Close-range sensors for small unmanned bottom vehicles: update

NASA Astrophysics Data System (ADS)

Bernstein, Charles L.

2000-07-01

The Surf Zone Reconnaissance Project is developing sensors for small, autonomous, Underwater Bottom-crawling Vehicles. The objective is to enable small, crawling robots to autonomously detect and classify mines and obstacles on the ocean bottom in depths between 0 and 10 feet. We have identified a promising set of techniques that will exploit the electromagnetic, shape, texture, image, and vibratory- modal features of this images. During FY99 and FY00 we have worked toward refining these techniques. Signature data sets have been collected for a standard target set to facilitate the development of sensor fusion and target detection and classification algorithms. Specific behaviors, termed microbehaviors, are developed to utilize the robot's mobility to position and operate the sensors. A first generation, close-range sensor suite, composed of 5 sensors, will be completed and tested on a crawling platform in FY00, and will be further refined and demonstrated in FY01 as part of the Mine Countermeasures 6.3 core program sponsored by the Office of Naval Research.

Wearable wireless sensor platform for studying autonomic activity and social behavior in non-human primates.

PubMed

Fletcher, Richard Ribón; Amemori, Ken-ichi; Goodwin, Matthew; Graybiel, Ann M

2012-01-01

A portable system has been designed to enable remote monitoring of autonomic nervous system output in non-human primates for the purpose of studying neural function related to social behavior over extended periods of time in an ambulatory setting. In contrast to prior systems which only measure heart activity, are restricted to a constrained laboratory setting, or require surgical attachment, our system is comprised of a multi-sensor self-contained wearable vest that can easily be transferred from one subject to another. The vest contains a small detachable low-power electronic sensor module for measuring electrodermal activity (EDA), electrocardiography (ECG), 3-axis acceleration, and temperature. The wireless transmission is implemented using a standard Bluetooth protocol and a mobile phone, which enables freedom of movement for the researcher as well as for the test subject. A custom Android software application was created on the mobile phone for viewing and recording live data as well as creating annotations. Data from up to seven monkeys can be recorded simultaneously using the mobile phone, with the option of real-time upload to a remote web server. Sample data are presented from two rhesus macaque monkeys showing stimulus-induced response in the laboratory as well as long-term ambulatory data collected in a large monkey cage. This system enables new possibilities for studying underlying mechanisms between autonomic brain function and social behavior with connection to human research in areas such as autism, substance abuse, and mood disorders.

Autonomous stair-climbing with miniature jumping robots.

PubMed

Stoeter, Sascha A; Papanikolopoulos, Nikolaos

2005-04-01

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Effectiveness of bomber deployed autonomous airborne vehicles in finding rail mobile SS-24s

DOE Office of Scientific and Technical Information (OSTI.GOV)

Abey, A.E.; Erickson, S.A.; Norquist, P.D.

1990-08-01

Computer simulation predictions of the effectiveness of autonomous airborne vehicles in finding rail mobile SS-24s are presented. Effectiveness is discussed for several autonomous airborne vehicle endurances and survivabilities for the search area southwest of Moscow. The effect of where the Soviets place the SS-24s on the rail network was also investigated. The simulation predicts significant variations in the ability of a multi-autonomous airborne vehicle system to find SS-24s with these parameters. 12 figs., 1 tab.

Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

NASA Astrophysics Data System (ADS)

Raimalwala, K.; Faragalli, M.; Reid, E.

2018-04-01

The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

[Mobile autonomous robots-Possibilities and limits].

PubMed

Maehle, E; Brockmann, W; Walthelm, A

2002-02-01

Besides industrial robots, which today are firmly established in production processes, service robots are becoming more and more important. They shall provide services for humans in different areas of their professional and everyday environment including medicine. Most of these service robots are mobile which requires an intelligent autonomous behaviour. After characterising the different kinds of robots the relevant paradigms of intelligent autonomous behaviour for mobile robots are critically discussed in this paper and illustrated by three concrete examples of robots realized in Lübeck. In addition a short survey of actual kinds of surgical robots as well as an outlook to future developments is given.

Effects of Posteroanterior Thoracic Mobilization on Heart Rate Variability and Pain in Women with Fibromyalgia

PubMed Central

Reis, Michel Silva; Durigan, João Luiz Quagliotti; Arena, Ross; Rossi, Bruno Rafael Orsini; Mendes, Renata Gonçalves; Borghi-Silva, Audrey

2014-01-01

Fibromyalgia (FM) has been associated with cardiac autonomic abnormalities and pain. Heart rate variability (HRV) is reduced in FM with autonomic tone dominated by sympathetic activity. The purpose of this study was to evaluate the effects of one session of a posteroanterior glide technique on both autonomic modulation and pain in woman with FM. This was a controlled trial with immediate followup; twenty premenopausal women were allocated into 2 groups: (i) women diagnosed with FM (n = 10) and (ii) healthy women (n = 10). Both groups received one session of Maitland mobilization grade III posteroanterior central pressure glide, at 2 Hz for 60 s at each vertebral segment. Autonomic modulation was assessed by HRV and pain by a numeric pain scale before and after the intervention. For HRV analyses, heart rate and RR intervals were recorded for 10 minutes. FM subjects demonstrated reduced HRV compared to controls. Although the mobilization technique did not significantly reduce pain, it was able to improve HRV quantified by an increase in rMSSD and SD1 indices, reflecting an improved autonomic profile through increased vagal activity. In conclusion, women with FM presented with impaired cardiac autonomic modulation. One session of Maitland spine mobilization was able to acutely improve HRV. PMID:24991436

Autonomous search and surveillance with small fixed wing aircraft

NASA Astrophysics Data System (ADS)

McGee, Timothy Garland

Small unmanned aerial vehicles (UAVs) have the potential to act as low cost tools in a variety of both civilian and military applications including traffic monitoring, border patrol, and search and rescue. While most current operational UAV systems require human operators, advances in autonomy will allow these systems to reach their full potential as sensor platforms. This dissertation specifically focuses on developing advanced control, path planning, search, and image processing techniques that allow small fixed wing aircraft to autonomously collect data. The problems explored were motivated by experience with the development and experimental flight testing of a fleet of small autonomous fixed wing aircraft. These issues, which have not been fully addressed in past work done on ground vehicles or autonomous helicopters, include the influence of wind and turning rate constraints, the non-negligible velocity of ground targets relative to the aircraft velocity, and limitations on sensor size and processing power on small vehicles. Several contributions for the autonomous operation of small fixed wing aircraft are presented. Several sliding surface controllers are designed which extend previous techniques to include variable sliding surface coefficients and the use of spatial vehicle dynamics. These advances eliminate potential singularities in the control laws to follow spatially defined paths and allow smooth transition between controllers. The optimal solution for the problem of path planning through an ordered set of points for an aircraft with a bounded turning rate in the presence of a constant wind is then discussed. Path planning strategies are also explored to guarantee that a searcher will travel within sensing distance of a mobile ground target. This work assumes only a maximum velocity of the target and is designed to succeed for any possible path of the target. Closed-loop approximations of both the path planning and search techniques, using the sliding surface controllers already discussed, are also studied. Finally, a novel method is presented to detect obstacles by segmenting an image into sky and non-sky regions. The feasibility of this method is demonstrated experimentally on an aircraft test bed.

A locust-inspired miniature jumping robot.

PubMed

Zaitsev, Valentin; Gvirsman, Omer; Ben Hanan, Uri; Weiss, Avi; Ayali, Amir; Kosa, Gabor

2015-11-25

Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.

Adaptive Behavior for Mobile Robots

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance

2009-01-01

The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

Tele-assistance for semi-autonomous robots

NASA Technical Reports Server (NTRS)

Rogers, Erika; Murphy, Robin R.

1994-01-01

This paper describes a new approach in semi-autonomous mobile robots. In this approach the robot has sufficient computerized intelligence to function autonomously under a certain set of conditions, while the local system is a cooperative decision making unit that combines human and machine intelligence. Communication is then allowed to take place in a common mode and in a common language. A number of exception-handling scenarios that were constructed as a result of experiments with actual sensor data collected from two mobile robots were presented.

Intelligent mobility research for robotic locomotion in complex terrain

NASA Astrophysics Data System (ADS)

Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

2006-05-01

The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

An Efficient Model-Based Image Understanding Method for an Autonomous Vehicle.

DTIC Science & Technology

1997-09-01

The problem discussed in this dissertation is the development of an efficient method for visual navigation of autonomous vehicles . The approach is to... autonomous vehicles . Thus the new method is implemented as a component of the image-understanding system in the autonomous mobile robot Yamabico-11 at

DualTrust: A Distributed Trust Model for Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.; Dionysiou, Ioanna; Frincke, Deborah A.

2011-02-01

For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, trust management is important for the acceptance of the mobile agent sensors and to protect the system from malicious behavior by insiders and entities that have penetrated network defenses. This paper examines the trust relationships, evidence, and decisions in a representative system and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarm. We then propose the DualTrust conceptual trust model. By addressing themore » autonomic manager’s bi-directional primary relationships in the ACS architecture, DualTrust is able to monitor the trustworthiness of the autonomic managers, protect the sensor swarm in a scalable manner, and provide global trust awareness for the orchestrating autonomic manager.« less

Reactive navigation for autonomous guided vehicle using neuro-fuzzy techniques

NASA Astrophysics Data System (ADS)

Cao, Jin; Liao, Xiaoqun; Hall, Ernest L.

1999-08-01

A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an environment characterized by as terrain and a set of distinct objects, such as obstacles and landmarks. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Neural network and fuzzy logic control techniques can improve real-time control performance for mobile robot due to its high robustness and error-tolerance ability. For a mobile robot to navigate automatically and rapidly, an important factor is to identify and classify mobile robots' currently perceptual environment. In this paper, a new approach of the current perceptual environment feature identification and classification, which are based on the analysis of the classifying neural network and the Neuro- fuzzy algorithm, is presented. The significance of this work lies in the development of a new method for mobile robot navigation.

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Developing operation algorithms for vision subsystems in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Shikhman, M. V.; Shidlovskiy, S. V.

2018-05-01

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots.

Theseus: tethered distributed robotics (TDR)

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Penzes, Steven G.

2003-09-01

The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Thethered Distributed Robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

Towards Principled Experimental Study of Autonomous Mobile Robots

NASA Technical Reports Server (NTRS)

Gat, Erann

1995-01-01

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

Autonomous mobile platform for enhanced situational awareness in Mass Casualty Incidents.

PubMed

Yang, Dongyi; Schafer, James; Wang, Sili; Ganz, Aura

2014-01-01

To enhance the efficiency of the search and rescue process of a Mass Casualty Incident, we introduce a low cost autonomous mobile platform. The mobile platform motion is controlled by an Android Smartphone mounted on a robot. The pictures and video captured by the Smartphone camera can significantly enhance the situational awareness of the incident commander leading to a more efficient search and rescue process. Moreover, the active RFID readers mounted on the mobile platform can improve the localization accuracy of victims in the disaster site in areas where the paramedics are not present, reducing the triage and evacuation time.

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Do mobile phones pose a potential risk to autonomic modulation of the heart?

PubMed

Barutcu, Irfan; Esen, Ali Metin; Kaya, Dayimi; Turkmen, Muhsin; Karakaya, Osman; Saglam, Mustafa; Melek, Mehmet; Çelik, Ataç; Kilit, Celal; Onrat, Ersel; Kirma, Cevat

2011-11-01

It has long been speculated that mobile phones may interact with the cardiac devices and thereby cardiovascular system may be a potential target for the electromagnetic fields emitted by the mobile phones. Therefore, the present study was designed to test possible effects of radiofrequency waves emitted by digital mobile phones on cardiac autonomic modulation by short-time heart rate variability (HRV) analysis. A total of 20 healthy young subjects were included to the study. All participants were rested in supine position at least for 15 minutes on a comfortable bed, and then time and frequency domain HRV parameters were recorded at baseline in supine position for 5 minutes. After completion of baseline records, by using a mobile GSM (Global System for Mobile Communication) phone, HRV parameters were recorded at turned off mode, at turned on mode, and at calling mode over 5 minutes periods for each stage. Neither time nor frequency domain HRV parameters altered significantly during off mode compare to their baseline values. Also, neither time nor frequency domain HRV parameters altered significantly during turned on and calling mode compared to their baseline values. Short-time exposure to electromagnetic fields emitted by mobile phone does not affect cardiac autonomic modulation in healthy subjects.

Current Fear of Crime, Sense of Community, and Loneliness in Italian Adolescents: The Role of Autonomous Mobility and Play during Childhood

ERIC Educational Resources Information Center

Prezza, Miretta; Pacilli, Maria Giuseppina

2007-01-01

A structural equation model was used to examine the role of autonomous mobility and play in public and semipublic places in childhood to predict adolescents' sense of community, fear of crime, and, through the mediation of these two last psychosocial factors, feelings of loneliness. Participants included 789 Italian students (469 females and 320…

SLAM algorithm applied to robotics assistance for navigation in unknown environments.

PubMed

Cheein, Fernando A Auat; Lopez, Natalia; Soria, Carlos M; di Sciascio, Fernando A; Pereira, Fernando Lobo; Carelli, Ricardo

2010-02-17

The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

The 2008 North Atlantic Spring Bloom Experiment II: Autonomous Platforms and Mixed Layer Evolution

NASA Astrophysics Data System (ADS)

Lee, C. M.; D'Asaro, E. A.; Perry, M.; Fennel, K.; Gray, A.; Rehm, E.; Briggs, N.; Sackmann, B. S.; Gudmundsson, K.

2008-12-01

The 2008 North Atlantic Spring Bloom Experiment (NAB08) employed a system of drifting floats, mobile gliders and ship-based measurements to resolve patch-scale physical and biological variability over the 3- month course of an entire bloom. Although both autonomous and ship-based elements were essential to achieving NAB08 goals, the autonomous system provided a novel perspective by employing long-range gliders to repeatedly survey the volume surrounding a drifting Lagrangian float, thus characterizing patch- scale bloom evolution. Integration of physical and biogeochemical sensors (temperature, conductivity, dissolved oxygen, chlorophyll and CDOM fluorescence, light transmission, optical backscatter, spectral light, and nitrate) and development of in situ calibration techniques were required to support this new autonomous approach. Energetic, small-scale eddy activity at the experiment site (southeast of Iceland, near the Joint Global Ocean Flux Study and Marine Light Mixed Layer sites) produced a swift, heterogeneous velocity field that challenged the gliders" operational abilities and drove refinements to the piloting techniques used to maintain float-following surveys. Although intentionally deployed outside of energetic eddies, floats and gliders were rapidly entrained into these features. Floats circulated within eddies near the start and end of the experiment, drifting generally northwest, across the basin, in-between. An eddy sampled late in the deployment provided particularly interesting signatures, with elevated biological signals manifest consistently in one quadrant. As measurements were collected in a parcel-following Lagrangian frame, this suggests energetic small-scale exchange process (such as vertical or lateral mixing) paired with fast-acting biological processes capable of modifying the newly entrained water as it navigates its path around the eddy. Despite this energetic kilometer-scale heterogeneity, broadly distributed platforms appeared to experience similar broad, long-timescale trends. Initial mixed layer depths exceeded 200 m, with gradual shoaling punctuated by periods of rapid, storm-driven deepening. In mid-April, a period of calm weather, rapid restratification and exponentially growing chlorophyll fluorescence marks the bloom's start. Although one-dimensional processes (e.g. diapycnal mixing and solar warming) clearly play important roles in producing the spring bloom, the rate and vertical extent of upper ocean restratification indicate that lateral mixing, perhaps wind- or eddy-driven exchange or the slumping of lateral density contrasts, play a more important role in restratifying the upper ocean. These important trigger events present a severe observational challenge as they take place at small (kilometers) spatial scales, are fully three-dimensional and episodic in time. The NAB08 efforts demonstrate how mobile, autonomous platforms can be exploited to resolve these events and their impact over the course of an entire bloom cycle.

Dual stage potential field method for robotic path planning

NASA Astrophysics Data System (ADS)

Singh, Pradyumna Kumar; Parida, Pramod Kumar

2018-04-01

Path planning for autonomous mobile robots are the root for all autonomous mobile systems. Various methods are used for optimization of path to be followed by the autonomous mobile robots. Artificial potential field based path planning method is one of the most used methods for the researchers. Various algorithms have been proposed using the potential field approach. But in most of the common problems are encounters while heading towards the goal or target. i.e. local minima problem, zero potential regions problem, complex shaped obstacles problem, target near obstacle problem. In this paper we provide a new algorithm in which two types of potential functions are used one after another. The former one is to use to get the probable points and later one for getting the optimum path. In this algorithm we consider only the static obstacle and goal.

Interoceptive threat leads to defensive mobilization in highly anxiety sensitive persons.

PubMed

Melzig, Christiane A; Holtz, Katharina; Michalowski, Jaroslaw M; Hamm, Alfons O

2011-06-01

To study defensive mobilization elicited by the exposure to interoceptive arousal sensations, we exposed highly anxiety sensitive students to a symptom provocation task. Symptom reports, autonomic arousal, and the startle eyeblink response were monitored during guided hyperventilation and a recovery period in 26 highly anxiety sensitive persons and 22 controls. Normoventilation was used as a non-provocative comparison condition. Hyperventilation led to autonomic arousal and a marked increase in somatic symptoms. While high and low anxiety sensitive persons did not differ in their defensive activation during hyperventilation, group differences were detected during early recovery. Highly anxiety sensitive students exhibited a potentiation of startle response magnitudes and increased autonomic arousal after hyper- as compared to after normoventilation, indicating defensive mobilization evoked by the prolonged presence of feared somatic sensations. Copyright © 2010 Society for Psychophysiological Research.

Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm.

PubMed

Awad, Fahed; Naserllah, Muhammad; Omar, Ammar; Abu-Hantash, Alaa; Al-Taj, Abrar

2018-01-31

Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points within a service area. Existing proposed solutions have mostly relied on theoretical hypotheses or computer simulation to demonstrate the efficiency of their methods. The techniques that rely on estimating the distance using samples of the received signal strength usually assume prior knowledge of the signal propagation characteristics of the indoor environment in hand and tend to take a relatively large number of uniformly distributed random samples. This paper presents an efficient and practical collaborative approach to detect the location of an access point in an indoor environment without any prior knowledge of the environment. The proposed approach comprises a swarm of wirelessly connected mobile robots that collaboratively and autonomously collect a relatively small number of non-uniformly distributed random samples of the access point's received signal strength. These samples are used to efficiently and accurately estimate the location of the access point. The experimental testing verified that the proposed approach can identify the location of the access point in an accurate and efficient manner.

Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm

PubMed Central

Awad, Fahed; Naserllah, Muhammad; Omar, Ammar; Abu-Hantash, Alaa; Al-Taj, Abrar

2018-01-01

Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points within a service area. Existing proposed solutions have mostly relied on theoretical hypotheses or computer simulation to demonstrate the efficiency of their methods. The techniques that rely on estimating the distance using samples of the received signal strength usually assume prior knowledge of the signal propagation characteristics of the indoor environment in hand and tend to take a relatively large number of uniformly distributed random samples. This paper presents an efficient and practical collaborative approach to detect the location of an access point in an indoor environment without any prior knowledge of the environment. The proposed approach comprises a swarm of wirelessly connected mobile robots that collaboratively and autonomously collect a relatively small number of non-uniformly distributed random samples of the access point’s received signal strength. These samples are used to efficiently and accurately estimate the location of the access point. The experimental testing verified that the proposed approach can identify the location of the access point in an accurate and efficient manner. PMID:29385042

From Autonomous Robots to Artificial Ecosystems

NASA Astrophysics Data System (ADS)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

The Personal Satellite Assistant: An Internal Spacecraft Autonomous Mobile Monitor

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

This paper presents an overview of the research and development effort at the NASA Ames Research Center to create an internal spacecraft autonomous mobile monitor capable of performing intra-vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the capabilities, mission roles, rationale, high-level functional requirements, and design challenges for an autonomous mobile monitor. The rapid prototyping design methodology used, in which five prototypes of increasing fidelity are designed, is described as well as the status of these prototypes, of which two are operational and being tested, and one is actively being designed. The physical test facilities used to perform ground testing are briefly described, including a micro-gravity test facility that permits a prototype to propel itself in 3 dimensions with 6 degrees-of-freedom as if it were in an micro-gravity environment. We also describe an overview of the autonomy framework and its components including the software simulators used in the development process. Sample mission test scenarios are also described. The paper concludes with a discussion of future and related work followed by the summary.

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

An Analysis of Navigation Algorithms for Smartphones Using J2ME

NASA Astrophysics Data System (ADS)

Santos, André C.; Tarrataca, Luís; Cardoso, João M. P.

Embedded systems are considered one of the most potential areas for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms. As a test case, we use a smartphone to control an autonomous mobile robot. We tested three navigation problems: Mapping, Localization and Path Planning. For each of these problems, an algorithm has been chosen, developed in J2ME, and tested on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.

PubMed

Bengochea-Guevara, José M; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

2016-02-24

The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

PubMed Central

Bengochea-Guevara, José M.; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

2016-01-01

The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them. PMID:26927102

Autonomous mobile robot teams

NASA Technical Reports Server (NTRS)

Agah, Arvin; Bekey, George A.

1994-01-01

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.

Distributed Sensor Fusion for Scalar Field Mapping Using Mobile Sensor Networks.

PubMed

La, Hung Manh; Sheng, Weihua

2013-04-01

In this paper, autonomous mobile sensor networks are deployed to measure a scalar field and build its map. We develop a novel method for multiple mobile sensor nodes to build this map using noisy sensor measurements. Our method consists of two parts. First, we develop a distributed sensor fusion algorithm by integrating two different distributed consensus filters to achieve cooperative sensing among sensor nodes. This fusion algorithm has two phases. In the first phase, the weighted average consensus filter is developed, which allows each sensor node to find an estimate of the value of the scalar field at each time step. In the second phase, the average consensus filter is used to allow each sensor node to find a confidence of the estimate at each time step. The final estimate of the value of the scalar field is iteratively updated during the movement of the mobile sensors via weighted average. Second, we develop the distributed flocking-control algorithm to drive the mobile sensors to form a network and track the virtual leader moving along the field when only a small subset of the mobile sensors know the information of the leader. Experimental results are provided to demonstrate our proposed algorithms.

Mobile Autonomous Humanoid Assistant

NASA Technical Reports Server (NTRS)

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

2004-01-01

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.

DualTrust: A Trust Management Model for Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.

Trust management techniques must be adapted to the unique needs of the application architectures and problem domains to which they are applied. For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, certain characteristics of the mobile agent ant swarm -- their lightweight, ephemeral nature and indirect communication -- make this adaptation especially challenging. This thesis looks at the trust issues and opportunities in swarm-based autonomic computing systems and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and stillmore » serves to protect the swarm. After analyzing the applicability of trust management research as it has been applied to architectures with similar characteristics, this thesis specifies the required characteristics for trust management mechanisms used to monitor the trustworthiness of entities in a swarm-based autonomic computing system and describes a trust model that meets these requirements.« less

A Long Range Science Rover For Future Mars Missions

NASA Technical Reports Server (NTRS)

Hayati, Samad

1997-01-01

This paper describes the design and implementation currently underway at the Jet Propulsion Laboratory of a long range science rover for future missions to Mars. The small rover prototype, called Rocky 7, is capable of long traverse. autonomous navigation. and science instrument control, carries three science instruments, and can be commanded from any computer platform and any location using the World Wide Web. In this paper we describe the mobility system, the sampling system, the sensor suite, navigation and control, onboard science instruments. and the ground command and control system.

Lunar exploration rover program developments

NASA Technical Reports Server (NTRS)

Klarer, P. R.

1994-01-01

The Robotic All Terrain Lunar Exploration Rover (RATLER) design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design's capabilities for mobility, the full scale proof-of-concept design currently under development is intended to support field operations for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, and advanced man-machine interface concepts. The development program's current status is described, including an outline of the program's work over the past year, recent accomplishments, and plans for follow-on development work.

SLAM algorithm applied to robotics assistance for navigation in unknown environments

PubMed Central

2010-01-01

Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). Methods In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. Conclusions The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation. PMID:20163735

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

Impact of Contextuality on Mobile Learning Acceptance: An Empirical Study Based on a Language Learning App

ERIC Educational Resources Information Center

Böhm, Stephan; Constantine, Georges Philip

2015-01-01

The mobility of both the device and the learner will determine how mobile learning takes place. Mobile learning offers new educational opportunities that allow for autonomous, personalized and context aware learning. This paper focuses on contextualized features for mobile language learning apps. Context-awareness is seen as a particularly…

[Factors related to lack of autonomous mobility during out-of-hospital emergency care].

PubMed

Montero García, Antonio; Morales Asencio, José Miguel; Trujillo Illescas, Juan Alfonso; Martí, Celia

2016-10-01

To explore the frequency of lack of autonomous mobility and factors related to it in patients requiring prehospital emergency services. Cross-sectional, observational, retrospective analysis. We identified a stratified random sample of patients attended by the public health emergency service of Andalusia in 2011. The sample included 280 patients with a mean age of 56 years; 63.9% were men. The majority were attended in homes and streets or other public spaces. Most were transported to a hospital in a mobile intensive care unit. The reasons for calling the service were most often related to chest pain or injuries. Loss of autonomous mobility was seen more often in men, when care was required in a public area, when there were injuries or altered vital signs, and when the patient required transport in a mobile intensive care unit. Dependence on others was significantly associated with the presence of a prior condition before the patient required transport (odds ratio [OR], 3.27; 95% CI, 1.60-6.33), the use of immobilization strategies (OR, 7.71; 95% CI, 1.7-34.96], and the use of ambulance transport (OR, 4.35; 95% CI, 1.63-11.60]. The following 2 variables were at the limit of significance: pain during the care process (OR, 1.13; 95% CI, 0.99-1.29) and age (OR, 0.46; 95% CI, 0.97-1.01). The profile we identified for patients and situations in which patients cannot move autonomously during prehospital emergency care can be used to plan preventive strategies to ensure patient safety.

Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Drake, Bret G.

2014-01-01

Access to Space, Chemical Propulsion, Advanced Propulsion, In-Situ Resource Utilization, Entry, Descent, Landing and Ascent, Humans and Robots Working Together, Autonomous Operations, In-Flight Maintenance, Exploration Mobility, Power Generation, Life Support, Space Suits, Microgravity Countermeasures, Autonomous Medicine, Environmental Control.

Integration for navigation on the UMASS mobile perception lab

NASA Technical Reports Server (NTRS)

Draper, Bruce; Fennema, Claude; Rochwerger, Benny; Riseman, Edward; Hanson, Allen

1994-01-01

Integration of real-time visual procedures for use on the Mobile Perception Lab (MPL) was presented. The MPL is an autonomous vehicle designed for testing visually guided behavior. Two critical areas of focus in the system design were data storage/exchange and process control. The Intermediate Symbolic Representation (ISR3) supported data storage and exchange, and the MPL script monitor provided process control. Resource allocation, inter-process communication, and real-time control are difficult problems which must be solved in order to construct strong autonomous systems.

Integrated Microsensors for Autonomous Microrobots

DOE Office of Scientific and Technical Information (OSTI.GOV)

ADKINS, DOUGLAS R.; BYRNE, RAYMOND H.; HELLER, EDWIN J.

2003-02-01

This report describes the development of a miniature mobile microrobot device and several microsystems needed to create a miniature microsensor delivery platform. This work was funded under LDRD No.10785, entitled, ''Integrated Microsensors for Autonomous Microrobots''. The approach adopted in this project was to develop a mobile platform, to which would be attached wireless RF remote control and data acquisition in addition to various microsensors. A modular approach was used to produce a versatile microrobot platform and reduce power consumption and physical size.

Nonlinear Landing Control for Quadrotor UAVs

NASA Astrophysics Data System (ADS)

Voos, Holger

Quadrotor UAVs are one of the most preferred type of small unmanned aerial vehicles because of the very simple mechanical construction and propulsion principle. However, the nonlinear dynamic behavior requires a more advanced stabilizing control and guidance of these vehicles. In addition, the small payload reduces the amount of batteries that can be carried and thus also limits the operating range of the UAV. One possible solution for a range extension is the application of a mobile base station for recharging purpose even during operation. However, landing on a moving base station requires autonomous tracking and landing control of the UAV. In this paper, a nonlinear autopilot for quadrotor UAVs is extended with a tracking and landing controller to fulfill the required task.

A reconfigurable, wearable, wireless ECG system.

PubMed

Borromeo, S; Rodriguez-Sanchez, C; Machado, F; Hernandez-Tamames, J A; de la Prieta, R

2007-01-01

New emerging concepts as "wireless hospital", "mobile healthcare" or "wearable telemonitoring" require the development of bio-signal acquisition devices to be easily integrated into the clinical routine. In this work, we present a new system for Electrocardiogram (ECG) acquisition and its processing, with wireless transmission on demand (either the complete ECG or only one alarm message, just in case a pathological heart rate detected). Size and power consumption are optimized in order to provide mobility and comfort to the patient. We have designed a modular hardware system and an autonomous platform based on a Field-Programmable Gate Array (FPGA) for developing and debugging. The modular approach allows to redesign the system in an easy way. Its adaptation to a new biomedical signal would only need small changes on it. The hardware system is composed of three layers that can be plugged/unplugged: communication layer, processing layer and sensor layer. In addition, we also present a general purpose end-user application developed for mobile phones or Personal Digital Assistant devices (PDAs).

The VIPER project (Visualization Integration Platform for Exploration Research): a biologically inspired autonomous reconfigurable robotic platform for diverse unstructured environments

NASA Astrophysics Data System (ADS)

Schubert, Oliver J.; Tolle, Charles R.

2004-09-01

Over the last decade the world has seen numerous autonomous vehicle programs. Wheels and track designs are the basis for many of these vehicles. This is primarily due to four main reasons: a vast preexisting knowledge base for these designs, energy efficiency of power sources, scalability of actuators, and the lack of control systems technologies for handling alternate highly complex distributed systems. Though large efforts seek to improve the mobility of these vehicles, many limitations still exist for these systems within unstructured environments, e.g. limited mobility within industrial and nuclear accident sites where existing plant configurations have been extensively changed. These unstructured operational environments include missions for exploration, reconnaissance, and emergency recovery of objects within reconfigured or collapsed structures, e.g. bombed buildings. More importantly, these environments present a clear and present danger for direct human interactions during the initial phases of recovery operations. Clearly, the current classes of autonomous vehicles are incapable of performing in these environments. Thus the next generation of designs must include highly reconfigurable and flexible autonomous robotic platforms. This new breed of autonomous vehicles will be both highly flexible and environmentally adaptable. Presented in this paper is one of the most successful designs from nature, the snake-eel-worm (SEW). This design implements shape memory alloy (SMA) actuators which allow for scaling of the robotic SEW designs from sub-micron scale to heavy industrial implementations without major conceptual redesigns as required in traditional hydraulic, pneumatic, or motor driven systems. Autonomous vehicles based on the SEW design posses the ability to easily move between air based environments and fluid based environments with limited or no reconfiguration. Under a SEW designed vehicle, one not only achieves vastly improved maneuverability within a highly unstructured environment, but also gains robotic manipulation abilities, normally relegated as secondary add-ons within existing vehicles, all within one small condensed package. The prototype design presented includes a Beowulf style computing system for advanced guidance calculations and visualization computations. All of the design and implementation pertaining to the SEW robot discussed in this paper is the product of a student team under the summer fellowship program at the DOEs INEEL.

Evaluation of a Mobile Platform for Proof-of-Concept Autonomous Site Selection and Preparation

NASA Astrophysics Data System (ADS)

Gammell, Jonathan

A mobile robotic platform for Autonomous Site Selection and Preparation (ASSP) was developed for an analogue deployment to Mauna Kea, Hawai`i. A team of rovers performed an autonomous Ground Penetrating Radar (GPR) survey and constructed a level landing pad. They used interchangeable payloads that allowed the GPR and blade to be easily exchanged. Autonomy was accomplished by integrating the individual hardware devices with software based on the ArgoSoft framework previously developed at UTIAS. The rovers were controlled by an on-board netbook. The successes and failures of the devices and software modules are evaluated within. Recommendations are presented to address problems discovered during the deployment and to guide future research on the platform.

Rice-obot 1: An intelligent autonomous mobile robot

NASA Technical Reports Server (NTRS)

Defigueiredo, R.; Ciscon, L.; Berberian, D.

1989-01-01

The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

New Small Autonomous Schools District Policy. Revised.

ERIC Educational Resources Information Center

Oakland Unified School District, CA.

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"…

Dynamic multisensor fusion for mobile robot navigation in an indoor environment

NASA Astrophysics Data System (ADS)

Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

2001-10-01

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Deployable reconnaissance from a VTOL UAS in urban environments

NASA Astrophysics Data System (ADS)

Barnett, Shane; Bird, John; Culhane, Andrew; Sharkasi, Adam; Reinholtz, Charles

2007-04-01

Reconnaissance collection in unknown or hostile environments can be a dangerous and life threatening task. To reduce this risk, the Unmanned Systems Group at Virginia Tech has produced a fully autonomous reconnaissance system able to provide live video reconnaissance from outside and inside unknown structures. This system consists of an autonomous helicopter which launches a small reconnaissance pod inside a building and an operator control unit (OCU) on a ground station. The helicopter is a modified Bergen Industrial Twin using a Rotomotion flight controller and can fly missions of up to one half hour. The mission planning OCU can control the helicopter remotely through teleoperation or fully autonomously by GPS waypoints. A forward facing camera and template matching aid in navigation by identifying the target building. Once the target structure is identified, vision algorithms will center the UAS adjacent to open windows or doorways. Tunable parameters in the vision algorithm account for varying launch distances and opening sizes. Launch of the reconnaissance pod may be initiated remotely through a human in the loop or autonomously. Compressed air propels the half pound stationary pod or the larger mobile pod into the open portals. Once inside the building, the reconnaissance pod will then transmit live video back to the helicopter. The helicopter acts as a repeater node for increased video range and simplification of communication back to the ground station.

Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

ERIC Educational Resources Information Center

Riek, L. D.

2013-01-01

This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

Mobile agent location in distributed environments

NASA Astrophysics Data System (ADS)

Fountoukis, S. G.; Argyropoulos, I. P.

2012-12-01

An agent is a small program acting on behalf of a user or an application which plays the role of a user. Artificial intelligence can be encapsulated in agents so that they can be capable of both behaving autonomously and showing an elementary decision ability regarding movement and some specific actions. Therefore they are often called autonomous mobile agents. In a distributed system, they can move themselves from one processing node to another through the interconnecting network infrastructure. Their purpose is to collect useful information and to carry it back to their user. Also, agents are used to start, monitor and stop processes running on the individual interconnected processing nodes of computer cluster systems. An agent has a unique id to discriminate itself from other agents and a current position. The position can be expressed as the address of the processing node which currently hosts the agent. Very often, it is necessary for a user, a processing node or another agent to know the current position of an agent in a distributed system. Several procedures and algorithms have been proposed for the purpose of position location of mobile agents. The most basic of all employs a fixed computing node, which acts as agent position repository, receiving messages from all the moving agents and keeping records of their current positions. The fixed node, responds to position queries and informs users, other nodes and other agents about the position of an agent. Herein, a model is proposed that considers pairs and triples of agents instead of single ones. A location method, which is investigated in this paper, attempts to exploit this model.

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

EISLER, G. RICHARD

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstratemore » the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.« less

An ARM Mobile Facility Designed for Marine Deployments

NASA Astrophysics Data System (ADS)

Wiscombe, W. J.

2007-05-01

The U.S. Dept. of Energy's ARM (Atmospheric Radiation Measurements) Program is designing a Mobile Facility exclusively for marine deployments. This marine facility is patterned after ARM's land Mobile Facility, which had its inaugural deployment at Point Reyes, California, in 2005, followed by deployments to Niger in 2006 and Germany in 2007 (ongoing), and a planned deployment to China in 2008. These facilities are primarily intended for the study of clouds, radiation, aerosols, and surface processes with a goal to include these processes accurately in climate models. They are preferably embedded within larger field campaigns which provide context. They carry extensive instrumentation (in several large containers) including: cloud radar, lidar, microwave radiometers, infrared spectrometers, broadband and narrowband radiometers, sonde-launching facilities, extensive surface aerosol measurements, sky imagers, and surface latent and sensible heat flux devices. ARM's Mobile Facilities are designed for 6-10 month deployments in order to capture climatically-relevant datasets. They are available to any scientist, U.S. or international, who wishes to submit a proposal during the annual Spring call. The marine facility will be adapted to, and ruggedized for, the harsh marine environment and will add a scanning two-frequency radar, a boundary-layer wind profiler, a shortwave spectrometer, and aerosol instrumentation adapted to typical marine aerosols like sea salt. Plans also include the use of roving small UAVs, automated small boats, and undersea autonomous vehicles in order to address the point-to-area-average problem which is so crucial for informing climate models. Initial deployments are planned for small islands in climatically- interesting cloud regimes, followed by deployments on oceanic platforms (like decommissioned oil rigs and the quasi-permanent platform of this session's title) and eventually on large ships like car carriers plying routine routes.

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Even parasites have parasites: oscillatory population dynamics of mobile genetic elements in your genome

NASA Astrophysics Data System (ADS)

Xue, Chi; Goldenfeld, Nigel

Transposable elements (TEs), or transposons, are a class of mobile genetic elements that can either move or duplicate themselves in the genome, sometimes interfering with gene expression as a result. Some TEs can code all necessary enzymes for their transposition and are thus autonomous, while non-autonomous TEs are parasitic and must depend on the machinery of autonomous ones. I present and solve a stochastic model to describe the dynamics of non-autonomous/autonomous pairs of retrotransposons in the human genome that proliferate by a copy-and-paste mechanism. We predict noise-induced persistent oscillations in their copy numbers, analogous to predator-prey dynamics in an ecosystem. We discuss if it is experimentally feasible to measure these phenomena in the laboratory and to observe them over evolutionary time through bioinformatics. This work shows that it is fruitful to regard the genome as an ecosystem that is host to diverse interacting populations. This work was partially supported by the National Science Foundation through Grant No. PHY-1430124, and by the National Aeronautics and Space Administration Astrobiology Institute (NAI) under Cooperative Agreement No. NNA13AA91A.

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

PubMed

Deng, Fucheng; Zhu, Xiaorui; He, Chao

2017-09-13

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks

PubMed Central

Urdiales, Cristina; Aguilera, Francisco; González-Parada, Eva; Cano-García, Jose; Sandoval, Francisco

2016-01-01

In mobile wireless sensor networks (MWSN), nodes are allowed to move autonomously for deployment. This process is meant: (i) to achieve good coverage; and (ii) to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles. PMID:27399709

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB

NASA Astrophysics Data System (ADS)

Adamczyk, Peter G.; Gorsich, David J.; Hudas, Greg R.; Overholt, James

2003-09-01

The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.

Autonomous mobile robot research using the HERMIES-III robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; Beckerman, M.; Spelt, P.F.

1989-01-01

This paper reports on the status and future directions in the research, development and experimental validation of intelligent control techniques for autonomous mobile robots using the HERMIES-III robot at the Center for Engineering Systems Advanced research (CESAR) at Oak Ridge National Laboratory (ORNL). HERMIES-III is the fourth robot in a series of increasingly more sophisticated and capable experimental test beds developed at CESAR. HERMIES-III is comprised of a battery powered, onmi-directional wheeled platform with a seven degree-of-freedom manipulator arm, video cameras, sonar range sensors, laser imaging scanner and a dual computer system containing up to 128 NCUBE nodes in hypercubemore » configuration. All electronics, sensors, computers, and communication equipment required for autonomous operation of HERMIES-III are located on board along with sufficient battery power for three to four hours of operation. The paper first provides a more detailed description of the HERMIES-III characteristics, focussing on the new areas of research and demonstration now possible at CESAR with this new test-bed. The initial experimental program is then described with emphasis placed on autonomous performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES- III). The paper concludes with a discussion of the integration problems and safety considerations necessarily arising from the set-up of an experimental program involving human-scale, multi-autonomous mobile robots performance. 10 refs., 3 figs.« less

Autonomous Trans-Antartic expeditions: an initiative for advancing planetary mobility system technology while addressing Earth science objectives in Antartica

NASA Technical Reports Server (NTRS)

Carsey, F.; Schenker, P.; Blamont, J.

2001-01-01

A workshop on Antartic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society in February to discuss scientific objectives and benefits of the use of rovers such as are being developed for use in planetary exploration.

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

NASA Astrophysics Data System (ADS)

Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

2016-05-01

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

Real-Time Modeling of Cross-Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

DTIC Science & Technology

1998-03-01

34Numerical Recipes in C," second edition, Cambridge University Press, Cambridge England, 1992. Marco, David , "Autonomous Control of Underwater...in the viewer. -202- LIST OF REFERENCES Ames, Andrea L., Nadeau, David R., Moreland, John L., VRML 2.0 Sourcebook, Second edition, John Wiley...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MJT/AAAI

Tank-automotive robotics

NASA Astrophysics Data System (ADS)

Lane, Gerald R.

1999-07-01

To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks

PubMed Central

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-01

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage. PMID:28075364

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks.

