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NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These Extra-Vehicular Activities (EVAs) are risky, expensive and complex. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is developing a robotic astronaut's assistant called Robonaut that could boost EVA productivity while(More)
—This paper presents an intelligent system health monitoring technique for a humanoid robot, Robonaut, which was developed at JSC to be used in space. Robonaut's lower level controller publishes sensor information through NDDS, network middleware, and Self Agent analyzes the data to monitor the status of the robot. A hierarchical system health monitoring(More)
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