These are representative sample records from Science.gov related to your search topic.
For comprehensive and current results, perform a real-time search at Science.gov.
1

Incorporating Manual and Autonomous Code Generation  

NASA Technical Reports Server (NTRS)

Code can be generated manually or using code-generated software tools, but how do you interpret the two? This article looks at a design methodology that combines object-oriented design with autonomic code generation for attitude control flight software. Recent improvements in space flight computers are allowing software engineers to spend more time engineering the applications software. The application developed was the attitude control flight software for an astronomical satellite called the Microwave Anisotropy Probe (MAP). The MAP flight system is being designed, developed, and integrated at NASA's Goddard Space Flight Center. The MAP controls engineers are using Integrated Systems Inc.'s MATRIXx for their controls analysis. In addition to providing a graphical analysis for an environment, MATRIXx includes an autonomic code generation facility called AutoCode. This article examines the forces that shaped the final design and describes three highlights of the design process: (1) Defining the manual to autonomic code interface; (2) Applying object-oriented design to the manual flight code; (3) Implementing the object-oriented design in C.

McComas, David

1998-01-01

2

Autonomous Underwater Vehicle Thermoelectric Power Generation  

NASA Astrophysics Data System (ADS)

Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.

Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.

2013-07-01

3

Map Generation by Cooperative Autonomous Robots using Possibility Theory  

E-print Network

Map Generation by Co­operative Autonomous Robots using Possibility Theory Maite L to the host after their exploratory runs. To minimise the loss of infor­ mation, the robots cooperate of unknown office­like environments. Our approach is based on, first, a troop of low­cost autonomous robots

López-Sánchez, Maite

4

Implementing autonomous crowds in a computer generated feature film  

E-print Network

IMPLEMENTING AUTONOMOUS CROWDS IN A COMPUTER GENERATED FEATURE FILM A Thesis by JOHN ANDRE PATTERSON Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE... December 2005 Major Subject: Visualization Sciences IMPLEMENTING AUTONOMOUS CROWDS IN A COMPUTER GENERATED FEATURE FILM A Thesis by JOHN ANDRE PATTERSON Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment...

Patterson, John Andre

2006-04-12

5

Autonomous quantum thermal machine for generating steady-state entanglement  

E-print Network

We discuss a simple quantum thermal machine for the generation of steady-state entanglement between two interacting qubits. The machine is autonomous in the sense that it uses only incoherent interactions with thermal baths, but no source of coherence or external control. By weakly coupling the qubits to thermal baths at different temperatures, inducing a heat current through the system, steady-state entanglement is generated far from thermal equilibrium. Finally, we discuss two possible implementations, using superconducting flux qubits or a semiconductor double quantum dot. Experimental prospects for steady-state entanglement are promising in both systems.

Jonatan Bohr Brask; Nicolas Brunner; Graldine Haack; Marcus Huber

2015-04-15

6

A hybrid microbial dielectric elastomer generator for autonomous robots  

NASA Astrophysics Data System (ADS)

We are developing a hybrid Dielectric Elastomer Generator (DEG)-Microbial Fuel Cell (MFC) energy harvester . The system is for EcoBot, an Autonomous Robot (AR) that currently uses its MFCs to extract electrical energy from biomass, in the form of flies. MFCs, though reliable are slow to store charge. Thus, EcoBot operations are characterized by active periods followed by dormant periods when energy stores recover. Providing an alternate energy harvester such as a DEG, driven by wind or water, could therefore increase active time and also provide high voltage energy for direct use by on-board systems employing dielectric elastomer actuators (DEAs). Energy can be harvested from a DEG when work is done on its elastomer membrane.. However, the DEG requires an initial charge and additional charge to compensate for losses due to leakage. The starting charge can be supplied by the EcoBot MFC capacitor. We have developed a self-primer circuit that uses some of the harvested charge to prime the membrane at each cycle. The low voltage MFC initial priming charge was boosted using a voltage converter that was then electrically disconnected. The DEG membrane was cyclically stretched producing charge that replenished leakage losses and energy that could potentially be stored. A further study demonstrated that the DEG with self-primer circuit can boost voltage from very low values without the need for a voltage converter, thus reducing circuit complexity and improving efficiency.

Anderson, Iain A.; Ieropoulos, Ioannis; McKay, Thomas; O'Brien, Benjamin; Melhuish, Chris

2010-04-01

7

Automated Generation and Assessment of Autonomous Systems Test Cases  

NASA Technical Reports Server (NTRS)

This slide presentation reviews some of the issues concerning verification and validation testing of autonomous spacecraft routinely culminates in the exploration of anomalous or faulted mission-like scenarios using the work involved during the Dawn mission's tests as examples. Prioritizing which scenarios to develop usually comes down to focusing on the most vulnerable areas and ensuring the best return on investment of test time. Rules-of-thumb strategies often come into play, such as injecting applicable anomalies prior to, during, and after system state changes; or, creating cases that ensure good safety-net algorithm coverage. Although experience and judgment in test selection can lead to high levels of confidence about the majority of a system's autonomy, it's likely that important test cases are overlooked. One method to fill in potential test coverage gaps is to automatically generate and execute test cases using algorithms that ensure desirable properties about the coverage. For example, generate cases for all possible fault monitors, and across all state change boundaries. Of course, the scope of coverage is determined by the test environment capabilities, where a faster-than-real-time, high-fidelity, software-only simulation would allow the broadest coverage. Even real-time systems that can be replicated and run in parallel, and that have reliable set-up and operations features provide an excellent resource for automated testing. Making detailed predictions for the outcome of such tests can be difficult, and when algorithmic means are employed to produce hundreds or even thousands of cases, generating predicts individually is impractical, and generating predicts with tools requires executable models of the design and environment that themselves require a complete test program. Therefore, evaluating the results of large number of mission scenario tests poses special challenges. A good approach to address this problem is to automatically score the results based on a range of metrics. Although the specific means of scoring depends highly on the application, the use of formal scoring - metrics has high value in identifying and prioritizing anomalies, and in presenting an overall picture of the state of the test program. In this paper we present a case study based on automatic generation and assessment of faulted test runs for the Dawn mission, and discuss its role in optimizing the allocation of resources for completing the test program.

Barltrop, Kevin J.; Friberg, Kenneth H.; Horvath, Gregory A.

2008-01-01

8

MOTION GENERATION ON TRIM TRAJECTORIES FOR AN AUTONOMOUS UNDERACTUATED AIRSHIP  

Microsoft Academic Search

A blimp is a small airship that has no metal framework and collapses when deflated. In the first part of this paper, dynamic modeling of small autonomous non rigid airships is presented, using the Newton-Euler approach. This study discusses the motion in 6 degrees of freedom since 6 independent coordinates are necessary to determine the position and orientation of this

Salim HIMA; Yasmina BESTAOUI

9

Autonomous Robots, to appear Jan., 2003. Generating Multi-Level Linguistic Spatial Descriptions from Range Sensor  

E-print Network

Autonomous Robots, to appear Jan., 2003. 1 Generating Multi-Level Linguistic Spatial Descriptions expressions can be generated to describe the spatial relations between a mobile robot and its environment, using readings from a ring of sonar sensors. Our work is motivated by the study of human-robot

Skubic, Marjorie

10

An Autonomous Mobile Robot Guided by a Chaotic True Random Bits Generator  

NASA Astrophysics Data System (ADS)

In this work a robot's controller, which ensures chaotic motion to an autonomous mobile robot, is presented. This new strategy, which is very useful in many robotic missions, generates an unpredictable trajectory by using a chaotic path planning generator. The proposed generator produces a trajectory, which is the result of a sequence of planned target locations. In contrary with other similar works, this one is based on a new chaotic true random bits generator, which has as a basic feature the coexistence of two different synchronization phenomena between mutually coupled identical nonlinear circuits. Simulation tests confirm that the whole robot's workplace is covered with unpredictable way in a very satisfactory time.

Volos, Ch. K.; Kyprianidis, I. M.; Stouboulos, I. N.; Stavrinides, S. G.; Anagnostopoulos, A. N.

11

Application of Autonomous Agents for Crowd Scene Generation  

Microsoft Academic Search

Generation of animated human figures especially in crowd scenes has many applications in such domains as the special effects industry, computer games or for the simulation of the evacuation from crowded areas. Currently such scenes have to be created by human animators using dedicated software packages. This is both expensive and time-consuming. Our \\

Adam Szarowicz; Peter Forte; Juan Amiguet-Vercher; Petros Gelepithis

2002-01-01

12

Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom  

NASA Technical Reports Server (NTRS)

A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

2015-01-01

13

Multivariable Servomechanism Controller for Autonomous Operation of a Distributed Generation Unit: Design and Performance Evaluation  

Microsoft Academic Search

A linear time-invariant (LTI) robust servomechanism controller for islanded (autonomous) operation of a distributed generation (DG) unit and its local load is proposed. The DG unit utilizes a voltage-sourced converter (VSC) as the interface medium. The controller design is obtained by introducing a new optimal controller design procedure, in conjunction with a proposed non-conservative robustness constraint. The proposed controller utilizes

Houshang Karimi; Edward J. Davison; Reza Iravani

2010-01-01

14

Systems, methods and apparatus for generation and verification of policies in autonomic computing systems  

NASA Technical Reports Server (NTRS)

Described herein is a method that produces fully (mathematically) tractable development of policies for autonomic systems from requirements through to code generation. This method is illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming method described provides faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.Further, the systems, methods and apparatus described herein provide a way of analyzing policies for autonomic systems and facilities the generation of provably correct implementations automatically, which in turn provides reduced development time, reduced testing requirements, guarantees of correctness of the implementation with respect to the policies specified at the outset, and provides a higher degree of confidence that the policies are both complete and reasonable. The ability to specify the policy for the management of a system and then automatically generate an equivalent implementation greatly improves the quality of software, the survivability of future missions, in particular when the system will operate untended in very remote environments, and greatly reduces development lead times and costs.

Hinchey, Michael G. (Inventor); Rash, James L. (Inventor); Truszkowski, Walter F. (Inventor); Rouff, Christopher A. (Inventor); Sterritt, Roy (Inventor); Gracanin, Denis (Inventor)

2011-01-01

15

Autonomous hydro, diesel, wind, biogas single or mixed energetical systems with asynchronous generators  

SciTech Connect

The paper discusses some engineering aspects of the utilization of asynchronous generators in autonomous unconventional single or mixed energy systems: hydro, diesel, wind, and biogas. The authors have built several energy systems with asynchronous generators with variable speed and constant frequency, implemented in wind generator systems in Romania. They have constructed an energy system with constant capacity excited asynchronous generator at Sarata Microhydrostation, Fagaras Mountains (1450 m). In this system the voltage was controlled by varying the speed of the turbine. For systems with uncontrolled hydroturbines the authors investigated constant loaded asynchronous generator with constant capacitive excitation and dump load control. Additionally, they investigated a system based on constant speed asynchronous generator whose voltage is controlled by an original system with continuous variable capacitive excitation. The driving motor is a thermal motor supplied with biogas. The system was developed at the request of the National Institute for Thermal Motors (Bucharest, Romania). The authors present their original proposals for mixed hydro, diesel, wind, biogas energetical systems based on asynchronous generator utilization. Original system structures are presented for resistive loaded systems as well as for resistive-inductive loaded systems. They also present some original schematic diagrams, methods and algorithms for asynchronous generator characteristics calculation. These characteristics are useful in the design of the excitation system, allowing determination of the rated parameter values of its elements. Some examples of asynchronous generator operation characteristics, calculated with these methods, are given in the paper.

Budisan, N. [Technical Univ. of Timisoara (Romania). Dept. of Automation; Hentea, T.I. [Purdue Univ. Calumet, Hammond, IN (United States). Engineering Dept.

1995-12-31

16

Value-driven behavior generation for an autonomous mobile ground robot  

NASA Astrophysics Data System (ADS)

In this paper, we will describe a value-driven graph search technique that is capable of generating a rich variety of single and multiple vehicle behaviors. The generation of behaviors depends on cost and benefit computations that may involve terrain characteristics, line of sight to enemy positions, and cost, benefit, and risk of traveling on roads. Depending on mission priorities and cost values, real-time planners can autonomously build appropriate behaviors on the fly that include road following, cross-country movement, stealthily movement, formation keeping, and bounding overwatch. This system follows NIST's 4D/RCS architecture, and a discussion of the world model, value judgment, and behavior generation components is provided. In addition, techniques for collapsing a multidimensional model space into a cost space and planning graph constraints are discussed. The work described in this paper has been performed under the Army Research Laboratory's Robotics Demo III program.

Balakirsky, Stephen B.; Lacaze, Alberto

2002-07-01

17

Autonomous trajectory generation for mobile robots with non-holonomic and steering angle constraints  

SciTech Connect

This paper presents an approach to the trajectory planning of mobile platforms characterized by non-holonomic constraints and constraints on the steering angle and steering angle rate. The approach is based on geometric reasoning and provides deterministic trajectories for all pairs of initial and final configurations (position x, y, and orientation {theta}) of the robot. Furthermore, the method generates trajectories taking into account the forward and reverse mode of motion of the vehicle, or combination of these when complex maneuvering is involved or when the environment is obstructed with obstacles. The trajectory planning algorithm is described, and examples of trajectories generated for a variety of environmental conditions are presented. The generation of the trajectories only takes a few milliseconds of run time on a micro Vax, making the approach quite attractive for use as a real-time motion planner for teleoperated or sensor-based autonomous vehicles in complex environments. 10 refs., 11 figs.

Pin, F.G.; Vasseur, H.A.

1990-01-01

18

The Next Generation of Mars-GRAM and Its Role in the Autonomous Aerobraking Development Plan  

NASA Technical Reports Server (NTRS)

The Mars Global Reference Atmospheric Model (Mars-GRAM) is an engineering-level atmospheric model widely used for diverse mission applications. Mars-GRAM 2010 is currently being used to develop the onboard atmospheric density estimator that is part of the Autonomous Aerobraking Development Plan. In previous versions, Mars-GRAM was less than realistic when used for sensitivity studies for Thermal Emission Spectrometer (TES) MapYear=0 and large optical depth values, such as tau=3. A comparison analysis has been completed between Mars-GRAM, TES and data from the Planetary Data System (PDS) resulting in updated coefficients for the functions relating density, latitude, and longitude of the sun. The adjustment factors are expressed as a function of height (z), Latitude (Lat) and areocentric solar longitude (Ls). The latest release of Mars-GRAM 2010 includes these adjustment factors that alter the in-put data from MGCM and MTGCM for the Mapping Year 0 (user-controlled dust) case. The greatest adjustment occurs at large optical depths such as tau greater than 1. The addition of the adjustment factors has led to better correspondence to TES Limb data from 0-60 km as well as better agreement with MGS, ODY and MRO data at approximately 90-135 km. Improved simulations utilizing Mars-GRAM 2010 are vital to developing the onboard atmospheric density estimator for the Autonomous Aerobraking Development Plan. Mars-GRAM 2010 was not the only planetary GRAM utilized during phase 1 of this plan; Titan-GRAM and Venus-GRAM were used to generate density data sets for Aerobraking Design Reference Missions. These data sets included altitude profiles (both vertical and along a trajectory), GRAM perturbations (tides, gravity waves, etc.) and provided density and scale height values for analysis by other Autonomous Aero-braking team members.

Justh, Hilary L.; Justus, Carl G.; Ramey, Holly S.

2011-01-01

19

On-electrode autonomous current generator for multi-frequency EIT.  

PubMed

The paper presents an autonomous programmable current generator module for multi-frequency EIT systems. The module incorporates all stages from the sine wave generation with frequency and amplitude tuning, D/A converter and filter, a high output resistance voltage-to-current converter to the associated digital communication and control. The paper presents in depth the original digital quadrature signal generator and the output current generator with a high resistance. The other main blocks of the design use current practice specifications, since recent technological solutions proposed in the literature were found appropriate. The proposed signal generator circuit, characterized by a very low complexity, is analyzed in its capacity to produce multiple accurate signals up to 1 MHz in frequency. The precision output current source uses a modified current conveyor of type CCII with a high output resistance and low distortion. The output current frequency spectrum and linearity parameters obtained in the simulations are also described. The simulation results indicate a good linearity and high output resistance with an acceptable output voltage swing. The calculated performance parameters are validated with simulations, and future work for the prototype fabrication of the IC is outlined. PMID:18544811

Jivet, I; Dragoi, B

2008-06-01

20

Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors  

NASA Astrophysics Data System (ADS)

A software prototype for autonomous 3D scanning of uncooperatively rotating orbital debris using a point cloud sensor is designed and tested. The software successfully generated 3D models under conditions that simulate some on-orbit orbit challenges including relative motion between observer and target, inconsistent target visibility and a target with more than one plane of symmetry. The model scanning software performed well against an irregular object with one plane of symmetry but was weak against objects with 2 planes of symmetry. The suitability of point cloud sensors and algorithms for space is examined. Terrestrial Graph SLAM is adapted for an uncooperatively rotating orbital debris scanning scenario. A joint EKF attitude estimate and shape similiarity loop closure heuristic for orbital debris is derived and experimentally tested. The binary Extended Fast Point Feature Histogram (EFPFH) is defined and analyzed as a binary quantization of the floating point EFPFH. Both the binary and floating point EPFH are experimentally tested and compared as part of the joint loop closure heuristic.

Trowbridge, Michael Aaron

21

Automatic generation of modules of object categorization for autonomous mobile robots  

NASA Astrophysics Data System (ADS)

Many robotic tasks require advanced systems of visual sensing. Robotic systems of visual sensing must be able to solve a number of different complex problems of visual data analysis. Object categorization is one of such problems. In this paper, we propose an approach to automatic generation of computationally effective modules of object categorization for autonomous mobile robots. This approach is based on the consideration of the stack cover problem. In particular, it is assumed that the robot is able to perform an initial inspection of the environment. After such inspection, the robot needs to solve the stack cover problem by using a supercomputer. A solution of the stack cover problem allows the robot to obtain a template for computationally effective scheduling of object categorization. Also, we consider an efficient approach to solve the stack cover problem. In particular, we consider an explicit reduction from the decision version of the stack cover problem to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments are presented.

Gorbenko, Anna

2013-10-01

22

Validating a UAV artificial intelligence control system using an autonomous test case generator  

NASA Astrophysics Data System (ADS)

The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

Straub, Jeremy; Huber, Justin

2013-05-01

23

Mobility and Generation of Mosaic Non-Autonomous Transposons by Tn3-Derived Inverted-Repeat Miniature Elements (TIMEs)  

PubMed Central

Functional transposable elements (TEs) of several Pseudomonas spp. strains isolated from black shale ore of Lubin mine and from post-flotation tailings of Zelazny Most in Poland, were identified using a positive selection trap plasmid strategy. This approach led to the capture and characterization of (i) 13 insertion sequences from 5 IS families (IS3, IS5, ISL3, IS30 and IS1380), (ii) isoforms of two Tn3-family transposons Tn5563a and Tn4662a (the latter contains a toxin-antitoxin system), as well as (iii) non-autonomous TEs of diverse structure, ranging in size from 262 to 3892 bp. The non-autonomous elements transposed into AT-rich DNA regions and generated 5- or 6-bp sequence duplications at the target site of transposition. Although these TEs lack a transposase gene, they contain homologous 38-bp-long terminal inverted repeat sequences (IRs), highly conserved in Tn5563a and many other Tn3-family transposons. The simplest elements of this type, designated TIMEs (Tn3 family-derived Inverted-repeat Miniature Elements) (262 bp), were identified within two natural plasmids (pZM1P1 and pLM8P2) of Pseudomonas spp. It was demonstrated that TIMEs are able to mobilize segments of plasmid DNA for transposition, which results in the generation of more complex non-autonomous elements, resembling IS-driven composite transposons in structure. Such transposon-like elements may contain different functional genetic modules in their core regions, including plasmid replication systems. Another non-autonomous element captured with a trap plasmid was a TIME derivative containing a predicted resolvase gene and a res site typical for many Tn3-family transposons. The identification of a portable site-specific recombination system is another intriguing example confirming the important role of non-autonomous TEs of the TIME family in shuffling genetic information in bacterial genomes. Transposition of such mosaic elements may have a significant impact on diversity and evolution, not only of transposons and plasmids, but also of other types of mobile genetic elements. PMID:25121765

Szuplewska, Magdalena; Ludwiczak, Marta; Lyzwa, Katarzyna; Czarnecki, Jakub; Bartosik, Dariusz

2014-01-01

24

A Simple Aplysia-Like Spiking Neural Network to Generate Adaptive Behavior in Autonomous Robots  

Microsoft Academic Search

In this article, we describe an adaptive controller for an autonomous mobile robot with a simple structure. Sensorimotor connections were made using a three-layered spiking neural network (SNN) with only one hidden-layer neuron and synapses with spike timing-dependent plasticity (STDP). In the SNN controller, synapses from the hidden-layer neuron to the motor neurons received presynaptic modulation signals from sensory neurons,

Fady Alnajjar; Kazuyuki Murase

2008-01-01

25

Hydrogen energy storage for a permanent magnet wind turbine generator based autonomous hybrid power system  

Microsoft Academic Search

The Performance of a novel hybrid Remote Area Power Supply (RAPS) system consisting of a Permanent Magnet Synchronous Generator (PMSG), fuel cell system, electrolyser and synchronous condenser is investigated in this paper. The fuel cell system is used to provide power during under-generation scenarios whereas the electrolyser absorbs excess power during over-generation conditions. A synchronous condenser is incorpo- rated into

Nishad Mendis; Saad Sayeef; Kashem M. Muttaqi; Sarath Perera

2011-01-01

26

Autonomous and Autonomic Swarms  

NASA Technical Reports Server (NTRS)

A watershed in systems engineering is represented by the advent of swarm-based systems that accomplish missions through cooperative action by a (large) group of autonomous individuals each having simple capabilities and no global knowledge of the group s objective. Such systems, with individuals capable of surviving in hostile environments, pose unprecedented challenges to system developers. Design and testing and verification at much higher levels will be required, together with the corresponding tools, to bring such systems to fruition. Concepts for possible future NASA space exploration missions include autonomous, autonomic swarms. Engineering swarm-based missions begins with understanding autonomy and autonomicity and how to design, test, and verify systems that have those properties and, simultaneously, the capability to accomplish prescribed mission goals. Formal methods-based technologies, both projected and in development, are described in terms of their potential utility to swarm-based system developers.

Hinchey, Michael G.; Rash, James L.; Truszkowski, Walter F.; Rouff, Christopher A.; Sterritt, Roy

2005-01-01

27

Autonomously generating operations sequences for a Mars Rover using AI-based planning  

NASA Technical Reports Server (NTRS)

This paper discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from highlevel science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment. This Artificial Intelligence (AI) based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules.

Sherwood, Rob; Mishkin, Andrew; Estlin, Tara; Chien, Steve; Backes, Paul; Cooper, Brian; Maxwell, Scott; Rabideau, Gregg

2001-01-01

28

Small-Signal Analysis of Autonomous Hybrid Distributed Generation Systems in Presence of Ultracapacitor and Tie-Line Operation  

NASA Astrophysics Data System (ADS)

This paper presents small-signal analysis of isolated as well as interconnected autonomous hybrid distributed generation system for sudden variation in load demand, wind speed and solar radiation. The hybrid systems comprise of different renewable energy resources such as wind, photovoltaic (PV) fuel cell (FC) and diesel engine generator (DEG) along with the energy storage devices such as flywheel energy storage system (FESS) and battery energy storage system (BESS). Further ultracapacitors (UC) as an alternative energy storage element and interconnection of hybrid systems through tie-line is incorporated into the system for improved performance. A comparative assessment of deviation of frequency profile for different hybrid systems in the presence of different storage system combinations is carried out graphically as well as in terms of the performance index (PI), ie integral square error (ISE). Both qualitative and quantitative analysis reflects the improvements of the deviation in frequency profiles in the presence of the ultracapacitors (UC) as compared to other energy storage elements.

Ray, Prakash K.; Mohanty, Soumya R.; Kishor, Nand

2010-07-01

29

Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks  

NASA Astrophysics Data System (ADS)

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.

Da?larli, Evren; Temelta?, Hakan

2008-04-01

30

Stability analysis and experimental validation of a control strategy for autonomous operation of distributed generation units  

Microsoft Academic Search

This paper presents stability analysis of a distributed generation (DG) controller, in an islanded mode, based on the Mapping Theorem and the Zero Exclusion Condition, and validates the results based on a laboratory scale experimental setup. The DG unit is interfaced to the host system through a voltage-sourced converter (VSC). The control strategy regulates the load voltage at the desired

Behrooz Bahrani; Houshang Karimi; Reza Iravani

2010-01-01

31

Preprint version, final version at http://ieeexplore.ieee.org/ 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China Semi-autonomous Trajectory Generation for Mobile Robots  

E-print Network

Preprint version, final version at http://ieeexplore.ieee.org/ 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China Semi-autonomous Trajectory Generation for Mobile Robots with Integral Haptic-- A new framework for semi-autonomous path plan- ning for mobile robots that extends the classical

32

From IVAs to Comics Generating Comic Strips from Emergent Stories with Autonomous Characters  

Microsoft Academic Search

Emergent narrative systems create stories which are always different from each other. Creating summaries of these stories\\u000a is a challenge especially if we want to capture the richness of the characters. Our goal is to automatically generate summaries\\u000a from emergent narrative using comics as the visual medium for the summary. We identify the most important situations in the\\u000a story log

Tiago Alves; Ana Simes; Marco Vala; Ana Paiva; Adrian Mcmichael; Ruth Aylett

2007-01-01

33

Sonic hedgehog acts cell-autonomously on muscle precursor cells to generate limb muscle diversity  

PubMed Central

How muscle diversity is generated in the vertebrate body is poorly understood. In the limb, dorsal and ventral muscle masses constitute the first myogenic diversification, as each gives rise to distinct muscles. Myogenesis initiates after muscle precursor cells (MPCs) have migrated from the somites to the limb bud and populated the prospective muscle masses. Here, we show that Sonic hedgehog (Shh) from the zone of polarizing activity (ZPA) drives myogenesis specifically within the ventral muscle mass. Shh directly induces ventral MPCs to initiate Myf5 transcription and myogenesis through essential Gli-binding sites located in the Myf5 limb enhancer. In the absence of Shh signaling, myogenesis is delayed, MPCs fail to migrate distally, and ventral paw muscles fail to form. Thus, Shh production in the limb ZPA is essential for the spatiotemporal control of myogenesis and coordinates muscle and skeletal development by acting directly to regulate the formation of specific ventral muscles. PMID:22987640

Anderson, Claire; Williams, Victoria C.; Moyon, Benjamin; Daubas, Philippe; Tajbakhsh, Shahragim; Buckingham, Margaret E.; Shiroishi, Toshihiko; Hughes, Simon M.; Borycki, Anne-Galle

2012-01-01

34

An architecture for the autonomous generation of preference-based trajectories  

NASA Astrophysics Data System (ADS)

Numerous techniques exist to optimize aircraft and spacecraft trajectories over cost functions that include terms such as fuel, time, and separation from obstacles. Relative weighting factors can dramatically alter solution characteristics, and engineers often must manually adjust either cost weights or the trajectory itself to obtain desirable solutions. Further, when humans and robots work together, or when humans task robots, they may express their performance expectations in a "fuzzy" natural language fashion, or else as an uncertain range of more or less acceptable values. This work describes a software architecture which accepts both fuzzy linguistic and hard numeric constraints on trajectory performance and, using a trajectory generator provided by the user, automatically constructs trajectories to meet these specifications as closely as possible. The system respects hard constraints imposed by system dynamics or by the user, and will not let the user's preferences interfere with the system and user needs. The architecture's evaluation agent translates these requirements into cost functional weights expected to produce the desired motion characteristics. The quality of the resulting full-state trajectory is then evaluated based on a set of computed trajectory features compared to the specified constraints. If constraints are not met, the cost functional weights are adjusted according to precomputed heuristic equations. Heuristics are not generated in an ad hoc fashion, but are instead the result of a systematic testing of the simulated system under a range of simple conditions. The system is tested in a 2DOF linear and a 6DOF nonlinear domain with a variety of constraints and in the presence of obstacles. Results show that the system consistently meets all hard numeric constraints placed on the trajectory. Desired characteristics are often attainable or else, in those cases where they are discounted in favor of the hard constraints, failed by small margins. Results are discussed as a function of obstacles and of constraints.

Lennon, Jamie

35

An autonomous information generation and distribution system for the next generation of small satellites: examples of the BIRD mission experiments  

NASA Astrophysics Data System (ADS)

The general trend in remote sensing is on one hand to increase the number of spectral bands and the geometric resolution of the imaging sensors which leads to higher data rates and data volumes. On the other hand the user is often only interested in special information of the received sensor data and not in the whole data mass. Concerning these two tendencies a main part of the signal pre-processing can already be done for special users and tasks on-board a satellite. For the BIRD (Bispectral InfraRed Detection) mission a new approach of an on-board data processing is made. The main goal of the BIRD mission is the fire recognition and the detection of hot spots. This paper describes the technical solution and the first results, of an on-board image data processing system based on the sensor system on two new IR-Sensors and the stereo line scanner WAOSS (Wide-Angle-Optoelectronic-Scanner). The aim of this data processing system is to reduce the data stream from the satellite due to generations of thematic maps. This reduction will be made by a multispectral classification. For this classification a special hardware based on the neural network processor NI1000 was designed. This hardware is integrated in the payload data handling system of the satellite.

Halle, Winfried; Briess, Klaus; Kayal, Hakan

2004-02-01

36

Autonomic Dysreflexia  

MedlinePLUS

... you have concerns, talk with your doctor. MEDICAL ALERT CARD Autonomic dysreflexia is a potentially fatal condition ... medical personnel and insist that the card MEDICAL ALERT Autonomic Dysreflexia (AD) A potentially life-threatening condition ...

37

Autonomous Pseudomonoids  

E-print Network

for autonomous pseudomonoids 59 4.1 Duals in convolution hom-categories . . . . . . . . . . . . . . . . . 60 4.1.1 Opposite and bidual autonomous pseudomonoids . . . . . . 61 4.1.2 Duals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 4.2 Radford...

Lopez Franco, Ignacio

2009-04-25

38

PARISROC, an autonomous front-end ASIC for triggerless acquisition in next generation neutrino experiments  

NASA Astrophysics Data System (ADS)

PARISROC (Photomultiplier ARray Integrated in SiGe ReadOut Chip) is a complete readout chip in AustriaMicroSystems (AMS) SiGe 0.35 ?m technology designed to read array of 16 Photomultipliers (PMTs). The ASIC is realized in the context of the PMm2 (square meter PhotoMultiplier) project that has proposed a new system of smart photo-detectors composed by sensor and read-out electronics dedicated to next generation neutrino experiments. The future water Cherenkov detectors will take place in megaton size water tanks then with a large surface of photo-detection. We propose to segment the large surface in arrays with a single front-end electronics and only the useful data send in surface to be stocked and analyzed. This paper describes the second version of the ASIC and illustrates the chip principle of operation and the main characteristics thank to a series of measurements. It is a 16-channel ASIC with channels that work independently, in triggerless mode and all managed by a common digital part. Then main innovation is that all the channels are handled independently by the digital part so that only channels that have triggered are digitized. Then the data are transferred to the internal memory and sent out in a data driven way. The ASIC allows charge and time measurement. We measured a charge measurement range starting from 160 fC (1 photoelectron-p.e., at PMT gain of 106) to 100 pC (around 600 p.e.) at 1% of linearity; time tagging at 1 ns thanks to a 24-bit counter at 10 MHz and a Time to Digital Converter (TDC) on a 100 ns ramp.

Conforti Di Lorenzo, S.; Campagne, J. E.; Drouet, S.; Dulucq, F.; El Berni, M.; Genolini, B.; de La Taille, C.; Martin-Chassard, G.; Seguin Moreau, N.; Wanlin, E.; Xiangbo, Y.

2012-12-01

39

Autonomic neuropathies  

NASA Technical Reports Server (NTRS)

A limited autonomic neuropathy may underlie some unusual clinical syndromes, including the postural tachycardia syndrome, pseudo-obstruction syndrome, heat intolerance, and perhaps chronic fatigue syndrome. Antibodies to autonomic structures are common in diabetes, but their specificity is unknown. The presence of autonomic failure worsens prognosis in the diabetic state. Some autonomic neuropathies are treatable. Familial amyloid polyneuropathy may respond to liver transplantation. There are anecdotal reports of acute panautonomic neuropathy responding to intravenous gamma globulin. Orthostatic hypotension may respond to erythropoietin or midodrine.

Low, P. A.

1998-01-01

40

Autonomic Nervous System Activity Distinguishes among Emotions  

Microsoft Academic Search

Emotion-specific activity in the autonomic nervous system was generated by constructing facial prototypes of emotion muscle by muscle and by reliving past emotional experiences. The autonomic activity produced distinguished not only between positive and negative emotions, but also among negative emotions. This finding challenges emotion theories that have proposed autonomic activity to be undifferentiated or that have failed to address

Paul Ekman; Robert W. Levenson; Wallace V. Friesen

1983-01-01

41

Autonomous data transmission apparatus  

DOEpatents

A autonomous borehole data transmission apparatus for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters.

Kotlyar, Oleg M. (4675 W. 3825 S, Salt Lake City, UT 84120)

1997-01-01

42

Autonomous data transmission apparatus  

DOEpatents

A autonomous borehole data transmission apparatus is described for transmitting measurement data from measuring instruments at the downhole end of a drill string by generating pressure pulses utilizing a transducer longitudinally responsive to magnetic field pulses caused by electrical pulses corresponding to the measured downhole parameters. 4 figs.

Kotlyar, O.M.

1997-03-25

43

Autonomic hyperreflexia  

MedlinePLUS

The most common cause of autonomic hyperreflexia is spinal cord injury. The nervous system of people with this condition ... Flushed (red) skin above the level of the spinal cord injury High blood pressure Slow pulse or fast pulse ...

44

Autoimmune Autonomic Ganglionopathy  

MedlinePLUS

... Mediated Syncope (NMS) Familial Dysautonomia (FD) Learn More Autoimmune Autonomic Ganglionopathy What is autoimmune autonomic ganglionopathy (AAG)? Autoimmune autonomic ganglionopathy (AAG) is ...

45

Autonomous Soaring  

NASA Technical Reports Server (NTRS)

This viewgraph presentation reviews the autonomous soaring flight of unmanned aerial vehicles (UAV). It reviews energy sources for UAVs, and two examples of UAV's that used alternative energy sources, and thermal currents for soaring. Examples of flight tests, plans, and results are given. Ultimately, the concept of a UAV harvesting energy from the atmosphere has been shown to be feasible with existing technology.

Lin, Victor P.

2007-01-01

46

Autonomous vehicles  

SciTech Connect

There are various kinds of autonomous vehicles (AV`s) which can operate with varying levels of autonomy. This paper is concerned with underwater, ground, and aerial vehicles operating in a fully autonomous (nonteleoperated) mode. Further, this paper deals with AV`s as a special kind of device, rather than full-scale manned vehicles operating unmanned. The distinction is one in which the AV is likely to be designed for autonomous operation rather than being adapted for it as would be the case for manned vehicles. The authors provide a survey of the technological progress that has been made in AV`s, the current research issues and approaches that are continuing that progress, and the applications which motivate this work. It should be noted that issues of control are pervasive regardless of the kind of AV being considered, but that there are special considerations in the design and operation of AV`s depending on whether the focus is on vehicles underwater, on the ground, or in the air. The authors have separated the discussion into sections treating each of these categories.

Meyrowitz, A.L. [Navy Center for Applied Research in Artificial Intelligence, Washington, DC (United States)] [Navy Center for Applied Research in Artificial Intelligence, Washington, DC (United States); Blidberg, D.R. [Autonomous Undersea Systems Inst., Lee, NH (United States)] [Autonomous Undersea Systems Inst., Lee, NH (United States); Michelson, R.C. [Georgia Tech Research Inst., Smyrna, GA (United States)] [Georgia Tech Research Inst., Smyrna, GA (United States); [International Association for Unmanned Vehicle Systems, Smyrna, GA (United States)

1996-08-01

47

Dysrflexie autonome  

PubMed Central

Rsum Objectif Sensibiliser davantage les mdecins de famille la dysrflexie autonome (DA) chez les patients victimes dune lsion mdullaire (LM) et proposer certaines interventions. Sources de linformation On a fait une recension dans MEDLINE de 1970 juillet 2011 laide des expressions en anglais autonomic dysreflexia et spinal cord injury, ainsi que family medicine ou primary care. On a aussi pass en revue et utilis dautres ressources et guides de pratique pertinents. Message principal Il arrive souvent que les mdecins de famille ne se sentent pas confiants de traiter des patients ayant une LM dont les problmes sont complexes et exigent beaucoup de temps. Les mdecins de famille ont limpression de navoir pas la formation ncessaire pour rpondre leurs besoins. Pourtant, ils offrent une composante essentielle des soins de tels patients et il est important quils comprennent les problmes mdicaux particuliers aux LM. La dysrflexie autonome est un important et frquent problme potentiellement srieux que connaissent mal de nombreux mdecins de famille. Cet article passe en revue les signes et les symptmes de la DA et prsente certaines options de prise en charge aigu, ainsi que des stratgies de prvention lintention des mdecins de famille. Conclusion Les mdecins de famille devraient savoir quels patients traumatiss mdullaires sont susceptibles davoir une DA et surveiller ceux qui sont touchs par ce problme. Une explication est donne dans cet article quant lapproche suivre pour la prise en charge aigu. Les mdecins de famille jouent un rle essentiel dans la prvention de la DA, notamment par lducation (du patient et des autres professionnels de la sant) et la consignation dans le dossier mdical de stratgies comme les soins appropris de la vessie, de lintestin et de la peau, davertissements et de plans de prise en charge.

Milligan, James; Lee, Joseph; McMillan, Colleen; Klassen, Hilary

2012-01-01

48

Nature's Autonomous Oscillators  

NASA Technical Reports Server (NTRS)

Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

Mayr, H. G.; Yee, J.-H.; Mayr, M.; Schnetzler, R.

2012-01-01

49

Distributed Task Plan: A Model for Designing Autonomous Mobile Agents  

E-print Network

Distributed Task Plan: A Model for Designing Autonomous Mobile Agents Wei Li Department present DTP (Distributed Task Plan), a model to depict distributed tasks for executions by mobile agents. DTP is composed of autonomous primitives and can generate the autonomous workflow when a mobile agent

Zhang, Minjie

50

Auditory hair cell-specific deletion of p27Kip1 in postnatal mice promotes cell-autonomous generation of new hair cells and normal hearing.  