PubMed

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-09

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

Nonlinear energy harvesting.

PubMed

Cottone, F; Vocca, H; Gammaitoni, L

2009-02-27

Ambient energy harvesting has been in recent years the recurring object of a number of research efforts aimed at providing an autonomous solution to the powering of small-scale electronic mobile devices. Among the different solutions, vibration energy harvesting has played a major role due to the almost universal presence of mechanical vibrations. Here we propose a new method based on the exploitation of the dynamical features of stochastic nonlinear oscillators. Such a method is shown to outperform standard linear oscillators and to overcome some of the most severe limitations of present approaches. We demonstrate the superior performances of this method by applying it to piezoelectric energy harvesting from ambient vibration.

SyRoTek--Distance Teaching of Mobile Robotics

ERIC Educational Resources Information Center

Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

2013-01-01

E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

Research state-of-the-art of mobile robots in China

NASA Astrophysics Data System (ADS)

Wu, Lin; Zhao, Jinglun; Zhang, Peng; Li, Shiqing

1991-03-01

Several newly developed mobile robots in china are described in the paper. It includes masterslave telerobot sixleged robot biped walking robot remote inspection robot crawler moving robot and autonomous mobi le vehicle . Some relevant technology are also described.

Research Institute for Autonomous Precision Guided Systems

DTIC Science & Technology

2007-03-08

research on agile autonomous munitions, in direct support of the Air Force Research Laboratory Munitions Directorate (AFRL/MN). The grant was awarded with a...Flight had (5) research task areas: 1. Aeroforms and Actuation for Small and Micro Agile Air Vehicles 2. Sensing for Autonomous Control and...critical barriers in AAM, but are not covered in the scope of the AVCAAF (Vision-Based Control of Agile, Autonomous Micro Air Vehicles and Small UAVs

New Concepts and Perspectives on Micro-Rotorcraft and Small Autonomous Rotary-Wing Vehicles

NASA Technical Reports Server (NTRS)

Young, Larry A.; Aiken, E. W.; Johnson, J. L.; Demblewski, R.; Andrews, J.; Aiken, Irwin W. (Technical Monitor)

2001-01-01

A key part of the strategic vision for rotorcraft research as identified by senior technologists within the Army/NASA Rotorcraft Division at NASA Ames Research Center is the development and use of small autonomous rotorcraft. Small autonomous rotorcraft are defined for the purposes of this paper to be a class of vehicles that range in size from rotary-wing micro air vehicles (MAVs) to larger, more conventionally sized, rotorcraft uninhabited aerial vehicles (UAVs) - i.e. vehicle gross weights ranging from hundreds of grams to thousands of kilograms. The development of small autonomous rotorcraft represents both a technology challenge and a potential new vehicle class that will have substantial societal impact for: national security, personal transport, planetary science, and public service.

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

Proceedings of the 1989 CESAR/CEA (Center for Engineering Systems Advanced Research/Commissariat a l'Energie Atomique) workshop on autonomous mobile robots (May 30--June 1, 1989)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harber, K.S.; Pin, F.G.

1990-03-01

The US DOE Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) and the Commissariat a l'Energie Atomique's (CEA) Office de Robotique et Productique within the Directorat a la Valorization are working toward a long-term cooperative agreement and relationship in the area of Intelligent Systems Research (ISR). This report presents the proceedings of the first CESAR/CEA Workshop on Autonomous Mobile Robots which took place at ORNL on May 30, 31 and June 1, 1989. The purpose of the workshop was to present and discuss methodologies and algorithms under development at the two facilities in themore » area of perception and navigation for autonomous mobile robots in unstructured environments. Experimental demonstration of the algorithms and comparison of some of their features were proposed to take place within the framework of a previously mutually agreed-upon demonstration scenario or base-case.'' The base-case scenario described in detail in Appendix A, involved autonomous navigation by the robot in an a priori unknown environment with dynamic obstacles, in order to reach a predetermined goal. From the intermediate goal location, the robot had to search for and locate a control panel, move toward it, and dock in front of the panel face. The CESAR demonstration was successfully accomplished using the HERMIES-IIB robot while subsets of the CEA demonstration performed using the ARES robot simulation and animation system were presented. The first session of the workshop focused on these experimental demonstrations and on the needs and considerations for establishing benchmarks'' for testing autonomous robot control algorithms.« less

Integrating small satellite communication in an autonomous vehicle network: A case for oceanography

NASA Astrophysics Data System (ADS)

Guerra, André G. C.; Ferreira, António Sérgio; Costa, Maria; Nodar-López, Diego; Aguado Agelet, Fernando

2018-04-01

Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been built, with decreasing costs and form-factor payloads. Here we focus on combining these two multifaceted assets in an incremental way, with an ultimate goal of alleviating the logistical expenses in remote oceanographic operations. The first goal is to create a highly reliable and constantly available communication link for a network of autonomous vehicles, taking advantage of the small satellite lower cost, with respect to conventional spacecraft, and its higher flexibility. We have developed a test platform as a proving ground for this network, by integrating a satellite software defined radio on an unmanned air vehicle, creating a system of systems, and several tests have been run successfully, over land. As soon as the satellite is fully operational, we will start to move towards a cooperative network of autonomous vehicles and small satellites, with application in maritime operations, both in-situ and remote sensing.

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

NASA Technical Reports Server (NTRS)

Quraishi, Naveed (Inventor)

1996-01-01

An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

Context recognition and situation assessment in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Yavnai, Arie

1993-05-01

The capability to recognize the operating context and to assess the situation in real-time is needed, if a high functionality autonomous mobile robot has to react properly and effectively to continuously changing situations and events, either external or internal, while the robot is performing its assigned tasks. A new approach and architecture for context recognition and situation assessment module (CORSA) is presented in this paper. CORSA is a multi-level information processing module which consists of adaptive decision and classification algorithms. It performs dynamic mapping from the data space to the context space, and dynamically decides on the context class. Learning mechanism is employed to update the decision variables so as to minimize the probability of misclassification. CORSA is embedded within the Mission Manager module of the intelligent autonomous hyper-controller (IAHC) of the mobile robot. The information regarding operating context, events and situation is then communicated to other modules of the IAHC where it is used to: (a) select the appropriate action strategy; (b) support the processes to arbitration and conflict resolution between reflexive behaviors and reasoning-driven behaviors; (c) predict future events and situations; and (d) determine criteria and priorities for planning, replanning, and decision making.

Non-destructive inspection in industrial equipment using robotic mobile manipulation

NASA Astrophysics Data System (ADS)

Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander; Fernández, Ane; Ibarguren, Aitor; Molina, Jorge; Tubio, Carlos; Villasante, Cristobal; Felsch, Torsten; Pérez, Carmen; Rodriguez, Jorge R.; Ghrissi, Meftah

2016-05-01

MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

Evaluating driver reactions to new vehicle technologies intended to increase safety and mobility across the lifespan.

DOT National Transportation Integrated Search

2013-05-01

Personal vehicle manufactures are introducing a wide range of new technologies that are : intended to increase the safety, comfort, and mobility of drivers of all ages. Examples range from : semi-autonomous technologies such as adaptive cruise contro...

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks

NASA Astrophysics Data System (ADS)

Tan, Jindong; Xi, Ning

2004-09-01

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

Merged Vision and GPS Control of a Semi-Autonomous, Small Helicopter

NASA Technical Reports Server (NTRS)

Rock, Stephen M.

1999-01-01

This final report documents the activities performed during the research period from April 1, 1996 to September 30, 1997. It contains three papers: Carrier Phase GPS and Computer Vision for Control of an Autonomous Helicopter; A Contestant in the 1997 International Aerospace Robotics Laboratory Stanford University; and Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter.

Escape and evade control policies for ensuring the physical security of nonholonomic, ground-based, unattended mobile sensor nodes

NASA Astrophysics Data System (ADS)

Mascarenas, David; Stull, Christopher; Farrar, Charles

2011-06-01

In order to realize the wide-scale deployment of high-endurance, unattended mobile sensing technologies, it is vital to ensure the self-preservation of the sensing assets. Deployed mobile sensor nodes face a variety of physical security threats including theft, vandalism and physical damage. Unattended mobile sensor nodes must be able to respond to these threats with control policies that facilitate escape and evasion to a low-risk state. In this work the Precision Immobilization Technique (PIT) problem has been considered. The PIT maneuver is a technique that a pursuing, car-like vehicle can use to force a fleeing vehicle to abruptly turn ninety degrees to the direction of travel. The abrupt change in direction generally causes the fleeing driver to lose control and stop. The PIT maneuver was originally developed by law enforcement to end vehicular pursuits in a manner that minimizes damage to the persons and property involved. It is easy to imagine that unattended autonomous convoys could be targets of this type of action by adversarial agents. This effort focused on developing control policies unattended mobile sensor nodes could employ to escape, evade and recover from PIT-maneuver-like attacks. The development of these control policies involved both simulation as well as small-scale experimental testing. The goal of this work is to be a step toward ensuring the physical security of unattended sensor node assets.

On-Demand Mobility (ODM) Technical Pathway: Enabling Ease of Use and Safety

NASA Technical Reports Server (NTRS)

Goodrich, Ken; Moore, Mark

2015-01-01

On-demand mobility (ODM) through aviation refers to the ability to quickly and easily move people or equivalent cargo without delays introduced by lack of, or infrequently, scheduled service. A necessary attribute of ODM is that it be easy to use, requiring a minimum of special training, skills, or workload. Fully-autonomous vehicles would provide the ultimate in ease-of-use (EU) but are currently unproven for safety-critical applications outside of a few, situationally constrained applications (e.g. automated trains operating in segregated systems). Applied to aviation, the current and near-future state of the art of full-autonomy, may entail undesirable trade-offs such as very conservative operational margins resulting in reduced trip reliability and transportation utility. Furthermore, acceptance by potential users and regulatory authorities will be challenging without confidence in autonomous systems in developed in less critical, but still challenging applications. A question for the aviation community is how we can best develop practical ease-of-use for aircraft that are sized to carry a small number of passengers (e.g. 1-9) or equivalent cargo. Such development is unlikely to be a single event, but rather a managed, evolutionary process where responsibility and authority transitions from human to automation agents as operational experience is gained with increasingly intelligent systems. This talk presents a technology road map being developed at NASA Langley, as part of an overall strategy to foster ODM, for the development of ease-of-use for ODM aviation.

A prototype home robot with an ambient facial interface to improve drug compliance.

PubMed

Takacs, Barnabas; Hanak, David

2008-01-01

We have developed a prototype home robot to improve drug compliance. The robot is a small mobile device, capable of autonomous behaviour, as well as remotely controlled operation via a wireless datalink. The robot is capable of face detection and also has a display screen to provide facial feedback to help motivate patients and thus increase their level of compliance. An RFID reader can identify tags attached to different objects, such as bottles, for fluid intake monitoring. A tablet dispenser allows drug compliance monitoring. Despite some limitations, experience with the prototype suggests that simple and low-cost robots may soon become feasible for care of people living alone or in isolation.

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: i) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; To study the fine structure of insect flight trajectories with in order to better understand the characteristics of flight control, orientation and navigation.

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: (1) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; (2) To study the fine structure of insect flight trajectories in order to better understand the characteristics of flight control, orientation and navigation.

Automatic detection and classification of obstacles with applications in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Ponomaryov, Volodymyr I.; Rosas-Miranda, Dario I.

2016-04-01

Hardware implementation of an automatic detection and classification of objects that can represent an obstacle for an autonomous mobile robot using stereo vision algorithms is presented. We propose and evaluate a new method to detect and classify objects for a mobile robot in outdoor conditions. This method is divided in two parts, the first one is the object detection step based on the distance from the objects to the camera and a BLOB analysis. The second part is the classification step that is based on visuals primitives and a SVM classifier. The proposed method is performed in GPU in order to reduce the processing time values. This is performed with help of hardware based on multi-core processors and GPU platform, using a NVIDIA R GeForce R GT640 graphic card and Matlab over a PC with Windows 10.

Autonomous Navigation Error Propagation Assessment for Lunar Surface Mobility Applications

NASA Technical Reports Server (NTRS)

Welch, Bryan W.; Connolly, Joseph W.

2006-01-01

The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. While navigation systems have already been proven in the Apollo missions to the moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In this document, the results of an autonomous navigation error propagation assessment are provided. The analysis is intended to be the baseline error propagation analysis for which Earth-based and Lunar-based radiometric data are added to compare these different architecture schemes, and quantify the benefits of an integrated approach, in how they can handle lunar surface mobility applications when near the Lunar South pole or on the Lunar Farside.

A close relative of the nuclear, chromosomal high-mobility group protein HMG1 in yeast mitochondria.

PubMed Central

Diffley, J F; Stillman, B

1991-01-01

ABF2 (ARS-binding factor 2), a small, basic DNA-binding protein that binds specifically to the autonomously replicating sequence ARS1, is located primarily in the mitochondria of the yeast Saccharomyces cerevisiae. The abundance of ABF2 and the phenotype of abf2- null mutants argue that this protein plays a key role in the structure, maintenance, and expression of the yeast mitochondrial genome. The predicted amino acid sequence of ABF2 is closely related to the high-mobility group proteins HMG1 and HMG2 from vertebrate cell nuclei and to several other DNA-binding proteins. Additionally, ABF2 and the other HMG-related proteins are related to a globular domain from the heat shock protein hsp70 family. ABF2 interacts with DNA both nonspecifically and in a specific manner within regulatory regions, suggesting a mechanism whereby it may aid in compacting the mitochondrial genome without interfering with expression. Images PMID:1881919

Development of a mobile robot for the 1995 AUVS competition

NASA Astrophysics Data System (ADS)

Matthews, Bradley O.; Ruthemeyer, Michael A.; Perdue, David; Hall, Ernest L.

1995-12-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors systems. The speed and steering control are supervised by a 486 computer through a 3-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. The is micro-controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system, where even computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating with the computer the X,Y coordinates of the lane marker. Testing of these systems yielded positive results by showing that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous controller applicable for any mobile vehicle with only minor adaptations.

System control of an autonomous planetary mobile spacecraft

NASA Technical Reports Server (NTRS)

Dias, William C.; Zimmerman, Barbara A.

1990-01-01

The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.

Fusing Laser Reflectance and Image Data for Terrain Classification for Small Autonomous Robots

DTIC Science & Technology

2014-12-01

limit us to low power, lightweight sensors , and a maximum range of approximately 5 meters. Contrast these robot characteristics to typical terrain...classifi- cation work which uses large autonomous ground vehicles with sensors mounted high above the ground. Terrain classification for small autonomous...into predefined classes [10], [11]. However, wheeled vehicles offer the ability to use non-traditional sensors such as vibration sensors [12] and

Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Martin, Jason; Flann, Nicholas S.; Moore, Kevin L.

2002-07-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) have been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). One among the several out growths of this work has been the development of a grammar-based approach to intelligent behavior generation for commanding autonomous robotic vehicles. In this paper we describe the use of this grammar for enabling autonomous behaviors. A supervisory task controller (STC) sequences high-level action commands (taken from the grammar) to be executed by the robot. It takes as input a set of goals and a partial (static) map of the environment and produces, from the grammar, a flexible script (or sequence) of the high-level commands that are to be executed by the robot. The sequence is derived by a planning function that uses a graph-based heuristic search (A* -algorithm). Each action command has specific exit conditions that are evaluated by the STC following each task completion or interruption (in the case of disturbances or new operator requests). Depending on the system's state at task completion or interruption (including updated environmental and robot sensor information), the STC invokes a reactive response. This can include sequencing the pending tasks or initiating a re-planning event, if necessary. Though applicable to a wide variety of autonomous robots, an application of this approach is demonstrated via simulations of ODIS, an omni-directional inspection system developed for security applications.

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

PubMed Central

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Duca, Angelica Lo; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011. PMID:22438748

Secure cooperation of autonomous mobile sensors using an underwater acoustic network.

PubMed

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Lo Duca, Angelica; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles-AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA Technical Reports Server (NTRS)

Allen, B. Danette; Cross, Charles D.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc; Trujillo, Anna C.; Crisp, Vicki K.

2015-01-01

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

An architecture for an autonomous learning robot

NASA Technical Reports Server (NTRS)

Tillotson, Brian

1988-01-01

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.

Mobility and generation of mosaic non-autonomous transposons by Tn3-derived inverted-repeat miniature elements (TIMEs).

PubMed

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

2014-01-01

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.

Autonomous navigation and mobility for a planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

1989-01-01

This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

An autonomous, automated and mobile device to concurrently assess several cognitive functions in group-living non-human primates.

PubMed

Fizet, Jonas; Rimele, Adam; Pebayle, Thierry; Cassel, Jean-Christophe; Kelche, Christian; Meunier, Hélène

2017-11-01

Research methods in cognitive neuroscience using non-human primates have undergone notable changes over the last decades. Recently, several research groups have described freely accessible devices equipped with a touchscreen interface. Two characteristics of such systems are of particular interest: some apparatuses include automated identification of subjects, while others are mobile. Here, we designed, tested and validated an experimental system that, for the first time, combine automatization and mobility. Moreover, our system allows autonomous learning and testing of cognitive performance in group-living subjects, including follow-up assessments. The mobile apparatus is designed to be available 24h a day, 7days a week, in a typical confined primate breeding and housing facility. Here we present as proof of concept, the results of two pilot studies. We report that rhesus macaques (Macaca mulatta) learned the tasks rapidly and achieved high-level of stable performance. Approaches of this kind should be developed for future pharmacological and biomedical studies in non-human primates. Copyright © 2017 Elsevier Inc. All rights reserved.

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

NASA Astrophysics Data System (ADS)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized second-order altitude models for the quadrotor, AR.Drone 2.0. Proportional (P), pole placement or proportional plus velocity (PV), linear quadratic regulator (LQR), and model reference adaptive control (MRAC) controllers are designed and validated through simulations using MATLAB/Simulink. Control input saturation and time delay in the controlled systems are also studied. MATLAB graphical user interface (GUI) and Simulink programs are developed to implement the controllers on the drone. Thirdly, the time delay in the drone's control system is estimated using analytical and experimental methods. In the experimental approach, the transient properties of the experimental altitude responses are compared to those of simulated responses. The analytical approach makes use of the Lambert W function to obtain analytical solutions of scalar first-order delay differential equations (DDEs). A time-delayed P-feedback control system (retarded type) is used in estimating the time delay. Then an improved system performance is obtained by incorporating the estimated time delay in the design of the PV control system (neutral type) and PV-MRAC control system. Furthermore, the stability of a parametric perturbed linear time-invariant (LTI) retarded-type system is studied. This is done by analytically calculating the stability radius of the system. Simulation of the control system is conducted to confirm the stability. This robust control design and uncertainty analysis are conducted for first-order and second-order quadrotor models. Lastly, the robustly designed PV and PV-MRAC control systems are used to autonomously track multiple waypoints. Also, the robustness of the PV-MRAC controller is tested against a baseline PV controller using the payload capability of the drone. It is shown that the PV-MRAC offers several benefits over the fixed-gain approach of the PV controller. The adaptive control is found to offer enhanced robustness to the payload fluctuations.

Development of Autonomous Optimal Cooperative Control in Relay Rover Configured Small Unmanned Aerial Systems

DTIC Science & Technology

2013-03-01

Unmanned Aircraft Systems Flight Plan that identified small unmanned aerial systems ( SUAS ) as “a profound technological...advances in small unmanned aerial systems ( SUAS ) cooperative control. The end state objective of the research effort was to flight test an autonomous...requirements were captured in the Unmanned Aircraft Systems Flight Plan . The flight plan

Intelligent Adaptive Systems: Literature Research of Design Guidance for Intelligent Adaptive Automation and Interfaces

DTIC Science & Technology

2007-09-01

behaviour based on past experience of interacting with the operator), and mobile (i.e., can move themselves from one machine to another). Edwards argues that...Sofge, D., Bugajska, M., Adams, W., Perzanowski, D., and Schultz, A. (2003). Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots...based architecture can provide a natural and scalable approach to implementing a multimodal interface to control mobile robots through dynamic

Secure, Mobile, Wireless Network Technology Designed, Developed, and Demonstrated

NASA Technical Reports Server (NTRS)

Ivancic, William D.; Paulsen, Phillip E.

2004-01-01

The inability to seamlessly disseminate data securely over a high-integrity, wireless broadband network has been identified as a primary technical barrier to providing an order-of-magnitude increase in aviation capacity and safety. Secure, autonomous communications to and from aircraft will enable advanced, automated, data-intensive air traffic management concepts, increase National Air Space (NAS) capacity, and potentially reduce the overall cost of air travel operations. For the first time ever, secure, mobile, network technology was designed, developed, and demonstrated with state-ofthe- art protocols and applications by a diverse, cooperative Government-industry team led by the NASA Glenn Research Center. This revolutionary technology solution will make fundamentally new airplane system capabilities possible by enabling secure, seamless network connections from platforms in motion (e.g., cars, ships, aircraft, and satellites) to existing terrestrial systems without the need for manual reconfiguration. Called Mobile Router, the new technology autonomously connects and configures networks as they traverse from one operating theater to another. The Mobile Router demonstration aboard the Neah Bay, a U.S. Coast Guard vessel stationed in Cleveland, Ohio, accomplished secure, seamless interoperability of mobile network systems across multiple domains without manual system reconfiguration. The Neah Bay was chosen because of its low cost and communications mission similarity to low-Earth-orbiting satellite platforms. This technology was successfully advanced from technology readiness level (TRL) 2 (concept and/or application formation) to TRL 6 (system model or prototype demonstration in a relevant environment). The secure, seamless interoperability offered by the Mobile Router and encryption device will enable several new, vehicle-specific and systemwide technologies to perform such things as remote, autonomous aircraft performance monitoring and early detection and mitigation of potential equipment malfunctions. As an additional benefit, team advancements were incorporated into open standards, ensuring technology transfer. Low-cost, commercial products incorporating the new technology are already available. Furthermore, these products are fully interoperable with legacy network technology equipment currently being used throughout the world.

A development of intelligent entertainment robot for home life

NASA Astrophysics Data System (ADS)

Kim, Cheoltaek; Lee, Ju-Jang

2005-12-01

The purpose of this paper was to present the study and design idea for entertainment robot with educational purpose (IRFEE). The robot has been designed for home life considering dependability and interaction. The developed robot has three objectives - 1. Develop autonomous robot, 2. Design robot considering mobility and robustness, 3. Develop robot interface and software considering entertainment and education functionalities. The autonomous navigation was implemented by active vision based SLAM and modified EPF algorithm. The two differential wheels, the pan-tilt were designed mobility and robustness and the exterior was designed considering esthetic element and minimizing interference. The speech and tracking algorithm provided the good interface with human. The image transfer and Internet site connection is needed for service of remote connection and educational purpose.

MER Surface Phase; Blurring the Line Between Fault Protection and What is Supposed to Happen

NASA Technical Reports Server (NTRS)

Reeves, Glenn E.

2008-01-01

An assessment on the limitations of communication with MER rovers and how such constraints drove the system design, flight software and fault protection architecture, blurring the line between traditional fault protection and expected nominal behavior, and requiring the most novel autonomous and semi-autonomous elements of the vehicle software including communication, surface mobility, attitude knowledge acquisition, fault protection, and the activity arbitration service.

An Autonomous Mobile Agent-Based Distributed Learning Architecture: A Proposal and Analytical Analysis

ERIC Educational Resources Information Center

Ahmed, Iftikhar; Sadeq, Muhammad Jafar

2006-01-01

Current distance learning systems are increasingly packing highly data-intensive contents on servers, resulting in the congestion of network and server resources at peak service times. A distributed learning system based on faded information field (FIF) architecture that employs mobile agents (MAs) has been proposed and simulated in this work. The…

A design approach for small vision-based autonomous vehicles

NASA Astrophysics Data System (ADS)

Edwards, Barrett B.; Fife, Wade S.; Archibald, James K.; Lee, Dah-Jye; Wilde, Doran K.

2006-10-01

This paper describes the design of a small autonomous vehicle based on the Helios computing platform, a custom FPGA-based board capable of supporting on-board vision. Target applications for the Helios computing platform are those that require lightweight equipment and low power consumption. To demonstrate the capabilities of FPGAs in real-time control of autonomous vehicles, a 16 inch long R/C monster truck was outfitted with a Helios board. The platform provided by such a small vehicle is ideal for testing and development. The proof of concept application for this autonomous vehicle was a timed race through an environment with obstacles. Given the size restrictions of the vehicle and its operating environment, the only feasible on-board sensor is a small CMOS camera. The single video feed is therefore the only source of information from the surrounding environment. The image is then segmented and processed by custom logic in the FPGA that also controls direction and speed of the vehicle based on visual input.

Computational Mobility: An Overview

NASA Technical Reports Server (NTRS)

Suri, Niranjan

2005-01-01

This viewgraph presentation describes a framework for the autonomous control of robot swarms, which negotiate with each other, delegate authority to their peers, and cooperate in teams to accomplish tasks.

Remote-controlled vision-guided mobile robot system

NASA Astrophysics Data System (ADS)

Ande, Raymond; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

Improving mobile robot localization: grid-based approach

NASA Astrophysics Data System (ADS)

Yan, Junchi

2012-02-01

Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

An Autonomous Distributed Fault-Tolerant Local Positioning System

NASA Technical Reports Server (NTRS)

Malekpour, Mahyar R.

2017-01-01

We describe a fault-tolerant, GPS-independent (Global Positioning System) distributed autonomous positioning system for static/mobile objects and present solutions for providing highly-accurate geo-location data for the static/mobile objects in dynamic environments. The reliability and accuracy of a positioning system fundamentally depends on two factors; its timeliness in broadcasting signals and the knowledge of its geometry, i.e., locations and distances of the beacons. Existing distributed positioning systems either synchronize to a common external source like GPS or establish their own time synchrony using a scheme similar to a master-slave by designating a particular beacon as the master and other beacons synchronize to it, resulting in a single point of failure. Another drawback of existing positioning systems is their lack of addressing various fault manifestations, in particular, communication link failures, which, as in wireless networks, are increasingly dominating the process failures and are typically transient and mobile, in the sense that they typically affect different messages to/from different processes over time.

Mobile app for human-interaction with sitter robots

NASA Astrophysics Data System (ADS)

Das, Sumit Kumar; Sahu, Ankita; Popa, Dan O.

2017-05-01

Human environments are often unstructured and unpredictable, thus making the autonomous operation of robots in such environments is very difficult. Despite many remaining challenges in perception, learning, and manipulation, more and more studies involving assistive robots have been carried out in recent years. In hospital environments, and in particular in patient rooms, there are well-established practices with respect to the type of furniture, patient services, and schedule of interventions. As a result, adding a robot into semi-structured hospital environments is an easier problem to tackle, with results that could have positive benefits to the quality of patient care and the help that robots can offer to nursing staff. When working in a healthcare facility, robots need to interact with patients and nurses through Human-Machine Interfaces (HMIs) that are intuitive to use, they should maintain awareness of surroundings, and offer safety guarantees for humans. While fully autonomous operation for robots is not yet technically feasible, direct teleoperation control of the robot would also be extremely cumbersome, as it requires expert user skills, and levels of concentration not available to many patients. Therefore, in our current study we present a traded control scheme, in which the robot and human both perform expert tasks. The human-robot communication and control scheme is realized through a mobile tablet app that can be customized for robot sitters in hospital environments. The role of the mobile app is to augment the verbal commands given to a robot through natural speech, camera and other native interfaces, while providing failure mode recovery options for users. Our app can access video feed and sensor data from robots, assist the user with decision making during pick and place operations, monitor the user health over time, and provides conversational dialogue during sitting sessions. In this paper, we present the software and hardware framework that enable a patient sitter HMI, and we include experimental results with a small number of users that demonstrate that the concept is sound and scalable.

Control of autonomous robot using neural networks

NASA Astrophysics Data System (ADS)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

Creating a Mobile Autonomous Robot Research System (MARRS)

DTIC Science & Technology

1984-12-01

Laboratory was made possible through the energetic support of many individuals and organizations. In particluar, we want to thank our thesis advisor Dr...subsystems. Computer Hardware Until a few years ago autonomous vehicles were unheard of in real life. The advent of the microcomputer has made fact...8217i.vjf/^vf.’ Most software development efforts for MARRS-1 took advantage of Virtual Devices Robo C compiler and Robo Assembler. The next best

On-Line Point Positioning with Single Frame Camera Data

DTIC Science & Technology

1992-03-15

tion algorithms and methods will be found in robotics and industrial quality control. 1. Project data The project has been defined as "On-line point...development and use of the OLT algorithms and meth- ods for applications in robotics , industrial quality control and autonomous vehicle naviga- tion...Of particular interest in robotics and autonomous vehicle navigation is, for example, the task of determining the position and orientation of a mobile

Toward autonomous driving: The CMU Navlab. II - Architecture and systems

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined.

Bolts from Orion: Destroying Mobile Surface-to-Air Missile Systems with Lethal Autonomous Aircraft

DTIC Science & Technology

2016-07-01

era SAMs that had been upgraded by Ukrainian contractors . During the operation, Russian aircraft’s 10 electronic countermeasures could not...main SEAD asset is the F-16 CJ equipped with the HARM targeting system ( HTS ). The HTS can autonomously locate and identify threat radars and pass...targeting information to the HARMs before launch. The HTS can also provide targeting 13 information to global positioning system (GPS) guided

Optimal sensor fusion for land vehicle navigation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morrow, J.D.

1990-10-01

Position location is a fundamental requirement in autonomous mobile robots which record and subsequently follow x,y paths. The Dept. of Energy, Office of Safeguards and Security, Robotic Security Vehicle (RSV) program involves the development of an autonomous mobile robot for patrolling a structured exterior environment. A straight-forward method for autonomous path-following has been adopted and requires digitizing'' the desired road network by storing x,y coordinates every 2m along the roads. The position location system used to define the locations consists of a radio beacon system which triangulates position off two known transponders, and dead reckoning with compass and odometer. Thismore » paper addresses the problem of combining these two measurements to arrive at a best estimate of position. Two algorithms are proposed: the optimal'' algorithm treats the measurements as random variables and minimizes the estimate variance, while the average error'' algorithm considers the bias in dead reckoning and attempts to guarantee an average error. Data collected on the algorithms indicate that both work well in practice. 2 refs., 7 figs.« less

Anticipation of interoceptive threat in highly anxiety sensitive persons.

PubMed

Melzig, Christiane A; Michalowski, Jaroslaw M; Holtz, Katharina; Hamm, Alfons O

2008-10-01

Anticipatory anxiety plays a major role in the etiology of panic disorder. Although anticipatory anxiety elicited by expectation of interoceptive cues is specifically relevant for panic patients, it has rarely been studied. Using a population analogue in high fear of such interoceptive arousal sensations (highly anxiety sensitive persons) we evaluated a new experimental paradigm to assess anticipatory anxiety during anticipation of interoceptive (somatic sensations evoked by hyperventilation) and exteroceptive (electric shock) threat. Symptom reports, autonomic arousal, and defensive response mobilization (startle eyeblink response) were monitored during threat and matched safe conditions in 26 highly anxiety sensitive persons and 22 controls. The anticipation of exteroceptive threat led to a defensive and autonomic mobilization as indexed by a potentiation of the startle response and an increase in skin conductance level in both experimental groups. During interoceptive threat, however, only highly anxiety sensitive persons but not the controls exhibited a startle response potentiation as well as autonomic activation. The anticipation of a hyperventilation procedure thus seems a valid paradigm to investigate anticipatory anxiety elicited by interoceptive cues in the clinical context.

TARDEC Overview: Ground Vehicle Power and Mobility

DTIC Science & Technology

2011-02-04

Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

Mobility-Dependent Motion Planning for High Speed Robotic Vehicles

DTIC Science & Technology

2008-07-25

of the vehicle’s mobility in such type of terrain. Moreover, autonomous driv- ing of wheeled vehicles at high speeds adds a new level of complexity due...dynamic effects such as wheel slip, skidding, ballistic behavior, rollover, and vehicle-terrain interaction phenomena. Navigation algorithms must also...description of mobility was defined as the probability that for a given 6 ini ial v 10 ity at an initial po ition h robo will hav a non-n gative ve- loci y

Final Environmental Impact Statement for the Kauai Acoustic Thermometry of Ocean Climate Project and Its Associated Marine Mammal Research Program: Vol 1

DTIC Science & Technology

1995-05-01

at zero source level to allow time for any mobile marine animal who was annoyed by the sound to depart the affected area; and project facilities would...using conventional thermometers); autonomous polar hydrophones; and a dual site experiment using mobile playback experiments. Of the twelve alternatives...HYDROPHONES (ICE NOISE 2-43 MEASUREMENTS) (ALTERNATIVE 11) 2.2.12 DUAL SITE EXPERIMENT; ALTERNATIVE MMRP 2-44 TECHNIQUES -- MOBILE PLAYBACK EXPERIMENTS

ARK: Autonomous mobile robot in an industrial environment

NASA Technical Reports Server (NTRS)

Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

1994-01-01

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Navigation strategies for multiple autonomous mobile robots moving in formation

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1991-01-01

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.

BRIDGE - Behavioural reaching interfaces during daily antigravity activities through upper limb exoskeleton: Preliminary results.

PubMed

Gandolla, Marta; Costa, Andrea; Aquilante, Lorenzo; Gfoehler, Margit; Puchinger, Markus; Braghin, Francesco; Pedrocchi, Alessandra

2017-07-01

People with neuromuscular diseases such as muscular dystrophy experience a distributed and evolutive weakness in the whole body. Recent technological developments have changed the daily life of disabled people strongly improving the perceived quality of life, mostly concentrating on powered wheelchairs, so to assure autonomous mobility and respiratory assistance, essential for survival. The key concept of the BRIDGE project is to contrast the everyday experience of losing functions by providing them of a system able to exploit the best their own residual capabilities in arm movements so to keep them functional and autonomous as much as possible. BRIDGE is composed by a light, wearable and powered five degrees of freedom upper limb exoskeleton under the direct control of the user through a joystick or gaze control. An inverse kinematic model allows to determine joints position so to track patient desired hand position. BRIDGE prototype has been successfully tested in simulation environment, and by a small group of healthy volunteers. Preliminary results show a good tracking performance of the implemented control scheme. The interaction procedure was easy to understand, and the interaction with the system was successful.

Autonomous Learner Model Resource Book

ERIC Educational Resources Information Center

Betts, George T.; Carey, Robin J.; Kapushion, Blanche M.

2016-01-01

"Autonomous Learner Model Resource Book" includes activities and strategies to support the development of autonomous learners. More than 40 activities are included, all geared to the emotional, social, cognitive, and physical development of students. Teachers may use these activities and strategies with the entire class, small groups, or…

Hardware platform for multiple mobile robots

NASA Astrophysics Data System (ADS)

Parzhuber, Otto; Dolinsky, D.

2004-12-01

This work is concerned with software and communications architectures that might facilitate the operation of several mobile robots. The vehicles should be remotely piloted or tele-operated via a wireless link between the operator and the vehicles. The wireless link will carry control commands from the operator to the vehicle, telemetry data from the vehicle back to the operator and frequently also a real-time video stream from an on board camera. For autonomous driving the link will carry commands and data between the vehicles. For this purpose we have developed a hardware platform which consists of a powerful microprocessor, different sensors, stereo- camera and Wireless Local Area Network (WLAN) for communication. The adoption of IEEE802.11 standard for the physical and access layer protocols allow a straightforward integration with the internet protocols TCP/IP. For the inspection of the environment the robots are equipped with a wide variety of sensors like ultrasonic, infrared proximity sensors and a small inertial measurement unit. Stereo cameras give the feasibility of the detection of obstacles, measurement of distance and creation of a map of the room.

Mobile robot knowledge base

NASA Astrophysics Data System (ADS)

Heath Pastore, Tracy; Barnes, Mitchell; Hallman, Rory

2005-05-01

Robot technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the not-to-distant past, tracking development efforts of robot platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking. The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robot system user. The resource includes searchable information on robot components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robot systems.

Effects of short-term W-CDMA mobile phone base station exposure on women with or without mobile phone related symptoms.

PubMed

Furubayashi, Toshiaki; Ushiyama, Akira; Terao, Yasuo; Mizuno, Yoko; Shirasawa, Kei; Pongpaibool, Pornanong; Simba, Ally Y; Wake, Kanako; Nishikawa, Masami; Miyawaki, Kaori; Yasuda, Asako; Uchiyama, Mitsunori; Yamashita, Hitomi Kobayashi; Masuda, Hiroshi; Hirota, Shogo; Takahashi, Miyuki; Okano, Tomoko; Inomata-Terada, Satomi; Sokejima, Shigeru; Maruyama, Eiji; Watanabe, Soichi; Taki, Masao; Ohkubo, Chiyoji; Ugawa, Yoshikazu

2009-02-01

To investigate possible health effects of mobile phone use, we conducted a double-blind, cross-over provocation study to confirm whether subjects with mobile phone related symptoms (MPRS) are more susceptible than control subjects to the effect of electromagnetic fields (EMF) emitted from base stations. We sent questionnaires to 5,000 women and obtained 2,472 valid responses from possible candidates; from these, we recruited 11 subjects with MPRS and 43 controls. There were four EMF exposure conditions, each of which lasted 30 min: continuous, intermittent, and sham exposure with and without noise. Subjects were exposed to EMF of 2.14 GHz, 10 V/m (W-CDMA), in a shielded room to simulate whole-body exposure to EMF from base stations, although the exposure strength we used was higher than that commonly received from base stations. We measured several psychological and cognitive parameters pre- and post-exposure, and monitored autonomic functions. Subjects were asked to report on their perception of EMF and level of discomfort during the experiment. The MPRS group did not differ from the controls in their ability to detect exposure to EMF; nevertheless they consistently experienced more discomfort, regardless of whether or not they were actually exposed to EMF, and despite the lack of significant changes in their autonomic functions. Thus, the two groups did not differ in their responses to real or sham EMF exposure according to any psychological, cognitive or autonomic assessment. In conclusion, we found no evidence of any causal link between hypersensitivity symptoms and exposure to EMF from base stations. Copyright 2008 Wiley-Liss, Inc.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-04

AND MULTI-BODY DYNAMICS Jayakumar , Smith, Ross, Jategaonkar, Konarzewski 4 August 2011 UNCLASSIFIED: Distribution Statement A. Approved for public...Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Cannot neglect vehicle dynamics 4 August 2011 3 UNCLASSIFIED Importance of Simulation Fidelity • Performance evaluation requires entire system

Micro Autonomous Systems Research: Systems Engineering Processes for Micro-Autonomous Systems

DTIC Science & Technology

2015-09-30

detailed geometry that can be sent directly to an automated manufacturing process like a 3D printer . Like traditional design, 3D CAD files were...force REF is stationed. The REF operates mobile manufacturing labs equipped with 3D printers , laser cutters, and CNC mills. The REF takes the...to verify that the 3d printer was cable of printing airfoil sections with sufficient accuracy and consistency while also providing an airfoil that

Multidisciplinary unmanned technology teammate (MUTT)

NASA Astrophysics Data System (ADS)

Uzunovic, Nenad; Schneider, Anne; Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark

2013-01-01

The U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) held an autonomous robot competition called CANINE in June 2012. The goal of the competition was to develop innovative and natural control methods for robots. This paper describes the winning technology, including the vision system, the operator interaction, and the autonomous mobility. The rules stated only gestures or voice commands could be used for control. The robots would learn a new object at the start of each phase, find the object after it was thrown into a field, and return the object to the operator. Each of the six phases became more difficult, including clutter of the same color or shape as the object, moving and stationary obstacles, and finding the operator who moved from the starting location to a new location. The Robotic Research Team integrated techniques in computer vision, speech recognition, object manipulation, and autonomous navigation. A multi-filter computer vision solution reliably detected the objects while rejecting objects of similar color or shape, even while the robot was in motion. A speech-based interface with short commands provided close to natural communication of complicated commands from the operator to the robot. An innovative gripper design allowed for efficient object pickup. A robust autonomous mobility and navigation solution for ground robotic platforms provided fast and reliable obstacle avoidance and course navigation. The research approach focused on winning the competition while remaining cognizant and relevant to real world applications.

