Integration of robotic resources into FORCEnet

NASA Astrophysics Data System (ADS)

Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

2006-05-01

The Networked Intelligence, Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances. The foundations are built upon FORCEnet-the U.S. Navy's process to define C4ISR for net-centric operations-and the Navy Unmanned Systems Common Control Roadmap to develop technologies and standards for interoperability, data sharing, publish-and-subscribe methodology, and software reuse. The paper defines the goals and boundaries for NISR with focus on the system architecture, including the design tradeoffs necessary for unmanned systems in a net-centric model. Special attention is given to two specific scenarios demonstrating the integration of unmanned ground and water surface vehicles into the open-architecture web-based command-and-control information-management system of Composeable FORCEnet. Planned spiral development for NISR will improve collaborative control, expand robotic sensor capabilities, address multiple domains including underwater and aerial platforms, and extend distributive communications infrastructure for battlespace optimization for unmanned systems in net-centric operations.

Human-Robot Teaming for Hydrologic Data Gathering at Multiple Scales

NASA Astrophysics Data System (ADS)

Peschel, J.; Young, S. N.

2017-12-01

The use of personal robot-assistive technology by researchers and practitioners for hydrologic data gathering has grown in recent years as barriers to platform capability, cost, and human-robot interaction have been overcome. One consequence to this growth is a broad availability of unmanned platforms that might or might not be suitable for a specific hydrologic investigation. Through multiple field studies, a set of recommendations has been developed to help guide novice through experienced users in choosing the appropriate unmanned platforms for a given application. This talk will present a series of hydrologic data sets gathered using a human-robot teaming approach that has leveraged unmanned aerial, ground, and surface vehicles over multiple scales. The field case studies discussed will be connected to the best practices, also provided in the presentation. This talk will be of interest to geoscience researchers and practitioners, in general, as well as those working in fields related to emerging technologies.

Unmanned and Unattended Response Capability for Homeland Defense

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

BENNETT, PHIL C.

2002-11-01

An analysis was conducted of the potential for unmanned and unattended robotic technologies for forward-based, immediate response capabilities that enables access and controlled task performance. The authors analyze high-impact response scenarios in conjunction with homeland security organizations, such as the NNSA Office of Emergency Response, the FBI, the National Guard, and the Army Technical Escort Unit, to cover a range of radiological, chemical and biological threats. They conducted an analysis of the potential of forward-based, unmanned and unattended robotic technologies to accelerate and enhance emergency and crisis response by Homeland Defense organizations. Response systems concepts were developed utilizing new technologiesmore » supported by existing emerging threats base technologies to meet the defined response scenarios. These systems will pre-position robotic and remote sensing capabilities stationed close to multiple sites for immediate action. Analysis of assembled systems included experimental activities to determine potential efficacy in the response scenarios, and iteration on systems concepts and remote sensing and robotic technologies, creating new immediate response capabilities for Homeland Defense.« less

Advanced wireless mobile collaborative sensing network for tactical and strategic missions

NASA Astrophysics Data System (ADS)

Xu, Hao

2017-05-01

In this paper, an advanced wireless mobile collaborative sensing network will be developed. Through properly combining wireless sensor network, emerging mobile robots and multi-antenna sensing/communication techniques, we could demonstrate superiority of developed sensing network. To be concrete, heterogeneous mobile robots including unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) are equipped with multi-model sensors and wireless transceiver antennas. Through real-time collaborative formation control, multiple mobile robots can team the best formation that can provide most accurate sensing results. Also, formatting multiple mobile robots can also construct a multiple-input multiple-output (MIMO) communication system that can provide a reliable and high performance communication network.

UPenn Multi-Robot Unmanned Vehicle System (MAGIC)

DTIC Science & Technology

2014-05-05

unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 UPenn Multi-Robot Unmanned Vehicle System (MAGIC) AFOSR Final Report PI... user interface, the Strategy/Plan operator allows the system to autonomously task the nearest available UGVs to plan and coordinate their movements and...threats in a dynamic urban environment with minimal human guidance. The custom hardware systems consist of robust and complementary sensors, integrated

A Testbed Processor for Embedded Multicomputing

DTIC Science & Technology

1990-04-01

Gajski 85]. These two problems of parallel expression and performance impact the real-time response of a vehicle system and, consequently, what models...and memory access. The following discussion of these problems is primarily from Gajski and Peir [ Gajski 85]. Multi-computers are Multiple Instruction...International Symposium on Unmanned Untethered Submersible Technology, University of New Hampshire, Durham, NH, June 22-24 1987, pp. 33-43. [ Gajski 85

The Effect of Appropriately and Inappropriately Applied Automation for the Control of Unmanned Systems on Operator Performance

DTIC Science & Technology

2009-09-01

2.1 Participants Twelve civilians (7 men and 5 women ) with no prior experience with the Robotic NCO simulation participated in this study. The mean...operators in a multitasking environment. 15. SUBJECT TERMS design guidelines, robotics, simulation, unmanned systems, automation 16. SECURITY...model of operator performance, or a hybrid method which combines one or more of these different invocation techniques (e.g., critical events and

Robotic vehicle with multiple tracked mobility platforms

DOEpatents

Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

2012-07-24

A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

ARV robotic technologies (ART): a risk reduction effort for future unmanned systems

NASA Astrophysics Data System (ADS)

Jaster, Jeffrey F.

2006-05-01

The Army's ARV (Armed Robotic Vehicle) Robotic Technologies (ART) program is working on the development of various technological thrusts for use in the robotic forces of the future. The ART program will develop, integrate and demonstrate the technology required to advance the maneuver technologies (i.e., perception, mobility, tactical behaviors) and increase the survivability of unmanned platforms for the future force while focusing on reducing the soldiers' burden by providing an increase in vehicle autonomy coinciding with a decrease in the total number user interventions required to control the unmanned assets. This program will advance the state of the art in perception technologies to provide the unmanned platform an increasingly accurate view of the terrain that surrounds it; while developing tactical/mission behavior technologies to provide the Unmanned Ground Vehicle (UGV) the capability to maneuver tactically, in conjunction with the manned systems in an autonomous mode. The ART testbed will be integrated with the advanced technology software and associated hardware developed under this effort, and incorporate appropriate mission modules (e.g. RSTA sensors, MILES, etc.) to support Warfighter experiments and evaluations (virtual and field) in a military significant environment (open/rolling and complex/urban terrain). The outcome of these experiments as well as other lessons learned through out the program life cycle will be used to reduce the current risks that are identified for the future UGV systems that will be developed under the Future Combat Systems (FCS) program, including the early integration of an FCS-like autonomous navigation system onto a tracked skid steer platform.

