2.1 Program Structure

It is important to note that the tasks selected for the three focussed segments of the program address requirements of the class of missions planned by the user organizations, and not necessarily one specific mission. For example, the tasks in the Exploration Robotics section of the program are selected to address the full suite of technologies required for autonomous Mars and Lunar surface robotic exploration, and not just the earliest planned mission from the associated user plan. This accomplishes two things: requirements from individual user missions are well leveraged with those of other missions, and program tasks which target requirements common to multiple missions are less likely to need revision in the event that a particular user mission should be modified or canceled.

Figure 2-1 Program Structure

Exploration robotics: This segment of the program supports the development of robotics to satisfy the planned requirements for exploration of the surfaces of the Moon and Mars. These plans call for robotic reconnaissance and surveying systems preceding the eventual human missions to these bodies. During such missions robots will explore potential landing sites and areas of scientific interest, place science instruments, and gather samples for analysis and possible return to Earth. The robotic systems required for these operations will require high levels of local autonomy, including the ability to perform local navigation, identify areas of potential scientific interest, regulate on-board resources, and schedule activities, all with limited ground command intervention. The objectives of the tasks within this segment of the program are to develop these abilities, as well as conduct research into mobility systems, miniature mechanisms, planning, and on-board navigation. Specific applications are to the Mars Pathfinder, Mars Surveyor Network project and other programs planned by the Space Science and Exploration user communities, as well as other commercial lunar resource utilization opportunities.

On-orbit servicing: This segment of the program is focussed on the development of space robotics for eventual application to on-orbit satellite servicing by both free-flying and platform attached servicing robots. The purpose of this segment of the program is to focus the development of component technologies into applications and environments which will demonstrate their utility and additional capability when incorporated into operational systems. These technologies include virtual reality telepresence, advanced display technologies, proximity sensing for perception technologies, and robotic flaw detection. The target applications include such tasks as repair of free-flying small satellites, ground-based control of robotic servicers, and servicing of external space platform payloads. Each of these areas have been identified by the potential space robotics user community as applications where space robotics will be necessary to satisfy their planned requirements. This user community includes Space Station Alpha, Mission to Planet Earth, the Space Transportation System and anticipated commercial space system developers.

Science payload maintenance: This section of the program is intended to mature technologies for robotics which will be used inside pressurized living space to maintain and service science payloads. This capability will off-load the requirements of intensive astronaut maintenance of these payloads, and permit operation of the payloads during periods when astronauts may not be present (i.e., during the man-tended phase of space station). The technologies incorporated into this portion include lightweight manipulators, redundant robotic safety systems, and self-deploying systems. The specific application areas include IVA robotics for Space Station Alpha and laboratory tending robotics for SpaceLab.

Component technologies: This segment of the program is dedicated to the development of component technologies which have been determined to be of potential benefit in addressing multiple needs of the known robotics requirements. These elements of the program are typically long lead-time items, which may take many years to fully develop and bring to an appropriate level of readiness. However, if successfully completed, these elements typically have the potential of significantly improving or even revolutionizing the state-of-the-art in space telerobotics technology. This portion of the current program includes such elements as fundamentally new robotic joint designs, exoskeleton systems, microtelerobots, and widely-applicable proximity sensor technology. The long term goal of this effort is to develop a series of component technologies which can then be incorporated into larger robot assemblies and full application systems. This effort is phased such that technology components "spin-off" from the component development level to the next level on a regular basis. It is anticipated that this area will continue throughout the life of the program, producing an increasingly-beneficial series of fundamental technologies.

Terrestrial and Commercial Applications: This element of the program provides a means for the test and demonstration of space-targetted developed technologies in realistic operational test environments. These tasks are intended to move the technologies developed in the other elements of the program from the laboratory setting into operational use, and take advantage of the relatively easy access, well understood environments, and myriad problems to be solved to demonstrate the applicability of telerobotics. In addition, this element of the program includes tasks intended to rapidly move program-developed technology out into the commercial applications community. The intent of these tasks is ultimately to improve the national economic competitiveness of the United States and to improve the technology transfer efforts of the agency through the development of commercializable applications which draw upon space telerobotics technologies. These projects are jointly conducted by program laboratories and industrial partners to create and demonstrate full system prototype solutions to well understood terrestrial problems which can positively impact significant areas of the national economy.