Heterogeneous Teams of Autonomous Vehicles: Advanced Sensing & Control

DTIC Science & Technology

2009-03-01

Final Technical 3. DATES COVERED (From To) 7/1/05-12/31708 4. TITLE AND SUBTITLE Heterogeneous Teams of Autonomous Vehicles Advanced Sensing...assimilating data from underwater and surface autonomous vehicles in addition to the usual sources of Eulerian and Lagrangian systems into a small scale

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

PubMed

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-04-13

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

PubMed Central

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-01-01

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car. PMID:28406426

Acoustic Communications and Navigation for Mobile Under-Ice Sensors

DTIC Science & Technology

2017-02-04

From- To) 04/02/2017 Final Report 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Acoustic Communications and Navigation for Mobile Under-Ice Sensors...development and fielding of a new acoustic communications and navigation system for use on autonomous platforms (gliders and profiling floats) under the...contact below the ice. 15. SUBJECT TERMS Arctic Ocean, Undersea Workstations & Vehicles, Signal Processing, Navigation, Underwater Acoustics 16

Integrated mobile robot control

NASA Technical Reports Server (NTRS)

Amidi, Omead; Thorpe, Charles

1991-01-01

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Autonomous Learning in Mobile Cognitive Machines

DTIC Science & Technology

2017-11-25

2016). [18] Liu, Wei, et al. "Ssd: Single shot multibox detector." European conference on computer vision. Springer, Cham, 2016. [19] Vinyals, Oriol...the brain being evolved to support its mobility has been raised. In fact, as the project progressed, the researchers discovered that if one of the...deductive, relies on rule-based programming, and can solve complex problems, however, faces difficulties in learning and adaptability. The latter

Maintaining Limited-Range Connectivity Among Second-Order Agents

DTIC Science & Technology

2016-07-07

we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are: (i) do...hoc networks of mobile autonomous agents. This loose ter- minology refers to groups of robotic agents with limited mobility and communica- tion...connectivity can be preserved. 3.1. Networks of robotic agents with second-order dynamics and the connectivity maintenance problem. We begin by

Integrated mobile robot control

NASA Astrophysics Data System (ADS)

Amidi, Omead; Thorpe, Chuck E.

1991-03-01

This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

Explosive vapor detection payload for small robots

NASA Astrophysics Data System (ADS)

Stimac, Phil J.; Pettit, Michael; Wetzel, John P.; Haas, John W.

2013-05-01

Detection of explosive hazards is a critical component of enabling and improving operational mobility and protection of US Forces. The Autonomous Mine Detection System (AMDS) developed by the US Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate (NVESD) is addressing this challenge for dismounted soldiers. Under the AMDS program, ARA has developed a vapor sampling system that enhances the detection of explosive residues using commercial-off-the-shelf (COTS) sensors. The Explosives Hazard Trace Detection (EHTD) payload is designed for plug-and-play installation and operation on small robotic platforms, addressing critical Army needs for more safely detecting concealed or exposed explosives in areas such as culverts, walls and vehicles. In this paper, we describe the development, robotic integration and performance of the explosive vapor sampling system, which consists of a sampling "head," a vapor transport tube and an extendable "boom." The sampling head and transport tube are integrated with the boom, allowing samples to be collected from targeted surfaces up to 7-ft away from the robotic platform. During sample collection, an IR lamp in the sampling head is used to heat a suspected object/surface and the vapors are drawn through the heated vapor transport tube to an ion mobility spectrometer (IMS) for detection. The EHTD payload is capable of quickly (less than 30 seconds) detecting explosives such as TNT, PETN, and RDX at nanogram levels on common surfaces (brick, concrete, wood, glass, etc.).

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

NASA Technical Reports Server (NTRS)

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

2015-01-01

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.

Application of autonomous robotized systems for the collection of nearshore topographic changing and hydrodynamic measurements

NASA Astrophysics Data System (ADS)

Belyakov, Vladimir; Makarov, Vladimir; Zezyulin, Denis; Kurkin, Andrey; Pelinovsky, Efim

2015-04-01

Hazardous phenomena in the coastal zone lead to the topographic changing which are difficulty inspected by traditional methods. It is why those autonomous robots are used for collection of nearshore topographic and hydrodynamic measurements. The robot RTS-Hanna is well-known (Wubbold, F., Hentschel, M., Vousdoukas, M., and Wagner, B. Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements. Coastal Engineering Proceedings, 2012, vol. 33, Paper 53). We describe here several constructions of mobile systems developed in Laboratory "Transported Machines and Transported Complexes", Nizhny Novgorod State Technical University. They can be used in the field surveys and monitoring of wave regimes nearshore.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Neuromorphic vision sensors and preprocessors in system applications

NASA Astrophysics Data System (ADS)

Kramer, Joerg; Indiveri, Giacomo

1998-09-01

A partial review of neuromorphic vision sensors that are suitable for use in autonomous systems is presented. Interfaces are being developed to multiplex the high- dimensional output signals of arrays of such sensors and to communicate them in standard formats to off-chip devices for higher-level processing, actuation, storage and display. Alternatively, on-chip processing stages may be implemented to extract sparse image parameters, thereby obviating the need for multiplexing. Autonomous robots are used to test neuromorphic vision chips in real-world environments and to explore the possibilities of data fusion from different sensing modalities. Examples of autonomous mobile systems that use neuromorphic vision chips for line tracking and optical flow matching are described.

Development and Characteristics of a Mobile, Semi-Autonomous Floating Platform for in situ Lake Measurements

NASA Astrophysics Data System (ADS)

Barry, D.; Lemmin, U.; Le Dantec, N.; Zulliger, L.; Rusterholz, M.; Bolay, M.; Rossier, J.; Kangur, K.

2013-12-01

In the development of sustainable management strategies of lakes more insight into their physical, chemical and ecological dynamics is needed. Field data obtained from various types of sensors with adequate spatial and temporal sampling rate are essential to understand better the processes that govern fluxes and pathways of water masses and transported compounds, whether for model validation or for monitoring purposes. One advantage of unmanned platforms is that they limit the disturbances typically affecting the quality of data collected on small vessels, including perturbations caused by movements of onboard crew. We have developed a mobile, semi-autonomous floating platform with 8 h power autonomy using a 5 m long by 2.5 m wide catamaran. Our approach focused on modularity and high payload capacity in order to accommodate a large number of sensors both in terms of electronic (power and data) and mechanical constraints of integration. Software architecture and onboard electronics use National Instruments technology to simplify and standardize integration of sensors, actuators and communication. Piecewise-movable deck sections allow optimizing platform stability depending on the payload. The entire system is controlled by a remote computer located on an accompanying vessel and connected via a wireless link with a range of over 1 km. Real-time transmission of GPS-stamped measurements allows immediate modifications in the survey plan if needed. The displacement of the platform is semi-autonomous, with the options of either autopilot mode following a pre-planned course specified by waypoints or remote manual control from the accompanying vessel. Maintenance of permanent control over the platform displacement is required for safety reasons with respect to other users of the lake. Currently, the sensor payload comprises an array of fast temperature probes, a bottom-tracking ADCP and atmospheric sensors including a radiometer. A towed CTD with additional water quality sensors operated from a remotely controlled winch is presently being integrated. Field tests have shown that the platform is reliable, capable of collecting long transects of 2D lake and collocated atmospheric boundary layer data and adaptable to integrate new sensors.

Sign detection for autonomous navigation

NASA Astrophysics Data System (ADS)

Goodsell, Thomas G.; Snorrason, Magnus S.; Cartwright, Dustin; Stube, Brian; Stevens, Mark R.; Ablavsky, Vitaly X.

2003-09-01

Mobile robots currently cannot detect and read arbitrary signs. This is a major hindrance to mobile robot usability, since they cannot be tasked using directions that are intuitive to humans. It also limits their ability to report their position relative to intuitive landmarks. Other researchers have demonstrated some success on traffic sign recognition, but using template based methods limits the set of recognizable signs. There is a clear need for a sign detection and recognition system that can process a much wider variety of signs: traffic signs, street signs, store-name signs, building directories, room signs, etc. We are developing a system for Sign Understanding in Support of Autonomous Navigation (SUSAN), that detects signs from various cues common to most signs: vivid colors, compact shape, and text. We have demonstrated the feasibility of our approach on a variety of signs in both indoor and outdoor locations.

Fuzzy logic control of an AGV

NASA Astrophysics Data System (ADS)

Kelkar, Nikhal; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic approach for steering and speed control, a neuro-fuzzy approach for ultrasound sensing (not discussed in this paper) and an overall expert system. The advantages of a modular system are related to portability and transportability, i.e. any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors. The speed and steering fuzzy logic controller is supervised by a 486 computer through a multi-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. This micro- controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system in which high speed computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected by a vision tracking device that transmits the X, Y coordinates of the lane marker to the control computer. Simulation and testing of these systems yielded promising results. This design, in its modularity, creates a portable autonomous fuzzy logic controller applicable to any mobile vehicle with only minor adaptations.

Cooperative Mobile Sensing Systems for In Situ Measurements in Hazardous Environments

NASA Astrophysics Data System (ADS)

Argrow, B.

2005-12-01

Sondes are typically deployed from manned aircraft or taken to altitude by a balloon before they are dropped. There are obvious safety and physical limitations that dictate where and how sondes are deployed. These limitations have severely constrained sonde deployment into highly dynamic and dangerous environments. Additionally, conventional parachute dropsondes provide no means for active control. The "smartsonde" idea is to integrate miniature sonde packages into micro air vehicles (MAVs). These MAVs will be ferried into the hard to reach and hazardous environments to provide in situ measurements in regions that have been heretofore out of reach. Once deployed, the MAV will provide some means of control of the sonde, to enable it to remain aloft and to provide some measure of directional control. Preliminary smartsonde communications experiments have been completed. These experiments focused on characterizing the capabilities of the 802.11.4 wireless protocol. Range measurements with 60-mW, 2.4-GHz radios showed 100% throughput rate over 2.7 km during air to ground tests. The experiments also demonstrated the integration of an in-house distributed computing system that provides the interface between the sensors, UAV flight computers, and the telemetry system. The University of Colorado's Research and Engineering Center for Unmanned Vehicles (RECUV) is developing an engineering system that integrates small mobile sensor attributes into flexible mobile sensor infrastructures to be deployed for in situ sensing in hazardous environments. There are three focus applications: 1) Wildfire, to address sensing, communications, situational awareness, and safety needs to support fire-fighting operations and to increase capabilities for dynamic data acquisition for modeling and prediction; 2) Polar, where heterogeneous mixes of platforms and sensors will provide in-situ data acquisition from beneath the ocean surface into the troposphere; 3) Storm, to address the challenges of volumetric in-situ data acquisition in the extremely dynamic environments of severe storms. The common thread among these applications is the need for a cooperative mobile sensing system, where sensor packages are integrated into custom platforms that enable targeting of areas of interest through the cooperative control, with varying levels of autonomy, of small unmanned vehicles. RECUV has demonstrated mobile ad hoc networks using WiFi (802.11b) radios simultaneously deployed in fixed and mobile ground nodes and unmanned aerial vehicles (UAVs). Recently, an autonomous UAV was deployed with a miniature sensor package that returned real-time temperature, pressure, and humidity data, through the ad hoc communications network. The UAV demonstrated the ability to autonomously make flight-path decisions based on the sensor data that was monitored by the flight computer. Current work is now focused on integrating the sensor package into a smartsonde to be deployed from a UAV mothership. Benign scenarios for upcoming tests to validate the collaborative mobile sensing system paradigm include scenarios with features similar to those that will be encountered in the hazardous and dynamic environments a of the wildfire, polar, and storm applications. These include a fly-through of a dust devil on the planes of eastern Colorado and deployment of a dual-mode smartsonde that transmits at high data rates while airborne then, upon landing, it switches to quiet, power-saving mode , where in situ data is logged and only transmitted when the sonde package is queried during overflights of a UAV mothership.

Acute abdominal pain as the only symptom of a thoracic demyelinating lesion in multiple sclerosis.

PubMed

Nomura, Shohei; Shimakawa, Shuichi; Kashiwagi, Mitsuru; Tanabe, Takuya; Fukui, Miho; Tamai, Hiroshi

2015-11-01

Multiple sclerosis (MS) is a syndrome characterized by complex neurological symptoms resulting from demyelinating lesions in the central nervous system. We report a child with a relapse of MS whose only presenting symptom was severe abdominal pain. Dysfunctional intestinal mobility was assessed by abdominal computed tomography. Findings resembled paralytic ileus resulting from peritonitis. However, the patient demonstrated no other symptoms of peritonitis. A T2-weighted magnetic resonance image revealed a new demyelinating lesion localized to thoracic segments T4-T12. The lesion presumably affected autonomic efferents involved in intestinal mobility. Treatment with a pulse of methylprednisolone reduced both abdominal pain and lesion size. To our knowledge, this is the first reported case of a pediatric MS patient with a demyelinating lesion associated with an autonomic symptom of altered intestinal mobility in the absence of neurological symptoms. This atypical presentation of MS highlights the need for physicians' vigilance when treating this patient population. Copyright © 2015 The Japanese Society of Child Neurology. Published by Elsevier B.V. All rights reserved.

Navigation Architecture For A Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space-based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts.

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

NASA Technical Reports Server (NTRS)

Tran, Loc; Cross, Charles; Montague, Gilbert; Motter, Mark; Neilan, James; Qualls, Garry; Rothhaar, Paul; Trujillo, Anna; Allen, B. Danette

2015-01-01

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

NASA Technical Reports Server (NTRS)

Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

1990-01-01

Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

Stabilizing Motifs in Autonomous Boolean Networks and the Yeast Cell Cycle Oscillator

NASA Astrophysics Data System (ADS)

Sevim, Volkan; Gong, Xinwei; Socolar, Joshua

2009-03-01

Synchronously updated Boolean networks are widely used to model gene regulation. Some properties of these model networks are known to be artifacts of the clocking in the update scheme. Autonomous updating is a less artificial scheme that allows one to introduce small timing perturbations and study stability of the attractors. We argue that the stabilization of a limit cycle in an autonomous Boolean network requires a combination of motifs such as feed-forward loops and auto-repressive links that can correct small fluctuations in the timing of switching events. A recently published model of the transcriptional cell-cycle oscillator in yeast contains the motifs necessary for stability under autonomous updating [1]. [1] D. A. Orlando, et al. Nature (London), 4530 (7197):0 944--947, 2008.

Bio-inspired Autonomic Structures: a middleware for Telecommunications Ecosystems

NASA Astrophysics Data System (ADS)

Manzalini, Antonio; Minerva, Roberto; Moiso, Corrado

Today, people are making use of several devices for communications, for accessing multi-media content services, for data/information retrieving, for processing, computing, etc.: examples are laptops, PDAs, mobile phones, digital cameras, mp3 players, smart cards and smart appliances. One of the most attracting service scenarios for future Telecommunications and Internet is the one where people will be able to browse any object in the environment they live: communications, sensing and processing of data and services will be highly pervasive. In this vision, people, machines, artifacts and the surrounding space will create a kind of computational environment and, at the same time, the interfaces to the network resources. A challenging technological issue will be interconnection and management of heterogeneous systems and a huge amount of small devices tied together in networks of networks. Moreover, future network and service infrastructures should be able to provide Users and Application Developers (at different levels, e.g., residential Users but also SMEs, LEs, ASPs/Web2.0 Service roviders, ISPs, Content Providers, etc.) with the most appropriate "environment" according to their context and specific needs. Operators must be ready to manage such level of complication enabling their latforms with technological advanced allowing network and services self-supervision and self-adaptation capabilities. Autonomic software solutions, enhanced with innovative bio-inspired mechanisms and algorithms, are promising areas of long term research to face such challenges. This chapter proposes a bio-inspired autonomic middleware capable of leveraging the assets of the underlying network infrastructure whilst, at the same time, supporting the development of future Telecommunications and Internet Ecosystems.

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew Edie; Matthies, Larry H.

2000-01-01

We have developed and tested a software algorithm that enables onboard autonomous motion estimation near small bodies using descent camera imagery and laser altimetry. Through simulation and testing, we have shown that visual feature tracking can decrease uncertainty in spacecraft motion to a level that makes landing on small, irregularly shaped, bodies feasible. Possible future work will include qualification of the algorithm as a flight experiment for the Deep Space 4/Champollion comet lander mission currently under study at the Jet Propulsion Laboratory.

Efforts toward an autonomous wheelchair - biomed 2011.

PubMed

Barrett, Steven; Streeter, Robert

2011-01-01

An autonomous wheelchair is in development to provide mobility to those with significant physical challenges. The overall goal of the project is to develop a wheelchair that is fully autonomous with the ability to navigate about an environment and negotiate obstacles. As a starting point for the project, we have reversed engineered the joystick control system of an off-the-shelf commercially available wheelchair. The joystick control has been replaced with a microcontroller based system. The microcontroller has the capability to interface with a number of subsystems currently under development including wheel odometers, obstacle avoidance sensors, and ultrasonic-based wall sensors. This paper will discuss the microcontroller based system and provide a detailed system description. Results of this study may be adapted to commercial or military robot control.

Development for SSV on a parallel processing system (PARAGON)

NASA Astrophysics Data System (ADS)

Gothard, Benny M.; Allmen, Mark; Carroll, Michael J.; Rich, Dan

1995-12-01

A goal of the surrogate semi-autonomous vehicle (SSV) program is to have multiple vehicles navigate autonomously and cooperatively with other vehicles. This paper describes the process and tools used in porting UGV/SSV (unmanned ground vehicle) autonomous mobility and target recognition algorithms from a SISD (single instruction single data) processor architecture (i.e., a Sun SPARC workstation running C/UNIX) to a MIMD (multiple instruction multiple data) parallel processor architecture (i.e., PARAGON-a parallel set of i860 processors running C/UNIX). It discusses the gains in performance and the pitfalls of such a venture. It also examines the merits of this processor architecture (based on this conceptual prototyping effort) and programming paradigm to meet the final SSV demonstration requirements.

Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

NASA Astrophysics Data System (ADS)

Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

2010-01-01

After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

Simple autonomous Mars walker

NASA Technical Reports Server (NTRS)

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

1989-01-01

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.

A CDMA synchronisation scheme

NASA Technical Reports Server (NTRS)

Soprano, C.

1993-01-01

CDMA (Code Division Multiple Access) is known to decrease inter-service interference in Satellite Communication Systems. Its performance is increased by chip quasi-synchronous operation which virtually eliminates the self-noise; however, the theory shows that the time error on the synchronization has to be kept at less than one tenth of a chip which, for 1 Mchip/sec. spreading rate, corresponds to 10(exp -7) sec. This, on the return-link, may only be achieved by means of a closed loop control system which, for mobile communication systems, has to be capable of autonomous operation. Until now some results have been reported on the feasibility of chip quasi-synchronous operation for mobile communication systems only including satellites on GEO (Geostationary Earth Orbit). In what follows, the basic principles are exposed, and results are presented showing how low chip synchronism error may be achieved by means of an autonomous control loop operating through satellites on any Earth orbit.

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

NASA Technical Reports Server (NTRS)

Regalado Reyes, Bjorn Constant

2015-01-01

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

A large array of high-performance artificial stars using airship-supported small mirrors

NASA Astrophysics Data System (ADS)

Content, Robert; Foxwell, Mark; Murray, Graham J.

2004-10-01

We propose a practical system that can provide a large number of high performance artificial stars, of the order of a few hundred, using an array of small mirrors on an airship supported platform illuminated from the ground by a laser. Our concept offers several advantages over other guide star schemes: Airborne mirror arrays can furnish tip-tilt information; they also permit a considerable reduction in the total ground-laser power required; high intensity guide stars with very small angular image size are possible; and finally they offer very low scattered parasite laser light. More basic & simpler launch-laser & AO technologies can therefore be employed, with potentially huge cost savings, with potentially significant improvement in the quality of the AO correction. The general platform scheme and suitable lift technologies are also discussed. A novel concept for achieving precise positioning is presented whereby the platform & the lifting vehicle are linked by a tether, the platform having a degree of independent control. Our proposal would employ as the lift vehicle an autonomous high altitude airship of the type currently under widespread development in the commercial sector, for use as hubs for telecommunication networks, mobile telephone relay stations, etc.

Autonomous telemetry system by using mobile networks for a long-term seismic observation

NASA Astrophysics Data System (ADS)

Hirahara, S.; Uchida, N.; Nakajima, J.

2012-04-01

When a large earthquake occurs, it is important to know the detailed distribution of aftershocks immediately after the main shock for the estimation of the fault plane. The large amount of seismic data is also required to determine the three-dimensional seismic velocity structure around the focal area. We have developed an autonomous telemetry system using mobile networks, which is specialized for aftershock observations. Because the newly developed system enables a quick installation and real-time data transmission by using mobile networks, we can construct a dense online seismic network even in mountain areas where conventional wired networks are not available. This system is equipped with solar panels that charge lead-acid battery, and enables a long-term seismic observation without maintenance. Furthermore, this system enables a continuous observation at low costs with flat-rate or prepaid Internet access. We have tried to expand coverage areas of mobile communication and back up Internet access by configuring plural mobile carriers. A micro server embedded with Linux consists of automatic control programs of the Internet connection and data transmission. A status monitoring and remote maintenance are available via the Internet. In case of a communication failure, an internal storage can back up data for two years. The power consumption of communication device ranges from 2.5 to 4.0 W. With a 50 Ah lead-acid battery, this system continues to record data for four days if the battery charging by solar panels is temporarily unavailable.

Visual guidance of mobile platforms

NASA Astrophysics Data System (ADS)

Blissett, Rodney J.

1993-12-01

Two systems are described and results presented demonstrating aspects of real-time visual guidance of autonomous mobile platforms. The first approach incorporates prior knowledge in the form of rigid geometrical models linking visual references within the environment. The second approach is based on a continuous synthesis of information extracted from image tokens to generate a coarse-grained world model, from which potential obstacles are inferred. The use of these techniques in workplace applications is discussed.

Production of Viable Gametes without Meiosis in Maize Deficient for an ARGONAUTE Protein[W

PubMed Central

Singh, Manjit; Goel, Shalendra; Meeley, Robert B.; Dantec, Christelle; Parrinello, Hugues; Michaud, Caroline; Leblanc, Olivier; Grimanelli, Daniel

2011-01-01

Apomixis is a form of asexual reproduction through seeds in angiosperms. Apomictic plants bypass meiosis and fertilization, developing offspring that are genetically identical to their mother. In a genetic screen for maize (Zea mays) mutants mimicking aspects of apomixis, we identified a dominant mutation resulting in the formation of functional unreduced gametes. The mutant shows defects in chromatin condensation during meiosis and subsequent failure to segregate chromosomes. The mutated locus codes for AGO104, a member of the ARGONAUTE family of proteins. AGO104 accumulates specifically in somatic cells surrounding the female meiocyte, suggesting a mobile signal rather than cell-autonomous control. AGO104 is necessary for non-CG methylation of centromeric and knob-repeat DNA. Digital gene expression tag profiling experiments using high-throughput sequencing show that AGO104 influences the transcription of many targets in the ovaries, with a strong effect on centromeric repeats. AGO104 is related to Arabidopsis thaliana AGO9, but while AGO9 acts to repress germ cell fate in somatic tissues, AGO104 acts to repress somatic fate in germ cells. Our findings show that female germ cell development in maize is dependent upon conserved small RNA pathways acting non-cell-autonomously in the ovule. Interfering with this repression leads to apomixis-like phenotypes in maize. PMID:21325139

Planetary cubesats - mission architectures

NASA Astrophysics Data System (ADS)

Bousquet, Pierre W.; Ulamec, Stephan; Jaumann, Ralf; Vane, Gregg; Baker, John; Clark, Pamela; Komarek, Tomas; Lebreton, Jean-Pierre; Yano, Hajime

2016-07-01

Miniaturisation of technologies over the last decade has made cubesats a valid solution for deep space missions. For example, a spectacular set 13 cubesats will be delivered in 2018 to a high lunar orbit within the frame of SLS' first flight, referred to as Exploration Mission-1 (EM-1). Each of them will perform autonomously valuable scientific or technological investigations. Other situations are encountered, such as the auxiliary landers / rovers and autonomous camera that will be carried in 2018 to asteroid 1993 JU3 by JAXA's Hayabusas 2 probe, and will provide complementary scientific return to their mothership. In this case, cubesats depend on a larger spacecraft for deployment and other resources, such as telecommunication relay or propulsion. For both situations, we will describe in this paper how cubesats can be used as remote observatories (such as NEO detection missions), as technology demonstrators, and how they can perform or contribute to all steps in the Deep Space exploration sequence: Measurements during Deep Space cruise, Body Fly-bies, Body Orbiters, Atmospheric probes (Jupiter probe, Venus atmospheric probes, ..), Static Landers, Mobile landers (such as balloons, wheeled rovers, small body rovers, drones, penetrators, floating devices, …), Sample Return. We will elaborate on mission architectures for the most promising concepts where cubesat size devices offer an advantage in terms of affordability, feasibility, and increase of scientific return.

Event detection and localization for small mobile robots using reservoir computing.

PubMed

Antonelo, E A; Schrauwen, B; Stroobandt, D

2008-08-01

Reservoir Computing (RC) techniques use a fixed (usually randomly created) recurrent neural network, or more generally any dynamic system, which operates at the edge of stability, where only a linear static readout output layer is trained by standard linear regression methods. In this work, RC is used for detecting complex events in autonomous robot navigation. This can be extended to robot localization tasks which are solely based on a few low-range, high-noise sensory data. The robot thus builds an implicit map of the environment (after learning) that is used for efficient localization by simply processing the input stream of distance sensors. These techniques are demonstrated in both a simple simulation environment and in the physically realistic Webots simulation of the commercially available e-puck robot, using several complex and even dynamic environments.

Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

NASA Astrophysics Data System (ADS)

Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

2017-10-01

Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

New methodology for preventing pressure ulcers using actimetry and autonomous nervous system recording.

PubMed

Meffre, R; Gehin, C; Schmitt, P M; De Oliveira, F; Dittmar, A

2006-01-01

Pressure ulcers constitute an important health problem. They affect lots of people with mobility disorder and they are difficult to detect and prevent because the damage begins on the muscle. This paper proposes a new approach to study pressure ulcers. We aim at developing a methodology to analyse the probability for a patient to develop a pressure ulcer, and that can detect risky situation. The idea is to relate the mobility disorder to autonomic nervous system (ANS) trouble. More precisely, the evaluation of the consequence of the discomfort on the ANS (stress induced by discomfort) can be relevant for the early detection of the pressure ulcer. Mobility is evaluated through movement measurement. This evaluation, at the interface between soft living tissues and any support has to consider the specificity of the human environment. Soft living tissues have non-linear mechanical properties making conventional rigid sensors non suitable for interface parameters measurement. A new actimeter system has been designed in order to study movements of the human body whatever its support while seating. The device is based on elementary active cells. The number of pressure cells can be easily adapted to the application. The spatial resolution is about 4 cm(2). In this paper, we compare activity measurement of a seated subject with his autonomic nervous system activity, recorded by E.motion device. It has been developed in order to record six parameters: skin potential, skin resistance, skin temperature, skin blood rate, instantaneous cardiac frequency and instantaneous respiratory frequency. The design, instrumentation, and first results are presented.

Effects of a small talking facial image on autonomic activity: the moderating influence of dispositional BIS and BAS sensitivities and emotions.

PubMed

Ravaja, Niklas

2004-01-01

We examined the moderating influence of dispositional behavioral inhibition system and behavioral activation system (BAS) sensitivities, Negative Affect, and Positive Affect on the relationship between a small moving vs. static facial image and autonomic responses when viewing/listening to news messages read by a newscaster among 36 young adults. Autonomic parameters measured were respiratory sinus arrhythmia (RSA), low-frequency (LF) component of heart rate variability (HRV), electrodermal activity, and pulse transit time (PTT). The results showed that dispositional BAS sensitivity, particularly BAS Fun Seeking, and Negative Affect interacted with facial image motion in predicting autonomic nervous system activity. A moving facial image was related to lower RSA and LF component of HRV and shorter PTTs as compared to a static facial image among high BAS individuals. Even a small talking facial image may contribute to sustained attentional engagement among high BAS individuals, given that the BAS directs attention toward the positive cue and a moving social stimulus may act as a positive incentive for high BAS individuals.

Estimation and Control for Autonomous Coring from a Rover Manipulator

NASA Technical Reports Server (NTRS)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Experiments in autonomous robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hamel, W.R.

1987-01-01

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.

Lidar-based door and stair detection from a mobile robot

NASA Astrophysics Data System (ADS)

Bansal, Mayank; Southall, Ben; Matei, Bogdan; Eledath, Jayan; Sawhney, Harpreet

2010-04-01

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Organisation of autonomic nervous structures in the small intestine of chinchilla (Chinchilla laniger, Molina).

PubMed

Nowak, E

2014-08-01

Using histochemical, histological and immunocytochemical methods, organisation of the autonomic nerve structures in small intestine of chinchilla was investigated. Myenteric plexus was localised between circular and longitudinal layers of the smooth muscles. Forming network nodes, the small autonomic, cholinergic ganglia were linked with the bundles of nerve fibres. Adrenergic structures were visible as specific varicose, rosary-like fibres forming bundles of parallel fibres connecting network nodes. Structures of the submucosal plexus formed a finer network than those of the myenteric plexus. Moreover, in 'whole-mount' specimens, fibres forming thick perivascular plexuses were also observed. Immunocytochemical studies confirmed the cholinergic and adrenergic character of the investigated structures. VAChT-positive neurones were found only in myenteric plexus, and numerous VAChT-positive and DBH-positive fibres were found in both plexuses. © 2013 Blackwell Verlag GmbH.

Utah State University's T2 ODV mobility analysis

NASA Astrophysics Data System (ADS)

Davidson, Morgan E.; Bahl, Vikas; Wood, Carl G.

2000-07-01

In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes a study of the mobility of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a mid-scale (625 kg), second-generation ODV mobile robot with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of unlimited steering rotation, presenting a unique solution to enhanced vehicle mobility requirements. This mobility study focuses on energy consumption in three basic experiments, comparing two modes of steering: Ackerman and ODV. The experiments are all performed on the same vehicle without any physical changes to the vehicle itself, providing a direct comparison these two steering methodologies. A computer simulation of the T2 mechanical and control system dynamics is described.

Compact autonomous navigation system (CANS)

NASA Astrophysics Data System (ADS)

Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

Development and deployment of a low-cost, mobile-ready, air quality sensor system: progress toward distributed networks and autonomous aerial sampling

NASA Astrophysics Data System (ADS)

Hersey, S. P.; DiVerdi, R.; Gadtaula, P.; Sheneman, T.; Flores, K.; Chen, Y. H.; Jayne, J. T.; Cross, E. S.

2017-12-01

Throughout the 2016-2017 academic year, a new partnership between Olin College of Engineering and Aerodyne Research, Inc. developed an affordable, self-contained air quality monitoring instrument called Modulair. The Modulair instrument is based on the same operating principles as Aerodyne's newly-developed ARISense integrated sensor system, employing electrochemical sensors for gas-phase measurements of CO, NO, NO2, and O3 and an off-the-shelf optical particle counter for particle concentration, number, and size distribution information (0.4 < dp < 17 microns). High Dimensional Model Representation (HDMR) has been used to model the interference derived from relative humidity and temperature as well as the cross-sensitivity of the electrochemical sensors to non-target gas-phase species. The aim of the modeling effort is to provide transparent and robust calibration of electrical signals to pollutant concentrations from a set of electrochemical sensors. Modulair was designed from the ground-up, with custom electronics - including a more powerful microcontroller, a fully re-designed housing and a device-specific backend with a mobile, cloud-based data management system for real-time data posting and analysis. Open source tools and software were utilized in the development of the instrument. All initial work was completed by a team of undergraduate students as part of the Senior Capstone Program in Engineering (SCOPE) at Olin College. Deployment strategies for Modulair include distributed, mobile measurements and drone-based aerial sampling. Design goals for the drone integration include maximizing airborne sampling time and laying the foundation for software integration with the drone's autopilot system to allow for autonomous plume sampling across concentration gradients. Modulair and its flexible deployments enable real-time mapping of air quality data at exposure-relevant spatial scales, as well as regular, autonomous characterization of sources and dispersion of atmospheric pollutants. We will present an overview of the Modulair instrument and results from benchtop and field validation, including mobile and drone-based plume sampling in the Boston area.

Implementation of a piezoelectrically actuated self-contained quadruped robot

NASA Astrophysics Data System (ADS)

Ho, Thanhtam; Lee, Sangyoon

2009-05-01

In this paper we present the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezoelectric actuators for the bounding gait locomotion, i.e., two rear legs have the same movement and two front legs do too. The actuator named LIPCA (LIghtweight Piezoceramic Composite curved Actuator) is a piezocomposite actuator that uses a PZT layer that is sandwiched between composite materials of carbon/epoxy and glass/epoxy layers to amplify the displacement. A biomimetic concept is applied to the design of the robot in a simplified way, such that each leg of the robot has only one degree of freedom. Considering that LIPCA requires a high input voltage and possesses capacitive characteristics, a small power supply circuit using PICO chips is designed for the implementation of selfcontained mobile robot. The prototype with the weight of 125 gram and the length of 120 mm can locomote with the bounding gait. Experiments showed that the robot can locomote at about 50 mm/sec with the circuit on board and the operation time is about 5 minutes, which can be considered as a meaningful progress toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.

Autonomous distributed self-organization for mobile wireless sensor networks.

PubMed

Wen, Chih-Yu; Tang, Hung-Kai

2009-01-01

This paper presents an adaptive combined-metrics-based clustering scheme for mobile wireless sensor networks, which manages the mobile sensors by utilizing the hierarchical network structure and allocates network resources efficiently A local criteria is used to help mobile sensors form a new cluster or join a current cluster. The messages transmitted during hierarchical clustering are applied to choose distributed gateways such that communication for adjacent clusters and distributed topology control can be achieved. In order to balance the load among clusters and govern the topology change, a cluster reformation scheme using localized criterions is implemented. The proposed scheme is simulated and analyzed to abstract the network behaviors in a number of settings. The experimental results show that the proposed algorithm provides efficient network topology management and achieves high scalability in mobile sensor networks.

The Challenge of Planning and Execution for Spacecraft Mobile Robots

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

Resource allocation and supervisory control architecture for intelligent behavior generation

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Moore, Kevin L.; Flann, Nicholas S.; Martin, Jason

2003-09-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) was funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). As part of our research, we presented the use of a grammar-based approach to enabling intelligent behaviors in autonomous robotic vehicles. With the growth of the number of available resources on the robot, the variety of the generated behaviors and the need for parallel execution of multiple behaviors to achieve reaction also grew. As continuation of our past efforts, in this paper, we discuss the parallel execution of behaviors and the management of utilized resources. In our approach, available resources are wrapped with a layer (termed services) that synchronizes and serializes access to the underlying resources. The controlling agents (called behavior generating agents) generate behaviors to be executed via these services. The agents are prioritized and then, based on their priority and the availability of requested services, the Control Supervisor decides on a winner for the grant of access to services. Though the architecture is applicable to a variety of autonomous vehicles, we discuss its application on T4, a mid-sized autonomous vehicle developed for security applications.

Mexico's Oxbridge.

ERIC Educational Resources Information Center

Haussman, Fay

1979-01-01

For 400 years the National Autonomous University of Mexico has remained at the hub of the country's intellectual and political life. The history of the University from the Mayas and the Aztecs, University expansion, upward mobility of students, and student pressure groups and politics are described. (MLW)

Autonomous intelligent assembly systems LDRD 105746 final report.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

SAURON: The Wallace Observatory Small AUtonomous Robotic Optical Nightwatcher

NASA Astrophysics Data System (ADS)

Kosiarek, M.; Mansfield, M.; Brothers, T.; Bates, H.; Aviles, R.; Brode-Roger, O.; Person, M.; Russel, M.

2017-07-01

The Small AUtonomous Robotic Optical Nightwatcher (SAURON) is an autonomous telescope consisting of an 11-inch Celestron Nexstar telescope on a SoftwareBisque Paramount ME II in a Technical Innovations ProDome located at the MIT George R. Wallace, Jr. Astrophysical Observatory. This paper describes the construction of the telescope system and its first light data on T-And0-15785, an eclipsing binary star. The out-of-eclipse R magnitude of T-And0-15785 was found to be 13.3258 ± 0.0015 R magnitude, and the magnitude changes for the primary and secondary eclipses were found to be 0.7145 ± 0.0515 and 0.6085 ± 0.0165 R magnitudes, respectively.

Multi-Sensor Based State Prediction for Personal Mobility Vehicles

PubMed Central

Gupta, Pankaj; Umata, Ichiro; Watanabe, Atsushi; Even, Jani; Suyama, Takayuki; Ishii, Shin

2016-01-01

This paper presents a study on multi-modal human emotional state detection while riding a powered wheelchair (PMV; Personal Mobility Vehicle) in an indoor labyrinth-like environment. The study reports findings on the habituation of human stress response during self-driving. In addition, the effects of “loss of controllability”, change in the role of the driver to a passenger, are investigated via an autonomous driving modality. The multi-modal emotional state detector sensing framework consists of four sensing devices: electroencephalograph (EEG), heart inter-beat interval (IBI), galvanic skin response (GSR) and stressor level lever (in the case of autonomous riding). Physiological emotional state measurement characteristics are organized by time-scale, in terms of capturing slower changes (long-term) and quicker changes from moment-to-moment. Experimental results with fifteen participants regarding subjective emotional state reports and commercial software measurements validated the proposed emotional state detector. Short-term GSR and heart signal characterizations captured moment-to-moment emotional state during autonomous riding (Spearman correlation; ρ = 0.6, p < 0.001). Short-term GSR and EEG characterizations reliably captured moment-to-moment emotional state during self-driving (Classification accuracy; 69.7). Finally, long-term GSR and heart characterizations were confirmed to reliably capture slow changes during autonomous riding and also of emotional state during participant resting state. The purpose of this study and the exploration of various algorithms and sensors in a structured framework is to provide a comprehensive background for multi-modal emotional state prediction experiments and/or applications. Additional discussion regarding the feasibility and utility of the possibilities of these concepts are given. PMID:27732589

Multi-Sensor Based State Prediction for Personal Mobility Vehicles.

PubMed

Abdur-Rahim, Jamilah; Morales, Yoichi; Gupta, Pankaj; Umata, Ichiro; Watanabe, Atsushi; Even, Jani; Suyama, Takayuki; Ishii, Shin

2016-01-01

This paper presents a study on multi-modal human emotional state detection while riding a powered wheelchair (PMV; Personal Mobility Vehicle) in an indoor labyrinth-like environment. The study reports findings on the habituation of human stress response during self-driving. In addition, the effects of "loss of controllability", change in the role of the driver to a passenger, are investigated via an autonomous driving modality. The multi-modal emotional state detector sensing framework consists of four sensing devices: electroencephalograph (EEG), heart inter-beat interval (IBI), galvanic skin response (GSR) and stressor level lever (in the case of autonomous riding). Physiological emotional state measurement characteristics are organized by time-scale, in terms of capturing slower changes (long-term) and quicker changes from moment-to-moment. Experimental results with fifteen participants regarding subjective emotional state reports and commercial software measurements validated the proposed emotional state detector. Short-term GSR and heart signal characterizations captured moment-to-moment emotional state during autonomous riding (Spearman correlation; ρ = 0.6, p < 0.001). Short-term GSR and EEG characterizations reliably captured moment-to-moment emotional state during self-driving (Classification accuracy; 69.7). Finally, long-term GSR and heart characterizations were confirmed to reliably capture slow changes during autonomous riding and also of emotional state during participant resting state. The purpose of this study and the exploration of various algorithms and sensors in a structured framework is to provide a comprehensive background for multi-modal emotional state prediction experiments and/or applications. Additional discussion regarding the feasibility and utility of the possibilities of these concepts are given.

Operator Informational Needs for Multiple Autonomous Small Vehicles

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

2015-01-01

With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

Sandia National Laboratories proof-of-concept robotic security vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Trust Management in Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.; Haack, Jereme N.; Fink, Glenn A.

2009-07-07

Reputation-based trust management techniques can address issues such as insider threat as well as quality of service issues that may be malicious in nature. However, trust management techniques must be adapted to the unique needs of the architectures and problem domains to which they are applied. Certain characteristics of swarms such as their lightweight ephemeral nature and indirect communication make this adaptation especially challenging. In this paper we look at the trust issues and opportunities in mobile agent swarm-based autonomic systems and find that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust managementmore » problem becomes much more scalable and still serves to protect the swarms. We also analyze the applicability of trust management research as it has been applied to architectures with similar characteristics. Finally, we specify required characteristics for trust management mechanisms to be used to monitor the trustworthiness of the entities in a swarm-based autonomic computing system.« less

Small Autonomous Air/Sea System Concepts for Coast Guard Missions

NASA Technical Reports Server (NTRS)

Young, Larry A.

2005-01-01

A number of small autonomous air/sea system concepts are outlined in this paper that support and enhance U.S. Coast Guard missions. These concepts draw significantly upon technology investments made by NASA in the area of uninhabited aerial vehicles and robotic/intelligent systems. Such concepts should be considered notional elements of a greater as-yet-not-defined robotic system-of-systems designed to enable unparalleled maritime safety and security.

Boiler water regime

NASA Astrophysics Data System (ADS)

Khavanov, Pavel; Chulenyov, Anatoly

2017-10-01

Active development of autonomous heating the past 25 years has led to the widespread use of hot-water boilers of small capacity up to 2.5 MW. Rational use of the design of autonomous sources of heating boilers design features significantly improve their technical, economic and operational performance. This publication reviewed and analyzed a number of features of the design, operation and exploitation of boilers of small capacity, significantly affecting the efficiency and reliability of their application.

Asteroid Exploration with Autonomic Systems

NASA Technical Reports Server (NTRS)

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

2004-01-01

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.

