3.3 Funding Profile

Overall funding for the Telerobotics Program is established in the annual submission of the NASA budget request to Congress. Input to this funding decision process is gathered from potential users and developers during the development of the annual OSAT technology plan. This plan is an integral part of the annual OACT budget development cycle, and includes input from the NASA field centers and the NASA Headquarters user codes. The planning cycle is illustrated in Figure 3-5.

Breakout of the overall funding level to the individual task elements of the program is determined by the Telerobotics Program Manager. Input to this funding decision process is gathered at the annual spring meeting of the TRIWG, at which program participants present task proposals for the following fiscal year. Following a funding determination by the Telerobotics Program Manager, the planned budget for the next fiscal year is released to the TRIWG and incorporated into the Telerobotics Program Plan. That budget, and that document, is used as the basis for the preparation of annual RTOP documents which detail planned task activities, objectives, schedules, and participants.

When the current tasks being worked in the various elements of the work breakdown structure are completed it is anticipated they will be replaced with other tasks within the same element. The TRIWG will continue to monitor the needs and results in each of the technology elements, and rebalance as appropriate.

Figure 3-5 OSAT Budget Cycle

The Telerobotics Program funding summary by program elements from FY95 through FY99 is shown in the following table. The funds for FY95 are actual expenditures, and those shown for FY96 through FY99 are planned funding levels. The funding is shown by task in the program and organizational element within the Spacecraft Systems Division budget structure (with corresponding Unique Project Numbers, or "UPN"s).

	Telerobotics Program Plan Budget - October 1, 1995
UPN	Task Title	Center	FY 95 (*) Actual	FY 96 Plan	FY 97 Plan	FY 98 Plan	FY 99 Plan
233-40-41 Manipulation
1	Micro Lander Manipulation	JPL	$600	$600	$600	$650
2	Calibrated Synthetic Viewing	JPL		$275	$400
3	SSF Telerobotic Maintenance	JSC	$400	$500
4	ISSA Repair & Maintenance	JSC			$1000	$1000	$1500
5	RSI Technology Transfer	JPL	$400	$240
6	Ranger Visual Inspection	JPL		$200	$300
7	Free Flying Camers for EVA	UMd/JSC		$400	$550	$750	$1000
8	Rander Dexterous Arm Control	JPL	$350	$300	$300
9	VR for Free Flying Robots	ARC	$200	$135	$300	$300	$300
10	Light, Compact Muscle Actuators	JPL		$214	$175	$180
11	Multiple Autonomous Systems	ARC/Stanf	$600	$500	$500	$500	$500
12	PARIS	ARC		$250	$300	$300	$300
13	Redundant Robotic Systems	JSC/UT-A	$300	$300	$300	$250	$250
14	Program Management	JPL	$180	$165	$150	$150	$150
15	Program Reserve	HQ		$60	$500	$500	$500
	Subtotal		$3030	$4139	$5375	$4580	$4500
233-40-42 Mobility
1	VR At Planetary Distances	JPL/ARC		$400	$400	$400	$400
2	Exploration of Small Bodies	JPL	$870	$1000	$1000	$750	$750
3	Planetary Aerobot Mobility	JPL		$500	$500	$500
4	Rover Technology (**)	JPL/MIT	$2150	$1800	$1800	$1500	$1500
5	VR for Rover Control	CMU		$250	$250
6	Lunar Telescope Assembly	CMU		$225	$225	$450	$450
7	Lunar Rover Technology	CMU	$380	$500	$500	$500	$750
8	Nano-rover Technology	JPL		$450	$550	$600	$700
9	Passive Proximity Sensing	CMU		$250	$250
	Subtotal		$3400	$5375	$5475	$4700	$4550
233-40-43 Integrated Systems
1	Space Operations	UMd	$400	$450	$500	$500	$500
2	Robotics Engineering Consortium	CMU	$1000	$500	$1000	$1000	$500
3	Micro Telerobotics (RAMS)	JPL	$600	$500	$800
4	Robot Control Architecture	CMU		$100	$150
5	Remote Scientist (***)	JPL		$1050	$1200	$1400	$1500
6	Lunar Rover Demonstration	CMU	$870	$750	$750	$750	$500
7	HAZBOT Completion	JPL		$100
8	Robotics Commercialization	JPL			$1000	$1000	$1500
	Subtotal		$2870	$3450	$5400	$4650	$4500
233-40-44 Flight Experiments
1	Ranger Flight Experiment	UMd	$1800	$1925	$1000	$600
2	Ranger Launch Cost Deposit	Hq		$800	$2000	$8000
3	Mesur Pathfinder	JPL	$8600	$5800	$2000
4	External Work System	JSC		$3500	$3500	$3000	$3000
	Subtotal		$10400	$12025	$8500	$11600	$3000
	Total		$19700	$24989	$24750	$25530	$16550
	(*) Does not include ALL FY 95 tasks - only those continued into FY 1996. For a complete list of the FY 1995 program activities, refer to the FY 1995 Telerobotics Program Plan (**) includes MIT/Brooks - $250K and MIT/Dubowsky - $200K (***) includes MIT/ Salsbury - $250K

Figure 3-6 Planned Program Budget (Dollars In Thousands)