PubMed

Hearing in mammals relies upon the transduction of sound by hair cells (HCs) in the organ of Corti within the cochlea of the inner ear. Sensorineural hearing loss is a widespread and permanent disability due largely to a lack of HC regeneration in mammals. Recent studies suggest that targeting the retinoblastoma (Rb)/E2F pathway can elicit proliferation of auditory HCs. However, previous attempts to induce HC proliferation in this manner have resulted in abnormal cochlear morphology, HC death, and hearing loss. Here we show that cochlear HCs readily proliferate and survive following neonatal, HC-specific, conditional knock-out of p27(Kip1) (p27CKO), a tumor suppressor upstream of Rb. Indeed, HC-specific p27CKO results in proliferation of these cells without the upregulation of the supporting cell or progenitor cell proteins, Prox1 or Sox2, suggesting that they remain HCs. Furthermore, p27CKO leads to a significant addition of postnatally derived HCs that express characteristic synaptic and stereociliary markers and survive to adulthood, although a portion of the newly derived inner HCs exhibit cytocauds and lack VGlut3 expression. Despite this, p27CKO mice exhibit normal hearing as measured by evoked auditory brainstem responses, which suggests that the newly generated HCs may contribute to, or at least do not greatly detract from, function. These results show that p27(Kip1) actively maintains HC quiescence in postnatal mice, and suggest that inhibition of p27(Kip1) in residual HCs represents a potential strategy for cell-autonomous auditory HC regeneration. PMID:25411503

Walters, Bradley J; Liu, Zhiyong; Crabtree, Mark; Coak, Emily; Cox, Brandon C; Zuo, Jian

2014-11-19

51

Controlled manipulation using autonomous aerial systems  

E-print Network

The main focus of the thesis is to design and control Autonomous Aerial Systems, also referred to as Unmanned Aerial Vehicles (UAVs). UAVs are able to hover and navigate in space using the thrust forces generated by the ...

Srikanth, Manohar B. (Manohar Balagatte)

2013-01-01

52

Nemesis Autonomous Test System  

NASA Technical Reports Server (NTRS)

A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.

2012-01-01

53

The Autonomic Symptom Profile: a new instrument to assess autonomic symptoms  

NASA Technical Reports Server (NTRS)

OBJECTIVE: To develop a new specific instrument called the Autonomic Symptom Profile to measure autonomic symptoms and test its validity. BACKGROUND: Measuring symptoms is important in the evaluation of quality of life outcomes. There is no validated, self-completed questionnaire on the symptoms of patients with autonomic disorders. METHODS: The questionnaire is 169 items concerning different aspects of autonomic symptoms. The Composite Autonomic Symptom Scale (COMPASS) with item-weighting was established; higher scores indicate more or worse symptoms. Autonomic function tests were performed to generate the Composite Autonomic Scoring Scale (CASS) and to quantify autonomic deficits. We compared the results of the COMPASS with the CASS derived from the Autonomic Reflex Screen to evaluate validity. RESULTS: The instrument was tested in 41 healthy controls (mean age 46.6 years), 33 patients with nonautonomic peripheral neuropathies (mean age 59.5 years), and 39 patients with autonomic failure (mean age 61.1 years). COMPASS scores correlated well with the CASS, demonstrating an acceptable level of content and criterion validity. The mean (+/-SD) overall COMPASS score was 9.8 (+/-9) in controls, 25.9 (+/-17.9) in the patients with nonautonomic peripheral neuropathies, and 52.3 (+/-24.2) in the autonomic failure group. Scores of symptoms of orthostatic intolerance and secretomotor dysfunction best predicted the CASS on multiple stepwise regression analysis. CONCLUSIONS: We describe a questionnaire that measures autonomic symptoms and present evidence for its validity. The instrument shows promise in assessing autonomic symptoms in clinical trials and epidemiologic studies.

Suarez, G. A.; Opfer-Gehrking, T. L.; Offord, K. P.; Atkinson, E. J.; O'Brien, P. C.; Low, P. A.

1999-01-01

54

Autonomous Soaring Flight Results  

NASA Technical Reports Server (NTRS)

A viewgraph presentation on autonomous soaring flight results for Unmanned Aerial Vehicles (UAV)'s is shown. The topics include: 1) Background; 2) Thermal Soaring Flight Results; 3) Autonomous Dolphin Soaring; and 4) Future Plans.

Allen, Michael J.

2006-01-01

55

Autonomic Nervous System Disorders  

MedlinePLUS

Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

56

Expectation-driven autonomous learning and interaction system  

Microsoft Academic Search

We introduce our latest autonomous learning and interaction system instance ALIS 2. It comprises different sensing modalities for visual (depth blobs, planar surfaces, motion) and auditory (speech, localization) signals and self-collision free behavior generation on the robot ASIMO. The system design emphasizes the split into a completely autonomous reactive layer and an expectation generation layer. Different feature channels can be

Bram Bolder; Holger Brandl; Martin Heracles; Herbert Janssen; Inna Mikhailova; Jens Schmiidderich; Christian Goerick

2008-01-01

57

Discerning non-autonomous dynamics  

NASA Astrophysics Data System (ADS)

Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale-from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems-their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous the Poincar oscillator with quasi-periodic forcing. In this way we not only discuss and review each method, but also present properties which help to clearly distinguish the three classes of systems when analysed in an inverse approach-from measured, or numerically generated data. In particular, this review provides a framework to tackle inverse problems in these areas and clearly distinguish non-autonomous dynamics from chaos or stochasticity.

Clemson, Philip T.; Stefanovska, Aneta

2014-09-01

58

The autonomic laboratory  

NASA Technical Reports Server (NTRS)

The autonomic nervous system can now be studied quantitatively, noninvasively, and reproducibly in a clinical autonomic laboratory. The approach at the Mayo Clinic is to study the postganglionic sympathetic nerve fibers of peripheral nerve (using the quantitative sudomotor axon reflex test [QSART]), the parasympathetic nerves to the heart (cardiovagal tests), and the regulation of blood pressure by the baroreflexes (adrenergic tests). Patient preparation is extremely important, since the state of the patient influences the results of autonomic function tests. The autonomic technologist in this evolving field needs to have a solid core of knowledge of autonomic physiology and autonomic function tests, followed by training in the performance of these tests in a standardized fashion. The range and utilization of tests of autonomic function will likely continue to evolve.

Low, P. A.; Opfer-Gehrking, T. L.

1999-01-01

59

Rover: Autonomous concepts for Mars exploration  

NASA Astrophysics Data System (ADS)

The development of a mobile, autonomous vehicle that will be launched towards an unknown planet is considered. The rover significant constraints are: Ariane 5 compatibility, Earth/Mars transfer capability, 1000 km autonomous moving in Mars environment, on board localization, and maximum science capability. Two different types of subsystem were considered: classical subsystems (mechanical and mechanisms, thermal, telecommunications, power, onboard data processing) and robotics subsystem, (perception/navigation, autonomous displacement generation, autonomous localization). The needs of each subsystem were studied in terms of energy and data handling capability, in order to choose an on board architecture which best use the available capability, by means of specialized parts. A compromise must always be done between every subsystem in order to obtain the real need with respect to the goal, for example: between perception/navigation and the motion capability. A compromise must also be found between mechanical assembly and calibration need, which is a real problem.

Baiget, A.; Castets, B.; Chochon, H.; Hayard, M.; Lamarre, H.; Lamothe, A.

1993-01-01

60

Precision autonomous underwater navigation  

E-print Network

Deep-sea archaeology, an emerging application of autonomous underwater vehicle (AUV) technology, requires precise navigation and guidance. As science requirements and engineering capabilities converge, navigating in the ...

Bingham, Brian S. (Brian Steven), 1973-

2003-01-01

61

Toward autonomic pervasive computing  

Microsoft Academic Search

The Autonomic Pervasive Computing can simplify the complexity of the configuration, maintenance and management of pervasive environments such as smart spaces. The Pervasive Computing is a paradigm where the information processes are distributed in the environment components, bringing processes more closer to the information context. On the other hand, the Autonomic Computing allows to simplify the complexity caused by the

Charles Gouin-vallerand; Bessam Abdulrazak; Sylvain Giroux; Mounir Mokhtari

2008-01-01

62

Distributed Task Plan: A Model for Designing Autonomous Mobile Agents  

Microsoft Academic Search

In this paper, we present DTP (Distributed Task Plan), a model to depict distributed tasks for executions by mobile agents. DTP is composed of autonomous primitives and can generate the autonomous workflow when a mobile agent executes it. DTP provides mobile agents with navigational and computational autonomies when transporting through the underlying computational network. A mobile agent plans a DTP

Wei Li; Minjie Zhang

1999-01-01

63

The Hidden Object Searching Method for Distributed Autonomous Robotic Systems  

Microsoft Academic Search

In this paper, we present the strategy of object search for distributed autonomous robotic systems (DARS). The DARS are the systems that consist of multiple autonomous robotic agents to whom required functions are distributed. For instance, the agents should recognize their surrounding at where they are located and generate some rules to act upon by themselves. In this paper, we

Han-Ul Yoon; Dong-Hoon Lee; Kwee-Bo Sim

64

Towards vision-based safe landing for an autonomous helicopter  

Microsoft Academic Search

Autonomous landing is a challenging problem for aerial robots. An autonomous landing manoeuver depends largely on two capabilities: the decision of where to land and the generation of control signals to guide the vehicle to a safe landing. We focus on the first capability here by presenting a strategy and an underlying fast algorithm as the computer vision basis to

Pedro J. Garcia-pardo; Gaurav S. Sukhatme; James F. Montgomery

2002-01-01

65

Autonomous Byte Stream Randomizer  

NASA Technical Reports Server (NTRS)

Net-centric networking environments are often faced with limited resources and must utilize bandwidth as efficiently as possible. In networking environments that span wide areas, the data transmission has to be efficient without any redundant or exuberant metadata. The Autonomous Byte Stream Randomizer software provides an extra level of security on top of existing data encryption methods. Randomizing the data s byte stream adds an extra layer to existing data protection methods, thus making it harder for an attacker to decrypt protected data. Based on a generated crypto-graphically secure random seed, a random sequence of numbers is used to intelligently and efficiently swap the organization of bytes in data using the unbiased and memory-efficient in-place Fisher-Yates shuffle method. Swapping bytes and reorganizing the crucial structure of the byte data renders the data file unreadable and leaves the data in a deconstructed state. This deconstruction adds an extra level of security requiring the byte stream to be reconstructed with the random seed in order to be readable. Once the data byte stream has been randomized, the software enables the data to be distributed to N nodes in an environment. Each piece of the data in randomized and distributed form is a separate entity unreadable on its own right, but when combined with all N pieces, is able to be reconstructed back to one. Reconstruction requires possession of the key used for randomizing the bytes, leading to the generation of the same cryptographically secure random sequence of numbers used to randomize the data. This software is a cornerstone capability possessing the ability to generate the same cryptographically secure sequence on different machines and time intervals, thus allowing this software to be used more heavily in net-centric environments where data transfer bandwidth is limited.

Paloulian, George K.; Woo, Simon S.; Chow, Edward T.

2013-01-01

66

Autonomous Fault Detection in Self-Healing Systems using Restricted Boltzmann Machines  

E-print Network

Autonomous Fault Detection in Self-Healing Systems using Restricted Boltzmann Machines Chris.dobson@st-andrews.ac.uk Abstract--Autonomously detecting and recovering from faults is one approach for reducing the operational for autonomously generating investigation leads that help identify systems faults, and extends our previous work

Dobson, Simon

67

Autonomous Rovers for Human Exploration of Mars  

Microsoft Academic Search

Abstract Autonomous rovers are a critical element for the success of human exploration of Mars The robotic tasks required for human presence on Mars are beyond the ability of current rovers; these tasks include landing - site scouting and mining, as well as emplacement and maintenance of a habitat, fuel production facility, and power generator These tasks are required before

David E. Smith; Gregory A. Dorais; John Bresina; Keith Golden; Richard Washington

1998-01-01

68

Negotiation decision functions for autonomous agents  

Microsoft Academic Search

We present a formal model of negotiation between autonomous agents. The purposeof the negotiation is to reach an agreement about the provision of a service byone agent for another. The model defines a range of strategies and tactics that agentscan employ to generate initial offers, evaluate proposals and offer counter proposals.The model is based on computationally tractable assumptions, demonstrated in

Peyman Faratin; Carles Sierra; Nicholas R. Jennings

1998-01-01

69

Autonomous Agents A solution for Large Scale Intrusion  

E-print Network

Autonomous Agents A solution for Large Scale Intrusion Detection ? Mark Crosbie Hewlett configurations across administrative domains? Push or Pull model? Automated or human driven? Diverse user task - no need for human intervention. Can interact with local "wisdom stores" when generating

California at Davis, University of

70

Animated autonomous personal representatives  

Microsoft Academic Search

We describe the research goals and issues inconstructing autonomous personalrepresentatives, and the desirability of usingsynthetic characters as the user interface forsuch artifacts. An application of theseautonomous representatives is then describedin which characters can be attached to adocument to express a user's point of view orgive guided tours or presentations of thedocument's contents.1.1 KeywordsAvatar, Self-Presentation, Autonomous Agent, SyntheticCharacter2.

Timothy W. Bickmore; Linda K. Cook; Elizabeth F. Churchill; Joseph W. Sullivan

1998-01-01

71

Planning and Execution for an Autonomous Aerobot  

NASA Technical Reports Server (NTRS)

The Aerial Onboard Autonomous Science Investigation System (AerOASIS) system provides autonomous planning and execution capabilities for aerial vehicles (see figure). The system is capable of generating high-quality operations plans that integrate observation requests from ground planning teams, as well as opportunistic science events detected onboard the vehicle while respecting mission and resource constraints. AerOASIS allows an airborne planetary exploration vehicle to summarize and prioritize the most scientifically relevant data; identify and select high-value science sites for additional investigation; and dynamically plan, schedule, and monitor the various science activities being performed, even during extended communications blackout periods with Earth.

Gaines, Daniel M.; Estlin, Tara A.; Schaffer, Steven R.; Chouinard, Caroline M.

2010-01-01

72

Towards autonomous fuzzy control  

NASA Technical Reports Server (NTRS)

The efficient implementation of on-line adaptation in real time is an important research problem in fuzzy control. The goal is to develop autonomous self-organizing controllers employing system-independent control meta-knowledge which enables them to adjust their control policies depending on the systems they control and the environments in which they operate. An autonomous fuzzy controller would continuously observe system behavior while implementing its control actions and would use the outcomes of these actions to refine its control policy. It could be designed to lie dormant when its control actions give rise to adequate performance characteristics but could rapidly and autonomously initiate real-time adaptation whenever its performance degrades. Such an autonomous fuzzy controller would have immense practical value. It could accommodate individual variations in system characteristics and also compensate for degradations in system characteristics caused by wear and tear. It could also potentially deal with black-box systems and control scenarios. On-going research in autonomous fuzzy control is reported. The ultimate research objective is to develop robust and relatively inexpensive autonomous fuzzy control hardware suitable for use in real time environments.

Shenoi, Sujeet; Ramer, Arthur

1993-01-01

73

Diabetic autonomic neuropathy.  

PubMed

Autonomic neuropathy, once considered to be the Cinderella of diabetes complications, has come of age. The autonomic nervous system innervates the entire human body, and is involved in the regulation of every single organ in the body. Thus, perturbations in autonomic function account for everything from abnormalities in pupillary function to gastroparesis, intestinal dysmotility, diabetic diarrhea, genitourinary dysfunction, amongst others. "Know autonomic function and one knows the whole of medicine!" It is now becoming apparent that before the advent of severe pathological damage to the autonomic nervous system there may be an imbalance between the two major arms, namely the sympathetic and parasympathetic nerve fibers that innervate the heart and blood vessels, resulting in abnormalities in heart rate control and vascular dynamics. Cardiac autonomic neuropathy (CAN) has been linked to resting tachycardia, postural hypotension, orthostatic bradycardia and orthostatic tachycardia (POTTS), exercise intolerance, decreased hypoxia-induced respiratory drive, loss of baroreceptor sensitivity, enhanced intraoperative or perioperative cardiovascular lability, increased incidence of asymptomatic ischemia, myocardial infarction, and decreased rate of survival after myocardial infarction and congestive heart failure. Autonomic dysfunction can affect daily activities of individuals with diabetes and may invoke potentially life-threatening outcomes. Intensification of glycemic control in the presence of autonomic dysfunction (more so if combined with peripheral neuropathy) increases the likelihood of sudden death and is a caveat for aggressive glycemic control. Advances in technology, built on decades of research and clinical testing, now make it possible to objectively identify early stages of CAN with the use of careful measurement of time and frequency domain analyses of autonomic function. Fifteen studies using different end points report prevalence rates of 1% to 90%. CAN may be present at diagnosis, and prevalence increases with age, duration of diabetes, obesity, smoking, and poor glycemic control. CAN also cosegregates with distal symmetric polyneuropathy, microangiopathy, and macroangiopathy. It now appears that autonomic imbalance may precede the development of the inflammatory cascade in type 2 diabetes and there is a role for central loss of dopaminergic restraint on sympathetic overactivity. Restoration of dopaminergic tone suppresses the sympathetic dominance and reduces cardiovascular events and mortality by close to 50%. Cinderella's slipper can now be worn! PMID:24095132

Vinik, Aaron I; Erbas, Tomris

2013-01-01

74

Systems, methods and apparatus for quiesence of autonomic safety devices with self action  

NASA Technical Reports Server (NTRS)

Systems, methods and apparatus are provided through which in some embodiments an autonomic environmental safety device may be quiesced. In at least one embodiment, a method for managing an autonomic safety device, such as a smoke detector, based on functioning state and operating status of the autonomic safety device includes processing received signals from the autonomic safety device to obtain an analysis of the condition of the autonomic safety device, generating one or more stay-awake signals based on the functioning status and the operating state of the autonomic safety device, transmitting the stay-awake signal, transmitting self health/urgency data, and transmitting environment health/urgency data. A quiesce component of an autonomic safety device can render the autonomic safety device inactive for a specific amount of time or until a challenging situation has passed.

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

75

Autonomic cardiac innervation  

PubMed Central

Autonomic cardiac neurons have a common origin in the neural crest but undergo distinct developmental differentiation as they mature toward their adult phenotype. Progenitor cells respond to repulsive cues during migration, followed by differentiation cues from paracrine sources that promote neurochemistry and differentiation. When autonomic axons start to innervate cardiac tissue, neurotrophic factors from vascular tissue are essential for maintenance of neurons before they reach their targets, upon which target-derived trophic factors take over final maturation, synaptic strength and postnatal survival. Although target-derived neurotrophins have a central role to play in development, alternative sources of neurotrophins may also modulate innervation. Both developing and adult sympathetic neurons express proNGF, and adult parasympathetic cardiac ganglion neurons also synthesize and release NGF. The physiological function of these non-classical cardiac sources of neurotrophins remains to be determined, especially in relation to autocrine/paracrine sustenance during development. Cardiac autonomic nerves are closely spatially associated in cardiac plexuses, ganglia and pacemaker regions and so are sensitive to release of neurotransmitter, neuropeptides and trophic factors from adjacent nerves. As such, in many cardiac pathologies, it is an imbalance within the two arms of the autonomic system that is critical for disease progression. Although this crosstalk between sympathetic and parasympathetic nerves has been well established for adult nerves, it is unclear whether a degree of paracrine regulation occurs across the autonomic limbs during development. Aberrant nerve remodeling is a common occurrence in many adult cardiovascular pathologies, and the mechanisms regulating outgrowth or denervation are disparate. However, autonomic neurons display considerable plasticity in this regard with neurotrophins and inflammatory cytokines having a central regulatory function, including in possible neurotransmitter changes. Certainly, neurotrophins and cytokines regulate transcriptional factors in adult autonomic neurons that have vital differentiation roles in development. Particularly for parasympathetic cardiac ganglion neurons, additional examinations of developmental regulatory mechanisms will potentially aid in understanding attenuated parasympathetic function in a number of conditions, including heart failure. PMID:23872607

Hasan, Wohaib

2013-01-01

76

Swarm autonomic agents with self-destruct capability  

NASA Technical Reports Server (NTRS)

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2009-01-01

77

Swarm autonomic agents with self-destruct capability  

NASA Technical Reports Server (NTRS)

Systems, methods and apparatus are provided through which in some embodiments an autonomic entity manages a system by generating one or more stay alive signals based on the functioning status and operating state of the system. In some embodiments, an evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy. The evolvable neural interface receives and generates heartbeat monitor signals and pulse monitor signals that are used to generate a stay alive signal that is used to manage the operations of the synthetic neural system. In another embodiment an asynchronous Alice signal (Autonomic license) requiring valid credentials of an anonymous autonomous agent is initiated. An unsatisfactory Alice exchange may lead to self-destruction of the anonymous autonomous agent for self-protection.

Hinchey, Michael G. (Inventor); Sterritt, Roy (Inventor)

2011-01-01

78

Autonomic disturbances in narcolepsy.  

PubMed

Narcolepsy is a clinical condition characterized mainly by excessive sleepiness and cataplexy. Hypnagogic hallucinations and sleep paralysis complete the narcoleptic tetrad; disrupted night sleep, automatic behaviors and weight gain are also usual complaints. Different studies focus on autonomic changes or dysfunctions among narcoleptic patients, such as pupillary abnormalities, fainting spells, erectile dysfunction, night sweats, gastric problems, low body temperature, systemic hypotension, dry mouth, heart palpitations, headache and extremities dysthermia. Even if many studies lack sufficient standardization or their results have not been replicated, a non-secondary involvement of the autonomic nervous system in narcolepsy is strongly suggested, mainly by metabolic and cardiovascular findings. Furthermore, the recent discovery of a high risk for overweight and for metabolic syndrome in narcoleptic patients represents an important warning for clinicians in order to monitor and follow them up for their autonomic functions. We review here studies on autonomic functions and clinical disturbances in narcoleptic patients, trying to shed light on the possible contribute of alterations of the hypocretin system in autonomic pathophysiology. PMID:20634114

Plazzi, Giuseppe; Moghadam, Keivan Kaveh; Maggi, Leonardo Serra; Donadio, Vincenzo; Vetrugno, Roberto; Liguori, Rocco; Zoccoli, Giovanna; Poli, Francesca; Pizza, Fabio; Pagotto, Uberto; Ferri, Raffaele

2011-06-01

79

IBM Research: Autonomic Computing  

NSDL National Science Digital Library

IBM's Autonomic Computing research site examines a dangerous trend in the information technology (IT) industry and proposes an unprecedented solution. Citing a serious lack of skilled IT workers and constantly growing complexity in computer systems, IBM envisions a time in the near future when maintaining these systems will become an impossible task. To prevent this, a drastic change in computer design and operation is required. Autonomic computing, IBM believes, is the answer. This technology could create computer systems that largely maintain themselves with little to no human involvement. The Web site offers an overview of autonomic computing and implications for business and academia. There is also a manifesto in Adobe Acrobat (.pdf) format that delves further into the technology.

80

Architecture of autonomous systems  

NASA Technical Reports Server (NTRS)

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1986-01-01

81

Developing Autonomous Learners.  

ERIC Educational Resources Information Center

Defines the concept of autonomous learning. Presents the Strategies Program for Effective Learning/Thinking (SPELT), including its underlying assumptions, instructional model, teacher training procedures, research findings, and anticipated future development. Research results include implications for learning-disabled and gifted students. (KS)

Mulcahy, Robert F.

1991-01-01

82

Diabetic autonomic neuropathy  

Microsoft Academic Search

SummaryThis review attempts to outline the present understanding of diabetic autonomic neuropathy. The clinical features have been increasingly recognised but knowledge of the localization and morphology of the lesions and their pathogenesis remains fragmentary. A metabolic causation as postulated in somatic nerves accords best with clinical observations. Most bodily systems, particularly the cardiovascular, gastrointestinal and urogenital, are involved with added

B. F. Clarke; D. J. Ewing; I. W. Campbell

1979-01-01

83

Learning for autonomous navigation  

NASA Technical Reports Server (NTRS)

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter.

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

84

Autonomous Optical Lunar Navigation  

NASA Technical Reports Server (NTRS)

The performance of optical autonomous navigation is investigated for low lunar orbits and for high elliptical lunar orbits. Various options for employing the camera measurements are presented and compared. Strategies for improving navigation performance are developed and applied to the Orion vehicle lunar mission

Zanetti, Renato; Crouse, Brian; D'souza, Chris

2009-01-01

85

Autonomous formation flight  

Microsoft Academic Search

This article describes an approach to close-formation flight of autonomous aircraft. A standard LQ-based structure was synthesized for each vehicle and for formation position error control using linearized equations of motion and a lifting line model of the aircraft wake. We also consider the definition of a formation management structure, capable of dealing with a variety of generic transmission and

F. Giulietti; L. Pollini; M. Innocenti

2000-01-01

86

Microscale autonomous sensor and communications module  

DOEpatents

Various technologies pertaining to a microscale autonomous sensor and communications module are described herein. Such a module includes a sensor that generates a sensor signal that is indicative of an environmental parameter. An integrated circuit receives the sensor signal and generates an output signal based at least in part upon the sensor signal. An optical emitter receives the output signal and generates an optical signal as a function of the output signal. An energy storage device is configured to provide power to at least the integrated circuit and the optical emitter, and wherein the module has a relatively small diameter and thickness.

Okandan, Murat; Nielson, Gregory N

2014-03-25

87

Implementing autonomous planetary remote sensing  

NASA Astrophysics Data System (ADS)

Future planetary exploration missions will be marked by dramatic increases in the amount of remote sensing data that can be acquired per dollar of mission cost, despite improvements in the instrumentation to retrieve data. However, planetary distances will continue to limit the amount of data that can be returned to Earth and communications will be a major factor influencing spacecraft mass, power, and ultimately cost. Remarkable advancements in spacecraft onboard data processing, fortunately, offer a solution to the downlink constriction while simultaneously reducing spacecraft operation costs on the ground by enabling autonomous and adaptive scientific data acquisition. This paper presents an approach to enhancing future space mission capabilities. We have chosen hyperspectral imaging as an example of a remote sensing technique that generates a large volume of data from a single instrument and is amenable to onboard processing and adaptive scientific data acquisition. Specific advanced hardware and software technologies from NASA and industry can be adapted to provide a feasible spacecraft implementation.

Moses, Stewart; Rourke, Kenneth; Freitag, Joseph; Uhlir, C.

1996-10-01

88

Energy Storage for Autonomous Underwater Vehicles  

Microsoft Academic Search

Energy storage is one of the key technology for underwater vehicles. Many kind of batteries have been developed for underwater systems. An ocean-going autonomous underwater vehicle powered by a polymer electrode membrane fuel cell system was completed by Japan Agency for Marine-Earth Science and Technology. The fuel cell system generates 4 kW of electric power for the control electronics and

S. Tsukioka; T. Hyakudome; H. Yoshida; S. Ishibashi; T. Aoki; T. Sawa; I. Yamamoto; A. Ishikawa

2006-01-01

89

Mobile Autonomous Humanoid Assistant  

NASA Technical Reports Server (NTRS)

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

90

Autonomous power expert system  

NASA Technical Reports Server (NTRS)

The goal of the Autonomous Power System (APS) program is to develop and apply intelligent problem solving and control technologies to the Space Station Freedom Electrical Power Systems (SSF/EPS). The objectives of the program are to establish artificial intelligence/expert system technology paths, to create knowledge based tools with advanced human-operator interfaces, and to integrate and interface knowledge-based and conventional control schemes. This program is being developed at the NASA-Lewis. The APS Brassboard represents a subset of a 20 KHz Space Station Power Management And Distribution (PMAD) testbed. A distributed control scheme is used to manage multiple levels of computers and switchgear. The brassboard is comprised of a set of intelligent switchgear used to effectively switch power from the sources to the loads. The Autonomous Power Expert System (APEX) portion of the APS program integrates a knowledge based fault diagnostic system, a power resource scheduler, and an interface to the APS Brassboard. The system includes knowledge bases for system diagnostics, fault detection and isolation, and recommended actions. The scheduler autonomously assigns start times to the attached loads based on temporal and power constraints. The scheduler is able to work in a near real time environment for both scheduling and dynamic replanning.

Ringer, Mark J.; Quinn, Todd M.

1990-01-01

91

Adaptive Flight Control for an Autonomous Unmanned Helicopter  

Microsoft Academic Search

For autonomous helicopter flight, it is common to separate the flight control problem into an innerloop that controls attitude and an outerloop that controls the trajectory of the helicopter. The outerloop generates attitude commands that orient the main ro- tor forces appropriately to generate required translational accelerations. Recent work in Neural Network based adaptive flight control may be applied to

Eric N. Johnson; Suresh K. Kannany

92

Advanced Autonomous Systems for Space Operations  

NASA Astrophysics Data System (ADS)

New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not otherwise possible, as well as many more efficient and low cost applications. In addition, utilizing component and system modeling and reasoning capabilities, autonomous systems will play an increasing role in ground operations for space missions, where they will both reduce the human workload as well as provide greater levels of monitoring and system safety. This paper will focus specifically on new and innovative software for remote, autonomous, space systems flight operations. Topics to be presented will include a brief description of key autonomous control concepts, the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New on-board software for autonomous science data acquisition for planetary exploration will be described, as well as advanced systems for safe planetary landings. A new multi-agent architecture that addresses some of the challenges of autonomous systems will be presented. Autonomous operation of ground systems will also be considered, including software for autonomous in-situ propellant production and management, and closed- loop ecological life support systems (CELSS). Finally, plans and directions for the future will be discussed.

Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

2002-01-01

93

Development of autonomous grasping and navigating robot  

NASA Astrophysics Data System (ADS)

The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

2015-01-01

94

Autonomous helicopter flight via reinforcement learning  

E-print Network

Autonomous helicopter flight via reinforcement learning Andrew Y. Ng Stanford University Stanford 94720 Abstract Autonomous helicopter flight represents a challenging control problem, with complex to autonomous helicopter flight. We first fit a stochastic, nonlinear model of the helicopter dynamics. We

Jordan, Michael I.

95

Autonomous helicopter flight via Reinforcement Learning  

E-print Network

Autonomous helicopter flight via Reinforcement Learning Andrew Y. Ng Stanford University Stanford 94720 Abstract Autonomous helicopter flight represents a challenging control problem, with complex to autonomous helicopter flight. We first fit a stochastic, nonlinear model of the helicopter dynamics. We

Sastry, S. Shankar

96

Autonomous Space Shuttle  

NASA Technical Reports Server (NTRS)

The continued assembly and operation of the International Space Station (ISS) is the cornerstone within NASA's overall Strategic P an. As indicated in NASA's Integrated Space Transportation Plan (ISTP), the International Space Station requires Shuttle to fly through at least the middle of the next decade to complete assembly of the Station, provide crew transport, and to provide heavy lift up and down mass capability. The ISTP reflects a tight coupling among the Station, Shuttle, and OSP programs to support our Nation's space goal . While the Shuttle is a critical component of this ISTP, there is a new emphasis for the need to achieve greater efficiency and safety in transporting crews to and from the Space Station. This need is being addressed through the Orbital Space Plane (OSP) Program. However, the OSP is being designed to "complement" the Shuttle as the primary means for crew transfer, and will not replace all the Shuttle's capabilities. The unique heavy lift capabilities of the Space Shuttle is essential for both ISS, as well as other potential missions extending beyond low Earth orbit. One concept under discussion to better fulfill this role of a heavy lift carrier, is the transformation of the Shuttle to an "un-piloted" autonomous system. This concept would eliminate the loss of crew risk, while providing a substantial increase in payload to orbit capability. Using the guidelines reflected in the NASA ISTP, the autonomous Shuttle a simplified concept of operations can be described as; "a re-supply of cargo to the ISS through the use of an un-piloted Shuttle vehicle from launch through landing". Although this is the primary mission profile, the other major consideration in developing an autonomous Shuttle is maintaining a crew transportation capability to ISS as an assured human access to space capability.

Siders, Jeffrey A.; Smith, Robert H.

2004-01-01

97

Autonomous Phase Retrieval Calibration  

NASA Technical Reports Server (NTRS)

The Palomar Adaptive Optics System actively corrects for changing aberrations in light due to atmospheric turbulence. However, the underlying internal static error is unknown and uncorrected by this process. The dedicated wavefront sensor device necessarily lies along a different path than the science camera, and, therefore, doesn't measure the true errors along the path leading to the final detected imagery. This is a standard problem in adaptive optics (AO) called "non-common path error." The Autonomous Phase Retrieval Calibration (APRC) software suite performs automated sensing and correction iterations to calibrate the Palomar AO system to levels that were previously unreachable.

Estlin, Tara A.; Chien, Steve A.; Castano, Rebecca; Gaines, Daniel M.; Doubleday, Joshua R.; Schoolcraft, Josua B.; Oyake, Amalaye; Vaughs, Ashton G.; Torgerson, Jordan L.

2011-01-01

98

NASA: Autonomous Sciencecraft Experiment  

NSDL National Science Digital Library

NASA's Jet Propulsion Laboratory has undertaken the Autonomous Sciencecraft Experiment (ASE) to "demonstrate the potential for space missions to use onboard decision-making to detect, analyze, and respond to science events, and to downlink only the highest value science data." The website features ASE updates, publications, and a list of the potential impacts of this research. Users can discover the autonomy software components that are aboard the ASE flight. The site includes links to information about the Artificial Intelligence Group at the Jet Propulsion Laboratory and its other projects.

99

Autonomous mobile robot teams  

NASA Technical Reports Server (NTRS)

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

Agah, Arvin; Bekey, George A.

1994-01-01

100

Autonomous interplanetary constellation design  

NASA Astrophysics Data System (ADS)

According to NASA's integrated space technology roadmaps, space-based infrastructures are envisioned as necessary ingredients to a sustained effort in continuing space exploration. Whether it be for extra-terrestrial habitats, roving/cargo vehicles, or space tourism, autonomous space networks will provide a vital communications lifeline for both future robotic and human missions alike. Projecting that the Moon will be a bustling hub of activity within a few decades, a near-term opportunity for in-situ infrastructure development is within reach. This dissertation addresses the anticipated need for in-space infrastructure by investigating a general design methodology for autonomous interplanetary constellations; to illustrate the theory, this manuscript presents results from an application to the Earth-Moon neighborhood. The constellation design methodology is formulated as an optimization problem, involving a trajectory design step followed by a spacecraft placement sequence. Modeling the dynamics as a restricted 3-body problem, the investigated design space consists of families of periodic orbits which play host to the constellations, punctuated by arrangements of spacecraft autonomously guided by a navigation strategy called LiAISON (Linked Autonomous Interplanetary Satellite Orbit Navigation). Instead of more traditional exhaustive search methods, a numerical continuation approach is implemented to map the admissible configuration space. In particular, Keller's pseudo-arclength technique is used to follow folding/bifurcating solution manifolds, which are otherwise inaccessible with other parameter continuation schemes. A succinct characterization of the underlying structure of the local, as well as global, extrema is thus achievable with little a priori intuition of the solution space. Furthermore, the proposed design methodology offers benefits in computation speed plus the ability to handle mildly stochastic systems. An application of the constellation design methodology to the restricted Earth-Moon system, reveals optimal pairwise configurations for various L1, L2, and L5 (halo, axial, and vertical) periodic orbit families. Navigation accuracies, ranging from O (10+/-1) meters in position space, are obtained for the optimal Earth-Moon constellations, given measurement noise on the order of 1 meter.

Chow, Cornelius Channing, II

101

Experiments in autonomous robotics  

SciTech Connect

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Hamel, W.R.

1987-01-01

102

Linear non-autonomous Cauchy problems and evolution semigroups  

E-print Network

The paper is devoted to the problem of existence of propagators for an abstract linear non-autonomous evolution Cauchy problem of hyperbolic type in separable Banach spaces. The problem is solved using the so-called evolution semigroup approach which reduces the existence problem for propagators to a perturbation problem of semigroup generators. The results are specified to abstract linear non-autonomous evolution equations in Hilbert spaces where the assumption is made that the domains of the quadratic forms associated with the generators are independent of time. Finally, these results are applied to time-dependent Schr\\"odinger operators with moving point interactions in 1D.

Hagen Neidhardt; Valentin A. Zagrebnov

2007-11-02

103

Autonomous Navigation for Airborne Applications  

E-print Network

of inertial navigation techniques are required in order to allow for prediction of state information, whichAutonomous Navigation for Airborne Applications Jonghyuk Kim A thesis submitted in fulfillment Navigation for Airborne Applications Autonomous navigation (or localisation) is the process of determining

Kim, Jonghyuk "Jon"

104

Autonomous Navigation for Forest Machines  

E-print Network

Inertial navigation system (INS) ..............................................................19 WheelAutonomous Navigation for Forest Machines a Pre-Study by Thomas Hellström Department of Computing Science Umeå University Umeå, Sweden 2002-10-18 #12;Autonomous Navigation for Forest Machines ­ a Pre

Hellström, Thomas

105

MARE: Marine Autonomous Robotic Explorer  

Microsoft Academic Search

We present MARE, an autonomous airboat robot that is suitable for exploration-oriented tasks, such as inspection of coral reefs and shallow seabeds. The combination of this platform's particular mechanical properties and its powerful software framework enables it to function in a multitude of potential capacities, including autonomous surveillance, map- ping, and search operations. In this paper we describe two different

Yogesh Girdhar; Anqi Xu; Bir Bikram Dey; Malika Meghjani; Florian Shkurti; Ioannis Rekleitis; Gregory Dudek

2011-01-01

106

MARE: Marine Autonomous Robotic Explorer  

Microsoft Academic Search

We present MARE, an autonomous airboat robot that is suitable for exploration-oriented tasks, such as inspection of coral reefs and shallow seabeds. The combination of this platform's particular mechanical properties and its powerful software framework enables it to function in a multitude of potential capacities, including autonomous surveillance, mapping, and search operations. In this paper we describe two different exploration

Yogesh Girdhar; Anqi Xu; Bir Bikram Dey; Malika Meghjani; Florian Shkurti; Ioannis Rekleitis; Gregory Dudek

2011-01-01

107

Asteroid Exploration with Autonomic Systems  

NASA Technical Reports Server (NTRS)

NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including worker agents (small spacecra3) designed to cooperate in asteroid exploration under the overall authoriq of at least one ruler agent (a larger spacecraft) whose goal is to cause science data to be returned to Earth. The ANTS team (ruler plus workers and messenger agents), but not necessarily any individual on the team, will exhibit behaviors that qualify it as an autonomic system, where an autonomic system is defined as a system that self-reconfigures, self-optimizes, self-heals, and self-protects. Autonomic system concepts lead naturally to realistic, scalable architectures rich in capabilities and behaviors. In-depth consideration of a major mission like ANTS in terms of autonomic systems brings new insights into alternative definitions of autonomic behavior. This paper gives an overview of the ANTS mission and discusses the autonomic properties of the mission.

Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

2004-01-01

108

Autonomous Interface Agents Henry Lieberman  

E-print Network

the user and the agent "take turns" acting. Autonomous interface agents lead to a somewhat different design "agents" that are gaining currency are interface agents, software that actively assists a user in operating an interactive interface, and autonomous agents, software that takes action without user

109

Learning for Autonomous Navigation  

NASA Technical Reports Server (NTRS)

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

110

Autonomous Formation Flight  

NASA Technical Reports Server (NTRS)

NASA's Strategic Plan for the Aerospace Technology Enterprise includes ambitious objectives focused on affordable air travel, reduced emissions, and expanded aviation-system capacity. NASA Dryden Flight Research Center, in cooperation with NASA Ames Research Center, the Boeing Company, and the University of California, Los Angeles, has embarked on an autonomous-formation-flight project that promises to make significant strides towards these goals. For millions of years, birds have taken advantage of the aerodynamic benefit of flying in formation. The traditional "V" formation flown by many species of birds (including gulls, pelicans, and geese) enables each of the trailing birds to fly in the upwash flow field that exists just outboard of the bird immediately ahead in the formation. The result for each trailing bird is a decrease in induced drag and thus a reduction in the energy needed to maintain a given speed. Hence, for migratory birds, formation flight extends the range of the system of birds over the range of birds flying solo. The Autonomous Formation Flight (AFF) Project is seeking to extend this symbiotic relationship to aircraft.

Schkolnik, Gerard S.; Cobleigh, Brent

2004-01-01

111

Autonomic Responses to Microgravity  

NASA Technical Reports Server (NTRS)

The purpose of this report is to describe how changes in autonomic nervous system responses may be used as an index of individual differences in adaptational capacity to space flight. During two separate Spacelab missions, six crewmembers wore an ambulatory monitoring system which enabled continuous recording of their physiological responses for up to twelve hours a day for 3 to 5 mission days. The responses recorded were electrocardiography, respiration wave form, skin conductance level, hand temperature, blood flow to the hands and triaxial accelerations of the head and upper body. Three of these subjects had been given training, before the mission, in voluntary control of these autonomic responses as a means of facilitating adaptation to space. Three of these subjects served as Controls, i.e., did not receive this training but took anti-motion sickness medication. Nearly 300 hours of flight data are summarized. These data were examined using time-series analyses, spectral analyses of heart rate variability, and analyses of variance. Information was obtained on responses to space motion sickness, inflight medications, circadian rhythm, workload and fatigue. Preliminary assessment was made on the effectiveness of self-regulation training as a means of facilitating adaptation, with recommendations for future flights.

Toscano, W. B.; Cowings, P. S.; Miller, N. E.

1994-01-01

112

Mission Operations with an Autonomous Agent  

NASA Technical Reports Server (NTRS)

The Remote Agent (RA) is an Artificial Intelligence (AI) system which automates some of the tasks normally reserved for human mission operators and performs these tasks autonomously on-board the spacecraft. These tasks include activity generation, sequencing, spacecraft analysis, and failure recovery. The RA will be demonstrated as a flight experiment on Deep Space One (DSI), the first deep space mission of the NASA's New Millennium Program (NMP). As we moved from prototyping into actual flight code development and teamed with ground operators, we made several major extensions to the RA architecture to address the broader operational context in which PA would be used. These extensions support ground operators and the RA sharing a long-range mission profile with facilities for asynchronous ground updates; support ground operators monitoring and commanding the spacecraft at multiple levels of detail simultaneously; and enable ground operators to provide additional knowledge to the RA, such as parameter updates, model updates, and diagnostic information, without interfering with the activities of the RA or leaving the system in an inconsistent state. The resulting architecture supports incremental autonomy, in which a basic agent can be delivered early and then used in an increasingly autonomous manner over the lifetime of the mission. It also supports variable autonomy, as it enables ground operators to benefit from autonomy when L'@ey want it, but does not inhibit them from obtaining a detailed understanding and exercising tighter control when necessary. These issues are critical to the successful development and operation of autonomous spacecraft.

Pell, Barney; Sawyer, Scott R.; Muscettola, Nicola; Smith, Benjamin; Bernard, Douglas E.

1998-01-01

113

Diagnosing faults in autonomous robot plan execution  

NASA Technical Reports Server (NTRS)

A major requirement for an autonomous robot is the capability to diagnose faults during plan execution in an uncertain environment. Many diagnostic researches concentrate only on hardware failures within an autonomous robot. Taking a different approach, the implementation of a Telerobot Diagnostic System that addresses, in addition to the hardware failures, failures caused by unexpected event changes in the environment or failures due to plan errors, is described. One feature of the system is the utilization of task-plan knowledge and context information to deduce fault symptoms. This forward deduction provides valuable information on past activities and the current expectations of a robotic event, both of which can guide the plan-execution inference process. The inference process adopts a model-based technique to recreate the plan-execution process and to confirm fault-source hypotheses. This technique allows the system to diagnose multiple faults due to either unexpected plan failures or hardware errors. This research initiates a major effort to investigate relationships between hardware faults and plan errors, relationships which were not addressed in the past. The results of this research will provide a clear understanding of how to generate a better task planner for an autonomous robot and how to recover the robot from faults in a critical environment.

Lam, Raymond K.; Doshi, Rajkumar S.; Atkinson, David J.; Lawson, Denise M.

1988-01-01

114

Autonomic and Coevolutionary Sensor Networking  

NASA Astrophysics Data System (ADS)

(WSNs) applications are often required to balance the tradeoffs among conflicting operational objectives (e.g., latency and power consumption) and operate at an optimal tradeoff. This chapter proposes and evaluates a architecture, called BiSNET/e, which allows WSN applications to overcome this issue. BiSNET/e is designed to support three major types of WSN applications: , and hybrid applications. Each application is implemented as a decentralized group of, which is analogous to a bee colony (application) consisting of bees (agents). Agents collect sensor data or detect an event (a significant change in sensor reading) on individual nodes, and carry sensor data to base stations. They perform these data collection and event detection functionalities by sensing their surrounding network conditions and adaptively invoking behaviors such as pheromone emission, reproduction, migration, swarming and death. Each agent has its own behavior policy, as a set of genes, which defines how to invoke its behaviors. BiSNET/e allows agents to evolve their behavior policies (genes) across generations and autonomously adapt their performance to given objectives. Simulation results demonstrate that, in all three types of applications, agents evolve to find optimal tradeoffs among conflicting objectives and adapt to dynamic network conditions such as traffic fluctuations and node failures/additions. Simulation results also illustrate that, in hybrid applications, data collection agents and event detection agents coevolve to augment their adaptability and performance.

Boonma, Pruet; Suzuki, Junichi

115

Tigerbot: Autonomous Robot  

NSDL National Science Digital Library

This paper demonstrates artificial intelligence through the construction of a simple robot developed by converting a toy vehicle. The circuitry of the toy vehicle was redesigned and incorporated with proximity sensors, thereby turning the vehicle into an autonomous self-contained robot ("Tigerbot"). This robot has the ability to roam, avoid obstacles without human intervention, and is speech capable. The authors demonstrate how machines can be designed to be aware of their surroundings and adapt accordingly. In the future, artificial intelligence concepts employed in this project may be applied in the design of other machines that would assist humans in performing common household chores. This article represents efforts by students implementing knowledge acquired in a Capstone Senior Project course.

Darayan, Shahryar

116

Autonomous Flying Controls Testbed  

NASA Technical Reports Server (NTRS)

The Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis,Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights.

Motter, Mark A.

2005-01-01

117

Autonomous Navigation Using Celestial Objects  

NASA Technical Reports Server (NTRS)

In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler measurements from the command link carrier to autonomously estimate the spacecraft's orbit and reference oscillator's frequency. To support autonomous attitude determination and control and maneuver planning and control, the orbit determination accuracy should be on the order of kilometers in position and centimeters per second in velocity. A less accurate solution (one hundred kilometers in position) could be used for acquisition purposes for command and science downloads. This paper provides performance results for both libration point orbiting and high Earth orbiting satellites as a function of sensor measurement accuracy, measurement types, measurement frequency, initial state errors, and dynamic modeling errors.

Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

1999-01-01

118

Autonomous software: Myth or magic?  

E-print Network

We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

Alasdair Allan; Tim Naylor; Eric S. Saunders

2008-02-04

119

Autonomous software: Myth or magic?  

NASA Astrophysics Data System (ADS)

We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

Allan, A.; Naylor, T.; Saunders, E. S.

2008-03-01

120

Autonomous software: Myth or magic?  

E-print Network

We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

Allan, Alasdair; Saunders, Eric S

2008-01-01

121

Onboard Processing and Autonomous Operations on the IPEX Cubesat  

NASA Technical Reports Server (NTRS)

IPEX is a 1u Cubesat sponsored by NASA Earth Science Technology Office (ESTO), the goals or which are: (1) Flight validate high performance flight computing, (2) Flight validate onboard instrument data processing product generation software, (3) flight validate autonomous operations for instrument processing, (4) enhance NASA outreach and university ties.

Chien, Steve; Doubleday, Joshua; Ortega, Kevin; Flatley, Tom; Crum, Gary; Geist, Alessandro; Lin, Michael; Williams, Austin; Bellardo, John; Puig-Suari, Jordi; Stanton, Eric; Yee, Edmond

2012-01-01

122

GNSS Receiver Autonomous Integrity Monitoring (RAIM) for Multiple Outliers  

Microsoft Academic Search

Receiver Autonomous Integrity Monitoring (RAIM) procedures for Global Navigation Satellite Systems (GNSS) are required for safety and liability critical applications. While existing RAIM techniques, generally based on a single outlier assumption model, are adequate today they will not be justifiable for the next generation of GNSS. In this paper, a scheme for outlier identification, which uses the w-test and the

STEVE HEWITSON; JINLING WANG

123

Autonomous spherical mobile robot for child-development studies  

Microsoft Academic Search

This paper presents the design process of a spherical robot capable of autonomous motion, and demonstrates how it can become a tool in child development studies. The robot, named Roball, is capable of intentional self- propelled movements and can generate various interplay situations using motion, messages, sounds, illuminated parts and other sensors. Such capabilities allow Roball to interact with young

Franois Michaud; Jean-franois Laplante; Hlne Larouche; Audrey Duquette; Serge Caron; Dominic Ltourneau; Patrice Masson

2005-01-01

124

Mission Path Following for an Autonomous Unmanned Airship  

Microsoft Academic Search

The development of an unmanned airship capable of autonomous flight over user-defined locations for aerial data and imagery acquisition is the objective of the AURORA project. One important mission problem is the flight path following of the vehicle through a set of pre-defined points at a given altitude and velocity. In this article, a path tracking error generation methodology is

Jose Raul Azinheira; E. Carneiro de Paiva; Josu Jr. Guimares Ramos; Samuel Siqueira Bueno

2000-01-01

125

Autonomous robot controller with a dual strategy of decision making  

Microsoft Academic Search

A real-time system for the control of an autonomous vehicle consisting of a nested hierarchy of control modules. The focus is on the PILOT module which provides the real-time guidance of the system. It is responsible for the generation and tracking of dynamically feasible trajectories which follow the planned path given by the upper level (NAVIGATOR) and avoiding local obstacles.

R. Bhatt; D. Gaw; A. Maystel

1988-01-01

126

Dynamics of behavior: Theory and applications for autonomous robot architectures  

Microsoft Academic Search

Limitations both for the further development as well as for the actual technical application of autonomous robots arise from the lack of a unifying theoretical language. We propose three concepts for such a language: (1) Behaviors are represented by variables, specific constant values of which correspond to task demands; (2) Behaviors are generated as attractors of dynamical systems; (3) Neural

Michael Dose; Christoph Engels

1995-01-01

127

Adaptive Flight Control for an Autonomous Unmanned Helicopter  

E-print Network

Adaptive Flight Control for an Autonomous Unmanned Helicopter Eric N. Johnson and Suresh K. Kannan helicopter flight, it is common to separate the flight control problem into an innerloop that controls attitude and an outerloop that controls the trajectory of the helicopter. The outerloop generates attitude

Johnson, Eric N.

128

State discovery for autonomous learning  

E-print Network

This thesis is devoted to the study of algorithms for early perceptual learning for an autonomous agent in the presence of feedback. In the framework of associative perceptual learning with indirect supervision, three ...

Ivanov, Yuri A., 1967-

2002-01-01

129

Parametrized maneuvers for autonomous vehicles  

E-print Network

This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a ...

Dever, Christopher W. (Christopher Walden), 1972-

2004-01-01

130

Autonomic dysfunction in neurodegenerative dementias.  

PubMed

Syncope associated to orthostatic hypotension (OH), urinary incontinence and constipation is common symptoms in demented patients, mainly in dementia with Lewy bodies (DLB) and in Parkinson's disease dementia (PDD). Alzheimer's disease (AD) and fronto temporal lobar degeneration (FTLD) show less autonomic dysfunction. Urinary symptoms are a prominent component of normal pressure hydrocephalus (NPH). There are non invasive tests including standard cardiovascular tests, 123 I-metaiodobenzylguanide (MIBG) cardiac scintigraphy, urodynamic tests, gastrointestinal motility studies, sweating reflexes and pupillary responses that assess autonomic dysfunction in these patients. The study of autonomic symptoms and abnormal tests in patients with dementia is useful to prevent morbidity due falls, severe constipation and to avoid side effects of drugs that interfere with autonomic function. PMID:21440258

Idiaquez, Juan; Roman, Gustavo C

2011-06-15

131

Autonomic disorders predicting Parkinson disease  

PubMed Central

It is now well recognized that there is a premotor phase of Parkinson disease with hyposmia and REM sleep behavior disorder caused by degeneration of specific CNS neurons. Most patients with PD describe autonomic symptoms at the time of diagnosis suggesting that these features may have potential sensitivity as clinical biomarkers of the premotor phase. The recognition that damage to peripheral autonomic neurons is present in the early stages of Parkinson disease has led to a search for specific abnormalities in autonomic function that could serve as predictive biomarkers. There is evidence that constipation, urinary and sexual dysfunction and more recently decreased cardiac chronotropic response during exercise, are part of the premotor parkinsonian phenotype. The sensitivity and specificity of these features has yet to be accurately assessed. We briefly review the evidence for autonomic dysfunction as biomarkers of premotor PD. PMID:24262198

Palma, Jose-Alberto; Kaufmann, Horacio

2014-01-01

132

Autonomous adaptive acoustic relay positioning  

E-print Network

We consider the problem of maximizing underwater acoustic data transmission by adaptively positioning an autonomous mobile relay so as to learn and exploit spatial variations in channel performance. The acoustic channel ...

Cheung, Mei Yi, S.M. Massachusetts Institute of Technology

2013-01-01

133

Robotics and Autonomous Systems 35 (2001) 122 Adaptation to load variations of a planar biped  

E-print Network

and Autonomous Systems 35 (2001) 1­22 Fig. 1. (a) Spring Flamingo: the 7-link planar bipedal robot whose hip model of Spring Flamingo is generated for the simulation study in this paper. dynamic equations

Chew, Chee Meng

134

Dynamic response and maneuvering strategies of a hybrid autonomous underwater vehicle in hovering  

E-print Network

The Odyssey IV autonomous underwater vehicle (AUV) is the next generation of unmanned subsurface robots from the MIT Sea Grant AUV Laboratory. The Odyssey IV AUV has a novel propulsion system, which includes a pair of ...

Cooney, Lauren Alise

2009-01-01

135

Autonomic dysfunction in multiple sclerosis  

Microsoft Academic Search

Multiple sclerosis (MS) is the most frequent chronic neurological disease affecting young persons in developed countries.\\u000a MS is, however, considered as a secondary cause, of central origin, for autonomic dysfunction. The most common autonomic symptoms\\u000a in MS are disorders of micturation, impotence, sudomotor and gastrointestinal disturbances, orthostatic intolerance as well\\u000a as sleep disorders. The majority of the patients suffer at

Carl-Albrecht Haensch; Johannes Jrg

2006-01-01

136

A survey of autonomic communications  

Microsoft Academic Search

Autonomic communications seek to improve the ability of network and services to cope with unpredicted change, including changes in topology, load, task, the physical and logical characteristics of the networks that can be accessed, and so forth. Broad-ranging autonomic solutions require designers to account for a range of end-to-end issues affecting programming models, network and contextual modeling and reasoning, decentralised

Simon Dobson; Spyros G. Denazis; Antonio Fernndez; Dominique Gati; Erol Gelenbe; Fabio Massacci; Paddy Nixon; Fabrice Saffre; Nikita Schmidt; Franco Zambonelli

2006-01-01

137

Autonomic and Trusted Computing Paradigms  

Microsoft Academic Search

The emerging autonomic computing technology has been hailed by world-wide researchers and professionals in academia and in- dustry. Besides four key capabilities, well known as self-CHOP, we pro- pose an additional self-regulating capability to explicitly emphasize the policy-driven self-manageability and dynamic policy derivation and en- actment. Essentially, these five capabilities, coined as Self-CHROP, define an autonomic system along with other

Xiaolin Li; Hui Kang; Patrick Harrington; Johnson Thomas

2006-01-01

138

Autonomous power system brassboard  

NASA Technical Reports Server (NTRS)

The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems. However, there are elements of the brassboard which could be enhanced, thus improving system performance. Modifications and enhancements to improve the brassboard's operation are discussed.

Merolla, Anthony

1992-01-01

139

Autonomous power system brassboard  

NASA Astrophysics Data System (ADS)

The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems.

Merolla, Anthony

1992-10-01

140

Innovative thermal energy harvesting for future autonomous applications  

NASA Astrophysics Data System (ADS)

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power ?-processors, ?-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies & Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market.

Monfray, Stephane

2013-12-01

141

Simple autonomous Mars walker  

NASA Technical Reports Server (NTRS)

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

1989-01-01

142

Autonomous Mission Operations Roadmap  

NASA Technical Reports Server (NTRS)

As light time delays increase, the number of such situations in which crew autonomy is the best way to conduct the mission is expected to increase. However, there are significant open questions regarding which functions to allocate to ground and crew as the time delays increase. In situations where the ideal solution is to allocate responsibility to the crew and the vehicle, a second question arises: should the activity be the responsibility of the crew or an automated vehicle function? More specifically, we must answer the following questions: What aspects of mission operation responsibilities (Plan, Train, Fly) should be allocated to ground based or vehicle based planning, monitoring, and control in the presence of significant light-time delay between the vehicle and the Earth?How should the allocated ground based planning, monitoring, and control be distributed across the flight control team and ground system automation? How should the allocated vehicle based planning, monitoring, and control be distributed between the flight crew and onboard system automation?When during the mission should responsibility shift from flight control team to crew or from crew to vehicle, and what should the process of shifting responsibility be as the mission progresses? NASA is developing a roadmap of capabilities for Autonomous Mission Operations for human spaceflight. This presentation will describe the current state of development of this roadmap, with specific attention to in-space inspection tasks that crews might perform with minimum assistance from the ground.

Frank, Jeremy David

2014-01-01

143

Autonomous Gaussian Decomposition  

NASA Astrophysics Data System (ADS)

We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21 cm absorption spectra from the 21 cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the H i line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the upcoming Square Kilometer Array and pathfinder telescopes.

Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirovi?, Sneana; Babler, Brian; Heiles, Carl; Hennebelle, Patrick; Goss, W. M.; Dickey, John

2015-04-01

144

Autonomous underwater barcode recognition  

NASA Astrophysics Data System (ADS)

Wide area symbol recognition is a task that plagues many autonomous vehicles. A process is needed first to recognize if the symbol is present, and if so where it is. Once the symbol's position is detected it must be analyzed and recognized. In this scenario we have a submersible attempting to locate man made objects on the bottom of a large water basin. These man made objects have bar codes on them that need to be read and the position of the code needs to be recorded relative to where it is in the entire pond. A two step process has been developed to allow the position recognition within a frame to be dealt with on a separate DSP associated with one of three total cameras. The object recognition is then dealt with on a high speed computer aboard the vehicle to read the proper code. The reading is done using a statistics based approach that assumes a noisy, but contrasting background. This approach has proven to be effective in environments in which the background has very little ordered noise, such as the bottom of lakes and ponds, but requires very high clarity in order to capture a suitable image.

Schulze, Karl R.

2003-11-01

145

Autonomous UAV persistent surveillance using bio-inspired strategies  

NASA Astrophysics Data System (ADS)

A team consisting of Teledyne Scientific Company, the University of California at Santa Barbara, the Army Research Laboratory, the Engineer Research and Development Center, and IBM UK is developing technologies in support of automated data exfiltration from heterogeneous battlefield sensor networks to enhance situational awareness for dismounts and command echelons. Unmanned aerial vehicles (UAV) provide an effective means to autonomously collect data from a sparse network of unattended ground sensors (UGSs) that cannot communicate with each other. UAVs are used to reduce the system reaction time by generating autonomous collection routes that are data-driven. Bioinspired techniques for autonomous search provide a novel strategy to detect, capture and fuse data from heterogeneous sensor networks. The bio-inspired algorithm is based on chemotaxis or the motion of bacteria seeking nutrients in their environment. Field tests of a bio-inspired system that routed UAVs were conducted in June 2011 at Camp Roberts, CA. The field test results showed that such a system can autonomously detect and locate the source of terrestrial events with very high accuracy and visually verify the event. In June 2011, field tests of the system were completed and include the use of multiple autonomously controlled UAVs, detection and disambiguation of multiple acoustic events occurring in short time frames, optimal sensor placement based on local phenomenology and the use of the International Technology Alliance (ITA) Sensor Network Fabric. The system demonstrated TRL 6 performance in the field at Camp Roberts.

Burman, Jerry; Hespanha, Joao; Madhow, Upamanyu; Isaacs, Jason; Venkateswaran, Sriram; Pham, Tien

2012-06-01

146

A power autonomous monopedal robot  

NASA Astrophysics Data System (ADS)

We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all the power generating components, but powered from an off-board pump. On a test stand, the eventual on-board power system generates enough pressure and flow to meet the requirements of these runs and we are currently integrating the power system into the real robot. When operated from an off-board system without carrying the weight of the power generating components, the robot currently runs at approximately 2.25 m/s. Ongoing work is focused on integrating the power system into the robot, improving the control algorithm, and investigating methods for improving efficiency.

Krupp, Benjamin T.; Pratt, Jerry E.

2006-05-01

147

Autonomous movement of platinum-loaded stomatocytes.  

PubMed

Polymer stomatocytes are bowl-shaped structures of nanosize dimensions formed by the controlled deformation of polymer vesicles. The stable nanocavity and strict control of the opening are ideal for the physical entrapment of nanoparticles which, when catalytically active, can turn the stomatocyte morphology into a nanoreactor. Herein we report an approach to generate autonomous movement of the polymer stomatocytes by selectively entrapping catalytically active platinum nanoparticles within their nanocavities and subsequently using catalysis as a driving force for movement. Hydrogen peroxide is free to access the inner stomatocyte cavity, where it is decomposed by the active catalyst (the entrapped platinum nanoparticles) into oxygen and water. This generates a rapid discharge, which induces thrust and directional movement. The design of the platinum-loaded stomatocytes resembles a miniature monopropellant rocket engine, in which the controlled opening of the stomatocytes directs the expulsion of the decomposition products away from the reaction chamber (inner stomatocyte cavity). PMID:22437710

Wilson, Daniela A; Nolte, Roeland J M; van Hest, Jan C M

2012-04-01

148

Towards an Autonomic Cluster Management System (ACMS) with Reflex Autonomicity  

NASA Technical Reports Server (NTRS)

Cluster computing, whereby a large number of simple processors or nodes are combined together to apparently function as a single powerful computer, has emerged as a research area in its own right. The approach offers a relatively inexpensive means of providing a fault-tolerant environment and achieving significant computational capabilities for high-performance computing applications. However, the task of manually managing and configuring a cluster quickly becomes daunting as the cluster grows in size. Autonomic computing, with its vision to provide self-management, can potentially solve many of the problems inherent in cluster management. We describe the development of a prototype Autonomic Cluster Management System (ACMS) that exploits autonomic properties in automating cluster management and its evolution to include reflex reactions via pulse monitoring.

Truszkowski, Walt; Hinchey, Mike; Sterritt, Roy

2005-01-01

149

?-Synuclein in cutaneous autonomic nerves  

PubMed Central

Objective: To develop a cutaneous biomarker for Parkinson disease (PD). Methods: Twenty patients with PD and 14 age- and sex-matched control subjects underwent examinations, autonomic testing, and skin biopsies at the distal leg, distal thigh, and proximal thigh. ?-Synuclein deposition and the density of intraepidermal, sudomotor, and pilomotor nerve fibers were measured. ?-Synuclein deposition was normalized to nerve fiber density (the ?-synuclein ratio). Results were compared with examination scores and autonomic function testing. Results: Patients with PD had a distal sensory and autonomic neuropathy characterized by loss of intraepidermal and pilomotor fibers (p < 0.05 vs controls, all sites) and morphologic changes to sudomotor nerve fibers. Patients with PD had greater ?-synuclein deposition and higher ?-synuclein ratios compared with controls within pilomotor nerves and sudomotor nerves (p < 0.01, all sites) but not sensory nerves. Higher ?-synuclein ratios correlated with Hoehn and Yahr scores (r = 0.580.71, p < 0.01), with sympathetic adrenergic function (r = ?0.40 to ?0.66, p < 0.01), and with parasympathetic function (r = ?0.66 to ?0.77, p > 0.01). Conclusions: We conclude that ?-synuclein deposition is increased in cutaneous sympathetic adrenergic and sympathetic cholinergic fibers but not sensory fibers of patients with PD. Higher ?-synuclein deposition is associated with greater autonomic dysfunction and more advanced PD. These data suggest that measures of ?-synuclein deposition in cutaneous autonomic nerves may be a useful biomarker in patients with PD. PMID:24089386

Wang, Ningshan; Gibbons, Christopher H.; Lafo, Jacob

2013-01-01

150

Autonomous hazard detection and avoidance  

NASA Technical Reports Server (NTRS)

During GFY 91, Draper Laboratory was awarded a task by NASA-JSC under contract number NAS9-18426 to study and evaluate the potential for achieving safe autonomous landings on Mars using an on-board autonomous hazard detection and avoidance (AHDA) system. This report describes the results of that study. The AHDA task had four objectives: to demonstrate, via a closed-loop simulation, the ability to autonomously select safe landing sites and the ability to maneuver to the selected site; to identify key issues in the development of AHDA systems; to produce strawman designs for AHDA sensors and algorithms; and to perform initial trade studies leading to better understanding of the effect of sensor/terrain/viewing parameters on AHDA algorithm performance. This report summarizes the progress made during the first year, with primary emphasis on describing the tools developed for simulating a closed-loop AHDA landing. Some cursory performance evaluation results are also presented.

Pien, Homer

1992-01-01

151

Continuous observation planning for autonomous exploration  

E-print Network

Many applications of autonomous robots depend on the robot being able to navigate in real world environments. In order to navigate or path plan, the robot often needs to consult a map of its surroundings. A truly autonomous ...

Hasegawa, Bradley R

2004-01-01

152

Autonomous inverted helicopter flight via reinforcement learning  

E-print Network

Autonomous inverted helicopter flight via reinforcement learning Andrew Y. Ng 1 , Adam Coates 1 Computer Science Department, Stanford University, Stanford, CA 94305 2 Whirled Air Helicopters, Menlo Park, CA 94025 Abstract. Helicopters have highly stochastic, nonlinear, dynamics, and autonomous helicopter

Ng, Andrew Y.

153

Parameterized Maneuver Learning for Autonomous Helicopter Flight  

E-print Network

Parameterized Maneuver Learning for Autonomous Helicopter Flight Jie Tang, Arjun Singh, Nimbus aerobatic maneuvers by our autonomous helicopter. I. INTRODUCTION Trajectory following is a fundamental probabilistic model that enabled them to extract an expert helicopter pilot's intended trajectory from multiple

O'Brien, James F.

154

Autonomous inverted helicopter flight via reinforcement learning  

E-print Network

Autonomous inverted helicopter flight via reinforcement learning Andrew Y. Ng1 , Adam Coates1 Science Department, Stanford University, Stanford, CA 94305 2 Whirled Air Helicopters, Menlo Park, CA 94025 Abstract. Helicopters have highly stochastic, nonlinear, dynamics, and autonomous helicopter

Ng, Andrew Y.

155

A bidirectional DC\\/DC power electronic converter for an energy storage device in an autonomous power system  

Microsoft Academic Search

The paper discusses a bidirectional DC\\/DC converter for interfacing an energy storage device in an autonomous power system, which consists of wind turbines and diesel generation units. The operation condition variations, such as switching load, could cause significant dynamics in an autonomous system. An energy storage device can effectively increase the utilization of the renewable energy and improve the capability

Y. Hu; J. Tatler; Z. Chen

2004-01-01

156

Inet: Internet Topology Generator  

Microsoft Academic Search

Network research often involves the evaluation of new application designs, system architectures, and protocol implementations. Due to the immense scale of the Internet, deploying an Internet-wide system for the purpose of experimental study is nearly impossible. Instead, researchers evaluate their designs using generated random network topologies. In this report, we present a topology generator that is based on Autonomous System

Cheng Jin; Qian Chen; Sugih Jamin

2000-01-01

157

Aggregate load-frequency control of a wind-hydro autonomous microgrid  

Microsoft Academic Search

This paper presents an aggregate load-frequency controller for an autonomous microgrid (MG) with wind and hydro renewable energy sources. A micro-hydro power plant with a synchronous generator (SG) and a wind power plant with an induction generator (IG) supply the MG. Both generators directly feed power into the grid without the use of additional power electronics interfaces, thus the solution

I. ?erban; C. Marinescu

2011-01-01

158

Autonomous DNA-Molecule Computing  

NASA Astrophysics Data System (ADS)

DNA molecules autonomously change their forms from the single strand to the double helix by specific binding between complementary sequences according to the Watson-Crick base pairing rule. This paring rule allows us to control connections among molecules and to construct various structures by sequence design. Further, the motion of constructed structures can also be designed by considering sequential bindings. Recently, the feasibility to utilize the programmed DNA structural change for information processing was studied. In the present paper, we report an efficient synthetic chain reaction based on autonomous binding of DNA to realize a computing system, which enable us to implement computational intelligence in vitro.

Komiya, Ken; Rose, John A.; Yamamura, Masayuki

159

Autonomic failure in primary amyloidosis.  

PubMed

Amyloidosis is an uncommon plasma cell dyscrasia affecting Multisystem, characterized by deposition of amyloid proteins in extracellular spaces and the tissues. Reported incidence of amyloidosis is 8 cases per million per year. Deposition of amyloid fibrils occurs in peripheral nerves in 20% of the cases in Primary Amyloidosis. Though. polyneuropathy is one of the presenting manifestations in cases of Primary Amyloidosis, pure autonomic failure without involving peripheral nerves is not a documented entity. Here, we present a case of Primary Amyloidosis presenting as Pure Autonomic Failure (Dysautonomia). PMID:19322983

Pandit, Aditi; Gangurde, Savita; Gupta, S B

2008-12-01

160

Miniature Autonomous Robotic Vehicle (MARV)  

SciTech Connect

Sandia National Laboratories (SNL) has recently developed a 16 cm{sup 3} (1 in{sup 3}) autonomous robotic vehicle which is capable of tracking a single conducting wire carrying a 96 kHz signal. This vehicle was developed to assess the limiting factors in using commercial technology to build miniature autonomous vehicles. Particular attention was paid to the design of the control system to search out the wire, track it, and recover if the wire was lost. This paper describes the test vehicle and the control analysis. Presented in the paper are the vehicle model, control laws, a stability analysis, simulation studies and experimental results.

Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L.; Weber, T.M.

1996-12-31

161

Autonomic function testing aboard the ISS using PNEUMOCARD  

NASA Astrophysics Data System (ADS)

Investigations of blood pressure, heart rate (HR), and heart rate variability (HRV) during long term space flights on board the "ISS" have shown characteristic changes of autonomic cardiovascular control. Therefore, alterations of the autonomic nervous system occurring during spaceflight may be responsible for in- and post-flight disturbances. The device "Pneumocard" was developed to further investigate autonomic cardiovascular and respiratory function aboard the ISS. The hard-software diagnostic complex "Pneumocard" was used during in-flight experiment aboard ISS for autonomic function testing. ECG, photoplethysmography, respiration, transthoracic bioimpedance and seismocardiography were assessed in one male cosmonaut (flight lengths six month). Recordings were made prior to the flight, late during flight, and post-flight during spontaneous respiration and controlled respiration at different rates. HR remained stable during flight. The values were comparable to supine measurements on earth. Respiratory frequency and blood pressure decreased during flight. Post flight HR and BP values increased compared to in-flight data exceeding pre-flight values. Cardiac time intervals did not change dramatically during flight. Pulse wave transit time decreased during flight. The maximum of the first time derivative of the impedance cardiogram, which is highly correlated with stroke volume was not reduced in-flight. Our results demonstrate that autonomic function testing aboard the ISS using "Pneumocard" is feasible and generates data of good quality. Despite the decrease in BP, pulse wave transit time was found reduced in space as shown earlier. However, cardiac output did not decrease profoundly in the investigated cosmonaut. Autonomic testing during space flight detects individual changes in cardiovascular control and may add important information to standard medical control. The recent plans to support a flight to Mars, makes these kinds of observations all the more relevant and compelling.

Baevsky, R. M.; Funtova, I. I.; Diedrich, A.; Chernikova, A. G.; Drescher, J.; Baranov, V. M.; Tank, J.

2009-10-01

162

Autonomic dysfunction in peripheral nerve disorders.  

PubMed

The autonomic nervous system is affected by most conditions that cause peripheral neuropathy. Autonomic dysfunction may be clinically significant in some conditions such as diabetes, amyloidosis, Guillain-Barr syndrome and porphyria, but in many the autonomic disturbances are of only minor clinical importance. Clinical tests of both sympathetic and parasympathetic function are necessary to establish the diagnosis. PMID:1325223

McLeod, J G

1992-08-01

163

Autonomous Underwater Gliders Wood, Stephen  

E-print Network

chemicals. Thus, dangerous substances in the sea can be detected earlier and their harmful effects can26 Autonomous Underwater Gliders Wood, Stephen Florida Institute of Technology United States to make complex studies on topics such as the effect of metals, pesticides and nutrients on fish abundance

Wood, Stephen L.

164

Liability for Autonomous Agent Design  

Microsoft Academic Search

Though exciting scientifically, autonomous agent design can result in legal liability. This paper surveys those legal concerns, focusing on issues arising from the unique qualities of agents not found in conventional software. Informed designers can more effectively reduce their liability exposure and influence emerging agent liability law and policies.

Carey Heckman; Jacob O. Wobbrock

1999-01-01

165

Liability for autonomous agent design  

Microsoft Academic Search

Though exciting scientifically, autonomous agent design can result in legal liability. This paper surveys those legal concerns, focusing on issues arising from the unique qualities of agents not found in conventional software. Informed designers can more effectively reduce their liability exposure and influence emerging agent liability law and policies.

Carey Heckman; Jacob O. Wobbrock

1998-01-01

166

The Functioning of Autonomous Colleges  

ERIC Educational Resources Information Center

The college gets separated from the university, though not completely, when it is an autonomous college, which is practice in India. Academic package will become flexible and the decision-making is internalized, changes and updating could be easily carried out, depending on the need as reflected from the feedback taken from alumni, user sectors,

Rao, V. Pala Prasada; Rao, Digumarti Bhaskara

2012-01-01

167

Electrical Engineering for Autonomousfor Autonomous  

E-print Network

Electrical Engineering for Autonomousfor Autonomous Exploration Robots Minor EE-Mi-109-11 Electrical Engineering Do you want to know more about EE? is all around us Electrical Engineering enables an introduction to Electrical Engineering for (mainly) students in Physics and in the constructive sciences

168

SECURITY CONSIDERATIONS FOR AUTONOMOUS ROBOTS  

Microsoft Academic Search

The security aspects of autonomous robots are analyzed by modeling a robot as a set of sensors, effectors, optional communications resources, and processing elements whose behavior is tightly coupled to the sensed characteristics of its environment. A simple taxonomy of potential generic threat types is presented, comprising both the possible direct external threat paths and the derived consequent internal threat

Douglas W. Gage

1985-01-01

169

AARD - Autonomous Airborne Refueling Demonstration  

NASA Technical Reports Server (NTRS)

This viewgraph document reviews the Autonomous Airborne Refueling Demonstration program, and NASA Dryden's work in the program. The primary goal of the program is to make one fully automatic probe-to-drogue engagement using the AARD system. There are pictures of the aircraft approaching to the docking.

Ewers, Dick

2007-01-01

170

Autonomic Computing in SQL Server  

Microsoft Academic Search

With the growing size of enterprise data, the task of managing a database is becoming more and more complex as well as time-consuming. A database administrator spends most of his time in activities that can be made automatic. Also, scarcity of skilled database administrators have motivated the database industry to develop autonomic database management systems (ADBMS) which can alleviate many

Abdul Mateen; Basit Raza; Tauqeer Hussain; Mian M. Awais

2008-01-01

171

An Autonomic Defragmentation File System  

Microsoft Academic Search

To solve above problems, we propose the autonomic defragmentation file system without a degradation of system performance. At first, we design the Automatic Layout Scoring(ALS) system which is used for measuring the fragmentation ratio of the files. The ALS counts the number of contiguous blocks in a file when the blocks are allocated for the file. We can recognize the

Hyun-Chan Park; Jun-Seok Lee; Chuck Yoo

172

Autonomous behavior control architecture of entertainment humanoid robot SDR4X  

Microsoft Academic Search

In this paper we describe the autonomous behavior control architecture of SDR-4X, which serves to integrate multi-modal recognition and motion control technologies. We overview the entire software architecture of SDR-4X, which is composed of perception, short and long term memory, behavior control, and motion control parts. Regarding autonomous behavior control, we further focus on issues such as spontaneous behavior generation

Masahiro Fujita; Yoshihiro Kuroki; Tatsuzo Ishida; Toshi T. Doi

2003-01-01

173

Novel Microbial Diversity Retrieved by Autonomous Robotic Exploration of the World's Deepest Vertical Phreatic Sinkhole  

Microsoft Academic Search

The deep phreatic thermal explorer (DEPTHX) is an autonomous underwater vehicle designed to navigate an unexplored environment, generate high-resolution three-dimensional (3-D) maps, collect biological samples based on an autonomous sampling decision, and return to its origin. In the spring of 2007, DEPTHX was deployed in Zacatn, a deep (318 m), limestone, phreatic sinkhole (cenote) in northeastern Mexico. As DEPTHX descended,

Jason W. Sahl; Nathaniel Fairfield; J. Kirk Harris; David Wettergreen; William C. Stone; John R. Spear

2010-01-01

174

Autonomous exploration and mapping of unknown environments  

NASA Astrophysics Data System (ADS)

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

Owens, Jason; Osteen, Phil; Fields, MaryAnne

2012-06-01

175

THE PRECISE AUTONOMOUS ORBIT KEEPING EXPERIMENT ON THE PRISMA MISSION  

Microsoft Academic Search

This paper analyses the problem of the autonomous control of the Longitude of the Ascending Node (LAN) for a satellite in Low Earth Orbit (LEO) by means of along-track and anti-along- track velocity increments which adjust the semi-major axis. The problematic concerned with the possibility of generating the reference orbit (RO) on-board and with the estimation of the atmospheric drag

Sergio De Florio; Simone D'Amico

2008-01-01

176

Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

The Simulation Software, KATE (Knowledgebase Autonomous Test Engineer), is used to demonstrate the automatic identification of faults in a system. The ACLO (Autonomous Cryogenics Loading Operation) project uses KATE to monitor and find faults in the loading of the cryogenics int o a vehicle fuel tank. The KATE software interfaces with the IHM (Integrated Health Management) systems bus to communicate with other systems that are part of ACLO. One system that KATE uses the IHM bus to communicate with is AIS (Advanced Inspection System). KATE will send messages to AIS when there is a detected anomaly. These messages include visual inspection of specific valves, pressure gauges and control messages to have AIS open or close manual valves. My goals include implementing the connection to the IHM bus within KATE and for the AIS project. I will also be working on implementing changes to KATE's Ul and implementing the physics objects in KATE that will model portions of the cryogenics loading operation.