Autonomous Commanding of the WIRE Spacecraft

NASA Technical Reports Server (NTRS)

Prior, Mike; Walyus, Keith; Saylor, Rick

1999-01-01

This paper presents the end-to-end design architecture for an autonomous commanding capability to be used on the Wide Field Infrared Explorer (WIRE) mission for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented an autonomous command loading capability. This capability allows completely unattended operations over a typical two- day weekend period. The key factors driving design and implementation of this capability were: 1) Integration with already existing ground system autonomous capabilities and systems, 2) The desire to evolve autonomous operations capabilities based upon previous SMEX operations experience 3) Integration with ground station operations - both autonomous and man-tended, 4) Low cost and quick implementation, and 5) End-to-end system robustness. A trade-off study was performed to examine these factors in light of the low-cost, higher-risk SMEX mission philosophy. The study concluded that a STOL (Spacecraft Test and Operations Language) based script, highly integrated with other scripts used to perform autonomous operations, was best suited given the budget and goals of the mission. Each of these factors is discussed to provide an overview of the autonomous operations capabilities implemented for the mission. The capabilities implemented on the WIRE mission are an example of a low-cost, robust, and efficient method for autonomous command loading when implemented with other autonomous features of the ground system. They can be used as a design and implementation template by other small satellite missions interested in evolving toward autonomous and lower cost operations.

A Mobile and Intelligent Patient Diary for Chronic Disease Self-Management.

PubMed

Van Woensel, William; Roy, Patrice C; Abidi, Samina R; Abidi, Syed S R

2015-01-01

By involving patients in their own long-term care, patient self-management approaches aim to increase self-sufficiency and reduce healthcare costs. For example, electronic patient diaries enable patients to collect health data autonomously, increasing self-reliance and reducing strain on health professionals. By deploying patient diaries on mobile platforms, health data collection can occur at any time and place, increasing the mobility of chronic patients who typically need to enter health data frequently. Importantly, an opportunity also arises for mobile clinical decision support, where health feedback is directly issued to patients without relying on connectivity or remote servers. Regardless of the specific self-management strategy, patient and healthcare provider adoption are crucial. Tailoring the system towards the particular patient and toward institution-specific clinical pathways is essential to increasing acceptance. In this paper we discuss a mobile patient diary realizing both the opportunities and challenges of mobile deployment.

A Rover Mobility Platform with Autonomous Capability to Enable Mars Sample Return

NASA Astrophysics Data System (ADS)

Fulford, P.; Langley, C.; Shaw, A.

2018-04-01

The next step in understanding Mars is sample return. In Fall 2016, the CSA conducted an analogue deployment using the Mars Exploration Science Rover. An objective was to demonstrate the maturity of the rover's guidance, navigation, and control.

On the accuracy potential of focused plenoptic camera range determination in long distance operation

NASA Astrophysics Data System (ADS)

Sardemann, Hannes; Maas, Hans-Gerd

2016-04-01

Plenoptic cameras have found increasing interest in optical 3D measurement techniques in recent years. While their basic principle is 100 years old, the development in digital photography, micro-lens fabrication technology and computer hardware has boosted the development and lead to several commercially available ready-to-use cameras. Beyond their popular option of a posteriori image focusing or total focus image generation, their basic ability of generating 3D information from single camera imagery depicts a very beneficial option for certain applications. The paper will first present some fundamentals on the design and history of plenoptic cameras and will describe depth determination from plenoptic camera image data. It will then present an analysis of the depth determination accuracy potential of plenoptic cameras. While most research on plenoptic camera accuracy so far has focused on close range applications, we will focus on mid and long ranges of up to 100 m. This range is especially relevant, if plenoptic cameras are discussed as potential mono-sensorial range imaging devices in (semi-)autonomous cars or in mobile robotics. The results show the expected deterioration of depth measurement accuracy with depth. At depths of 30-100 m, which may be considered typical in autonomous driving, depth errors in the order of 3% (with peaks up to 10-13 m) were obtained from processing small point clusters on an imaged target. Outliers much higher than these values were observed in single point analysis, stressing the necessity of spatial or spatio-temporal filtering of the plenoptic camera depth measurements. Despite these obviously large errors, a plenoptic camera may nevertheless be considered a valid option for the application fields of real-time robotics like autonomous driving or unmanned aerial and underwater vehicles, where the accuracy requirements decrease with distance.

The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

EICKER,PATRICK J.

2001-02-01

Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach tomore » the R and D of ground mobile robots.« less

Autonomous Onboard Science Image Analysis for Future Mars Rover Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these and other algorithms and demonstrate their performance during a recent rover field test.

Autonomic Evaluation of Patients With Gastroparesis and Neurostimulation: Comparisons of Direct/Systemic and Indirect/Cardiac Measures

PubMed Central

Stocker, Abigail; Abell, Thomas L.; Rashed, Hani; Kedar, Archana; Boatright, Ben; Chen, Jiande

2016-01-01

Background Disorders of nausea, vomiting, abdominal pain, and related problems often are manifestations of gastrointestinal, neuromuscular, and/or autonomic dysfunction. Many of these patients respond to neurostimulation, either gastric electrical stimulation or electroacupuncture. Both of these therapeutic techniques appear to influence the autonomic nervous system which can be evaluated directly by traditional testing and indirectly by heart rate variability. Methods We studied patients undergoing gastric neuromodulation by both systemic autonomic testing (39 patients, six males and 33 females, mean age 38 years) and systemic autonomic testing and heart rate variability (35 patients, seven males and 28 females, mean age 37 years) testing before and after gastric neuromodulation. We also performed a pilot study using both systemic autonomic testing and heart rate variability in a small number of patients (five patients, all females, mean age 48.6 years) with diabetic gastroparesis at baseline to compare the two techniques at baseline. Systemic autonomic testing and heart rate variability were performed with standardized techniques and gastric electrical stimulation was performed as previously described with electrodes implanted serosally in the myenteric plexus. Results Both systemic autonomic testing and heart rate variability measures were often abnormal at baseline and showed changes after gastric neuromodulation therapy in two groups of symptomatic patients. Pilot data on a small group of similar patients with systemic automatic nervous measures and heart rate variability showed good concordance between the two techniques. Conclusions Both traditional direct autonomic measures and indirect measures such as heart rate variability were evaluated, including a pilot study of both methods in the same patient group. Both appear to be useful in evaluation of patients at baseline and after stimulation therapies; however, a future full head-to-head comparison is warranted. PMID:27785318

Adaptive Observatories for Observing Moving Marine Organisms (Invited)

NASA Astrophysics Data System (ADS)

Bellingham, J. G.; Scholin, C.; Zhang, Y.; Godin, M. A.; Hobson, B.; Frolov, S.

2010-12-01

The ability to characterize the response of small marine organisms to each other, and to their environment, is a demanding observational challenge. Small organisms live in a water reference frame, while existing cable or mooring-based observatories operate in an Earth reference frame. Thus repeated observations from a fixed system observe different populations as currents sweep organisms by the sensors. In contrast, mobile systems are typically optimized for spatial coverage rather than repeated observations of the same water volume. Lagrangian drifters track water mass, but are unable to find or reposition themselves relative to ocean features. We are developing a system capable of finding, following and observing discrete populations of marine organisms over time, leveraging a decade and a half investment in the Autonomous Ocean Sampling Network (AOSN) program. AOSN undertook the development of platforms to enable multi-platform coordinated measurement of ocean properties in the late 1990s, leading to the development of a variety of autonomous underwater vehicles (AUVs) and associated technologies, notably several glider systems, now in common use. Efforts by a number of research groups have focused on methods to employ these networked systems to observe and predict dynamic physical ocean phenomena. For example, periodic large scale field programs in Monterey Bay have progressively integrated these systems with data systems, predictive models, and web-based collaborative portals. We are adapting these approaches to follow and observe the dynamics of marine organisms. Compared to physical processes, the temporal and spatial variability of small marine organisms, particularly micro-organisms, is typical greater. Consequently, while multi-platform observations of physical processes can be coordinated via intermittent communications links from shore, biological observations require a higher degree of adaptability of the observation system in situ. This talk will describe the platform capabilities developed for such observations, the onboard intelligence for finding and observing discrete populations, and the cyberinfrastructure employed to understand and coordinate observations from shore.

Life Science Research in Outer Space: New Platform Technologies for Low-Cost, Autonomous Small Satellite Missions

NASA Technical Reports Server (NTRS)

Ricco, Antonio J.; Parra, Macarena P.; Niesel, David; McGinnis, Michael; Ehrenfreund, Pascale; Nicholson, Wayne; Mancinelli, Rocco; Piccini, Matthew E.; Beasley, Christopher C.; Timucin, Linda R.;

Beyond NextGen: AutoMax Overview and Update

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal; Alexandrov, Natalia

2013-01-01

Main Message: National and Global Needs - Develop scalable airspace operations management system to accommodate increased mobility needs, emerging airspace uses, mix, future demand. Be affordable and economically viable. Sense of Urgency. Saturation (delays), emerging airspace uses, proactive development. Autonomy is Needed for Airspace Operations to Meet Future Needs. Costs, time critical decisions, mobility, scalability, limits of cognitive workload. AutoMax to Accommodate National and Global Needs. Auto: Automation, autonomy, autonomicity for airspace operations. Max: Maximizing performance of the National Airspace System. Interesting Challenges and Path Forward.

Mobile transporter path planning

NASA Technical Reports Server (NTRS)

Baffes, Paul; Wang, Lui

1990-01-01

The use of a genetic algorithm (GA) for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Elements of the genetic algorithm are explored in both a theoretical and experimental sense. Specifically, double crossover, greedy crossover, and tournament selection techniques are examined. Additionally, the use of local optimization techniques working in concert with the GA are also explored. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research.

Autonomous Sample Acquisition for Planetary and Small Body Explorations

NASA Technical Reports Server (NTRS)

Ghavimi, Ali R.; Serricchio, Frederick; Dolgin, Ben; Hadaegh, Fred Y.

2000-01-01

Robotic drilling and autonomous sample acquisition are considered as the key technology requirements in future planetary or small body exploration missions. Core sampling or subsurface drilling operation is envisioned to be off rovers or landers. These supporting platforms are inherently flexible, light, and can withstand only limited amount of reaction forces and torques. This, together with unknown properties of sampled materials, makes the sampling operation a tedious task and quite challenging. This paper highlights the recent advancements in the sample acquisition control system design and development for the in situ scientific exploration of planetary and small interplanetary missions.

Self-reported post-exertional fatigue in Gulf War veterans: roles of autonomic testing

PubMed Central

Li, Mian; Xu, Changqing; Yao, Wenguo; Mahan, Clare M.; Kang, Han K.; Sandbrink, Friedhelm; Zhai, Ping; Karasik, Pamela A.

2014-01-01

To determine if objective evidence of autonomic dysfunction exists from a group of Gulf War veterans with self-reported post-exertional fatigue, we evaluated 16 Gulf War ill veterans and 12 Gulf War controls. Participants of the ill group had self- reported, unexplained chronic post-exertional fatigue and the illness symptoms had persisted for years until the current clinical study. The controls had no self-reported post-exertional fatigue either at the time of initial survey nor at the time of the current study. We intended to identify clinical autonomic disorders using autonomic and neurophysiologic testing in the clinical context. We compared the autonomic measures between the 2 groups on cardiovascular function at both baseline and head-up tilt, and sudomotor function. We identified 1 participant with orthostatic hypotension, 1 posture orthostatic tachycardia syndrome, 2 distal small fiber neuropathy, and 1 length dependent distal neuropathy affecting both large and small fiber in the ill group; whereas none of above definable diagnoses was noted in the controls. The ill group had a significantly higher baseline heart rate compared to controls. Compound autonomic scoring scale showed a significant higher score (95% CI of mean: 1.72–2.67) among ill group compared to controls (0.58–1.59). We conclude that objective autonomic testing is necessary for the evaluation of self-reported, unexplained post-exertional fatigue among some Gulf War veterans with multi-symptom illnesses. Our observation that ill veterans with self-reported post-exertional fatigue had objective autonomic measures that were worse than controls warrants validation in a larger clinical series. PMID:24431987

A Mechanism to Avoid Collusion Attacks Based on Code Passing in Mobile Agent Systems

NASA Astrophysics Data System (ADS)

Jaimez, Marc; Esparza, Oscar; Muñoz, Jose L.; Alins-Delgado, Juan J.; Mata-Díaz, Jorge

Mobile agents are software entities consisting of code, data, state and itinerary that can migrate autonomously from host to host executing their code. Despite its benefits, security issues strongly restrict the use of code mobility. The protection of mobile agents against the attacks of malicious hosts is considered the most difficult security problem to solve in mobile agent systems. In particular, collusion attacks have been barely studied in the literature. This paper presents a mechanism that avoids collusion attacks based on code passing. Our proposal is based on a Multi-Code agent, which contains a different variant of the code for each host. A Trusted Third Party is responsible for providing the information to extract its own variant to the hosts, and for taking trusted timestamps that will be used to verify time coherence.

A Tree Based Self-routing Scheme for Mobility Support in Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Kim, Young-Duk; Yang, Yeon-Mo; Kang, Won-Seok; Kim, Jin-Wook; An, Jinung

Recently, WSNs (Wireless Sensor Networks) with mobile robot is a growing technology that offer efficient communication services for anytime and anywhere applications. However, the tiny sensor node has very limited network resources due to its low battery power, low data rate, node mobility, and channel interference constraint between neighbors. Thus, in this paper, we proposed a tree based self-routing protocol for autonomous mobile robots based on beacon mode and implemented in real test-bed environments. The proposed scheme offers beacon based real-time scheduling for reliable association process between parent and child nodes. In addition, it supports smooth handover procedure by reducing flooding overhead of control packets. Throughout the performance evaluation by using a real test-bed system and simulation, we illustrate that our proposed scheme demonstrates promising performance for wireless sensor networks with mobile robots.

A design strategy for autonomous systems

NASA Technical Reports Server (NTRS)

Forster, Pete

1989-01-01

Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

An Outdoor Navigation Platform with a 3D Scanner and Gyro-assisted Odometry

NASA Astrophysics Data System (ADS)

Yoshida, Tomoaki; Irie, Kiyoshi; Koyanagi, Eiji; Tomono, Masahiro

This paper proposes a light-weight navigation platform that consists of gyro-assisted odometry, a 3D laser scanner and map-based localization for human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The map-based localization is robust and computationally inexpensive by utilizing a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were conducted at the Tsukuba Challenge held in 2009 and 2010, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km courses in a fully autonomous mode multiple times.

Efficiency of a hybrid-type plasma-assisted fuel reformation system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Matveev, I.B.; Serbin, S.I.; Lux, S.M.

2008-12-15

The major advantages of a new plasma-assisted fuel reformation system are its cost effectiveness and technical efficiency. Applied Plasma Technologies has proposed its new highly efficient hybrid-type plasma-assisted system for organic fuel combustion and gasification. The system operates as a multimode multipurpose reactor in a wide range of plasma feedstock gases and turndown ratios. This system also has convenient and simultaneous feeding of several reagents in the reaction zone such as liquid fuels, coal, steam, and air. A special methodology has been developed for such a system in terms of heat balance evaluation and optimization. This methodology considers all existingmore » and possible energy streams, which could influence the system's efficiency. The developed hybrid-type plasma system could be suitable for combustion applications, mobile and autonomous small- to mid-size liquid fuel and coal gasification modules, hydrogen-rich gas generators, waste-processing facilities, and plasma chemical reactors.« less

Transposition of the maize transposable element Ac in barley (Hordeum vulgare L.).

PubMed

Scholz, S; Lörz, H; Lütticke, S

2001-01-01

Transposition of the maize autonomous element Ac (Activator) was investigated in barley (Hordeum vulgare L.) with the aim of developing a transposon tagging system for the latter. The Ac element was introduced into meristematic tissue of barley by microprojectile bombardment. Transposon activity was then examined in the resulting transgenic plants. Multiple excision events were detected in leaf tissue of all plant lines. The mobile elements generated empty donor sites with small DNA sequence alterations, similar to those found in maize. Reintegration of Ac at independent genomic loci in somatic tissue was demonstrated by isolation of new element-flanking regions by AIMS-PCR (amplification of insertion-mutagenized sites). In addition, transmission of transposed Ac elements to progeny plants was confirmed. The results indicate that the introduced Ac element is able to transpose in barley. This is a first step towards the establishment of a transposon tagging system in this economically important crop.

The diagnostic challenge of small fibre neuropathy: clinical presentations, evaluations, and causes.

PubMed

Terkelsen, Astrid J; Karlsson, Páll; Lauria, Giuseppe; Freeman, Roy; Finnerup, Nanna B; Jensen, Troels S

2017-11-01

Small fibre neuropathies are a heterogeneous group of disorders affecting thinly myelinated Aδ-fibres and unmyelinated C-fibres. Although multiple causes of small nerve fibre degeneration have been reported, including via genetic mutations, the cause of small fibre neuropathy remains unknown in up to 50% of cases. The typical clinical presentation of small fibre neuropathy is that of a symmetrical, length-dependent polyneuropathy associated with sensory or autonomic symptoms. More rarely, the clinical presentation is characterised by non-length-dependent, focal, or multifocal symptoms. The diagnostic tests to identify small fibre neuropathy include skin biopsy, quantitative sensory, and autonomic testing. Additional tests, such as those measuring small fibre-related evoked potentials and corneal confocal microscopy, might contribute to a better understanding of these neuropathies. Biochemical markers can also help in screening patients for the presence of small fibre neuropathy and to assess disease progression. Copyright © 2017 Elsevier Ltd. All rights reserved.

Amplifying human ability through autonomics and machine learning in IMPACT

NASA Astrophysics Data System (ADS)

Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

2017-05-01

Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; de Saussure, G.; Spelt, P.F.

1988-01-01

This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioningmore » of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

In an important step toward advancing intelligent, efficient, and autonomous electric vehicles, the National Renewable Energy Laboratory (NREL) plans to partner on research and development efforts with EasyMile, a smart mobility solutions company. EasyMile provided a demo of its driverless EZ10 shuttle on the NREL campus in September 2017.

Autonomous Decentralized Voltage Profile Control of Super Distributed Energy System using Multi-agent Technology

NASA Astrophysics Data System (ADS)

Tsuji, Takao; Hara, Ryoichi; Oyama, Tsutomu; Yasuda, Keiichiro

A super distributed energy system is a future energy system in which the large part of its demand is fed by a huge number of distributed generators. At one time some nodes in the super distributed energy system behave as load, however, at other times they behave as generator - the characteristic of each node depends on the customers' decision. In such situation, it is very difficult to regulate voltage profile over the system due to the complexity of power flows. This paper proposes a novel control method of distributed generators that can achieve the autonomous decentralized voltage profile regulation by using multi-agent technology. The proposed multi-agent system employs two types of agent; a control agent and a mobile agent. Control agents generate or consume reactive power to regulate the voltage profile of neighboring nodes and mobile agents transmit the information necessary for VQ-control among the control agents. The proposed control method is tested through numerical simulations.

Autonomous robotic platforms for locating radio sources buried under rubble

NASA Astrophysics Data System (ADS)

Tasu, A. S.; Anchidin, L.; Tamas, R.; Paun, M.; Danisor, A.; Petrescu, T.

2016-12-01

This paper deals with the use of autonomous robotic platforms able to locate radio signal sources such as mobile phones, buried under collapsed buildings as a result of earthquakes, natural disasters, terrorism, war, etc. This technique relies on averaging position data resulting from a propagation model implemented on the platform and the data acquired by robotic platforms at the disaster site. That allows us to calculate the approximate position of radio sources buried under the rubble. Based on measurements, a radio map of the disaster site is made, very useful for locating victims and for guiding specific rubble lifting machinery, by assuming that there is a victim next to a mobile device detected by the robotic platform; by knowing the approximate position, the lifting machinery does not risk to further hurt the victims. Moreover, by knowing the positions of the victims, the reaction time is decreased, and the chances of survival for the victims buried under the rubble, are obviously increased.

Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

NASA Astrophysics Data System (ADS)

Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

2005-06-01

The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

Applying Utility Functions to Adaptation Planning for Home Automation Applications

NASA Astrophysics Data System (ADS)

Bratskas, Pyrros; Paspallis, Nearchos; Kakousis, Konstantinos; Papadopoulos, George A.

A pervasive computing environment typically comprises multiple embedded devices that may interact together and with mobile users. These users are part of the environment, and they experience it through a variety of devices embedded in the environment. This perception involves technologies which may be heterogeneous, pervasive, and dynamic. Due to the highly dynamic properties of such environments, the software systems running on them have to face problems such as user mobility, service failures, or resource and goal changes which may happen in an unpredictable manner. To cope with these problems, such systems must be autonomous and self-managed. In this chapter we deal with a special kind of a ubiquitous environment, a smart home environment, and introduce a user-preference-based model for adaptation planning. The model, which dynamically forms a set of configuration plans for resources, reasons automatically and autonomously, based on utility functions, on which plan is likely to best achieve the user's goals with respect to resource availability and user needs.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

PubMed Central

Qian, Jun; Zi, Bin; Ma, Yangang; Zhang, Dan

2017-01-01

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. PMID:28891964

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

PubMed

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

Science, technology and the future of small autonomous drones.

PubMed

Floreano, Dario; Wood, Robert J

2015-05-28

We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

Collaborating with Autonomous Agents

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette

2015-01-01

With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

Mobilizing Community Museum Networks in Mexico--and Beyond.

ERIC Educational Resources Information Center

Healy, Kevin

2003-01-01

Since the late 1980s, a network of community museums has spread throughout Oaxaca (Mexico), serving as an autonomous force for broad-based cultural development, supporting the maintenance and revitalization of local Indigenous cultures, countering Western cultural hegemony, and involving Indigenous communities in museum development and related…

Work Uncertainty and the Promotion of Professional Women: The Case of Law Firm Partnership

ERIC Educational Resources Information Center

Gorman, Elizabeth H.

2006-01-01

Work uncertainty may affect gender disparities in professionals' upward mobility in organizational hierarchies. Professional work involves three forms of uncertainty--problem variability, strategic indeterminacy and dependence on autonomous actors--that weaken the association between performance and ability, leading organizational decision-makers…

Neural Network-Based Landmark Recognition and Navigation with IAMRs. Understanding the Principles of Thought and Behavior.

ERIC Educational Resources Information Center

Doty, Keith L.

1999-01-01

Research on neural networks and hippocampal function demonstrating how mammals construct mental maps and develop navigation strategies is being used to create Intelligent Autonomous Mobile Robots (IAMRs). Such robots are able to recognize landmarks and navigate without "vision." (SK)

Cancellation of the Army’s Autonomous Navigation System

DTIC Science & Technology

2012-08-02

Auto/Truck Various Vehicle Leader/Follower, Road Following Google Driverless Vehicle Google Road Following Source: GAO presentation of data from Red...both of which are estimated to cost over $300,000 per system. However, Google’s Driverless Vehicle and the Southwest Research Institute’s Mobile

SWARMS: Scalable sWarms of Autonomous Robots and Mobile Sensors

DTIC Science & Technology

2013-03-18

Pasqualetti, Antonio Franchi , Francesco Bullo. On optimal cooperative patrolling, 2010 49th IEEE Conference on Decision and Control (CDC). 2010/12/15 00...exhibits “ global stability” Provided a complete convergence proof for the adaptive version of the range only station keeping problem. Graph Theoretic

Dynamic Agent Classification and Tracking Using an Ad Hoc Mobile Acoustic Sensor Network

NASA Astrophysics Data System (ADS)

Friedlander, David; Griffin, Christopher; Jacobson, Noah; Phoha, Shashi; Brooks, Richard R.

2003-12-01

Autonomous networks of sensor platforms can be designed to interact in dynamic and noisy environments to determine the occurrence of specified transient events that define the dynamic process of interest. For example, a sensor network may be used for battlefield surveillance with the purpose of detecting, identifying, and tracking enemy activity. When the number of nodes is large, human oversight and control of low-level operations is not feasible. Coordination and self-organization of multiple autonomous nodes is necessary to maintain connectivity and sensor coverage and to combine information for better understanding the dynamics of the environment. Resource conservation requires adaptive clustering in the vicinity of the event. This paper presents methods for dynamic distributed signal processing using an ad hoc mobile network of microsensors to detect, identify, and track targets in noisy environments. They seamlessly integrate data from fixed and mobile platforms and dynamically organize platforms into clusters to process local data along the trajectory of the targets. Local analysis of sensor data is used to determine a set of target attribute values and classify the target. Sensor data from a field test in the Marine base at Twentynine Palms, Calif, was analyzed using the techniques described in this paper. The results were compared to "ground truth" data obtained from GPS receivers on the vehicles.

Autonomous multifunctional nanobrushes-autonomous materials

NASA Astrophysics Data System (ADS)

Ghasemi-Nejhad, Mehrdad N.; Tius, Marcus A.

2007-04-01

In this work, taking advantage of carbon nanotubes' small size, and exceptional mechanical, chemical and electrical properties, we report on a series of nano-synthesis procedures that combine conventional chemical vapor deposition and selective substrate area growth followed by chemical functionalizations to fabricate functionalized nano-brushes from aligned carbon nanotube arrays and chemically selective functional groups. The high aspect ratio and small dimension, mechanical stability and flexibility, surface chemical and adhesive characteristics of carbon nanotubes provide opportunities to create nano-brushes with selected chemical functionalities. The nano-brushes are made from aligned multi-walled carbon nanotube bristles grafted onto long SiC fiber handles in various configurations and functionalized with various chemical functional groups. These nano-brushes can easily be manipulated physically, either manually or with the aid of motors. Here, we explain the autonomous characteristics of the functionalized nano-brushes employing functional chemical groups such that the nano-brush can potentially collect various metal particles, ions, and contaminants from liquid solutions and the air environment, autonomously. These functionalized multiwalled carbon nanotube based nano-brushes can work swiftly in both liquid and air environments. With surface modification and functionalization, the nanotube nano-brushes can potentially become a versatile nano-devices in many chemical and biological applications, where they can autonomously pick up the particles they encounter since they can be chemically programmed to function as Autonomous Chemical Nano Robots (ACNR).

An Autonomous Autopilot Control System Design for Small-Scale UAVs

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Pai, Ganeshmadhav J.; Denney, Ewen W.

2012-01-01

This paper describes the design and implementation of a fully autonomous and programmable autopilot system for small scale autonomous unmanned aerial vehicle (UAV) aircraft. This system was implemented in Reflection and has flown on the Exploration Aerial Vehicle (EAV) platform at NASA Ames Research Center, currently only as a safety backup for an experimental autopilot. The EAV and ground station are built on a component-based architecture called the Reflection Architecture. The Reflection Architecture is a prototype for a real-time embedded plug-and-play avionics system architecture which provides a transport layer for real-time communications between hardware and software components, allowing each component to focus solely on its implementation. The autopilot module described here, although developed in Reflection, contains no design elements dependent on this architecture.

"Campus" - An Agent-Based Platform for Distance Education.

ERIC Educational Resources Information Center

Westhoff, Dirk; Unger, Claus

This paper presents "Campus," an environment that allows University of Hagen (Germany) students to connect briefly to the Internet but remain represented by personalized, autonomous agents that can fulfill a variety of information, communication, planning, and cooperation tasks. A brief survey is presented of existing mobile agent system…

Development of a High Reliability Compact Air Independent PEMFC Power System

NASA Technical Reports Server (NTRS)

Wynne, B.; Diffenderfer, C.; Ferguson, S.; Keyser, J.; Miller, M.; Sievers, B.; Song, Y.; Araghi, K.; Vasquez, A.

2013-01-01

Autonomous Underwater Vehicles (AUV's) have received increased attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Teledyne Energy Systems, Inc. (TESI) is committed to meeting the energy needs for these missions

A non-autonomous insect piggyBac trasposable element is mobile in tobacco

USDA-ARS?s Scientific Manuscript database

The piggyBac transposable element, originally isolated from a virus in an insect cell line, is a valuable molecular tool for transgenesis and mutagenesis of invertebrates. For heterologous transgenesis in a variety of mammals, transfer of the piggyBac transposable element from an ectopic plasmid onl...

Introduction to Autonomous Mobile Robotics Using "Lego Mindstorms" NXT

ERIC Educational Resources Information Center

Akin, H. Levent; Meriçli, Çetin; Meriçli, Tekin

2013-01-01

Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the…

Research and applications: Artificial intelligence

NASA Technical Reports Server (NTRS)

Chaitin, L. J.; Duda, R. O.; Johanson, P. A.; Raphael, B.; Rosen, C. A.; Yates, R. A.

1970-01-01

The program is reported for developing techniques in artificial intelligence and their application to the control of mobile automatons for carrying out tasks autonomously. Visual scene analysis, short-term problem solving, and long-term problem solving are discussed along with the PDP-15 simulator, LISP-FORTRAN-MACRO interface, resolution strategies, and cost effectiveness.

Stochastic Modeling and Uncertainty Cascade of Soil Bearing and Shearing Characteristics for Light-Weight Vehicle Applications

DTIC Science & Technology

2013-11-01

Interaction. Massachusetts Institute of Technology, Cambridge, MA, 2005. [12] C. Senatore, M. Wulfmeier, P. Jayakumar , J. Maclennan, and K. Iagnemma...D. Lamb, P. Jayakumar , M. Letherwood, et al., "Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing

Gyro and Accelerometer Based Navigation System for a Mobile Autonomous Robot.

DTIC Science & Technology

1985-12-02

special thanks goes to our thesis advisor Dr. Matthew Kabrisky for having the confidence to turn us loose on this project. Additionally, we would...Wordmaster Word Processor 1 Wordstar Word Processor 1 Virtual Devices Robo A 6802 Cross Assembler 1 Modem 720 Communication Program 1 CP/M Operating

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

NASA Technical Reports Server (NTRS)

Ambrose, Robert; Savely, Robert; Bluethmann, William; Kortenkamp, David

2003-01-01

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Autonomous biomorphic robots as platforms for sensors

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

1996-10-01

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 autonomousmore » 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.« less

Model-based Executive Control through Reactive Planning for Autonomous Rovers

NASA Technical Reports Server (NTRS)

Finzi, Alberto; Ingrand, Felix; Muscettola, Nicola

2004-01-01

This paper reports on the design and implementation of a real-time executive for a mobile rover that uses a model-based, declarative approach. The control system is based on the Intelligent Distributed Execution Architecture (IDEA), an approach to planning and execution that provides a unified representational and computational framework for an autonomous agent. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting agents, each with the same fundamental structure. We show that planning and real-time response are compatible if the executive minimizes the size of the planning problem. We detail the implementation of this approach on an exploration rover (Gromit an RWI ATRV Junior at NASA Ames) presenting different IDEA controllers of the same domain and comparing them with more classical approaches. We demonstrate that the approach is scalable to complex coordination of functional modules needed for autonomous navigation and exploration.

Evolutionary Computation for the Identification of Emergent Behavior in Autonomous Systems

NASA Technical Reports Server (NTRS)

Terrile, Richard J.; Guillaume, Alexandre

2009-01-01

Over the past several years the Center for Evolutionary Computation and Automated Design at the Jet Propulsion Laboratory has developed a technique based on Evolutionary Computational Methods (ECM) that allows for the automated optimization of complex computationally modeled systems. An important application of this technique is for the identification of emergent behaviors in autonomous systems. Mobility platforms such as rovers or airborne vehicles are now being designed with autonomous mission controllers that can find trajectories over a solution space that is larger than can reasonably be tested. It is critical to identify control behaviors that are not predicted and can have surprising results (both good and bad). These emergent behaviors need to be identified, characterized and either incorporated into or isolated from the acceptable range of control characteristics. We use cluster analysis of automatically retrieved solutions to identify isolated populations of solutions with divergent behaviors.

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Development of Micro and Nanostructured Materials for Interfacial Self-Healing

ERIC Educational Resources Information Center

Blaiszik, Benjamin James

2009-01-01

Damage in polymeric coatings, adhesives, microelectronic components, and composites spans many length scales. For small scale damage, autonomic self-healing can repair multiple damage modes without manual intervention. In autonomic self-healing materials, a healing response is triggered by damage to the material. Size scale considerations, such as…

Subjective, Autonomic, and Endocrine Reactivity during Social Stress in Children with Social Phobia

ERIC Educational Resources Information Center

Kramer, Martina; Seefeldt, Wiebke Lina; Heinrichs, Nina; Tuschen-Caffier, Brunna; Schmitz, Julian; Wolf, Oliver Tobias; Blechert, Jens

2012-01-01

Reports of exaggerated anxiety and physiological hyperreactivity to social-evaluative situations are characteristic of childhood social phobia (SP). However, laboratory research on subjective, autonomic and endocrine functioning in childhood SP is scarce, inconsistent and limited by small sample sizes, limited breadth of measurements, and the use…

The cytoskeleton in cell-autonomous immunity: structural determinants of host defence

PubMed Central

Mostowy, Serge; Shenoy, Avinash R.

2016-01-01

Host cells use antimicrobial proteins, pathogen-restrictive compartmentalization and cell death in their defence against intracellular pathogens. Recent work has revealed that four components of the cytoskeleton — actin, microtubules, intermediate filaments and septins, which are well known for their roles in cell division, shape and movement — have important functions in innate immunity and cellular self-defence. Investigations using cellular and animal models have shown that these cytoskeletal proteins are crucial for sensing bacteria and for mobilizing effector mechanisms to eliminate them. In this Review, we highlight the emerging roles of the cytoskeleton as a structural determinant of cell-autonomous host defence. PMID:26292640

Human Detection from a Mobile Robot Using Fusion of Laser and Vision Information

PubMed Central

Fotiadis, Efstathios P.; Garzón, Mario; Barrientos, Antonio

2013-01-01

This paper presents a human detection system that can be employed on board a mobile platform for use in autonomous surveillance of large outdoor infrastructures. The prediction is based on the fusion of two detection modules, one for the laser and another for the vision data. In the laser module, a novel feature set that better encapsulates variations due to noise, distance and human pose is proposed. This enhances the generalization of the system, while at the same time, increasing the outdoor performance in comparison with current methods. The vision module uses the combination of the histogram of oriented gradients descriptor and the linear support vector machine classifier. Current approaches use a fixed-size projection to define regions of interest on the image data using the range information from the laser range finder. When applied to small size unmanned ground vehicles, these techniques suffer from misalignment, due to platform vibrations and terrain irregularities. This is effectively addressed in this work by using a novel adaptive projection technique, which is based on a probabilistic formulation of the classifier performance. Finally, a probability calibration step is introduced in order to optimally fuse the information from both modules. Experiments in real world environments demonstrate the robustness of the proposed method. PMID:24008280

Human detection from a mobile robot using fusion of laser and vision information.

PubMed

Fotiadis, Efstathios P; Garzón, Mario; Barrientos, Antonio

2013-09-04

This paper presents a human detection system that can be employed on board a mobile platform for use in autonomous surveillance of large outdoor infrastructures. The prediction is based on the fusion of two detection modules, one for the laser and another for the vision data. In the laser module, a novel feature set that better encapsulates variations due to noise, distance and human pose is proposed. This enhances the generalization of the system, while at the same time, increasing the outdoor performance in comparison with current methods. The vision module uses the combination of the histogram of oriented gradients descriptor and the linear support vector machine classifier. Current approaches use a fixed-size projection to define regions of interest on the image data using the range information from the laser range finder. When applied to small size unmanned ground vehicles, these techniques suffer from misalignment, due to platform vibrations and terrain irregularities. This is effectively addressed in this work by using a novel adaptive projection technique, which is based on a probabilistic formulation of the classifier performance. Finally, a probability calibration step is introduced in order to optimally fuse the information from both modules. Experiments in real world environments demonstrate the robustness of the proposed method.

Robot flow, clogging and jamming in confined spaces

NASA Astrophysics Data System (ADS)

Monaenkova, Daria; Linevich, Vadim; Goodisman, Michael A. D.; Goldman, Daniel I.

We hypothesized that when a collection of robots operate in confined space, maximization of individual effort could negatively affect the collective performance by impeding the mobility of the individuals. To test our hypothesis, we built and programmed groups of 1-4 autonomous robotic diggers to construct a tunnel in a model cohesive soil. The robots' mobility, defined in terms of the residence time (T) required for a robot to move one body-length within the tunnel, was compared between groups of maximally active robots (mode 1), groups with different levels of activity between individuals (mode 2), and maximally active robots with a ``giving up'' behavior (mode 3), in which the robot ceased the attempt to excavate in a crowded tunnel. In small groups of two robots, T was ~3 sec and did not depend on the mode of operation. However, an increase in the number of robots caused an increase in T which depended upon mode. The residence time in groups of four robots in mode 1 (~9 sec) significantly exceeded the residence time in mode 2 and 3 (~4 sec), indicating that crowding was causing slower movement of individuals, particularly under maximum effort (mode 1). We will use our robophysical studies to discover principles of collective construction in subterranean social animals.

On-Orbit Autonomous Assembly from Nanosatellites

NASA Technical Reports Server (NTRS)

Murchison, Luke S.; Martinez, Andres; Petro, Andrew

2015-01-01

The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

A leptin-regulated circuit controls glucose mobilization during noxious stimuli.

PubMed

Flak, Jonathan N; Arble, Deanna; Pan, Warren; Patterson, Christa; Lanigan, Thomas; Goforth, Paulette B; Sacksner, Jamie; Joosten, Maja; Morgan, Donald A; Allison, Margaret B; Hayes, John; Feldman, Eva; Seeley, Randy J; Olson, David P; Rahmouni, Kamal; Myers, Martin G

2017-08-01

Adipocytes secrete the hormone leptin to signal the sufficiency of energy stores. Reductions in circulating leptin concentrations reflect a negative energy balance, which augments sympathetic nervous system (SNS) activation in response to metabolically demanding emergencies. This process ensures adequate glucose mobilization despite low energy stores. We report that leptin receptor-expressing neurons (LepRb neurons) in the periaqueductal gray (PAG), the largest population of LepRb neurons in the brain stem, mediate this process. Application of noxious stimuli, which often signal the need to mobilize glucose to support an appropriate response, activated PAG LepRb neurons, which project to and activate parabrachial nucleus (PBN) neurons that control SNS activation and glucose mobilization. Furthermore, activating PAG LepRb neurons increased SNS activity and blood glucose concentrations, while ablating LepRb in PAG neurons augmented glucose mobilization in response to noxious stimuli. Thus, decreased leptin action on PAG LepRb neurons augments the autonomic response to noxious stimuli, ensuring sufficient glucose mobilization during periods of acute demand in the face of diminished energy stores.

Automatic control of a mobile Viking lander on the surface of Mars

NASA Technical Reports Server (NTRS)

Moore, J.; Scofield, W.; Tobey, W.

1976-01-01

A mobile lander system is being considered for use in a possible follow-on mission to the Viking '75 landings on Mars. A mobile Viking lander, which could be launched as early as the 1979 opportunity, would be capable of traversing 100 m to 1 km per day on a commanded heading while sensing hazards and performing avoidance maneuvers. The degree of autonomous control, and consequently the daily traverse range, is still under study. The mobility concept requires the addition of: (1) track-laying or wheel units in place of the Viking Lander footpads, (2) a set of hazard and navigation sensors, and (3) a mobility control computer capability. The technology required to develop these three subsystems is available today. The principal objective of current design studies, as described in this paper, is to define a mobile lander system that will demonstrate high reliability and fail-safe hazard avoidance while achieving range- and terrain-handling capabilities which satisfy the Mars exploration science requirements.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

NASA Astrophysics Data System (ADS)

Noble, R. J.; Sykes, M. V.

The scientific activities undertaken to explore our Solar System will be very similar to those required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution, as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Noble, Robert; /SLAC; Sykes, Mark V.

The scientific activities undertaken to explore our Solar System will be the same as required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of themore » technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.« less

Multi-agent systems design for aerospace applications

NASA Astrophysics Data System (ADS)

Waslander, Steven L.

2007-12-01

Engineering systems with independent decision makers are becoming increasingly prevalent and present many challenges in coordinating actions to achieve systems goals. In particular, this work investigates the applications of air traffic flow control and autonomous vehicles as motivation to define algorithms that allow agents to agree to safe, efficient and equitable solutions in a distributed manner. To ensure system requirements will be satisfied in practice, each method is evaluated for a specific model of agent behavior, be it cooperative or non-cooperative. The air traffic flow control problem is investigated from the point of view of the airlines, whose costs are directly affected by resource allocation decisions made by the Federal Aviation Administration in order to mitigate traffic disruptions caused by weather. Airlines are first modeled as cooperative, and a distributed algorithm is presented with various global cost metrics which balance efficient and equitable use of resources differently. Next, a competitive airline model is assumed and two market mechanisms are developed for allocating contested airspace resources. The resource market mechanism provides a solution for which convergence to an efficient solution can be guaranteed, and each airline will improve on the solution that would occur without its inclusion in the decision process. A lump-sum market is then introduced as an alternative mechanism, for which efficiency loss bounds exist if airlines attempt to manipulate prices. Initial convergence results for lump-sum markets are presented for simplified problems with a single resource. To validate these algorithms, two air traffic flow models are developed which extend previous techniques, the first a convenient convex model made possible by assuming constant velocity flow, and the second a more complex flow model with full inflow, velocity and rerouting control. Autonomous vehicle teams are envisaged for many applications including mobile sensing and search and rescue. To enable these high-level applications, multi-vehicle collision avoidance is solved using a cooperative, decentralized algorithm. For the development of coordination algorithms for autonomous vehicles, the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) is presented. This testbed provides significant advantages over other aerial testbeds due to its small size and low maintenance requirements.

