AUTONOMOUS EXTRA-VEHICULAR ROBOTIC CAMERA

AERCam (Autonomous Extra-vehicular Robotic Camera) is designed to provide astronauts and ground control camera views of the space shuttle and station. The _rest generation of AERCam, called AERCam Sprint, ewe on a shuttle mission in December 1997. AERCam Sprint was teleported by an astronaut inside the space shuttle.

AERCam's only autonomy was its ability to automatically stop its rotation when commanded to do so. The next generation of AERCam, called AERCam II, is currently in development at NASA Johnson Space Center. This robot will have additional autonomous functionality and will be controlled by an intelligent layered control architecture called 3T (Bonasso et al. , 1997).

This paper describes the path planning and control algorithms that direct AERCam's motions. First, we will describe the planar prototype for AERCam and the planar path planning algorithm that directs it. This path planning algorithm is based on the generalized Voronoi diagram (GVD), which has been commonly used in the motion planning _eld (Latombe, 1991). One of the contributions of this paper is that we use the GVD to locally optimize fuel usage of AERCam on the air bearing table.

The second part of this paper then upgrades the planar path planning approach to three-dimensions using a new motion planning structure called the generalized Voronoi graph (GVG), already described in prior work (Choset & Burdick, 1995a). Again, we use the GVG initially to _rest _nd a path and then apply a similar optimization technique to minimize fuel usage. Software simulations validate this approach for the space station.

HR Tips

Responses to Illegal Questions

The following questions and answers illustrate some approaches to answering potentially discriminating questions. Examples aside, remember that each situation is unique and the ultimate decision on how to respond is yours.

Question: "Are you married?"

Real Motivation for Asking the Question: "Will you devote yourself to the position?"

Possible Answers:

A. "Right now, I am focusing on my career and intend to give all the necessary time and energy to my career, regardless of my marital status."

B. "While I am married, my spouse and I understand the demands of good positions such as the one for which I am interviewing. I plan on doing what it takes to succeed in this position, and am eager to make use of my skills and experience."

Question: "Do you plan on having a family?"

Real Motivation for Asking the Question:

"Will you devote the necessary time to the position?"

Possible Answers:

A. "I am not sure at this point, but I know that I am going to work regardless of my family status, and I will give my best effort and skills to the position."

B. "Regardless of my family structure, I plan on having a career and giving all the necessary time and energy to that career."

Question: "Do you have any handicaps or disabilities?"

Real Motivation for Asking the Question: "Will you be able to perform the work?"

Possible Answers:

A. "I believe I am fully capable of performing the duties associated with this position."

B. "Given the appropriate tools (or space or time), I believe I am fully capable of performing the duties associated with this position.