TALON: a universal unmanned ground vehicle platform, enabling the mission to be the focus

NASA Astrophysics Data System (ADS)

Wells, Peter; Deguire, Dan

2005-05-01

Foster-Miller's unmanned ground vehicle, TALON, was originally developed under DARPA's Tactical Mobile Robotics (TMR) program. TALON has evolved over the years and has proven to be a robust, mobile, universal platform. As a result of the advances made in the evolution of TALON, new and far-reaching opportunities have been realized for unmanned ground vehicles. In recent conflicts such as in Afghanistan and Iraq, unmanned systems have played an important role and have extended the reach and capabilities of the War fighter. Technological advances have transformed unmanned vehicles in to useful tools and in some cases are used in lieu of sending in a soldier. Unmanned ground vehicles have seen recent and persistent success, as shown in theater, in the explosive ordinance disposal (EOD) and improvised ordinance disposal (IED) missions. Foster-Miller's TALON has experienced over ten thousand EOD and IED missions in Iraq alone. The success of the unmanned system has resulted in the doctrine "Send the robot in first". Foster-Miller has taken the role of the unmanned vehicle in yet another direction. Foster-Miller has transformed the TALON from a "practical" to "tactical" system. Through the combined efforts of Foster-Miller and the US Army, TALON has been involved in a weaponization program. To date, Foster-Miller has outfitted the TALON with 11 systems. As one can see, the unmanned ground vehicle is much more than a mobility platform.

International Assessment of Unmanned Ground Vehicles

DTIC Science & Technology

2008-02-01

research relevant to ground robotics include • Multi-sensor data fusion • Stereovision • Dedicated robots, including legged robots, tracked robots...Technology Laboratory has developed several mobile robots with leg - ged, wheeled, rolling, rowing, and hybrid locomotion. Areas of particular emphasis...117 UK Department of Trade and Industry ( DTI ) Global Watch Mission. November 2006. Mechatronics in Russia. 118 CRDI Web Site: http

Autonomy, Unmanned Ground Vehicles, and the U.S. Army: Preparing for the Future by Examining the Past

DTIC Science & Technology

2009-05-01

gathers wisdom. – Isaac Asimov As a result of the National Defense Authorization Act (NDAA) of 2001, Congress signed into law a mandate for the...Monroe, December 2007), 14-15. 13 Isaac Asimov ,. How Did We Find Out About Robots? (New York: Walker and Company, 1984), 25-26. 14 Webster‟s Third...2007): 79-89. Asimov , Isaac. How Did We Find Out About Robots? New York: Walker and Company, 1984. Autonomy Levels for Unmanned Systems Working

Performance Evaluation of Intelligent Systems at the National Institute of Standards and Technology (NIST)

DTIC Science & Technology

2011-03-01

past few years, including performance evaluation of emergency response robots , sensor systems on unmanned ground vehicles, speech-to-speech translation...emergency response robots ; intelligent systems; mixed palletizing, testing, simulation; robotic vehicle perception systems; search and rescue robots ...ranging from autonomous vehicles to urban search and rescue robots to speech translation and manufacturing systems. The evaluations have occurred in

Towards a sustainable modular robot system for planetary exploration

NASA Astrophysics Data System (ADS)

Hossain, S. G. M.

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual robot module, multiple modules of a four-degree-of-freedom unit-modular robot were developed. The robot was equipped with a novel connector mechanism that made self-healing possible. Also, design strategies included the use of series elastic actuators for better robot-terrain interaction. In addition, various locomotion gaits were generated and explored using the robot modules, which is essential for a modular robot system to achieve robustness and thus successfully navigate and function in a planetary environment. To investigate multi-robot task completion, a biomimetic cooperative load transportation algorithm was developed and simulated. Also, a liquid motion-inspired theory was developed consisting of a large number of robot modules. This can be used to traverse obstacles that inevitably occur in maneuvering over rough terrains such as in a planetary exploration. Keywords: Modular robot, cooperative robots, biomimetics, planetary exploration, sustainability.

Unmanned Evaluation of Mares Abyss 22 Navy Open Circuit Scuba Regulator for Cold Water Diving

DTIC Science & Technology

2011-05-05

regulator is shown above the water. Note the blue mouthpiece adaptor, white oral static pressure pick-up ring , and gray routing block attached for...e.g., an inflation whip or a second-stage octopus ), submersible pressure gage, or gas-integrated computer were connected to the first stage. As...adaptor (shown in blue ) inward into the second-stage assembly, Figure 9 indicates typical 9 internal second-stage icing experienced during Phase

Land, sea, and air unmanned systems research and development at SPAWAR Systems Center Pacific

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Laird, Robin; Kogut, Greg; Andrews, John; Fletcher, Barbara; Webber, Todd; Arrieta, Rich; Everett, H. R.

2009-05-01

The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-takeoff- and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas.

Developing Autonomy for Unmanned Surface Vehicles by Using Virtual Environments

DTIC Science & Technology

2010-10-11

successfully evolved for a wide variety of behaviors as obstacle avoidance (Barate and Manzanera 2007; Nehmzow 2002), wall-following ( Dain 1998...Advances in unmanned marine vehicles pp 311-328 Dain R (1998) Developing mobile robot wall-following algorithms using ge- netic programming. Applied

Computer control of a robotic satellite servicer

NASA Technical Reports Server (NTRS)

Fernandez, K. R.

