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ponents of the robotic vchicle mechanical subsystem, senson, on-board control software, as well as the environment This paper describes recent developments in the ROAMS and terraidvehicle interactions. ROAMS provides interfaces physics-based simulator for planetary surface exploration to close many different rover control loops ranging from rover vehicles. ROAMS includes models for various subsys-IOW level motor control, locomotion estimation and control, tems and components of the vehicle including its mechani-to navigation and .,ision control loops shown in Figure 1. cal subsystem, sensors. on-board resources, on-board control The ROAMS 'simulator is being used for stand-alone simsoftware, the terrain environment and terraidvehicle interactions. The ROAMS simulator can be used in stand-alone mode, for closed-loop simulation with on-board software or for operator-in-the-loop simulations. 0-7803-8155-6/04/$17.00 @ZW4 IEEE 0-7803-8155-6/04/$17.00 02004 IEEE

Structured Light Plethysmography (SLP) is a novel non-invasive method that uses structured light to perform pulmonary function testing that does not require physical contact with a patient. The technique produces an estimate of chest wall volume changes over time. A patient is observed continuously by two cameras and a known pattern of light (i.e. structured light) is projected onto the chest using an off-the-shelf projector. Corner features from the projected light pattern are extracted, tracked and brought into correspondence for both camera views over successive frames. A novel self calibration algorithm recovers the intrinsic and extrinsic camera parameters from these point correspondences. This information is used to reconstruct a surface approximation of the chest wall and several novel ideas for 'cleaning up' the reconstruction are used. The resulting volume and derived statistics (e.g. FVC, FEV) agree very well with data taken with a spirometer.

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This paper considers the problem of taking marker locations from optical motion capture data to identify and parameterise the underlying human skeleton structure and motion over time. It is concerned with real-time algorithms suitable for use within a visual feedback system. A common problem in motion capture is marker occlusion. Most current methods are only useful for offline processing or become ineffective when a significant portion of markers are missing for a long period of time. This paper presents a prediction algorithm, using a Kalman filter approach in combination with inferred information from neighbouring markers, to provide a continuous flow of data. The results are accurate and reliable even in cases where all markers on a limb are occluded, or one or two markers are not visible for a large sequence of frames. Pre-defined models are not required and skeleton fitting to this complete data can then be updated in real-time.

This paper introduces the mathematical framework of conformal geometric algebra (CGA) as a language for computer graphics and computer vision. Specifically it discusses a new method for pose and position interpolation based on CGA which firstly allows for existing interpolation methods to be cleanly extended to pose and position interpolation, but also allows for this to be extended to higher-dimension spaces and all conformal transforms (including dilations). In addition, we discuss a method of dealing with conics in CGA and the intersection and reflections of rays with such conic surfaces. Possible applications for these algorithms are also discussed.

This study compares the types and quantities of knowledge that are captured by a model-based systems engineering (MBSE) approach and a traditional architecting approach to measure the benefits of the MBSE approach in managing the complexity of a robotic space system. The MBSE approach was implemented with Cameo Systems Modeler using Systems Modeling Language (SysML) and applied to architecting an orbiting sample Capture and Orient Module (COM) system concept for a Capture, Containment, and Return System payload concept for potential Mars Sample Return.An architecture framework was established, covering system, subsystem, and assembly levels, along with structure, behavior, data, and requirements perspectives. The COM system architecture was captured in parallel using both the MBSE and non-MBSE approaches in order to provide a side-by-side comparison of the approaches.The approaches were evaluated based on how well each represented the information content of the COM system architecture. A total of 4389 knowledge elements were classified using the Revised Bloom's Taxonomy knowledge dimension and used to quantitatively compare the two approaches. The MBSE approach more completely captured architectural knowledge than the non-MBSE approach. Limitations to the SysML-based MBSE approach were also identified, including its ability to fully represent certain high-level conceptual, procedural, and metacognitive knowledge such as design principles, design approaches and rationales, risks, development strategies and rationales, organizational core competencies, and requirement verification methods.The overall results demonstrate the benefits of MBSE in managing the complexity of robotic space systems and strengthen the case for adopting MBSE within the systems engineering community.

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