Wehner, Walter S.

2012-01-01

177

Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

Working on the ACLO (Autonomous Cryogenics Loading Operations) project I have had the opportunity to add functionality to the physics simulation software known as KATE (Knowledgebase Autonomous Test Engineer), create a new application allowing WYSIWYG (what-you-see-is-what-you-get) creation of KATE schematic files and begin a preliminary design and implementation of a new subsystem that will provide vision services on the IHM (Integrated Health Management) bus. The functionality I added to KATE over the past few months includes a dynamic visual representation of the fluid height in a pipe based on number of gallons of fluid in the pipe and implementing the IHM bus connection within KATE. I also fixed a broken feature in the system called the Browser Display, implemented many bug fixes and made changes to the GUI (Graphical User Interface).

Wehner, Walter S., Jr.

2013-01-01

178

Bifurcation and enhancement of autonomous-nonautonomous retrotransposon partnership through LTR Swapping in soybean.  

PubMed

Long terminal repeat (LTR) retrotransposons, the most abundant genomic components in flowering plants, are classifiable into autonomous and nonautonomous elements based on their structural completeness and transposition capacity. It has been proposed that selection is the major force for maintaining sequence (e.g., LTR) conservation between nonautonomous elements and their autonomous counterparts. Here, we report the structural, evolutionary, and expression characterization of a giant retrovirus-like soybean (Glycine max) LTR retrotransposon family, SNARE. This family contains two autonomous subfamilies, SARE(A) and SARE(B), that appear to have evolved independently since the soybean genome tetraploidization event approximately 13 million years ago, and a nonautonomous subfamily, SNRE, that originated from SARE(A). Unexpectedly, a subset of the SNRE elements, which amplified from a single founding SNRE element within the last approximately 3 million years, have been dramatically homogenized with either SARE(A) or SARE(B) primarily in the LTR regions and bifurcated into distinct subgroups corresponding to the two autonomous subfamilies. We uncovered evidence of region-specific swapping of nonautonomous elements with autonomous elements that primarily generated various nonautonomous recombinants with LTR sequences from autonomous elements of different evolutionary lineages, thus revealing a molecular mechanism for the enhancement of preexisting partnership and the establishment of new partnership between autonomous and nonautonomous elements. PMID:20081112

Du, Jianchang; Tian, Zhixi; Bowen, Nathan J; Schmutz, Jeremy; Shoemaker, Randy C; Ma, Jianxin

2010-01-01

179

Validating the Autonomous Science Agent  

NASA Technical Reports Server (NTRS)

This paper describes the validation process for the Autonomous Science Agent, a software agent that will fly onboard the EO-1 spacecraft from 2003-2004. This agent will recognize science events, retarget the spacecraft to respond to the science events, and reduce data downlink to only the highest value science data. The autonomous science agent has been designed using a layered architectural approach with specific redundant safeguards to reduce the risk of an agent malfunction to the EO-1 spacecraft. This 'safe' design is also in the process of being thoroughly validated by informal validation methods and extensive testing. This paper describes the analysis used to define agent safety, elements of the design that increase the safety of the agent, and the process being used to validate agent safety prior to the agent software controlling the spacecraft.

Chien, Steve; Cichy, Benjamin; Schaffer, Steve; Tran, Danny; Rabideau, Gregg; Sherwood, Rob; Bote, Robert; Mandl, Dan; Frye, Stu; Shulman, Seth; Van Gaasbeck, Jim; Boyer, Darrell

2003-01-01

180

Autonomic Clouds on the Grid  

Microsoft Academic Search

Computational clouds constructed on top of existing Grid infrastructure have the capability to provide different entities\\u000a with customized execution environments and private scheduling overlays. By designing these clouds to be autonomically self-provisioned\\u000a and adaptable to changing user demands, user-transparent resource flexibility can be achieved without substantially affecting\\u000a average job sojourn time. In addition, the overlay environment and physical Grid sites

Michael A. Murphy; Linton Abraham; Michael Fenn; Sebastien Goasguen

2010-01-01

181

Creating adaptive affective autonomous NPCs  

Microsoft Academic Search

The paper reports work to create believable autonomous Non Player Characters in Video games in general and educational role\\u000a play games in particular. It aims to increase their ability to respond appropriately to the players actions both cognitively\\u000a and emotionally by integrating two models: the cognitive appraisal-based FAtiMA architecture, and the drives-based PSI model.\\u000a We discuss the modelling of adaptive

Mei Yii Lim; Joo Dias; Ruth Aylett; Ana Paiva

182

Semi autonomous mine detection system  

SciTech Connect

CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude from an autonomous robotic perspective the rapid development and deployment of fieldable systems.

Douglas Few; Roelof Versteeg; Herman Herman

2010-04-01

183

Semi autonomous mine detection system  

NASA Astrophysics Data System (ADS)

CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude - from an autonomous robotic perspective - the rapid development and deployment of fieldable systems.

Few, Doug; Versteeg, Roelof; Herman, Herman

2010-04-01

184

Autonomic Computing: Panacea or Poppycock?  

NASA Technical Reports Server (NTRS)

Autonomic Computing arose out of a need for a means to cope with rapidly growing complexity of integrating, managing, and operating computer-based systems as well as a need to reduce the total cost of ownership of today's systems. Autonomic Computing (AC) as a discipline was proposed by IBM in 2001, with the vision to develop self-managing systems. As the name implies, the influence for the new paradigm is the human body's autonomic system, which regulates vital bodily functions such as the control of heart rate, the body's temperature and blood flow-all without conscious effort. The vision is to create selfivare through self-* properties. The initial set of properties, in terms of objectives, were self-configuring, self-healing, self-optimizing and self-protecting, along with attributes of self-awareness, self-monitoring and self-adjusting. This self-* list has grown: self-anticipating, self-critical, self-defining, self-destructing, self-diagnosis, self-governing, self-organized, self-reflecting, and self-simulation, for instance.

Sterritt, Roy; Hinchey, Mike

2005-01-01

185

Integrated System for Autonomous Science  

NASA Technical Reports Server (NTRS)

The New Millennium Program Space Technology 6 Project Autonomous Sciencecraft software implements an integrated system for autonomous planning and execution of scientific, engineering, and spacecraft-coordination actions. A prior version of this software was reported in "The TechSat 21 Autonomous Sciencecraft Experiment" (NPO-30784), NASA Tech Briefs, Vol. 28, No. 3 (March 2004), page 33. This software is now in continuous use aboard the Earth Orbiter 1 (EO-1) spacecraft mission and is being adapted for use in the Mars Odyssey and Mars Exploration Rovers missions. This software enables EO-1 to detect and respond to such events of scientific interest as volcanic activity, flooding, and freezing and thawing of water. It uses classification algorithms to analyze imagery onboard to detect changes, including events of scientific interest. Detection of such events triggers acquisition of follow-up imagery. The mission-planning component of the software develops a response plan that accounts for visibility of targets and operational constraints. The plan is then executed under control by a task-execution component of the software that is capable of responding to anomalies.

Chien, Steve; Sherwood, Robert; Tran, Daniel; Cichy, Benjamin; Davies, Ashley; Castano, Rebecca; Rabideau, Gregg; Frye, Stuart; Trout, Bruce; Shulman, Seth; Doggett, Thomas; Ip, Felipe; Greeley, Ron; Baker, Victor; Dohn, James; Boyer, Darrell

2006-01-01

186

Autonomic Neuropathy in Diabetes Mellitus  

PubMed Central

Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent definition, different diagnostic method, different patient cohorts studied. The pathogenesis is still unclear and probably multifactorial. Once DAN becomes clinically evident, no form of therapy has been identified, which can effectively stop or reverse it. Prevention strategies are based on strict glycemic control with intensive insulin treatment, multifactorial intervention, and lifestyle modification including control of hypertension, dyslipidemia, stop smoking, weight loss, and adequate physical exercise. The present review summarizes the latest knowledge regarding clinical presentation, epidemiology, pathogenesis, and management of DAN, with some mention to childhood and adolescent population. PMID:25520703

Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

2014-01-01

187

Path planning strategies for autonomous ground vehicles  

NASA Astrophysics Data System (ADS)

Several key issues involved with the planning and executing of optimally generated paths for autonomous vehicles are addressed. Two new path planning algorithms are developed, and examined, which effectively minimize replanning as unmapped hazards are encountered. The individual algorithms are compared via extensive simulation. The search strategy results are implemented and tested using the University of Colorado's autonomous vehicle test-bed, RoboCar, and results show the advantages of solving the single-destination all-paths problem for autonomous vehicle path planning. Both path planners implement a graph search methodology incorporating dynamic programming that solves the single-destination shortest-paths problem. Algorithm 1, termed DP for dynamic programming, searches a state space where each state represents a potential vehicle location in a breadth-first fashion expanding from the goal to all potential start locations in the state space. Algorithm 2, termed DP*, couples the heuristic search power of the well-known A* search procedure (Nilsson-80) with the dynamic programming principle applied to graph searching to efficiently make use of overlapping subproblems. DP* is the primary research contribution of the work contained within this thesis. The advantage of solving the single-destination shortest-paths problem is that the entire terrain map is solved in terms of reaching a specified goal. Therefore, if the robot is diverted from the pre-planned path, an alternative path is already computed. The search algorithms are extended to include a probabilistic approach using empirical loss functions to incorporate terrain map uncertainties into the path considering terrain planning process. The results show the importance of considering terrain uncertainty. If the map representation ignores uncertainty by marking any area with less than perfect confidence as unpassable or assigns it the worst case rating, then the paths are longer than intuitively necessary. A hierarchical software control architecture is introduced that uses as the main guidance function an arbitration-based scheme which is able to efficiently and robustly integrate disparate sensor data. The flexibility provided by such an architecture allows for very easy integration of any type of environmental sensing device into the path planning algorithm.

Gifford, Kevin Kent

188

Autonomic dysfunction in peripheral nerve disease.  

PubMed

Autonomic dysfunction is a common complication of peripheral neuropathies. Frequently, it is of little clinical importance, but in some conditions there may be profound disturbance of autonomic function, including orthostatic hypotension, impairment of heart rate and bladder control, and impotence. Some autonomic neuropathies are of acute onset, but most are chronic and of gradual onset. Diseases that primarily affect small fibers in peripheral nerves or cause acute demyelination of small myelinated fibers are those most likely to cause autonomic dysfunction. Conditions that cause severe autonomic dysfunction include acute dysautonomia, familial and primary amyloidosis, Guillain-Barr syndrome, diabetes, porphyria, Chagas' disease, and some hereditary sensory and autonomic neuropathies. Management consists of treating the underlying cause and symptomatic therapy. PMID:8384639

McLeod, J G

1993-01-01

189

Sustainable and Autonomic Space Exploration Missions  

NASA Technical Reports Server (NTRS)

Visions for future space exploration have long term science missions in sight, resulting in the need for sustainable missions. Survivability is a critical property of sustainable systems and may be addressed through autonomicity, an emerging paradigm for self-management of future computer-based systems based on inspiration from the human autonomic nervous system. This paper examines some of the ongoing research efforts to realize these survivable systems visions, with specific emphasis on developments in Autonomic Policies.

Hinchey, Michael G.; Sterritt, Roy; Rouff, Christopher; Rash, James L.; Truszkowski, Walter

2006-01-01

190

Autonomic neuropathy, II: Specific peripheral neuropathies.  

PubMed

Autonomic dysfunction is a common complication of peripheral neuropathies. It is often of little clinical importance, but some conditions may cause profound disturbance of autonomic function. These conditions include acute dysautonomia, diabetes, primary and familial amyloidosis, Guillain-Barr syndrome, porphyria, and some inherited neuropathies. A wide range of neuropathies are associated with lesser degrees of autonomic dysfunction. These include hereditary neuropathies, and neuropathies associated with metabolic disturbances, alcohol abuse, malignancy, medications, infections, and connective tissue disorders. PMID:8791232

McDougall, A J; McLeod, J G

1996-06-01

191

The EO-1 Autonomous Science Agent Architecture  

NASA Technical Reports Server (NTRS)

An Autonomous Science Agent is currently flying onboard the Earth Observing One Spacecraft. This software enables the spacecraft to autonomously detect and respond to science events occurring on the Earth. The package includes software systems that perform science data analysis, deliberative planning, and run-time robust execution. Because of the deployment to a remote spacecraft, this Autonomous Science Agent has stringent constraints of autonomy, reliability, and limited computing resources. We describe these constraints and how they are reflected in our agent architecture.

Chien, Steve; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Lee, Rachel; Mandl, Dan; Frye, Stuart; Trout, Bruce; Hengemihle, Jerry; D'Agostino, Jeff; Shulman, Seth; Ungar, Stephen; Brakke, Thomas; Boyer, Darrell; Van Gaasbeck, Jim; Greeley, Ronald; Doggett, Thomas; Baker, Victor; Dohm, James; Ip, Felipe

2004-01-01

192

INS integrated motion analysis for autonomous vehicle navigation  

NASA Technical Reports Server (NTRS)

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Roberts, Barry; Bazakos, Mike

1991-01-01

193

Autonomous, teleoperated, and shared control of robot systems  

SciTech Connect

This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ``grids`` of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the module`s input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expandable telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described.

Anderson, R.J.

1994-12-31

194

The TechSat 21 Autonomous Sciencecraft Experiment  

NASA Technical Reports Server (NTRS)

Software has been developed to perform a number of functions essential to autonomous operation in the Autonomous Sciencecraft Experiment (ASE), which is scheduled to be demonstrated aboard a constellation of three spacecraft, denoted TechSat 21, to be launched by the Air Force into orbit around the Earth in January 2006. A prior version of this software was reported in Software for an Autonomous Constellation of Satellites (NPO-30355), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 44. The software includes the following components: Algorithms to analyze image data, generate scientific data products, and detect conditions, features, and events of potential scientific interest; A program that uses component-based computational models of hardware to analyze anomalous situations and to generate novel command sequences, including (when possible) commands to repair components diagnosed as faulty; A robust-execution-management component that uses the Spacecraft Command Language (SCL) software to enable event-driven processing and low-level autonomy; and The Continuous Activity Scheduling, Planning, Execution, and Replanning (CASPER) program for replanning activities, including downlink sessions, on the basis of scientific observations performed during previous orbit cycles.

Sherwood, Robert; Knight, Russell; Rabideau, Gregg; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Stough, Timothy; Davies, Ashley

2004-01-01

195

General autonomic components of motion sickness  

NASA Technical Reports Server (NTRS)

This report refers to a body of investigations directed toward the examination of autonomic nervous system responses to motion sickness. Heart rate, respiration rate, finger pulse volume, and basal skin resistance were measured on 127 men and women before, during, and after exposure to a nauseogenic rotating chair test. Significant changes in all autonomic responses were observed across the tests (p less than .05). Significant differences in autonomic responses among groups divided according to motion sickness susceptibility were also observed (p less than .05). Results suggest that the examination of autonomic responses as an objective indicator of motion sickness malaise is warranted and may contribute to the overall understanding of the syndrome.

Cowings, Patricia S.; Suter, Steve; Toscano, William B.; Kamiya, Joe; Naifeh, Karen

1986-01-01

196

Information for Successful Interaction with Autonomous Systems  

NASA Technical Reports Server (NTRS)

Interaction in heterogeneous mission operations teams is not well matched to classical models of coordination with autonomous systems. We describe methods of loose coordination and information management in mission operations. We describe an information agent and information management tool suite for managing information from many sources, including autonomous agents. We present an integrated model of levels of complexity of agent and human behavior, which shows types of information processing and points of potential error in agent activities. We discuss the types of information needed for diagnosing problems and planning interactions with an autonomous system. We discuss types of coordination for which designs are needed for autonomous system functions.

Malin, Jane T.; Johnson, Kathy A.

2003-01-01

197

Autonomic Computing for Spacecraft Ground Systems  

NASA Technical Reports Server (NTRS)

Autonomic computing for spacecraft ground systems increases the system reliability and reduces the cost of spacecraft operations and software maintenance. In this paper, we present an autonomic computing solution for spacecraft ground systems at NASA Goddard Space Flight Center (GSFC), which consists of an open standard for a message oriented architecture referred to as the GMSEC architecture (Goddard Mission Services Evolution Center), and an autonomic computing tool, the Criteria Action Table (CAT). This solution has been used in many upgraded ground systems for NASA 's missions, and provides a framework for developing solutions with higher autonomic maturity.

Li, Zhenping; Savkli, Cetin; Jones, Lori

2007-01-01

198

Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

Schrading, J. Nicolas

2013-01-01

199

Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer  

NASA Technical Reports Server (NTRS)

The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

Shrading, Nicholas J.

2012-01-01

200

1Centre for Autonomous Marine Operations and Systems -AMOSwww.ntnu.edu/amos Autonomous Marine Operations  

E-print Network

06.06.2013 1 1Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos Centre for Autonomous Marine Operations and Systems AMOS 2013-2022 Cost: NOK 566 million AMOS Funding: NOK 240 million Research Council 2Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos Greener

Nørvåg, Kjetil

201

Autonomous learning in humanoid robotics through mental imagery.  

PubMed

In this paper we focus on modeling autonomous learning to improve performance of a humanoid robot through a modular artificial neural networks architecture. A model of a neural controller is presented, which allows a humanoid robot iCub to autonomously improve its sensorimotor skills. This is achieved by endowing the neural controller with a secondary neural system that, by exploiting the sensorimotor skills already acquired by the robot, is able to generate additional imaginary examples that can be used by the controller itself to improve the performance through a simulated mental training. Results and analysis presented in the paper provide evidence of the viability of the approach proposed and help to clarify the rational behind the chosen model and its implementation. PMID:23122490

Di Nuovo, Alessandro G; Marocco, Davide; Di Nuovo, Santo; Cangelosi, Angelo

2013-05-01

202

Analysis of battery current microcycles in autonomous renewable energy systems  

NASA Astrophysics Data System (ADS)

Battery currents in autonomous renewable energy systems (RES) are generally predicted or measured in terms of mean values over intervals of 1 min or longer. As a result, battery charge-discharge cycles with periods less than the averaging period are ignored, and the actual battery ampere hour (A h) throughput and resulting battery wear may be seriously underestimated, leading to optimistic prediction of battery lifetime. This paper considers short charge-discharge cycles or microcycles, arising from the characteristics of autonomous renewable energy systems, including generators, regulators, loads, and load inverter. Simulation results are used to show that inverters operating directly from the battery can cause microcycles, resulting in significantly increased battery throughput. Initial experimental results of the effects of microcycles on battery capacity and charging characteristics, and the contributing processes, are discussed.

Ruddell, A. J.; Dutton, A. G.; Wenzl, H.; Ropeter, C.; Sauer, D. U.; Merten, J.; Orfanogiannis, C.; Twidell, J. W.; Vezin, P.

203

Lower cost offshore field development utilizing autonomous vehicles  

SciTech Connect

The offshore oil and gas industry has the requirement to inspect offshore oil and gas pipelines for scour, corrosion and damage as well as inspect and intervene on satellite production facilities. This task is currently performed with Remotely Operated Vehicles (ROV) operated from dynamically positioned (DP) offshore supply or diving support boats. Currently, these tasks are expensive due to the high day rates for DP ships and the slow, umbilical impeded, 1 knot inspection rates of the tethered ROVs, Emerging Autonomous Undersea Vehicle (AUV) technologies offer opportunities to perform these same inspection tasks for 50--75% lower cost, with comparable or improved quality. The new generation LAPV (Linked Autonomous Power Vehicles) will operate from fixed facilities such as TLPs or FPFs and cover an operating field 10 kms in diameter.

Frisbie, F.R.; Vie, K.J.; Welch, D.W.

1996-12-31

204

Autonomous onboard crew operations: A review and developmental approach  

NASA Technical Reports Server (NTRS)

A review of the literature generated by an intercenter mission approach and consolidation team and their contractors was performed to obtain background information on the development of autonomous operations concepts for future space shuttle and space platform missions. The Boeing 757/767 flight management system was examined to determine the relevance for transfer of the developmental approach and technology to the performance of the crew operations function. In specific, the engine indications and crew alerting system was studied to determine the relevance of this display for the performance of crew operations onboard the vehicle. It was concluded that the developmental approach and technology utilized in the aeronautics industry would be appropriate for development of an autonomous operations concept for the space platform.

Rogers, J. G.

1982-01-01

205

Cell-autonomous responses in Listeria monocytogenes infection.  

PubMed

ABSTRACT? Listeria monocytogenes is a facultative intracellular bacterium causing listeriosis, a food-borne infection with a high mortality rate. The mechanisms and the role of cells and tissular components in generating protective adaptive immune responses are well studied, and cell biological studies provide a detailed understanding of the processes targeted by the bacterial products. Much less is known of the cellular responses activated to limit infection in individual cells when confronted with stress or infection. Eukaryotic cellular responses depend on multitiered homeostatic systems that ensure maintenance of proteostatis, organellar integrity, function and turnover, and overall cellular viability ('the cell-autonomous response'). Here, we review the cell-autonomous responses induced during extracellular and intracellular L. monocytogenes growth and discuss their contribution to limiting infection. PMID:25865195

Pillich, Helena; Chakraborty, Trinad; Mraheil, Mobarak Abu

2015-04-01

206

Thermoelectric-Driven Autonomous Sensors for a Biomass Power Plant  

NASA Astrophysics Data System (ADS)

This work presents the design and development of a thermoelectric generator intended to harness waste heat in a biomass power plant, and generate electric power to operate sensors and the required electronics for wireless communication. The first objective of the work is to design the optimum thermoelectric generator to harness heat from a hot surface, and generate electric power to operate a flowmeter and a wireless transmitter. The process is conducted by using a computational model, presented in previous papers, to determine the final design that meets the requirements of electric power consumption and number of transmissions per minute. Finally, the thermoelectric generator is simulated to evaluate its performance. The final device transmits information every 5 s. Moreover, it is completely autonomous and can be easily installed, since no electric wires are required.

Rodrguez, A.; Astrain, D.; Martnez, A.; Guba, E.; Sorbet, F. J.

2013-07-01

207

A cloud-assisted design for autonomous driving  

E-print Network

This paper presents Carcel, a cloud-assisted system for autonomous driving. Carcel enables the cloud to have access to sensor data from autonomous vehicles as well as the roadside infrastructure. The cloud assists autonomous ...

Suresh Kumar, Swarun

208

Spirituality and Autonomic Cardiac Control  

Microsoft Academic Search

BackgroundSpirituality has been suggested to be associated with positive health, but potential biological mediators have not been well\\u000a characterized.\\u000a \\u000a \\u000a \\u000a Purpose and MethodsThe present study examined, in a population-based sample of middle-aged and older adults, the potential relationship between\\u000a spirituality and patterns of cardiac autonomic control, which may have health significance. Measures of parasympathetic (high-frequency\\u000a heart rate variability) and sympathetic (pre-ejection

Gary G. Berntson; Greg J. Norman; Louise C. Hawkley; John T. Cacioppo

2008-01-01

209

The Autonomous Pathogen Detection System  

SciTech Connect

We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

Dzenitis, J M; Makarewicz, A J

2009-01-13

210

Autonomously managed electrical power systems  

NASA Technical Reports Server (NTRS)

The electric power systems for future spacecraft such as the Space Station will necessarily be more sophisticated and will exhibit more nearly autonomous operation than earlier spacecraft. These new power systems will be more reliable and flexible than their predecessors offering greater utility to the users. Automation approaches implemented on various power system breadboards are investigated. These breadboards include the Hubble Space Telescope power system test bed, the Common Module Power Management and Distribution system breadboard, the Autonomusly Managed Power System (AMPS) breadboard, and the 20 kilohertz power system breadboard. Particular attention is given to the AMPS breadboard. Future plans for these breadboards including the employment of artificial intelligence techniques are addressed.

Callis, Charles P.

1986-01-01

211

Autonomous Real Time Requirements Tracing  

NASA Technical Reports Server (NTRS)

One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the targeted system. It is envisioned that real time requirements tracing will greatly assist the movement of autoprocedures to flight software enhancing the software assurance of auto-procedures and also their acceptance as reliable commanders.

Plattsmier, George; Stetson, Howard

2014-01-01

212

Autonomous Real Time Requirements Tracing  

NASA Technical Reports Server (NTRS)

One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto-Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner- TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the targeted system. It is envisioned that real time requirements tracing will greatly assist the movement of autoprocedures to flight software enhancing the software assurance of auto-procedures and also their acceptance as reliable commanders

Plattsmier, George I.; Stetson, Howard K.

2014-01-01

213

BLAST Autonomous Daytime Star Cameras  

E-print Network

We have developed two redundant daytime star cameras to provide the fine pointing solution for the balloon-borne submillimeter telescope, BLAST. The cameras are capable of providing a reconstructed pointing solution with an absolute accuracy daytime float conditions. Each camera combines a 1 megapixel CCD with a 200 mm f/2 lens to image a 2 degree x 2.5 degree field of the sky. The instruments are autonomous. An internal computer controls the temperature, adjusts the focus, and determines a real-time pointing solution at 1 Hz. The mechanical details and flight performance of these instruments are presented.

Marie Rex; Edward Chapin; Mark J. Devlin; Joshua Gundersen; Jeff Klein; Enzo Pascale; Donald Wiebe

2006-05-01

214

BLAST Autonomous Daytime Star Cameras  

E-print Network

We have developed two redundant daytime star cameras to provide the fine pointing solution for the balloon-borne submillimeter telescope, BLAST. The cameras are capable of providing a reconstructed pointing solution with an absolute accuracy daytime float conditions. Each camera combines a 1 megapixel CCD with a 200 mm f/2 lens to image a 2 degree x 2.5 degree field of the sky. The instruments are autonomous. An internal computer controls the temperature, adjusts the focus, and determines a real-time pointing solution at 1 Hz. The mechanical details and flight performance of these instruments are presented.

Rex, M; Devlin, M J; Gundersen, J; Klein, J; Pascale, E; Wiebe, D; Rex, Marie; Chapin, Edward; Devlin, Mark J.; Gundersen, Joshua; Klein, Jeff; Pascale, Enzo; Wiebe, Donald

2006-01-01

215

An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback  

NASA Technical Reports Server (NTRS)

Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

Humphreys, William M, Jr.; Culliton, William G.

2008-01-01

216

Autonomous Daylight Detection of Life by Fluorescence Imaging  

NASA Astrophysics Data System (ADS)

An integrated fluorescence imaging system was used to detect biomarkers from extant microbial colonies and biofilms during autonomous rover exploration. Chlorophyll and other biomarkers were visualized autonomously.

Weinstein, S.; Pane, D.; Ernst, L. A.; Minkley, E.; Lanni, F.; Wettergreen, D. S.; Wagner, M.; Heys, S.; Teza, J.; Waggoner, A. S.

2006-03-01

217

Metaknowledge for Autonomous Systems Susan L. Epstein  

E-print Network

Metaknowledge for Autonomous Systems Susan L. Epstein Department of Computer Science Hunter College and The Graduate Center of The City University of New York susan.epstein@hunter.cuny.edu Abstract An autonomous has succeeded in several domains, including game playing (Epstein 2001), path finding (Epstein 1998

Epstein, Susan L.

218

Planning Flight Paths of Autonomous Aerobots  

NASA Technical Reports Server (NTRS)

Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.

Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli

2009-01-01

219

Digital Libraries and Autonomous Citation Indexing  

Microsoft Academic Search

The World Wide Web is revolutionizing the way that researchers access scientific information. Articles are increasingly being made available on the homepages of authors or institutions, at journal Web sites, or in online archives. However, scientific information on the Web is largely disorganized. This article introduces the creation of digital libraries incorporating Autonomous Citation Indexing (ACI). ACI autonomously creates citation

Steve Lawrence; C. Lee Giles; Kurt D. Bollacker

1999-01-01

220

Docking for an autonomous ocean sampling network  

Microsoft Academic Search

In this paper, we examine the issues associated with docking autonomous underwater vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We present a system based upon an acoustic ultrashort baseline system that allows the AUV to approach the dock from any direction. A passive latch on the AUV and a pole on the dock accomplish the task of

Hanumant Singh; James G. Bellingham; Franz Hover; S. Lemer; Bradley A. Moran; Keith von der Heydt; Dana Yoerger

2001-01-01

221

Gastric emptying in diabetic autonomic neuropathy  

Microsoft Academic Search

Gastric emptying was studied in 12 diabetic patients, six with and six without objective evidence of autonomic neuropathy and in 20 non-diabetic controls, using a double isotope scinti-scanning technique which differentiated between solid and liquid emptying. Three patients with autonomic neuropathy exhibited gastric stasis, although this was detected by conventional radiology in only one. Neither the patients with stasis nor

I W Campbell; R C Heading; P Tothill; T A Buist; D J Ewing; B F Clarke

1977-01-01

222

Autonomous robot navigation using fuzzy logic controller  

Microsoft Academic Search

The main challenge for designers of today's autonomous robotics is to build robust control programs that reliably perform complex tasks in the face of real-world environmental uncertainties. This paper proposes a generalized framework for a behavior-based navigation strategy of autonomous robots. This framework includes goal determination, preprocessing, behavior design, behavior arbitration, and command fusion. This framework is practical and used

Meng Wang; J. N. K. Liu

2004-01-01

223

Playing Pylos with an autonomous robot  

Microsoft Academic Search

In this paper, Pylos playing autonomous robot is discussed. This robot is combined with optimal game winning strategies. This results in an artificial companion which plays the board game Pylos in a fully interactive manner and up to the highest possible level. In the long term this could lead to interesting competitions between various autonomous robots playing several board games

Oswin Aichholzer; Daniel Detassis; Thomas Hackl; Gerald Steinbauer; Johannes Thonhauser

2010-01-01

224

Optimal fuzzy control of autonomous robot car  

Microsoft Academic Search

The paper describes the design of the fuzzy control system for an autonomous robot car which operates in unknown, unpredictable, and dynamic environment. The fuzzy control system must provide the fusing of data from multiple sensors and must ensure navigation of the autonomous robot car. Both - an obstacle avoidance control strategy and a target tracking control strategy - are

Ovid Farhi; Yordan Chervenkov

2008-01-01

225

Autonomous Robotic Monitoring of Underground Cable Systems  

E-print Network

competition among utilities, the economic efficiency of daily operations is becoming increasingly important portion of electric power distribution is accomplished through cable networks. A typical power utility, and autonomous operation. This paper describes the electromechanical and sensing system design of the autonomous

Mamishev, Alexander

226

The Techsat-21 Autonomous Sciencecraft Constellation  

Microsoft Academic Search

The Autonomous Sciencecraft Constellation flight demonstration (ASC) will fly onboard the Air Force's TechSat-21 constellation (an unclassified mission scheduled for launch in 2004). ASC will use onboard science analysis, replanning, robust execution, model- based estimation and control, and formation flying to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight

Steve Chien; Rob Sherwood; Michael Burl; Russell Knight; Gregg Rabideau

2005-01-01

227

Sustainable and autonomic space exploration missions  

Microsoft Academic Search

Visions for future space exploration have long term science missions in sight, resulting in the need for sustainable missions. Survivability is a critical property of sustainable systems and may be addressed through autonomicity, an emerging paradigm for self-management of future computer-based systems based on inspiration from the human autonomic nervous system. This paper examines some of the ongoing research efforts

Roy Sterritt; Mike Hinchey; Christopher Rouff; James Rash; Walt Truszkowski

2006-01-01

228

Control of Autonomous Mobile Robots Magnus Egerstedt  

E-print Network

, such as autonomous vacuum cleaners, lawn mowers, and pool cleaners; · Planetary exploration robots, such as the NASA environments, such as bomb sniffers, disaster site robots, and mine sweepers. Notably absent from this list, resulting in challenging, yet standard, tracking problems. In contrast to this, autonomous mobile robots

Egerstedt, Magnus

229

Autonomous Helicopter Flight via Reinforcement Learning  

Microsoft Academic Search

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous helicopter flight. We first fit a stochastic, nonlinear model of the helicopter dynamics. We then use the model to learn to hover in place, and to fly a number of maneuvers taken from an RC

Andrew Y. Ng; H. Jin Kim; Michael I. Jordan; Shankar Sastry

2003-01-01

230

A visual odometer for autonomous helicopter flight  

Microsoft Academic Search

This paper presents a visual odometer for autonomous helicopter flight. The odometer estimates helicopter position by visually locking on to and tracking ground objects. The paper describes the philosophy behind the odometer as well as its tracking algorithm and implementation. The paper concludes by presenting test flight data of the odometer's performance on-board indoor and outdoor prototype autonomous helicopters.

Omead Amidi; Takeo Kanade; Keisuke Fujita

1999-01-01

231

Autonomous Helicopter Aerobatics through Apprenticeship Learning  

E-print Network

Autonomous Helicopter Aerobatics through Apprenticeship Learning Pieter Abbeel1 , Adam Coates2 and Andrew Y. Ng2 Abstract Autonomous helicopter flight is widely regarded to be a highly challenging control problem. Despite this fact, human experts can reliably fly helicopters through a wide range of maneuvers

Bejerano, Gill

232

Adaptive Trajectory Control for Autonomous Helicopters  

E-print Network

Adaptive Trajectory Control for Autonomous Helicopters Eric N. Johnson and Suresh K. Kannan School-0150 For autonomous helicopter flight, it is common to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the translational trajectory of the helicopter

Johnson, Eric N.

233

Hierarchical control of small autonomous helicopters  

Microsoft Academic Search

Autonomous air vehicles have numerous applications, all of which require the vehicle to have stable and accurate control of its motion. In the paper, a hierarchical control system for small autonomous helicopters is described. The control system consists of four components: a navigation filter, an inner-loop hover control system, a waypoint guidance system, and a ground-based flight manager. All four

Christopher P. Sanders; Paul A. DeBitetto; Eric Feron; Hon Fai Vuong; Nancy Leveson

1998-01-01

234

Developmental Changes in the Behavioral and Autonomic  

E-print Network

Developmental Changes in the Behavioral and Autonomic Effects of Kappa Opioid Receptor Stimulation Psychobiology 1051 Riverside Drive New York, NY 10032 ABSTRACT: Kappa opioid receptors stimulation with U50; ultra- sonic vocalization; behavior; heart rate; autonomic nervous system; kappa opioid receptor

Barr, Gordon A.

235

New Small Autonomous Schools District Policy. Revised.  

ERIC Educational Resources Information Center

Inspired by the gains in student achievement realized by the small schools movement in New York City, the Oakland Unified School District (California) has proposed creating a network of 10 new, small autonomous (NSA) schools over the next 3 years. School size will range between 250 and 500 students, depending on grade level. "Autonomous" means

Oakland Unified School District, CA.

236

Action planning model for autonomous mobile robots  

Microsoft Academic Search

The main challenge for autonomous mobile robots is to interpret a new situation correctly and to react appropriately in unknown environments. Autonomous mission completion in new territory requires flexible, adaptable, complex, but also fast action planning. For most applications behavior selection cannot be simply rule-based, requiring more sophisticated evaluation systems delivering appropriate information and interpretation. This approach shows a solution

C. Roesener; R. Lang; T. Deutsch; A. Gruber; B. Palensky

2007-01-01

237

Power systems for autonomous underwater vehicles  

Microsoft Academic Search

In this paper, we examine the issues involved in designing battery systems and power-transfer (charging) techniques for Autonomous Underwater Vehicles (AUVs) operating within an Autonomous Ocean Sampling Network (AOSN). We focus on three different aspects of the problem, battery chemistry, pack management and in situ charging. We look at a number of choices for battery chemistry and evaluate these based

Albert M. Bradley; Michael D. Feezor; Hanumant Singh; F. Yates Sorrell

2001-01-01

238

A solar-powered autonomous underwater vehicle  

Microsoft Academic Search

To meet the rapidly expanding requirements for Autonomous Underwater Vehicles (AUVs), Falmouth Scientific, Inc. (FSI) is working in cooperation with the Autonomous Undersea Systems Institute (AUSI) and Technology Systems Inc. (TSI) to develop a vehicle capable of long-term deployment and station-keeping duties. It has long been considered that AUV platforms, in principle, could provide an effective solution for surveillance (security

J. Jalbert; J. Baker; J. Duchesney; P. Pietryka; W. Dalton; D. R. Blidberg; S. Chappell; R. Nitzel; K. Holappa

2003-01-01

239

Development of an autonomous kiwifruit picking robot  

Microsoft Academic Search

The design concept and development status of an autonomous kiwifruit-picking robot is presented. The robot has an intelligent vision system that ensures that only ldquogoodrdquo fruit is picked. The robot receives instruction by radio link and operates autonomously as it navigates through the orchard, picking fruit, unloading full bins of fruit, fetching empty bins and protecting the picked fruit from

A. J. Scarfe; R. C. Flemmer; H. H. Bakker; C. L. Flemmer

2009-01-01

240

Autonomous buoyancy-driven underwater gliders  

Microsoft Academic Search

A class of small (50 kg, 2 m length), reusable autonomous underwater vehicles capable of operating at speeds of 20-30 cm\\/s with ranges several thousand kilometers and durations of months has been developed and tested. The vehicles, essentially autonomous profiling floats with wings, execute sawtooth patterns between the surface, where they are located and communicate to shore, and depths of

Russ E. Davis; Charles C. Eriksen; Clayton P. Jones

2002-01-01

241

Autonomic Physiological Response Patterns Related to Intelligence  

ERIC Educational Resources Information Center

We examined autonomic physiological responses induced by six different cognitive ability tasks, varying in complexity, that were selected on the basis of on Guilford's Structure of Intellect model. In a group of 52 participants, task performance was measured together with nine different autonomic response measures and respiration rate. Weighted

Melis, Cor; van Boxtel, Anton

2007-01-01

242

Multi-agent autonomous system  

NASA Technical Reports Server (NTRS)

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

243

Autonomous power system intelligent diagnosis and control  

NASA Technical Reports Server (NTRS)

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

1991-01-01

244

Autonomous Power System intelligent diagnosis and control  

NASA Technical Reports Server (NTRS)

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

1991-01-01

245

[Evaluation of autonomic dysfunction by novel methods].  

