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CARNEGIE MELLON NEW ROBOT WILL TEST NEW CONCEPT FOR CONTINUOUS SOLAR-POWERED EXPLORATION IN CANADIAN ARCTIC
25 June 2001 - Carnegie Mellon Universtity

A prototype solar-powered robot with the potential to be self-sufficient for extended periods of time will be tested in the Canadian Arctic by Carnegie Mellon University researchers in July. The researchers will test a concept called Sun-Synchronous Navigation that may enable autonomous robots to obtain continuous solar power for long-term exploration of distant planets and moons.

A prototype solar-powered robot with the potential to be self-sufficient for extended periods of time will be tested in the Canadian Arctic by Carnegie Mellon University researchers in July. The researchers will test a concept called Sun-Synchronous Navigation that may enable autonomous robots to obtain continuous solar power for long-term exploration of distant planets and moons.

The robot named Hyperion was developed by researchers at Carnegie Mellon's Robotics Institute with support from NASA. It represents the latest in a series of terrestrial testbeds for planetary explorers the institute has developed for NASA in a relationship that spans more than a decade.

Several weeks of experiments will be conducted to measure the robot's performance and test computer algorithms, building up to integrated experiments that will take place over 24-hour periods of continuous sunlight. Sun-Synchronous Navigation is a technique that involves tracking the sun while exploring terrain. It's accomplished by traveling opposite to planetary rotation and in synchrony with the sun. The robot must reason about its position and orientation with respect to the sun while it explores its surroundings. It navigates to capture enough sunlight to power itself while traveling through rough terrain and trying to reach important scientific objectives.

Researchers believe that at the right latitude and speed, robotic explorers should get enough sunlight to maintain continuous operation. For some missions, by following the dawn, these rovers may also be able to regulate their temperatures by staying in the transition region between frigid night and scorching daytime temperatures. They would travel with the sunrise and never have to hibernate overnight. The performance of almost any mission would be improved by deliberately choosing where to park and orient themselves to maximize power from the sun.

"Near the poles of the moon, the idea is for a robot to move with the dawn, and always remain in sunlight as explores its environment," said Robotics Institute Research Scientist David Wettergreen, a co-investigator on the project. "In northern Canada, Hyperion will explore in a circular pattern as the sun circles the sky. Robots could employ a similar strategy in the polar region of Mars."

"Sun-synchronous navigation would enable robots to undertake missions of months or years," said principal investigator William L. "Red" Whittaker, Carnegie Mellon's Fredkin research professor and a pioneer in the development of mobile robots. "To travel vast distances on the moon or Mars is what is called for to make the revolutionary discoveries. The trend is also to explore ever more difficult terrain where scientific information is richest."

"This will enable us to develop rovers with much less complexity because they won't have to withstand extremes in temperature," said Melvin Montemerlo, NASA program executive, Office of Space Science, Washington, DC.

Hyperion is named for a Titan of Greek mythology who fathered the sun, moon and the dawn. The word Hyperion roughly translates to "he who follows the sun." Hyperion is 2 meters long, 2 meters wide and almost 3 meters tall with a near vertically mounted solar panel measuring 3.5 square meters. It carries this panel mounted upright to catch the low-angle sunlight of the polar regions.

Hyperion operates on about 200 watts of power. It is fabricated of aluminum tubing and has four wheels on two axles. On the front axle, a frame supports stereo cameras and a laser scanner. All of Hyperion's computers, electronics and batteries are mounted in a body enclosure between the axles. The robot weighs 156 kilograms.

Wettergreen said Hyperion can act autonomously by combining sun seeking algorithms with those that sense the terrain and avoid obstacles. It also has enough intelligence to know when it is lost or in trouble and can send a message to human operators to ask for help. It shifts smoothly from autonomous mode to being tele-operated.

Hyperion is a concept vehicle designed to operate only on Earth. Robots designed for flight missions would require specialized components, such as space-qualified motors and computers, and mission specific scaling of items like the solar panels.

The field experiments with Hyperion will take place on the hilly, rock-strewn terrain of Devon Island, Nunavut, Canada, the largest uninhabited island in the world and site of the Haughton Crater. Since 1996, Devon Island and the crater area have been used by researchers working on the NASA/SETI Haughton-Mars Project, an international field research program, which studies the crater and its surroundings as an analog of Mars.

