http://roboticvision.org/

Juxi Leitner QUT - Queensland University of Technology ACRV - ARC Centre of Excellence for Robotic Vision

Roboticsfor space exploration

j.leitner@qut.edu.au - http://Juxi.net

http://Juxi.net

http://roboticvision.org/

tinyurl.com/QUTRobotics

roboticvision.orghttp://Juxi.net

http://roboticvision.org/3

> who am i Space Exploration

Interaction /Manipulation

HRI

Multi Robot Systems

http://Juxi.net

http://roboticvision.org/

robotics?what is a robot? how do we define it?

http://Juxi.net

http://roboticvision.org/http://Juxi.net

http://roboticvision.org/

what is a robot?

plan reason

…

thinkact

motorswheels

thrusters hands

…

seelocalize

feel…

sense

robotics?

http://Juxi.net

http://roboticvision.org/

(space) roboticswhy?

dirtydull

dangerous

harsh risks costs

enabling technology precursor missions

synergies and mutual benefits with manned & robo;c missions

cost/science tradeoff risk management

harsh environment

http://Juxi.net

http://roboticvision.org/

space roboticswhat kinds?

http://Juxi.net

http://roboticvision.org/

robotic arms

Image Courtesy: European Space Agencyhttp://Juxi.net

http://roboticvision.org/http://Juxi.net

robonaut2humanoid robot

Images Courtesy: NASA

http://roboticvision.org/

free flyerssatellites and spacecraft

http://Juxi.net

http://roboticvision.org/

rover |ˈrōvər| a person who spends their .me wandering

rovers

http://Juxi.net

http://roboticvision.org/

other forms of locomotionhttps://www.youtube.com/watch?v=KdyaNxcwQkU

http://Juxi.net

http://roboticvision.org/

m

tinyurl.com/QUTLunaRoo

CREATING A HOPPING LUNAR SCIENCE PAYLOAD

LUNAROO:

tinyurl.com/QUTLunaRoo STUDENT SUMMER PROJECT

ROB LEE, TIM HOJNIKSKP-1

tinyurl.com/QUTLunaRoo

Going Higher

SKP-2SKP-1A

http://Juxi.net

http://roboticvision.org/

what is a robot?

thinkactsense

robotics?

http://Juxi.net

http://roboticvision.org/

actcontrol

courses on control: ENB301 (Instrumentation and Control) ENB458 (Modern Control Systems) / ENB347 (Modern Flight Control Systems)

Plant&Controller&Reference& Output&

open-loop

closed-loop ‘bang-bang’ controllers

P/PID style controllers

http://Juxi.net

http://roboticvision.org/

NASAexample

navigationhttp://Juxi.net

http://roboticvision.org/

soviet roverslunar exploration

http://Juxi.net

http://roboticvision.org/

NASA rovers martian exploration

22http://Juxi.net

http://roboticvision.org/

Leaving Footprints

http://Juxi.net

tinyurl.com/QUTLunaRoo TIM HOJNIK

http://roboticvision.org/25

selfdriving

cars

http://roboticvision.org/

sense

for control

and

for science

http://Juxi.net

http://roboticvision.org/

Nature Reviews | Neuroscience

Protostomes

Bilateria

Ecdysozoa

Lophotrochozoa

~580 Mya

~550 Mya

~530 Mya

~500 Mya

~430 Mya

Deuterostomes

Chordates*

Craniates*

Vertebrates*

Gnathostomes*

Arthropods

Annelids

Molluscs

Hemichordates

Echinoderms

Cephalochordates*

Tunicates*

Myxiniformes*

Petromyzoniformes*

Last fossil jawless fish

Stages of interest in vertebrate eye evolution Cambrian

Mya 600 550 500 450 400 0

2 1 3 4 5 6

Lampreys

Jawed vertebrates

Hagfish

Lancelets

Sea squirts

Ocellus

Eye patch

ProtostomeAn animal belonging to the protostome super-phylum, which is characterized by its members’ embryonic development, in which the first opening (the blastopore) becomes the mouth (protostome is Greek for ‘first mouth’). All protostomes are invertebrates.

DeuterostomeAn animal belonging to the deuterostome super-phylum of the animal kingdom, which is characterized by its members’ embryonic development, in which the first opening (the blastopore) becomes the anus (deuterostome is Greek for ‘second mouth’). In addition to the chordate phylum (which includeds vertebrates), the other two main phyla are the echinoderm phylum and the hemichordate phylum.

ChordateAn animal belonging to the chordate phylum, which comprises vertebrates, tunicates and cephalochordates. These animals are characterized by the presence of a notochord, a dorsal-nerve cord and pharyngeal slits or pouches.

AgnathanA jawless fish within the chordate phylum (agnatha is Greek for ‘no jaw’). The two extant groups are hagfish and lampreys.

GnathostomeThe jawed vertebrates (gnathostome is Greek for ‘jaw mouth’), comprising fish and tetrapods (including birds and mammals).

craniates, hagfish have the most basal body-plan. They possess neither jaws nor vertebrae and are therefore usually regarded not as vertebrates but rather as a sister group. The vertebrates comprise an early jaw-less (agnathan) division, of which the only living examples are lampreys, and a later jawed division, the gnathostomes, which includes fish and tetrapods.

