{"project":{"acronym":"","projectId":93890,"title":"Terrain Adaptive Reconfiguration of Mobility","primaryTaxonomyNodes":[{"taxonomyNodeId":10620,"taxonomyRootId":8816,"parentNodeId":10616,"level":3,"code":"TX04.2.4","title":"Surface Mobility","definition":"Surface mobility provides long-range exploration with large payload mass fractions and modest energy budgets while increasing the traverse speed of both manned and unmanned planetary rovers.","exampleTechnologies":"Mobility subsystem for crewed surface transport, mobility system for uncrewed surface transport, rappelling mobility systems, climbing mobility systems, soft/friable terrain mobility systems","hasChildren":false,"hasInteriorContent":true}],"startTrl":2,"currentTrl":3,"endTrl":3,"benefits":"Potential applications include infusion into Mars2020-like missions and missions to Europa, Titan, etc. as a guidance algorithm for assets deployed from the back shell of the spacecraft. Other options include terrestrial missions such as in the oceans and Antarctica.","description":"Develop an algorithm (and software) to automatically adapt a reconfigurable robot to different types of terrains for improved mobility, that compared to SOA: improves traversal efficiency (e.g., vs. always in low gear), and enables traversal over a wider variety of terrains via reconfiguration (vs. avoidance of risker terrain).","destinations":[{"lkuCodeId":1543,"code":"EARTH","description":"Earth","lkuCodeTypeId":526,"lkuCodeType":{"codeType":"DESTINATION_TYPE","description":"Destination Type"}},{"lkuCodeId":1518,"code":"MARS","description":"Mars","lkuCodeTypeId":526,"lkuCodeType":{"codeType":"DESTINATION_TYPE","description":"Destination Type"}},{"lkuCodeId":1546,"code":"INSIDE_SOLAR_SYSTEM","description":"Others Inside the Solar System","lkuCodeTypeId":526,"lkuCodeType":{"codeType":"DESTINATION_TYPE","description":"Destination Type"}}],"startYear":2017,"startMonth":10,"endYear":2018,"endMonth":9,"statusDescription":"Completed","principalInvestigators":[{"contactId":423603,"canUserEdit":false,"firstName":"Saptarshi","lastName":"Bandyopadhyay","fullName":"Saptarshi Bandyopadhyay","fullNameInverted":"Bandyopadhyay, Saptarshi","primaryEmail":"saptarshi.bandyopadhyay@jpl.nasa.gov","publicEmail":true,"nacontact":false}],"programDirectors":[{"contactId":335305,"canUserEdit":false,"firstName":"Michael","lastName":"Lapointe","fullName":"Michael R Lapointe","fullNameInverted":"Lapointe, Michael R","middleInitial":"R","primaryEmail":"michael.r.lapointe@nasa.gov","publicEmail":true,"nacontact":false}],"programExecutives":[{"contactId":392233,"canUserEdit":false,"firstName":"Richard","lastName":"Howard","fullName":"Richard W Howard","fullNameInverted":"Howard, Richard W","middleInitial":"W","primaryEmail":"richard.w.howard@nasa.gov","publicEmail":true,"nacontact":false}],"programManagers":[{"contactId":155484,"canUserEdit":false,"firstName":"Fred","lastName":"Hadaegh","fullName":"Fred Y Hadaegh","fullNameInverted":"Hadaegh, Fred Y","middleInitial":"Y","primaryEmail":"fred.y.hadaegh@jpl.nasa.gov","publicEmail":true,"nacontact":false}],"coInvestigators":[{"contactId":187856,"canUserEdit":false,"firstName":"Jaakko","lastName":"Karras","fullName":"Jaakko Karras","fullNameInverted":"Karras, Jaakko","primaryEmail":"jaakko.t.karras@jpl.nasa.gov","publicEmail":true,"nacontact":false},{"contactId":159088,"canUserEdit":false,"firstName":"Gary","lastName":"Doran","fullName":"Gary B Doran","fullNameInverted":"Doran, Gary B","middleInitial":"B","primaryEmail":"gary.b.doran.jr@jpl.nasa.gov","publicEmail":true,"nacontact":false},{"contactId":210201,"canUserEdit":false,"firstName":"Jean-Pierre","lastName":"De La Croix","fullName":"Jean-pierre De La Croix","fullNameInverted":"De La Croix, Jean-pierre","primaryEmail":"jean-pierre.de.la.croix@jpl.nasa.gov","publicEmail":true,"nacontact":false}],"website":"https://www.nasa.gov/directorates/spacetech/innovation_fund/index.html#.VQb6gUjJzyE","libraryItems":[],"transitions":[{"transitionId":53715,"projectId":93890,"transitionDate":"2018-09-01","path":"Closed Out","details":"There are a number of concepts under development at NASA Centers and universities on small spacecraft assets that might be deployed as a swarm during descent to a planetary body, often with a focus on Mars. Deployment of a large number (100s-1000s) of assets could enable simultaneous in-situ, spatiotemporal measurements of the Martian atmosphere, something that current single spacecraft missions cannot do. Examples of such concepts include the Prandtl-m glider, the Tensegrity lander, Printable spacecraft, and PUFFER rovers. These assets tend to have low controllability during descent and landing and limited communication capability. Two open issues with these concepts are first, whether or not the assets, upon release, will distribute sufficiently to provide the desired measurement coverage and, second, whether the landed distribution will result in a connected communication network as required to return the data from the distributed nodes. This task first evaluated what would be the desired distribution of assets to ensure both sampling coverage and data return across the swarm and then developed deployment algorithms to achieve the distribution. Project is pursuing future funding opportunities, check back in.","infoText":"Closed out","infoTextExtra":"","dateText":"September 2018"}],"responsibleMd":{"acronym":"STMD","canUserEdit":false,"city":"","external":false,"linkCount":0,"organizationId":4875,"organizationName":"Space Technology Mission Directorate","organizationType":"NASA_Mission_Directorate","naorganization":false,"organizationTypePretty":"NASA Mission Directorate"},"program":{"acronym":"JPL CIF","active":true,"description":"Through the Center Innovation Fund, the Space Technology Mission Directorate allocates a small portion of the NASA workforce and procurement budget to internal research and development to feed early stage innovation in technology and exploration. Activities with in the Center Innovation Fund are proposed and led by NASA scientists and engineers. These activities and creative initiatives pursue emerging technologies that leverage talent and capabilities at the NASA Centers. 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Through the Center Innovation Fund, the Space Technology Mission Directorate allocates a small portion of the NASA workforce and procurement budget to internal research and development to feed early stage innovation in technology and exploration. Activities with in the Center Innovation Fund are proposed and led by NASA scientists and engineers. These activities and creative initiatives pursue emerging technologies that leverage talent and capabilities at the NASA Centers.
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