1980-01-01

The advantages that will accrue from the in-orbit servicing of satellites are listed. It is noted that in a concept in satellite servicing which holds promise as a compromise between the high flexibility and adaptability of manned vehicles and the lower cost of an unmanned vehicle involves an unmanned servicer carrying a remotely supervised robotic manipulator arm. Because of deficiencies in sensor technology, robot servicing would require that satellites be designed according to a modular concept. A description is given of the servicer simulation hardware, the computer and interface hardware, and the software. It is noted that several areas require further development; these include automated docking, modularization of satellite design, reliable connector and latching mechanisms, development of manipulators for space environments, and development of automated diagnostic techniques.

Unmanned ground vehicles for integrated force protection

NASA Astrophysics Data System (ADS)

Carroll, Daniel M.; Mikell, Kenneth; Denewiler, Thomas

2004-09-01

The combination of Command and Control (C2) systems with Unmanned Ground Vehicles (UGVs) provides Integrated Force Protection from the Robotic Operation Command Center. Autonomous UGVs are directed as Force Projection units. UGV payloads and fixed sensors provide situational awareness while unattended munitions provide a less-than-lethal response capability. Remote resources serve as automated interfaces to legacy physical devices such as manned response vehicles, barrier gates, fence openings, garage doors, and remote power on/off capability for unmanned systems. The Robotic Operations Command Center executes the Multiple Resource Host Architecture (MRHA) to simultaneously control heterogeneous unmanned systems. The MRHA graphically displays video, map, and status for each resource using wireless digital communications for integrated data, video, and audio. Events are prioritized and the user is prompted with audio alerts and text instructions for alarms and warnings. A control hierarchy of missions and duty rosters support autonomous operations. This paper provides an overview of the key technology enablers for Integrated Force Protection with details on a force-on-force scenario to test and demonstrate concept of operations using Unmanned Ground Vehicles. Special attention is given to development and applications for the Remote Detection Challenge and Response (REDCAR) initiative for Integrated Base Defense.

Miniature Robotic Submarine for Exploring Harsh Environments

NASA Technical Reports Server (NTRS)

Behar, Alberto; Bruhn, Fredrik; Carsey, Frank

2004-01-01

The miniature autonomous submersible explorer (MASE) has been proposed as a means of scientific exploration -- especially, looking for signs of life -- in harsh, relatively inaccessible underwater environments. Basically, the MASE would be a small instrumented robotic submarine (see figure) that could launch itself or could be launched from another vehicle. Examples of environments that might be explored by use of the MASE include subglacial lakes, deep-ocean hydrothermal vents, acidic or alkaline lakes, brine lenses in permafrost, and ocean regions under Antarctic ice shelves.

Tip-over Prevention Through Heuristic Reactive Behaviors for Unmanned Ground Vehicles

DTIC Science & Technology

2014-05-01

Systems Center Pacific Unmanned Systems Group 53406 Woodward Road San Diego, CA 92152 ABSTRACT Skid-steer teleoperated robots are commonly used by...Reactive Behaviors Further author information: (Send correspondence to K.T.) K.T.: E-mail: kurt.talke@navy.mil, SPIE Proc. 9084: Unmanned Systems ...5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Space and Naval Warfare Systems Center

Counter Tunnel Exploration, Mapping, and Localization with an Unmanned Ground Vehicle

DTIC Science & Technology

2014-05-01

support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect...cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally... Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of

Think Tanks

NASA Technical Reports Server (NTRS)

2001-01-01

A new inspection robot from Solex Robotics Systems was designed to eliminate hazardous inspections of petroleum and chemical storage tanks. The submersible robot, named Maverick, is used to inspect the bottoms of tanks, keeping the tanks operational during inspection. Maverick is able to provide services that will make manual tank inspections obsolete. While the inspection is conducted, Maverick's remote human operators remain safe outside of the tank. The risk to human health and life is now virtually eliminated. The risk to the environment is also minimal because there is a reduced chance of spillage from emptying and cleaning the tanks, where previously, tons of pollutants were released through the process of draining and refilling.

Evidence of Lake Trout reproduction at Lake Michigan's mid-lake reef complex

USGS Publications Warehouse

Janssen, J.; Jude, D.J.; Edsall, T.A.; Paddock, R.W.; Wattrus, N.; Toneys, M.; McKee, P.

2006-01-01

The Mid-Lake Reef Complex (MLRC), a large area of deep (> 40 m) reefs, was a major site where indigenous lake trout (Salvelinus namaycush) in Lake Michigan aggregated during spawning. As part of an effort to restore Lake Michigan's lake trout, which were extirpated in the 1950s, yearling lake trout have been released over the MLRC since the mid-1980s and fall gill net censuses began to show large numbers of lake trout in spawning condition beginning about 1999. We report the first evidence of viable egg deposition and successful lake trout fry production at these deep reefs. Because the area's existing bathymetry and habitat were too poorly known for a priori selection of sampling sites, we used hydroacoustics to locate concentrations of large fish in the fall; fish were congregating around slopes and ridges. Subsequent observations via unmanned submersible confirmed the large fish to be lake trout. Our technological objectives were driven by biological objectives of locating where lake trout spawn, where lake trout fry were produced, and what fishes ate lake trout eggs and fry. The unmanned submersibles were equipped with a suction sampler and electroshocker to sample eggs deposited on the reef, draw out and occasionally catch emergent fry, and collect egg predators (slimy sculpin Cottus cognatus). We observed slimy sculpin to eat unusually high numbers of lake trout eggs. Our qualitative approaches are a first step toward quantitative assessments of the importance of lake trout spawning on the MLRC.

Control of a Quadcopter Aerial Robot Using Optic Flow Sensing

NASA Astrophysics Data System (ADS)

Hurd, Michael Brandon

This thesis focuses on the motion control of a custom-built quadcopter aerial robot using optic flow sensing. Optic flow sensing is a vision-based approach that can provide a robot the ability to fly in global positioning system (GPS) denied environments, such as indoor environments. In this work, optic flow sensors are used to stabilize the motion of quadcopter robot, where an optic flow algorithm is applied to provide odometry measurements to the quadcopter's central processing unit to monitor the flight heading. The optic-flow sensor and algorithm are capable of gathering and processing the images at 250 frames/sec, and the sensor package weighs 2.5 g and has a footprint of 6 cm2 in area. The odometry value from the optic flow sensor is then used a feedback information in a simple proportional-integral-derivative (PID) controller on the quadcopter. Experimental results are presented to demonstrate the effectiveness of using optic flow for controlling the motion of the quadcopter aerial robot. The technique presented herein can be applied to different types of aerial robotic systems or unmanned aerial vehicles (UAVs), as well as unmanned ground vehicles (UGV).