PubMed

The autonomic nervous system innervates every organ in the body. Since autonomic disturbances affect patient survival, an understanding and recognition of these disturbances are important. We adopted several new methods to evaluate autonomic function accurately. 123I-metaiodobenzylguanidine scintigraphy can assess the cardiac autonomic function even in the presence of cardiac arrhythmia. Laser-Doppler flowmetry, ultrasonographic study in the vessels and near-infrared spectrophotoscopy techniques serve as useful markers for screening the dysfunction of vasomotor neurons and blood circulation. Electrogastrography and the circadian rhythms of protein C secretion could be markers of the visceromotor nerves in the abdomen. Electrogastrography is a particularly useful tool for reflecting on functional changes in gastrointestinal motility. The evaluation of anemia could be a marker of autonomic dysfunction in the kidney and bone marrow in patients with familial amyloidotic polyneuropathy, pandysautonomia, and multiple system atrophy. Normocytic and normochromic anemia correlated with the severity of autonomic dysfunction were shown in these patients. We also evaluated the dysfunction of the neuroendocrine system and sudomotor neuron using our new autonomic function tests. The glucose-tolerance test could become one of the most useful clinical tools for detecting autonomic dysfunction in the endocrine system. Microhydrography and thermography could be useful tools for diagnosing the lesion site of dyshidrosis. Moreover, it is clinically important to check the systemic circulation and autonomic function in patients treated with sildenafil citrate and organ transplantation to save their lives. Our new autonomic function tests, such as laser-Doppler flowmetry and 123I-metaiodobenzylguanidine scintigraphy, are crucial tools in supplying the best symptomatic treatment for such patients. PMID:15344558

Ando, Yukio; Obayashi, Konen

2004-07-01

246

Engineering Autonomous Chemomechanical Nanomachines Using Brownian Ratchets  

NASA Astrophysics Data System (ADS)

Nanoscale machines which directly convert chemical energy into mechanical work are ubiquitous in nature and are employed to perform a diverse set of tasks such as transporting molecules, maintaining molecular gradients, and providing motion to organisms. Their widespread use in nature suggests that large technological rewards can be obtained by designing synthetic machines that use similar mechanisms. This thesis addresses the technological adaptation of a specific mechanism known as the Brownian ratchet for the design of synthetic autonomous nanomachines. My efforts were focused more specifically on synthetic chemomechanical ratchets which I deem will be broadly applicable in the life sciences. In my work I have theoretically explored the biophysical mechanisms and energy landscapes that give rise to the ratcheting phenomena and devised devices that operate off these principles. I demonstrate two generations of devices that produce mechanical force/deformation in response to a user specified ligand. The first generation devices, fabricatied using a combination nanoscale lithographic processes and bioconjugation techniques, were used to provide evidence that the proposed ratcheting phenomena can be exploited in synthetic architectures. Second generation devices fabricated using self-assembled DNA/hapten motifs were constructed to gain a precise understanding of ratcheting dynamics and design constraints. In addition, the self-assembled devices enabled fabrication en masse, which I feel will alleviate future experimental hurdles in analysis and facilitate its adaptation to technologies. The product of these efforts is an architecture that has the potential to enable numerous technologies in biosensing and drug delivery. For example, the coupling of molecule-specific actuation to the release of drugs or signaling molecules from nanocapsules or porous materials could be transformative. Such architectures could provide possible avenues to pressing issues in biology and medicine: drugs could eventually be triggered to release in the presence of molecular signals indicative of diseased states, early disease detection could be achieved by examining the cell microenvironment then releasing imaging agents and generalized control could exerted over the free molecule signaling networks of cells.

Lavella, Gabriel

247

Motion coordination of multiple autonomous vehicles in a spatiotemporal flowfield  

NASA Astrophysics Data System (ADS)

The long-term goal of this research is to provide theoretically justified control strategies to operate autonomous vehicles in spatiotemporal flowfields. The specific objective of this dissertation is to use estimation and nonlinear control techniques to generate decentralized control algorithms that enable motion coordination for multiple autonomous vehicles while operating in a time-varying flowfield. A cooperating team of vehicles can benefit from sharing data and tasking responsibilities. Many existing control algorithms promote collaboration of autonomous vehicles. However, these algorithms often fail to account for the degradation of control performance caused by flowfields. This dissertation presents decentralized multivehicle coordination algorithms designed for operation in a spatially or temporally varying flowfield. Each vehicle is represented using a Newtonian particle traveling in a plane at constant speed relative to the flow and subject to a steering control. Initially, we assume the flowfield is known and describe algorithms that stabilize a circular formation in a time-varying spatially nonuniform flow of moderate intensity. These algorithms are extended by relaxing the assumption that the flow is known: the vehicles dynamically estimate the flow and use that estimate in the control. We propose a distributed estimation and control algorithm comprising a consensus filter to share information gleaned from noisy position measurements, and an information filter to reconstruct a spatially varying flowfield. The theoretical results are illustrated with numerical simulations of circular formation control and validated in outdoor unmanned aerial vehicle (UAV) flight tests.

Peterson, Cameron Kai

248

Autonomous Control Capabilities for Space Reactor Power Systems  

NASA Astrophysics Data System (ADS)

The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission.

Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

2004-02-01

249

Image processing and sensor management for autonomous UAV surveillance  

NASA Astrophysics Data System (ADS)

This paper describes a framework for image processing and sensor management for an autonomous unmanned airborne surveillance system equipped with infrared and video sensors. Our working hypothesis is that integration of the detection-tracking-classification chain with spatial awareness makes possible intelligent autonomous data acquisition by means of active sensor control. A central part of the framework is a surveillance scene representation, suitable for target tracking, geolocation, and sensor data fusion involving multiple platforms. The representation, based on Simultaneous Localization and Mapping, SLAM, take into account uncertainties associated with sensor data, platform navigation, and prior knowledge. A client/server approach, for on-line adaptable surveillance missions, is introduced. The presented system is designed to simultaneously and autonomously perform the following tasks: provide wide area coverage from multiple viewpoints by means of a step-stare procedure, detect and track multiple stationary and moving ground targets, perform a detailed analysis of detected regions-of-interest, and generate precise target coordinates by means of multi-view geolocation techniques.

Ulvklo, Morgan H.; Nygards, Jonas; Karlholm, Jorgen M.; Skoglar, Per

2004-08-01

250

Flight Control System Development for the BURRO Autonomous UAV  

NASA Technical Reports Server (NTRS)

Developing autonomous flying vehicles has been a growing field in aeronautical research within the last decade and will continue into the next century. With concerns about safety, size, and cost of manned aircraft, several autonomous vehicle projects are currently being developed; uninhabited rotorcraft offer solutions to requirements for hover, vertical take-off and landing, as well as slung load transportation capabilities. The newness of the technology requires flight control engineers to question what design approaches, control law architectures, and performance criteria apply to control law development and handling quality evaluation. To help answer these questions, this paper documents the control law design process for Kaman Aerospace BURRO project. This paper will describe the approach taken to design control laws and develop math models which will be used to convert the manned K-MAX into the BURRO autonomous rotorcraft. With the ability of the K-MAX to lift its own weight (6000 lb) the load significantly affects the dynamics of the system; the paper addresses the additional design requirements for slung load autonomous flight. The approach taken in this design was to: 1) generate accurate math models of the K-MAX helicopter with and without slung loads, 2) select design specifications that would deliver good performance as well as satisfy mission criteria, and 3) develop and tune the control system architecture to meet the design specs and mission criteria. An accurate math model was desired for control system development. The Comprehensive Identification from Frequency Responses (CIFER(R)) software package was used to identify a linear math model for unloaded and loaded flight at hover, 50 kts, and 100 kts. The results of an eight degree-of-freedom CIFER(R)-identified linear model for the unloaded hover flight condition are presented herein, and the identification of the two-body slung-load configuration is in progress.

Colbourne, Jason D.; Frost, Chad R.; Tischler, Mark B.; Ciolani, Luigi; Sahai, Ranjana; Tomoshofski, Chris; LaMontagne, Troy; Rutkowski, Michael (Technical Monitor)

2000-01-01

251

Towards Robot Scientists for autonomous scientific discovery  

PubMed Central

We review the main components of autonomous scientific discovery, and how they lead to the concept of a Robot Scientist. This is a system which uses techniques from artificial intelligence to automate all aspects of the scientific discovery process: it generates hypotheses from a computer model of the domain, designs experiments to test these hypotheses, runs the physical experiments using robotic systems, analyses and interprets the resulting data, and repeats the cycle. We describe our two prototype Robot Scientists: Adam and Eve. Adam has recently proven the potential of such systems by identifying twelve genes responsible for catalysing specific reactions in the metabolic pathways of the yeast Saccharomyces cerevisiae. This work has been formally recorded in great detail using logic. We argue that the reporting of science needs to become fully formalised and that Robot Scientists can help achieve this. This will make scientific information more reproducible and reusable, and promote the integration of computers in scientific reasoning. We believe the greater automation of both the physical and intellectual aspects of scientific investigations to be essential to the future of science. Greater automation improves the accuracy and reliability of experiments, increases the pace of discovery and, in common with conventional laboratory automation, removes tedious and repetitive tasks from the human scientist. PMID:20119518

2010-01-01

252

Digital Autonomous Terminal Access Communication (DATAC) system  

NASA Technical Reports Server (NTRS)

In order to accommodate the increasing number of computerized subsystems aboard today's more fuel efficient aircraft, the Boeing Co. has developed the DATAC (Digital Autonomous Terminal Access Control) bus to minimize the need for point-to-point wiring to interconnect these various systems, thereby reducing total aircraft weight and maintaining an economical flight configuration. The DATAC bus is essentially a local area network providing interconnections for any of the flight management and control systems aboard the aircraft. The task of developing a Bus Monitor Unit was broken down into four subtasks: (1) providing a hardware interface between the DATAC bus and the Z8000-based microcomputer system to be used as the bus monitor; (2) establishing a communication link between the Z8000 system and a CP/M-based computer system; (3) generation of data reduction and display software to output data to the console device; and (4) development of a DATAC Terminal Simulator to facilitate testing of the hardware and software which transfer data between the DATAC's bus and the operator's console in a near real time environment. These tasks are briefly discussed.

Novacki, Stanley M., III

1987-01-01

253

An autonomous structural health monitoring solution  

NASA Astrophysics Data System (ADS)

Combining advanced sensor technologies, with optimised data acquisition and diagnostic and prognostic capability, structural health monitoring (SHM) systems provide real-time assessment of the integrity of bridges, buildings, aircraft, wind turbines, oil pipelines and ships, leading to improved safety and reliability and reduced inspection and maintenance costs. The implementation of power harvesting, using energy scavenged from ambient sources such as thermal gradients and sources of vibration in conjunction with wireless transmission enables truly autonomous systems, reducing the need for batteries and associated maintenance in often inaccessible locations, alongside bulky and expensive wiring looms. The design and implementation of such a system however presents numerous challenges. A suitable energy source or multiple sources capable of meeting the power requirements of the system, over the entire monitoring period, in a location close to the sensor must be identified. Efficient power management techniques must be used to condition the power and deliver it, as required, to enable appropriate measurements to be taken. Energy storage may be necessary, to match a continuously changing supply and demand for a range of different monitoring states including sleep, record and transmit. An appropriate monitoring technique, capable of detecting, locating and characterising damage and delivering reliable information, whilst minimising power consumption, must be selected. Finally a wireless protocol capable of transmitting the levels of information generated at the rate needed in the required operating environment must be chosen. This paper considers solutions to some of these challenges, and in particular examines SHM in the context of the aircraft environment.

Featherston, Carol A.; Holford, Karen M.; Pullin, Rhys; Lees, Jonathan; Eaton, Mark; Pearson, Matthew

2013-05-01

254

Current challenges in autonomous vehicle development  

NASA Astrophysics Data System (ADS)

The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

2006-05-01

255

Autonomous navigation system and method  

SciTech Connect

A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

Bruemmer, David J. (Idaho Falls, ID) [Idaho Falls, ID; Few, Douglas A. (Idaho Falls, ID) [Idaho Falls, ID

2009-09-08

256

APDS: Autonomous Pathogen Detection System  

SciTech Connect

An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D

2002-02-14

257

Autonomous Medical Care for Exploration  

NASA Technical Reports Server (NTRS)

The goal of Autonomous Medical Care (AMC) is to ensure a healthy, well-performing crew which is a primary need for exploration. The end result of this effort will be the requirements and design for medical systems for the CEV, lunar operations, and Martian operations as well as a ground-based crew health optimization plan. Without such systems, we increase the risk of medical events occurring during a mission and we risk being unable to deal with contingencies of illness and injury, potentially threatening mission success. AMC has two major components: 1) pre-flight crew health optimization and 2) in-flight medical care. The goal of pre-flight crew health optimization is to reduce the risk of illness occurring during a mission by primary prevention and prophylactic measures. In-flight autonomous medical care is the capability to provide medical care during a mission with little or no real-time support from Earth. Crew medical officers or other crew members provide routine medical care as well as medical care to ill or injured crew members using resources available in their location. Ground support becomes telemedical consultation on-board systems/people collect relevant data for ground support to review. The AMC system provides capabilities to incorporate new procedures and training and advice as required. The on-board resources in an autonomous system should be as intelligent and integrated as is feasible, but autonomous does not mean that no human will be involved. The medical field is changing rapidly, and so a challenge is to determine which items to pursue now, which to leverage other efforts (e.g. military), and which to wait for commercial forces to mature. Given that what is used for the CEV or the Moon will likely be updated before going to Mars, a critical piece of the system design will be an architecture that provides for easy incorporation of new technologies into the system. Another challenge is to determine the level of care to provide for each mission type. The level of care refers to the amount and type of care one will render based on perceived need and ability. This is in contrast to the standard of care which is the benchmark by which that care is provided. There are certainly some devices and procedures that have unique microgravity or partial gravity requirements such that terrestrial methods will not work. For example, performing CPR on Mars cannot be done in exactly the same way as on Earth because the reduced gravity causes too large a reduction in the forces available for effective compression of the chest. Likewise, fluid behavior in microgravity may require a specialized water filtration and mixing system for the creation of intravenous fluids. This paper will outline the drivers for the design of the medical care systems, prioritization and planning techniques, key system components, and long term goals.

Johnson-Throop, Kathy A.; Polk, J. D.; Hines, John W.; Nall, Marsha M.

2005-01-01

258

Autonomous Spacecraft Navigation With Pulsars  

NASA Astrophysics Data System (ADS)

An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. The unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. We will describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

Becker, Werner

2014-08-01

259

Wireless autonomous device data transmission  

NASA Technical Reports Server (NTRS)

A method of communicating information from a wireless autonomous device (WAD) to a base station. The WAD has a data element having a predetermined profile having a total number of sequenced possible data element combinations. The method includes receiving at the WAD an RF profile transmitted by the base station that includes a triggering portion having a number of pulses, wherein the number is at least equal to the total number of possible data element combinations. The method further includes keeping a count of received pulses and wirelessly transmitting a piece of data, preferably one bit, to the base station when the count reaches a value equal to the stored data element's particular number in the sequence. Finally, the method includes receiving the piece of data at the base station and using the receipt thereof to determine which of the possible data element combinations the stored data element is.

Sammel, Jr., David W. (Inventor); Cain, James T. (Inventor); Mickle, Marlin H. (Inventor); Mi, Minhong (Inventor)

2013-01-01

260

Autonomous Infrastructure for Observatory Operations  

NASA Astrophysics Data System (ADS)

This is an era of rapid change from ancient human-mediated modes of astronomical practice to a vision of ever larger time domain surveys, ever bigger "big data", to increasing numbers of robotic telescopes and astronomical automation on every mountaintop. Over the past decades, facets of a new autonomous astronomical toolkit have been prototyped and deployed in support of numerous space missions. Remote and queue observing modes have gained significant market share on the ground. Archives and data-mining are becoming ubiquitous; astroinformatic techniques and virtual observatory standards and protocols are areas of active development. Astronomers and engineers, planetary and solar scientists, and researchers from communities as diverse as particle physics and exobiology are collaborating on a vast range of "multi-messenger" science. What then is missing?

Seaman, R.

261

Autonomous caregiver following robotic wheelchair  

NASA Astrophysics Data System (ADS)

In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers' load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process. In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the DM6437 (Davinci Code Processor) image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

Ratnam, E. Venkata; Sivaramalingam, Sethurajan; Vignesh, A. Sri; Vasanth, Elanthendral; Joans, S. Mary

2011-12-01

262

Toward an Evolvable Model of Development for Autonomous Agent Synthesis  

E-print Network

Toward an Evolvable Model of Development for Autonomous Agent Synthesis Frank Dellaert1 and Randall@alpha.ces.cwru.edu Abstract We are interested in the synthesis of autonomous agents using evolutionary techniques. Most work autonomous agents. The design of autonomous agents is a complex task that typically involves a great deal

Beer, Randall D.

263

AFV-II: Robotic Aerial Platform for Autonomous Robot Research  

Microsoft Academic Search

ABSTRACT An overview of an autonomous helicopter test - bed project at the Autonomous Robots Lab of the University of Southern California is presented The core of this test - bed is a new autonomous helicopter, the Autonomous Flying Vehicle - II (AFV - II) The AFV - II is an evolution of the origi - nal AFV vehicle described

M. Anthony Lewis

264

Scalable autonomous operations of unmanned assets  

NASA Astrophysics Data System (ADS)

Although there have been great theoretical advances in the region of Unmanned Aerial Vehicle (UAV) autonomy, applications of those theories into real world are still hesitated due to unexpected disturbances. Most of UAVs which are currently used are mainly, strictly speaking, Remotely Piloted Vehicles (RPA) since most works related with the flight control, sensor data analysis, and decision makings are done by human operators. To increase the degree of autonomy, many researches are focused on developing Unmanned Autonomous Aerial Vehicle (UAAV) which can takeoff, fly to the interested area by avoiding unexpected obstacles, perform various missions with decision makings, come back to the base station, and land on by itself without any human operators. To improve the performance of UAVs, the accuracies of position and orientation sensors are enhanced by integrating a Unmanned Ground Vehicle (UGV) or a solar compass to a UAV; Position sensor accuracy of a GPS sensor on a UAV is improved by referencing the position of a UGV which is calculated by using three GPS sensors and Weighted Centroid Localization (WCL) method; Orientation sensor accuracy is improved as well by using Three Pixel Theorem (TPT) and integrating a solar compass which composed of nine light sensors to a magnetic compass. Also, improved health management of a UAV is fulfilled by developing a wireless autonomous charging station which uses four pairs of transmitter and receiver magnetic loops with four robotic arms. For the software aspect, I also analyze the error propagation of the proposed mission planning hierarchy to achieve the safest size of the buffer zone. In addition, among seven future research areas regarding UAV, this paper mainly focuses on developing algorithms of path planning, trajectory generation, and cooperative tactics for the operations of multiple UAVs using GA based multiple Traveling Salesman Problem (mTSP) which is solved by dividing into m number of Traveling Salesman Problems (TSP) using two region division methods such as Uniform Region Division (URD) and K-means Voronoi Region Division (KVRD). The topic of the maximum fuel efficiency is also dealt to ensure the minimum amount fuel consumption to perform surveillance on a given region using multiple UAVs. Last but not least, I present an application example of cattle roundup with two UAVs and two animals using the feedback linearization controller.

Jung, Sunghun

265

A method of oscillatory trajectory generation using recurrent hybrid neural networks  

Microsoft Academic Search

In the biological systems there are numerous examples of autonomously generated periodic activities. Several different periodic patterns are generated simultaneously in one living body. This paper discusses a problem of generating periodic oscillatory trajectories in an artificial neural network. We propose a learning method of a neural network such that it possesses desired autonomous periodic trajectories. Especially a method to

Yasuaki Kuroe; K. Miura

2005-01-01

266

Issues and approaches in control for autonomous reactor operation  

SciTech Connect

A capability for autonomous and passively safe operation is one of the goals of the NERI funded development of Generation IV nuclear plants. An approach is described for evaluating the effect of increasing autonomy on safety margins and load behavior and for examining issues that arise with increasing autonomy and their potential impact on performance. The method provides a formal approach to the process of exploiting the innate self-regulating property of a reactor to make it less dependent on operator action and less vulnerable to automatic control system fault and/or operator error. Some preliminary results are given.

Vilim, R. B.; Khalil, H. S.; Wei, T. Y. C.

2000-07-20

267

Secure, Autonomous, Intelligent Controller for Integrating Distributed Sensor Webs  

NASA Technical Reports Server (NTRS)

This paper describes the infrastructure and protocols necessary to enable near-real-time commanding, access to space-based assets, and the secure interoperation between sensor webs owned and controlled by various entities. Select terrestrial and aeronautics-base sensor webs will be used to demonstrate time-critical interoperability between integrated, intelligent sensor webs both terrestrial and between terrestrial and space-based assets. For this work, a Secure, Autonomous, Intelligent Controller and knowledge generation unit is implemented using Virtual Mission Operation Center technology.

Ivancic, William D.

2007-01-01

268

Autonomous Demand Response for Primary Frequency Regulation  

SciTech Connect

The research documented within this report examines the use of autonomous demand response to provide primary frequency response in an interconnected power grid. The work builds on previous studies in several key areas: it uses a large realistic model (i.e., the interconnection of the western United States and Canada); it establishes a set of metrics that can be used to assess the effectiveness of autonomous demand response; and it independently adjusts various parameters associated with using autonomous demand response to assess effectiveness and to examine possible threats or vulnerabilities associated with the technology.

Donnelly, Matt; Trudnowski, Daniel J.; Mattix, S.; Dagle, Jeffery E.

2012-02-28

269

The NASA/Army Autonomous Rotorcraft Project  

NASA Technical Reports Server (NTRS)

An overview of the NASA Ames Research Center Autonomous Rotorcraft Project (ARP) is presented. The project brings together several technologies to address NASA and US Army autonomous vehicle needs, including a reactive planner for mission planning and execution, control system design incorporating a detailed understanding of the platform dynamics, and health monitoring and diagnostics. A candidate reconnaissance and surveillance mission is described. The autonomous agent architecture and its application to the candidate mission are presented. Details of the vehicle hardware and software development are provided.

Whalley, M.; Freed, M.; Takahashi, M.; Christian, D.; Patterson-Hine, A.; Schulein, G.; Harris, R.

2002-01-01

270

Development of Autonomous Aerobraking - Phase 2  

NASA Technical Reports Server (NTRS)

Phase 1 of the Development of Autonomous Aerobraking (AA) Assessment investigated the technical capability of transferring the processes of aerobraking maneuver (ABM) decision-making (currently performed on the ground by an extensive workforce and communicated to the spacecraft via the deep space network) to an efficient flight software algorithm onboard the spacecraft. This document describes Phase 2 of this study, which was a 12-month effort to improve and rigorously test the AA Development Software developed in Phase 1. Aerobraking maneuver; Autonomous Aerobraking; Autonomous Aerobraking Development Software; Deep Space Network; NASA Engineering and Safety Center

Murri, Daniel G.

2013-01-01

271

Autonomous underwater pipeline monitoring navigation system  

NASA Astrophysics Data System (ADS)

This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

2014-06-01

272

Autonomous observatories for the Antarctic plateau  

NASA Astrophysics Data System (ADS)

Antarctic astronomical site-testing has been conducted using autonomous self-powered observatories for more than a decade (the AASTO at South Pole, the AASTINO at Dome C, and PLATO at Dome A/Dome F). More recently autonomous (PLATO) observatories have been developed and deployed to support small-scale scientific instruments, such as HEAT, a 0.6 m aperture terahertz telescope at Ridge A, and AST3, a 0.5 m optical telescope array at Dome A. This paper reviews the evolution of autonomous Antarctic astronomical observatories, and discusses the requirements and implications for observatories that will be needed for future larger-scale facilities.

Lawrence, J. S.; Ashley, M. C. B.; Storey, J. W. V.

2013-01-01

273

Pure autonomic failure with cold induced sweating.  

PubMed

Pure autonomic failure (PAF) is a progressive autonomic neurodegenerative disorder. Cold induced sweating occurred in syndromes with mutations in CRLF1 and CLCF1 genes and in a case of cervical dissection. A patient with PAF developed sweating induced by cool ambient temperatures. He had severe orthostatic hypotension, abnormal cardiovagal reflexes, and paradoxical sweating in the upper trunk at a room temperature of 18C. Skin biopsy showed involvement of somatic epidermal unmyelinated nerve fibers. Quantitative sensory testing showed abnormal thresholds to all thermal modalities. Possible mechanisms include cold induced noradrenaline release in remaining autonomic innervation and a supersensitive sudomotor response. PMID:23511064

Idiaquez, Juan; Fadic, Ricardo; Verdugo, Renato; Idiaquez, Juan F; Iodice, Valeria; Low, David A; Mathias, C J; Lombardi, Raffaela; Lauria, Giuseppe

2013-06-01

274

Development of Autonomous Aerobraking (Phase 1)  

NASA Technical Reports Server (NTRS)

The NASA Engineering and Safety Center received a request from Mr. Daniel Murri (NASA Technical Fellow for Flight Mechanics) to develop an autonomous aerobraking capability. An initial evaluation for all phases of this assessment was approved to proceed at the NESC Review Board meeting. The purpose of phase 1 of this study was to provide an assessment of the feasibility of autonomous aerobraking. During this phase, atmospheric, aerodynamic, and thermal models for a representative spacecraft were developed for both the onboard algorithm known as Autonomous Aerobraking Development Software, and a ground-based "truth" simulation developed for testing purposes. The results of the phase 1 assessment are included in this report.

Murri, Daniel G.; Powell, Richard W.; Prince, Jill L.

2012-01-01

275

REM sleep behaviour disorder differentiates pure autonomic failure from multiple system atrophy with autonomic failure  

PubMed Central

Ten patients with primary autonomic failure, followed up in a prospective clinical and laboratory study, were finally diagnosed as pure autonomic failure or multiple system atrophy with autonomic failure. Polysomnographic studies were performed in all patients. Whereas all four patients with multiple system atrophy complained of sleep related episodes suggesting REM sleep behaviour disorder (RBD) confirmed by polysomnography, RBD remained absent in the remaining six patients with pure autonomic failure. The data indicate that RBD is an important clinical feature, often heralding multiple system atrophy, but which is absent throughout the course of pure autonomic failure; its recognition can thus be useful in the prognostic evaluation of early primary autonomic failure syndromes.?? PMID:9598693

Plazzi, G.; Cortelli, P.; Montagna, P.; De Monte, A.; Corsini, R.; Contin, M.; Provini, F.; Pierangeli, G.; Lugaresi, E.

1998-01-01

276

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control  

NASA Technical Reports Server (NTRS)

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

277

DAYTIME WATER DETECTION AND LOCALIZATION FOR UNMANNED GROUND VEHICLE AUTONOMOUS NAVIGATION  

Microsoft Academic Search

Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting and localizing water bodies during the daytime using a stereo pair of color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of terrain reflections in stereo data. A ground

A. L. Rankin; L. H. Matthies

278

DAYTIME WATER DETECTION BY FUSING MULTIPLE CUES FOR AUTONOMOUS OFF-ROAD NAVIGATION  

Microsoft Academic Search

Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting the presence of water during the daytime using color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of reflections in stereo range data. A rule base for fusing water

A. L. Rankin; L. H. Matthies; A. Huertas

279

Modlisation long terme et optimisation du stock d'nergie des installations solaires autonomes  

Microsoft Academic Search

A sizing approach of storage capacity for autonomous solar system has been developed by analyzing the difference between solar radiation input and energy demand on long-term periods. This approach has been implemented using series of daily global irradiation data recorded or generated on a horizontal surface in the meteorological stations of Abidjan (Ivory Coast), Algiers and Tamanrasset (Algeria) and Carpentras

A. Maafi; C. Delorme

1996-01-01

280

A Double-Blind Atropine Trial for Active Learning of Autonomic Function  

ERIC Educational Resources Information Center

Here, we describe a human physiology laboratory class measuring changes in autonomic function over time in response to atropine. Students use themselves as subjects, generating ownership and self-interest in the learning as well as directly experiencing the active link between physiology and pharmacology in people. The class is designed to

Fry, Jeffrey R.; Burr, Steven A.

2011-01-01

281

Low-power autonomous wave energy capture device for remote sensing and communications applications  

Microsoft Academic Search

Ocean remote sensing techniques often rely on autonomous buoys to measure and transmit real-time oceanographic and meteorological data. The operating lifetime, payload capacity, and sampling rate of such platforms are limited by onboard battery power. Here, we describe a rotary-drive, wave energy conversion device which utilizes the heaving motion of a surface buoy to generate power over a broad range

Deanelle Symonds; E. Davis; R. C. Ertekin

2010-01-01

282

SWAMI: An Autonomous Mobile Robot for Inspection of Nuclear Waste Storage Facilities  

E-print Network

radiation levels and generates more waste material since protective garments must be disposed of as nuclear, video cameras, and radiation detectors, are added to the TRC vehicle. SWAMI is dispatchedSWAMI: An Autonomous Mobile Robot for Inspection of Nuclear Waste Storage Facilities Ron Fulbright

Stephens, Larry M.

283

Characterization of non Trim Trajectories of an Autonomous Underactuated Airship in a Low Velocity Flight  

Microsoft Academic Search

Abstract :Th e objective ofthis paper is to generate adesired ,flight path to be ,followed by, an, autonomous airship. The space is supposed without obstacles. As there is six degrees of ,freedom and only three inputs for the LSC airship in a low velocity flight, three equality constraints appear due to the under-actuation. When the roll ? and pitch ?

Yasmina Bestaoui

2005-01-01

284

Visual control of an autonomous vehicle (BART)-the vehicle-following problem  

Microsoft Academic Search

The authors consider the problem of vehicle-following including automatic steering and speed control of an autonomous vehicle following the motion of a lead vehicle. A visual control system for vehicle-following is presented. The system consists of the following modules: image processing, recursive filtering, and a driving command generator. First, the range and heading signal of the lead vehicle are obtained

Nasser Kehtarnavaz; Norman C. Griswold; Juck S. Lee

1991-01-01

285

A contribution to vision-based autonomous helicopter flight in urban environments  

Microsoft Academic Search

A navigation strategy that exploits the optic flow and inertial information to con- tinuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cau- tious behavior, whereby the helicopter tends to stay in the middle of narrow corri-

Laurent Muratet; Stphane Doncieux; Yves Briere; Jean-arcady Meyer

2005-01-01

286

Cell-autonomous circadian clock of hepatocytes drives rhythms in transcription and polyamine synthesis  

E-print Network

Cell-autonomous circadian clock of hepatocytes drives rhythms in transcription and polyamine. Kay, October 5, 2011 (sent for review August 3, 2011) The circadian clock generates daily rhythms profiling in Met murine hepatocytes (MMH)-D3, we identified over 1,000 transcripts that ex- hibit circadian

287

Autonomous thruster failure recovery for underactuated spacecraft  

E-print Network

Thruster failures historically account for a large percentage of failures that have occurred on orbit. Therefore, autonomous thruster failure detection, isolation, and recovery (FDIR) is an essential component to any robust ...

Pong, Christopher Masaru

2010-01-01

288

Acupuncture Effect and Central Autonomic Regulation  

PubMed Central

Acupuncture is a therapeutic technique and part of traditional Chinese medicine (TCM). Acupuncture has clinical efficacy on various autonomic nerve-related disorders, such as cardiovascular diseases, epilepsy, anxiety and nervousness, circadian rhythm disorders, polycystic ovary syndrome (PCOS) and subfertility. An increasing number of studies have demonstrated that acupuncture can control autonomic nerve system (ANS) functions including blood pressure, pupil size, skin conductance, skin temperature, muscle sympathetic nerve activities, heart rate and/or pulse rate, and heart rate variability. Emerging evidence indicates that acupuncture treatment not only activates distinct brain regions in different kinds of diseases caused by imbalance between the sympathetic and parasympathetic activities, but also modulates adaptive neurotransmitter in related brain regions to alleviate autonomic response. This review focused on the central mechanism of acupuncture in modulating various autonomic responses, which might provide neurobiological foundations for acupuncture effects. PMID:23762116

Li, Qian-Qian; Shi, Guang-Xia; Xu, Qian; Wang, Jing; Liu, Cun-Zhi; Wang, Lin-Peng

2013-01-01

289

Autonomous aerobatic maneuvering of miniature helicopters  

E-print Network

In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature ...

Gavrilets, Vladislav, 1975-

2003-01-01

290

A flexible design framework for autonomous mowing  

E-print Network

This work outlines the creation of a flexible design framework for autonomous mowing to meet changing customer needs and functionality across a spectrum of applications from residential areas to sport complexes. The thesis ...

Kraft, Justin (Justin A.)

2011-01-01

291

Commercial Software Tools for Intelligent Autonomous Systems  

E-print Network

differ- ent autonomous platforms. In partnership with the industrial collaborators we aim to show how "for representing and us- ing an expert's procedural knowledge for accomplish- ing goals and tasksSys Ltd, UK SciSys Ltd advertises three

Quartly, Graham

292

Autonomous Flight in Unknown Indoor Environments  

E-print Network

This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are ...

Bachrach, Abraham Galton

293

XAUV : modular high maneuverability autonomous underwater vehicle  

E-print Network

The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power ...

Walker, Daniel G. (Daniel George)

2009-01-01

294

System Engineering of Autonomous Space Vehicles  

NASA Technical Reports Server (NTRS)

Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

2014-01-01

295

An introduction to autonomous control systems  

NASA Technical Reports Server (NTRS)

The functions, characteristics, and benefits of autonomous control are outlined. An autonomous control functional architecture for future space vehicles that incorporates the concepts and characteristics described is presented. The controller is hierarchical, with an execution level (the lowest level), coordination level (middle level), and management and organization level (highest level). The general characteristics of the overall architecture, including those of the three levels, are explained, and an example to illustrate their functions is given. Mathematical models for autonomous systems, including 'logical' discrete event system models, are discussed. An approach to the quantitative, systematic modeling, analysis, and design of autonomous controllers is also discussed. It is a hybrid approach since it uses conventional analysis techniques based on difference and differential equations and new techniques for the analysis of the systems described with a symbolic formalism such as finite automata. Some recent results from the areas of planning and expert systems, machine learning, artificial neural networks, and the area restructurable controls are briefly outlined.

Antsaklis, Panos J.; Passino, Kevin M.; Wang, S. J.

1991-01-01

296

Human inspiration for autonomous vehicle tactics  

E-print Network

Tactical control is needed in environments characterized by uncertainty and continuous, dynamic change. Given the likelihood of time constraints and high risks associated with poor tactical choices, current autonomous ...

Beaton, Jonathan Scott

2006-01-01

297

Advancing Autonomous Operations Technologies for NASA Missions  

NASA Technical Reports Server (NTRS)

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce operations cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing operations cost, ameliorating inefficiencies, and mitigating catastrophic anomalies.

Cruzen, Craig; Thompson, Jerry Todd

2013-01-01

298

Autonomic dysfunction in Guillain-Barr syndrome.  

PubMed Central

The following tests of autonomic function were performed on seven patients with the Guillain-Barr syndrome and compared with controls: (1) measurement of heart rate and blood pressure in the supine and erect positions, (2) measurement of baroreflex sensitivity, (3) Valsalva's manoeuvre, (4) sweat test. In two patients the heart rates were fixed and greater than 100/min and in three there was postural hypotension. The baroflex sensitivity of four patients was abnormal and heart rate response to Valsalva's manoeuvre was impaired in two of the three patients who were able to perform the manoeuvre. Areas of anhidrosis were found in all seven patients. These abnormalities probably reflect pathological alterations of the sympathetic and parasympathetic components of the autonomic nervous system of patients with Guillain-Barr syndrome. The severity of autonomic involvement is not related to the degree of sensory and motor disturbance which is consistent with the patchy distribution of lesions throughout the peripheral and autonomic nervous systems. PMID:7334398

Tuck, R R; McLeod, J G

1981-01-01

299

DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS  

EPA Science Inventory

This project included modifying an existing teleoperated robot to include autonomous navigation, large object avoidance, and air monitoring and demonstrating that prototype robot system in indoor and outdoor environments. An existing teleoperated "Surveyor" robot developed by ARD...

300

Design considerations for engineering Autonomous Underwater Vehicles  

E-print Network

Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible and ...

Shah, Vikrant P. (Vikrant Pankaj)

2007-01-01

301

Autonomous navigation ability: FIDO test results  

NASA Technical Reports Server (NTRS)

The FIDO platform of the JPL has been used to evaluate the ability of autonomous obstacle avoidance developed by JPL and CNES autonomous long range path planning. The test results show that only a very small amount of energy and computing time is used to implement autonomy and that the capabilities of the rover are fully used, allowing a much longer daily traverse than purely ground-planned strategies.

Baumgartner, E.; Maurette, M.

2000-01-01

302

Basic and Clinical Pharmacology of Autonomic Drugs  

PubMed Central

Autonomic drugs are used clinically to either imitate or inhibit the normal functions of the sympathetic and parasympathetic nervous systems. A large number of additional drug classes also interact with these systems to produce a stunning number of possible side effects. This article reviews the basic function of the autonomic nervous system and the various drug classes that act within these neural synapses. PMID:23241039

Becker, Daniel E.

2012-01-01

303

An autonomous flying robot for Mars exploration  

NASA Astrophysics Data System (ADS)

An autonomous flying robot with vertical take-off/landing capabilities in the Martian atmosphere, which uses the lifting force of a rotor, is described. The Martian rotorcraft is powered by solar cells placed on the upper side of the rotor blades. Preliminary calculations demonstrate the feasibility of an autonomous solar-powered helicopter for Mars exploration based on the existing level of technology. A mission profile for a solar-powered helicopter for Mars is presented.

Savu, G.; Oprisiu, C.; Trifu, O.

