Newsgroups: comp.robotics
Path: brunix!cat.cis.Brown.EDU!agate!ames!kronos.arc.nasa.gov!doctor
From: doctor@kronos.arc.nasa.gov (Terry Fong)
Subject: Dante II - Mt. Spurr Expedition Status (13-Jul-94)
Message-ID: <1994Jul31.075229.27107@ptolemy-ethernet.arc.nasa.gov>
Summary: status information on CMU/NASA volcano robot explorer
Keywords: Dante, teleoperations, volcano, Alaska
Sender: usenet@ptolemy-ethernet.arc.nasa.gov (usenet@ptolemy.arc.nasa.gov)
Nntp-Posting-Host: tardis.arc.nasa.gov
Organization: NASA Ames Intelligent Mechanisms Group
Date: Sun, 31 Jul 1994 07:52:29 GMT
Lines: 77

The following is a status update on the Dante II project. Dante II is
an eight-legged robot (developed by the CMU Robotics Institute with
sponsorship from NASA) which is currently descending into the active
crater of Mt. Spurr, an Alaskan volcano 80 miles west of Anchorage,
Alaska. The primary objective of the Dante II project is to develop and
evaluate new techniques and technologies which can be applied to space
and planetary exploration. 

Throughout the Mt. Spurr expedition, Dante II is being remotely
operated from a base station in Anchorage using control station
software developed at CMU and NASA Ames. Live video coverage is
periodically available via NASA Select. Full mission details including
current status, real-time images/video, and technical data is available
via a WorldWideWeb server provided by the NASA Ames Intelligent
Mechanisms Group. This site can be accessed on the Internet using
information browsers such as NCSA Mosaic and the URL:

	http://maas-neotek.arc.nasa.gov/dante

Questions regarding the Dante II project may be addressed to me via email 
(terry@ptolemy.arc.nasa.gov). Reponse time may be slow.

Terry Fong
NASA Ames Research Center

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Daily Report (13-Jul-1994, 7:08 pm ADT)

Preparation work continues on a number of fronts. Due to logistics,
network communications and final hardware testing, deployment on
Mt. Spurr has been slightly delayed. Under the revised schedule, we
will start into the crater of the volcano no sooner than July 22
(weather permitting). 

The software team is testing final control station and on-board
systems. Control station applications including remote power relay,
video switching, and pan/tilt GUI's were completed today. In addition,
integrated testing of the scanning laser rangerfinder and the
Virtual Environment Vehicle Interface (NASA Ames Intelligent
Mechanisms Group) was conducted.

Electronics work is nearing completion.  The laser scanner heater and
weather-proofing mounts were installed and a final field calibration
is next on the punch list.  Initial tests of the Stereo Graphics video
system revealed misalignments in the camera pair which will be taken
care of in the coming days.  Telemetry between the base station and
the volcano rim (or simulations thereof) is expected to be connected
this evening.  After full system tests are complete, the computing
will be moved from the staging area to the real base station location.

During the last 24 hours, mechanical work has focused on the final
installation of the foot cameras (four mounts on bottom frame
section), snow shoes on all eight legs, and preparation of the mission
electric generator set. 

Installation and testing of communications links continue to
progress. The NASA Science Internet data link (56 Kbit/sec, TCP/IP)
between Anchorage and NASA Ames was activated. This link will provide
real-time telemetry during the mission to a control station at NASA
Ames. GCI network systems is completing the connection of the NASA
Advanced Communications Technology Satellite (ACTS), which will
provide a video link (384 Kbit/sec, compressed digitial video) between
Anchorage and Washington, D.C.

Reconaissance missions of Mt. Spurr are planned over the next three
days. The Alaska Volcano Observatory will be conducting a fixed-wing
flyover on 7/14. An Air Force Blackhawk helicopter will land a four
man team on the crater rim on 7/15 or 7/16. Final checkout of Dante at a
local (Anchorage) site is scheduled for 7/17-7/21.

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-- 
_______________________________________________________________________________
 "Every once in a while declare        Terry Fong <terry@ptolemy.arc.nasa.gov>
  peace. It confuses the hell out      NASA Ames, M/S 269-3, Moffett Field, CA
  of your enemies" -- Rule of Acq. #76      (415) 604-6063, (415) 604-6081 lab