Determinants of system transparency and its influence on trust in and reliance on unmanned robotic systems

NASA Astrophysics Data System (ADS)

Ososky, Scott; Sanders, Tracy; Jentsch, Florian; Hancock, Peter; Chen, Jessie Y. C.

2014-06-01

Increasingly autonomous robotic systems are expected to play a vital role in aiding humans in complex and dangerous environments. It is unlikely, however, that such systems will be able to consistently operate with perfect reliability. Even less than 100% reliable systems can provide a significant benefit to humans, but this benefit will depend on a human operator's ability to understand a robot's behaviors and states. The notion of system transparency is examined as a vital aspect of robotic design, for maintaining humans' trust in and reliance on increasingly automated platforms. System transparency is described as the degree to which a system's action, or the intention of an action, is apparent to human operators and/or observers. While the physical designs of robotic systems have been demonstrated to greatly influence humans' impressions of robots, determinants of transparency between humans and robots are not solely robot-centric. Our approach considers transparency as emergent property of the human-robot system. In this paper, we present insights from our interdisciplinary efforts to improve the transparency of teams made up of humans and unmanned robots. These near-futuristic teams are those in which robot agents will autonomously collaborate with humans to achieve task goals. This paper demonstrates how factors such as human-robot communication and human mental models regarding robots impact a human's ability to recognize the actions or states of an automated system. Furthermore, we will discuss the implications of system transparency on other critical HRI factors such as situation awareness, operator workload, and perceptions of trust.

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

NASA Technical Reports Server (NTRS)

Almeida, Eduardo DeBrito

2012-01-01

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

JAMSTEC multibeam surveys and submersible dives around the Hawaiian Islands: a collaborative Japan-USA exploration of Hawaii's deep seafloor

USGS Publications Warehouse

Robinson, Joel E.; Eakins, Barry W.; Kanamatsu, Toshiya; Naka, Jiro; Takahashi, Eiichi; Satake, Kenji; Smith, John R.; Clague, David A.; Yokose, Hisayoshi

2006-01-01

This database release, USGS Data Series 171, contains data collected during four Japan-USA collaborative cruises that characterize the seafloor around the Hawaiian Islands. The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) sponsored cruises in 1998, 1999, 2001, and 2002, to build a greater understanding of the deep marine geology around the Hawaiian Islands. During these cruises, scientists surveyed over 600,000 square kilometers of the seafloor with a hull-mounted multibeam seafloor-mapping sonar system (SEA BEAM® 2112), observed the seafloor and collected samples using robotic and manned submersible dives, collected dredge and piston-core samples, and performed single-channel seismic surveys.

Algorithm for covert convoy of a moving target using a group of autonomous robots

NASA Astrophysics Data System (ADS)

Polyakov, Igor; Shvets, Evgeny

2018-04-01

An important application of autonomous robot systems is to substitute human personnel in dangerous environments to reduce their involvement and subsequent risk on human lives. In this paper we solve the problem of covertly convoying a civilian in a dangerous area with a group of unmanned ground vehicles (UGVs) using social potential fields. The novelty of our work lies in the usage of UGVs as compared to the unmanned aerial vehicles typically employed for this task in the approaches described in literature. Additionally, in our paper we assume that the group of UGVs should simultaneously solve the problem of patrolling to detect intruders on the area. We develop a simulation system to test our algorithms, provide numerical results and give recommendations on how to tune the potentials governing robots' behaviour to prioritize between patrolling and convoying tasks.

Distributed data fusion across multiple hard and soft mobile sensor platforms

NASA Astrophysics Data System (ADS)

Sinsley, Gregory

One of the biggest challenges currently facing the robotics field is sensor data fusion. Unmanned robots carry many sophisticated sensors including visual and infrared cameras, radar, laser range finders, chemical sensors, accelerometers, gyros, and global positioning systems. By effectively fusing the data from these sensors, a robot would be able to form a coherent view of its world that could then be used to facilitate both autonomous and intelligent operation. Another distinct fusion problem is that of fusing data from teammates with data from onboard sensors. If an entire team of vehicles has the same worldview they will be able to cooperate much more effectively. Sharing worldviews is made even more difficult if the teammates have different sensor types. The final fusion challenge the robotics field faces is that of fusing data gathered by robots with data gathered by human teammates (soft sensors). Humans sense the world completely differently from robots, which makes this problem particularly difficult. The advantage of fusing data from humans is that it makes more information available to the entire team, thus helping each agent to make the best possible decisions. This thesis presents a system for fusing data from multiple unmanned aerial vehicles, unmanned ground vehicles, and human observers. The first issue this thesis addresses is that of centralized data fusion. This is a foundational data fusion issue, which has been very well studied. Important issues in centralized fusion include data association, classification, tracking, and robotics problems. Because these problems are so well studied, this thesis does not make any major contributions in this area, but does review it for completeness. The chapter on centralized fusion concludes with an example unmanned aerial vehicle surveillance problem that demonstrates many of the traditional fusion methods. The second problem this thesis addresses is that of distributed data fusion. Distributed data fusion is a younger field than centralized fusion. The main issues in distributed fusion that are addressed are distributed classification and distributed tracking. There are several well established methods for performing distributed fusion that are first reviewed. The chapter on distributed fusion concludes with a multiple unmanned vehicle collaborative test involving an unmanned aerial vehicle and an unmanned ground vehicle. The third issue this thesis addresses is that of soft sensor only data fusion. Soft-only fusion is a newer field than centralized or distributed hard sensor fusion. Because of the novelty of the field, the chapter on soft only fusion contains less background information and instead focuses on some new results in soft sensor data fusion. Specifically, it discusses a novel fuzzy logic based soft sensor data fusion method. This new method is tested using both simulations and field measurements. The biggest issue addressed in this thesis is that of combined hard and soft fusion. Fusion of hard and soft data is the newest area for research in the data fusion community; therefore, some of the largest theoretical contributions in this thesis are in the chapter on combined hard and soft fusion. This chapter presents a novel combined hard and soft data fusion method based on random set theory, which processes random set data using a particle filter. Furthermore, the particle filter is designed to be distributed across multiple robots and portable computers (used by human observers) so that there is no centralized failure point in the system. After laying out a theoretical groundwork for hard and soft sensor data fusion the thesis presents practical applications for hard and soft sensor data fusion in simulation. Through a series of three progressively more difficult simulations, some important hard and soft sensor data fusion capabilities are demonstrated. The first simulation demonstrates fusing data from a single soft sensor and a single hard sensor in order to track a car that could be driving normally or erratically. The second simulation adds the extra complication of classifying the type of target to the simulation. The third simulation uses multiple hard and soft sensors, with a limited field of view, to track a moving target and classify it as a friend, foe, or neutral. The final chapter builds on the work done in previous chapters by performing a field test of the algorithms for hard and soft sensor data fusion. The test utilizes an unmanned aerial vehicle, an unmanned ground vehicle, and a human observer with a laptop. The test is designed to mimic a collaborative human and robot search and rescue problem. This test makes some of the most important practical contributions of the thesis by showing that the algorithms that have been developed for hard and soft sensor data fusion are capable of running in real time on relatively simple hardware.