Wettergreen will lead the field experiment with six colleagues, including Robotics Institute engineers and graduate students. They intend to verify the algorithms they've developed and validate the parameters that will allow sun-synchronous explorers to be developed for other planets. The Carnegie Mellon team leaves for Devon Island on July 3. Experiments will begin around July 10 and conclude by July 20.

There is a narrow window of time to conduct the experiments after the snow has melted in mid-July and when the sun begins to drop below surrounding hills toward the end of the month. The team intends to produce status reports, images and online movies throughout the field experiment.

http://www.cmu.edu

About: Carnegie Mellon Universtity
The Carnegie Institution of Washington (www.carnegieinstitution.org) has been a pioneering force in basic scientific research since 1902. It is a private, nonprofit organization with six research departments throughout the U.S. Carnegie scientists are leaders in plant biology, developmental biology, astronomy, materials science, global ecology, and Earth and planetary science.

Since its founding in 1900 by industrialist and philanthropist Andrew Carnegie, Carnegie Mellon University has been a pragmatic institution, adapting rapidly to change. In fewer than 100 years it has changed its name three times--each transition marking a milestone in the institution's 20th century evolution.

Whether it was Carnegie Technical Schools, as it was in its first 12 years, Carnegie Institute of Technology, its name from 1912 to 1967, or Carnegie Mellon University, three primary purposes formed its foundation. Throughout this century, Carnegie Mellon has focused on delivering distinctive and first-quality education, fostering research, creativity and discovery, and using the new knowledge created on campus to serve our larger society.

When Arthur A. Hamerschlag served as the school's first president, Carnegie Technical Schools' 12 professors and six administrators sought to educate the sons and daughters of Pittsburgh workers for employment in the region's growing industries.

These educators served the vision of Carnegie by organizing into four faculties: the School of Science and Technology, the School of Fine and Applied Arts, the School of Apprentices and Journeymen, and the Margaret Morrison Carnegie School for Women.

In its earliest years, the institution served primarily part-time and undergraduate students. The faculty, many of whom did not have doctor's degrees, focused on teaching and curriculum development.

But research efforts began as early as 1916 when the Division of Applied Psychology of the Carnegie Institute of Technology developed rating scales for job placement. This rating system was used to classify two million men for placement in the armed forces during World War I. Research bureaus were organized in coal mining, nuclear physics, applied chemistry and metallurgy.

And by granting the nation's first undergraduate degree in drama in 1917, the institution began a tradition of leadership in the arts that spanned the century.

Through research and the education of its students during the administration of President Thomas S. Baker in the 1920s and '30s, the institution began its strong tradition of transferring knowledge and skills to industry and government.

Building on this firm foundation, the administration of President Robert E. Doherty introduced a new approach to education that would be used as a model by similar institutions around the nation. The Carnegie Plan for Professional Education, initiated in 1939-40, required engineering and science students to take a quarter of their courses in a new Humanistic and Social Relations sequence. In addition, its curriculum focused on teaching students problem-solving techniques, a hallmark of the Carnegie Mellon educational experience today.

While the Doherty administration has been credited with this educational innovation, it also oversaw growth in the institution's research capability. Between 1936 and 1950, the number of graduate students grew from 36 to more than 260. The research budget ballooned from $156,000 to $1 million.

In the 1950s, the newly formed Graduate School of Industrial Administration, endowed by William Larimer Mellon, emerged as one of the three or four best business schools in the nation. (In 2004 the school was renamed the David A. Tepper School of Business after benefactor and alumnus David Tepper (MBA '82).) Today, the school is recognized as a pioneer in the field of management science and one of the top business schools in the world.

The Warner administration oversaw the institution's burgeoning research enterprise. This period of research growth was aided by the work of the institution's Computation Center, founded in 1956 to provide computing services to the campus. A major grant from benefactor Richard K. Mellon in 1965 aided the establishment of a Computer Science Department, a department which would be the genesis of Carnegie Mellon's worldwide reputation in computer science.

