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ATOP

ARC - Ames Research Center

BTOP

CTOP

CLARAty - Coupled Layer Architecture for Robotic Autonomy. CLARAty is a unified and reusable robotic autonomy architecture that provides basic functionality and simplifies the integration of new technologies for future missions. It has two layers: a Functional Layer and a Decision Layer. The Functional Layer provides the basis set of functionality for the robot, and encapsulates this functionality into nested levels of granularity when appropriate. The Decision Layer is a model-based representation of the system and interacts with the Functional Layer at various levels of granularity. The Decision Layer is the home for artificial intelligence software components.

CLARAty is a collaborative effort of two divisions at JPL, NASA's Ames Research Center (ARC), and Carnegie Mellon University (CMU). It also draws on expertise from participants within the Mars Technology Program, which includes the University of Washington and other groups at CMU and ARC.

CMU - Carnegie Mellon University

DTOP

DARTS - Dynamics Algorithms for Real-Time Simulation. A high-fidelity, flexible multibody dynamics simulator used for real-time hardware-in-the-loop design, integration and testing of spacecraft flight software.

DSENDS - Dynamics Simulator for Entry, Descent and Surface landing. A high-fidelity spacecraft simulator for Entry, Descent and Landing (EDL) on planetary and small-bodies.

Dshell - DARTS Shell. A multi-mission spacecraft simulation environment for real-time, hardware-in-the-loop simulations for testing and verification of flight software and hardware.

ETOP

EDL - Entry, Descent, and Landing.

FTOP

FIDO - Field Integrated Design & Operations rover. A class of test rovers, currently the highest-fidelity rover prototypes. They include FIDO and Rocky 8 at the Jet Propulsion Laboratory (JPL), and K9 at Ames Research Center.

GTOP

GESTALT - Grid-based Estimation of Surface Traversability Applied to Local Terrain. This is a derivative algorithm of CMU-developed navigation software called Morphin. GESTALT uses stereo images of the terrain immediately in front of the rover to analyze the "goodness" of possible driving directions, ranging across the spectrum from severe left turns through severe right turns. Goodness is based on terrain geometry, roughness, confidence in stereo range data, and other factors. Driving direction decisions may also be weighted with knowledge of the desired goal direction.

GN&C - Guidance, Navigation, and Control

HTOP

HDA - Hazard Detection and Avoidance

ITOP

JTOP

JPL - Jet Propulsion Laboratory

JSC - Johnson Space Center

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LTOP

MTOP

Maestro - A newer name for the MER Science Activity Planner (SAP) software.

MDS - Mission Data System architecture

MEP - Mars Exploration Program

MER - Mars Exploration Rover, either of the two rovers in the current Mars exploration mission.

MPF - Mars Pathfinder

MPL - Mars Polar Lander

MSL - Mars Science Laboratory a mission scheduled for launch in 2009, which consists of a lander and a long-range rover.

MSR - Mars Sample Return

MTP - Mars Technology Program

NTOP

NG&C - Navigation guidance and control

OTOP

PTOP

PDR - Preliminary Design Review

PI - Principal Investigator

QTOP

RTOP

ROAMS - Rover Analysis, Modeling, and Simulation software.

RSVP - Rover Sequencing and Visualization Planner. A software tool used by operators of the MER rovers, for developing command sets to be uploaded to the spacecraft during the surface phase of the mission.

STOP

SAP - The Science Activity Planner software, used for MER operations. The development team for this product won NASA's 2004 Software of the Year Award.

TTOP

TRL - Technology Readiness Level (refs. 1 2)

UTOP

VTOP

WTOP

WITS - Web Interface for Telescience

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