NASA manipulators deployed in space, such as SSRMS and Dextre, as well as research platforms, such as Centaur and R5, are all currently limited by the lack of a framework for commanding and monitoring actions that incorporate reactivity and dynamics. Missions involving these and other NASA robots will benefit immediately from the delivered results of this project, enabling them to accomplish tasks that are currently infeasible. The existing CRAFTSMAN tool-suite was developed in collaboration with NASA, and is currently in use in research labs at NASA. Specifically, the proposed work will have initial applications to visiting vehicle and robotic operations on ISS. We have close relationships with Dr. Kim Hambuchen, Mr. Kris Verdeyen, Dr. Bill Bluethmann, and Dr. Ron Diftler at NASA JSC and have discussed with some of them potential applications of the current and proposed CRAFTSMAN tool-suite on R5. Other TRACLabs software, compatible with CRAFTSMAN, is being evaluated for use in ground control operations for the Resource Prospector (RP) robot being developed by NASA JSC and ARC for lunar surface operations. We have also worked with Dr. Jeremy Frank (NASA ARC) to look how the CRAFTSMAN software may integrate with his on-board ISS automated procedure project. Additionally, TRACLabs has contacts with MOD ROBO flight controllers, including Quinn Carelock (NASA FOD) and Scott Wenger (robotics team lead) where the capabilities of this work could be applied.
TRACLabs is already working with a large automotive supplier to integrate CRAFTSMAN into a production cell in a factory by mid-July 2017. This "flexible workcell" will be the first of its kind for this industry leader. TRACLabs is also working with Dr. Chris Thayer and Mr. Chris McQuin at Motiv Space Systems (MSS) to port the CRAFTSMAN software to their Robosimian quadruped robot sold to universities. Motiv has expressed real interest in the reactive control extensions discussed in this proposal. In both cases, discussions on how to license the CRAFTSMAN software for use in these customers' applications are currently underway. These customers have chosen CRAFTSMAN to be the software to integrate into their systems because the need for easy-to-use but capable software for industrial applications is becoming increasingly needed. As such, we expect substantial interest from other commercial customers in the automotive, energy, construction, and service sectors, and will investigate potential opportunities aggressively. For example, TRACLabs also has close contacts with General Electric (GE) including Dr. Roland Menassa, Mr. John Lizzi, and Dr. Shiraj Sen where CRAFTSMAN could be applied to numerous systems in multiple domains, such as nuclear waste disposal.