Fluid pipeline leak detection and location with miniature RF tags

DOEpatents

McIntyre, Timothy J.

2017-05-16

Sensors locate troublesome leaks in pipes or conduits that carry a flowing medium. These sensors, through tailored physical and geometric properties, preferentially seek conduit leaks or breaches due to flow streaming. The sensors can be queried via transceivers outside the conduit or located and interrogated inside by submersible unmanned vehicle to identify and characterize the nature of a leak. The sensors can be functionalized with other capabilities for additional leak and pipeline characterization if needed. Sensors can be recovered from a conduit flow stream and reused for future leak detection activities.

Developing UGVs for the FCS program

NASA Astrophysics Data System (ADS)

Kamsickas, Gary M.; Ward, John N.

2003-09-01

The FCS Operational Requirements Document (ORD) identifies unmanned systems as a key component of the FCS Unit of Action. FCS unmanned systems include Unmanned Aerial Vehicles (UAV), Unmanned Ground Vehicles (UGV), Unattended Ground Sensors (UGS) and Unattended Munitions (UM). Unmanned systems are intended to enhance the Unit of Action across the full range of operations when integrated with manned platforms. Unmanned systems will provide the commander with tools to gather battlespace information while significantly reducing overall soldier risk. Unmanned systems will be used in some cases to augment or replace human intervention to perform many of the dirty, dull and dangerous missions presently performed by soldiers and to serve as a combat multiplier for mission performance, force protection and survivability. This paper focuses on the application of UGVs within the FCS Unit of Action. There are three different UGVs planned to support the FCS Unit of Action; the Soldier Unmanned Ground Vehicle (SUGV); The Multi-role Utility Logistics Equipment (MULE) platform; and the Armed Robotic Vehicle (ARV).

Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study

PubMed Central

Han, Jianda; Yin, Peng; He, Yuqing; Gu, Feng

2016-01-01

One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method. PMID:26891298

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

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

United States Department of Defense Research in Robotic Unmanned Systems for Combat Casualty Care

DTIC Science & Technology

2010-01-01

Focused Ultrasound ( HIFU ). TATRC has also sponsored research in robotic implementation of Raman and Laser Induced Spectrometry (LIBS) to detect and...assisting in the application of HIFU (High Intensity Focused Ultrasound ) for treating hemorrhage. The addition of bioinformatics, wireless data...Sanghvi NT, Dines KA, Wheeler J. Remotely operated robotic High Intensity Focused Ultrasound ( HIFU ) manipulator system for Critical Systems for Trauma and

Investigating the Usefulness of Soldier Aids for Autonomous Unmanned Ground Vehicles, Part 2

DTIC Science & Technology

2015-03-01

distribution is unlimited. 13. SUPPLEMENTARY NOTES DCS Corporation, Alexandria, VA 14. ABSTRACT In the past, robot operation has been a high-cognitive...increase performance and reduce perceived workload. The aids were overlays displaying what an autonomous robot perceived in the environment and the...subsequent course of action planned by the robot . Eight active-duty, US Army Soldiers completed 16 scenario missions using an operator interface

Line following using a two camera guidance system for a mobile robot

NASA Astrophysics Data System (ADS)

Samu, Tayib; Kelkar, Nikhal; Perdue, David; Ruthemeyer, Michael A.; Matthews, Bradley O.; Hall, Ernest L.

1996-10-01

Automated unmanned guided vehicles have many potential applications in manufacturing, medicine, space and defense. A mobile robot has been designed for the 1996 Automated Unmanned Vehicle Society competition which was held in Orlando, Florida on July 15, 1996. The competition required the vehicle to follow solid and dashed lines around an approximately 800 ft. path while avoiding obstacles, overcoming terrain changes such as inclines and sand traps, and attempting to maximize speed. The purpose of this paper is to describe the algorithm developed for the line following. The line following algorithm images two windows and locates their centroid and with the knowledge that the points are on the ground plane, a mathematical and geometrical relationship between the image coordinates of the points and their corresponding ground coordinates are established. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. Two cameras are mounted on the robot with a camera on each side. One camera guides the robot and when it loses track of the line on its side, the robot control system automatically switches to the other camera. The test bed system has provided an educational experience for all involved and permits understanding and extending the state of the art in autonomous vehicle design.

Combating Terrorism Technical Support Office. 2008 Review

DTIC Science & Technology

2009-01-15

threat object displayed at the operator control unit of the robotic platform. Remote Utility Conversion Kit The Remote Utility Conversion Kit (RUCK) is a...three- dimensional and isometric simulations and games. Develop crowd models, adversarial behavior models, network-based simulations, mini-simulations...Craft-Littoral The modular unmanned surface craft-littoral ( MUSCL ) is a spin- off of EOD/LIC’s Unmanned Reconnaissance Observation Craft, developed

Unmanned vehicles for maritime spill response case study: Exercise Cathach.

