Flexible Rover Architecture for Science Instrument Integration and Testing
Flexible Rover Architecture for Science Instrument Integration and Testing
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DOI：
10.2514/6.2006-7420
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发表时间：
2006
期刊：
影响因子：
0.3
通讯作者：
M. Bualat;L. Kobayashi;Susan Y. Lee;Eric Park
中科院分区：
文献类型：
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作者：
M. Bualat;L. Kobayashi;Susan Y. Lee;Eric Park
在NASA艾姆斯研究中心，智能机器人小组(IRG)展示了K9和K10级漫游车。两者都使用移动机器人硬件架构，设计用于可扩展和可重新配置，允许仪器设备的快速更改，并提供高度模块化。在过去的几年里，我们与NASA中心、大学和国家实验室的仪器开发人员合作，将他们的仪器集成或部分集成到K9和K10火星车上。早期的努力需要相当多的互动才能解决电源、数据协议和机械安装等集成问题。这些交互作用为我们目前的航空电子体系结构的设计提供了信息，并简化了最近的集成项目。在本文中，我们将描述IRG可扩展航空电子设备和软件体系结构，以及它对我们最近的仪器集成工作的影响，包括集成四个MARS仪器开发计划设备。
At NASA Ames Research Center, the Intelligent Robotics Group (IRG) fields the K9 and K10 class rovers. Both use a mobile robot hardware architecture designed for extensibility and reconfigurability that allows for rapid changes in instrumentation and provides a high degree of modularity. Over the past ssveral years, we have worked with instrument developers at NASA centers, universities, and national laboratories to integrate or partially integrate their instruments onboard the K9 and K10 rovers. Early efforts required considerable interaction to work through integration issues such as power, data protocol and mechanical mounting. These interactions informed the design of our current avionics architecture, and have simplified more recent integration projects. In this paper, we will describe the IRG extensible avionics and software architecture and the effect it has had on our recent instrument integration efforts, including integration of four Mars Instrument Development Program devices.