NASA_Software_Catalog_2014.pdf#sthash.Rk7M8wlL

Jet Propulsion Laboratory (JPL) Stereo Vision Software Suite (JPLV)JPL-18593JPLV provides a set of libraries and utilities for basic robotic vision, including stereo ranging and cameracalibration. Primarily intended for vision system users rather than vision system developers, the suite hidesmost implementation details behind a high-level application user interface. No specialized computer-visionknowledge is required.U.S. Government Purpose ReleaseK9 Rover Control SoftwareARC-14587-1This NASA technology contains the low-level driver code that controls hardware components (e.g., motors,power supply, cameras, and frame-grabbers) of the K9 rover; the code for implementing support utilities(e.g., thread queues); and the code that supports visual serving.U.S. Government Purpose ReleaseK10 Robot ControllerARC-15762-1This embedded system controller operates the K10 mobile robot. The technology is written in C++, runs onLinus computers, executes in soft real time, and is based on the NASA Coupled Layer Architecture for RoboticAutonomy (CLARAty) robot-control architecture. For localization and short-range safeguarding, the controllerprocesses data from numerous sensors, including ultrasonic sonar, optical tracking, and wheel encoders.U.S. Government Purpose ReleaseLivingstone 2 (System for Automated Diagnosis and Discrete Control of ComplexSystems) and Skunkworks (Suite of Supporting Development and Runtime Tools)ARC-14725-1Livingstone 2 is a reusable artificial intelligence (AI) software system designed to assist spacecraft, lifesupport systems, chemical plants, or other complex systems in operating robustly with minimal humansupervision, even in the face of hardware failures or unexpected events. The technology diagnoses thecurrent state of a spacecraft or other system and recommends commands or repair actions that will allowthe system to continue operations. A re-engineered version of the Livingstone diagnosis system that wasflight-tested onboard the Deep Space One spacecraft in 1999, Livingstone 2 contains significant enhancementsto robustness, performance, and usability.Skunkworks is a suite of software tools that support the rapid deployment of model-based representationsof complex systems for Livingstone2 via a visual model builder/tester and two graphical user interface toolsthat provide status information during testing.Open SourceMission Analysis Low-Thrust Optimizer (MALTO)JPL-43625MALTO is a software tool for preliminary design and optimization of low-thrust interplanetary trajectories.The tool is easy to use, has robust convergence, and can handle many intermediate encounters.U.S. Government Purpose Release12. Autonomous SystemsMission Simulation Toolkit (MST)ARC-14932-1MST offers a simulation framework to support research in autonomy for remote exploration. The systemallows developers to test models in a high-fidelity simulation and then evaluate system performance againsta set of integrated, standardized simulations. For more information, please visit: Open SourceModel-Based Diagnosis Engine For Stochastic Hybrid Systems (HyDE)ARC-15570-1AHyDE is a model-based diagnostic engine capable of detecting and isolating discrete (possibly multiple)faults in physical systems. The current version of HyDE has been implemented in C++. Please visitthe following URL for more information: U.S. and Foreign Release114NASA Technology Transfer Program Software Catalog 2014