Extending the capability of Mars Umbilical Technology Demonstrator

Author

Houshangi, Nasser

Author_Institution

Dept. of Eng., Purdue Univ., Hammond, IN, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1211

Abstract

The objective of this project is to expand the capabilities of the Mars Umbilical Technology Demonstrator (MUTD) at NASA Kennedy Space Center. The MUTD shall provide electrical power and fiber optic data cable connections between two simulated mars vehicles, about 1000 m apart. The wheeled mobile robot Omnibot is used to provide the mobile base for the system. The mate-to umbilical plate is mounted on a Cartesian robot, which is installed on the Omnibot mobile base. It is desirable to provide the operator controlling the Omnibot, the distance and direction to the target. An approach for finding the position and orientation of the mobile robot for navigation using inertial sensors and beacons is investigated

Keywords

Mars; data communication; inertial navigation; mobile robots; optical cables; power cables; 1000 m; Cartesian robot; Mars Umbilical Technology Demonstrator; NASA Kennedy Space Center; Omnibot mobile base; beacons; electrical power cable; fiber optic data cable connections; inertial sensors; mate-to umbilical plate; mobile robot navigation; wheeled mobile robot; Communication cables; Mars; Mobile robots; NASA; Optical fiber cables; Optical fibers; Orbital robotics; Robot sensing systems; Space technology; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2001. Canadian Conference on

Conference_Location

Toronto, Ont.

ISSN

0840-7789

Print_ISBN

0-7803-6715-4

Type

conf

DOI

10.1109/CCECE.2001.933614

Filename

933614