1993-10-01

304

Self-healing for autonomic pervasive computing  

Microsoft Academic Search

Self-healing is one of the main challenges to growing autonomic pervasive computing. Fault detection and recovery are the main steps of self-healing. Due to the characteristics of pervasive computing the self-healing becomes difficult. In this paper, the challenges of self-healing have been addressed and an approach to develop a self-healing service for autonomic pervasive computing is presented. The self-healing service

Shameem Ahmed; Sheikh Iqbal Ahamed; Moushumi Sharmin; Munirul M. Haque

2007-01-01

305

Role-based systems are autonomic  

Microsoft Academic Search

Autonomic Computing is a newly emerging computing paradigm in order to create computer systems capable of self-management and overcome the rapidly growing complexity of computing systems management. To possess self-* properties, there must be mechanisms to support self-awareness, i.e., an autonomic system should be able to perceive the abnormality of its components. After abnormality is checked, a process of self-healing

Haibin Zhu

2008-01-01

306

A roadmap for autonomous robotic assembly  

Microsoft Academic Search

Describes the components (software agents ) that are needed in an autonomous robotic assembly system. Such a system is called autonomous if it is able to cope with all uncertainties in the real-world execution (control and sensing) of an assembly task that was planned off-line, and with the (re)planning itself. For each component, the paper answers the following three questions:

H. Bruyninckx; T. Lefebvre; L. Mihaylova; E. Staffetti; J. De Schutter; J. Xiao

2001-01-01

307

Autonomous Robots as a Generic Teaching Tool  

Microsoft Academic Search

An undergraduate bioengineering laboratory course using small autonomous robots has been developed to demonstrate control theory, learning, and behavior. The lab consists of several modules that demonstrate concepts in classical control theory, fuzzy logic, neural network control, and genetic algorithms. The autonomous agents are easy-to-build, inexpensive kit robots. Each robot functions independently in a real-world environment. Students program and retrieve

Abraham Howell; Roy McGrann; Robert Woods

2006-01-01

308

Tele-robotic/autonomous control using controlshell  

SciTech Connect

A tele-robotic and autonomous controller architecture for waste handling and sorting has been developed which uses tele-robotics, autonomous grasping and image processing. As a starting point, prior work from LLNL and ORNL was restructured and ported to a special real-time development environment. Significant improvements in collision avoidance, force compliance, and shared control aspects were then developed. Several orders of magnitude improvement were made in some areas to meet the speed and robustness requirements of the application.

Wilhelmsen, K.C.; Hurd, R.L.; Couture, S.

1996-12-10

309

The Techsat-21 autonomous space science agent  

Microsoft Academic Search

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat-21 constellation of three spacecraft scheduled for launch in 2004. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we

Steve A. Chien; Rob Sherwood; Gregg Rabideau; Rebecca Castano; Ashley Davies; Michael C. Burl; Russell Knight; Timothy M. Stough; Joseph Roden; Paul Zetocha; Ross Wainwright; Pete Klupar; Jim Van Gaasbeck; Pat Cappelaere; Dean Oswald

2002-01-01

310

Advancing Autonomous Operations for Deep Space Vehicles  

NASA Technical Reports Server (NTRS)

Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

Haddock, Angie T.; Stetson, Howard K.

2014-01-01

311

Autonomous control systems - Architecture and fundamental issues  

NASA Technical Reports Server (NTRS)

A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

1988-01-01

312

Low Power CMOS Electronic Central Pattern Generator Design  

E-print Network

1 Low Power CMOS Electronic Central Pattern Generator Design for a Biomimetic Underwater Robot-based analog controller for an autonomous robot. The operation of a neuronal circuit formed of electronic programs to control the legs of autonomous robots. Index Terms-- subthreshold operation, Central Pattern

Ayers, Joseph

313

Vision guided landing of an an autonomous helicopter in hazardous terrain  

NASA Technical Reports Server (NTRS)

Future robotic space missions will employ a precision soft-landing capability that will enable exploration of previously inaccessible sites that have strong scientific significance. To enable this capability, a fully autonomous onboard system that identifies and avoids hazardous features such as steep slopes and large rocks is required. Such a system will also provide greater functionality in unstructured terrain to unmanned aerial vehicles. This paper describes an algorithm for landing hazard avoidance based on images from a single moving camera. The core of the algorithm is an efficient application of structure from motion to generate a dense elevation map of the landing area. Hazards are then detected in this map and a safe landing site is selected. The algorithm has been implemented on an autonomous helicopter testbed and demonstrated four times resulting in the first autonomous landing of an unmanned helicopter in unknown and hazardous terrain.

Johnson, Andrew E.; Montgomery, Jim

2005-01-01

314

resources in Inner Mongolian Autonomous  

E-print Network

Background: This paper was based on ethnobotanical investigations conducted from 2004-2006 in Inner Mongolian Autonomous Region of northern China. Today, due to their nutritious and relatively pollution-free characteristics, wild vegetables are playing an increasingly important role in peoples health and well-being. This paper aims to provide scientific clues for the selection of special and high quality wild vegetables species. Methods: An ethnobotanical study, consisting of a literature survey, open-ended and semi-structured interviews, and collection and identification of voucher specimens was carried out to gather information on wild vegetables in Inner Mongolia. Next, an integrated assessment of 90 species of wild vegetables was performed using the linearity weighted integrative mathematical analysis method. Results: According to an integrated assessment of 90 species of wild vegetables in Inner Mongolia, there are 5 species with the highest integrated value, 40 species of high-integrated value, 43 species of general integrated value, and 2 species of low value. The results indicate that the vast majority of wild vegetables have high value in Inner Mongolia. Conclusions: Inner Mongolia is rich in wild vegetable resources. A comprehensive assessment indicates that the vast majority of wild vegetables are of high value. However, these wild vegetables are seldom collected or cultivated by local people. Most of the collected species require further research and investigation into their nutrient content, toxicity and ethnobotany to illuminate their potential as new cultivars or products.

Wujisguleng Wujisguleng; Khasbagen Khasbagen

315

Is acting on delusions autonomous?  

PubMed Central

In this paper the question of autonomy in delusional disorders is investigated using a phenomenological approach. I refer to the distinction between freedom of intentional action, and freedom of the will, and develop phenomenological descriptions of lived autonomy, taking into account the distinction between a pre-reflective and a reflective type. Drawing on a case report, I deliver finely-grained phenomenological descriptions of lived autonomy and experienced self-determination when acting on delusions. This analysis seeks to demonstrate that a person with delusions can be described as responsible for her behaviour on a framed level (level of freedom of intentional action), even though she is not autonomous on a higher (framing) level (level of freedom of the will), if, and only if, the goods of agency for herself and others are respected. In these cases the person with delusions is very nearly comparable to people in love, who are also not free to choose their convictions, and who could also be rightly held responsible for the behaviour flowing from their convictions. PMID:24125114

2013-01-01

316

Autonomic dysregulation in headache patients.  

PubMed

To analyze autonomic nervous system activity in headache subjects, measurements of heart rate variability (HRV), skin temperature, skin conductance, and respiration were compared to a matched control group. HRV data were recorded in time and frequency domains. Subjects also completed self-report questionnaires assessing psychological distress, fatigue, and sleep dysfunction. Twenty-one headache and nineteen control subjects participated. In the time domain, the number of consecutive R-to-R intervals that varied by more than 50 ms and the standard deviation of the normalized R-to-R intervals, both indices of parasympathetic nervous system activity, were significantly lower in the headache group than the control group. Groups did not differ statistically on HRV measures in the frequency domain. Self-report measures showed significantly increased somatization, hostility, anxiety, symptom distress, fatigue, and sleep problems in the headache group. The results suggest headache subjects have increased sympathetic nervous system activity and decreased parasympathetic activity compared to non-headache control subjects. Headaches subjects also showed greater emotional distress, fatigue, and sleep problems. The results indicate an association between headaches and cardiovascular functioning suggestive of sympathetic nervous system activation in this sample of mixed migraine and tension-type headache sufferers. PMID:23912525

Gass, Jason J; Glaros, Alan G

2013-12-01

317

Software for Autonomous Spacecraft Maneuvers  

NASA Technical Reports Server (NTRS)

The AutoCon computer programs facilitate and accelerate the planning and execution of orbital control maneuvers of spacecraft while analyzing and resolving mission constraints. AutoCon-F is executed aboard spacecraft, enabling the spacecraft to plan and execute maneuvers autonomously; AutoCon-G is designed for use on the ground. The AutoCon programs utilize advanced techniques of artificial intelligence, including those of fuzzy logic and natural-language scripting, to resolve multiple conflicting constraints and automatically plan maneuvers. These programs can be used to satisfy requirements for missions that involve orbits around the Earth, the Moon, or any planet, and are especially useful for missions in which there are requirements for frequent maneuvers and for resolution of complex conflicting constraints. During operations, the software targets new trajectories, places and sizes maneuvers, and controls spacecraft burns. AutoCon-G provides a userfriendly graphical interface, and can be used effectively by an analyst with minimal training. AutoCon-F reduces latency and supports multiple-spacecraft and formation-flying missions. The AutoCon architecture supports distributive processing, which can be critical for formation- control missions. AutoCon is completely object-oriented and can easily be enhanced by adding new objects and events. AutoCon-F was flight demonstrated onboard GSFC's EO-1 spacecraft flying in formation with Landsat-7.

Bristow, John; Folta, Dave; Hawkins, Al; Dell, Greg

2004-01-01

318

Controlling autonomous underwater floating platforms using bacterial fermentation.  

PubMed

Biogenic gas has a wide range of energy applications from being used as a source for crude bio-oil components to direct ignition for heating. The current study describes the use of biogenic gases from Clostridium acetobutylicum for a new application-renewable ballast regeneration for autonomous underwater devices. Uninterrupted (continuous) and blocked flow (pressurization) experiments were performed to determine the overall biogas composition and total volume generated from a semirigid gelatinous matrix. For stopped flow experiments, C. acetobutylicum generated a maximum pressure of 55psi over 48h composed of 60% hydrogen gas when inoculated in a 5% agar (w/v) support with 5% glucose (w/v) in the matrix. Typical pressures over 24h at 318K ranged from 10 to 33psi. These blocked flow experiments show for the first time the use of microbial gas production as a way to repressurize gas cylinders. Continuous flow experiments successfully demonstrated how to deliver biogas to an open ballast control configuration for deployable underwater platforms. This study is a starting point for engineering and microbiology investigations of biogas which will advance the integration of biology within autonomous systems. PMID:22851013

Biffinger, Justin C; Fitzgerald, Lisa A; Howard, Erinn C; Petersen, Emily R; Fulmer, Preston A; Wu, Peter K; Ringeisen, Bradley R

2013-01-01

319

Autonomic dysfunction in muscular dystrophy: a theoretical framework for muscle reflex involvement  

PubMed Central

Muscular dystrophies are a heterogeneous group of genetically inherited disorders whose most prominent clinical feature is progressive degeneration of skeletal muscle. In several forms of the disease, the function of cardiac muscle is likewise affected. The primary defect in this group of diseases is caused by mutations in myocyte proteins important to cellular structure and/or performance. That being stated, a growing body of evidence suggests that the development of autonomic dysfunction may secondarily contribute to the generation of skeletal and cardio-myopathy in muscular dystrophy. Indeed, abnormalities in the regulation of both sympathetic and parasympathetic nerve activity have been reported in a number of muscular dystrophy variants. However, the mechanisms mediating this autonomic dysfunction remain relatively unknown. An autonomic reflex originating in skeletal muscle, the exercise pressor reflex, is known to contribute significantly to the control of sympathetic and parasympathetic activity when stimulated. Given the skeletal myopathy that develops with muscular dystrophy, it is logical to suggest that the function of this reflex might also be abnormal with the pathogenesis of disease. As such, it may contribute to or exacerbate the autonomic dysfunction that manifests. This possibility along with a basic description of exercise pressor reflex function in health and disease are reviewed. A better understanding of the mechanisms that possibly underlie autonomic dysfunction in muscular dystrophy may not only facilitate further research but could also lead to the identification of new therapeutic targets for the treatment of muscular dystrophy. PMID:24600397

Smith, Scott A.; Downey, Ryan M.; Williamson, Jon W.; Mizuno, Masaki

2014-01-01

320

System identification of closed-loop cardiovascular control mechanisms: diabetic autonomic neuropathy  

NASA Technical Reports Server (NTRS)

We applied cardiovascular system identification (CSI) to characterize closed-loop cardiovascular regulation in patients with diabetic autonomic neuropathy (DAN). The CSI method quantitatively analyzes beat-to-beat fluctuations in noninvasively measured heart rate, arterial blood pressure (ABP), and instantaneous lung volume (ILV) to characterize four physiological coupling mechanisms, two of which are autonomically mediated (the heart rate baroreflex and the coupling of respiration, measured in terms of ILV, to heart rate) and two of which are mechanically mediated (the coupling of ventricular contraction to the generation of the ABP wavelet and the coupling of respiration to ABP). We studied 37 control and 60 diabetic subjects who were classified as having minimal, moderate, or severe DAN on the basis of standard autonomic tests. The autonomically mediated couplings progressively decreased with increasing severity of DAN, whereas the mechanically mediated couplings were essentially unchanged. CSI identified differences between the minimal DAN and control groups, which were indistinguishable based on the standard autonomic tests. CSI may provide a powerful tool for assessing DAN.

Mukkamala, R.; Mathias, J. M.; Mullen, T. J.; Cohen, R. J.; Freeman, R.

1999-01-01

321

An effective trace-guided wavefront navigation and map-building approach for autonomous mobile robots  

NASA Astrophysics Data System (ADS)

This paper aims to address a trace-guided real-time navigation and map building approach of an autonomous mobile robot. Wave-front based global path planner is developed to generate a global trajectory for an autonomous mobile robot. Modified Vector Field Histogram (M-VFH) is employed based on the LIDAR sensor information to guide the robot locally to be autonomously traversed with obstacle avoidance by following traces provided by the global path planner. A local map composed of square grids is created through the local navigator while the robot traverses with limited LIDAR sensory information. From the measured sensory information, a map of the robot's immediate limited surroundings is dynamically built for the robot navigation. The real-time wave-front based navigation and map building methodology has been successfully demonstrated in a Player/Stage simulation environment. With the wave-front-based global path planner and M-VFH local navigator, a safe, short, and reasonable trajectory is successfully planned in a majority of situations without any templates, without explicitly optimizing any global cost functions, and without any learning procedures. Its effectiveness, feasibility, efficiency and simplicity of the proposed real-time navigation and map building of an autonomous mobile robot have been successfully validated by simulation and comparison studies. Comparison studies of the proposed approach with the other path planning approaches demonstrate that the proposed method is capable of planning more reasonable and shorter collision-free trajectories autonomously.

Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Jan, Gene Eu

2013-12-01

322

Agency Autonomization in Korea: Some Issues in Cross-polity Transfer of Agency Autonomization  

Microsoft Academic Search

This paper describes some of the issues surrounding South Korea's introduction of autonomous executive agencies as one component of its new public management (NPM) reform. Particular emphasis is given to some problems and critiques surrounding implementation. The research defines the concept of autonomous public agencies, explains why South Korea's government embraced the concept, and analyzes some critiques of its deployment.

Dong-Young Rhee; Hindy Lauer Schachter

2010-01-01

323

Autonomous Intersection Management for Semi-Autonomous Vehicles Tsz-Chiu Au  

E-print Network

of this trend and allows autonomous intersections to handle a traffic mixture with different types of vehicles directions simultaneously. Our experiments show that this protocol can greatly decrease traffic delay when most vehicles are semi-autonomous. Our incremental deployment study reveals that traffic delay keeps

Stone, Peter

324

A Mission Controller for High Level Control of Autonomous and SemiAutonomous Underwater Vehicles  

Microsoft Academic Search

This paper reports the development of a new mission controller to provide high-level control for autonomous and semi-autonomous vehicle operation. The mission controller is capable of: (a) the continuous monitor, detection and response to vehicle subsystem status, (b) the detection and response to the availability of a tethered (fiber optic) or untethered (acoustic) telemetry link, and (c) the ability to

Stephen C. Martin; L. L. Whitcomb; D. Yoerger; H. Singh

2006-01-01

325

Trajectory Generation and Path Planning for Autonomous Aerobots  

NASA Technical Reports Server (NTRS)

This paper presents global path planning algorithms for the Titan aerobot based on user defined waypoints in 2D and 3D space. The algorithms were implemented using information obtained through a planner user interface. The trajectory planning algorithms were designed to accurately represent the aerobot's characteristics, such as minimum turning radius. Additionally, trajectory planning techniques were implemented to allow for surveying of a planar area based solely on camera fields of view, airship altitude, and the location of the planar area's perimeter. The developed paths allow for planar navigation and three-dimensional path planning. These calculated trajectories are optimized to produce the shortest possible path while still remaining within realistic bounds of airship dynamics.

Sharma, Shivanjli; Kulczycki, Eric A.; Elfes, Alberto

2007-01-01

326

Low altitude threat evasive trajectory generation for autonomous aerial vehicles  

E-print Network

In recent years, high altitude unmanned aerial vehicles have been used to great success in combat operations, providing both reconnaissance as well as weapon launch platforms for time critical targets. Interest is now ...

Pettit, Ryan L. (Ryan Louis), 1978-

2004-01-01

327

Autonomous Rovers for Human Exploration of Mars  

NASA Technical Reports Server (NTRS)

Autonomous rovers are a critical element for the success of human exploration of Mars. The robotic tasks required for human presence on Mars are beyond the ability of current rovers; these tasks include emplacement and maintenance of a habitat, fuel production facility, and power generator, landing-site scouting, and mining. These tasks are required before and also during human presence; the ability of rovers to offload work from the human explorers will enable the humans to accomplish their mission. The capacity for these tasks will be realized by significant advancement toward full rover autonomy and, in particular, by overcoming current rover mission limitations in the areas of robust operation, resource utilization, and failure recovery. The Pathfinder mission demonstrated the potential for robotic Mars exploration, but at the same time indicated clearly the need for more rover autonomy. The highly interactive, ground-intensive control with significant downtime limited the effectiveness of the Sojourner rover. Advances in rover offer increased rover productivity without risk to rover safety. We are developing an integrated on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. This work draws from our experience with the architecture for the Deep Space One autonomy experiment, with enhancements in the area of ensuring robust operation in the face of unpredictable, complex environments, such as what a rover encounters on Mars. Our ultimate goal is to provide a complete agent architecture for rover autonomy. The complete architecture will include long-range mission and path planning, self-diagnosis and fault recovery, and continual monitoring and adjustment of execution resources. The architecture will enable robust operation over long ranges of time and distance, performing complex tasks in a planned and opportunistic manner, and serving as an intelligent, capable tool for human explorers.

Bresina, John; Dorais, Gregory; Golden, Keith; Washington, Richard; Lau, Sonie (Technical Monitor)

1998-01-01

328

Autonomous planetary rover at Carnegie Mellon  

NASA Technical Reports Server (NTRS)

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Whittaker, William; Kanade, Takeo; Mitchell, Tom

1990-01-01

329

Onboard autonomous mineral detectors for Mars rovers  

NASA Astrophysics Data System (ADS)

Mars rovers and orbiters currently collect far more data than can be downlinked to Earth, which reduces mission science return; this problem will be exacerbated by future rovers of enhanced capabilities and lifetimes. We are developing onboard intelligence sufficient to extract geologically meaningful data from spectrometer measurements of soil and rock samples, and thus to guide the selection, measurement and return of these data from significant targets at Mars. Here we report on techniques to construct mineral detectors capable of running on current and future rover and orbital hardware. We focus on carbonate and sulfate minerals which are of particular geologic importance because they can signal the presence of water and possibly life. Sulfates have also been discovered at the Eagle and Endurance craters in Meridiani Planum by the Mars Exploration Rover (MER) Opportunity and at other regions on Mars by the OMEGA instrument aboard Mars Express. We have developed highly accurate artificial neural network (ANN) and Support Vector Machine (SVM) based detectors capable of identifying calcite (CaCO3) and jarosite (KFe3(SO4)2(OH)6) in the visible/NIR (350-2500 nm) spectra of both laboratory specimens and rocks in Mars analogue field environments. To train the detectors, we used a generative model to create 1000s of linear mixtures of library end-member spectra in geologically realistic percentages. We have also augmented the model to include nonlinear mixing based on Hapke's models of bidirectional reflectance spectroscopy. Both detectors perform well on the spectra of real rocks that contain intimate mixtures of minerals, rocks in natural field environments, calcite covered by Mars analogue dust, and AVIRIS hyperspectral cubes. We will discuss the comparison of ANN and SVM classifiers for this task, technical challenges (weathering rinds, atmospheric compositions, and computational complexity), and plans for integration of these detectors into both the Coupled Layer Architecture for Robotic Autonomy (CLARAty) system and the Onboard Autonomous Science Investigation System (OASIS) at JPL.

Gilmore, M. S.; Bornstein, B.; Castano, R.; Merrill, M.; Greenwood, J.

2005-12-01

330

Cardiovascular autonomic dysfunction: diagnosis and prognosis.  

PubMed

The symptoms of cardiovascular autonomic dysfunction may be subtle and occur late in the course of diabetes. They include abnormal exercise-induced cardiovascular performance, postural hypotension, and cardiac denervation syndrome. Autonomic nervous system testing involves an evaluation of the responses of complex reflex pathways. Some of the most commonly used and validated cardiovascular autonomic tests are RR-variation, the Valsalva manoeuvre, and postural testing. Sinus arrhythmia during breathing is termed RR-variation. In diabetic patients with autonomic neuropathy the magnitude of the RR-variation is decreased. Abnormal exercise-induced cardiovascular performance has been observed in diabetic subjects with abnormal RR-variation due to autonomic neuropathy. The Valsalva manoeuvre consists of forced expiration against a standardized resistance for a specified period of time. The reflex bradycardia that follows the Valsalva period in normal subjects is lacking in diabetic patients with clinical evidence of autonomic neuropathy. Postural hypotension in diabetics may be due to neuropathy or to a variety of secondary causes. An algorithm is presented to facilitate assessment of diabetic patients with postural symptoms. Treatment of postural hypotension should be directed primarily to the correction of secondary causes, in the absence of which the symptoms can be controlled by mechanical measures, plasma volume expansion, and vasoconstriction. Cardiac denervation syndrome may result in denervation supersensitivity and afferent (pain) nerve dysfunction. The RR-variation is a sensitive indicator of impairment of cardiac autonomic innervation and is a simple method for identifying asymptomatic patients at risk for painless ischaemia. Formal cardiovascular stress testing may be prudent before initiating an exercise programme in such individuals. PMID:1825967

Broadstone, V L; Roy, T; Self, M; Pfeifer, M A

1991-01-01

331

Autonomic Involvement in Subacute and Chronic Immune-Mediated Neuropathies  

PubMed Central

Autonomic function can be impaired in many disorders in which sympathetic, parasympathetic, and enteric arms of the autonomic nervous system are affected. Signs and symptoms of autonomic involvement are related to impairment of cardiovascular, gastrointestinal, urogenital, thermoregulatory, sudomotor, and pupillomotor autonomic functions. Availability of noninvasive, sensitive, and reproducible tests can help to recognize these disorders and to better understand specific mechanisms of some, potentially treatable, immune-mediated autonomic neuropathies. This paper describes autonomic involvement in immune-mediated neuropathies with a subacute or chronic course. PMID:23853716

Mazzeo, Anna; Stancanelli, Claudia; Vita, Giuseppe

2013-01-01

332

Compact Autonomous Hemispheric Vision System  

NASA Technical Reports Server (NTRS)

Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

Pingree, Paula J.; Cunningham, Thomas J.; Werne, Thomas A.; Eastwood, Michael L.; Walch, Marc J.; Staehle, Robert L.

2012-01-01

333

Autonomous Multi-sensor Coordination: The Science Goal Monitor  

NASA Technical Reports Server (NTRS)

Next-generation science and exploration systems will employ new observation strategies that will use multiple sensors in a dynamic environment to provide high quality monitoring, self-consistent analyses and informed decision making. The Science Goal Monitor (SGM) is a prototype software tool being developed to explore the nature of automation necessary to enable dynamic observing of earth phenomenon. The tools being developed in SGM improve our ability to autonomously monitor multiple independent sensors and coordinate reactions to better observe the dynamic phenomena. The SGM system enables users to specify events of interest and how to react when an event is detected. The system monitors streams of data to identify occurrences of the key events previously specified by the scientist/user. When an event occurs, the system autonomously coordinates the execution of the users desired reactions between different sensors. The information can be used to rapidly respond to a variety of fast temporal events. Investigators will no longer have to rely on after-the-fact data analysis to determine what happened. Our paper describes a series of prototype demonstrations that we have developed using SGM and NASA's Earth Observing-1 (EO-1) satellite and Earth Observing Systems Aqua/Terra spacecrafts MODIS instrument. Our demonstrations show the promise of coordinating data from different sources, analyzing the data for a relevant event, autonomously updating and rapidly obtaining a follow-on relevant image. SGM is being used to investigate forest fires, floods and volcanic eruptions. We are now identifying new earth science scenarios that will have more complex SGM reasoning. By developing and testing a prototype in an operational environment, we are also establishing and gathering metrics to gauge the success of automating science campaigns.

Koratkar, Anuradha; Jung, John; Geiger, Jenny; Grosvenor, Sandy

2004-01-01

334

Shh-mediated degradation of Hhip allows cell autonomous and non-cell autonomous Shh signaling  

PubMed Central

The distribution of Sonic Hedgehog (Shh) is a highly regulated and critical process for development. Several negative feedback mechanisms are in place, including the Shh-induced upregulation of Hedgehog interacting protein (Hhip). Hhip sequesters Shh, leading to a non-cell autonomous inhibition of the pathway. Hhip over-expression has a severe effect on neural tube development, raising the question why normal sites of Hhip expression have a seemingly unimpaired response to Shh. Here we show that while Hhip is able to leave its sites of synthesis to inhibit Shh non-cell autonomously, activation of Smoothened (Smo) drastically increases Hhip internalization and degradation cell autonomously. Although Hhip is unable to cell autonomously inhibit the consequences of Smo activation, it can inhibit the Shh response non-cell autonomously. Our data provide a mechanism by which the Shh ligand can activate the response and negate cell autonomous effects of Hhip, while Hhip can still induce non-cell autonomous inhibition. PMID:25215859

Kwong, Lina; Bijlsma, Maarten F.; Roelink, Henk

2014-01-01

335

Draper Laboratory small autonomous aerial vehicle  

NASA Astrophysics Data System (ADS)

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

336

Functional organization of autonomic neural pathways  

PubMed Central

There is now abundant functional and anatomical evidence that autonomic motor pathways represent a highly organized output of the central nervous system. Simplistic notions of antagonistic all-or-none activation of sympathetic or parasympathetic pathways are clearly wrong. Sympathetic or parasympathetic pathways to specific target tissues generally can be activated tonically or phasically, depending on current physiological requirements. For example, at rest, many sympathetic pathways are tonically active, such as those limiting blood flow to the skin, inhibiting gastrointestinal tract motility and secretion, or allowing continence in the urinary bladder. Phasic parasympathetic activity can be seen in lacrimation, salivation or urination. Activity in autonomic motor pathways can be modulated by diverse sensory inputs, including the visual, auditory and vestibular systems, in addition to various functional populations of visceral afferents. Identifying the central pathways responsible for coordinated autonomic activity has made considerable progress, but much more needs to be done. PMID:23872517

Gibbins, Ian

2013-01-01

337

Autonomous Deep-Space Optical Navigation Project  

NASA Technical Reports Server (NTRS)

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

D'Souza, Christopher

2014-01-01

338

[Cardiovascular autonomic regulation following orthoptic heart transplantation].  

PubMed

Numerous recent observations have indicated autonomic reinnervation of transplanted human hearts. In order to assess autonomic regulation 5 patients were studied 1 to 5 years following cardiac transplantation. A series of tests were performed, including blood pressure and ECG recordings on rest, during 15/min patterned breathing, isometric handgrip exercise, and Valsalva manoeuvre. The time domain indices (SDRR, pNN50, rMSSD) and the frequency domain indices of heart rate variability were also studied. Among the five patients under study only one exhibited features compatible with both sympathetic and parasympathetic reinnervation. Traditional autonomic reflex tests and the analysis of time and frequency domain indices of HRV serve as simple tool in primary assessment of cardiac reinnervation. PMID:9846063

Trk, T; Petrohai, A; Merkely, B; Kardos, A; Gingl, Z; Rudas, L; Bodor, E

1998-11-22

339

Pupillary signs in diabetic autonomic neuropathy.  

PubMed Central

Pupillary function was investigated in 36 insulin-dependent diabetics and 36 controls matched for age and sex. About half of the diabetics had evidence of peripheral somatic or autonomic neuropathy, or both. The diabetic patients had abnormally small pupil diameters in the dark and less fluctuation in pupil size (hippus) during continuous illumination than the controls. They also had reduced reflex responses to light flashes of an intensity adjusted for individual retinal sensitivities. The pupillary findings were compared with results of five tests of cardiovascular function and five tests of peripheral sensory and motor nerve function. Almost all the patients with autonomic neuropathy had pupillary signs, which we therefore conclude are a common manifestation of diabetic autonomic neuropathy. PMID:709128

Smith, S E; Smith, S A; Brown, P M; Fox, C; Snksen, P H

1978-01-01

340

Automated Negotiations Among Autonomous Agents In Negotiation Hrishikesh J. Goradia  

E-print Network

Automated Negotiations Among Autonomous Agents In Negotiation Networks by Hrishikesh J. Goradia's computing environment. These systems typically comprise of many autonomous components that interact- interest of the components they represent (their owners), and make decisions that maximize the expected

Vidal, Jose M.

341

Robust distributed planning strategies for autonomous multi-agent teams  

E-print Network

The increased use of autonomous robotic agents, such as unmanned aerial vehicles (UAVs) and ground rovers, for complex missions has motivated the development of autonomous task allocation and planning methods that ensure ...

Ponda, Sameera S

2012-01-01

342

Service Oriented Approach for Autonomous Exception Management in Supply Chains  

E-print Network

Service Oriented Approach for Autonomous Exception Management in Supply Chains Armando Business Process to support Autonomous Exception Management in Supply chains. Keywords: Supply Chain and consequently this triggers a rescheduling task. Current Supply Chain Management Systems lack of systematic

Paris-Sud XI, Université de

343

Laser range and bearing finder for autonomous missions  

Microsoft Academic Search

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object\\

Stephen R. Granade

2005-01-01

344

Decentralized planning for autonomous agents cooperating in complex missions  

E-print Network

Planning for autonomous vehicles remains an important and challenging research topic. This thesis focuses on decentralized planning for autonomous agents performing complex missions. These types of missions often involve ...

Whitten, Andrew (Andrew Koo)

2010-01-01

345

Experiments in Competence Acquisition for Autonomous Mobile Robots  

E-print Network

This thesis addresses the problem of intelligent control of autonomous mobile robots, particularly under circumstances unforeseen by the designer.As the range of applications for autonomous robots widens and increasingly includes operation...

Nehmzow, Ulrich

346

Interception algorithm for autonomous vehicles with imperfect information  

E-print Network

Autonomous vehicles often operate in environments with imperfect information. This thesis addresses the case of a system of autonomous vehicles and sensors attempting to intercept a moving object of interest that arrives ...

Hickman, Randal E

2005-01-01

347

Systems/Circuits The Autonomic Brain: An Activation Likelihood Estimation  

E-print Network

Systems/Circuits The Autonomic Brain: An Activation Likelihood Estimation Meta-Analysis for Central, Massachusetts General Hospital, Charlestown, Massachusetts 02129 The autonomic nervous system (ANS) is of paramount importance for daily life. Its regulatory action on respiratory, cardiovascular, digestive

Napadow, Vitaly

348

Autonomous Environment-Monitoring Networks  

NASA Technical Reports Server (NTRS)

Autonomous environment-monitoring networks (AEMNs) are artificial neural networks that are specialized for recognizing familiarity and, conversely, novelty. Like a biological neural network, an AEMN receives a constant stream of inputs. For purposes of computational implementation, the inputs are vector representations of the information of interest. As long as the most recent input vector is similar to the previous input vectors, no action is taken. Action is taken only when a novel vector is encountered. Whether a given input vector is regarded as novel depends on the previous vectors; hence, the same input vector could be regarded as familiar or novel, depending on the context of previous input vectors. AEMNs have been proposed as means to enable exploratory robots on remote planets to recognize novel features that could merit closer scientific attention. AEMNs could also be useful for processing data from medical instrumentation for automated monitoring or diagnosis. The primary substructure of an AEMN is called a spindle. In its simplest form, a spindle consists of a central vector (C), a scalar (r), and algorithms for changing C and r. The vector C is constructed from all the vectors in a given continuous stream of inputs, such that it is minimally distant from those vectors. The scalar r is the distance between C and the most remote vector in the same set. The construction of a spindle involves four vital parameters: setup size, spindle-population size, and the radii of two novelty boundaries. The setup size is the number of vectors that are taken into account before computing C. The spindle-population size is the total number of input vectors used in constructing the spindle counting both those that arrive before and those that arrive after the computation of C. The novelty-boundary radii are distances from C that partition the neighborhood around C into three concentric regions (see Figure 1). During construction of the spindle, the changing spindle radius is denoted by h. It is the final value of h, reached before beginning construction on the next spindle, that is denoted by r. During construction of a spindle, if a new vector falls between C and the inner boundary, the vector is regarded as completely familiar and no action is taken. If the new vector falls into the region between the inner and outer boundaries, it is considered unusual enough to warrant the adjustment of C and r by use of the aforementioned algorithms, but not unusual enough to be considered novel. If a vector falls outside the outer boundary, it is considered novel, in which case one of several appropriate responses could be initiation of construction of a new spindle.

Hand, Charles

2004-01-01

349

[Management of autonomic dysfunction in Parkinson's disease].  

PubMed

Autonomic dysfunction is a common manifestation in patients with in Parkinson's disease, which can sometimes precede motor impairment. It can be expressed as orthostatic and postprandial hypotension, supine hypertension, hypersalivation, constipation, delayed gastric emptying, dyshidrosis, bladder and sexual dysfunction. It impairs the quality of life of patients and complicates the management of motor symptoms. Evidence available to treat complications is low. Our aim is to review the pathophysiology and clinical features of autonomic dysfunction in Parkinson's disease and provide a practical approach to handling the available evidence. PMID:25857860

Crespo-Burillo, J A; Alarcia-Alejos, R

2015-04-16

350

Design of an autonomous exterior security robot  

NASA Technical Reports Server (NTRS)

This paper discusses the requirements and preliminary design of robotic vehicle designed for performing autonomous exterior perimeter security patrols around warehouse areas, ammunition supply depots, and industrial parks for the U.S. Department of Defense. The preliminary design allows for the operation of up to eight vehicles in a six kilometer by six kilometer zone with autonomous navigation and obstacle avoidance. In addition to detection of crawling intruders at 100 meters, the system must perform real-time inventory checking and database comparisons using a microwave tags system.

Myers, Scott D.

1994-01-01

351

Forebrain organization for autonomic cardiovascular control.  

PubMed

This brief review discusses the current state of knowledge regarding the cortical circuitry associated with autonomic cardiovascular responses to volitional exercise in conscious humans. Studies to date have emphasized the autonomic nervous system adjustments that occur through top-down central command features as well as bottom-up signals arising from skeletal muscle. While in its infancy, the pattern of cortical circuitry associated with exercise seem to depend on the nature of the exercise but with common patterns arising in the insula cortex, dorsal anterior cingulate cortex, medial prefrontal cortex, and hippocampus. PMID:25458433

Shoemaker, J Kevin; Norton, Katelyn N; Baker, J; Luchyshyn, T

2015-03-01

352

Autonomous operations through onboard artificial intelligence  

NASA Technical Reports Server (NTRS)

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2002-01-01

353

Autonomous Landing and Hazard Avoidance Technology (ALHAT)  

NASA Technical Reports Server (NTRS)

This viewgraph presentation reviews the work towards technology that will result in an autonomous landing on the lunar surface, that will avoid the hazards of lunar landing. In October 2005, the Exploration Systems Mission Directorate at NASA Headquarters assigned the development of new technologies to support the return to the moon. One of these was Autonomous Precision Landing and Hazard Detection and Avoidance Technology now known as ALHAT ALHAT is a lunar descent and landing GNC technology development project led by Johnson Space Center (JSC) with team members from Langley Research Center (LaRC), Jet Propulsion Laboratory (JPL), Draper Laboratories (CSDL) and the Applied Physics Laboratory (APL)

Epp, Chirold

2007-01-01

354

NEURON: enabling autonomicity in wireless sensor networks.  

PubMed

Future Wireless Sensor Networks (WSNs) will be ubiquitous, large-scale networks interconnected with the existing IP infrastructure. Autonomic functionalities have to be designed in order to reduce the complexity of their operation and management, and support the dissemination of knowledge within a WSN. In this paper a novel protocol for energy efficient deployment, clustering and routing in WSNs is proposed that focuses on the incorporation of autonomic functionalities in the existing approaches. The design of the protocol facilitates the design of innovative applications and services that are based on overlay topologies created through cooperation among the sensor nodes. PMID:22399931

Zafeiropoulos, Anastasios; Gouvas, Panagiotis; Liakopoulos, Athanassios; Mentzas, Gregoris; Mitrou, Nikolas

2010-01-01

355

Knowledge-based Autonomous Test Engineer (KATE)  

NASA Technical Reports Server (NTRS)

Mathematical models of system components have long been used to allow simulators to predict system behavior to various stimuli. Recent efforts to monitor, diagnose, and control real-time systems using component models have experienced similar success. NASA Kennedy is continuing the development of a tool for implementing real-time knowledge-based diagnostic and control systems called KATE (Knowledge based Autonomous Test Engineer). KATE is a model-based reasoning shell designed to provide autonomous control, monitoring, fault detection, and diagnostics for complex engineering systems by applying its reasoning techniques to an exchangeable quantitative model describing the structure and function of the various system components and their systemic behavior.

Parrish, Carrie L.; Brown, Barbara L.

1991-01-01

356

Autonomous scheduling technology for Earth orbital missions  

NASA Technical Reports Server (NTRS)

The development of a dynamic autonomous system (DYASS) of resources for the mission support of near-Earth NASA spacecraft is discussed and the current NASA space data system is described from a functional perspective. The future (late 80's and early 90's) NASA space data system is discussed. The DYASS concept, the autonomous process control, and the NASA space data system are introduced. Scheduling and related disciplines are surveyed. DYASS as a scheduling problem is also discussed. Artificial intelligence and knowledge representation is considered as well as the NUDGE system and the I-Space system.

Srivastava, S.

1982-01-01

357

NEURON: Enabling Autonomicity in Wireless Sensor Networks  

PubMed Central

Future Wireless Sensor Networks (WSNs) will be ubiquitous, large-scale networks interconnected with the existing IP infrastructure. Autonomic functionalities have to be designed in order to reduce the complexity of their operation and management, and support the dissemination of knowledge within a WSN. In this paper a novel protocol for energy efficient deployment, clustering and routing in WSNs is proposed that focuses on the incorporation of autonomic functionalities in the existing approaches. The design of the protocol facilitates the design of innovative applications and services that are based on overlay topologies created through cooperation among the sensor nodes. PMID:22399931

Zafeiropoulos, Anastasios; Gouvas, Panagiotis; Liakopoulos, Athanassios; Mentzas, Gregoris; Mitrou, Nikolas

2010-01-01

358

Lessons Learned from Autonomous Sciencecraft Experiment  

NASA Technical Reports Server (NTRS)

An Autonomous Science Agent has been flying onboard the Earth Observing One Spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. The package includes AI-based software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is in routine use to fly the EO-l mission. In this paper we briefly review the agent architecture and discuss lessons learned from this multi-year flight effort pertinent to deployment of software agents to critical applications.

