4 accepted papers
Teleoperation of robots in space is challenging due to high latency and limited workspace visibility. Previously, the Interactive Planning and Supervised Execution (IPSE) and Augmented Virtuality systems were developed to reduce failure risk. These tools were visualized on a 3D da Vinci surgical con…
Ground-based teleoperation of robot manipulators for on-orbit servicing of spacecraft represents an example of high-payoff, high-risk operations that are challenging to perform due to high latency communications, with telemetry time delays of several seconds. In these scenarios, confidence of operat…
We propose a system for visually monitoring and servoing the cutting of a multi-layer insulation (MLI) blanket that covers the envelope of satellites and spacecraft. The main contributions of this paper are: 1) to propose a model for relating visual features describing the engagement depth of the bl…
On-orbit servicing of satellites is complicated by the fact that almost all existing satellites were not designed to be serviced. This creates a number of challenges, one of which is to cut and partially remove the protective thermal blanketing that encases a satellite prior to performing the servic…