Parallel-distributed mobile robot simulator

NASA Astrophysics Data System (ADS)

Okada, Hiroyuki; Sekiguchi, Minoru; Watanabe, Nobuo

1996-06-01

The aim of this project is to achieve an autonomous learning and growth function based on active interaction with the real world. It should also be able to autonomically acquire knowledge about the context in which jobs take place, and how the jobs are executed. This article describes a parallel distributed movable robot system simulator with an autonomous learning and growth function. The autonomous learning and growth function which we are proposing is characterized by its ability to learn and grow through interaction with the real world. When the movable robot interacts with the real world, the system compares the virtual environment simulation with the interaction result in the real world. The system then improves the virtual environment to match the real-world result more closely. This the system learns and grows. It is very important that such a simulation is time- realistic. The parallel distributed movable robot simulator was developed to simulate the space of a movable robot system with an autonomous learning and growth function. The simulator constructs a virtual space faithful to the real world and also integrates the interfaces between the user, the actual movable robot and the virtual movable robot. Using an ultrafast CG (computer graphics) system (FUJITSU AG series), time-realistic 3D CG is displayed.

Decentralized asset management for collaborative sensing

NASA Astrophysics Data System (ADS)

Malhotra, Raj P.; Pribilski, Michael J.; Toole, Patrick A.; Agate, Craig

2017-05-01

There has been increased impetus to leverage Small Unmanned Aerial Systems (SUAS) for collaborative sensing applications in which many platforms work together to provide critical situation awareness in dynamic environments. Such applications require critical sensor observations to be made at the right place and time to facilitate the detection, tracking, and classification of ground-based objects. This further requires rapid response to real-world events and the balancing of multiple, competing mission objectives. In this context, human operators become overwhelmed with management of many platforms. Further, current automated planning paradigms tend to be centralized and don't scale up well to many collaborating platforms. We introduce a decentralized approach based upon information-theory and distributed fusion which enable us to scale up to large numbers of collaborating Small Unmanned Aerial Systems (SUAS) platforms. This is exercised against a military application involving the autonomous detection, tracking, and classification of critical mobile targets. We further show that, based upon monte-carlo simulation results, our decentralized approach out-performs more static management strategies employed by human operators and achieves similar results to a centralized approach while being scalable and robust to degradation of communication. Finally, we describe the limitations of our approach and future directions for our research.

Unexploded Ordnance Characterization And Detection in Muddy Estuarine Environments

NASA Astrophysics Data System (ADS)

Trembanis, A. C.; DuVal, C.

2017-12-01

There is recognized need for better quantitative understanding of the impact of coastal environments on UXO mobility, burial, and detection. Current efforts are underway to address aspects of UXO mobility and detection in sandy coastal areas. However, a significant data gap has been identified regarding UXO in shallow, muddy environments; 139 Formally Used Defense Sites (FUDS), in U.S. tidal waters alone, have been identified as containing muddy sediments. This study works to address this data gap. Using a shallow estuarine site in the Delaware Bay, this study 1) monitors the mobility and behavior of sensor-integrated surrogate munitions in muddy environments using a high-accuracy acoustic positioning system, 2) directly observes surrogate munition response to hydrodynamic forcing through instrumented bottom frame time-lapse hydrodynamic data and sonar imagery, and 3) monitors site changes through repetitive site surveying autonomous underwater vehicle (AUV) using both sonar and magnetometry. Surrogate UXO, modified with acoustic tracking devices and inertial motion units (IMU), are being deployed at a previously characterized muddy estuarine site. The surrogates are being monitored for changes in mobility and burial using the VEMCO positioning system, an off-the-shelf acoustic positioning system that is capable of tracking the position of multiple acoustic tags with accuracies down to 10 cm. Concurrently, time-series acoustic imagery and hydrodynamic sensors are being deployed to characterize UXO response to varied hydrodynamic conditions and compared to site-wide surrogate behavior. A series of repetitive surveys are being conducted using a magnetometer specifically designed for UXO detection on an autonomous underwater vehicle (AUV). Survey results will be compared to long-term acoustic positioning of the surrogate UXO to determine the effectiveness of the magnetometer for efficiently and effectively locating UXO in shallow, muddy environments. Additionally, this study will help inform parameters for UXO mobility and behavior in storms and muddy environments for integration into existing expert system models of UXO burial and mobility.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

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

2012-12-01

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.

Autonomous Image Analysis for Future Mars Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Bandari, E.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images acquired by a robotic arm camera. This would then allow the return of a single completely in focus image constructed only from those portions of individual images that lie within the camera's depth of field. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these algorithms and their performance during a recent rover field test.

An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft

PubMed Central

Lei, Xusheng; Li, Jingjing

2012-01-01

This paper presents an adaptive information fusion method to improve the accuracy and reliability of the altitude measurement information for small unmanned aerial rotorcraft during the landing process. Focusing on the low measurement performance of sensors mounted on small unmanned aerial rotorcraft, a wavelet filter is applied as a pre-filter to attenuate the high frequency noises in the sensor output. Furthermore, to improve altitude information, an adaptive extended Kalman filter based on a maximum a posteriori criterion is proposed to estimate measurement noise covariance matrix in real time. Finally, the effectiveness of the proposed method is proved by static tests, hovering flight and autonomous landing flight tests. PMID:23201993

Incidence of nonamyloidogenic mutations in the transthyretin gene in patients with autonomic and small fiber neuropathy.

PubMed

Levine, Todd D; Bland, Ruth J

2018-01-01

Mutations of the transthyretin (TTR) gene have been associated with polyneuropathy; the protein product has a tendency to form amyloid deposits in the peripheral nervous system. Patients with small fiber neuropathy (SFN) with or without autonomic symptoms were given skin biopsies to assess nerve fiber density. Any patient with autonomic symptoms was assessed for autonomic neuropathy (AN). If testing revealed no clear cause of neuropathy, the TTR gene was sequenced. Thirty-six percent of patients were found to harbor at least 1 mutation in the TTR gene sequence (variants of unknown significance [VUS]). Of 24 patients diagnosed with SFN, 8% of patients had a point mutation (c76G>A). Of those patients who were diagnosed with both SFN and AN, 68% of patients had a VUS within the TTR gene (c76G>A, c337-18G>C). The results suggest an association between presumed nonamyloidogenic mutations in the TTR gene and the development of AN and SFN. Muscle Nerve 57: 140-142, 2017. © 2017 Wiley Periodicals, Inc.

A Mobile Sensor Network System for Monitoring of Unfriendly Environments.

PubMed

Song, Guangming; Zhou, Yaoxin; Ding, Fei; Song, Aiguo

2008-11-14

Observing microclimate changes is one of the most popular applications of wireless sensor networks. However, some target environments are often too dangerous or inaccessible to humans or large robots and there are many challenges for deploying and maintaining wireless sensor networks in those unfriendly environments. This paper presents a mobile sensor network system for solving this problem. The system architecture, the mobile node design, the basic behaviors and advanced network capabilities have been investigated respectively. A wheel-based robotic node architecture is proposed here that can add controlled mobility to wireless sensor networks. A testbed including some prototype nodes has also been created for validating the basic functions of the proposed mobile sensor network system. Motion performance tests have been done to get the positioning errors and power consumption model of the mobile nodes. Results of the autonomous deployment experiment show that the mobile nodes can be distributed evenly into the previously unknown environments. It provides powerful support for network deployment and maintenance and can ensure that the sensor network will work properly in unfriendly environments.

Constructing a Real-Time Mobile Robot Software System

DTIC Science & Technology

1994-09-01

forces to rely more on automation to fill the gap of reduced personnel and equipment. One key element to this move to more automation, is autonomous ... vehicles . These vehicles will continue to play a greater role in this nation’s defense. At the Naval Postgraduate School (NPS), the Yamabico robot is an

Using Ontologies to Interlink Linguistic Annotations and Improve Their Accuracy

ERIC Educational Resources Information Center

Pareja-Lora, Antonio

2016-01-01

For the new approaches to language e-learning (e.g. language blended learning, language autonomous learning or mobile-assisted language learning) to succeed, some automatic functions for error correction (for instance, in exercises) will have to be included in the long run in the corresponding environments and/or applications. A possible way to…

Learning Processes and Social Mobilization in a Swedish Metropolitan Hip-Hop Collective

ERIC Educational Resources Information Center

Beach, Dennis; Sernhede, Ove

2012-01-01

Based on ethnographic research on the encounter between local culture and schools in multicultural suburban areas, this article explores possibilities suggested by autonomous learning activities in a hip-hop collective that may have a potential to break urban segregation patterns. The collective's artistic production raises questions that have not…

Making Sense by Building Sense: Kindergarten Children's Construction and Understanding of Adaptive Robot Behaviors

ERIC Educational Resources Information Center

Mioduser, David; Levy, Sharona T.

2010-01-01

This study explores young children's ability to construct and explain adaptive behaviors of a behaving artifact, an autonomous mobile robot with sensors. A central component of the behavior construction environment is the RoboGan software that supports children's construction of spatiotemporal events with an a-temporal rule structure. Six…

WLAN Positioning Methods and Supporting Learning Technologies for Mobile Platforms

ERIC Educational Resources Information Center

Melkonyan, Arsen

2013-01-01

Location technologies constitute an essential component of systems design for autonomous operations and control. The Global Positioning System (GPS) works well in outdoor areas, but the satellite signals are not strong enough to penetrate inside most indoor environments. As a result, a new strain of indoor positioning technologies that make use of…

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

DTIC Science & Technology

2012-08-01

Madison, WI 53706 David Lamb Paramsothy Jayakumar Michael Letherwood U.S. Army TARDEC Warren, MI 48397 Abhinandan Jain Marco Quadrelli Jet Propulsion...PROGRAM ELEMENT NUMBER 6. AUTHOR(S) David Lamb; Paramsothy Jayakumar ; Mike Letherwood; Dan Negrut; Abhinandan Jain 5d. PROJECT NUMBER 5e. TASK

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

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

NASA Astrophysics Data System (ADS)

Dağlarli, Evren; Temeltaş, Hakan

2008-04-01

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.

Social participation and independent mobility in children: the effects of two implementations of "we go to school alone".

PubMed

Prezza, Miretta; Alparone, Francesca Romana; Renzi, Daniela; Pietrobono, Annalisa

2010-01-01

The aim of this research was to determine the outcomes of the "We go to school alone" program in two Districts of Rome through a longitudinal study involving 392 children (mean age = 8.37 years) and 270 parents. The outcomes of the program in the two Districts were very different. Only one resulted in an increase in children's autonomous mobility on the home-school journey, a reduction in the number of times a child was taken to school by car, and, even more important, in an increase in the general level of children's independent mobility in their neighborhood. The findings are discussed in terms of a process evaluation that enabled us to understand the differing results.

A Petri-net coordination model for an intelligent mobile robot

NASA Technical Reports Server (NTRS)

Wang, F.-Y.; Kyriakopoulos, K. J.; Tsolkas, A.; Saridis, G. N.

1990-01-01

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

Evolution of a radio communication relay system

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Pezeshkian, Narek; Hart, Abraham; Burmeister, Aaron; Holz, Kevin; Neff, Joseph; Roth, Leif

2013-05-01

Providing long-distance non-line-of-sight control for unmanned ground robots has long been recognized as a problem, considering the nature of the required high-bandwidth radio links. In the early 2000s, the DARPA Mobile Autonomous Robot Software (MARS) program funded the Space and Naval Warfare Systems Center (SSC) Pacific to demonstrate a capability for autonomous mobile communication relaying on a number of Pioneer laboratory robots. This effort also resulted in the development of ad hoc networking radios and software that were later leveraged in the development of a more practical and logistically simpler system, the Automatically Deployed Communication Relays (ADCR). Funded by the Joint Ground Robotics Enterprise and internally by SSC Pacific, several generations of ADCR systems introduced increasingly more capable hardware and software for automatic maintenance of communication links through deployment of static relay nodes from mobile robots. This capability was finally tapped in 2010 to fulfill an urgent need from theater. 243 kits of ruggedized, robot-deployable communication relays were produced and sent to Afghanistan to extend the range of EOD and tactical ground robots in 2012. This paper provides a summary of the evolution of the radio relay technology at SSC Pacific, and then focuses on the latest two stages, the Manually-Deployed Communication Relays and the latest effort to automate the deployment of these ruggedized and fielded relay nodes.

A mobile phone-based program to promote healthy behaviors among adults with prediabetes: study protocol for a pilot randomized controlled trial.

PubMed

Griauzde, Dina H; Kullgren, Jeffrey T; Liestenfeltz, Brad; Richardson, Caroline; Heisler, Michele

2018-01-01

Rates of participation in Diabetes Prevention Programs (DPPs) are low. This may be due, in part, to low levels of autonomous motivation (i.e., motivation that arises from internal sources and sustains healthy behaviors over time) to prevent type 2 diabetes (T2DM) among many individuals with prediabetes. Mobile health (mHealth) technologies that incorporate principles from the Self-Determination Theory offer an effective and scalable approach to increase autonomous motivation levels. One promising mobile phone-based application is JOOL Health, which aims to help users connect certain health behaviors (e.g., sleep and diet) with personal values in specific life domains (e.g., family and work). The first aim of this study is to estimate whether JOOL Health can increase autonomous motivation to prevent T2DM among individuals with prediabetes who declined DPP participation. The second aim of this pilot study is to examine the intervention's feasibility and acceptability. This is a 12-week, three-arm pilot randomized controlled trial. We will recruit 105 individuals with prediabetes who did not engage in a DPP despite invitation from their health plan to participate in face-to-face or web-based programs at no out-of-pocket-cost. Participants will be randomized to one of three study arms: (1) a group that receives information on prediabetes, evidence-based strategies to decrease progression to T2DM, and a list of resources for mHealth tools for monitoring diet, physical activity, and weight (comparison group); (2) a group that receives the JOOL Health application; and (3) a group that receives the JOOL Health application as well as a Fitbit activity tracker and wireless-enabled scale. Our primary outcome is change in autonomous motivation to prevent T2DM (measured using the Treatment Self-Regulation Questionnaire). We will also collect data related to the intervention's feasibility (recruitment and retention rates) and acceptability (adherence and qualitative experience) as well as changes in psychosocial outcomes, hemoglobin A1c, and weight. To our knowledge, this is the first study that aims to promote positive health behaviors among individuals with prediabetes who previously declined to participate in a DPP. Our results will inform a larger trial to test the effect of JOOL Health on clinically relevant outcomes, including weight loss, physical activity, and DPP engagement. NCT03025607. Registered February 2017.

Naming games in two-dimensional and small-world-connected random geometric networks.

PubMed

Lu, Qiming; Korniss, G; Szymanski, B K

2008-01-01

We investigate a prototypical agent-based model, the naming game, on two-dimensional random geometric networks. The naming game [Baronchelli, J. Stat. Mech.: Theory Exp. (2006) P06014] is a minimal model, employing local communications that captures the emergence of shared communication schemes (languages) in a population of autonomous semiotic agents. Implementing the naming games with local broadcasts on random geometric graphs, serves as a model for agreement dynamics in large-scale, autonomously operating wireless sensor networks. Further, it captures essential features of the scaling properties of the agreement process for spatially embedded autonomous agents. Among the relevant observables capturing the temporal properties of the agreement process, we investigate the cluster-size distribution and the distribution of the agreement times, both exhibiting dynamic scaling. We also present results for the case when a small density of long-range communication links are added on top of the random geometric graph, resulting in a "small-world"-like network and yielding a significantly reduced time to reach global agreement. We construct a finite-size scaling analysis for the agreement times in this case.

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1989-01-01

A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

Focus on autonomic dysfunction in familial amyloidotic polyneuropathy (FAP).

PubMed

Obayashi, Konen; Ando, Yukio

2012-06-01

It is well known that autonomic dysfunction in familial amyloidotic polyneuropathy (FAP) is the most serious problem, because it restricts the daily life of these patients. The detail mechanisms of the onset are not well understood in FAP and domino liver transplantation-induced amyloid neuropathy. As autonomic disturbances play an important role in the symptomatology of FAP, further studies of autonomic dysfunction in these patients may lead the pathogenesis of FAP. Autonomic dysfunction is often observed before sensory and motor nerve dysfunction in FAP. This can be attributed to the morphological characteristics of the nerves. Unmyelinated, small myelinated, and large myelinated fibers tend to become impaired in that order. Although the reasons of susceptibility to amyloid infiltration and injury are not known, studies of autopsied FAP patients have revealed heavy infiltration of amyloid in autonomic ganglions. Moreover, spinal ganglion and posterior loot of the spine had severe amyloid deposits than did the anterior root of the spine or the motor nerves. It is well known that autonomic dysfunction is the most serious problem, because it restricts the daily life of FAP patients. However, we have four major questions about autonomic dysfunction in clinical. In this manuscript, we discuss about the answers of these questions.

Thinking Big about Getting Small: An Ideological Genealogy of Small-School Reform

ERIC Educational Resources Information Center

Kafka, Judith

2008-01-01

Background: Support for small schools, and specifically for the creation of small, autonomous schools of choice, has grown considerably in the past decade--particularly in the context of urban schooling. Funded by private and public monies, small-school initiatives have been implemented in most of the nation's city school districts and have become…

Implementation of Autonomous Navigation and Mapping using a Laser Line Scanner on a Tactical Unmanned Aerial Vehicle

DTIC Science & Technology

2011-12-01

study new multi-agent algorithms to avoid collision and obstacles. Others, including Hanford et al. [2], have tried to build low-cost experimental...2007. [2] S. D. Hanford , L. N. Long, and J. F. Horn, “A Small Semi-Autonomous Rotary-Wing Unmanned Air Vehicle ( UAV ),” 2003 AIAA Atmospheric

The Predisposition of Adult ESOL Learners in a FE College Towards Autonomy

ERIC Educational Resources Information Center

Ade-ojo, Gordon O.

2005-01-01

The paper reports a small-scale research on the predisposition of adult ESOL learners in a further education college to the components of autonomous learning. The research is based on the perception that there is an untested assumption that all students will react positively to the concept of autonomous learning and by implication are positively…

Small Print: Reflections on Multilingual Literacies in the Global South

ERIC Educational Resources Information Center

Blommaert, Jan

2011-01-01

Reflecting on the contributions in this volume, this paper engages with the development of widespread concepts of literacy, and gradually moves towards a view in which different literacy systems are seen, and have to be seen, as relatively autonomous. The papers in this volume engage with such a relatively autonomous system, that of grassroots…

Mobile Lunar Base Concepts

NASA Astrophysics Data System (ADS)

Cohen, Marc M.

2004-02-01

This paper describes three innovative concepts for a mobile lunar base. These concept combine design research for habitat architecture, mobility systems, habitability, radiation protection, human factors, and living and working environments on the lunar surface. The mobile lunar base presents several key advantages over conventional static base notions. These advantages concern landing zone safety, the requirement to move modules over the lunar surface, and the ability to stage mobile reconnaissance with effective systemic redundancy. All of these concerns lead to the consideration of a mobile walking habitat module and base design. The key issues involve landing zone safety, the ability to transport habitat modules across the surface, and providing reliability and redundancy to exploration traverses in pressurized vehicles. With self-ambulating lunar base modules, it will be feasible to have each module separate itself from its retro-rocket thruster unit, and walk five to ten km away from the LZ to a pre-selected site. These mobile modules can operate in an autonomous or teleoperated mode to navigate the lunar surface. At the site of the base, the mobile modules can combine together; make pressure port connections among themselves, to create a multi-module pressurized lunar base.

Understanding How to Use Mobile Marketing in Small Businesses

ERIC Educational Resources Information Center

Doleman, John P.

2017-01-01

Mobile marketing is a marketing technique which uses established systems that give businesses the ability to communicate directly with customers through smartphones or other mobile devices. Small businesses lack experience in developing and using mobile marketing strategies to increase sales. The fundamental idea of mobile marketing is to improve…

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Matthies, Larry H.

1998-01-01

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Periodic response of nonlinear systems

NASA Technical Reports Server (NTRS)

Nataraj, C.; Nelson, H. D.

1988-01-01

A procedure is developed to determine approximate periodic solutions of autonomous and non-autonomous systems. The trignometric collocation method (TCM) is formalized to allow for the analysis of relatively small order systems directly in physical coordinates. The TCM is extended to large order systems by utilizing modal analysis in a component mode synthesis strategy. The procedure was coded and verified by several check cases. Numerical results for two small order mechanical systems and one large order rotor dynamic system are presented. The method allows for the possibility of approximating periodic responses for large order forced and self-excited nonlinear systems.

Designing of routing algorithms in autonomous distributed data transmission system for mobile computing devices with ‘WiFi-Direct’ technology

NASA Astrophysics Data System (ADS)

Nikitin, I. A.; Sherstnev, V. S.; Sherstneva, A. I.; Botygin, I. A.

2017-02-01

The results of the research of existent routing protocols in wireless networks and their main features are discussed in the paper. Basing on the protocol data, the routing protocols in wireless networks, including search routing algorithms and phone directory exchange algorithms, are designed with the ‘WiFi-Direct’ technology. Algorithms without IP-protocol were designed, and that enabled one to increase the efficiency of the algorithms while working only with the MAC-addresses of the devices. The developed algorithms are expected to be used in the mobile software engineering with the Android platform taken as base. Easier algorithms and formats of the well-known route protocols, rejection of the IP-protocols enables to use the developed protocols on more primitive mobile devices. Implementation of the protocols to the engineering industry enables to create data transmission networks among working places and mobile robots without any access points.

Ambient intelligence application based on environmental measurements performed with an assistant mobile robot.

PubMed

Martinez, Dani; Teixidó, Mercè; Font, Davinia; Moreno, Javier; Tresanchez, Marcel; Marco, Santiago; Palacín, Jordi

2014-03-27

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile.

Ambient Intelligence Application Based on Environmental Measurements Performed with an Assistant Mobile Robot

PubMed Central

Martinez, Dani; Teixidó, Mercè; Font, Davinia; Moreno, Javier; Tresanchez, Marcel; Marco, Santiago; Palacín, Jordi

2014-01-01

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile. PMID:24681671

Navigation system for a mobile robot with a visual sensor using a fish-eye lens

NASA Astrophysics Data System (ADS)

Kurata, Junichi; Grattan, Kenneth T. V.; Uchiyama, Hironobu

1998-02-01

Various position sensing and navigation systems have been proposed for the autonomous control of mobile robots. Some of these systems have been installed with an omnidirectional visual sensor system that proved very useful in obtaining information on the environment around the mobile robot for position reckoning. In this article, this type of navigation system is discussed. The sensor is composed of one TV camera with a fish-eye lens, using a reference target on a ceiling and hybrid image processing circuits. The position of the robot, with respect to the floor, is calculated by integrating the information obtained from a visual sensor and a gyroscope mounted in the mobile robot, and the use of a simple algorithm based on PTP control for guidance is discussed. An experimental trial showed that the proposed system was both valid and useful for the navigation of an indoor vehicle.

Adding navigation, artificial audition and vital sign monitoring capabilities to a telepresence mobile robot for remote home care applications.

PubMed

Laniel, Sebastien; Letourneau, Dominic; Labbe, Mathieu; Grondin, Francois; Polgar, Janice; Michaud, Francois

2017-07-01

A telepresence mobile robot is a remote-controlled, wheeled device with wireless internet connectivity for bidirectional audio, video and data transmission. In health care, a telepresence robot could be used to have a clinician or a caregiver assist seniors in their homes without having to travel to these locations. Many mobile telepresence robotic platforms have recently been introduced on the market, bringing mobility to telecommunication and vital sign monitoring at reasonable costs. What is missing for making them effective remote telepresence systems for home care assistance are capabilities specifically needed to assist the remote operator in controlling the robot and perceiving the environment through the robot's sensors or, in other words, minimizing cognitive load and maximizing situation awareness. This paper describes our approach adding navigation, artificial audition and vital sign monitoring capabilities to a commercially available telepresence mobile robot. This requires the use of a robot control architecture to integrate the autonomous and teleoperation capabilities of the platform.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration. [performance tests of remote control equipment for roving vehicles

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands.

Detecting submerged features in water: modeling, sensors, and measurements

NASA Astrophysics Data System (ADS)

Bostater, Charles R., Jr.; Bassetti, Luce

2004-11-01

It is becoming more important to understand the remote sensing systems and associated autonomous or semi-autonomous methodologies (robotic & mechatronics) that may be utilized in freshwater and marine aquatic environments. This need comes from several issues related not only to advances in our scientific understanding and technological capabilities, but also from the desire to insure that the risk associated with UXO (unexploded ordnance), related submerged mines, as well as submerged targets (such as submerged aquatic vegetation) and debris left from previous human activities are remotely sensed and identified followed by reduced risks through detection and removal. This paper will describe (a) remote sensing systems, (b) platforms (fixed and mobile, as well as to demonstrate (c) the value of thinking in terms of scalability as well as modularity in the design and application of new systems now being constructed within our laboratory and other laboratories, as well as future systems. New remote sensing systems - moving or fixed sensing systems, as well as autonomous or semi-autonomous robotic and mechatronic systems will be essential to secure domestic preparedness for humanitarian reasons. These remote sensing systems hold tremendous value, if thoughtfully designed for other applications which include environmental monitoring in ambient environments.

POSTMAN: Point of Sail Tacking for Maritime Autonomous Navigation

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.; Reinhart, Felix

2012-01-01

Waves apply significant forces to small boats, in particular when such vessels are moving at a high speed in severe sea conditions. In addition, small high-speed boats run the risk of diving with the bow into the next wave crest during operations in the wavelengths and wave speeds that are typical for shallow water. In order to mitigate the issues of autonomous navigation in rough water, a hybrid controller called POSTMAN combines the concept of POS (point of sail) tack planning from the sailing domain with a standard PID (proportional-integral-derivative) controller that implements reliable target reaching for the motorized small boat control task. This is an embedded, adaptive software controller that uses look-ahead sensing in a closed loop method to perform path planning for safer navigation in rough waters. State-of-the-art controllers for small boats are based on complex models of the vessel's kinematics and dynamics. They enable the vessel to follow preplanned paths accurately and can theoretically control all of the small boat s six degrees of freedom. However, the problems of bow diving and other undesirable incidents are not addressed, and it is questionable if a six-DOF controller with basically a single actuator is possible at all. POSTMAN builds an adaptive capability into the controller based on sensed wave characteristics. This software will bring a muchneeded capability to unmanned small boats moving at high speeds. Previously, this class of boat was limited to wave heights of less than one meter in the sea states in which it could operate. POSTMAN is a major advance in autonomous safety for small maritime craft.

Evaluation of Gas Chromatography/Mini-IMS to Detect VOCs

NASA Technical Reports Server (NTRS)

Limero, Thomas; Reese, Eric; Peters, Randy; James, John T.; Billica, Roger (Technical Monitor)

1999-01-01

The Toxicology Laboratory at Johnson Space Center (JSC) has pioneered the use of gas chromatography-ion mobility spectrometry (GC/IMS) for measuring target volatile organic compounds (VOCs) aboard spacecraft. Graseby Dynamics, under contract to NASA/Wyle, has built several volatile organic analyzers (VOA) based on GC/IMS. Foremost among these have been the volatile organic analyzer-risk mitigation unit and the two flight VOA units for International Space Station (ISS). The development and evaluation of these instruments has been chronicled through presentations at the International Conference on Ion Mobility Spectrometry over the past three years. As the flight VOA from Graseby is prepared for operation on ISS at JSC, it is time to begin evaluations of technologies for the next generation VOA, Although the desired instrument characteristics for the next generation unit are the same as the current unit, the requirements are much more stringent. As NASA looks toward future missions beyond Earth environs, a premium will be placed upon small, light, reliable, autonomous hardware. It is with these visions in mind that the JSC Toxicology Laboratory began a search for the next generation VOA. One technology that is a candidate for the next generation VOA is GC/IMS. The recent miniaturization of IMS technology permits it to compete with other, inherently small, technologies such as chip-sized sensor arrays. This paper will discuss the lessons learned from the VOA experience and how that has shaped the design of a potential second generation VOA based upon GC/IMS technology. Data will be presented from preliminary evaluations of GC technology and the mini-IMS when exposed to VOCs likely to be detected aboard spacecraft. Results from the evaluation of an integrated GC/mini-IMS system will be shown if available.

Assisted navigation based on shared-control, using discrete and sparse human-machine interfaces.

PubMed

Lopes, Ana C; Nunes, Urbano; Vaz, Luis; Vaz, Luís

2010-01-01

This paper presents a shared-control approach for Assistive Mobile Robots (AMR), which depends on the user's ability to navigate a semi-autonomous powered wheelchair, using a sparse and discrete human-machine interface (HMI). This system is primarily intended to help users with severe motor disabilities that prevent them to use standard human-machine interfaces. Scanning interfaces and Brain Computer Interfaces (BCI), characterized to provide a small set of commands issued sparsely, are possible HMIs. This shared-control approach is intended to be applied in an Assisted Navigation Training Framework (ANTF) that is used to train users' ability in steering a powered wheelchair in an appropriate manner, given the restrictions imposed by their limited motor capabilities. A shared-controller based on user characterization, is proposed. This controller is able to share the information provided by the local motion planning level with the commands issued sparsely by the user. Simulation results of the proposed shared-control method, are presented.

An Autonomous Mobile Agent-Based Distributed Learning Architecture-A Proposal and Analytical Analysis

ERIC Educational Resources Information Center

Sadiig, I. Ahmed M. J.

2005-01-01

The traditional learning paradigm involving face-to-face interaction with students is shifting to highly data-intensive electronic learning with the advances in Information and Communication Technology. An important component of the e-learning process is the delivery of the learning contents to their intended audience over a network. A distributed…

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2009-09-30

will take place off the island of El Hierro in the Canary Islands, a site with coastal resident populations of Blainville’s beaked whale, Mesoplodon...whales off El Hierro , Canary Islands” European Research on Cetaceans 22nd, Holland, April, 2008. [non-refereed] Beedholm K., Madsen P., Johnson M

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2011-09-30

For beaked whales, field testing will take place off the island of El Hierro in the Canary Islands, a site with coastal resident populations of...beaked whales off El Hierro , Canary Islands,” European Research on Cetaceans 22nd. Holland, April, 2008. Baumgartner, M. F., and S. E. Mussoline

Promoting Learner Autonomy through Schoology M-Learning Platform in an EAP Class at an Indonesian University

ERIC Educational Resources Information Center

Ardi, Priyatno

2017-01-01

The advent of mobile learning platforms and Web 2.0 technologies is believed to provide an autonomous learning space that minimizes the power structure between the teacher and students in Indonesian EFL classes, accommodating the students to display their capacity to navigate their own learning. "Schoology" m-learning platform, a social…

Can Apple's iPhone Help to Improve English Pronunciation Autonomously? State of the App

ERIC Educational Resources Information Center

González, Jonás Fouz

2012-01-01

This paper is part of a larger project that examines some of the best-selling iPhone apps designed to learn English pronunciation. Informed by the literature on pronunciation teaching/acquisition, Computer Assisted Pronunciation Teaching (CAPT), Computer Assisted Language Learning (CALL) and Mobile-learning (M-learning), it provides a critical…

Engineering Sensorial Delay to Control Phototaxis and Emergent Collective Behaviors

NASA Astrophysics Data System (ADS)

Mijalkov, Mite; McDaniel, Austin; Wehr, Jan; Volpe, Giovanni

2016-01-01

Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviors to take hold, the individuals must be able to emit, sense, and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary; e.g., a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy; e.g., the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We experimentally demonstrate that the collective behavior of a group of phototactic robots capable of emitting a radially decaying light field can be tuned from segregation to aggregation and clustering by controlling the delay with which they change their propulsion speed in response to the light intensity they measure. We track this transition to the underlying dynamics of this system, in particular, to the ratio between the robots' sensorial delay time and the characteristic time of the robots' random reorientation. Supported by numerics, we discuss how the same mechanism can be applied to control active agents, e.g., airborne drones, moving in a three-dimensional space. Given the simplicity of this mechanism, the engineering of sensorial delay provides a potentially powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous mobile agents; furthermore, this mechanism might already be at work within living organisms such as chemotactic cells.

Inhalation of 7.5% carbon dioxide increases threat processing in humans.

PubMed

Garner, Matthew; Attwood, Angela; Baldwin, David S; James, Alexandra; Munafò, Marcus R

2011-07-01

Inhalation of 7.5% CO(2) increases anxiety and autonomic arousal in humans, and elicits fear behavior in animals. However, it is not known whether CO(2) challenge in humans induces dysfunction in neurocognitive processes that characterize generalized anxiety, notably selective attention to environmental threat. Healthy volunteers completed an emotional antisaccade task in which they looked toward or away from (inhibited) negative and neutral stimuli during inhalation of 7.5% CO(2) and air. CO(2) inhalation increased anxiety, autonomic arousal, and erroneous eye movements toward threat on antisaccade trials. Autonomic response to CO(2) correlated with hypervigilance to threat (speed to initiate prosaccades) and reduced threat inhibition (increased orienting toward and slower orienting away from threat on antisaccade trials) independent of change in mood. Findings extend evidence that CO(2) triggers fear behavior in animals via direct innervation of a distributed fear network that mobilizes the detection of and allocation of processing resources toward environmental threat in humans.

2015 Assessment of the Ballistic Missile Defense System (BMDS)

DTIC Science & Technology

2016-04-01

performance and test adequacy of the BMDS, its four autonomous BMDS systems, and its sensor/command and control architecture. The four autonomous BMDS...Patriot. The Command and Control , Battle Management, and Communications (C2BMC) element anchors the sensor/command and control architecture. This...Warfare operations against a cruise missile surrogate. Ground-based Midcourse Defense (GMD). GMD has demonstrated capability against small

Control of an automated mobile manipulator using artificial immune system

NASA Astrophysics Data System (ADS)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

Autonomous Mobile Platform for Research in Cooperative Robotics

NASA Technical Reports Server (NTRS)

Daemi, Ali; Pena, Edward; Ferguson, Paul

1998-01-01

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

The Influence of LINE-1 and SINE Retrotransposons on Mammalian Genomes.

PubMed

Richardson, Sandra R; Doucet, Aurélien J; Kopera, Huira C; Moldovan, John B; Garcia-Perez, José Luis; Moran, John V

2015-04-01

Transposable elements have had a profound impact on the structure and function of mammalian genomes. The retrotransposon Long INterspersed Element-1 (LINE-1 or L1), by virtue of its replicative mobilization mechanism, comprises ∼17% of the human genome. Although the vast majority of human LINE-1 sequences are inactive molecular fossils, an estimated 80-100 copies per individual retain the ability to mobilize by a process termed retrotransposition. Indeed, LINE-1 is the only active, autonomous retrotransposon in humans and its retrotransposition continues to generate both intra-individual and inter-individual genetic diversity. Here, we briefly review the types of transposable elements that reside in mammalian genomes. We will focus our discussion on LINE-1 retrotransposons and the non-autonomous Short INterspersed Elements (SINEs) that rely on the proteins encoded by LINE-1 for their mobilization. We review cases where LINE-1-mediated retrotransposition events have resulted in genetic disease and discuss how the characterization of these mutagenic insertions led to the identification of retrotransposition-competent LINE-1s in the human and mouse genomes. We then discuss how the integration of molecular genetic, biochemical, and modern genomic technologies have yielded insight into the mechanism of LINE-1 retrotransposition, the impact of LINE-1-mediated retrotransposition events on mammalian genomes, and the host cellular mechanisms that protect the genome from unabated LINE-1-mediated retrotransposition events. Throughout this review, we highlight unanswered questions in LINE-1 biology that provide exciting opportunities for future research. Clearly, much has been learned about LINE-1 and SINE biology since the publication of Mobile DNA II thirteen years ago. Future studies should continue to yield exciting discoveries about how these retrotransposons contribute to genetic diversity in mammalian genomes.

The Mobile Educational Trailer Unit in Outdoor Teaching.

ERIC Educational Resources Information Center

Rillo, Thomas J.

The concept of achieving mobility for outdoor teaching using a small mobile educational unit and the techniques of facilitating the mobility of equipment and supplies are discussed in this article. A small trailer unit can be used to enrich the learning experiences of students. Since the mobile educational unit is adaptable, it can be used as a…

Autonomous Navigation of Small Uavs Based on Vehicle Dynamic Model

NASA Astrophysics Data System (ADS)

Khaghani, M.; Skaloud, J.

2016-03-01

This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for small UAVs with low-cost IMUs on-board. This is achieved with no extra sensor added to the conventional INS/GNSS setup. This improvement is of special interest in case of GNSS outages, where inertial coasting drifts very quickly. In the proposed architecture, the solution to VDM equations provides the estimate of position, velocity, and attitude, which is updated within the navigation filter based on available observations, such as IMU data or GNSS measurements. The VDM is also fed with the control input to the UAV, which is available within the control/autopilot system. The filter is capable of estimating wind velocity and dynamic model parameters, in addition to navigation states and IMU sensor errors. Monte Carlo simulations reveal major improvements in navigation accuracy compared to conventional INS/GNSS navigation system during the autonomous phase, when satellite signals are not available due to physical obstruction or electromagnetic interference for example. In case of GNSS outages of a few minutes, position and attitude accuracy experiences improvements of orders of magnitude compared to inertial coasting. It means that during such scenario, the position-velocity-attitude (PVA) determination is sufficiently accurate to navigate the UAV to a home position without any signal that depends on vehicle environment.

Power Sources for Micro-Autonomous Vehicles- Challenges and Prospects

NASA Technical Reports Server (NTRS)

Narayan, S. R.; Kisor, A.; Valdez, T. I.; Manohara, H.

2009-01-01

Micro-autonomous vehicle systems are expected to have expanded role in military missions by providing full spectrum intelligence, surveillance and reconnaissance support on the battlefield, suppression of enemy defenses, and enabling co-operative (swarm-like) configurations. Of the numerous demanding requirements of autonomy, sensing, navigation, mobility, etc., meeting the requirement of mission duration or endurance is a very challenging one. This requirement is demanding because of the constraints of mass and volume that limit the quantity of energy that can be stored on-board. Energy is required for mobility, payload operation, information processing, and communication. Mobility requirements typically place an extraordinary demand on the specific energy (Wh/kg) and specific power (W/kg) of the power source; the actual distribution of the energy between mobility and other system functions could vary substantially with the mission type. The power requirements for continuous mobility can vary from 100-1000 W/kg depending on the terrain, ground speed and flight speed. Even with the power source accounting for 30% of the mass of the vehicle, the best of rechargeable batteries can provide only up to 1-2 hours of run-time for a continuous power demand at 100W/kg. In the case of micro-aerial vehicles with flight speed requirements in the range of 5-15 m s-1, the mission times rarely exceed 20 minutes [2]. Further, the power required during take-off and hover can be twice or thrice that needed for steady level flight, and thus the number and sequence of such events is also limited by the mass and size of the power source. For operations such as "perch and stare" or "silent watch" the power demand is often only a tenth of that required during continuous flight. Thus, variation in power demand during various phases of the mission importantly affects the power source selection.

An Analytical Thermal Model for Autonomous Soaring Research

NASA Technical Reports Server (NTRS)

Allen, Michael

2006-01-01

A viewgraph presentation describing an analytical thermal model used to enable research on autonomous soaring for a small UAV aircraft is given. The topics include: 1) Purpose; 2) Approach; 3) SURFRAD Data; 4) Convective Layer Thickness; 5) Surface Heat Budget; 6) Surface Virtual Potential Temperature Flux; 7) Convective Scaling Velocity; 8) Other Calculations; 9) Yearly trends; 10) Scale Factors; 11) Scale Factor Test Matrix; 12) Statistical Model; 13) Updraft Strength Calculation; 14) Updraft Diameter; 15) Updraft Shape; 16) Smoothed Updraft Shape; 17) Updraft Spacing; 18) Environment Sink; 19) Updraft Lifespan; 20) Autonomous Soaring Research; 21) Planned Flight Test; and 22) Mixing Ratio.

Two new miniature inverted-repeat transposable elements in the genome of the clam Donax trunculus.

PubMed

Šatović, Eva; Plohl, Miroslav

2017-10-01

Repetitive sequences are important components of eukaryotic genomes that drive their evolution. Among them are different types of mobile elements that share the ability to spread throughout the genome and form interspersed repeats. To broaden the generally scarce knowledge on bivalves at the genome level, in the clam Donax trunculus we described two new non-autonomous DNA transposons, miniature inverted-repeat transposable elements (MITEs), named DTC M1 and DTC M2. Like other MITEs, they are characterized by their small size, their A + T richness, and the presence of terminal inverted repeats (TIRs). DTC M1 and DTC M2 are 261 and 286 bp long, respectively, and in addition to TIRs, both of them contain a long imperfect palindrome sequence in their central parts. These elements are present in complete and truncated versions within the genome of the clam D. trunculus. The two new MITEs share only structural similarity, but lack any nucleotide sequence similarity to each other. In a search for related elements in databases, blast search revealed within the Crassostrea gigas genome a larger element sharing sequence similarity only to DTC M1 in its TIR sequences. The lack of sequence similarity with any previously published mobile elements indicates that DTC M1 and DTC M2 elements may be unique to D. trunculus.