Controversy has long surrounded the interrelation-ship between hagfish, lampreys and jawed vertebrates. BOX 1 summarizes current views, and in FIG. 1 we show hagfish diverging either before the divergence of lam-preys or else after lampreys separated from the line that would become the jawed vertebrates.

Not only has extensive gene duplication occurred throughout the evolution of animals22, but in addition it is widely accepted that two rounds of whole-genome duplication occurred early in vertebrate evolu-tion23–29; most likely, one duplication occurred before the agnathans split from the vertebrate line and one occurred after (FIG. 1; for reviews, see REFS 30–32). It is also clear that the vertebrate organizer, which deter-mines the body plan of developing embryos, arose in early chordates33–35. These genetic developments are likely to have been of crucial importance in early vertebrate evolution, but they are beyond the scope of this Review.

Figure 1 | The origin of vertebrates. The evolution of jawed vertebrates is illustrated against an approximate time-scale of millions of years ago (Mya). The taxa considered in this Review are indicated with an asterisk and are accompanied by schematics and diagrams of the ‘eye’ region. The earliest chordates, represented by extant cephalochordates and tunicates, are thought to have appeared around 550 Mya. Jawless craniates (agnathans) were present in the early Cambrian, by 525 Mya, and a time of 530 Mya has been indicated for their presumed first appearance. As elaborated on in BOX 1, there is considerable controversy as to whether myxiniformes (solely represented by extant hagfish) diverged before or after the separation of lampreys from jawed vertebrates (shown as dashed black and grey lines). Numerous lines of jawless fish evolved between 500 and 430 Mya ago, although none have survived to the present day. The first jawed vertebrate arose around 430 Mya, and this line is represented today by cartilagenous fish, bony fish and tetrapods. Six ‘stages of interest’ in vertebrate eye evolution correspond to the time intervals between the divergence of important surviving taxa. This diagram does not include the evolutionary changes that have occurred in the last 400 million years. The presented timeline is based primarily on evidence from the fossil record; see REFS 2,13,15,17,18,144,160–163. The schematics are modified, with permission, from REF. 11 (1996) Oxford University Press (lancelet, sea squirt, hagfish and lamprey) and REF. 164 (2004) Academic Press (jawed vertebrate). The eye images are reproduced, with permission, from the following references: lancelet, REF. 165 BIODIDAC (1996) University of California Museum of Paleontology; sea squirt, REF. 63 (2006) Blackwell Publishing; hagfish, REF. 166 (2006) Australian Museum. Lamprey and jawed vertebrate eye images are courtesy of G. Westhoff and S. P. Collin).

R E V I E W S

NATURE REVIEWS | NEUROSCIENCE VOLUME 8 | DECEMBER 2007 | 961

10 96%EYE DESIGNS

ANIMALS HAVE EYES

http://Juxi.net

http://roboticvision.org/

multi view geometryh5p://mars.nasa.gov/mer/gallery/all/opportunity_n4006.html

h5p://Juxi.net/projects/Opportunity-Sol4006.zip

IllustraQon by Davide Scaramuzza (UniZürich)

http://Juxi.net

http://roboticvision.org/

tinyurl.com/QUTLunaRoo

image processing by Donald Dansereau

https://www.youtube.com/watch?v=qKdJn2seZZg

http://Juxi.net

http://roboticvision.org/

NASAexample

autonomous navigation

http://www.youtube.com/watch?v=kr58r0b5LKMhttp://www.youtube.com/watch?v=3ZdrcV9G3zE

http://Juxi.net

http://roboticvision.org/

INTELLIGENCEfor space robots

think

http://Juxi.net

http://roboticvision.org/

autonomous sciencehttp://Juxi.net

http://roboticvision.org/

interesting rockshttp://www.space.com/24718-mars-jelly-doughnut-rock-mystery-solved.html

http://Juxi.net

http://roboticvision.org/

how can we use it for space?

approachmachine learning

Juxi Leitner

http://Juxi.net

http://roboticvision.org/

biologyastro

Thierry Peynot

http://Juxi.net

http://roboticvision.org/

dust devils

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http://roboticvision.org/

dust devils

http://Juxi.net

http://roboticvision.org/

cooperationof assets

http://Juxi.net

http://roboticvision.org/

collaborative robotshttp://Juxi.net

http://roboticvision.org/

HRI/HARTrobots interacting with humans, working together

http://Juxi.net

http://roboticvision.org/

teleoperation

http://Juxi.net

http://juxi.net/media/

http://roboticvision.org/http://Juxi.net

trends

BRIG.JUXI.NET

6pm FIRST

WEDNESDAY

meet-upsregularmonthly meet-up

other things

events,visits,

workshops, …

every month

http://roboticvision.org/

Thanks!questions? ideas? projects?

j.leitner@qut.edu.au http://Juxi.net

• QUT courses: ENB339 Intro to Robotics MOOC courses —> http://mooc.qut.edu.au/

• Robotics, Vision and Control, P. Corke, ISBN 978-3-642-20143-1

• An Introduction to Space Robotics, A. Ellery, ISBN 1-85233-164-X

• QUT Robotics Group: http://tinyurl.com/QUTRobotics

• European Space Agency / Robotics Section, http://www.esa.int/robotics

• NASA Robotics, http://robotics.nasa.gov JPL Robotics, http://robotics.jpl.nasa.gov/

http://Juxi.net