By the end of the Warner administration and the start of the administration of President H. Guyford Stever in 1966, Carnegie Tech had most elements of a university. Its merger in 1967 with the Mellon Institute created Carnegie Mellon University and brought a $60 million endowment, extensive research facilities and renowned research personnel to the institution.

Five years later, President Richard M. Cyert (1972-90) began a tenure that was characterized by unparalleled growth and development. The university's research budget soared from about $12 million annually in the early 1970s to more than $110 million in the late 1980s. The work of researchers in new fields such as robotics and software engineering helped the university build on its reputation for innovative ideas and pragmatic solutions to the problems of industry and society. Carnegie Mellon began to be recognized as a truly national research university able to attract students from across the nation and around the world.

The Cyert administration stressed strategic planning and comparative advantage, pursuing opportunities in areas in which Carnegie Mellon could outdistance its competitors.

An archetypal example of this approach was the introduction of the university's "Andrew" computing network in the mid-1980s. This pioneering network, which linked all computers and workstations on campus, set the standard for educational computing and firmly established the university as a leader in the uses of technology in education and research.

Education and teaching also benefited in this period with the establishment of a University Teaching Center to improve faculty teaching and the renovation of many of the university's classrooms.

Cognizant of the university's heritage, President Robert Mehrabian (1990-97) invited alumni from the era of the institution's first president, Arthur A. Hamerschlag, to attend his inauguration in 1990. President Mehrabian emphasized Carnegie Mellon's traditional strengths in education, research and service to society while focusing on initiatives for leadership in the 21st century.

With the appointment of the university's first Vice Provost for Education, President Mehrabian placed renewed emphasis early in his administration on the quality of undergraduate education. He also moved aggressively to complete the most ambitious campus building plan since the Warner era. The University Center, which opened in August 1996, and the Purnell Center for the Arts, to be completed by the fall of 1999, are keys to enhancing the quality of life on campus, another priority of the Mehrabian administration.

Confronted by shrinking governmental support of university research, President Mehrabian diversified the university's research agenda. He stressed the need to build strong relationships with the business world, matching industry's needs with the university's areas of research strength. He also put new emphasis on productivity, improvement of administrative services and strategic management of university resources.

President Mehrabian established strong, new partnerships with the greater Pittsburgh community. He led a community-wide economic development initiative, spurred collaboration with primary and secondary schools, and worked closely with local community groups.

On April 15, 1997, Jared L. Cohon, former dean of Yale University's School of Forestry and Environmental Studies, was elected by the university's Board of Trustees to succeed President Mehrabian, who resigned to spend more time with his family in California.

"Since I was chosen, since this wonderful event has occurred, it has made me reflect on why you are choosing me," President Cohon said in his first speech to the university community. "And I've said to people since this was announced that the more I think about it, the more I realize how well I think this institution and I fit together. We'll see if that's true. I think it is.

"When I was at Johns Hopkins we used to always hold up Carnegie Mellon as an example," Cohon said. "So, for many years I've ... been jealous of what has been accomplished here across departmental lines. I celebrate that. I think it is so valuable in every aspect of this university and it will position Carnegie Mellon to be even better...."

During Cohon's presidency, Carnegie Mellon has continued its trajectory of innovation and growth. Today, President Cohon is leading implementation of a comprehensive strategic plan that aims to leverage the university's existing strengths to benefit society in the areas of biotechnology and the life sciences, information and security technology, environmental science and practices, the fine arts and humanities.

The university is also committed to broadening and enhancing undergraduate education to allow students to explore various disciplines while maintaining a core focus in their primary area of study. Realizing that today's graduates must understand international issues, Carnegie Mellon is committed to providing a global education for its students and is striving to expand its international offerings and to increase its presence on a global scale. Increasing diversity, in all aspects, and fostering the economic development of southwestern Pennsylvania, are also top priorities.

Over the years Carnegie Mellon's leaders have reflected Andrew Carnegie's original dedication and commitment to this institution. In his 1900 letter to the mayor of Pittsburgh establishing Carnegie Technical Schools, Andrew Carnegie wrote, "My heart is in the work." These words have been echoed by students, faculty and administrators throughout this century and they live on the Carnegie Mellon campus today.


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