PubMed

Dooly, Gerard; Omerdic, Edin; Coleman, Joseph; Miller, Liam; Kaknjo, Admir; Hayes, James; Braga, Jóse; Ferreira, Filipe; Conlon, Hugh; Barry, Hugh; Marcos-Olaya, Jesús; Tuohy, Thomas; Sousa, João; Toal, Dan

2016-09-15

This paper deals with two aspects, namely a historical analysis of the use of unmanned vehicles (UAVs ROVs, AUVs) in maritime spill incidents and a detailed description of a multi-agency oil and HNS incident response exercise involving the integration and analysis of unmanned vehicles environmental sensing equipment. The exercise was a first in terms of the level of robotic systems deployed to assist in survey, surveillance and inspection roles for oil spills and harmful and noxious substances. Copyright © 2016 Elsevier Ltd. All rights reserved.

Sensor deployment on unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Witus, Gary

2007-10-01

TARDEC has been developing payloads for small robots as part of its unmanned ground vehicle (UGV) development programs. These platforms typically weigh less than 100 lbs and are used for various physical security and force protection applications. This paper will address a number of technical issues including platform mobility, payload positioning, sensor configuration and operational tradeoffs. TARDEC has developed a number of robots with different mobility mechanisms including track, wheel and hybrid track/wheel running gear configurations. An extensive discussion will focus upon omni-directional vehicle (ODV) platforms with enhanced intrinsic mobility for positioning sensor payloads. This paper also discusses tradeoffs between intrinsic platform mobility and articulated arm complexity for end point positioning of modular sensor packages.

Storing and Predicting Dynamic Attributes in a World Model Knowledge Store

DTIC Science & Technology

2007-01-01

1 INTRODUCTION ..................................................................................................................16 Motivation and...be addressed and summarily solved by future robotic engineers. 16 CHAPTER 1 INTRODUCTION The world of mobile, intelligent robotics is...Office of the Secretary of Defense charted what was then the Joint Architecture for Unmanned Ground Vehicles Working Group ( JAUGS WG). JAUGS has since

Using Robots and Contract Learning to Teach Cyber-Physical Systems to Undergraduates

ERIC Educational Resources Information Center

Crenshaw, T. L. A.

2013-01-01

Cyber-physical systems are a genre of networked real-time systems that monitor and control the physical world. Examples include unmanned aerial vehicles and industrial robotics. The experts who develop these complex systems are retiring much faster than universities are graduating engineering majors. As a result, it is important for undergraduates…

The Impact of Human-Automation Collaboration in Decentralized Multiple Unmanned Vehicle Control

DTIC Science & Technology

2011-01-01

based decentralized auctions for robust task allocation ,[ IEEE Trans. Robot., vol. 25, no. 4, pp...operators can aid such systems by bringing their knowledge- based reasoning and experience to bear. Given a decentralized task planner and a goal- based ...experience to bear. Given a decentralized task planner and a goal- based operator interface for a network of unmanned vehicles in a search, track,

A survey of autonomous vision-based See and Avoid for Unmanned Aircraft Systems

NASA Astrophysics Data System (ADS)

Mcfadyen, Aaron; Mejias, Luis

2016-01-01

This paper provides a comprehensive review of the vision-based See and Avoid problem for unmanned aircraft. The unique problem environment and associated constraints are detailed, followed by an in-depth analysis of visual sensing limitations. In light of such detection and estimation constraints, relevant human, aircraft and robot collision avoidance concepts are then compared from a decision and control perspective. Remarks on system evaluation and certification are also included to provide a holistic review approach. The intention of this work is to clarify common misconceptions, realistically bound feasible design expectations and offer new research directions. It is hoped that this paper will help us to unify design efforts across the aerospace and robotics communities.

Robotic Intelligence Kernel: Driver

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

The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.

Unmanned Ground Vehicles in Support of Irregular War: A Non-lethal Approach

DTIC Science & Technology

2011-03-15

days to clear all buildings in a very fluid and dynamic operation.43 Given the fact that no UGV can climb stairs at the same rate a human can, one can...Naval Research Lab and Carnegie Mellon University’s Robotics Institute/National Robotics Engineering Consortium for designing the early test systems...Concept Technology Demonstrations (ACTD) paved the way for follow-on development of systems like the Modular Advanced Armed Robotic System (MAARS), an

Control solutions for robots using Android and iOS devices

NASA Astrophysics Data System (ADS)

Evans, A. William, III; Gray, Jeremy P.; Rudnick, Dave; Karlsen, Robert E.

2012-06-01

As more Soldiers seek to utilize robots to enhance their mission capabilities, controls are needed which are intuitive, portable, and adaptable to a wide range of mission tasks. Android™ and iOS™ devices have the potential to meet each of these requirements as well as being based on readily available hardware. This paper will focus on some of the ways in which an Android™ or iOS™ device could be used to control specific and varied robot mobility functions and payload tools. Several small unmanned ground vehicle (SUGV) payload tools will have been investigated at Camp Pendleton during a user assessment and mission feasibility study for automatic remote tool changing. This group of payload tools will provide a basis, to researchers, concerning what types of control functions are needed to fully utilize SUGV robotic capabilities. Additional, mobility functions using tablet devices have been used as part of the Safe Operation of Unmanned systems for Reconnaissance in Complex Environments Army Technology Objective (SOURCE ATO) which is investigating the safe operation of robotics. Using Android™ and iOS™ hand-held devices is not a new concept in robot manipulation. However, the authors of this paper hope to introduce some novel concepts that may serve to make the interaction between Soldier and machine more fluid and intuitive. By creating a better user experience, Android™ and iOS™ devices could help to reduce training time, enhance performance, and increase acceptance of robotics as valuable mission tools for Soldiers.

Navy Requirements for Controlling Multiple Off-Board Robots Using the Autonomous Unmanned Vehicle Workbench

DTIC Science & Technology

2007-06-01

2 D . THESIS ORGANIZATION...c. Validation ................................................................................13 d . XSLT...X3D Earth...........................................................................................16 D . USING AUVW FOR SIMULATION

Unmanned Systems in Perspective

DTIC Science & Technology

2014-05-22

sized warhead designed for precision engagement of small targets.56 Medea Benjamin of Code Pink calls it a “robotic suicide bomber . . . an unmanned...Other writers decry a coming age of “ suicide drones,” evidently unaware of the irony of the phrase.125 Admiral Dennis Blair, former US Director of... temptation to meddle, but instant responsiveness, in most cases, is an illusion. The exception to the myth of the “instant kill” further strengthens

Unmanned aerial vehicles (drones) to prevent drowning.

