Charlie, and the RTE (Rosenbauer Technical Equipment) robot. Equipped with different technologies, they will perform the following tasks: |
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17.1 | 26 | * sample identification and analysis with selected wavelengths and appropriate filters for cameras and LiDARs to enable both the search for water and rock analysis. |
| 27 | * manipulation tasks (e.g. sampling) with a collaborative robot arm | ||
| 28 | * transportation tasks between two locations | ||
| 29 | * robotic map building using Simultaneous Localization and Mapping (SLAM) | ||
| 30 | * power provider for external devices and support for astronaut field work | ||
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16.1 | 31 | |
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10.1 | 32 | === Experiment Data === |
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1.1 | 33 | |
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6.1 | 34 | (% style="height:10px; width:1000px" %) |
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11.1 | 35 | |=(% style="width: 127px;" %)Date|=(% style="width: 871px;" %)Files |
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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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11.1 | 37 | |(% style="width:127px" %) |(% style="width:871px" %) |
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5.1 | 38 | |
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