Mapping planetary caves with an autonomous, heterogeneous robot team

NASA Astrophysics Data System (ADS)

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

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.

Human vs autonomous control of planetary roving vehicles

NASA Technical Reports Server (NTRS)

Whitney, W. M.

1974-01-01

Supervisory or semiautonomous control has some compelling advantages over step-by-step human command and verification for the operation of roving vehicles on remote planetary surfaces. There are also disadvantages in relation to the complex system that must be mobilized and the chain of events that must be enacted to conduct a mission. Which of the two control methods is better on technical grounds may not be the deciding factor in its acceptance or rejection. Some of the issues that affect changes in spacecraft design and operation are summarized. To accelerate the movement toward more autonomous machines, it will be necessary to understand and to address the problems that such autonomy will create for other elements of the control system and for the control process.

Distributed subterranean exploration and mapping with teams of UAVs

NASA Astrophysics Data System (ADS)

Rogers, John G.; Sherrill, Ryan E.; Schang, Arthur; Meadows, Shava L.; Cox, Eric P.; Byrne, Brendan; Baran, David G.; Curtis, J. Willard; Brink, Kevin M.

2017-05-01

Teams of small autonomous UAVs can be used to map and explore unknown environments which are inaccessible to teams of human operators in humanitarian assistance and disaster relief efforts (HA/DR). In addition to HA/DR applications, teams of small autonomous UAVs can enhance Warfighter capabilities and provide operational stand-off for military operations such as cordon and search, counter-WMD, and other intelligence, surveillance, and reconnaissance (ISR) operations. This paper will present a hardware platform and software architecture to enable distributed teams of heterogeneous UAVs to navigate, explore, and coordinate their activities to accomplish a search task in a previously unknown environment.

Explicit solutions of normal form of driven oscillatory systems in entrainment bands

NASA Astrophysics Data System (ADS)

Tsarouhas, George E.; Ross, John

1988-11-01

As in a prior article (Ref. 1), we consider an oscillatory dissipative system driven by external sinusoidal perturbations of given amplitude Q and frequency ω. The kinetic equations are transformed to normal form and solved for small Q near a Hopf bifurcation to oscillations in the autonomous system. Whereas before we chose irrational ratios of the frequency of the autonomous system ωn to ω, with quasiperiodic response of the system to the perturbation, we now choose rational coprime ratios, with periodic response (entrainment). The dissipative system has either two variables or is adequately described by two variables near the bifurcation. We obtain explicit solutions and develop these in detail for ωn/ω=1; 1:2; 2:1; 1:3; 3:1. We choose a specific dissipative model (Brusselator) and test the theory by comparison with full numerical solutions. The analytic solutions of the theory give an excellent approximation for the autonomous system near the bifurcation. The theoretically predicted and calculated entrainment bands agree very well for small Q in the vicinity of the bifurcation (small μ); deviations increase with increasing Q and μ. The theory is applicable to one or two external periodic perturbations.

A Polypyrimidine Tract Binding Protein, Pumpkin RBP50, Forms the Basis of a Phloem-Mobile Ribonucleoprotein Complex[W

PubMed Central

Ham, Byung-Kook; Brandom, Jeri L.; Xoconostle-Cázares, Beatriz; Ringgold, Vanessa; Lough, Tony J.; Lucas, William J.

2009-01-01

RNA binding proteins (RBPs) are integral components of ribonucleoprotein (RNP) complexes and play a central role in RNA processing. In plants, some RBPs function in a non-cell-autonomous manner. The angiosperm phloem translocation stream contains a unique population of RBPs, but little is known regarding the nature of the proteins and mRNA species that constitute phloem-mobile RNP complexes. Here, we identified and characterized a 50-kD pumpkin (Cucurbita maxima cv Big Max) phloem RNA binding protein (RBP50) that is evolutionarily related to animal polypyrimidine tract binding proteins. In situ hybridization studies indicated a high level of RBP50 transcripts in companion cells, while immunolocalization experiments detected RBP50 in both companion cells and sieve elements. A comparison of the levels of RBP50 present in vascular bundles and phloem sap indicated that this protein is highly enriched in the phloem sap. Heterografting experiments confirmed that RBP50 is translocated from source to sink tissues. Collectively, these findings established that RBP50 functions as a non-cell-autonomous RBP. Protein overlay, coimmunoprecipitation, and cross-linking experiments identified the phloem proteins and mRNA species that constitute RBP50-based RNP complexes. Gel mobility-shift assays demonstrated that specificity, with respect to the bound mRNA, is established by the polypyrimidine tract binding motifs within such transcripts. We present a model for RBP50-based RNP complexes within the pumpkin phloem translocation stream. PMID:19122103

Navigation Architecture for a Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters' Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts. This paper provides an overview of the TASS beacon and its role within the SMN and user community. Supporting navigation analysis is presented for two user mission scenarios: an Earth observing spacecraft in low earth orbit (LEO), and a highly elliptical spacecraft in a lunar resonance orbit. These diverse flight scenarios indicate the breadth of applicability of the TASS beacon for upcoming users within the current network architecture and in the SMN.

A fuzzy logic controller for an autonomous mobile robot

NASA Technical Reports Server (NTRS)

Yen, John; Pfluger, Nathan

1993-01-01

The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

A light-driven artificial flytrap

PubMed Central

Wani, Owies M.; Zeng, Hao; Priimagi, Arri

2017-01-01

The sophistication, complexity and intelligence of biological systems is a continuous source of inspiration for mankind. Mimicking the natural intelligence to devise tiny systems that are capable of self-regulated, autonomous action to, for example, distinguish different targets, remains among the grand challenges in biomimetic micro-robotics. Herein, we demonstrate an autonomous soft device, a light-driven flytrap, that uses optical feedback to trigger photomechanical actuation. The design is based on light-responsive liquid-crystal elastomer, fabricated onto the tip of an optical fibre, which acts as a power source and serves as a contactless probe that senses the environment. Mimicking natural flytraps, this artificial flytrap is capable of autonomous closure and object recognition. It enables self-regulated actuation within the fibre-sized architecture, thus opening up avenues towards soft, autonomous small-scale devices. PMID:28534872

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2010-09-30

after each trial. For beaked whales, field testing will take place off the island of El Hierro in the Canary Islands, a site with coastal resident...Johnson, M., “Coastal habitat use by Cuvier´s and Blainville´s beaked whales off El Hierro , Canary Islands” European Research on Cetaceans 22nd

Does It "Want" or "Was It Programmed to..."? Kindergarten Children's Explanations of an Autonomous Robot's Adaptive Functioning

ERIC Educational Resources Information Center

Levy, Sharona T.; Mioduser, David

2008-01-01

This study investigates young children's perspectives in explaining a self-regulating mobile robot, as they learn to program its behaviors from rules. We explore their descriptions of a robot in action to determine the nature of their explanatory frameworks: psychological or technological. We have also studied the role of an adult's intervention…

Mobile Agents for Battlespace Information Exchange

DTIC Science & Technology

2013-05-01

autonomously gather information and coordinate activities (e.g. meetings, e - commerce transactions) on behalf of their owners. Sometime in the...operations where consumer -level infrastructure is not available. The report provides an overview of MA characteristics and follows with a description of...detection for security, telecommunications and the military. With the advent of broadband communication (fixed and wireless) a typical consumer is now

M-Kinyarwanda: Promoting Autonomous Language Learning through a Robust Mobile Application

ERIC Educational Resources Information Center

Bikorimana, Emmanuel; Rutayisire, Joachim; Omar, Mwana Said; Sun, Yi

2017-01-01

Kinyarwanda, the national official language used by the population of Rwanda, was greatly affected by the tragic history that faced the country. The 13th annual national dialogue held at Kigali from 21st to 22nd December 2015, recommended the government of Rwanda, to put in place all measures to enhance and maintain the above mentioned language.…

A Helitron-like Transposon Superfamily from Lepidoptera Disrupts (GAAA)n Microsatellites and is Responsible for Flanking Sequence Similarity within a Microsatellite Family

USDA-ARS?s Scientific Manuscript database

Transposable elements (TEs) are mobile DNA regions that alter host genome structure and gene expression. A novel 588 bp non-autonomous high copy number TE in the Ostrinia nubilalis genome has features in common with miniature inverted-repeat transposable elements (MITEs): high A+T content (62.3%),...

Maintaining the Integrity of Public Education: A Comparative Analysis of School Autonomy in the United States and Australia

ERIC Educational Resources Information Center

Keddie, Amanda

2016-01-01

This article takes a critical comparative approach to examining autonomous schooling in the United States and Australia. Amid the market imperatives currently driving education priorities, its focus is on how autonomy can be mobilized in ways that preserve the integrity of public education. Through reference to key debates and research about…

ATRAN Terrain Sensing Guidance-The Grand-Daddy System

NASA Astrophysics Data System (ADS)

Koch, Richard F.; Evans, Donald C.

1980-12-01

ATRAN was the pioneer terrain sensing guidance system developed in the 1950 era and deployed in Europe on the Air Force's mobile, ground launched TM-76A MACE cruise missile in the late 1950's and early 1960's. The background, principles and technology are described for this system which was the forerunner of todays modern autonomous standoff terrain sensing guided weapons.

Reasoning and planning in dynamic domains: An experiment with a mobile robot

NASA Technical Reports Server (NTRS)

Georgeff, M. P.; Lansky, A. L.; Schoppers, M. J.

1987-01-01

Progress made toward having an autonomous mobile robot reason and plan complex tasks in real-world environments is described. To cope with the dynamic and uncertain nature of the world, researchers use a highly reactive system to which is attributed attitudes of belief, desire, and intention. Because these attitudes are explicitly represented, they can be manipulated and reasoned about, resulting in complex goal-directed and reflective behaviors. Unlike most planning systems, the plans or intentions formed by the system need only be partly elaborated before it decides to act. This allows the system to avoid overly strong expectations about the environment, overly constrained plans of action, and other forms of over-commitment common to previous planners. In addition, the system is continuously reactive and has the ability to change its goals and intentions as situations warrant. Thus, while the system architecture allows for reasoning about means and ends in much the same way as traditional planners, it also posseses the reactivity required for survival in complex real-world domains. The system was tested using SRI's autonomous robot (Flakey) in a scenario involving navigation and the performance of an emergency task in a space station scenario.

Fuzzy Sets in Dynamic Adaptation of Parameters of a Bee Colony Optimization for Controlling the Trajectory of an Autonomous Mobile Robot

PubMed Central

Amador-Angulo, Leticia; Mendoza, Olivia; Castro, Juan R.; Rodríguez-Díaz, Antonio; Melin, Patricia; Castillo, Oscar

2016-01-01

A hybrid approach composed by different types of fuzzy systems, such as the Type-1 Fuzzy Logic System (T1FLS), Interval Type-2 Fuzzy Logic System (IT2FLS) and Generalized Type-2 Fuzzy Logic System (GT2FLS) for the dynamic adaptation of the alpha and beta parameters of a Bee Colony Optimization (BCO) algorithm is presented. The objective of the work is to focus on the BCO technique to find the optimal distribution of the membership functions in the design of fuzzy controllers. We use BCO specifically for tuning membership functions of the fuzzy controller for trajectory stability in an autonomous mobile robot. We add two types of perturbations in the model for the Generalized Type-2 Fuzzy Logic System to better analyze its behavior under uncertainty and this shows better results when compared to the original BCO. We implemented various performance indices; ITAE, IAE, ISE, ITSE, RMSE and MSE to measure the performance of the controller. The experimental results show better performances using GT2FLS then by IT2FLS and T1FLS in the dynamic adaptation the parameters for the BCO algorithm. PMID:27618062

Localization of Non-Linearly Modeled Autonomous Mobile Robots Using Out-of-Sequence Measurements

PubMed Central

Besada-Portas, Eva; Lopez-Orozco, Jose A.; Lanillos, Pablo; de la Cruz, Jesus M.

2012-01-01

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost. PMID:22736962

Localization of non-linearly modeled autonomous mobile robots using out-of-sequence measurements.

PubMed

Besada-Portas, Eva; Lopez-Orozco, Jose A; Lanillos, Pablo; de la Cruz, Jesus M

2012-01-01

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost.

Agent Collaborative Target Localization and Classification in Wireless Sensor Networks

PubMed Central

Wang, Xue; Bi, Dao-wei; Ding, Liang; Wang, Sheng

2007-01-01

Wireless sensor networks (WSNs) are autonomous networks that have been frequently deployed to collaboratively perform target localization and classification tasks. Their autonomous and collaborative features resemble the characteristics of agents. Such similarities inspire the development of heterogeneous agent architecture for WSN in this paper. The proposed agent architecture views WSN as multi-agent systems and mobile agents are employed to reduce in-network communication. According to the architecture, an energy based acoustic localization algorithm is proposed. In localization, estimate of target location is obtained by steepest descent search. The search algorithm adapts to measurement environments by dynamically adjusting its termination condition. With the agent architecture, target classification is accomplished by distributed support vector machine (SVM). Mobile agents are employed for feature extraction and distributed SVM learning to reduce communication load. Desirable learning performance is guaranteed by combining support vectors and convex hull vectors. Fusion algorithms are designed to merge SVM classification decisions made from various modalities. Real world experiments with MICAz sensor nodes are conducted for vehicle localization and classification. Experimental results show the proposed agent architecture remarkably facilitates WSN designs and algorithm implementation. The localization and classification algorithms also prove to be accurate and energy efficient.

A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions

NASA Astrophysics Data System (ADS)

Hanford, Scott D.

Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission began. Additionally, the CRS can send an email containing step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest. The CRS has displayed several characteristics of intelligent behavior, including reasoning, planning, learning, and communication of learned knowledge, while autonomously performing two missions. The CRS has also demonstrated how Soar can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicles and is one of the few systems that use perceptual systems such as occupancy grid, computer vision, and fuzzy logic algorithms with cognitive architectures for robotics. The use of these perceptual systems to generate symbolic information about the environment during the indoor search mission allowed the CRS to use Soar's planning and learning mechanisms, which have rarely been used by agents to control mobile robots in real environments. Additionally, the system developed for the indoor search mission represents the first known use of a topological map with a cognitive architecture on a mobile robot. The ability to learn both a topological map and production rules allowed the Soar agent used during the indoor search mission to make intelligent decisions and behave more efficiently as it learned about its environment. While the CRS has been applied to two different missions, it has been developed with the intention that it be extended in the future so it can be used as a general system for mobile robot control. The CRS can be expanded through the addition of new sensors and sensor processing algorithms, development of Soar agents with more production rules, and the use of new architectural mechanisms in Soar.

Small Autonomous Aircraft Servo Health Monitoring

NASA Technical Reports Server (NTRS)

Quintero, Steven

2008-01-01

Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

Flexible Wing Base Micro Aerial Vehicles: Towards Flight Autonomy: Vision-Based Horizon Detection for Micro Air Vehicles

NASA Technical Reports Server (NTRS)

Nechyba, Michael C.; Ettinger, Scott M.; Ifju, Peter G.; Wazak, Martin

2002-01-01

Recently substantial progress has been made towards design building and testifying remotely piloted Micro Air Vehicles (MAVs). This progress in overcoming the aerodynamic obstacles to flight at very small scales has, unfortunately, not been matched by similar progress in autonomous MAV flight. Thus, we propose a robust, vision-based horizon detection algorithm as the first step towards autonomous MAVs. In this paper, we first motivate the use of computer vision for the horizon detection task by examining the flight of birds (biological MAVs) and considering other practical factors. We then describe our vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification, over terrain that includes roads, buildings large and small, meadows, wooded areas, and a lake. We conclude with some sample horizon detection results and preview a companion paper, where the work discussed here forms the core of a complete autonomous flight stability system.

Distance-Based Behaviors for Low-Complexity Control in Multiagent Robotics

NASA Astrophysics Data System (ADS)

Pierpaoli, Pietro

Several biological examples show that living organisms cooperate to collectively accomplish tasks impossible for single individuals. More importantly, this coordination is often achieved with a very limited set of information. Inspired by these observations, research on autonomous systems has focused on the development of distributed control techniques for control and guidance of groups of autonomous mobile agents, or robots. From an engineering perspective, when coordination and cooperation is sought in large ensembles of robotic vehicles, a reduction in hardware and algorithms' complexity becomes mandatory from the very early stages of the project design. The research for solutions capable of lowering power consumption, cost and increasing reliability are thus worth investigating. In this work, we studied low-complexity techniques to achieve cohesion and control on swarms of autonomous robots. Starting from an inspiring example with two-agents, we introduced effects of neighbors' relative positions on control of an autonomous agent. The extension of this intuition addressed the control of large ensembles of autonomous vehicles, and was applied in the form of a herding-like technique. To this end, a low-complexity distance-based aggregation protocol was defined. We first showed that our protocol produced a cohesion aggregation among the agent while avoiding inter-agent collisions. Then, a feedback leader-follower architecture was introduced for the control of the swarm. We also described how proximity measures and probability of collisions with neighbors can also be used as source of information in highly populated environments.

Estimating time available for sensor fusion exception handling

NASA Astrophysics Data System (ADS)

Murphy, Robin R.; Rogers, Erika

1995-09-01

In previous work, we have developed a generate, test, and debug methodology for detecting, classifying, and responding to sensing failures in autonomous and semi-autonomous mobile robots. An important issue has arisen from these efforts: how much time is there available to classify the cause of the failure and determine an alternative sensing strategy before the robot mission must be terminated? In this paper, we consider the impact of time for teleoperation applications where a remote robot attempts to autonomously maintain sensing in the presence of failures yet has the option to contact the local for further assistance. Time limits are determined by using evidential reasoning with a novel generalization of Dempster-Shafer theory. Generalized Dempster-Shafer theory is used to estimate the time remaining until the robot behavior must be suspended because of uncertainty; this becomes the time limit on autonomous exception handling at the remote. If the remote cannot complete exception handling in this time or needs assistance, responsibility is passed to the local, while the remote assumes a `safe' state. An intelligent assistant then facilitates human intervention, either directing the remote without human assistance or coordinating data collection and presentation to the operator within time limits imposed by the mission. The impact of time on exception handling activities is demonstrated using video camera sensor data.

Impact of a Small Cell on the RF-EMF Exposure in a Train

PubMed Central

Aerts, Sam; Plets, David; Thielens, Arno; Martens, Luc; Joseph, Wout

2015-01-01

The deployment of a miniature mobile-phone base station or small cell in a train car significantly improves the coverage and the capacity of a mobile network service on the train. However, the impact of the small cell on the passengers’ exposure to radio-frequency electromagnetic fields (RF-EMF) is unknown. In this study, we assessed experimentally the RF-EMF exposure of a mobile-phone user who is either connected to the outdoor macrocell network or to an in-train small cell, while traveling on the train, by means of the absorbed-dose concept, which combines the base station downlink exposure with the mobile-phone uplink exposure. For Global System for Mobile Communications (GSM) technology at 1800 MHz, we found that by connecting to a small cell, the brain exposure of the user could realistically be reduced by a factor 35 and the whole-body exposure by a factor 11. PMID:25734793

Robonaut Mobile Autonomy: Initial Experiments

NASA Technical Reports Server (NTRS)

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

2006-01-01

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates 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 complex 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.

Semantic Labelling of Road Furniture in Mobile Laser Scanning Data

NASA Astrophysics Data System (ADS)

Li, F.; Oude Elberink, S.; Vosselman, G.

2017-09-01

Road furniture semantic labelling is vital for large scale mapping and autonomous driving systems. Much research has been investigated on road furniture interpretation in both 2D images and 3D point clouds. Precise interpretation of road furniture in mobile laser scanning data still remains unexplored. In this paper, a novel method is proposed to interpret road furniture based on their logical relations and functionalities. Our work represents the most detailed interpretation of road furniture in mobile laser scanning data. 93.3 % of poles are correctly extracted and all of them are correctly recognised. 94.3 % of street light heads are detected and 76.9 % of them are correctly identified. Despite errors arising from the recognition of other components, our framework provides a promising solution to automatically map road furniture at a detailed level in urban environments.

Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

PubMed Central

Masmoudi, Mohamed Slim; Masmoudi, Mohamed

2016-01-01

This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

A hardware/software environment to support R D in intelligent machines and mobile robotic systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.

1990-01-01

The Center for Engineering Systems Advanced Research (CESAR) serves as a focal point at the Oak Ridge National Laboratory (ORNL) for basic and applied research in intelligent machines. R D at CESAR addresses issues related to autonomous systems, unstructured (i.e. incompletely known) operational environments, and multiple performing agents. Two mobile robot prototypes (HERMIES-IIB and HERMIES-III) are being used to test new developments in several robot component technologies. This paper briefly introduces the computing environment at CESAR which includes three hypercube concurrent computers (two on-board the mobile robots), a graphics workstation, VAX, and multiple VME-based systems (several on-board the mobile robots).more » The current software environment at CESAR is intended to satisfy several goals, e.g.: code portability, re-usability in different experimental scenarios, modularity, concurrent computer hardware transparent to applications programmer, future support for multiple mobile robots, support human-machine interface modules, and support for integration of software from other, geographically disparate laboratories with different hardware set-ups. 6 refs., 1 fig.« less

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring

PubMed Central

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-01-01

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper. PMID:27649186

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring.

PubMed

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-09-14

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper.

Atmospheric anthropic impacts tracked by the French atmospheric mobile observatory

NASA Astrophysics Data System (ADS)

Cuesta, J.; Chazette, P.; Flamant, P. H.

2009-04-01

A new ATmospheric Mobile ObServatory, so called "ATMOS", has been developed by the LiMAG "Lidar, Meteorology and Geophysics" team of the Institut Pierre Simon Laplace (IPSL) in France, in order to contribute to international field campaigns for studying atmospheric physico-chemistry, air quality and climate (i.e. aerosols, clouds, trace gazes, atmospheric dynamics and energy budget) and the ground-based validation of satellite observations. ATMOS has been deployed in the framework of i) LISAIR, for monitoring air quality in Paris in 2005, ii) AMMA "African Monsoon Multidisciplinary Analysis", in Tamanrasset and in Niamey for observing the aerosols and the atmospheric boundary layer in the Sahara and in the Sahel in 2006, iii) COPS "Convectively and Orographycally driven Precipitation Study" in the Rhin Valley in 2007 and iv) the validation of the spatial mission CALIPSO, launched in April 2006. In the coming years, ATMOS will be deployed i) in the Paris Megacity, in the framework of MEGAPOLI (2009-2010), ii) in southern France (near Marseille) for the Chemistry-Aerosol Mediterranean Experiment CHARMEX (2011-2012) and iii) the validation of ADM-Aeolus in 2010-2011 and Earth-Care in 2012. ATMOS payload is modular, accounting for the different platforms, instruments and measuring techniques. The deployment of ATMOS is an essential contribution to field campaigns, complementing the fixed sites, and a potential alternative of airborne platforms, heavier and more expensive. ATMOS mobile payload comprises both the remote sensing platform MOBILIS ("Moyens mOBIles de téLédetection de l'IPSL") and the in-situ physico-chemical station SAMMO ("Station Aérosols et chiMie MObile"). MOBILIS is an autonomous and high-performance system constituted by a full set of active and passive remote sensing instrumentation (i.e. Lidars and radiometers), whose payload may be adapted for either i) long term fixed monitoring in a maritime container or a shelter, ii) ground-based transect observation onboard small car and ii) an airborne deployment in an ultra-light airplane (ULA). SAMMO is a fully equipped in-situ sensor payload, oriented to pollution monitoring (i.e. particles and trace gazes), onboard a truck.

Evaluation of a Home Biomonitoring Autonomous Mobile Robot.

PubMed

Dorronzoro Zubiete, Enrique; Nakahata, Keigo; Imamoglu, Nevrez; Sekine, Masashi; Sun, Guanghao; Gomez, Isabel; Yu, Wenwei

2016-01-01

Increasing population age demands more services in healthcare domain. It has been shown that mobile robots could be a potential solution to home biomonitoring for the elderly. Through our previous studies, a mobile robot system that is able to track a subject and identify his daily living activities has been developed. However, the system has not been tested in any home living scenarios. In this study we did a series of experiments to investigate the accuracy of activity recognition of the mobile robot in a home living scenario. The daily activities tested in the evaluation experiment include watching TV and sleeping. A dataset recorded by a distributed distance-measuring sensor network was used as a reference to the activity recognition results. It was shown that the accuracy is not consistent for all the activities; that is, mobile robot could achieve a high success rate in some activities but a poor success rate in others. It was found that the observation position of the mobile robot and subject surroundings have high impact on the accuracy of the activity recognition, due to the variability of the home living daily activities and their transitional process. The possibility of improvement of recognition accuracy has been shown too.

Pole-Like Road Furniture Detection in Sparse and Unevenly Distributed Mobile Laser Scanning Data

NASA Astrophysics Data System (ADS)

Li, F.; Lehtomäki, M.; Oude Elberink, S.; Vosselman, G.; Puttonen, E.; Kukko, A.; Hyyppä, J.

2018-05-01

Pole-like road furniture detection received much attention due to its traffic functionality in recent years. In this paper, we develop a framework to detect pole-like road furniture from sparse mobile laser scanning data. The framework is carried out in four steps. The unorganised point cloud is first partitioned. Then above ground points are clustered and roughly classified after removing ground points. A slicing check in combination with cylinder masking is proposed to extract pole-like road furniture candidates. Pole-like road furniture are obtained after occlusion analysis in the last stage. The average completeness and correctness of pole-like road furniture in sparse and unevenly distributed mobile laser scanning data was above 0.83. It is comparable to the state of art in the field of pole-like road furniture detection in mobile laser scanning data of good quality and is potentially of practical use in the processing of point clouds collected by autonomous driving platforms.

Development and Control of Multi-Degree-of-Freedom Mobile Robot for Acquisition of Road Environmental Modes

NASA Astrophysics Data System (ADS)

Murata, Naoya; Katsura, Seiichiro

Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces. For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

Planning perception and action for cognitive mobile manipulators

NASA Astrophysics Data System (ADS)

Gaschler, Andre; Nogina, Svetlana; Petrick, Ronald P. A.; Knoll, Alois

2013-12-01

We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the e ectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.

Challenges for Social Control in Wireless Mobile Grids

NASA Astrophysics Data System (ADS)

Balke, Tina; Eymann, Torsten

The evolution of mobile phones has lead to new wireless mobile grids that lack a central controlling instance and require the cooperation of autonomous entities that can voluntarily commit resources, forming a common pool which can be used in order to achieve common and/or individual goals. The social dilemma in such systems is that it is advantageous for rational users to access the common pool resources without any own commitment, since every commitment has its price (see ? for example). However, if a substantial number of users would follow this selfish strategy, the network itself would be at stake. Thus, the question arises on how cooperation can be fostered in wireless mobile grids. Whereas many papers have dealt with this question from a technical point of view, instead this paper will concentrate on a concept that has lately been discussed a lot with this regard: social control. Thereby social control concepts will be contrasted to technical approaches and resulting challenges (as well as possible solutions to these challenges) for social concepts will be discussed.

Path optimisation of a mobile robot using an artificial neural network controller

NASA Astrophysics Data System (ADS)

Singh, M. K.; Parhi, D. R.

2011-01-01

This article proposed a novel approach for design of an intelligent controller for an autonomous mobile robot using a multilayer feed forward neural network, which enables the robot to navigate in a real world dynamic environment. The inputs to the proposed neural controller consist of left, right and front obstacle distance with respect to its position and target angle. The output of the neural network is steering angle. A four layer neural network has been designed to solve the path and time optimisation problem of mobile robots, which deals with the cognitive tasks such as learning, adaptation, generalisation and optimisation. A back propagation algorithm is used to train the network. This article also analyses the kinematic design of mobile robots for dynamic movements. The simulation results are compared with experimental results, which are satisfactory and show very good agreement. The training of the neural nets and the control performance analysis has been done in a real experimental setup.

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

NASA Technical Reports Server (NTRS)

Amos, Jeff; Beeman, Randy; Brown, Susan; Calhoun, John; Hill, John; Howorth, Lark; Mcfaden, Clay; Nguyen, Paul; Reid, Philip; Rexrode, Stuart

1989-01-01

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hangar, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex.

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

NASA Astrophysics Data System (ADS)

Amos, Jeff; Beeman, Randy; Brown, Susan; Calhoun, John; Hill, John; Howorth, Lark; McFaden, Clay; Nguyen, Paul; Reid, Philip; Rexrode, Stuart

1989-05-01

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hanger, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex.

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2008-09-30

take place off the island of El Hierro in the Canary Islands, a site with coastal resident populations of Blainville’s beaked whale, Mesoplodon...M., “Coastal habitat use by Cuvier´s and Blainville´s beaked whales off El Hierro , Canary Islands” European Research on Cetaceans 22nd, Holland, April, 2008. [non-refereed] 5

Autonomous Mobile Robots.

DTIC Science & Technology

1986-01-30

main food. Elephant brains are three times human size. Elephants form matriarchal tribal societies and exhibit complex behavior. Indian domestic...line triangulation. In XVth Int’l Congress of Photogrammetry and Remote Sensing, Commission III, Part 3a, - ’ * pages 342-362. Int’l Society for...a rigid motion. Psychometrlka 35(2):245-255, June, 1970. [15] C.C. Slama (edltor-in-chlef). I Manual of photo grammfetry. American Society of

Mathematical Modeling Of The Terrain Around A Robot

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1992-01-01

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

Knowledge-Based Motion Control of AN Intelligent Mobile Autonomous System

NASA Astrophysics Data System (ADS)

Isik, Can

An Intelligent Mobile Autonomous System (IMAS), which is equipped with vision and low level sensors to cope with unknown obstacles, is modeled as a hierarchy of path planning and motion control. This dissertation concentrates on the lower level of this hierarchy (Pilot) with a knowledge-based controller. The basis of a theory of knowledge-based controllers is established, using the example of the Pilot level motion control of IMAS. In this context, the knowledge-based controller with a linguistic world concept is shown to be adequate for the minimum time control of an autonomous mobile robot motion. The Pilot level motion control of IMAS is approached in the framework of production systems. The three major components of the knowledge-based control that are included here are the hierarchies of the database, the rule base and the rule evaluator. The database, which is the representation of the state of the world, is organized as a semantic network, using a concept of minimal admissible vocabulary. The hierarchy of rule base is derived from the analytical formulation of minimum-time control of IMAS motion. The procedure introduced for rule derivation, which is called analytical model verbalization, utilizes the concept of causalities to describe the system behavior. A realistic analytical system model is developed and the minimum-time motion control in an obstacle strewn environment is decomposed to a hierarchy of motion planning and control. The conditions for the validity of the hierarchical problem decomposition are established, and the consistency of operation is maintained by detecting the long term conflicting decisions of the levels of the hierarchy. The imprecision in the world description is modeled using the theory of fuzzy sets. The method developed for the choice of the rule that prescribes the minimum-time motion control among the redundant set of applicable rules is explained and the usage of fuzzy set operators is justified. Also included in the dissertation are the description of the computer simulation of Pilot within the hierarchy of IMAS control and the simulated experiments that demonstrate the theoretical work.

Small High Schools on a Larger Scale: The Impact of School Conversions in Chicago

ERIC Educational Resources Information Center

Kahne, Joseph E.; Sporte, Susan E.; de la Torre, Marisa; Easton, John Q.

2008-01-01

This study examines 4 years of small school reform in Chicago, focusing on schools formed by converting large traditional high schools into small autonomous ones. Analyzing systemwide survey and outcome data, the authors assess the assumptions embedded in the reform's theory of change. They find that these schools are characterized by more…

The Use of Small Group Tutorials as an Educational Strategy in Medical Education

ERIC Educational Resources Information Center

Ferris, Helena

2015-01-01

Small group tutorials are an educational strategy that is growing in popularity in medical education. This is indicative of the movement from a traditional teacher centred approach to more student-centred learning, which is characterised by active participation and autonomous learning (Hedge et al, 2011). However, small group teaching is one of…

Task-level control for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid

1994-01-01

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Development and training of a learning expert system in an autonomous mobile robot via simulation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Spelt, P.F.; Lyness, E.; DeSaussure, G.

1989-11-01

The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. Recently at CESAR a learning expert system was created to operate on board an autonomous robot working at a process control panel. The authors discuss two-computer simulation system used to create, evaluate and train this learning system. The simulation system has a graphics display of the current status of the process being simulated, and the same program which does the simulating also drives the actual control panel. Simulation results were validated on the actual robot. The speed and safety values of using amore » computerized simulator to train a learning computer, and future uses of the simulation system, are discussed.« less

Mechatronic description of a laser autoguided vehicle for greenhouse operations.

PubMed

Sánchez-Hermosilla, Julián; González, Ramón; Rodríguez, Francisco; Donaire, Julián G

2013-01-08

This paper presents a novel approach for guiding mobile robots inside greenhouses demonstrated by promising preliminary physical experiments. It represents a comprehensive attempt to use the successful principles of AGVs (auto-guided vehicles) inside greenhouses, but avoiding the necessity of modifying the crop layout, and avoiding having to bury metallic pipes in the greenhouse floor. The designed vehicle can operate different tools, e.g., a spray system for applying plant-protection product, a lifting platform to reach the top part of the plants to perform pruning and harvesting tasks, and a trailer to transport fruits, plants, and crop waste. Regarding autonomous navigation, it follows the idea of AGVs, but now laser emitters are used to mark the desired route. The vehicle development is analyzed from a mechatronic standpoint (mechanics, electronics, and autonomous control).

Distributing Planning and Control for Teams of Cooperating Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

Parker, L.E.

2004-07-19

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this researchmore » project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.« less

Autonomous Robotic Inspection in Tunnels

NASA Astrophysics Data System (ADS)

Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

2016-06-01

In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

2004-09-01

The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

Target Trailing With Safe Navigation for Maritime Autonomous Surface Vehicles

NASA Technical Reports Server (NTRS)

Wolf, Michael; Kuwata, Yoshiaki; Zarzhitsky, Dimitri V.

2013-01-01

This software implements a motion-planning module for a maritime autonomous surface vehicle (ASV). The module trails a given target while also avoiding static and dynamic surface hazards. When surface hazards are other moving boats, the motion planner must apply International Regulations for Avoiding Collisions at Sea (COLREGS). A key subset of these rules has been implemented in the software. In case contact with the target is lost, the software can receive and follow a "reacquisition route," provided by a complementary system, until the target is reacquired. The programmatic intention is that the trailed target is a submarine, although any mobile naval platform could serve as the target. The algorithmic approach to combining motion with a (possibly moving) goal location, while avoiding local hazards, may be applicable to robotic rovers, automated landing systems, and autonomous airships. The software operates in JPL s CARACaS (Control Architecture for Robotic Agent Command and Sensing) software architecture and relies on other modules for environmental perception data and information on the predicted detectability of the target, as well as the low-level interface to the boat controls.

A Lego Mindstorms NXT based test bench for multiagent exploratory systems and distributed network partitioning

NASA Astrophysics Data System (ADS)

Patil, Riya Raghuvir

Networks of communicating agents require distributed algorithms for a variety of tasks in the field of network analysis and control. For applications such as swarms of autonomous vehicles, ad hoc and wireless sensor networks, and such military and civilian applications as exploring and patrolling a robust autonomous system that uses a distributed algorithm for selfpartitioning can be significantly helpful. A single team of autonomous vehicles in a field may need to self-dissemble into multiple teams, conducive to completing multiple control tasks. Moreover, because communicating agents are subject to changes, namely, addition or failure of an agent or link, a distributed or decentralized algorithm is favorable over having a central agent. A framework to help with the study of self-partitioning of such multi agent systems that have most basic mobility model not only saves our time in conception but also gives us a cost effective prototype without negotiating the physical realization of the proposed idea. In this thesis I present my work on the implementation of a flexible and distributed stochastic partitioning algorithm on the LegoRTM Mindstorms' NXT on a graphical programming platform using National Instruments' LabVIEW(TM) forming a team of communicating agents via NXT-Bee radio module. We single out mobility, communication and self-partition as the core elements of the work. The goal is to randomly explore a precinct for reference sites. Agents who have discovered the reference sites announce their target acquisition to form a network formed based upon the distance of each agent with the other wherein the self-partitioning begins to find an optimal partition. Further, to illustrate the work, an experimental test-bench of five Lego NXT robots is presented.

Homo sapiens Systemic RNA Interference-defective-1 Transmembrane Family Member 1 (SIDT1) Protein Mediates Contact-dependent Small RNA Transfer and MicroRNA-21-driven Chemoresistance*

PubMed Central

Elhassan, Mohamed O.; Christie, Jennifer; Duxbury, Mark S.

2012-01-01

Locally initiated RNA interference (RNAi) has the potential for spatial propagation, inducing posttranscriptional gene silencing in distant cells. In Caenorhabditis elegans, systemic RNAi requires a phylogenetically conserved transmembrane channel, SID-1. Here, we show that a human SID-1 orthologue, SIDT1, facilitates rapid, contact-dependent, bidirectional small RNA transfer between human cells, resulting in target-specific non-cell-autonomous RNAi. Intercellular small RNA transfer can be both homotypic and heterotypic. We show SIDT1-mediated intercellular transfer of microRNA-21 to be a driver of resistance to the nucleoside analog gemcitabine in human adenocarcinoma cells. Documentation of a SIDT1-dependent small RNA transfer mechanism and the associated phenotypic effects on chemoresistance in human cancer cells raises the possibility that conserved systemic RNAi pathways contribute to the acquisition of drug resistance. Mediators of non-cell-autonomous RNAi may be tractable targets for novel therapies aimed at improving the efficacy of current cytotoxic agents. PMID:22174421

Small Body Landing Accuracy Using In-Situ Navigation

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam; Nandi, Sumita; Broschart, Stephen; Wallace, Mark; Olson, Corwin; Cangahuala, L. Alberto

2011-01-01

Spacecraft landings on small bodies (asteroids and comets) can require target accuracies too stringent to be met using ground-based navigation alone, especially if specific landing site requirements must be met for safety or to meet science goals. In-situ optical observations coupled with onboard navigation processing can meet the tighter accuracy requirements to enable such missions. Recent developments in deep space navigation capability include a self-contained autonomous navigation system (used in flight on three missions) and a landmark tracking system (used experimentally on the Japanese Hayabusa mission). The merging of these two technologies forms a methodology to perform autonomous onboard navigation around small bodies. This paper presents an overview of these systems, as well as the results from Monte Carlo studies to quantify the achievable landing accuracies by using these methods. Sensitivity of the results to variations in spacecraft maneuver execution error, attitude control accuracy and unmodeled forces are examined. Cases for two bodies, a small asteroid and on a mid-size comet, are presented.

Agent-based human-robot interaction of a combat bulldozer

NASA Astrophysics Data System (ADS)

Granot, Reuven; Feldman, Maxim

2004-09-01

A small-scale supervised autonomous bulldozer in a remote site was developed to experience agent based human intervention. The model is based on Lego Mindstorms kit and represents combat equipment, whose job performance does not require high accuracy. The model enables evaluation of system response for different operator interventions, as well as for a small colony of semiautonomous dozers. The supervising human may better react than a fully autonomous system to unexpected contingent events, which are a major barrier to implement full autonomy. The automation is introduced as improved Man Machine Interface (MMI) by developing control agents as intelligent tools to negotiate between human requests and task level controllers as well as negotiate with other elements of the software environment. Current UGVs demand significant communication resources and constant human operation. Therefore they will be replaced by semi-autonomous human supervisory controlled systems (telerobotic). For human intervention at the low layers of the control hierarchy we suggest a task oriented control agent to take care of the fluent transition between the state in which the robot operates and the one imposed by the human. This transition should take care about the imperfections, which are responsible for the improper operation of the robot, by disconnecting or adapting them to the new situation. Preliminary conclusions from the small-scale experiments are presented.

