NASA OSTEM Internship
Langley Research Center
I worked on the LANDO team in the In-Space Servicing, Assembly, Manufacturing (ISAM) branch, developing an autonomous robotic arm to be used on a lunar lander for payload handling capabilities. My role was to develop a Verification and Validation plan to ensure that the robotic arm behaves properly both in the physical and simulation environments. The plan I created focuses on testing the system's pose estimation using perception sensors, fiducial markers, encoders, sensor fusion, and kinematics. At the end of my internship, I created and delivered a presentation of the work I did over the summer.
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*Note: Portions of the presentation have been omitted in order to make it publicly available.
Skills Learned
ROBOTICS
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Kinematics (forward and inverse)
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Coordinate systems, reference frames, joint space, and cartesian space
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Pose estimation; defining pose with position + orientation
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Using perception sensors with fiducial markers; using sensor fusion​
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Representing orientation with Quaternions, Euler anglers, Roll Pitch Yaw (RPY), and Transformation matrices
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Types of joints (continuous, revolute, prismatic, etc.)
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Degrees of freedom
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Robot workspace
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COMPUTER SKILLS
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ROS2
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Defining a robot with a URDF or SRDF
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Using macros and xacro files
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Creating packages, nodes, topics, and message types
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Publishing/Subscribing, Actions, Services, Clients
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Obtaining relevant data through topic echos, nodes, and rosbags
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Gazebo
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Integrating with ROS2, loading a URDF
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Performing simulations
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Logging, filtering, processing data results
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Gitlab, Docker
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Linux environment
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OTHER SKILLS
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Verification & Validation, understanding requirements
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Research
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Technical Writing
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Thorough documentation
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Presentations
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Professional Communication