PubMed

Seguin, Celia; Blaquière, Gilles; Loundou, Anderson; Michelet, Pierre; Markarian, Thibaut

2018-06-01

Drowning literature have highlighted the submersion time as the most powerful predictor in assessing the prognosis. Reducing the time taken to provide a flotation device and prevent submersion appears of paramount importance. Unmanned aerial vehicles (UAVs) can provide the location of the swimmer and a flotation device. The objective of this simulation study was to evaluate the efficiency of a UAV in providing a flotation device in different sea conditions, and to compare the times taken by rescue operations with and without a UAV (standard vs UAV intervention). Several comparisons were made using professional lifeguards acting as simulated victims. A specifically-shaped UAV was used to allow us to drop an inflatable life buoy into the water. During the summer of 2017, 28 tests were performed. UAV use was associated with a reduction of time it took to provide a flotation device to the simulated victim compared with standard rescue operations (p < 0.001 for all measurements) and the time was reduced even further in moderate (81 ± 39 vs 179 ± 78 s; p < 0.001) and rough sea conditions (99 ± 34 vs 198 ± 130 s; p < 0.001). The times taken for UAV to locate the simulated victim, identify them and drop the life buoy were not altered by the weather conditions. UAV can deliver a flotation device to a swimmer safely and quickly. The addition of a UAV in rescue operations could improve the quality and speed of first aid while keeping lifeguards away from dangerous sea conditions. Copyright © 2018 Elsevier B.V. All rights reserved.

Modeling and Simulation of an Unmanned Ground Vehicle Power System

DTIC Science & Technology

2014-03-28

Wilhelm, A. N., Surgenor, B. W., and Pharoah, J. G., “Design and evaluation of a micro-fuel-cell-based power system for a mobile robot,” Mechatronics ... Embedded Control Systems ], Control Engineering, 91–116, Birkhuser Boston (2005). [12] Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P.-H...Modeling and Simulation of an Unmanned Ground Vehicle Power System John Brodericka∗, Jack Hartnerb, Dawn Tilburya, and Ella Atkinsa aThe University

Modeling and simulation of an unmanned ground vehicle power system

NASA Astrophysics Data System (ADS)

Broderick, John; Hartner, Jack; Tilbury, Dawn M.; Atkins, Ella M.

2014-06-01

Long-duration missions challenge ground robot systems with respect to energy storage and efficient conversion to power on demand. Ground robot systems can contain multiple power sources such as fuel cell, battery and/or ultra-capacitor. This paper presents a hybrid systems framework for collectively modeling the dynamics and switching between these different power components. The hybrid system allows modeling power source on/off switching and different regimes of operation, together with continuous parameters such as state of charge, temperature, and power output. We apply this modeling framework to a fuel cell/battery power system applicable to unmanned ground vehicles such as Packbot or TALON. A simulation comparison of different control strategies is presented. These strategies are compared based on maximizing energy efficiency and meeting thermal constraints.

Integrated assignment and path planning

NASA Astrophysics Data System (ADS)

Murphey, Robert A.

2005-11-01

A surge of interest in unmanned systems has exposed many new and challenging research problems across many fields of engineering and mathematics. These systems have the potential of transforming our society by replacing dangerous and dirty jobs with networks of moving machines. This vision is fundamentally separate from the modern view of robotics in that sophisticated behavior is realizable not by increasing individual vehicle complexity, but instead through collaborative teaming that relies on collective perception, abstraction, decision making, and manipulation. Obvious examples where collective robotics will make an impact include planetary exploration, space structure assembly, remote and undersea mining, hazardous material handling and clean-up, and search and rescue. Nonetheless, the phenomenon driving this technology trend is the increasing reliance of the US military on unmanned vehicles, specifically, aircraft. Only a few years ago, following years of resistance to the use of unmanned systems, the military and civilian leadership in the United States reversed itself and have recently demonstrated surprisingly broad acceptance of increasingly pervasive use of unmanned platforms in defense surveillance, and even attack. However, as rapidly as unmanned systems have gained acceptance, the defense research community has discovered the technical pitfalls that lie ahead, especially for operating collective groups of unmanned platforms. A great deal of talent and energy has been devoted to solving these technical problems, which tend to fall into two categories: resource allocation of vehicles to objectives, and path planning of vehicle trajectories. An extensive amount of research has been conducted in each direction, yet, surprisingly, very little work has considered the integrated problem of assignment and path planning. This dissertation presents a framework for studying integrated assignment and path planning and then moves on to suggest an exact mathematical model and solution techniques. The approach adopted is based upon the very flexible New Product Development model but also blends many features from other approaches. Solution methods using branch and bound and construction heuristics are developed and tested on several example problems, including a military scenario featuring unmanned air vehicles.

Autonomous intelligent military robots: Army ants, killer bees, and cybernetic soldiers

NASA Astrophysics Data System (ADS)

Finkelstein, Robert

The rationale for developing autonomous intelligent robots in the military is to render conventional warfare systems ineffective and indefensible. The Desert Storm operation demonstrated the effectiveness of such systems as unmanned air and ground vehicles and indicated the future possibilities of robotic technology. Robotic military vehicles would have the advantages of expendability, low cost, lower complexity compared to manned systems, survivability, maneuverability, and a capability to share in instantaneous communication and distributed processing of combat information. Basic characteristics of intelligent systems and hierarchical control systems with sensor inputs are described. Genetic algorithms are seen as a means of achieving appropriate levels of intelligence in a robotic system. Potential impacts of robotic technology in the military are outlined.

