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SURF@JPL: Announcements of Opportunity
Announcements of Opportunity are posted by JPL technical staff for the SURF@JPL program. Each AO indicates whether or not it is open to non-Caltech students. If an AO is NOT open to non-Caltech students, please DO NOT contact the mentor.
Announcements of Opportunity are posted as they are received. Please check back regularly for new AO submissions!
**Students applying for JPL projects should complete a SURF@JPL application instead of a "regular" SURF application.
**Students pursuing opportunities at JPL must be U.S. citizens or U.S. permanent residents.
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| Project: |
Ocean World Lander Autonomy Testbed Improvements
(JPL AO No. 13906)
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| Disciplines: | Computer Science, Computer Engineering | ||||||||
| Mentor: |
Erica Tevere,
(JPL),
erica.l.tevere@jpl.nasa.gov, |
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| Background: | Lander missions to various ocean worlds in the solar system are high on the list of space exploration objectives for NASA and various ocean world lander mission concepts are currently under investigation. Due to the intensity of the radiation environment, adverse thermal conditions and low availability of solar energy, many of these missions are anticipated to have short durations, on the order of tens of days. Given the hour-long communication delay between these ocean worlds and the Earth, autonomy is bound to be a critical component for the success of these time critical missions. In light of this, NASA has enabled the development of an ocean world lander testbed to test and evaluate the performance of various autonomy algorithms and architectures. JPL's hardware testbed comprises the following components 1) A 6-DOF Stewart Platform representing the lander 2) A 7-DOF Barrett WAM7 robotic arm representing the manipulator 3) An Intel Realsense D415 stereo camera for 3D perception mounted on a pan-tilt unit 4) Three force-torque sensors located at the interface between the arm and the platform and force torque sensor located at the end of the wrist of the arm 5) A host of interchangeable tools that can be attached at the end of the arm 6) A simulant area. The student would be working with this testbed. | ||||||||
| Description: | The role of the student is to work on improvements to the current OWLAT testbed in one or more of the following areas: 1) arm and lander dynamics and control capabilities, 2) unit and regression testing for the codebase, 3) the development of additional safety measures (ex. self-collision checking), 4) the development of automated calibration and check procedures. The student will work primarily with the physics-based DARTS simulation to develop and test capabilities that then will be tested on the physical testbed. Some of the expected outcomes are a) a decrease of faults seen during testing in the selected area of testbed improvement b) improved robot state knowledge/health monitoring in the area of testbed improvement. | ||||||||
| References: | https://ascelibrary.org/doi/abs/10.1061/9780784483374.050 | ||||||||
| Student Requirements: | Robotics, Feedback Control, Classical Dynamics, Programming in C++ | ||||||||
| Location / Safety: | Project building and/or room locations: . Student will need special safety training: . | ||||||||
| Programs: |
This AO can be done under the following programs:
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