Immunization with neuronal nicotinic acetylcholine receptor induces neurological autoimmune disease

PubMed Central

Lennon, Vanda A.; Ermilov, Leonid G.; Szurszewski, Joseph H.; Vernino, Steven

2003-01-01

Neuronal nicotinic AChRs (nAChRs) are implicated in the pathogenesis of diverse neurological disorders and in the regulation of small-cell lung carcinoma growth. Twelve subunits have been identified in vertebrates, and mutations of one are recognized in a rare form of human epilepsy. Mice with genetically manipulated neuronal nAChR subunits exhibit behavioral or autonomic phenotypes. Here, we report the first model of an acquired neuronal nAChR disorder and evidence for its pertinence to paraneoplastic neurological autoimmunity. Rabbits immunized once with recombinant α3 subunit (residues 1–205) develop profound gastrointestinal hypomotility, dilated pupils with impaired light response, and grossly distended bladders. As in patients with idiopathic and paraneoplastic autoimmune autonomic neuropathy, the severity parallels serum levels of ganglionic nAChR autoantibody. Failure of neurotransmission through abdominal sympathetic ganglia, with retention of neuronal viability, confirms that the disorder is a postsynaptic channelopathy. In addition, we found ganglionic nAChR protein in small-cell carcinoma lines, identifying this cancer as a potential initiator of ganglionic nAChR autoimmunity. The data support our hypothesis that immune responses driven by distinct neuronal nAChR subtypes expressed in small-cell carcinomas account for several lung cancer–related paraneoplastic disorders affecting cholinergic systems, including autoimmune autonomic neuropathy, seizures, dementia, and movement disorders. PMID:12639997

Agile and dexterous robot for inspection and EOD operations

NASA Astrophysics Data System (ADS)

Handelman, David A.; Franken, Gordon H.; Komsuoglu, Haldun

2010-04-01

The All-Terrain Biped (ATB) robot is an unmanned ground vehicle with arms, legs and wheels designed to drive, crawl, walk and manipulate objects for inspection and explosive ordnance disposal tasks. This paper summarizes on-going development of the ATB platform. Control technology for semi-autonomous legged mobility and dual-arm dexterity is described as well as preliminary simulation and hardware test results. Performance goals include driving on flat terrain, crawling on steep terrain, walking on stairs, opening doors and grasping objects. Anticipated benefits of the adaptive mobility and dexterity of the ATB platform include increased robot agility and autonomy for EOD operations, reduced operator workload and reduced operator training and skill requirements.

Interaction dynamics of multiple mobile robots with simple navigation strategies

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1989-01-01

The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.

Robot navigation research using the HERMIES mobile robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barnett, D.L.

1989-01-01

In recent years robot navigation has attracted much attention from researchers around the world. Not only are theoretical studies being simulated on sophisticated computers, but many mobile robots are now used as test vehicles for these theoretical studies. Various algorithms have been perfected for navigation in a known static environment; but navigation in an unknown and dynamic environment poses a much more challenging problem for researchers. Many different methodologies have been developed for autonomous robot navigation, but each methodology is usually restricted to a particular type of environment. One important research focus of the Center for Engineering Systems Advanced researchmore » (CESAR) at Oak Ridge National Laboratory, is autonomous navigation in unknown and dynamic environments using the series of HERMIES mobile robots. The research uses an expert system for high-level planning interfaced with C-coded routines for implementing the plans, and for quick processing of data requested by the expert system. In using this approach, the navigation is not restricted to one methodology since the expert system can activate a rule module for the methodology best suited for the current situation. Rule modules can be added the rule base as they are developed and tested. Modules are being developed or enhanced for navigating from a map, searching for a target, exploring, artificial potential-field navigation, navigation using edge-detection, etc. This paper will report on the various rule modules and methods of navigation in use, or under development at CESAR, using the HERMIES-IIB robot as a testbed. 13 refs., 5 figs., 1 tab.« less

Jittery, a Mutator Distant Relative with a Paradoxical Mobile Behavior: Excision without Reinsertion

PubMed Central

Xu, Zhennan; Yan, Xianghe; Maurais, Steve; Fu, Huihua; O'Brien, David G.; Mottinger, John; Dooner, Hugo K.

2004-01-01

The unstable mutation bz-m039 arose in a maize (Zea mays) stock that originated from a plant infected with barley stripe mosaic virus. The instability of the mutation is caused by a 3.9-kb mobile element that has been named Jittery (Jit). Jit has terminal inverted repeats (TIRs) of 181 bp, causes a 9-bp direct duplication of the target site, and appears to excise autonomously. It is predicted to encode a single 709–amino acid protein, JITA, which is distantly related to the MURA transposase protein of the Mutator system but is more closely related to the MURA protein of Mutator-like elements (MULEs) from Arabidopsis thaliana and rice (Oryza sativa). Like MULEs, Jit resembles Mutator in the length of the element's TIRs, the size of the target site duplication, and in the makeup of its transposase but differs from the autonomous element Mutator–Don Robertson in that it encodes a single protein. Jit also differs from Mutator elements in the high frequency with which it excises to produce germinal revertants and in its copy number in the maize genome: Jit-like TIRs are present at low copy number in all maize lines and teosinte accessions examined, and JITA sequences occur in only a few maize inbreds. However, Jit cannot be considered a bona fide transposon in its present host line because it does not leave footprints upon excision and does not reinsert in the genome. These unusual mobile element properties are discussed in light of the structure and gene organization of Jit and related elements. PMID:15075398

An autonomous chemically fuelled small-molecule motor

NASA Astrophysics Data System (ADS)

Wilson, Miriam R.; Solà, Jordi; Carlone, Armando; Goldup, Stephen M.; Lebrasseur, Nathalie; Leigh, David A.

2016-06-01

Molecular machines are among the most complex of all functional molecules and lie at the heart of nearly every biological process. A number of synthetic small-molecule machines have been developed, including molecular muscles, synthesizers, pumps, walkers, transporters and light-driven and electrically driven rotary motors. However, although biological molecular motors are powered by chemical gradients or the hydrolysis of adenosine triphosphate (ATP), so far there are no synthetic small-molecule motors that can operate autonomously using chemical energy (that is, the components move with net directionality as long as a chemical fuel is present). Here we describe a system in which a small molecular ring (macrocycle) is continuously transported directionally around a cyclic molecular track when powered by irreversible reactions of a chemical fuel, 9-fluorenylmethoxycarbonyl chloride. Key to the design is that the rate of reaction of this fuel with reactive sites on the cyclic track is faster when the macrocycle is far from the reactive site than when it is near to it. We find that a bulky pyridine-based catalyst promotes carbonate-forming reactions that ratchet the displacement of the macrocycle away from the reactive sites on the track. Under reaction conditions where both attachment and cleavage of the 9-fluorenylmethoxycarbonyl groups occur through different processes, and the cleavage reaction occurs at a rate independent of macrocycle location, net directional rotation of the molecular motor continues for as long as unreacted fuel remains. We anticipate that autonomous chemically fuelled molecular motors will find application as engines in molecular nanotechnology.

Safe Autonomous Flight Environment (SAFE50) for the Notional Last 50 ft of Operation of 55 lb Class of UAS

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje; Kopardekar, Parimal; Ippolito, Corey; Melton, John E.; Stepanyan, Vahram; Sankararaman, Shankar; Nikaido, Ben

2017-01-01

The most difficult phase of small Unmanned Aerial System (sUAS) deployment is autonomous operations below the notional 50 ft in urban landscapes. Understanding the feasibility of safely flying sUAS autonomously below 50 ft is a game changer for many civilian applications. This paper outlines three areas of research currently underway which address key challenges for flight in the urban landscape. These are: (1) Off-line and On-board wind estimation and accommodation; (2) Real-time trajectory planning via characterization of obstacles using a LIDAR; (3) On-board information fusion for real-time decision-making and safe trajectory generation.

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility

PubMed Central

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-01-01

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability. PMID:27007373

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility.

PubMed

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-03-19

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability.

Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Weisbin, C.R.; Pin, F.G.

1989-01-01

This paper reviews ongoing and planned research with mobile autonomous robots at the Oak Ridge National Laboratory (ORNL), Center for Engineering Systems Advanced Research (CESAR). Specifically we report on results obtained with the robot HERMIES-IIB in navigation, intelligent sensing, learning, and on-board parallel computing in support of these functions. We briefly summarize an experiment with HERMIES-IIB that demonstrates the capability of smooth transitions between robot autonomy and tele-operation. This experiment results from collaboration among teams at the Universities of Florida, Michigan, Tennessee, and Texas; and ORNL in a program targeted at robotics for advanced nuclear power stations. We conclude bymore » summarizing ongoing R D with our new mobile robot HERMIES-III which is equipped with a seven degree-of-freedom research manipulator arm. 12 refs., 4 figs.« less

Training a Network of Electronic Neurons for Control of a Mobile Robot

NASA Astrophysics Data System (ADS)

Vromen, T. G. M.; Steur, E.; Nijmeijer, H.

An adaptive training procedure is developed for a network of electronic neurons, which controls a mobile robot driving around in an unknown environment while avoiding obstacles. The neuronal network controls the angular velocity of the wheels of the robot based on the sensor readings. The nodes in the neuronal network controller are clusters of neurons rather than single neurons. The adaptive training procedure ensures that the input-output behavior of the clusters is identical, even though the constituting neurons are nonidentical and have, in isolation, nonidentical responses to the same input. In particular, we let the neurons interact via a diffusive coupling, and the proposed training procedure modifies the diffusion interaction weights such that the neurons behave synchronously with a predefined response. The working principle of the training procedure is experimentally validated and results of an experiment with a mobile robot that is completely autonomously driving in an unknown environment with obstacles are presented.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

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

1997-06-01

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.

SeaRover: An Emerging Technology for Sea Surface Sensor Networks

NASA Astrophysics Data System (ADS)

Fong, T.; Kudela, R.; Curcio, J.; Davidson, K.; Darling, D.; Kirkwood, B.

2005-12-01

Introduction - SeaRover is envisioned as an autonomous surface vehicle (ASV) for coastal operations. It is intended to lower the cost of existing marine survey applications while enabling new science missions. The current conceptual design is a small vehicle with hull and propulsion system optimized to eliminate cavitation and EM noise. SeaRover will make significant advances over existing platforms by providing longer duration science missions, better positioning and mission control, larger power budgets for instrumentation and significantly lower operational costs than existing vehicles. Science Enabled by SeaRover - SeaRover's unique design and autonomous capability provides several advantages compared to traditional autonomous underwater vehicles (AUV's) and crewed surface vessels: (1) Near surface sampling: SeaRover can sample within the top 1-2 meters. This is difficult to do with crewed vessels because of draft and perturbations from the hull. (2) Adaptive monitoring of dynamic events: SeaRover will be capable of intelligent decision making, as well as real-time remote control. This will enable highly-responsive autonomous tracking of moving phenomena (e.g., algal bloom). (3) Long term monitoring: SeaRover can be deployed for extended periods of time, allowing it to be used for longitudinal baseline studies. SeaRover will represent an advance over existing platforms in terms of: (1) Mobility: operational range from 10-1000 km, GPS accuracy, trajectory control with meter precision, and launch in hours. (2) Duration: from days up to months. (3) Payload and Power: accommodate approximately 100 kg for a 6m hull. Its surface design will allow access to wind and sun energy. (4) Communication: radio, wireless, satellite, direct data return. (5) Operational Cost: target costs are $2K/day (24 hour operation), with no onboard operator. (6) Recovery/Reusability: autonomous return to safe harbor provides sample return and on-base maintenance. Large science and power payload simplifies instrument design and integration. Enabling Technology for SeaRover - SeaRover's capabilities are made possible by advances in technologies developed during NASA planetary exploration missions: (1) Adaptive control (2) Automated data analysis (3) Communications management (4) Computer vision (5) Interactive 3D User Interfaces (6) Intelligent energy management (7) Long-duration operations planning (8) Multi-vehicle coordinated action As an example of what SeaRover could be used for, we envision augmenting existing monthly monitoring cruises in Monterey Bay with a SeaRover. Each month, the Center for Integrated Marine Technology (UC-Santa Cruz) conducts shipboard surveys of Monterey Bay. This requires 2-3 full days of ship time (weather dependent), 14 scientists, and 2 crew members. Operations are currently limited by sea-state, transit speed, and cost. SeaRover could provide all of the underway measurements and some of the hydrographic station measurements faster, more frequently, and for a fraction of the cost.

Modulation of autonomic activity in neurological conditions: Epilepsy and Tourette Syndrome

PubMed Central

Nagai, Yoko

2015-01-01

This manuscript considers the central but neglected role of the autonomic nervous system in the expression and control of seizures in epilepsy (small) and tics in Tourette Syndrome (TS). In epilepsy, consideration of autonomic involvement is typically confined to differential diagnoses (e.g., syncope), or in relation to Sudden Unexpected Death in Epilepsy (SUDEP). Investigation is more limited in Tourette Syndrome. The role of the autonomic nervous system in the generation and prevention of epileptic seizures is largely overlooked. Emotional stimuli such as anxiety and stress are potent causes of seizures and tic activity in epilepsy and TS, respectively. This manuscript will describe a possible neural mechanism by which afferent autonomic projections linked to cognition and behavior influence central thalamo-cortical regulation, which appears to be an important means for controlling both seizure and tic activity. It also summarizes the link between the integrity of the default mode network and autonomic regulation in patients with epilepsy as well as the link between impaired motor control and autonomic regulation in patients with TS. Two neurological conditions; epilepsy and TS were chosen, as seizures and tics represent parameters that can be easily measured to investigate influences of autonomic functions. The EDA biofeedback approach is anticipated to gain a strong position within the next generation of treatment for epilepsy, as a non-invasive technique with minimal side effects. This approach also takes advantage of the current practical opportunity to utilize growing digital health technology. PMID:26441491

KAM tori and whiskered invariant tori for non-autonomous systems

NASA Astrophysics Data System (ADS)

Canadell, Marta; de la Llave, Rafael

2015-08-01

We consider non-autonomous dynamical systems which converge to autonomous (or periodic) systems exponentially fast in time. Such systems appear naturally as models of many physical processes affected by external pulses. We introduce definitions of non-autonomous invariant tori and non-autonomous whiskered tori and their invariant manifolds and we prove their persistence under small perturbations, smooth dependence on parameters and several geometric properties (if the systems are Hamiltonian, the tori are Lagrangian manifolds). We note that such definitions are problematic for general time-dependent systems, but we show that they are unambiguous for systems converging exponentially fast to autonomous. The proof of persistence relies only on a standard Implicit Function Theorem in Banach spaces and it does not require that the rotations in the tori are Diophantine nor that the systems we consider preserve any geometric structure. We only require that the autonomous system preserves these objects. In particular, when the autonomous system is integrable, we obtain the persistence of tori with rational rotational. We also discuss fast and efficient algorithms for their computation. The method also applies to infinite dimensional systems which define a good evolution, e.g. PDE's. When the systems considered are Hamiltonian, we show that the time dependent invariant tori are isotropic. Hence, the invariant tori of maximal dimension are Lagrangian manifolds. We also obtain that the (un)stable manifolds of whiskered tori are Lagrangian manifolds. We also include a comparison with the more global theory developed in Blazevski and de la Llave (2011).

Modulation of autonomic activity in neurological conditions: Epilepsy and Tourette Syndrome.

PubMed

Nagai, Yoko

2015-01-01

This manuscript considers the central but neglected role of the autonomic nervous system in the expression and control of seizures in epilepsy (small) and tics in Tourette Syndrome (TS). In epilepsy, consideration of autonomic involvement is typically confined to differential diagnoses (e.g., syncope), or in relation to Sudden Unexpected Death in Epilepsy (SUDEP). Investigation is more limited in Tourette Syndrome. The role of the autonomic nervous system in the generation and prevention of epileptic seizures is largely overlooked. Emotional stimuli such as anxiety and stress are potent causes of seizures and tic activity in epilepsy and TS, respectively. This manuscript will describe a possible neural mechanism by which afferent autonomic projections linked to cognition and behavior influence central thalamo-cortical regulation, which appears to be an important means for controlling both seizure and tic activity. It also summarizes the link between the integrity of the default mode network and autonomic regulation in patients with epilepsy as well as the link between impaired motor control and autonomic regulation in patients with TS. Two neurological conditions; epilepsy and TS were chosen, as seizures and tics represent parameters that can be easily measured to investigate influences of autonomic functions. The EDA biofeedback approach is anticipated to gain a strong position within the next generation of treatment for epilepsy, as a non-invasive technique with minimal side effects. This approach also takes advantage of the current practical opportunity to utilize growing digital health technology.

Recent Advances in the Tempest UAS for In-Situ Measurements in Highly-Dynamic Environments

NASA Astrophysics Data System (ADS)

Argrow, B. M.; Frew, E.; Houston, A. L.; Weiss, C.

2014-12-01

The spring 2010 deployment of the Tempest UAS during the VORTEX2 field campaign verified that a small UAS, supported by a customized mobile communications, command, and control (C3) architecture, could simultaneously satisfy Federal Aviation Administration (FAA) airspace requirements, and make in-situ thermodynamic measurements in supercell thunderstorms. A multi-hole airdata probe was recently integrated into the Tempest UAS airframe and verification flights were made in spring 2013 to collect in-situ wind measurements behind gust fronts produced by supercell thunderstorms in northeast Colorado. Using instantaneous aircraft attitude estimates from the autopilot, the in-situ measurements were converted to inertial wind estimates, and estimates of uncertainty in the wind measurements was examined. To date, the limited deployments of the Tempest UAS have primarily focused on addressing the engineering and regulatory requirements to conduct supercell research, and the Tempest UAS team of engineers and meteorologists is preparing for deployments with the focus on collecting targeted data for meteorological exploration and hypothesis testing. We describe the recent expansion of the operations area and altitude ceiling of the Tempest UAS, engineering issues for accurate inertial wind estimates, new concepts of operation that include the simultaneous deployment of multiple aircraft with mobile ground stations, and a brief description of our current effort to develop a capability for the Tempest UAS to perform autonomous path planning to maximize energy harvesting from the local wind field for increased endurance.

Nonuniform Deployment of Autonomous Agents in Harbor-Like Environments

DTIC Science & Technology

2014-11-12

ith agent than to all other agents. Interested readers are referred to [55] for the comprehensive study on Voronoi partitioning and its applications...robots: An rfid approach, PhD dissertation, School of Electrical Engi- neering and Computer Science, University of Ottawa (October 2012). [55] A. Okabe, B...Gueaieb, A stochastic approach of mobile robot navigation using customized rfid sys- tems, International Conference on Signals, Circuits and Systems

Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

DTIC Science & Technology

2011-01-18

IMU, and LIDAR systems for identifying and tracking mobile OOI at long range (>20m), providing early warnings and allowing neutralization from a... LIDAR and Computer Vision template-based feature tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous...Locali- zation and Mapping ( SLAM ). Our system contains two maps, a physical map and an influence map (location of hostile OOI, explored and unexplored

Evaluating the Dynamics of Agent-Environment Interaction

DTIC Science & Technology

2001-05-01

a color sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangulation system for...Cooperative Mobile Robot Control’, Autonomous Robots 4(4), 387{403. Vaughan, R. T., Sty, K., Sukhatme, G. S. & Mataric, M. J. (2000), Whistling in the Dark...sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangu- lation system for

Students' Situated Action in Physical Education: Analysis of Typical Concerns and Their Relations with Mobilized Knowledge in Table Tennis

ERIC Educational Resources Information Center

Guillou, Julien; Durny, Annick

2008-01-01

Background: In most studies in the classroom context, the student is generally only one variable in the analysis of the effects of the teacher's work. Our research was based on the postulate that the student's activity is basically autonomous, i.e. irreducible with the influence that the teacher has. This is why we propose to analyse the dynamics…

Sampling strategies on Mars: Remote and not-so-remote observations from a surface rover

NASA Technical Reports Server (NTRS)

Singer, R. B.

1988-01-01

The mobility and speed of a semi-autonomous Mars rover are of necessity limited by the need to think and stay out of trouble. This consideration makes it essential that the rover's travels be carefully directed to likely targets of interest for sampling and in situ study. Short range remote sensing conducted from the rover, based on existing technology, can provide significant information about the chemistry and mineralogy of surrounding rocks and soils in support of sampling efforts. These observations are of course of direct scientific importance as well. Because of the small number of samples actually to be returned to Earth, it is also important that candidate samples be analyzed aboard the rover so that diversity can be maximized. It is essential to perform certain types of analyses, such as those involving volatiles, prior to the thermal and physical shocks of the return trip to Earth. In addition, whatever measurements can be made of nonreturned samples will be important to enlarge the context of the detailed analyses to be performed later on the few returned samples. Some considerations related to these objectives are discussed.

Optical pH Sensor Covering the Range from pH 0-14 Compatible with Mobile-Device Readout and Based on a Set of Rationally Designed Indicator Dyes.

PubMed

Gotor, Raúl; Ashokkumar, Pichandi; Hecht, Mandy; Keil, Karin; Rurack, Knut

2017-08-15

In this work, a family of pH-responsive fluorescent probes has been designed in a rational manner with the aid of quantum chemistry tools, covering the entire pH range from 0-14. Relying on the boron-dipyrromethene (BODIPY) core, all the probes as well as selected reference dyes display very similar spectroscopic properties with ON-OFF fluorescence switching responses, facilitating optical readout in simple devices used for detection and analysis. Embedding of the probes and reference dyes into hydrogel spots on a plastic strip yielded a test strip that reversibly indicates pH with a considerably small uncertainty of ∼0.1 pH units. These strips are not only reusable but, combined with a 3D-printed case that can be attached to a smartphone, the USB port of which drives the integrated LED used for excitation, allows for autonomous operation in on-site or in-the-field applications; the developed Android application software ("app") further simplifies operation for unskilled users.

Self-propelled instrumented deep drilling system

NASA Technical Reports Server (NTRS)

Myrick, Thomas M. (Inventor); Gorevan, Stephen (Inventor)

2006-01-01

An autonomous subsurface drilling device has spaced-apart forward and rearward feet sections coupled to an axial thruster mechanism between them to operate using an inchworm method of mobility. In one embodiment, forward and rearward drill sections are carried on forward and rearward feet sections for drilling into material in the borehole in both forward and rearward directions, to allow the device to maneuver in any direction underground. In another embodiment, a front drill section has a drill head for cutting into the borehole and conveying cuttings through a center spine tube to an on-board depository for the cuttings. The feet sections of the device employ a foot scroll drive unit to provide radial thrust and synchronous motion to the feet for gripping the borehole wall. The axial thrust mechanism has a tandem set of thrusters in which the second thruster is used to provide the thrust needed for drilling, but not walking. A steering mechanism composed of concentric inner and outer eccentric rings provided with the rearward feet section allow small corrections in both direction and magnitude to the drilling direction as drilling commences.

Large-scale deep learning for robotically gathered imagery for science

NASA Astrophysics Data System (ADS)

Skinner, K.; Johnson-Roberson, M.; Li, J.; Iscar, E.

2016-12-01

With the explosion of computing power, the intelligence and capability of mobile robotics has dramatically increased over the last two decades. Today, we can deploy autonomous robots to achieve observations in a variety of environments ripe for scientific exploration. These platforms are capable of gathering a volume of data previously unimaginable. Additionally, optical cameras, driven by mobile phones and consumer photography, have rapidly improved in size, power consumption, and quality making their deployment cheaper and easier. Finally, in parallel we have seen the rise of large-scale machine learning approaches, particularly deep neural networks (DNNs), increasing the quality of the semantic understanding that can be automatically extracted from optical imagery. In concert this enables new science using a combination of machine learning and robotics. This work will discuss the application of new low-cost high-performance computing approaches and the associated software frameworks to enable scientists to rapidly extract useful science data from millions of robotically gathered images. The automated analysis of imagery on this scale opens up new avenues of inquiry unavailable using more traditional manual or semi-automated approaches. We will use a large archive of millions of benthic images gathered with an autonomous underwater vehicle to demonstrate how these tools enable new scientific questions to be posed.

Emergence of a snake-like structure in mobile distributed agents: an exploratory agent-based modeling approach.

PubMed

Niazi, Muaz A

2014-01-01

The body structure of snakes is composed of numerous natural components thereby making it resilient, flexible, adaptive, and dynamic. In contrast, current computer animations as well as physical implementations of snake-like autonomous structures are typically designed to use either a single or a relatively smaller number of components. As a result, not only these artificial structures are constrained by the dimensions of the constituent components but often also require relatively more computationally intensive algorithms to model and animate. Still, these animations often lack life-like resilience and adaptation. This paper presents a solution to the problem of modeling snake-like structures by proposing an agent-based, self-organizing algorithm resulting in an emergent and surprisingly resilient dynamic structure involving a minimal of interagent communication. Extensive simulation experiments demonstrate the effectiveness as well as resilience of the proposed approach. The ideas originating from the proposed algorithm can not only be used for developing self-organizing animations but can also have practical applications such as in the form of complex, autonomous, evolvable robots with self-organizing, mobile components with minimal individual computational capabilities. The work also demonstrates the utility of exploratory agent-based modeling (EABM) in the engineering of artificial life-like complex adaptive systems.

Emergence of a Snake-Like Structure in Mobile Distributed Agents: An Exploratory Agent-Based Modeling Approach

PubMed Central

Niazi, Muaz A.

2014-01-01

The body structure of snakes is composed of numerous natural components thereby making it resilient, flexible, adaptive, and dynamic. In contrast, current computer animations as well as physical implementations of snake-like autonomous structures are typically designed to use either a single or a relatively smaller number of components. As a result, not only these artificial structures are constrained by the dimensions of the constituent components but often also require relatively more computationally intensive algorithms to model and animate. Still, these animations often lack life-like resilience and adaptation. This paper presents a solution to the problem of modeling snake-like structures by proposing an agent-based, self-organizing algorithm resulting in an emergent and surprisingly resilient dynamic structure involving a minimal of interagent communication. Extensive simulation experiments demonstrate the effectiveness as well as resilience of the proposed approach. The ideas originating from the proposed algorithm can not only be used for developing self-organizing animations but can also have practical applications such as in the form of complex, autonomous, evolvable robots with self-organizing, mobile components with minimal individual computational capabilities. The work also demonstrates the utility of exploratory agent-based modeling (EABM) in the engineering of artificial life-like complex adaptive systems. PMID:24701135

Autonomous detection of indoor and outdoor signs

NASA Astrophysics Data System (ADS)

Holden, Steven; Snorrason, Magnus; Goodsell, Thomas; Stevens, Mark R.

2005-05-01

Most goal-oriented mobile robot tasks involve navigation to one or more known locations. This is generally done using GPS coordinates and landmarks outdoors, or wall-following and fiducial marks indoors. Such approaches ignore the rich source of navigation information that is already in place for human navigation in all man-made environments: signs. A mobile robot capable of detecting and reading arbitrary signs could be tasked using directions that are intuitive to hu-mans, and it could report its location relative to intuitive landmarks (a street corner, a person's office, etc.). Such ability would not require active marking of the environment and would be functional in the absence of GPS. In this paper we present an updated version of a system we call Sign Understanding in Support of Autonomous Navigation (SUSAN). This system relies on cues common to most signs, the presence of text, vivid color, and compact shape. By not relying on templates, SUSAN can detect a wide variety of signs: traffic signs, street signs, store-name signs, building directories, room signs, etc. In this paper we focus on the text detection capability. We present results summarizing probability of detection and false alarm rate across many scenes containing signs of very different designs and in a variety of lighting conditions.

Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots

NASA Astrophysics Data System (ADS)

Borenstein, Johann

1993-05-01

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. In the past, these problems limited the use of MDOF vehicles to applications where the vehicle would follow a guide-wire, which would correct wheel slippage and control errors. By contrast, autonomous or semi-autonomous mobile robots usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage. This paper introduces a new concept in the kinematic design of MDOF vehicles. This concept is based on the provision of a compliant linkage between drive wheels or drive axles. Simulation results indicate that compliant linkage allows to overcome the control problems found in conventional MDOF vehicles and reduces the amount of wheel slippage to the same level (or less) than the amount of slippage found on a comparable 2-DOF vehicle.

The magic glove: a gesture-based remote controller for intelligent mobile robots

NASA Astrophysics Data System (ADS)

Luo, Chaomin; Chen, Yue; Krishnan, Mohan; Paulik, Mark

2012-01-01

This paper describes the design of a gesture-based Human Robot Interface (HRI) for an autonomous mobile robot entered in the 2010 Intelligent Ground Vehicle Competition (IGVC). While the robot is meant to operate autonomously in the various Challenges of the competition, an HRI is useful in moving the robot to the starting position and after run termination. In this paper, a user-friendly gesture-based embedded system called the Magic Glove is developed for remote control of a robot. The system consists of a microcontroller and sensors that is worn by the operator as a glove and is capable of recognizing hand signals. These are then transmitted through wireless communication to the robot. The design of the Magic Glove included contributions on two fronts: hardware configuration and algorithm development. A triple axis accelerometer used to detect hand orientation passes the information to a microcontroller, which interprets the corresponding vehicle control command. A Bluetooth device interfaced to the microcontroller then transmits the information to the vehicle, which acts accordingly. The user-friendly Magic Glove was successfully demonstrated first in a Player/Stage simulation environment. The gesture-based functionality was then also successfully verified on an actual robot and demonstrated to judges at the 2010 IGVC.

Two-Armed, Mobile, Sensate Research Robot

NASA Technical Reports Server (NTRS)

Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

2004-01-01

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and contains a force-and-torque sensor that provides feedback for force (compliance) control of the arm. The end effector could be a tool or a robot hand, depending on the application.

Vision-based semi-autonomous outdoor robot system to reduce soldier workload

NASA Astrophysics Data System (ADS)

Richardson, Al; Rodgers, Michael H.

2001-09-01

Sensors and computational capability have not reached the point to enable small robots to navigate autonomously in unconstrained outdoor environments at tactically useful speeds. This problem is greatly reduced, however, if a soldier can lead the robot through terrain that he knows it can traverse. An application of this concept is a small pack-mule robot that follows a foot soldier over outdoor terrain. The solder would be responsible to avoid situations beyond the robot's limitations when encountered. Having learned the route, the robot could autonomously retrace the path carrying supplies and munitions. This would greatly reduce the soldier's workload under normal conditions. This paper presents a description of a developmental robot sensor system using low-cost commercial 3D vision and inertial sensors to address this application. The robot moves at fast walking speed and requires only short-range perception to accomplish its task. 3D-feature information is recorded on a composite route map that the robot uses to negotiate its local environment and retrace the path taught by the soldier leader.

Motivation for Participating in a Weight Loss Program and Financial Incentives: An Analysis from a Randomized Trial

PubMed Central

Crane, Melissa M.; Tate, Deborah F.; Finkelstein, Eric A.; Linnan, Laura A.

2012-01-01

This analysis investigated if changes in autonomous or controlled motivation for participation in a weight loss program differed between individuals offered a financial incentive for weight loss compared to individuals not offered an incentive. Additionally, the same relationships were tested among those who lost weight and either received or did not receive an incentive. This analysis used data from a year-long randomized worksite weight loss program that randomly assigned employees in each worksite to either a low-intensity weight loss program or the same program plus small financial incentives for weight loss ($5.00 per percentage of initial weight lost). There were no differences in changes between groups on motivation during the study, however, increases in autonomous motivation were consistently associated with greater weight losses. This suggests that the small incentives used in this program did not lead to increases in controlled motivation nor did they undermine autonomous motivation. Future studies are needed to evaluate the magnitude and timing of incentives to more fully understand the relationship between incentives and motivation. PMID:22577524

ICAROUS: Integrated Configurable Architecture for Unmanned Systems

NASA Technical Reports Server (NTRS)

Consiglio, Maria C.

2016-01-01

NASA's Unmanned Aerial System (UAS) Traffic Management (UTM) project aims at enabling near-term, safe operations of small UAS vehicles in uncontrolled airspace, i.e., Class G airspace. A far-term goal of UTM research and development is to accommodate the expected rise in small UAS traffic density throughout the National Airspace System (NAS) at low altitudes for beyond visual line-of-sight operations. This video describes a new capability referred to as ICAROUS (Integrated Configurable Algorithms for Reliable Operations of Unmanned Systems), which is being developed under the auspices of the UTM project. ICAROUS is a software architecture comprised of highly assured algorithms for building safety-centric, autonomous, unmanned aircraft applications. Central to the development of the ICAROUS algorithms is the use of well-established formal methods to guarantee higher levels of safety assurance by monitoring and bounding the behavior of autonomous systems. The core autonomy-enabling capabilities in ICAROUS include constraint conformance monitoring and autonomous detect and avoid functions. ICAROUS also provides a highly configurable user interface that enables the modular integration of mission-specific software components.

Guidance and Control of a Small Unmanned Aerial Vehicle and Autonomous Flight Experiments

NASA Astrophysics Data System (ADS)

Fujinaga, Jin; Tokutake, Hiroshi; Sunada, Shigeru

This paper describes the development of a fixed-wing small-size UAV and the design of its flight controllers. The developed UAV’s wing span is 0.6m, and gross weight is 0.27kg. In order to ensure robust performances of the longitudinal and lateral-directional motions of the UAV, flight controllers are designed for these motions with μ-synthesis. Numerical simulations show that the designed controllers attain good robust stabilities and performances, and have good tracking performance for command. After an order-reduction and discretization, the designed flight controllers were implemented in the UAV. A flight test was performed, and the ability of the UAV to fly autonomously, passing over waypoints, was demonstrated.

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

PubMed

Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

2018-03-16

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

The Impact of Early Life Stress on Growth and Cardiovascular Risk: A Possible Example for Autonomic Imprinting?

PubMed

Buchhorn, Reiner; Meint, Sebastian; Willaschek, Christian

2016-01-01

Early life stress is imprinting regulatory properties with life-long consequences. We investigated heart rate variability in a group of small children with height below the third percentile, who experienced an episode of early life stress due to heart failure or intra uterine growth retardation. These children appear to develop autonomic dysfunction in later life. Compared to the healthy control group heart rate variability (HRV) is reduced on average in a group of 101 children with short stature. Low HRV correlates to groups of children born small for gestational age (SGA), children with cardiac growth failure and children with congenital syndromes, but not to those with constitutional growth delay (CGD), who had normal HRV. Reduced HRV indicated by lower RMSSD and High Frequency (HF)-Power is indicating reduced vagal activity as a sign of autonomic imbalance. It is not short stature itself, but rather the underlying diseases that are the cause for reduced HRV in children with height below the third percentile. These high risk children-allocated in the groups with an adverse autonomic imprinting in utero or infancy (SGA, congenital heart disease and congenital syndromes)-have the highest risk for 'stress diseases' such as cardiovascular disease in later life. The incidence of attention deficit disorder is remarkably high in our group of short children.

The Impact of Early Life Stress on Growth and Cardiovascular Risk: A Possible Example for Autonomic Imprinting?

PubMed Central

Buchhorn, Reiner; Meint, Sebastian

2016-01-01

Introduction Early life stress is imprinting regulatory properties with life-long consequences. We investigated heart rate variability in a group of small children with height below the third percentile, who experienced an episode of early life stress due to heart failure or intra uterine growth retardation. These children appear to develop autonomic dysfunction in later life. Results Compared to the healthy control group heart rate variability (HRV) is reduced on average in a group of 101 children with short stature. Low HRV correlates to groups of children born small for gestational age (SGA), children with cardiac growth failure and children with congenital syndromes, but not to those with constitutional growth delay (CGD), who had normal HRV. Reduced HRV indicated by lower RMSSD and High Frequency (HF)-Power is indicating reduced vagal activity as a sign of autonomic imbalance. Conclusion It is not short stature itself, but rather the underlying diseases that are the cause for reduced HRV in children with height below the third percentile. These high risk children—allocated in the groups with an adverse autonomic imprinting in utero or infancy (SGA, congenital heart disease and congenital syndromes)—have the highest risk for ‘stress diseases’ such as cardiovascular disease in later life. The incidence of attention deficit disorder is remarkably high in our group of short children. PMID:27861527

Development of autonomous eating mechanism for biomimetic robots

NASA Astrophysics Data System (ADS)

Jeong, Kil-Woong; Cho, Ik-Jin; Lee, Yun-Jung

2005-12-01

Most of the recently developed robots are human friendly robots which imitate animals or humans such as entertainment robot, bio-mimetic robot and humanoid robot. Interest for these robots are being increased because the social trend is focused on health, welfare, and graying. Autonomous eating functionality is most unique and inherent behavior of pets and animals. Most of entertainment robots and pet robots make use of internal-type battery. Entertainment robots and pet robots with internal-type battery are not able to operate during charging the battery. Therefore, if a robot has an autonomous function for eating battery as its feeds, the robot is not only able to operate during recharging energy but also become more human friendly like pets. Here, a new autonomous eating mechanism was introduced for a biomimetic robot, called ELIRO-II(Eating LIzard RObot version 2). The ELIRO-II is able to find a food (a small battery), eat and evacuate by itself. This work describe sub-parts of the developed mechanism such as head-part, mouth-part, and stomach-part. In addition, control system of autonomous eating mechanism is described.

Ambler - An autonomous rover for planetary exploration

NASA Technical Reports Server (NTRS)

Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom

1989-01-01

The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.

Vision-based mapping with cooperative robots

NASA Astrophysics Data System (ADS)

Little, James J.; Jennings, Cullen; Murray, Don

1998-10-01

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

Energy Consumption Research of Mobile Data Collection Protocol for Underwater Nodes Using an USV.

PubMed

Lv, Zhichao; Zhang, Jie; Jin, Jiucai; Li, Qi; Gao, Baoru

2018-04-16

The Unmanned Surface Vehicle (USV) integrated with an acoustic modem is a novel mobile vehicle for data collection, which has an advantage in terms of mobility, efficiency, and collection cost. In the scenario of data collection, the USV is controlled autonomously along the planning trajectory and the data of underwater nodes are dynamically collected. In order to improve the efficiency of data collection and extend the life of the underwater nodes, a mobile data collection protocol for underwater nodes using the USV was proposed. In the protocol, the stop-and-wait ARQ transmission mechanism is adopted, where the duty cycle is designed considering the ratio between the sleep mode and the detection mode, and the transmission ratio is defined by the duty cycle, wake-up signal cycles, and USV’s speed. According to protocol, the evaluation index for energy consumption is constructed based on the duty cycle and the transmission ratio. The energy consumption of the protocol is simulated and analyzed using the mobile communication experiment data of USV, taking into consideration USV’s speed, data sequence length, and duty cycle. Optimized protocol parameters are identified, which in turn denotes the proposed protocol’s feasibility and effectiveness.

A Network Topology Control and Identity Authentication Protocol with Support for Movable Sensor Nodes

PubMed Central

Zhang, Ying; Chen, Wei; Liang, Jixing; Zheng, Bingxin; Jiang, Shengming

2015-01-01

It is expected that in the near future wireless sensor network (WSNs) will be more widely used in the mobile environment, in applications such as Autonomous Underwater Vehicles (AUVs) for marine monitoring and mobile robots for environmental investigation. The sensor nodes’ mobility can easily cause changes to the structure of a network topology, and lead to the decline in the amount of transmitted data, excessive energy consumption, and lack of security. To solve these problems, a kind of efficient Topology Control algorithm for node Mobility (TCM) is proposed. In the topology construction stage, an efficient clustering algorithm is adopted, which supports sensor node movement. It can ensure the balance of clustering, and reduce the energy consumption. In the topology maintenance stage, the digital signature authentication based on Error Correction Code (ECC) and the communication mechanism of soft handover are adopted. After verifying the legal identity of the mobile nodes, secure communications can be established, and this can increase the amount of data transmitted. Compared to some existing schemes, the proposed scheme has significant advantages regarding network topology stability, amounts of data transferred, lifetime and safety performance of the network. PMID:26633405

A Network Topology Control and Identity Authentication Protocol with Support for Movable Sensor Nodes.

PubMed

Zhang, Ying; Chen, Wei; Liang, Jixing; Zheng, Bingxin; Jiang, Shengming

2015-12-01

It is expected that in the near future wireless sensor network (WSNs) will be more widely used in the mobile environment, in applications such as Autonomous Underwater Vehicles (AUVs) for marine monitoring and mobile robots for environmental investigation. The sensor nodes' mobility can easily cause changes to the structure of a network topology, and lead to the decline in the amount of transmitted data, excessive energy consumption, and lack of security. To solve these problems, a kind of efficient Topology Control algorithm for node Mobility (TCM) is proposed. In the topology construction stage, an efficient clustering algorithm is adopted, which supports sensor node movement. It can ensure the balance of clustering, and reduce the energy consumption. In the topology maintenance stage, the digital signature authentication based on Error Correction Code (ECC) and the communication mechanism of soft handover are adopted. After verifying the legal identity of the mobile nodes, secure communications can be established, and this can increase the amount of data transmitted. Compared to some existing schemes, the proposed scheme has significant advantages regarding network topology stability, amounts of data transferred, lifetime and safety performance of the network.

SBA - Dynamic Small Business Search

Science.gov Websites

Mobile View Print Exit Help DSBS Quick Market Search TM OnLine DSBS Welcome to the Dynamic Small Business have "tooltips" with data format information. Search Guidance New! NEW FEATURES FOR MOBILE USERS: Phone number hotlinks can be used to dial the number on mobile phones. Address hotlinks can be

Two-Phase Thermal Switching System for a Small, Extended Duration Lunar Surface Science Platform

NASA Technical Reports Server (NTRS)

Bugby, David C.; Farmer, Jeffery T.; OConnor, Brian F.; Wirzburger, Melissa J.; Abel, Elisabeth D.; Stouffer, Chuck J.

2010-01-01

This paper describes a novel thermal control system for the Warm Electronics Box (WEB) on board a small lunar surface lander intended to support science activities anywhere on the lunar surface for an extended duration of up to 6 years. Virtually all lander electronics, which collectively dissipate about 60 W in the reference mission, are contained within the WEB. These devices must be maintained below 323 K (with a goal of 303 K) during the nearly 15-earth-day lunar day, when surface temperatures can reach 390K, and above 263 K during the nearly 15-earth-day lunar night, when surface temperatures can reach 100K. Because of the large temperature swing from lunar day-to-night, a novel thermal switching system was required that would be able to provide high conductance from WEB to radiator(s) during the hot lunar day and low (or negligible) conductance during the cold lunar night. The concept that was developed consists of ammonia variable conductance heat pipes (VCHPs) to collect heat from WEB components and a polymer wick propylene loop heat pipe (LHP) to transport the collected heat to the radiator(s). The VCHPs autonomously maximize transport when the WEB is warm and autonomously shut down when the WEB gets cold. The LHP autonomously shuts down when the VCHPs shut down. When the environment transitions from lunar night to day, the VCHPs and LHP autonomously turn back on. Out of 26 analyzed systems, this novel arrangement was able to best achieve the combined goals of zero control power, autonomous operation, long life, low complexity, low T, and landed tilt tolerance.

