PMID- 25330473
OWN - NLM
STAT- PubMed-not-MEDLINE
DCOM- 20150330
LR  - 20141021
IS  - 2168-2275 (Electronic)
IS  - 2168-2267 (Linking)
VI  - 44
IP  - 11
DP  - 2014 Nov
TI  - Onboard centralized frame tree database for intelligent space operations of the 
      Mars Science Laboratory Rover.
PG  - 2109-21
LID - 10.1109/TCYB.2014.2301442 [doi]
AB  - Planetary surface science operations performed by robotic space systems 
      frequently require pointing cameras at various objects and moving a robotic arm 
      end effector tool toward specific targets. Earlier NASA Mars Exploration Rovers 
      did not have the ability to compute actual coordinates for given object 
      coordinate frame names and had to be provided with explicit coordinates. Since it 
      sometimes takes hours to more than a day to get final approval of certain 
      calculated coordinates for command uplink via the Earth-based mission operations 
      procedures, a highly desired enhancement for future rovers was to have the 
      onboard automated capability to compute the coordinates for a given frame name. 
      The Mars Science Laboratory (MSL) rover mission is the first to have a 
      centralized coordinate transform database to maintain the knowledge of spatial 
      relations. This onboard intelligence significantly simplifies communication and 
      control between Earth-based human mission operators and the robotic rover on Mars 
      by supporting higher level abstraction of commands using object and target names 
      instead of coordinates. More specifically, the spatial relations of many object 
      frames are represented hierarchically in a tree data structure, called the frame 
      tree. Individual frame transforms are populated by their respective modules that 
      have specific knowledge of the frames. Through this onboard centralized frame 
      tree database, client modules can query transforms between any two frames and 
      support spacecraft commands that use any frames maintained in the frame tree. 
      Various operational examples in the MSL mission that have greatly benefitted from 
      this onboard centralized frame tree database are presented.
FAU - Kim, Won S
AU  - Kim WS
FAU - Diaz-Calderon, Antonio
AU  - Diaz-Calderon A
FAU - Peters, Stephen F
AU  - Peters SF
FAU - Carsten, Joseph L
AU  - Carsten JL
FAU - Leger, Chris
AU  - Leger C
LA  - eng
PT  - Journal Article
PT  - Research Support, U.S. Gov't, Non-P.H.S.
PL  - United States
TA  - IEEE Trans Cybern
JT  - IEEE transactions on cybernetics
JID - 101609393
EDAT- 2014/10/21 06:00
MHDA- 2014/10/21 06:01
CRDT- 2014/10/21 06:00
PHST- 2014/10/21 06:00 [entrez]
PHST- 2014/10/21 06:00 [pubmed]
PHST- 2014/10/21 06:01 [medline]
AID - 10.1109/TCYB.2014.2301442 [doi]
PST - ppublish
SO  - IEEE Trans Cybern. 2014 Nov;44(11):2109-21. doi: 10.1109/TCYB.2014.2301442.