3.3 Funding Profile

Overall funding for the Telerobotics Program is established in the annual submission of the NASA budget request to Congress. Input to this funding decision process is gathered from potential users and developers during the development of the annual OSAT technology plan . This plan is an integral part of the annual OACT budget development cycle, and includes input from the NASA field centers and the NASA Headquarters user codes. The planning cycle is illustrated in Figure 3-5.

Breakout of the overall funding level to the individual task elements of the program is determined by the Telerobotics Program Manager. Input to this funding decision process is gathered at the annual spring meeting of the TRIWG, at which program participants present task proposals for the following fiscal year. Following a funding determination by the Telerobotics Program Manager, the planned budget for the next fiscal year is released to the TRIWG and incorporated into the Telerobotics Program Plan. That budget, and that document, is used as the basis for the preparation of annual RTOP documents which detail planned task activities, objectives, schedules, and participants.

When the current tasks being worked in the various elements of the work breakdown structure are completed it is anticipated they will be replaced with other tasks within the same element. The TRIWG will continue to monitor the needs and results in each of the technology elements, and rebalance as appropriate.

Figure 3-5 OSAT Budget Cycle

The Telerobotics Program funding summary by program elements from FY94 through FY97 is shown in the following table. The funds for FY94 are actual expenditures, and those shown for FY95 through FY97 are planned funding levels. The funding is shown by task in the program and shown by customer within the Spacecraft Systems Division: Rover Technology and MESUR Pathfinder within the Space and Planetary program (elements 233-02-04 and 233-02-10, respectively), Robotics within the Space Platforms program (element 233-03-03), and Commercial Applications within the Earth Applications Systems program (element 233-01-05).

Telerobotics Program Plan - January 11, 1995
No.	Title	Center	FY 94 Actual	FY 95 Plan	FY 96 Plan	FY 97 Plan
10 -Commercialization
1	Robotics Engineering Consortium	CMU	1000	1000	500
2	Medical Applications of MicroTelerobotics	JPL	300	600	800	700
	Subtotal		1300	1600	1300	700
20 -Lunar Rovers
1	Telepresence / VR Control For Antarctic ROV	ARC	150
2	Lunar Rover Demonstration	CMU	750	870	750
3	Autonomous Rover Technologies	CMU	500	380	500	500
4	Precision Pointing From A Mobile Robot	CMU			350	250
5	Dante II/Mt. Spurr	CMU	1512	45
	Subtotal		2912	1295	1600	750
30 - Planetary Rovers
1	Rover Technology Program	JPL	1950	1900	1900	1900
2	Venus Flyer Robot	JPL			750	750
3	Robotic Systems Controlled By Multiple Agents	JPL/MIT	250	250	250
4	Lander Manipulation	JPL		600
5	Remote Geologist	JPL		670	1000	1000
6	Controlled Descent	JPL		200	200	200
	Subtotal		2200	3620	4100	3850
40 - Space Station Servicing
1	Dexterous Orbiter Servicing System	JSC	2350
2	Dexterous Orbiter Servicing System	JPL	200
3	Dexterous Orbiter Servicing System	LaRC	800
4	Remote Surface Inspection	JPL	1140	400
5	Distributed Space Telerobotics	JPL	350	300	450	500
6	Unified Operator Interface	JPL	400	(*)	500
7	Telepresence / Exoskeleton	JPL	300	(**)
8	Laboratory Tending Telerobot	JPL	83
9	SSF Telerobotic Maintenance Technology Transfer	JSC	120	400
10	AERCAM	JSC			535	445
11	Manipulator Safety Supervisor	JSC			400
12	Reactive Control Strategies	JSC			365	365
13	IVA Robotics & Charlotte	LaRC	350		400	400
14	Surface Attachment and Repair Methods w/ Inductive Bonding	LaRC			600	250
15	SSF External Operations	LaRC	150
	Subtotal		6243	1100	3250	1960
50 - Free-Flying Servicers
1	Telepresence / VR Control of Free Flying Robots	ARC	200	200	130
2	Portable Telepresence / VR Control Station	ARC		175
3	Ranger Task Control and Visual Tracking	HQ		200	280	275
4	Dexterous Arm Control for Ranger Flight Experiment	JPL		350	450
5	Space Operations	UMd	450	400	550	700
6	Ranger Telerobotic Flight Experiment	UMd	2740	1800	538
	Subtotal		3390	3125	1948	975
60 -Terrestrial Applications
1	Telepresence Control For HAZMAT Handling Vehicles	ARC			150	150
2	Ground Emergency Response Vehicle	JPL	500	(**)
3	Satellite Test Assistant Robot	JPL	450
4	Robotic Tile Processing System	KSC	637	300	285	25
5	Payload Inspection Processing Robot	KSC			1141	1029
6	Intelligent Aquatic Vehicle for SRB Retrieval Support	KSC			750	750
7	Operational Robot Performance Assessment	KSC			150	150
8	KSC Automated Tile Inspection	LaRC	30
	Subtotal		1617	300	2476	2104
70 - Component Technology
1	Multiple Interacting Robots	ARC/Stanford	700	600	600	600
2	Capaciflector Camera	GSFC	100		150
3	Advanced Robot Joint Development	GSFC	300		150
4	Wireless HEXEYE	JPL	65
5	MicroTelerobotics	JPL	300
6	Program Management Support	JPL	185	200	150	150
7	Telerobotics Research	JPL	545
8	Vision and Touch Guided Grasping	JPL/MIT	210	(**)	210	210
9	Transfer to SIRTF	JPL		550
10	Redundant Robot Systems	JSC/UT-A	350	300	350	350
11	Automated Structural Assembly	LaRC	150
12	Robotics Control Technology	LaRC		400	500	500
13	In Space Remote Manipulation	LaRC	150
14	ISU	HQ		10
	Subtotal		3055	2060	2110	1810
	Total		20717	13100	16784	12149
	(*) tasks combined into Lander Manipulation Activity (**) tasks combined in Remote Geologist Activity
		ARC	1050	975	880	750
		GSFC	400	0	300	0
		HQ	6952	4705	3468	1725
		JPL	7228	6020	6660	5410
		JSC	2820	700	1650	1160
		KSC	637	300	2326	1954
		LaRC	1630	400	1500	1150
		Total	20717	13100	16784	12149

Figure 3-6 Planned Program Budget (Dollars In Thousands)