Chien, Steve A.; Sherwood, Rob; Tran, Daniel; Cichy, Benjamin; Rabideau, Gregg; Castano, Rebecca; Davies, Ashley; Mandl, Dan; Frye, Stuart; Trout, Bruce; D'Agostino, Jeff; Shulman, Seth; Boyer, Darrell; Hayden, Sandra; Sweet, Adam; Christa, Scott

2005-01-01

359

Why Computer-Based Systems Should be Autonomic  

NASA Technical Reports Server (NTRS)

The objective of this paper is to discuss why computer-based systems should be autonomic, where autonomicity implies self-managing, often conceptualized in terms of being self-configuring, self-healing, self-optimizing, self-protecting and self-aware. We look at motivations for autonomicity, examine how more and more systems are exhibiting autonomic behavior, and finally look at future directions.

Sterritt, Roy; Hinchey, Mike

2005-01-01

360

GROVER: An autonomous vehicle for ice sheet research  

NASA Astrophysics Data System (ADS)

The Goddard Remotely Operated Vehicle for Exploration and Research or Greenland Rover (GROVER) is a science enabling autonomous robot specifically designed to carry a low-power, large bandwidth radar for snow accumulation mapping over the Greenland Ice Sheet. This new and evolving technology enables reduced cost and increased safety for polar research. GROVER was field tested at Summit, Greenland in May 2013. The robot traveled over 30 km and was controlled both by line of sight wireless and completely autonomously with commands and telemetry via the Iridium Satellite Network, from Summit as well as remotely from Boise, Idaho. Here we describe GROVER's unique abilities and design. The software stack features a modular design that can be adapted for any application that requires autonomous behavior, reliable communications using different technologies and low level control of peripherals. The modules are built to communicate using the publisher-subscriber design pattern to maximize data-reuse and allow for graceful failures at the software level, along with the ability to be loaded or unloaded on-the-fly, enabling the software to adopt different behaviors based on power constraints or specific processing needs. These modules can also be loaded or unloaded remotely for servicing and telemetry can be configured to contain any kind of information being generated by the sensors or scientific instruments. The hardware design protects the electronic components and the control system can change functional parameters based on sensor input. Power failure modes built into the hardware prevent the vehicle from running out of energy permanently by monitoring voltage levels and triggering software reboots when the levels match pre-established conditions. This guarantees that the control software will be operational as soon as there is enough charge to sustain it, giving the vehicle increased longevity in case of a temporary power loss. GROVER demonstrates that autonomous rovers can be a revolutionary tool for data collection, and that both the technology and the software are available and ready to be implemented to create scientific data collection platforms.

Trisca, G. O.; Robertson, M. E.; Marshall, H.; Koenig, L.; Comberiate, M. A.

2013-12-01

361

Autonomous self-organizing resource manager for multiple networked platforms  

NASA Astrophysics Data System (ADS)

A fuzzy logic based expert system for resource management has been developed that automatically allocates electronic attack (EA) resources in real-time over many dissimilar autonomous naval platforms defending their group against attackers. The platforms can be very general, e.g., ships, planes, robots, land based facilities, etc. Potential foes the platforms deal with can also be general. This paper provides an overview of the resource manager including the four fuzzy decision trees that make up the resource manager; the fuzzy EA model; genetic algorithm based optimization; co-evolutionary data mining through gaming; and mathematical, computational and hardware based validation. Methods of automatically designing new multi-platform EA techniques are considered. The expert system runs on each defending platform rendering it an autonomous system requiring no human intervention. There is no commanding platform. Instead the platforms work cooperatively as a function of battlespace geometry; sensor data such as range, bearing, ID, uncertainty measures for sensor output; intelligence reports; etc. Computational experiments will show the defending networked platform's ability to self- organize. The platforms' ability to self-organize is illustrated through the output of the scenario generator, a software package that automates the underlying data mining problem and creates a computer movie of the platforms' interaction for evaluation.

Smith, James F., III

2002-08-01

362

Autonomous Satellite Operations Via Secure Virtual Mission Operations Center  

NASA Technical Reports Server (NTRS)

The science community is interested in improving their ability to respond to rapidly evolving, transient phenomena via autonomous rapid reconfiguration, which derives from the ability to assemble separate but collaborating sensors and data forecasting systems to meet a broad range of research and application needs. Current satellite systems typically require human intervention to respond to triggers from dissimilar sensor systems. Additionally, satellite ground services often need to be coordinated days or weeks in advance. Finally, the boundaries between the various sensor systems that make up such a Sensor Web are defined by such things as link delay and connectivity, data and error rate asymmetry, data reliability, quality of service provisions, and trust, complicating autonomous operations. Over the past ten years, researchers from the NASA Glenn Research Center (GRC), General Dynamics, Surrey Satellite Technology Limited (SSTL), Cisco, Universal Space Networks (USN), the U.S. Geological Survey (USGS), the Naval Research Laboratory, the DoD Operationally Responsive Space (ORS) Office, and others have worked collaboratively to develop a virtual mission operations capability. Called VMOC (Virtual Mission Operations Center), this new capability allows cross-system queuing of dissimilar mission unique systems through the use of a common security scheme and published application programming interfaces (APIs). Collaborative VMOC demonstrations over the last several years have supported the standardization of spacecraft to ground interfaces needed to reduce costs, maximize space effects to the user, and allow the generation of new tactics, techniques and procedures that lead to responsive space employment.

Miller, Eric; Paulsen, Phillip E.; Pasciuto, Michael

2011-01-01

363

Terrain modelling and motion planning for an autonomous exploration rover  

NASA Technical Reports Server (NTRS)

To assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions.

Richard, F.; Benoliel, S.; Faugeras, O.; Grandjean, P.; Hayard, M.; Simeon, T.

1994-01-01

364

Robust and Opportunistic Autonomous Science for a Potential Titan Aerobot  

NASA Technical Reports Server (NTRS)

We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a potential Titan aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncertain and changing environmental conditions, maneuverability constraints and potentially short-lived science opportunities. We are developing the AerOASIS system to develop and test technology to support autonomous science operations for a potential Titan Aerobot. The planning and execution component of AerOASIS is able to generate mission operations plans that achieve science and engineering objectives while respecting mission and resource constraints as well as adapting the plan to respond to new science opportunities. Our technology leverages prior work on the OASIS system for autonomous rover exploration. In this paper we describe how the OASIS planning component was adapted to address the unique challenges of a Titan Aerobot and we describe a field demonstration of the system with the JPL prototype aerobot.

Gaines, Daniel M.; Estlin, Tara; Schaffer, Steve; Castano, Rebecca; Elfes, Alberto

2010-01-01

365

Autonomous Pathogen Detection System - FY02 Annual Progress Report  

SciTech Connect

The objective of this project is to design, fabricate and field demonstrate a biological agent detection and identification capability, the Autonomous Pathogen Detector System (APDS). Integrating a flow cytometer and real-time polymerase chain reaction (PCR) detector with sample collection, sample preparation and fluidics will provide a compact, autonomously operating instrument capable of simultaneously detecting multiple pathogens and/or toxins. The APDS will operate in fixed locations, continuously monitoring air samples and automatically reporting the presence of specific biological agents. The APDS will utilize both multiplex immunoassays and nucleic acid assays to provide ''quasi-orthogonal'' multiple agent detection approaches to minimize false positives and increase the reliability of identification. Technical advances across several fronts must occur, however, to realize the full extent of the APDS. The end goal of a commercially available system for civilian biological weapon defense will be accomplished through three progressive generations of APDS instruments. The APDS is targeted for civilian applications in which the public is at high risk of exposure to covert releases of bioagent, such as major subway systems and other transportation terminals, large office complexes and convention centers. APDS is also designed to be part of a monitoring network of sensors integrated with command and control systems for wide-area monitoring of urban areas and major public gatherings. In this latter application there is potential that a fully developed APDS could add value to DoD monitoring architectures.

Colston, B; Brown, S; Burris, K; Elkin, C; Hindson, B; Langlois, R; Masquelier, D; McBride, M; Metz, T; Nasarabadi, S; Makarewicz, T; Milznovich, F; Venkateswaran, K S; Visuri, S

2002-11-11

366

Mapping planetary caves with an autonomous, heterogeneous robot team  

NASA Astrophysics Data System (ADS)

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

367

Control of Construction Vibrations with an Autonomous Crack Comparometer  

E-print Network

(s) Long-term and Vibration Displacement Neighbors/Owners/ Regulators Server Autonomously Produces WWWControl of Construction Vibrations with an Autonomous Crack Comparometer Charles H. Dowding-induced cracking has led to development of a new approach to vibration monitoring, an autonomous crack comparometer

368

Chronic cervical spinal cord injury and autonomic hyperreflexia in rats  

E-print Network

Chronic cervical spinal cord injury and autonomic hyperreflexia in rats JOHN W. OSBORN, ROBERT F cervical spinal cord injury and autonomic hyperreflexia in rats. Am. J. Physiol. 258(Regulatory Integra spinal cord injury are proneto acute, marked,hypertensive episodes,i.e., autonomic hyperreflexia

Schramm, Lawrence P.

369

Visualizing Internet Evolution on the Autonomous Systems Level  

E-print Network

Visualizing Internet Evolution on the Autonomous Systems Level Krists Boitmanis , Ulrik Brandes Internet topology on the autonomous-systems (AS) level. To the best of our knowledge, there are no dynamic and Related Work An autonomous system, or AS for short, is a group of computer networks typ- ically under

Brandes, Ulrik

370

Visualizing Internet Evolution on the Autonomous Systems Level  

E-print Network

Visualizing Internet Evolution on the Autonomous Systems Level Krists Boitmanis , Ulrik Brandes on the autonomous systems level over time. 1 Introduction Visualization of large evolving relational data sets Internet topology on the autonomous-systems (AS) level. To the best of our knowledge, there are no dynamic

Reiterer, Harald

371

Autonomous Control of Production Networks using a Pheromone Approach  

E-print Network

Autonomous Control of Production Networks using a Pheromone Approach D. Armbruster 1 , C. de Beer 2 network with an autonomously controlled flow of parts based on backward propagated information (pheromone concept). Key words: Production Networks, Autonomous Control, Pheromones, DES Models, Fluid Models 1

Ringhofer, Christian

372

Multifunctional Intelligent Autonomous Parking Controllers for Carlike Mobile Robots  

Microsoft Academic Search

An increasing number of carlike mobile robot (CLMR) studies have addressed the issues of autonomous parking and obstacle avoidance. An autonomous parking controller can provide convenience to a novice driver. However, if the controller is not designed adequately, it may endanger the car and the driver. Therefore, this paper presents a novel multifunctional intelligent autonomous parking controller that is capable

Tzuu-Hseng S. Li; Ying-Chieh Yeh; Jyun-Da Wu; Ming-Ying Hsiao; Chih-Yang Chen

2010-01-01

373

Technical Note Brain correlates of autonomic modulation: Combining heart rate  

E-print Network

Technical Note Brain correlates of autonomic modulation: Combining heart rate variability with f-gated fMRI timeseries with continuous- time heart rate variability (HRV) to estimate central autonomic pro reserved. Keywords: HF; HRV; Cardiovagal; Exercise; Handgrip Introduction The autonomic nervous system (ANS

Napadow, Vitaly

374

Autonomic Neurotransmission: 60 Years Since Sir Henry Dale  

Microsoft Academic Search

In the early twentieth century, Sir Henry Dale and others described brilliant studies of autonomic neurotransmission utilizing acetylcholine and nora- drenaline. However, within the past 60 years, new discoveries have changed our understanding of the organization of the autonomic nervous system, including the structure and function of the nonsynaptic autonomic neu- roeffector junction, the multiplicity of neurotransmitters, cotransmission, neuromodulation, dual

Geoffrey Burnstock

2009-01-01

375

TOWARDS MULTIMODAL OMNIDIRECTIONAL OBSTACLE DETECTION FOR AUTONOMOUS UNMANNED AERIAL VEHICLES  

E-print Network

TOWARDS MULTIMODAL OMNIDIRECTIONAL OBSTACLE DETECTION FOR AUTONOMOUS UNMANNED AERIAL VEHICLES Dirk, droeschel, schreiber, behnke}@ais.uni-bonn.de KEY WORDS: Autonomous UAVs, Multimodal Sensor Setup, 3D Laser propose a hardware setup and processing pipeline that allows a fully autonomous UAV to perceive obstacles

Behnke, Sven

376

An adaptive location strategy of underwater autonomous robot  

Microsoft Academic Search

Location system is a key technique of autonomous robot. The location system of a underwater autonomous robot is studied in this paper The robot can move in mud according to the prearranged trajectory. It is used to dig the hole in the mud underwater to place the wire rope for elevating the sunken wreck The location system of the autonomous

Qingmei Yang; Jianmin Sun

2008-01-01

377

AUTONOMOUS BEHAVIOR-BASED EXPLORATION OF OFFICE ENVIRONMENTS  

E-print Network

, Germany {d schmi, luksch, wettach, berns}@informatik.uni-kl.de Keywords: Mobile robots, autonomous, it has been used to develop completely autonomous exploration strategies for deriving topological to guide the robot autonomously through priori unknown environments only based on 2D distance information

Berns, Karsten

378

The autonomic nervous system and Dretske on phenomenal consciousness  

E-print Network

1 The autonomic nervous system and Dretske on phenomenal consciousness Dan Ryder1 and C.B. Martin2, the autonomic nervous system (ANS) ought to be conscious - but of course it's not. In this paper, we'll describe a counterexample - the autonomic nervous system - which shows at least that representationalists have a lot of work

Ryder, Dan

379

RESEARCH Open Access Autonomous exoskeleton reduces metabolic cost  

E-print Network

RESEARCH Open Access Autonomous exoskeleton reduces metabolic cost of human walking during load. In this study, the design and testing of an autonomous leg exoskeleton is presented. The aim of the device developed exoskeletons. Methods: We developed an autonomous battery powered exoskeleton that is capable

Herr, Hugh

380

S. Pellissier et al. Psychological and autonomic dysfunctions in IBD and IBS Psychological adjustment and autonomic disturbances in inflammatory  

E-print Network

S. Pellissier et al. Psychological and autonomic dysfunctions in IBD and IBS 1 Psychological: Psychological and autonomic dysfunctions in IBD and IBS * Corresponding author at E-mail address: : Clinique.psyneuen.2009.10.004 #12;S. Pellissier et al. Psychological and autonomic dysfunctions in IBD and IBS 2 Summary

Paris-Sud XI, Université de

381

Designing for MFOP: towards the autonomous aircraft  

Microsoft Academic Search

BAe Airbus has studied the application of the maintenance free operating period (MFOP) concept to Airbus aircraft in order to meet a growing demand for autonomous operation. This concept can apply to both civil and military aircraft and, most recently, has resulted in Airbus Military Company including the MFOP as part of its formal proposal for a new military transport

Paul F. Cini; Paul Griffith

1999-01-01

382

Securing Security Policies in Autonomic Computing Systems  

Microsoft Academic Search

Protecting valuable enterprise assets, such as data, computer systems, and networks is becoming increasingly complex especially in autonomic computing systems due to their reduced reliance on human intervention and verification, and increased reliance on the ability of the system to make business or strategic decisions. This naturally makes the system extremely vulnerable to security breaches and malicious attacks. Successfully mitigating

Ghassan Jabbour; Daniel A. Menasc

2008-01-01

383

Autonomous parking carrier for intelligent vehicle  

Microsoft Academic Search

In this paper, we consider a parking method for autonomous vehicle in an underground car park. The implemented method is decomposed into three tasks. Starting from configuration given by the vehicle owner, the first one is the motion control of the vehicle from his residence to the car park. After joining the underground car park thanks to the implementation of

E. Seignez; A. Lambert; T. Maurin

2005-01-01

384

Integrating the autonomous subsystems management process  

NASA Technical Reports Server (NTRS)

Ways in which the ranking of the Space Station Module Power Management and Distribution testbed may be achieved and an individual subsystem's internal priorities may be managed within the complete system are examined. The application of these results in the integration and performance leveling of the autonomously managed system is discussed.

Ashworth, Barry R.

1992-01-01

385

Autonomous target following by unmanned aerial vehicles  

Microsoft Academic Search

In this paper we present an algorithm for the autonomous navigation of an unmanned aerial vehicle (UAV) following a moving target. The UAV in consideration is a fixed wing aircraft that has physical constraints on airspeed and maneuverability. The target however is not considered to be constrained and can move in any general pattern. We show a single circular pattern

S Khan; K Shafiq; M Shah

2006-01-01

386

Autonomous mission management for unmanned aerial vehicles  

Microsoft Academic Search

This paper presents an on-board architecture designed to enable an unmanned aerial vehicle to carry out an observation mission autonomously. The management performed by the architecture relates to the objectives of the mission. The response time to an external event does not need to be strictly defined; the architecture behaves like a soft real-time system. The mission of the vehicle

Magali Barbier; Elodie Chanthery

2004-01-01

387

A Voice Command System for Autonomous Robots  

Microsoft Academic Search

How to promote students' interest is very important in undergraduate engineering education. One of the techniques for achieving this is to select appropriate projects and to integrate them with regular courses. In this paper, a voice recognition system for autonomous robots is proposed as a project to educate students about microprocessors efficiently. The proposed system consists of a microprocessor and

Soon-Hyuk Hong; Jae Wook Jeon

2001-01-01

388

FUZZY LOGIC CONTROL FOR AN AUTONOMOUS ROBOT  

E-print Network

to control the robot's motion along the predefined path. The robot was first modeled in Matlab SimulinkFUZZY LOGIC CONTROL FOR AN AUTONOMOUS ROBOT Vamsi Mohan Peri Dan Simon Department of Electrical and Computer Engineering Department of Electrical and Computer Engineering Cleveland State University Cleveland

Simon, Dan

389

A Multifunctional Coating for Autonomous Corrosion Control  

NASA Technical Reports Server (NTRS)

Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

2011-01-01

390

Tardigrada of Xinjiang Uygur Autonomous Region, China  

Microsoft Academic Search

Relatively little is known of the Tardigrada fauna of China, and there are no previous tardigrade records for Xinjiang Uygur Autonomous Region, China's largest administrative division. Moss specimens of the Missouri Botanical Garden Herbarium (St. Louis, U.S.A.) were used as a source of tardigrades from this region. Of the 270 moss specimens sampled, 78 yielded tardigrades. Species found were Bryodelphax

Clark W. BEASLEY; William R. MILLER

391

Robotany : autonomous vehicles that care for houseplants  

E-print Network

Robotany is a system of autonomous robots that act on behalf of houseplants that rest on top of their chassis. Their duty is to do what plants would if they had the gift of mobility - namely to seek out sunlight or water ...

Cinnamon, Sara Elizabeth, 1979-

2004-01-01

392

AUTONOMOUS BURIED PIPE DETECTION USING NEURAL NETWORKS  

Technology Transfer Automated Retrieval System (TEKTRAN)

An autonomous pipe detection algorithm using two independent Artificial Neural Networks (ANN) in two dimensional GPR data has been developed. And a pipe orientation estimation method has been discussed. The first neural network, called step-l ANN, was trained with a waveform reflected from a pipe in...

393

Perception through Scattering Media for Autonomous Vehicles  

Microsoft Academic Search

The perception of the environment is a fundamental task for autonomous robots. Unfortunately, the performances of the vision systems are drastically altered in presence of bad weather, especially fog. Indeed, due to the scattering of light by atmospheric particles, the quality of the light signal is reduced, compared to what it is in clean air. Detecting and quantifying these degradations,

Nicolas Hautire; Raphal Labayrade; Clment Boussard; Jean-Philippe Tarel; Didier Aubert

2008-01-01

394

Autonomous Soaring: The Montague Cross Country Challenge  

NASA Astrophysics Data System (ADS)

A novel method was developed for locating and allowing gliders to stay in thermals (convective updrafts). The method was applied to a 5 kg, glider, called ALOFT (autonomous locator of thermals), that was entered in the 2008 Montague Cross-Country Challenge held on 13-15 June 2008 in Montague, California. In this competition, RC (remote controlled) gliders in the 5 kg class competed on the basis of speed and distance. ALOFT was the first known autonomously soaring aircraft to enter a soaring competition and its entry provided a valuable comparison between the effectiveness of manual soaring and autonomous soaring. ALOFT placed third in the competition in overall points, outperforming manually-flown aircraft in its ability to center and utilize updrafts, especially at higher altitudes and in the presence of wind, to fly more optimal airspeeds, and to fly directly between turn points. The results confirm that autonomous soaring is a bona fide engineering sub-discipline, which is expected to be of interest to engineers who might find this has some utility in the aviation industry.

Edwards, Daniel J.

395

Autonomous biomorphic robots as platforms for sensors  

SciTech Connect

The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomous machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.

Tilden, M.; Hasslacher, B.; Mainieri, R.; Moses, J.

1996-10-01

396

Autonomous proximity awareness of Bluetooth devices  

Microsoft Academic Search

This paper focuses on designing autonomous device discovery algorithms for Bluetooth networks. We first extend the conventional asymmetric Bluetooth link model to three point-to-point symmetric link models. Their performances are compared analytically. To achieve proximity awareness among a group of Bluetooth devices, three control information exchanging methods are also proposed. Combining with the three link models, this gives 9 possible

Changlei Liu; Kwan L. Yeung

2005-01-01

397

Autonomic dysfunction in a Jack Russell terrier  

PubMed Central

A 4-year-old Jack Russell terrier was presented with an array of clinical signs suggestive of autonomic dysfunction. Many of the clinical signs were consistent with a diagnosis of dysautonomia; however, both chronicity and resolution of signs contradicted a diagnosis of this disease. PMID:21629424

Caines, Deanne; Pinard, Chantale L.; Kruth, Stephen; Orr, Jeremy; James, Fiona

2011-01-01

398

Archeology through Swarms of Autonomous Vehicles  

E-print Network

and document underwater artifacts and wreckage with archaeological and ethno-anthropological value. In particular, specially designed Autonomous Underwater Vehicles (AUVs) will be used to systematically explore the sea floor in a cooperative way, by collecting and analyzing in real time heterogeneous

M. Dellepiane; F. Niccolucci; S. Pena Serna; H. Rushmeier; L. Van Gool (editors

399

Electrically actuated thrusters for autonomous underwater vehicle  

Microsoft Academic Search

This paper is to present the design, development and prototyping of an electrically actuated thruster as a direct drive propulsion system based on a 3-phase permanent magnet brushless machine for an autonomous underwater vehicle. The non-linear design and analysis of the permanent magnet brushless motor are entirely performed in 2-d finite element method. The motor is then coupled directly to

D. Ishak; N. A. A. Manap; M. S. Ahmad; M. R. Arshad

2010-01-01

400

Formation control of weak autonomous robots  

Microsoft Academic Search

Formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes

Huan Zhang; Pubudu N. Pathirana

2011-01-01

401

Learning Qualitative Models by an Autonomous Robot  

Microsoft Academic Search

In this paper we present a qualitative exploration strat- egy for an autonomous robot that learns by experimen- tation. Particularly, we describe a domain in which a mobile robot observes a ball and learns qualitative pre- diction models from its actions and observation data. At all times it uses these models to predict the results of the actions that it

Ashok C Mohan

402

Stochastic Strategies for Autonomous Robotic Surveillance  

Microsoft Academic Search

In this paper, we consider a team of autonomous mobile robotic agents engaged in a surveillance mission. It is desirable not to have the agents move in a predictable fashion so no intruder or invader can plan their movements to avoid the surveillance agents. This paper investigates the use of stochastic rules to guide the motions of the agents throughout

Jeremy Grace; John Baillieul

2005-01-01

403

Cooperative search algorithm for distributed autonomous robots  

Microsoft Academic Search

This paper presents a cooperative random search algorithm for distributed independent autonomous robots. Our focus is to develop a distributed algorithm for a team of simple robots searching for targets in an unknown environment The search algorithm consists of five simple behavioral rules for each robot. It is implemented in both simulation and physical robots. The results we obtained demonstrated

Chee Kong Cheng; Gerard Leng

2004-01-01

404

Control algorithms for autonomous robot navigation  

SciTech Connect

This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

Jorgensen, C.C.

1985-09-20

405

Adaptive region control for autonomous underwater vehicles  

Microsoft Academic Search

In this paper, we propose a new control concept called adaptive region control, for autonomous underwater vehicle (AUV). In this new control concept, the desired objective can be specified as a region instead of a point. The proposed control law does not require any knowledge of the inertia matrix, Coriolis and centripetal force, hydrodynamic damping, and parameters of the gravity

C. C. Cheah; Y. C. Sun

2004-01-01

406

Onboard Locating System Of Autonomous Vehicle  

Microsoft Academic Search

This paper presents a new onboard locating system of an autonomous vehicle using signposts put along routes. The locating system estimates location and direction of the vehicle on the basis of the observa- tion of signposts and revolution counts of main wheels. The Kalman filter is employed to estimate the loca- tion and direction of the vehicle on real time

Satoshi MURATA; Takeshi HIROSE

1989-01-01

407

AUTONOMOUS REGULATION OF FREE CA2+ CONCENTRATIONS  

E-print Network

AUTONOMOUS REGULATION OF FREE CA2+ CONCENTRATIONS IN ISOLATED PLANT CELL NUCLEI: A MATHEMATICAL] or nuclei [5-7]. Nuclei are separated from the other cell compartments by a double membrane system and cytosolic calcium may be regulated independently. In nuclei of HepG2 cells, nuclear calcium signals may

Paris-Sud XI, Université de

408

Multisensor navigation system for an autonomous helicopter  

Microsoft Academic Search

Autonomous unmanned aerial vehicles (UAVs) require avionics systems that enable them to maintain a stable attitude and to follow a desired flight path. This paper considers the design and development of such an avionics system that provides navigational and terrain information to the flight computer of a rotorcraft UAV. The process includes the design and testing of flight hardware and

Joerg S. Dittrich; Eric N. Johnson

2002-01-01

409

Onmidirectional vision for an autonomous helicopter  

Microsoft Academic Search

We present the design and implementation of an omnidirectionalvision system used for sideways-looking sensingon an autonomous helicopter. To demonstrate the capabilitiesof the system, a visual servoing task was designedwhich required the helicopter to locate and move towardsthe centroid of a number of visual targets. Results are presentedshowing that the task was successfully completedby a Pioneer ground robot equipped with the

Stefan Hrabar; Gaurav S. Sukhatme

2003-01-01

410

Autonomous Helicopter Formation using Model Predictive Control  

E-print Network

Autonomous Helicopter Formation using Model Predictive Control Hoam Chung and S. Shankar Sastry for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams to the problem of helicopter formations comprised of heterogenous vehicles. The disturbance attenuation property

Sastry, S. Shankar

411

Adaptive Trajectory Control for Autonomous Helicopters  

Microsoft Academic Search

For autonomous helicopter ?ight, it is common to separate the ?ight control problem into an inner loop that controls attitude and an outer loop that controls the translational trajectory of the helicopter. In previous work, dynamic inversion and neural-network-based adaptation was used to increase performance of the attitude control system and the method of pseudocontrol hedging (PCH) was used to

Eric N. Johnson; Suresh K. Kannany

2005-01-01

412

Comparative anatomy of the autonomic nervous system.  

PubMed

This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves. PMID:20444653

Nilsson, Stefan

2011-11-16

413

Intelligent Planning for Autonomous Underwater Vehicles  

E-print Network

techniques that will enable Autonomous Un- derwater Vehicles (AUVs) to locate hydrothermal vents on the ocean oor. Hydrothermal vents are superheated outgassings of water found on mid-ocean ridges, hydrothermal vents can be detected from a great distance because they emit a chemical-containing plume

Yao, Xin

414

Intelligent Planning for Autonomous Underwater Vehicles  

E-print Network

techniques that will enable Autonomous Un- derwater Vehicles (AUVs) to locate hydrothermal vents on the ocean floor. Hydrothermal vents are superheated outgassings of water found on mid-ocean ridges oceans, hydrothermal vents can be detected from a great distance because they emit a chemical

Yao, Xin

415

An Autonomous Helicopter with Vision Based Navigation  

Microsoft Academic Search

In this paper, we present an autonomous helicopter with vision based navigation called South China University of Technology unmanned aerial vehicle (SCUAV). A GPS\\/INS system has been designed and implemented for getting stable navigation information. A Kalman filtering has been used in this system for data fusion. A real-time computer vision system is presented in this paper as the complement

Pei Luo; Hailong Pei

2007-01-01

416

Simple, Robust Autonomous Grasping in Unstructured Environments  

E-print Network

-fingered hand is driven by a single actuator, yet can grasp objects spanning a wide range of size, shape., Cambridge, MA, USA). A single motor drives all eight joints of the hand Fig. 2. Four-fingered SDM graspingSimple, Robust Autonomous Grasping in Unstructured Environments Aaron M. Dollar, Student Member

Dollar, Aaron M.

417

Experimental results of an autonomous underwater vehicle \\  

Microsoft Academic Search

Japan Marine Science and Technology Center (JAMSTEC) has advanced the development of an ocean going autonomous underwater vehicle (AUV). Technical problem on an AUV is to develop instruments for digital telemetry, highly accurate positioning in the sea and an efficient power source. The AUV in JAMSTEC has digital telemetry, accurate positioning system and high energy density battery. Sea test started

S. Tsukioka; T. Aoki; T. Murashima; H. Yoshida; H. Nakajoh; T. Hyakudome; S. Ishibashi; K. Hirokawa

2003-01-01

418

Inductive Power System for Autonomous Underwater Vehicles  

Microsoft Academic Search

Underwater inductive coupling is used to recharge a lithium-ion battery pack for an underwater mooring profiler operating on a cabled deep-ocean mooring sensor network. The mooring profiler is a motor driven autonomous underwater vehicle that is attached to a vertical mooring cable suspended between the seafloor at 900 m and subsurface float structure at a depth of 160 m (to

T. McGinnis; C. P. Henze; K. Conroy

2007-01-01

419

A fully autonomous microrobotic endoscopy system  

Microsoft Academic Search

In this paper, design of an autonomous microrobotic endoscopy system is presented. The proposed microrobotic endoscope is a vision-guided device, developed to facilitate navigation inside a human colon. The design of the entire system is divided into three areas viz. design of a microrobotic carrier, path planning and guidance, and an off-board control system. A microrobotic design based on pneumatic

Vijayan K. Asari; Sanjiv Kumar; Irwan M. Kassim

2000-01-01

420

A Prototype of Autonomous Intelligent Surveillance Cameras  

Microsoft Academic Search

This paper presents an architecture and an FPGAbased prototype of an autonomous intelligent video surveillance camera. The camera takes the advantage of high resolution of CMOS image sensors and enables instantly automatic pan, tilt and zoom adjustment based upon motion activity. It performs automated scene analysis and provides immediate response to suspicious events by optimizing camera capturing parameters. The video

Wanqing Li; Igor Kharitonenko; Serge Lichman; Chaminda Weerasinghe

2006-01-01

421

Multisensor autonomous tracking for Maritime Surveillance  

Microsoft Academic Search

The fusion of multiple monitoring systems is essential to build an accurate recognised traffic picture in support to maritime surveillance. In this paper, a novel approach to perform autonomous data correlation is described, focussing on the alignment of tracks originated by different sensors and technologies into a common spatial and time reference system, and introducing the quality characterisation of the

Michele Vespe; Massimo Sciotti; Giulia Battistello

2008-01-01

422

Control theory for autonomously guided missile platforms  

Microsoft Academic Search

This report summarizes an effort to develop analytical and computational techniques for performance evaluation of Autonomously Guided Platforms with Multiple Sensors (AGPMS). A classical analysis of seeker pointing and tracking servomechanism performance for missile guidance problems is developed as a baseline for comparison with theoretical studies of nonlinear stochastic control laws. Stochastic control theory is applied to the AGPMS problem.

J. S. Baras; G. L. Blankenship; H. G. Kwatny

1986-01-01

423

AUTONOMOUS NETWORKED TACTICAL SENTRIES* John B. Bowles  

E-print Network

, Richard W. Tobaben , Sanath Yekollu , and Hareesh Kolpuru Electrical and Computer Engineering Raytheon the array of sensors, coordination and control is distributed with the local processor analyzing the local. The Autonomous Networked Software is an enabling technology for ANTS. It consists of Java-like applets residing

Huhns, Michael N.

424

Longitudinal fuzzy control for autonomous overtaking  

Microsoft Academic Search

Cooperati ve maneuver among autonomous and con ventional vehicles can be considered one of the next steps for ob taining a safer and more comfortable driving. Some examples of these maneuvers are: Adaptive Cruise Control (ACC), intelligent intersection management or automatic overtaking maneuvering, among others. One of the most important aims of the Intelligent Transportation Systems (ITS) is to use

Joshue Perez; Vicente Milanes; Enrique Onieva; Jorge Godoy; Javier Alonso

2011-01-01

425

Real-time coordination of autonomous vehicles  

Microsoft Academic Search

Autonomous vehicles seem to be a promising approach to both reducing traffic congestion and improving road safety. However, for such vehicles to coexist safely, they need to coordinate their behaviour to ensure that they do not collide with each other. This coordination is typically based on (wireless) communication between vehicles and needs to satisfy stringent real-time constraints. However, realtime message

Mlanie Bouroche; Barbara Hughes; Vinny Cahill

2006-01-01

426

Autonomous Surface Sample Acquisition for Planetary and Lunar Exploration  

NASA Astrophysics Data System (ADS)

Surface science sample acquisition is a critical activity within any planetary and lunar exploration mission, and our research is focused upon the design, implementation, experimentation and demonstration of an onboard autonomous surface sample acquisition capability for a rover equipped with a robotic arm upon which are mounted appropriate science instruments. Images captured by a rover stereo camera system can be processed using shape from stereo methods and a digital elevation model (DEM) generated. We have developed a terrain feature identification algorithm that can determine autonomously from DEM data suitable regions for instrument placement and/or surface sample acquisition. Once identified, surface normal data can be generated autonomously which are then used to calculate an arm trajectory for instrument placement and sample acquisition. Once an instrument placement and sample acquisition trajectory has been calculated, a collision detection algorithm is required to ensure the safe operation of the arm during sample acquisition.We have developed a novel adaptive 'bounding spheres' approach to this problem. Once potential science targets have been identified, and these are within the reach of the arm and will not cause any undesired collision, then the 'cost' of executing the sample acquisition activity is required. Such information which includes power expenditure and duration can be used to select the 'best' target from a set of potential targets. We have developed a science sample acquisition resource requirements calculation that utilises differential inverse kinematics methods to yield a high fidelity result, thus improving upon simple 1st order approximations. To test our algorithms a new Planetary Analogue Terrain (PAT) Laboratory has been created that has a terrain region composed of Mars Soil Simulant-D from DLR Germany, and rocks that have been fully characterised in the laboratory. These have been donated by the UK Planetary Analogue Field Study network, and constitute the science targets for our autonomous sample acquisition work. Our PAT Lab. terrain has been designed to support our new rover chassis which is based upon the ExoMars rover Concept-E mechanics which were investigated during the ESA ExoMars Phase A study. The rover has 6 wheel drives, 6 wheels steering, and a 6 wheel walking capability. Mounted on the rover chassis is the UWA robotic arm and mast. We have designed and built a PanCam system complete with a computer controlled pan and tilt mechanism. The UWA PanCam is based upon the ExoMars PanCam (Phase A study) and hence supports two Wide Angle Cameras (WAC - 64 degree FOV), and a High Resolution Camera (HRC - 5 degree FOV). WAC separation is 500 mm. Software has been developed to capture images which form the data input into our on-board autonomous surface sample acquisition algorithms.

Barnes, D. P.

2007-08-01

427

Invited review: autonomic dysfunction in peripheral nerve disease.  

PubMed

The autonomic nervous system is affected in most peripheral neuropathies, but only in a small number of conditions, such as diabetes, amyloidosis, Guillain-Barr syndrome, porphyria, and familiar dysautonomia, is autonomic dysfunction of clinical importance. The pathological changes in the peripheral autonomic nervous system are similar to those in the peripheral somatic nerves. Autonomic disturbances are most likely to occur when there is acute demyelination or damage to small myelinated and unmyelinated fibers. Autonomic investigations should include tests of both sympathetic and parasympathetic function. Treatment consists of management of the underlying cause of peripheral neuropathy, physical and pharmacological measures. PMID:1310158

McLeod, J G

1992-01-01

428

Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?  

NASA Technical Reports Server (NTRS)

Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

Sterritt, Roy; Hinchey, Mike

2004-01-01

429

Autonomic consequences of spinal cord injury.  

PubMed

Spinal cord injury (SCI) results not only in motor and sensory deficits but also in autonomic dysfunctions. The disruption of connections between higher brain centers and the spinal cord, or the impaired autonomic nervous system itself, manifests a broad range of autonomic abnormalities. This includes compromised cardiovascular, respiratory, urinary, gastrointestinal, thermoregulatory, and sexual activities. These disabilities evoke potentially life-threatening symptoms that severely interfere with the daily living of those with SCI. In particular, high thoracic or cervical SCI often causes disordered hemodynamics due to deregulated sympathetic outflow. Episodic hypertension associated with autonomic dysreflexia develops as a result of massive sympathetic discharge often triggered by unpleasant visceral or sensory stimuli below the injury level. In the pelvic floor, bladder and urethral dysfunctions are classified according to upper motor neuron versus lower motor neuron injuries; this is dependent on the level of lesion. Most impairments of the lower urinary tract manifest in two interrelated complications: bladder storage and emptying. Inadequate or excessive detrusor and sphincter functions as well as detrusor-sphincter dyssynergia are examples of micturition abnormalities stemming from SCI. Gastrointestinal motility disorders in spinal cord injured-individuals are comprised of gastric dilation, delayed gastric emptying, and diminished propulsive transit along the entire gastrointestinal tract. As a critical consequence of SCI, neurogenic bowel dysfunction exhibits constipation and/or incontinence. Thus, it is essential to recognize neural mechanisms and pathophysiology underlying various complications of autonomic dysfunctions after SCI. This overview provides both vital information for better understanding these disorders and guides to pursue novel therapeutic approaches to alleviate secondary complications. PMID:25428850

Hou, Shaoping; Rabchevsky, Alexander G

2014-10-01

430

The Conductor of the Autonomic Orchestra  

PubMed Central

Bad bedfellows autonomic dysfunction, inflammation, and diabetes! Are they related? How? Evidence suggests the activation of inflammatory cytokines like IL-6 and TNF? in newly diagnosed type 2 diabetes and that the inflammatory change correlates with abnormalities in sympathovagal balance. Dysfunction of the autonomic system predicts cardiovascular risk and sudden death in patients with type 2 diabetes. It occurs in prediabetes, providing opportunities for early intervention. The importance of recognizing autonomic dysfunction as a predictor of morbidity and mortality with intensification of treatment suggests that all patients with type 2 diabetes at onset, and those with type 1 diabetes after 5?years should be screened for autonomic imbalance. These tests can be performed at the bedside with real time output of information within the scope of the practicing physician facilitates diagnosis and allows the application of sound strategies for management. The window of opportunity for aggressive control of all the traditional risk factors for cardiovascular events or sudden death with intensification of therapy is with short duration diabetes, the absence of cardiovascular disease, and a history of severe hypoglycemic events. To this list we can now add autonomic dysfunction and neuropathy, which have become the most powerful predictors of risk for mortality. It seems prudent that practitioners should be encouraged to become familiar with this information and apply risk stratification in clinical practice. After all, how difficult is it to ask patients do you have numb feet? and to determine their heart rate variability it could be lifesaving. Ultimately methods to reset the hypothalamus and the inflammatory cascade are needed if we are to impact the care of patients with this compendium of conditions. PMID:22737143

Vinik, Aaron I.

