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Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in SpaceSmart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free-flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.
Document ID
20160006694
Document Type
Conference Paper
Authors
Fong, Terrence (NASA Ames Research Center Moffett Field, CA, United States)
Micire, Mark J. (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Morse, Ted (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Park, Eric (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Provencher, Chris (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
To, Vinh (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Wheeler, D. W. (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Mittman, David (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Torres, R. Jay (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Smith, Ernest (Universities Space Research Association Moffett Field, CA, United States)
Date Acquired
May 27, 2016
Publication Date
September 10, 2013
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Report/Patent Number
AIAA Paper 2013-5338
ARC-E-DAA-TN11289-1
Meeting Information
AIAA Space 2013 Conference and Exposition(San Diego, CA)
Funding Number(s)
CONTRACT_GRANT: NNA08CG83C
Distribution Limits
Public
Copyright
Public Use Permitted.

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IDRelationTitle20160006695See AlsoSmart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space