Small fiber neuropathy in Parkinson's disease: A clinical, pathological and corneal confocal microscopy study.

PubMed

Kass-Iliyya, Lewis; Javed, Saad; Gosal, David; Kobylecki, Christopher; Marshall, Andrew; Petropoulos, Ioannis N; Ponirakis, Georgios; Tavakoli, Mitra; Ferdousi, Maryam; Chaudhuri, Kallol Ray; Jeziorska, Maria; Malik, Rayaz A; Silverdale, Monty A

2015-12-01

Autonomic and somatic denervation is well established in Parkinson's disease (PD). (1) To determine whether corneal confocal microscopy (CCM) can non-invasively demonstrate small nerve fiber damage in PD. (2) To identify relationships between corneal nerve parameters, intraepidermal nerve fiber density (IENFD) and clinical features of PD. Twenty-six PD patients and 26 controls underwent CCM of both eyes. 24/26 PD patients and 10/26 controls underwent skin biopsies from the dorsa of both feet. PD patients underwent assessment of parasympathetic function [deep breathing heart rate variability (DB-HRV)], autonomic symptoms [scale for outcomes in Parkinson's disease - autonomic symptoms (SCOPA-AUT)], motor symptoms [UPDRS-III "ON"] and cumulative Levodopa dose. PD patients had significantly reduced corneal nerve fiber density (CNFD) with increased corneal nerve branch density (CNBD) and corneal nerve fiber length (CNFL) compared to controls. CNBD and CNFL but not CNFD correlated inversely with UPDRS-III and SCOPA-AUT. All CCM parameters correlated strongly with DB-HRV. There was no correlation between CCM parameters and disease duration, cumulative Levodopa dose or pain. IENFD was significantly reduced in PD compared to controls and correlated with CNFD and UPDRS-III. However, unlike CCM measures, IENFD correlated with disease duration and cumulative Levodopa dose but not with autonomic dysfunction. CCM identifies corneal nerve fiber pathology, which correlates with autonomic symptoms, parasympathetic deficits and motor scores in patients with PD. IENFD is also reduced and correlates with CNFD and motor symptoms but not parasympathetic deficits, indicating it detects different aspects of peripheral nerve pathology in PD. Copyright © 2015 The Authors. Published by Elsevier Ltd.. All rights reserved.

Cholinergic autonomic dysfunction in veterans with Gulf War illness: confirmation in a population-based sample.

PubMed

Haley, Robert W; Charuvastra, Elizabeth; Shell, William E; Buhner, David M; Marshall, W Wesley; Biggs, Melanie M; Hopkins, Steve C; Wolfe, Gil I; Vernino, Steven

2013-02-01

The authors of prior small studies raised the hypothesis that symptoms in veterans of the 1991 Gulf War, such as chronic diarrhea, dizziness, fatigue, and sexual dysfunction, are due to cholinergic autonomic dysfunction. To perform a confirmatory test of this prestated hypothesis in a larger, representative sample of Gulf War veterans. Nested case-control study. Clinical and Translational Research Center, University of Texas Southwestern Medical Center, Dallas. Representative samples of Gulf War veterans meeting a validated case definition of Gulf War illness with 3 variants (called syndromes 1-3) and a control group, all selected randomly from the US Military Health Survey. Validated domain scales from the Autonomic Symptom Profile questionnaire, the Composite Autonomic Severity Score, and high-frequency heart rate variability from a 24-hour electrocardiogram. The Autonomic Symptom Profile scales were significantly elevated in all 3 syndrome groups (P< .001), primarily due to elevation of the orthostatic intolerance, secretomotor, upper gastrointestinal dysmotility, sleep dysfunction, urinary, and autonomic diarrhea symptom domains. The Composite Autonomic Severity Score was also higher in the 3 syndrome groups (P= .045), especially in syndrome 2, primarily due to a significant reduction in sudomotor function as measured by the Quantitative Sudomotor Axon Reflex Test, most significantly in the foot; the score was intermediate in the ankle and upper leg and was nonsignificant in the arm, indicating a peripheral nerve length-related deficit. The normal increase in high-frequency heart rate variability at night was absent or blunted in all 3 syndrome groups (P< .001). Autonomic symptoms are associated with objective, predominantly cholinergic autonomic deficits in the population of Gulf War veterans.

N(N)-nicotinic blockade as an acute human model of autonomic failure

NASA Technical Reports Server (NTRS)

Jordan, J.; Shannon, J. R.; Black, B. K.; Lance, R. H.; Squillante, M. D.; Costa, F.; Robertson, D.

1998-01-01

Pure autonomic failure has been conceptualized as deficient sympathetic and parasympathetic innervation. Several recent observations in chronic autonomic failure, however, cannot be explained simply by loss of autonomic innervation, at least according to our current understanding. To simulate acute autonomic failure, we blocked N(N)-nicotinic receptors with intravenous trimethaphan (6+/-0.4 mg/min) in 7 healthy subjects (4 men, 3 women, aged 32+/-3 years, 68+/-4 kg, 171+/-5 cm). N(N)-Nicotinic receptor blockade resulted in near-complete interruption of sympathetic and parasympathetic efferents as indicated by a battery of autonomic function tests. With trimethaphan, small postural changes from the horizontal were associated with significant blood pressure changes without compensatory changes in heart rate. Gastrointestinal motility, pupillary function, saliva production, and tearing were profoundly suppressed with trimethaphan. Plasma norepinephrine level decreased from 1.1+/-0.12 nmol/L (180+/-20 pg/mL) at baseline to 0.23+/-0.05 nmol/L (39+/-8 pg/mL) with trimethaphan (P<.001). There was a more than 16-fold increase in plasma vasopressin (P<.01) and no change in plasma renin activity. We conclude that blockade of N(N)-cholinergic receptors is useful to simulate the hemodynamic alterations of acute autonomic failure in humans. The loss of function with acute N(N)-cholinergic blockade is more complete than in most cases of chronic autonomic failure. This difference may be exploited to elucidate the contributions of acute denervation and chronic adaptation to the pathophysiology of autonomic failure. N(N)-Cholinergic blockade may also be applied to study human cardiovascular physiology and pharmacology in the absence of confounding baroreflexes.

Recent Advances in Bathymetric Surveying of Continental Shelf Regions Using Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.; Slocum, D.

2016-02-01

Obtaining bathymetric observations within the continental shelf in areas closer to the shore is often time consuming and dangerous, especially when uncharted shoals and rocks present safety concerns to survey ships and launches. However, surveys in these regions are critically important to numerical simulation of oceanographic processes, as bathymetry serves as the bottom boundary condition in operational forecasting models. We will present recent progress in bathymetric surveying using both traditional vessels retrofitted for autonomous operations and relatively inexpensive, small team deployable, Autonomous Underwater Vehicles (AUV). Both systems include either high-resolution multibeam echo sounders or interferometric sidescan sonar sensors with integrated inertial navigation system capabilities consistent with present commercial-grade survey operations. The advantages and limitations of these two configurations employing both unmanned and autonomous strategies are compared using results from several recent survey operations. We will demonstrate how sensor data collected from unmanned platforms can augment or even replace traditional data collection technologies. Oceanographic observations (e.g., sound speed, temperature and currents) collected simultaneously with bathymetry using autonomous technologies provide additional opportunities for advanced data assimilation in numerical forecasts. Discussion focuses on our vision for unmanned and autonomous systems working in conjunction with manned or in-situ systems to optimally and simultaneously collect data in environmentally hostile or difficult to reach areas.

A multimodal micro air vehicle for autonomous flight in near-earth environments

NASA Astrophysics Data System (ADS)

Green, William Edward

Reconnaissance, surveillance, and search-and-rescue missions in near-Earth environments such as caves, forests, and urban areas pose many new challenges to command and control (C2) teams. Of great significance is how to acquire situational awareness when access to the scene is blocked by enemy fire, rubble, or other occlusions. Small bird-sized aerial robots are expendable and can fly over obstacles and through small openings to assist in the acquisition and distribution of intelligence. However, limited flying space and densely populated obstacle fields requires a vehicle that is capable of hovering, but also maneuverable. A secondary flight mode was incorporated into a fixed-wing aircraft to preserve its maneuverability while adding the capability of hovering. An inertial measurement sensor and onboard flight control system were interfaced and used to transition the hybrid prototype from cruise to hover flight and sustain a hover autonomously. Furthermore, the hovering flight mode can be used to maneuver the aircraft through small openings such as doorways. An ultrasonic and infrared sensor suite was designed to follow exterior building walls until an ingress route was detected. Reactive control was then used to traverse the doorway and gather reconnaissance. Entering a dangerous environment to gather intelligence autonomously will provide an invaluable resource to any C2 team. The holistic approach of platform development, sensor suite design, and control serves as the philosophy of this work.

Design and evaluation of an autonomous, obstacle avoiding, flight control system using visual sensors

NASA Astrophysics Data System (ADS)

Crawford, Bobby Grant

In an effort to field smaller and cheaper Uninhabited Aerial Vehicles (UAVs), the Army has expressed an interest in an ability of the vehicle to autonomously detect and avoid obstacles. Current systems are not suitable for small aircraft. NASA Langley Research Center has developed a vision sensing system that uses small semiconductor cameras. The feasibility of using this sensor for the purpose of autonomous obstacle avoidance by a UAV is the focus of the research presented in this document. The vision sensor characteristics are modeled and incorporated into guidance and control algorithms designed to generate flight commands based on obstacle information received from the sensor. The system is evaluated by simulating the response to these flight commands using a six degree-of-freedom, non-linear simulation of a small, fixed wing UAV. The simulation is written using the MATLAB application and runs on a PC. Simulations were conducted to test the longitudinal and lateral capabilities of the flight control for a range of airspeeds, camera characteristics, and wind speeds. Results indicate that the control system is suitable for obstacle avoiding flight control using the simulated vision system. In addition, a method for designing and evaluating the performance of such a system has been developed that allows the user to easily change component characteristics and evaluate new systems through simulation.

Autonomous Navigation, Dynamic Path and Work Flow Planning in Multi-Agent Robotic Swarms Project

NASA Technical Reports Server (NTRS)

Falker, John; Zeitlin, Nancy; Leucht, Kurt; Stolleis, Karl

2015-01-01

Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots, called Swarmies, to be used as a ground-based research platform for in-situ resource utilization missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in an unknown environment and return those resources to a central site.

Study of Command and Control (C&C) Structures on Integrating Unmanned Autonomous Systems (UAS) into Manned Environments

DTIC Science & Technology

2012-09-01

and traveled all the way around Lake Tahoe. The self - driving cars have logged over 140,000 miles since October 9, 2010 (Google 2010) pictured here...UNDERWATER VEHICLES (AUV) STARFISH is the name given to a small team of autonomous robotic fish - a project carried out by the Acoustic Research...www.scribd.com/doc/42245301/Manual-Mine- Clearance-Book1. Accessed July 23, 2012. Google. The Self - Driving Car Logs more Miles on New Wheels. August 7

Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation

NASA Technical Reports Server (NTRS)

Tunstel, Edward

2000-01-01

This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation. An architectural feature for threshold activation of fuzzy-behaviors is emphasized, which is potentially useful for tuning navigation performance in real world applications. The target application is autonomous local navigation of a small planetary rover. Threshold activation of low-level navigation behaviors is the primary focus. A preliminary assessment of its impact on local navigation performance is provided based on computer simulations.

Distributed cooperating processes in a mobile robot control system

NASA Technical Reports Server (NTRS)

Skillman, Thomas L., Jr.

1988-01-01

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

Intelligent Mobile Autonomous System

DTIC Science & Technology

1987-01-01

used intermittently , and each of them characterizes the level of generalization. One cannot discern any another point within the tile, this is a...traversability space is not fast enough to be considered for actual control application. Alternatives to limit the computation time include (1) increasing the...error. (b) It must be concise and easy to "compute". In other words there must exist simple, fast procedures for instandating the "words" or "sentences

Real-Time 3D Sonar Modeling And Visualization

DTIC Science & Technology

1998-06-01

looking back towards Manta sonar beam, Manta plus sonar from 1000m off track. 185 NUWC sponsor Erik Chaum Principal investigator Don Brutzman...USN Sonar Officer LT Kevin Byrne USN Intelligence Officer CPT Russell Storms USA Erik Chaum works in NUWC Code 22. He supervised the design and...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," chapter 13, AI-BasedMobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy

Portable haptic interface with omni-directional movement and force capability.

PubMed

Avizzano, Carlo Alberto; Satler, Massimo; Ruffaldi, Emanuele

2014-01-01

We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

The Environment Friendly Power Source for Power Supply of Mobile Communication Base Stations

NASA Astrophysics Data System (ADS)

Rudenko, N. V.; Ershov, V. V.; Evstafiev, V. V.

2017-05-01

The article describes the technical proposals to improve environmental and resource characteristics of the autonomous power supply systems of mobile communication base stations based on renewable energy sources, while ensuring the required reliability and security of power supply. These include: the replacement of diesel-generator with clean energy source - an electrochemical generator based on hydrogen fuel cells; the use of wind turbines with a vertical axis; use of specialized batteries. Based on the analysis of the know technical solutions, the structural circuit diagram of the hybrid solar-wind-hydrogen power plant and the basic principles of the algorithm of its work were proposed. The implementation of these proposals will improve the environmental and resource characteristics.

Cooperative Autonomous Observation of Coherent Atmospheric Structures using Small Unmanned Aircraft Systems

NASA Astrophysics Data System (ADS)

Ravela, S.

2014-12-01

Mapping the structure of localized atmospheric phenomena, from sea breeze and shallow cumuli to thunderstorms and hurricanes, is of scientific interest. Low-cost small unmanned aircraft systems (sUAS) open the possibility for autonomous "instruments" to map important small-scale phenomena (kilometers, hours) and serve as a testbed for for much larger scales. Localized phenomena viewed as coherent structures interacting with their large-scale environment are difficult to map. As simple simulations show, naive Eulerian or Lagrangian strategies can fail in mapping localized phenomena. Model-based techniques are needed. Meteorological targeting, where supplementary UAS measurements additionally constrain numerical models is promising, but may require many primary measurements to be successful. We propose a new, data-driven, field-operable, cooperative autonomous observing system (CAOS) framework. A remote observer (on a UAS) tracks tracers to identify an apparent motion model over short timescales. Motion-based predictions seed MCMC flight plans for other UAS to gather in-situ data, which is fused with the remote measurements to produce maps. The tracking and mapping cycles repeat, and maps can be assimilated into numerical models for longer term forecasting. CAOS has been applied to study small scale emissions. At Popocatepetl, in collaboration with CENAPRED and IPN, it is being applied map the plume using remote IR/UV UAS and in-situ SO2 sensing, with additional plans for water vapor, the electric field and ash. The combination of sUAS with autonomy appears to be highly promising methodology for environmental mapping. For more information, please visit http://caos.mit.edu

How Database Management Systems Can Be Used To Evaluate Program Effectiveness in Small School Districts.

ERIC Educational Resources Information Center

Hoffman, Tony

Sophisticated database management systems (DBMS) for microcomputers are becoming increasingly easy to use, allowing small school districts to develop their own autonomous databases for tracking enrollment and student progress in special education. DBMS applications can be designed for maintenance by district personnel with little technical…

G-Guidance Interface Design for Small Body Mission Simulation

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Carson, John; Phan, Linh

2008-01-01

The G-Guidance software implements a guidance and control (G and C) algorithm for small-body, autonomous proximity operations, developed under the Small Body GN and C task at JPL. The software is written in Matlab and interfaces with G-OPT, a JPL-developed optimization package written in C that provides G-Guidance with guaranteed convergence to a solution in a finite computation time with a prescribed accuracy. The resulting program is computationally efficient and is a prototype of an onboard, real-time algorithm for autonomous guidance and control. Two thruster firing schemes are available in G-Guidance, allowing tailoring of the software for specific mission maneuvers. For example, descent, landing, or rendezvous benefit from a thruster firing at the maneuver termination to mitigate velocity errors. Conversely, ascent or separation maneuvers benefit from an immediate firing to avoid potential drift toward a second body. The guidance portion of this software explicitly enforces user-defined control constraints and thruster silence times while minimizing total fuel usage. This program is currently specialized to small-body proximity operations, but the underlying method can be generalized to other applications.

Implicitly Coordinated Detect and Avoid Capability for Safe Autonomous Operation of Small UAS

NASA Technical Reports Server (NTRS)

Balachandran, Swee; Munoz, Cesar A.; Consiglio, Maria C.

2017-01-01

As the airspace becomes increasingly shared by autonomous small Unmanned Aerial Systems (UAS), there would be a pressing need for coordination strategies so that aircraft can safely and independently maneuver around obstacles, geofences, and traffic aircraft. Explicitly coordinating resolution strategies for small UAS would require additional components such as a reliable vehicle-to-vehicle communication infrastructure and standardized protocols for information exchange that could significantly increase the cost of deploying small UAS in a shared airspace. This paper explores a novel approach that enables multiple aircraft to implicitly coordinate their resolution maneuvers. By requiring all aircraft to execute the proposed approach deterministically, it is possible for all of them to implicitly agree on the region of airspace each will be occupying in a given time interval. The proposed approach lends itself to the construction of a suitable feedback mechanism that enables the real-time execution of an implicitly conflict-free path in a closed-loop manner dealing with uncertainties in aircraft speed. If a network infrastructure is available, the proposed approach can also exploit the benefits of explicit information.

Pruritus: an underrecognized symptom of small-fiber neuropathies.

PubMed

Brenaut, Emilie; Marcorelles, Pascale; Genestet, Steeve; Ménard, Dominique; Misery, Laurent

2015-02-01

Small-fiber neuropathies (SFN) are diseases of small nerve fibers that are characterized by autonomic and sensory symptoms. We sought to evaluate sensory symptoms, especially pruritus, in patients with SFN. A questionnaire was given to patients with SFN. In all, 41 patients responded to the questionnaire (71.9% response rate). The most frequent sensory symptoms were burning (77.5%), pain (72.5%), heat sensations (70.2%), and numbness (67.5%). Pruritus was present in 68.3% of patients. It appeared most often in the evening, and was localized to the limbs in a distal-to-proximal gradient, although the back was the most frequent location (64%). Exacerbating factors were fatigue, xerosis, sweating, hot temperature, and stress. Cold water was an alleviating factor. Recall bias associated with filling out the questionnaire, relatively small sample size, and the uncontrolled, retrospective nature of the study were limitations. Pruritus occurs frequently in patients with SFN and could be recognized as a possible presenting symptom, especially if there are other sensory or autonomic symptoms. Copyright © 2014 American Academy of Dermatology, Inc. Published by Elsevier Inc. All rights reserved.

Stereo Correspondence Using Moment Invariants

NASA Astrophysics Data System (ADS)

Premaratne, Prashan; Safaei, Farzad

Autonomous navigation is seen as a vital tool in harnessing the enormous potential of Unmanned Aerial Vehicles (UAV) and small robotic vehicles for both military and civilian use. Even though, laser based scanning solutions for Simultaneous Location And Mapping (SLAM) is considered as the most reliable for depth estimation, they are not feasible for use in UAV and land-based small vehicles due to their physical size and weight. Stereovision is considered as the best approach for any autonomous navigation solution as stereo rigs are considered to be lightweight and inexpensive. However, stereoscopy which estimates the depth information through pairs of stereo images can still be computationally expensive and unreliable. This is mainly due to some of the algorithms used in successful stereovision solutions require high computational requirements that cannot be met by small robotic vehicles. In our research, we implement a feature-based stereovision solution using moment invariants as a metric to find corresponding regions in image pairs that will reduce the computational complexity and improve the accuracy of the disparity measures that will be significant for the use in UAVs and in small robotic vehicles.

Real-time localization of mobile device by filtering method for sensor fusion

NASA Astrophysics Data System (ADS)

Fuse, Takashi; Nagara, Keita

2017-06-01

Most of the applications with mobile devices require self-localization of the devices. GPS cannot be used in indoor environment, the positions of mobile devices are estimated autonomously by using IMU. Since the self-localization is based on IMU of low accuracy, and then the self-localization in indoor environment is still challenging. The selflocalization method using images have been developed, and the accuracy of the method is increasing. This paper develops the self-localization method without GPS in indoor environment by integrating sensors, such as IMU and cameras, on mobile devices simultaneously. The proposed method consists of observations, forecasting and filtering. The position and velocity of the mobile device are defined as a state vector. In the self-localization, observations correspond to observation data from IMU and camera (observation vector), forecasting to mobile device moving model (system model) and filtering to tracking method by inertial surveying and coplanarity condition and inverse depth model (observation model). Positions of a mobile device being tracked are estimated by system model (forecasting step), which are assumed as linearly moving model. Then estimated positions are optimized referring to the new observation data based on likelihood (filtering step). The optimization at filtering step corresponds to estimation of the maximum a posterior probability. Particle filter are utilized for the calculation through forecasting and filtering steps. The proposed method is applied to data acquired by mobile devices in indoor environment. Through the experiments, the high performance of the method is confirmed.

Psychophysiological tests and provocation of subjects with mobile phone related symptoms.

PubMed

Wilén, Jonna; Johansson, Amanda; Kalezic, Nebojsa; Lyskov, Eugene; Sandström, Monica

2006-04-01

The aim of the present study was to investigate the effect of exposure to a mobile phone-like radiofrequency (RF) electromagnetic field on persons experiencing subjective symptoms when using mobile phones (MP). Twenty subjects with MP-related symptoms were recruited and matched with 20 controls without MP-related symptoms. Each subject participated in two experimental sessions, one with true exposure and one with sham exposure, in random order. In the true exposure condition, the test subjects were exposed for 30 min to an RF field generating a maximum SAR(1g) in the head of 1 W/kg through an indoor base station antenna attached to a 900 MHz GSM MP. The following physiological and cognitive parameters were measured during the experiment: heart rate and heart rate variability (HRV), respiration, local blood flow, electrodermal activity, critical flicker fusion threshold (CFFT), short-term memory, and reaction time. No significant differences related to RF exposure conditions were detected. Also no differences in baseline data were found between subject groups, except for the reaction time, which was significantly longer among the cases than among the controls the first time the test was performed. This difference disappeared when the test was repeated. However, the cases differed significantly from the controls with respect to HRV as measured in the frequency domain. The cases displayed a shift in low/high frequency ratio towards a sympathetic dominance in the autonomous nervous system during the CFFT and memory tests, regardless of exposure condition. This might be interpreted as a sign of differences in the autonomous nervous system regulation between persons with MP related subjective symptoms and persons with no such symptoms. (c) 2005 Wiley-Liss, Inc.

G2 Autonomous Control for Cryogenic Delivery Systems

NASA Technical Reports Server (NTRS)

Dito, Scott J.

2014-01-01

The Independent System Health Management-Autonomous Control (ISHM-AC) application development for cryogenic delivery systems is intended to create an expert system that will require minimal operator involvement and ultimately allow for complete autonomy when fueling a space vehicle in the time prior to launch. The G2-Autonomous Control project is the development of a model, simulation, and ultimately a working application that will control and monitor the cryogenic fluid delivery to a rocket for testing purposes. To develop this application, the project is using the programming language/environment Gensym G2. The environment is an all-inclusive application that allows development, testing, modeling, and finally operation of the unique application through graphical and programmatic methods. We have learned G2 through training classes and subsequent application development, and are now in the process of building the application that will soon be used to test on cryogenic loading equipment here at the Kennedy Space Center Cryogenics Test Laboratory (CTL). The G2 ISHM-AC application will bring with it a safer and more efficient propellant loading system for the future launches at Kennedy Space Center and eventually mobile launches from all over the world.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

PubMed

Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

2018-02-14

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

PubMed Central

Sherwin, Tyrone; Easte, Mikala; Wang, Kevin I-Kai; Dai, Wenbin

2018-01-01

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system. PMID:29443906

A New Signaling Architecture THREP with Autonomous Radio-Link Control for Wireless Communications Systems

NASA Astrophysics Data System (ADS)

Hirono, Masahiko; Nojima, Toshio

This paper presents a new signaling architecture for radio-access control in wireless communications systems. Called THREP (for THREe-phase link set-up Process), it enables systems with low-cost configurations to provide tetherless access and wide-ranging mobility by using autonomous radio-link controls for fast cell searching and distributed call management. A signaling architecture generally consists of a radio-access part and a service-entity-access part. In THREP, the latter part is divided into two steps: preparing a communication channel, and sustaining it. Access control in THREP is thus composed of three separated parts, or protocol phases. The specifications of each phase are determined independently according to system requirements. In the proposed architecture, the first phase uses autonomous radio-link control because we want to construct low-power indoor wireless communications systems. Evaluation of channel usage efficiency and hand-over loss probability in the personal handy-phone system (PHS) shows that THREP makes the radio-access sub-system operations in a practical application model highly efficient, and the results of a field experiment show that THREP provides sufficient protection against severe fast CNR degradation in practical indoor propagation environments.

Scene Segmentation For Autonomous Robotic Navigation Using Sequential Laser Projected Structured Light

NASA Astrophysics Data System (ADS)

Brown, C. David; Ih, Charles S.; Arce, Gonzalo R.; Fertell, David A.

1987-01-01

Vision systems for mobile robots or autonomous vehicles navigating in an unknown terrain environment must provide a rapid and accurate method of segmenting the scene ahead into regions of pathway and background. A major distinguishing feature between the pathway and background is the three dimensional texture of these two regions. Typical methods of textural image segmentation are very computationally intensive, often lack the required robustness, and are incapable of sensing the three dimensional texture of various regions of the scene. A method is presented where scanned laser projected lines of structured light, viewed by a stereoscopically located single video camera, resulted in an image in which the three dimensional characteristics of the scene were represented by the discontinuity of the projected lines. This image was conducive to processing with simple regional operators to classify regions as pathway or background. Design of some operators and application methods, and demonstration on sample images are presented. This method provides rapid and robust scene segmentation capability that has been implemented on a microcomputer in near real time, and should result in higher speed and more reliable robotic or autonomous navigation in unstructured environments.

CANSAT: Design of a Small Autonomous Sounding Rocket Payload

NASA Technical Reports Server (NTRS)

Berman, Joshua; Duda, Michael; Garnand-Royo, Jeff; Jones, Alexa; Pickering, Todd; Tutko, Samuel

2009-01-01

CanSat is an international student design-build-launch competition organized by the American Astronautical Society (AAS) and American Institute of Aeronautics and Astronautics (AIAA). The competition is also sponsored by the Naval Research Laboratory (NRL), the National Aeronautics and Space Administration (NASA), AGI, Orbital Sciences Corporation, Praxis Incorporated, and SolidWorks. Specifically, the 2009 Virginia Tech CanSat Team is funded by BAE Systems, Incorporated of Manassas, Virginia. The objective of the 2009 CanSat competition is to complete remote sensing missions by designing a small autonomous sounding rocket payload. The payload designed will follow and perform to a specific set of mission requirements for the 2009 competition. The competition encompasses a complete life-cycle of one year which includes all phases of design, integration, testing, reviews, and launch.

Deep Space 1: Testing New Technologies for Future Small Bodies Missions

NASA Technical Reports Server (NTRS)

Rayman, Marc D.

2001-01-01

Launched on October 24, 1998, Deep Space 1 (DS1) was the first mission of NASA's New Millennium Program, chartered to validate in space high-risk, new technologies important for future space science programs. The advanced technology payload that was tested on DS1 comprises solar electric propulsion, solar concentrator arrays, autonomous on-board navigation and other autonomous systems, several telecommunications and microelectronics devices, and two low-mass integrated science instrument packages. The mission met or exceeded all of its success criteria. The 12 technologies were rigorously exercised so that subsequent flight projects would not have to incur the cost and risk of being the fist users of these new capabilities. Examples of the benefits to future small body missions from DS1's technologies will be described.

Kalman filter implementation for small satellites using constraint GPS data

NASA Astrophysics Data System (ADS)

Wesam, Elmahy M.; Zhang, Xiang; Lu, Zhengliang; Liao, Wenhe

2017-06-01

Due to the increased need for autonomy, an Extended Kalman Filter (EKF) has been designed to autonomously estimate the orbit using GPS data. A propagation step models the satellite dynamics as a two body with J2 (second zonal effect) perturbations being suitable for orbits in altitudes higher than 600 km. An onboard GPS receiver provides continuous measurement inputs. The continuity of measurements decreases the errors of the orbit determination algorithm. Power restrictions are imposed on small satellites in general and nanosatellites in particular. In cubesats, the GPS is forced to be shut down most of the mission’s life time. GPS is turned on when experiments like atmospheric ones are carried out and meter level accuracy for positioning is required. This accuracy can’t be obtained by other autonomous sensors like magnetometer and sun sensor as they provide kilometer level accuracy. Through simulation using Matlab and satellite tool kit (STK) the position accuracy is analyzed after imposing constrained conditions suitable for small satellites and a very tight one suitable for nanosatellite missions.

The incidental finding of elevated anti GQ1B antibodies in a patient with selective small fiber neuropathy.

PubMed

Favoni, Valentina; Liguori, Rocco; Incensi, Alex; Fileccia, Enrico; Donadio, Vincenzo

2018-05-15

Small fiber neuropathy (SFN) selectively affects small diameter sensory and/or autonomic axons. Pain and autonomic dysfunctions are the most common symptoms. SFN occurs in several autoimmune diseases and autoantibodies against neuronal proteins may play a role in SFN pathophysiology. Anti-GQ1b antibody has been associated with Miller Fisher syndrome, Bickerstaff's brainstem encephalitis, acute ophthalmoplegia, pharyngeal-cervical-brachial weakness and peripheral neuropathy involving large fibers. Isolated SFN associated with anti-GQ1b antibodies has not been previously reported. Here we report a 45-year-old woman presenting with highly positive anti-GQ1b titer and selective SFN without central nervous system or peripheral large nerve involvement. She improved upon administration of adalizumab. Further studies will clarify a possible pathogenetic role of antiganglioside antibodies in SFN. Moreover, the recognition of antiganglioside antibodies in SFN may have therapeutic consequences with patients who would benefit from immunotherapy. Copyright © 2018 Elsevier B.V. All rights reserved.

Micronuclear DNA of Oxytricha nova contains sequences with autonomously replicating activity in Saccharomyces cerevisiae.

PubMed Central

Colombo, M M; Swanton, M T; Donini, P; Prescott, D M

1984-01-01

Oxytricha nova is a hypotrichous ciliate with micronuclei and macronuclei. Micronuclei, which contain large, chromosomal-sized DNA, are genetically inert but undergo meiosis and exchange during cell mating. Macronuclei, which contain only small, gene-sized DNA molecules, provide all of the nuclear RNA needed to run the cell. After cell mating the macronucleus is derived from a micronucleus, a derivation that includes excision of the genes from chromosomes and elimination of the remaining DNA. The eliminated DNA includes all of the repetitious sequences and approximately 95% of the unique sequences. We cloned large restriction fragments from the micronucleus that confer replication ability on a replication-deficient plasmid in Saccharomyces cerevisiae. Sequences that confer replication ability are called autonomously replicating sequences. The frequency and effectiveness of autonomously replicating sequences in micronuclear DNA are similar to those reported for DNAs of other organisms introduced into yeast cells. Of the 12 micronuclear fragments with autonomously replicating sequence activity, 9 also showed homology to macronuclear DNA, indicating that they contain a macronuclear gene sequence. We conclude from this that autonomously replicating sequence activity is nonrandomly distributed throughout micronuclear DNA and is preferentially associated with those regions of micronuclear DNA that contain genes. Images PMID:6092934

Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

PubMed Central

Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

2013-01-01

Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris. PMID:23429581

Autonomous docking based on infrared system for electric vehicle charging in urban areas.

PubMed

Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

2013-02-21

Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

Preliminary Results from a Model-Driven Architecture Methodology for Development of an Event-Driven Space Communications Service Concept

NASA Technical Reports Server (NTRS)

Roberts, Christopher J.; Morgenstern, Robert M.; Israel, David J.; Borky, John M.; Bradley, Thomas H.

2017-01-01

NASA's next generation space communications network will involve dynamic and autonomous services analogous to services provided by current terrestrial wireless networks. This architecture concept, known as the Space Mobile Network (SMN), is enabled by several technologies now in development. A pillar of the SMN architecture is the establishment and utilization of a continuous bidirectional control plane space link channel and a new User Initiated Service (UIS) protocol to enable more dynamic and autonomous mission operations concepts, reduced user space communications planning burden, and more efficient and effective provider network resource utilization. This paper provides preliminary results from the application of model driven architecture methodology to develop UIS. Such an approach is necessary to ensure systematic investigation of several open questions concerning the efficiency, robustness, interoperability, scalability and security of the control plane space link and UIS protocol.

A Space Station robot walker and its shared control software

NASA Technical Reports Server (NTRS)

Xu, Yangsheng; Brown, Ben; Aoki, Shigeru; Yoshida, Tetsuji

1994-01-01

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

A Face Attention Technique for a Robot Able to Interpret Facial Expressions

NASA Astrophysics Data System (ADS)

Simplício, Carlos; Prado, José; Dias, Jorge

Automatic facial expressions recognition using vision is an important subject towards human-robot interaction. Here is proposed a human face focus of attention technique and a facial expressions classifier (a Dynamic Bayesian Network) to incorporate in an autonomous mobile agent whose hardware is composed by a robotic platform and a robotic head. The focus of attention technique is based on the symmetry presented by human faces. By using the output of this module the autonomous agent keeps always targeting the human face frontally. In order to accomplish this, the robot platform performs an arc centered at the human; thus the robotic head, when necessary, moves synchronized. In the proposed probabilistic classifier the information is propagated, from the previous instant, in a lower level of the network, to the current instant. Moreover, to recognize facial expressions are used not only positive evidences but also negative.

Cheap or Robust? The practical realization of self-driving wheelchair technology.

PubMed

Burhanpurkar, Maya; Labbe, Mathieu; Guan, Charlie; Michaud, Francois; Kelly, Jonathan

2017-07-01

To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are fundamentally essential. We present a unique approach to achieve inexpensive and robust autonomous and semi-autonomous assistive navigation for existing fielded wheelchairs, of which there are approximately 5 million units in Canada and United States alone. Our prototype wheelchair platform is capable of localization and mapping, as well as robust obstacle avoidance, using only a commodity RGB-D sensor and wheel odometry. As a specific example of the navigation capabilities, we focus on the single most common navigation problem: the traversal of narrow doorways in arbitrary environments. The software we have developed is generalizable to corridor following, desk docking, and other navigation tasks that are either extremely difficult or impossible for people with upper-body mobility impairments.

Electrical current nanogeneration driven by spontaneous nanofluidic oscillations.

PubMed

Gimenez, R; Mercuri, M; Berli, C L A; Bellino, M G

2018-02-15

Exploiting natural phenomena is a central route for providing electricity to sustainably drive wearable electronics. Here we report a nano-scale water-driven energy generator that produces tiny electrical currents from spontaneous wetting-drying oscillations in mesoporous thin films. The system was fabricated with a wormlike mesoporous silica film, which was packed in between Cu and silicon contacts. The nanogenerator runs autonomously when a water droplet is laid over the film close to the Cu electrode, as water infiltration into the film under the electrode produces a direct-current. Wetting-drying cycles, which are spontaneously triggered by water evaporation, are perfectly correlated to the generated electrical current. The autonomous water displacement through the film yields a sustained energy conversion until the droplet reservoir vanishes. This novel water-driven nanogenerator opens new alternatives for versatile, mobile and cost-effective self-powering of nanosystems and nanodevices.

Autonomous vehicle motion control, approximate maps, and fuzzy logic

NASA Technical Reports Server (NTRS)

Ruspini, Enrique H.

1993-01-01

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.

1986-01-01

The development of and test control strategies for self-contained, autonomous free flying space robots are discussed. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). Use of robots should reduce the expense and danger attending EVA both by providing assistance to astronauts and in many cases by eliminating altogether the need for human EVA, thus greatly enhancing the scope and flexibility of space assembly and repair activities. The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. It is planned, in a later phase, to extend the research to three dimensions by carrying out experiments in the Space Shuttle cargo bay.

Autonomous Pointing Control of a Large Satellite Antenna Subject to Parametric Uncertainty

PubMed Central

Wu, Shunan; Liu, Yufei; Radice, Gianmarco; Tan, Shujun

2017-01-01

With the development of satellite mobile communications, large antennas are now widely used. The precise pointing of the antenna’s optical axis is essential for many space missions. This paper addresses the challenging problem of high-precision autonomous pointing control of a large satellite antenna. The pointing dynamics are firstly proposed. The proportional–derivative feedback and structural filter to perform pointing maneuvers and suppress antenna vibrations are then presented. An adaptive controller to estimate actual system frequencies in the presence of modal parameters uncertainty is proposed. In order to reduce periodic errors, the modified controllers, which include the proposed adaptive controller and an active disturbance rejection filter, are then developed. The system stability and robustness are analyzed and discussed in the frequency domain. Numerical results are finally provided, and the results have demonstrated that the proposed controllers have good autonomy and robustness. PMID:28287450

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor)

1990-01-01

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

[Service robots in elderly care. Possible application areas and current state of developments].

PubMed

Graf, B; Heyer, T; Klein, B; Wallhoff, F

2013-08-01

The term "Service robotics" describes semi- or fully autonomous technical systems able to perform services useful to the well-being of humans. Service robots have the potential to support and disburden both persons in need of care as well as nursing care staff. In addition, they can be used in prevention and rehabilitation in order to reduce or avoid the need for help. Products currently available to support people in domestic environments are mainly cleaning or remote-controlled communication robots. Examples of current research activities are the (further) development of mobile robots as advanced communication assistants or the development of (semi) autonomous manipulation aids and multifunctional household assistants. Transport robots are commonly used in many hospitals. In nursing care facilities, the first evaluations have already been made. So-called emotional robots are now sold as products and can be used for therapeutic, occupational, or entertainment activities.

Method and system for providing autonomous control of a platform

NASA Technical Reports Server (NTRS)

Seelinger, Michael J. (Inventor); Yoder, John-David (Inventor)

2012-01-01

The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).

Hierarchical control and performance evaluation of multi-vehicle autonomous systems

NASA Astrophysics Data System (ADS)

Balakirsky, Stephen; Scrapper, Chris; Messina, Elena

2005-05-01

This paper will describe how the Mobility Open Architecture Tools and Simulation (MOAST) framework can facilitate performance evaluations of RCS compliant multi-vehicle autonomous systems. This framework provides an environment that allows for simulated and real architectural components to function seamlessly together. By providing repeatable environmental conditions, this framework allows for the development of individual components as well as component performance metrics. MOAST is composed of high-fidelity and low-fidelity simulation systems, a detailed model of real-world terrain, actual hardware components, a central knowledge repository, and architectural glue to tie all of the components together. This paper will describe the framework"s components in detail and provide an example that illustrates how the framework can be utilized to develop and evaluate a single architectural component through the use of repeatable trials and experimentation that includes both virtual and real components functioning together

Small Form Factor Information Storage Devices for Mobile Applications in Korea

NASA Astrophysics Data System (ADS)

Park, Young-Pil; Park, No-Cheol; Kim, Chul-Jin

Recently, the ubiquitous environment in which anybody can reach a lot of information data without any limitations on the place and time has become an important social issue. There are two basic requirements in the field of information storage devices which have to be satisfied; the first is the demand for the improvement of memory capacity to manage the increased data capacity in personal and official purposes. The second is the demand for new development of information storage devices small enough to be applied to mobile multimedia digital electronics, including digital camera, PDA and mobile phones. To summarize, for the sake of mobile applications, it is necessary to develop information storage devices which have simultaneously a large capacity and a small size. Korea possesses the necessary infrastructure for developing such small sized information storage devices. It has a good digital market, major digital companies, and various research institutes. Nowadays, many companies and research institutes including university cooperate together in the research on small sized information storage devices. Thus, it is expected that small form factor optical disk drives will be commercialized in the very near future in Korea.

Defense Science Board 1996 Summer Study Task Force On Tactics and Technology for 21st Century Military Superiority. Volume 2, Part 1. Supporting Materials

DTIC Science & Technology

1996-10-01

systems currently headed for deployment ( BIDS is highlighted in the chart) to widely dispersed microsensors on micro, autonomous platforms. Small room... Small , Rapidly Deployable Forces" Joe Polito, Dan Rondeau, Sandia National Laboratory V.2. "Robotic Concepts for Small Rapidly Deployable Forces" V-7...Robert Palmquist, Jill Fahrenholtz, Richard Wheeler, Sandia National Laboratory V.3. "Potential for Distributed Ground Sensors in Support of Small Unit V