2012-01-01

431

Autonomic cardiovascular control in conscious mice.  

PubMed

Autonomic cardiovascular control was characterized in conscious, chronically catheterized mice by spectral analysis of arterial pressure (AP) and heart rate (HR) during autonomic blockade or baroreflex modulation of autonomic tone. Both spectra were similar to those obtained in humans, but at approximately 10x higher frequencies. The 1/f relation of the AP spectrum changed to a more shallow slope below 0.1-0.2 Hz. Coherence between AP and HR reached 0.5 or higher below 0.3-0.4 Hz and also above 2.5 Hz. Muscarinic blockade (atropine) or beta-adrenergic blockade (atenolol) did not significantly affect the AP spectrum. Atropine reduced HR variability at all frequencies, but this effect waned above 1 Hz. beta-Adrenergic blockade (atenolol) slightly enhanced the HR variability only above 1 Hz. alpha-Adrenergic blockade (prazosin) reduced AP variability between 0.05 and 3 Hz, most prominently at 0. 15-0.7 Hz. A shift of the autonomic nervous tone by a hypertensive stimulus (phenylephrine) enhanced, whereas a hypotensive stimulus (nitroprusside) depressed AP variability at 1-3 Hz; other frequency ranges of the AP spectrum were not affected except for a reduction below 0.4 Hz after nitroprusside. Variability of HR was enhanced after phenylephrine at all frequencies and reduced after nitroprusside. As with atropine, the reduction with nitroprusside waned above 1 Hz. In conclusion, in mice HR variability is dominated by parasympathetic tone at all frequencies, during both blockade and physiological modulation of autonomic tone. There is a limitation for further reduction but not for augmentation of HR variability from the resting state above 1 Hz. The impact of HR on AP variability in mice is confined to frequencies higher than 1 Hz. Limits between frequency ranges are proposed as 0.15 Hz between VLF (very low frequency range) and LF (low frequency range) and 1.5 Hz between LF and HF (high frequency range). PMID:11080088

Just, A; Faulhaber, J; Ehmke, H

2000-12-01

432

Application of a Chaotic Oscillator in an Autonomous Mobile Robot  

NASA Astrophysics Data System (ADS)

Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.

Tlelo-Cuautle, Esteban; Ramos-Lpez, Hugo C.; Snchez-Snchez, Mauro; Pano-Azucena, Ana D.; Snchez-Gaspariano, Luis A.; Nez-Prez, Jos C.; Camas-Anzueto, Jorge L.

2014-05-01

433

Dynamic map building for an autonomous mobile robot  

SciTech Connect

This article presents an algorithm for autonomous map building and maintenance for a mobile robot. The authors believe that mobile robot navigation can be treated as a problem of tracking geometric features that occur naturally in the environment. They represent each feature in the map by a location estimate (the feature state vector) and two distinct measures of uncertainty: a covariance matrix to represent uncertainty in feature location, and a credibility measure to represent their belief in the validity of the feature. During each position update cycle, predicted measurements are generated for each geometric feature in the map and compared with actual sensor observations. Successful matches cause a feature's credibility to be increased. Unpredicted observations are used to initialize new geometric features, while unobserved predictions result in a geometric feature's credibility being decreased. They also describe experimental results obtained with the algorithm that demonstrate successful map building using real sonar data.

Leonard, J.J.; Durrant-Whyte, H.F. (Univ. of Oxford, (United Kingdom)); Cox, I.J. (NEC Research Inst., Princeton, NJ (United States))

1992-08-01

434

Robust chaos in autonomous time-delay system  

E-print Network

We consider an autonomous system constructed as modification of the logistic differential equation with delay that generates successive trains of oscillations with phases evolving according to chaotic maps. The system contains two feedback loops characterized by two generally distinct retarding time parameters. In the case of their equality, chaotic dynamics is associated with the Smale-Williams attractor that corresponds to the double-expanding circle map for the phases of the carrier of the oscillatory trains. Alternatively, at appropriately chosen two different delays attractor is close to torus with Anosov dynamics on it as the phases are governed by the Fibonacci map. In both cases the attractors manifest robustness (absence of regularity windows under variation of parameters) and presumably relate to the class of structurally stable hyperbolic attractors.

D. S. Arzhanukhina; S. P. Kuznetsov

2014-04-16

435

Navigation strategies for multiple autonomous mobile robots moving in formation  

NASA Technical Reports Server (NTRS)

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

Wang, P. K. C.

1991-01-01

436

Autonomous star tracker based on active pixel sensors (APS)  

NASA Astrophysics Data System (ADS)

Star trackers are opto-electronic sensors used onboard of satellites for the autonomous inertial attitude determination. During the last years, star trackers became more and more important in the field of the attitude and orbit control system (AOCS) sensors. High performance star trackers are based up today on charge coupled device (CCD) optical camera heads. The Jena-Optronik GmbH is active in the field of opto-electronic sensors like star trackers since the early 80-ties. Today, with the product family ASTRO5, ASTRO10 and ASTRO15, all marked segments like earth observation, scientific applications and geo-telecom are supplied to European and Overseas customers. A new generation of star trackers can be designed based on the APS detector technical features. The measurement performance of the current CCD based star trackers can be maintained, the star tracker functionality, reliability and robustness can be increased while the unit costs are saved.

Schmidt, U.

2004-06-01

437

Multi-Window Controllers for Autonomous Space Systems  

NASA Technical Reports Server (NTRS)

Multi-window controllers select between elementary linear controllers using nonlinear windows based on the amplitude and frequency content of the feedback error. The controllers are relatively simple to implement and perform much better than linear controllers. The commanders for such controllers only order the destination point and are freed from generating the command time-profiles. The robotic missions rely heavily on the tasks of acquisition and tracking. For autonomous and optimal control of the spacecraft, the control bandwidth must be larger while the feedback can (and, therefore, must) be reduced.. Combining linear compensators via multi-window nonlinear summer guarantees minimum phase character of the combined transfer function. It is shown that the solution may require using several parallel branches and windows. Several examples of multi-window nonlinear controller applications are presented.

Lurie, B, J.; Hadaegh, F. Y.

1997-01-01

438

An architectural approach to create self organizing control systems for practical autonomous robots  

NASA Technical Reports Server (NTRS)

For practical industrial applications, the development of trainable robots is an important and immediate objective. Therefore, the developing of flexible intelligence directly applicable to training is emphasized. It is generally agreed upon by the AI community that the fusion of expert systems, neural networks, and conventionally programmed modules (e.g., a trajectory generator) is promising in the quest for autonomous robotic intelligence. Autonomous robot development is hindered by integration and architectural problems. Some obstacles towards the construction of more general robot control systems are as follows: (1) Growth problem; (2) Software generation; (3) Interaction with environment; (4) Reliability; and (5) Resource limitation. Neural networks can be successfully applied to some of these problems. However, current implementations of neural networks are hampered by the resource limitation problem and must be trained extensively to produce computationally accurate output. A generalization of conventional neural nets is proposed, and an architecture is offered in an attempt to address the above problems.

Greiner, Helen

1991-01-01

439

Systems, methods and apparatus for modeling, specifying and deploying policies in autonomous and autonomic systems using agent-oriented software engineering  

NASA Technical Reports Server (NTRS)

Systems, methods and apparatus are provided through which in some embodiments, an agent-oriented specification modeled with MaCMAS, is analyzed, flaws in the agent-oriented specification modeled with MaCMAS are corrected, and an implementation is derived from the corrected agent-oriented specification. Described herein are systems, method and apparatus that produce fully (mathematically) tractable development of agent-oriented specification(s) modeled with methodology fragment for analyzing complex multiagent systems (MaCMAS) and policies for autonomic systems from requirements through to code generation. The systems, method and apparatus described herein are illustrated through an example showing how user formulated policies can be translated into a formal mode which can then be converted to code. The requirements-based programming systems, method and apparatus described herein may provide faster, higher quality development and maintenance of autonomic systems based on user formulation of policies.

Hinchey, Michael G. (Inventor); Penn, Joaquin (Inventor); Sterritt, Roy (Inventor)

2011-01-01

440

The design of an intelligent real?time autonomous vehicle, TAIWAN iTS?1  

Microsoft Academic Search

Developed at National Chiao Tung University, TAIWAN iTS?1 is the first smart car with active safety systems and comfortable autonomous driving in Taiwan. An adaptive vision?based lane detection algorithm was proposed to help the lateral control unit to keep the car in its lane safely. It also carries a DSP system to generate warning signals for unintentional roadway departures. A

2007-01-01

441

VTube: Towards the media rich city life with autonomous vehicular content distribution  

Microsoft Academic Search

The copious social and user generated contents, like Facebook and Youtube, are re-shaping the way people share, access, and digest information. Although flourishing in Internet, content sharing services are still considered expensive and not ready for mobile users of vehicular networks. In this paper, we propose VTube, an autonomous and cost-effective infrastructure, to facilitate the localized content publish\\/subscribe in an

Tom H. Luan; Lin X. Cai; Jiming Chen; Fan Bai

2011-01-01

442

A double-blind atropine trial for active learning of autonomic function  

NSDL National Science Digital Library

This article describes a human physiology laboratory class measuring changes in autonomic function over time in response to atropine. Students use themselves as subjects, generating ownership and self-interest in the learning as well as directly experiencing the active link between physiology and pharmacology in people. The class is designed to concomitantly convey the importance of bias in experimentation by adopting a double-blind placebo-controlled approach.

Jeffrey Fry (University of Nottingham)

2011-12-01

443

Multi-objective controller evolution of RF localization for mobile autonomous robots  

Microsoft Academic Search

In this study, we investigate the utilization of a multi-objective approach in evolving artificial neural networks (ANNs) for an autonomous mobile robot. The ANN acts as a controller for radio frequency (RF)-localization behavior of a Khepera robot simulated in a 3D physics-based environment. The elitist Pareto-frontier Differential Evolution (PDE) algorithm is used to generate the Pareto optimal sets of ANNs

Chin Kim On; Jason Teo; Azali Saudi

2008-01-01

444

Visual servoing of an autonomous helicopter in urban areas using feature tracking  

Microsoft Academic Search

We present the design and implementation of a vision-based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of features in the image plane (urban features like windows) in order to generate velocity references for the flight control. These visual-based references are\\u000athen combined with GPS-positioning references to navigate towards these features

Luis Mejias; Srikanth Saripalli; Pascual Campoy; Gaurav S. Sukhatme

2006-01-01

445

Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles  

NASA Astrophysics Data System (ADS)

The Autonomous Urban Reconnaissance Ingress System (AURIS) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

2012-06-01

446

Analysis of frequency stability in a residential autonomous microgrid based on a wind turbine and a Microhydro power plant  

Microsoft Academic Search

This paper focuses on the analysis of frequency stability in an autonomous microgrid (MG) with renewable energy sources (RES), mainly wind power. Frequency control is directly related to the active power balance in the system. When RES are involved the generated active power is difficult to predict, and may have fluctuations mainly in the case of wind power plants. Therefore,

C. Marinescu; I. Serban

2009-01-01

447

Frontal midline theta rhythm is correlated with cardiac autonomic activities during the performance of an attention demanding meditation procedure  

Microsoft Academic Search

Frontal midline theta rhythm (Fm theta), recognized as distinct theta activity on EEG in the frontal midline area, reflects mental concentration as well as meditative state or relief from anxiety. Attentional network in anterior frontal lobes including anterior cingulate cortex is suspected to be the generator of this activity, and the regulative function of the frontal neural network over autonomic

Yasutaka Kubota; Wataru Sato; Motomi Toichi; Toshiya Murai; Takashi Okada; Akiko Hayashi; Akira Sengoku

2001-01-01

448

Fuzzy logic in autonomous orbital operations  

NASA Technical Reports Server (NTRS)

Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

Lea, Robert N.; Jani, Yashvant

1991-01-01

449

Carnegie Mellon University: Autonomous Helicopter Project  

NSDL National Science Digital Library

The goal of the Carnegie Mellon University Autonomous Helicopter Project is to develop a vision-guided robot helicopter that can self-start, take off, safely fly to a designated area, search for and locate a designated object, track or pursue objects, and return home, all "within any weather conditions and using only on-board intelligence and computing power.� Recent flight tests of the linear robust controller for the Yamaha R-50 Robotic Helicopter are presented along with some animation videos. Some applications for the technologies are also described and include search and rescue, surveillance, law enforcement, inspection, mapping, and aerial cinematography. In addition, the site discusses some of the capabilities project researchers have developed over the years, such as vision-based stability and control, autonomous takeoff, trajectory following and landing, aerial mapping, and object recognition and manipulation. Publications are listed online and available upon request.

450

Autonomous RPRV Navigation, Guidance and Control  

NASA Technical Reports Server (NTRS)

Dryden Flight Research Center has the responsibility for flight testing of advanced remotely piloted research vehicles (RPRV) to explore highly maneuverable aircraft technology, and to test advanced structural concepts, and related aeronautical technologies which can yield important research results with significant cost benefits. The primary purpose is to provide the preliminary design of an upgraded automatic approach and landing control system and flight director display to improve landing performance and reduce pilot workload. A secondary purpose is to determine the feasibility of an onboard autonomous navigation, orbit, and landing capability for safe vehicle recovery in the event of loss of telemetry uplink communication with the vehicles. The current RPRV approach and landing method, the proposed automatic and manual approach and autoland system, and an autonomous navigation, orbit, and landing system concept which is based on existing operational technology are described.

Johnston, Donald E.; Myers, Thomas T.; Zellner, John W.

1983-01-01

451

Autonomous Exploration for Gathering Increased Science  

NASA Technical Reports Server (NTRS)

The Autonomous Exploration for Gathering Increased Science System (AEGIS) provides automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which at the time of this reporting has had two rovers exploring the surface of Mars (see figure). Currently, targets for rover remote-sensing instruments must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In particular, this technology will be used to automatically acquire sub-framed, high-resolution, targeted images taken with the MER panoramic cameras. This software provides: 1) Automatic detection of terrain features in rover camera images, 2) Feature extraction for detected terrain targets, 3) Prioritization of terrain targets based on a scientist target feature set, and 4) Automated re-targeting of rover remote-sensing instruments at the highest priority target.

Bornstein, Benjamin J.; Castano, Rebecca; Estlin, Tara A.; Gaines, Daniel M.; Anderson, Robert C.; Thompson, David R.; DeGranville, Charles K.; Chien, Steve A.; Tang, Benyang; Burl, Michael C.; Judd, Michele A.

2010-01-01

452

The autonomic nervous system and renal physiology  

PubMed Central

Research in resistant hypertension has again focused on autonomic nervous system denervation 50 years after it had been stopped due to postural hypotension and availability of newer drugs. These (ganglionic blockers) drugs have all been similarly stopped, due to postural hypotension and yet newer antihypertensive agents. Recent demonstration of the feasibility of limited regional transcatheter sympathetic denervation has excited clinicians due to potential therapeutic implications. Standard use of ambulatory blood pressure recording equipment may alter our understanding of the diagnosis, potential treatment strategies, and health care outcomes when faced with patients whose office blood pressure remains in the hypertensive range while under treatment with three antihypertensive drugs at the highest tolerable doses, plus a diuretic. We review herein clinical relationships between autonomic function, resistant hypertension, current treatment strategies, and reflect upon the possibility of changes in our approach to resistant hypertension. PMID:24039445

DElia, John A; Weinrauch, Larry A

2013-01-01

453

Autonomous Instrument Placement for Mars Exploration Rovers  

NASA Technical Reports Server (NTRS)

Autonomous Instrument Placement (AutoPlace) is onboard software that enables a Mars Exploration Rover to act autonomously in using its manipulator to place scientific instruments on or near designated rock and soil targets. Prior to the development of AutoPlace, it was necessary for human operators on Earth to plan every motion of the manipulator arm in a time-consuming process that included downlinking of images from the rover, analysis of images and creation of commands, and uplinking of commands to the rover. AutoPlace incorporates image analysis and planning algorithms into the onboard rover software, eliminating the need for the downlink/uplink command cycle. Many of these algorithms are derived from the existing groundbased image analysis and planning algorithms, with modifications and augmentations for onboard use.

Leger, P. Chris; Maimone, Mark

2009-01-01

454

Autonomous rough terrain navigation - Lessons learned  

NASA Technical Reports Server (NTRS)

Because of light-time delays, a planetary rover located on Mars or beyond will probably need to be able to navigate autonomously, in order to do significant exploration. Recent work at JPL has explored several different autonomous navigation strategies. This work includes highly deliberative methods that require large amounts of computation and internal storage but yield very planful behavior to more reactive systems that require less resources but whose behavior is more difficult to model. This paper briefly presents these methods, the results from experiments both in simulation and in the field, and some conclusions on the value of different approaches, and their possible impact on the structure of the robot and the mission architecture.

Miller, David P.

1991-01-01

455

Autonomous microexplosives subsurface tracing system final report.  

SciTech Connect

The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping of subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.

Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew; Uhl, James Eugene; Dulleck, George R., Jr.; Ingram, Brian V.; Grubelich, Mark Charles; Rivas, Raul R.; Cooper, Paul W.; Warpinski, Norman Raymond; Kravitz, Stanley H.

2004-04-01

456

Autonomous Rovers for Polar Science Campaigns  

NASA Astrophysics Data System (ADS)

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero-emissions rover could travel more than 500 km per week during Polar summers and provide 100 - 200 W to power instrument payloads to help investigate the atmosphere, magnetosphere, glaciology and sub-glacial geology in Antarctica and Greenland. We are currently upgrading Cool Robot's navigation and solar-power systems and will deploy it during 2013 to map the emissions footprint around Summit Station to demonstrate its potential to execute long-endurance Polar science campaigns. These rovers could assist science traverses to chart safe routes into the interior of Antarctica and Greenland or conduct autonomous, remote science campaigns to extend spatial and temporal coverage for data collection. Our goals include 1,000 - 2,000-km summertime traverses of Antarctica and Greenland, safe navigation through 0.5-m amplitude sastrugi fields, survival in blizzards, and rover-network adaptation to research events of opportunity. We are seeking Polar scientists interested in autonomous, mobile data collection and can adapt the rovers to meet their requirements.

Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

2012-12-01

457

Autonomous reinforcement learning with experience replay.  

PubMed

This paper considers the issues of efficiency and autonomy that are required to make reinforcement learning suitable for real-life control tasks. A real-time reinforcement learning algorithm is presented that repeatedly adjusts the control policy with the use of previously collected samples, and autonomously estimates the appropriate step-sizes for the learning updates. The algorithm is based on the actor-critic with experience replay whose step-sizes are determined on-line by an enhanced fixed point algorithm for on-line neural network training. Anexperimental study with simulated octopus arm and half-cheetah demonstrates the feasibility of the proposed algorithm to solve difficult learning control problems in an autonomous way within reasonably short time. PMID:23237972

Wawrzy?ski, Pawe?; Tanwani, Ajay Kumar

2013-05-01

458

Autonomous Flight Safety System Road Test  

NASA Technical Reports Server (NTRS)

On February 3, 2005, Kennedy Space Center (KSC) conducted the first Autonomous Flight Safety System (AFSS) test on a moving vehicle -- a van driven around the KSC industrial area. A subset of the Phase III design was used consisting of a single computer, GPS receiver, and UPS antenna. The description and results of this road test are described in this report.AFSS is a joint KSC and Wallops Flight Facility project that is in its third phase of development. AFSS is an independent subsystem intended for use with Expendable Launch Vehicles that uses tracking data from redundant onboard sensors to autonomously make flight termination decisions using software-based rules implemented on redundant flight processors. The goals of this project are to increase capabilities by allowing launches from locations that do not have or cannot afford extensive ground-based range safety assets, to decrease range costs, and to decrease reaction time for special situations.

Simpson, James C.; Zoemer, Roger D.; Forney, Chris S.

2005-01-01

459

Multiple Autonomous Discrete Event Controllers for Constellations  

NASA Technical Reports Server (NTRS)

The Multiple Autonomous Discrete Event Controllers for Constellations (MADECC) project is an effort within the National Aeronautics and Space Administration Goddard Space Flight Center's (NASA/GSFC) Information Systems Division to develop autonomous positioning and attitude control for constellation satellites. It will be accomplished using traditional control theory and advanced coordination algorithms developed by the Johns Hopkins University Applied Physics Laboratory (JHU/APL). This capability will be demonstrated in the discrete event control test-bed located at JHU/APL. This project will be modeled for the Leonardo constellation mission, but is intended to be adaptable to any constellation mission. To develop a common software architecture. the controllers will only model very high-level responses. For instance, after determining that a maneuver must be made. the MADECC system will output B (Delta)V (velocity change) value. Lower level systems must then decide which thrusters to fire and for how long to achieve that (Delta)V.

Esposito, Timothy C.

2003-01-01

460

The Emerging Infrastructure of Autonomous Astronomy  

Microsoft Academic Search

Advances in the understanding of cosmic processes demand that sky transient events be confronted with statistical techniques honed on static phenomena. Time domain data sets require vast surveys such as LSST {http:\\/\\/www.lsst.org\\/lsst_home.shtml} and Pan-STARRS {http:\\/\\/www.pan-starrs.ifa.hawaii.edu}. A new autonomous infrastructure must close the loop from the scheduling of survey observations, through data archiving and pipeline processing, to the publication of transient

R. Seaman; A. Allan; T. Axelrod; K. Cook; R. White; R. Williams

2007-01-01

461

Automatic learning by an autonomous mobile robot  

SciTech Connect

This paper describes recent research in automatic learning by the autonomous mobile robot HERMIES-IIB at the Center for Engineering Systems Advanced Research (CESAR). By acting on the environment and observing the consequences during a set of training examples, the robot learns a sequence of successful manipulations on a simulated control panel. The robot learns to classify panel configurations in order to deal with new configurations that are not part of the original training set. 5 refs., 2 figs.

de Saussure, G.; Spelt, P.F.; Killough, S.M.; Pin, F.G.; Weisbin, C.R.

1989-01-01

462

Advanced Research with Autonomous Unmanned Aerial Vehicles  

Microsoft Academic Search

The emerging area of intelligent unmanned aerial vehicle (UAV) research has shown rapid development in recent years and offers a great number of research challenges for artifi-cial intelligence and knowledge representation. Much pre-vious research has focused on low-level control capability with the goal of developing controllers which support the autonomous flight of a UAV from one way-point to another. The

Patrick Doherty

2004-01-01

463

An architecture for an autonomous learning robot  

NASA Technical Reports Server (NTRS)

An autonomous learning device must solve the example bounding problem, i.e., it must divide the continuous universe into discrete examples from which to learn. We describe an architecture which incorporates an example bounder for learning. The architecture is implemented in the GPAL program. An example run with a real mobile robot shows that the program learns and uses new causal, qualitative, and quantitative relationships.

Tillotson, Brian

1988-01-01

464

Flocking algorithm for autonomous flying robots.  

PubMed

Animal swarms displaying a variety of typical flocking patterns would not exist without the underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with agent-based models. If we want to reproduce these patterns with artificial systems, such as autonomous aerial robots, agent-based models can also be used in their control algorithms. However, finding the proper algorithms and thus understanding the essential characteristics of the emergent collective behaviour requires thorough and realistic modeling of the robot and also the environment. In this paper, we first present an abstract mathematical model of an autonomous flying robot. The model takes into account several realistic features, such as time delay and locality of communication, inaccuracy of the on-board sensors and inertial effects. We present two decentralized control algorithms. One is based on a simple self-propelled flocking model of animal collective motion, the other is a collective target tracking algorithm. Both algorithms contain a viscous friction-like term, which aligns the velocities of neighbouring agents parallel to each other. We show that this term can be essential for reducing the inherent instabilities of such a noisy and delayed realistic system. We discuss simulation results on the stability of the control algorithms, and perform real experiments to show the applicability of the algorithms on a group of autonomous quadcopters. In our case, bio-inspiration works in two ways. On the one hand, the whole idea of trying to build and control a swarm of robots comes from the observation that birds tend to flock to optimize their behaviour as a group. On the other hand, by using a realistic simulation framework and studying the group behaviour of autonomous robots we can learn about the major factors influencing the flight of bird flocks. PMID:24852272

Virgh, Csaba; Vsrhelyi, Gbor; Tarcai, Norbert; Szrnyi, Tams; Somorjai, Gerg?; Nepusz, Tams; Vicsek, Tams

2014-06-01

465

Preserved autonomic function in amenorrheic athletes.  

PubMed

Reproductive hormones such as estradiol and progesterone are known to influence autonomic cardiovascular regulation. The purpose of this study was to determine whether amenorrheic athletes (AA) have impaired autonomic cardiovascular regulation compared with eumenorrheic athletes (EA). Thirty-five athletes were tested: 13 AA (19 +/- 1 yr), 13 EA (21 +/- 1 yr), and 9 EA (23 +/- 1 yr) on oral contraceptives (EA-OC). Multiple indexes of autonomic cardiovascular regulation were assessed: respiratory sinus arrhythmia (RSA), cardiovagal baroreflex sensitivity (BRS) via phase IV and phase II of the Valsalva maneuver, a spontaneous index of BRS, and the heart rate and blood pressure responses to orthostatic stress (20-min 60 degrees head-up tilt). RSA was not different among the groups. There were no group differences in the spontaneous index of BRS (AA = 30 +/- 6, EA = 24 +/- 3, EA-OC = 29 +/- 5 ms/mmHg) or in phase II (AA = 8 +/- 2, EA = 7 +/- 1, EA-OC = 8 +/- 1 ms/mmHg) of the Valsalva. There was a difference in BRS during phase IV (AA = 21 +/- 3, EA = 15 +/- 1, EA-OC = 26 +/- 6 ms/mmHg; ANOVA P = 0.04). Tukey's post hoc test indicated that BRS was greater in the EA-OC group compared with the EA group (P = 0.04). There were no differences in cardiovascular responses to orthostatic stress among the groups. In conclusion, AA do not display signs of impaired autonomic function and orthostatic responses compared with EA or EA-OC during the follicular phase of the menstrual cycle. PMID:16709651

Wenner, Megan M; Prettyman, Allen V; Maser, Raelene E; Farquhar, William B

2006-08-01

466

Autonomous Spacecraft Communication Interface for Load Planning  

NASA Technical Reports Server (NTRS)

Ground-based controllers can remain in continuous communication with spacecraft in low Earth orbit (LEO) with near-instantaneous communication speeds. This permits near real-time control of all of the core spacecraft systems by ground personnel. However, as NASA missions move beyond LEO, light-time communication delay issues, such as time lag and low bandwidth, will prohibit this type of operation. As missions become more distant, autonomous control of manned spacecraft will be required. The focus of this paper is the power subsystem. For present missions, controllers on the ground develop a complete schedule of power usage for all spacecraft components. This paper presents work currently underway at NASA to develop an architecture for an autonomous spacecraft, and focuses on the development of communication between the Mission Manager and the Autonomous Power Controller. These two systems must work together in order to plan future load use and respond to unanticipated plan deviations. Using a nominal spacecraft architecture and prototype versions of these two key components, a number of simulations are run under a variety of operational conditions, enabling development of content and format of the messages necessary to achieve the desired goals. The goals include negotiation of a load schedule that meets the global requirements (contained in the Mission Manager) and local power system requirements (contained in the Autonomous Power Controller), and communication of off-plan disturbances that arise while executing a negotiated plan. The message content is developed in two steps: first, a set of rapid-prototyping "paper" simulations are preformed; then the resultant optimized messages are codified for computer communication for use in automated testing.

Dever, Timothy P.; May, Ryan D.; Morris, Paul H.

2014-01-01

467

Online searching with an autonomous robot  

Microsoft Academic Search

We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is

Sndor P. Fekete; Rolf Klein; Andreas Nchter

2006-01-01

468

Online Searching with an Autonomous Robot  

Microsoft Academic Search

We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is

Sndor P. Fekete; Rolf Klein; Andreas Nuechter

2004-01-01

469

Precise laser gyroscope for autonomous inertial navigation  

NASA Astrophysics Data System (ADS)

Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented.

Kuznetsov, A. G.; Molchanov, A. V.; Chirkin, M. V.; Izmailov, E. A.

2015-01-01

470

Autonomous Deicing System For Airplane Wing  

NASA Technical Reports Server (NTRS)

Prototype autonomous deicing system for airplane includes network of electronic and electromechanical modules at various locations in wings and connected to central data-processing unit. Small, integrated solid-state device, using long coils installed under leading edge, exciting small vibrations to detect ice and larger vibrations to knock ice off. In extension of concept, outputs of vibration sensors and other sensors used to detect rivet-line fractures, fatigue cracks, and other potentially dangerous defects.

Hickman, G. A.; Gerardi, J. J.

1993-01-01

471

Adaptive setpoint control for autonomous underwater vehicles  

Microsoft Academic Search

In this paper, we propose an adaptive saturated proportional-derivative (SP-D) setpoint controller for autonomous underwater vehicles. The proposed controller does not require any knowledge of the inertia matrix, Coriolis and centripetal force, hydrodynamic damping, and parameters of the gravity and buoyancy forces. The structure of this setpoint controller is based on the SP-D feedback, plus an adaptive update law for

Y. C. Sun; C. C. Cheah

2003-01-01

472

Family boundary curves for autonomous dynamical systems  

Microsoft Academic Search

The notion of the family boundary curves (FBC), introduced recently for two-dimensional conservative systems, is extended to account for, generally, nonconservative autonomous systems of two degrees of freedom. Formulae are found for the force componentsX (x, y),Y (x, y) which produce a preassigned family of orbitsf(x, y)=c lying inside a preassigned, open or closed, regionB(x, y)=0 of the xy plane.

George Bozis

1994-01-01

473

Autonomous programmable DNA nanorobotic devices using DNAzymes  

Microsoft Academic Search

A major challenge in nanoscience is the design of synthetic molecular devices that run autonomously (that is, without externally mediated changes per work-cycle) and are programmable(that is, their behav- ior can be modified without complete redesign of the device). DNA-based synthetic molecular devices have the advantage of being relatively simple to design and engineer, due to the predictable secondary structure

John H. Reif; Sudheer Sahu

2009-01-01

474

Autonomous Programmable Nanorobotic Devices Using DNAzymes  

Microsoft Academic Search

Abstract A major challenge in nanoscience is the design of synthetic molecular devices that run autonomously (that is, without externally mediated changes per work-cycle) and are programmable(that is, their behavior can be modified without complete redesign of the device). DNA-based synthetic molecular devices have the advantage of being relatively simple to design and engineer, due to the predictable secondary structure

John H. Reif; Sudheer Sahu

2007-01-01

475

Evolving controllers for autonomous robot search teams  

Microsoft Academic Search

Deploying autonomous robot teams instead of humans in hazardous search and rescue missions could provide immeasurable benefits.\\u000a In such operations, rescue workers often face environments where information about the physical conditions is impossible to\\u000a obtain, which not only hampers the efficiency and effectiveness of the effort, but also places the rescuers in life-threatening\\u000a situations. These types of risk promote the

Robert L. Dollarhide; Arvin Agah; Gary J. Minden

2001-01-01

476

Autonomous models on a Cayley tree  

E-print Network

The most general single species autonomous reaction-diffusion model on a Cayley tree with nearest-neighbor interactions is introduced. The stationary solutions of such models, as well as their dynamics, are discussed. To study dynamics of the system, directionally-symmetric Green function for evolution equation of average number density is obtained. In some limiting cases the Green function is studied. Some examples are worked out in more detail.

Mohammad Khorrami; Amir Aghamohammadi

2014-07-21

477

Policy-Based Autonomic Storage Allocation  

Microsoft Academic Search

\\u000a The goal of autonomic storage allocation is to achieve management of storage resources, including allocation, performance\\u000a monitoring, and hotspot elimination, by specifying comparatively high-level goals, rather than by means of low-level manual\\u000a steps. The process of automation should allow specification of policies as administrator specified constraints under which\\u000a the resources are managed. This paper describes the system design and implementation

Murthy V. Devarakonda; David M. Chess; Ian Whalley; Alla Segal; Pawan Goyal; Aamer Sachedina; Keri Romanufa; Ed Lassettre; William H. Tetzlaff; Bill Arnold

2003-01-01

478

SOLON: An autonomous vehicle mission planner  

NASA Technical Reports Server (NTRS)

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

Dudziak, M. J.

1987-01-01

479

Reference test courses for autonomous mobile robots  

NASA Astrophysics Data System (ADS)

One approach to measuring the performance of intelligent systems is to develop standardized or reproducible tests. These tests may be in a simulated environment or in a physical test course. The National Institute of Standards and Technology has developed a test course for evaluating the performance of mobile autonomous robots operating in an urban search and rescue mission. The test course is designed to simulate a collapsed building structure at various levels of fidelity. The course will be used in robotic competitions, such as the American Association for Artificial Intelligence (AAAI) Mobile Robot Competition and the RoboCup Rescue. Designed to be repeatable and highly reconfigurable, the test course challenges a robot's cognitive capabilities such as perception, knowledge representation, planning, autonomy and collaboration. The goal of the test course is to help define useful performance metrics for autonomous mobile robots which, if widely accepted, could accelerate development of advanced robotic capabilities by promoting the re-use of algorithms and system components. The course may also serve as a prototype for further development of performance testing environments which enable robot developers and purchasers to objectively evaluate robots for a particular application. In this paper we discuss performance metrics for autonomous mobile robots, the use of representative urban search and rescue scenarios as a challenge domain, and the design criteria for the test course.

Jacoff, Adam; Messina, Elena; Evans, John

2001-09-01

480

Surveillance sensor for autonomous wildfire detection  

NASA Astrophysics Data System (ADS)

Autonomous wildfire detection systems may help to reduce hazards resulting from large wildland fires. In many situations wildfires start in the duff below trees and shrubs, which are hidden from direct view by groundbased sensors overlooking forests and wildlands. Mid- and thermal infrared measurements only detect wildfires when the fire has become a crownfire, and, by then, it usually has developed into a large wildfire. Therefore, the early discovery of wildfires using groundbased, autonomous sensors should be performed by detecting smoke clouds rather than the heat of the fire, since smoke becomes earlier visible above the trees as a result of convection than the heat of the fire. A demonstration sensor is being developed to show the feasibility of an affordable system for autonomous wildland fire detection. The system is designed to minimize false alarms by simultaneously analyzing the temporal, spatial and spectral information in the acquired imagery. The groundbased sensor will be horizon scanning and will employ linear CCD's for better contrast sensitivity in three different spectral bands.

de Vries, Jan S.; Kemp, Rob A. W.

1993-11-01

481

Autonomous navigation for structured exterior environments  

SciTech Connect

The Telemanaged Mobile Security Station (TMSS) was developed at Sandia National Laboratories to investigate the role of mobile robotics in exterior perimeter security systems. A major feature of the system is its capability to perform autonomous patrols of the security site`s network of roads. Perimeter security sites are well known, structured environments; the locations of the roads, buildings, and fences are relatively static. A security robot has the advantage of being able to learn its new environment prior to autonomous travel. The TMSS robot combines information from a microwave beacon system and on-board dead reckoning sensors to determine its location within the site. The operator is required to teleoperate the robot in a teach mode over all desired paths before autonomous operations can commence. During this teach phase, TMSS stores points from its position location system at two meter intervals. This map data base is used for planning paths and for reference during path following. Details of the position location and path following systems will be described along with system performance and recommendations for future enhancements.

Pletta, J B

1993-12-01

482

Multi-mission, autonomous, synthetic aperture radar  

NASA Astrophysics Data System (ADS)

Unmanned aerial systems (UASs) have become a critical asset in current battlespaces and continue to play an increasing role for intelligence, surveillance and reconnaissance (ISR) missions. With the development of medium-to-low altitude, rapidly deployable aircraft platforms, the ISR community has seen an increasing push to develop ISR sensors and systems with real-time mission support capabilities. This paper describes recent flight demonstrations and test results of the RASAR (Real-time, Autonomous, Synthetic Aperture Radar) sensor system. RASAR is a modular, multi-band (L and X) synthetic aperture radar (SAR) imaging sensor designed for self-contained, autonomous, real-time operation with mission flexibility to support a wide range of ISR needs within the size, weight and power constraints of Group III UASs. The sensor command and control and real-time image formation processing are designed to allow integration of RASAR into a larger, multi-intelligence system of systems. The multi-intelligence architecture and a demonstration of real-time autonomous cross-cueing of a separate optical sensor will be presented.

Walls, Thomas J.; Wilson, Michael L.; Madsen, David; Jensen, Mark; Sullivan, Stephanie; Addario, Michael; Hally, Iain

2014-05-01

483

Optimized Autonomous Space In-situ Sensorweb  

NASA Astrophysics Data System (ADS)

A multidisciplinary team of computer scientists (WSU), earth (USGS) and space (JPL) scientists are collaborating to develop a sensor web system optimized for rapid deployment at restless volcanoes. The primary goals of this Optimized Autonomous Space In-situ Sensorweb (OASIS) are: 1) integrate complementary space and in-situ (ground-based) elements into an interactive, autonomous sensorweb; 2) advance sensorweb power and communication resource management technology; and 3) enable scalability for seamless infusion of future space and in-situ assets into the sensorweb. This three year project started with a rigorous multi-disciplinary interchange that resulted in a system requirements document aimed to guide the design of OASIS and future networks and to achieve the project stated goals. Based on those guidelines, we have developed fully self-contained in-situ nodes that integrate GPS, seismic, infrasonic and ash detection sensors. The nodes in the wireless sensor network are linked to the ground control center through a highly optimized mesh network for remote geophysical monitoring operation. OASIS also features an autonomous bidirectional interaction between ground nodes and instruments on the EO-1 space platform through a database with alarming capabilities at the command and control center. We have successfully completed two field deployments in the crater of Mount St. Helens, Washington on October 14, 2008 and July 14th, 2009 respectively, and demonstrated that sensor web technology provides unprecedented fine-scale real-time continuous data acquisition and interaction for earth science community.

Song, W.; Shirazi, B. A.; Lahusen, R.; Kedar, S.; Chien, S.; Webb, F.

2009-12-01