Challenges for Deploying Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...teleoperation, reconnaissance, surveillance, digital video, JAUGS , MDARS 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18...Architecture (MRHA) and the Joint Architecture for Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It

Reconnaissance and Autonomy for Small Robots (RASR)

DTIC Science & Technology

2012-06-29

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs...development of a system that used 1) a relevant deployable platform; 2) a minimum set of relatively inexpensive navigation and LADAR sensors; 3) an...expandable and modular control system with innovative software algorithms to minimize computing footprint; and that minimized 4) required communications

Making Robot Planes Useful for Scientific Investigation of Earth

NASA Technical Reports Server (NTRS)

Jennison, Chris

2006-01-01

This viewgraph slides presentation reviews the program to use unmanned aerial vehicles to gather information to study the Earth, the changes to the climate, and to protect the Earth. Several robot planes are shown, and cooperative programs with other agencies of the U.S. Government are highlighted. Including one with the United States Forest Service, that is planned to assist in locating fires

Current Thrusts in Ground Robotics: Programs, Systems, Technologies, Issues

DTIC Science & Technology

2000-03-01

MPRS – Demo III – MDARS-E and MDARS-I – JAUGS SPAWAR Systems Center, San Diego San Diego CA 92152-7383 Basic UXO Gathering System (BUGS) Use tens of...processing resources • Modularity improves sensor fusion for alarms and alerts • Joint Architecture for Unmanned Ground Systems ( JAUGS ) SPAWAR Systems...pp lic at io ns 1996 1998 2000 2002 SPAWAR Systems Center, San Diego San Diego CA 92152-7383 JAUGS : Joint Architecture for Unmanned Ground Systems

Future Soldiers: Analysis of Entry-Level Performance Requirements and Their Predictors

DTIC Science & Technology

2005-09-01

these future missions; "* New technology such as weapons, tools, and vehicles (e.g., robotics ) and the effect of technological change on personnel...Clusters 1. Close Combat 2. Non Line-of-Sight Fire 3. Surveillance, Intelligence, and Communications 4. Unmanned Vehicle/ Robotics Operator 5. Security...minimized with (a) new materials for ballistic protection, (b) new lethalities, and (c) exoskeletons /artificial muscles. • Infantrymen will experience better

UGV History 101: A Brief History of Unmanned Ground Vehicle (UGV) Development Efforts

DTIC Science & Technology

1995-01-01

robots). These successful demonstrations led to the formulation of the Teleoperated Mobile Anti-Armor Platform ( TMAP ) program, and prototype systems were...Unfortunately, Congressional direction in December 1987 prohibited the emplacement of weapons systems on robots, and the TMAP was retargeted to the...Technology Demonstration project, a demonstration incorporating both the Army’s TMAPs and the GATERS TOV was held at Camp Pendleton in September 1989

Unmanned Systems: A Lab Based Robotic Arm for Grasping Phase II

DTIC Science & Technology

2016-12-01

Leap Motion Controller, inverse kinematics, DH parameters. 15. NUMBER OF PAGES 89 16. PRICE CODE 17. SECURITY CLASSIFICATION OF REPORT...robotic actuator. Inverse kinematics and Denavit-Hartenberg (DH) parameters will be briefly explained. A. POSITION ANALYSIS According to [3] and... inverse kinematic” method and allows us to calculate the actuator’s position in order to move the robot’s end effector to a specific point in space

Integrated multi-sensor package (IMSP) for unmanned vehicle operations

NASA Astrophysics Data System (ADS)

Crow, Eddie C.; Reichard, Karl; Rogan, Chris; Callen, Jeff; Seifert, Elwood

2007-10-01

This paper describes recent efforts to develop integrated multi-sensor payloads for small robotic platforms for improved operator situational awareness and ultimately for greater robot autonomy. The focus is on enhancements to perception through integration of electro-optic, acoustic, and other sensors for navigation and inspection. The goals are to provide easier control and operation of the robot through fusion of multiple sensor outputs, to improve interoperability of the sensor payload package across multiple platforms through the use of open standards and architectures, and to reduce integration costs by embedded sensor data processing and fusion within the sensor payload package. The solutions investigated in this project to be discussed include: improved capture, processing and display of sensor data from multiple, non-commensurate sensors; an extensible architecture to support plug and play of integrated sensor packages; built-in health, power and system status monitoring using embedded diagnostics/prognostics; sensor payload integration into standard product forms for optimized size, weight and power; and the use of the open Joint Architecture for Unmanned Systems (JAUS)/ Society of Automotive Engineers (SAE) AS-4 interoperability standard. This project is in its first of three years. This paper will discuss the applicability of each of the solutions in terms of its projected impact to reducing operational time for the robot and teleoperator.

CRUSER (Consortium for Robotics and Unmanned Systems Education and Research)

DTIC Science & Technology

2013-07-08

LPI) comms: covert and innovative networks – such as the “Digital Semaphore ” concept being taken to field experimentation in FY13. 3)  UxS support of...Resolution Full Motion Video for Unmanned Systems and Remote Sensing Jeff Weekley, NPS Digital Semaphore Dr. Don Brutzman, NPS •  7-10 May 2012... Semaphore CRUSER  Thread  1   Sept  2011   Warfare   InnovaKon   Workshop   May  2012   Technical   ConKnuum   Apr  2013

Integrated Unmanned Air-Ground Robotics System, Volume 4

DTIC Science & Technology

2001-08-20

3) IPT Integrated Product Team IRP Intermediate Power Rating JAUGS TBD JCDL TBD Joint Vision 2020 TBD Km Kilometer lbs. pounds MAE Mechanical and...compatible with emerging JCDL and/or JAUGS . 2.3.2.2. Payload must be “plug and play.” 2.3.3. Communications 2.3.3.1. System communications shall be robust...Power JCDL JAUGS Joint Architecture for Unmanned Ground Systems JP-8 Jet Propulsion Fuel 8 km Kilometer lbs. Pounds LOS Line Of Sight MAE Mechanical

A Modular Soft Robotic Wrist for Underwater Manipulation.

PubMed

Kurumaya, Shunichi; Phillips, Brennan T; Becker, Kaitlyn P; Rosen, Michelle H; Gruber, David F; Galloway, Kevin C; Suzumori, Koichi; Wood, Robert J

2018-04-19

This article presents the development of modular soft robotic wrist joint mechanisms for delicate and precise manipulation in the harsh deep-sea environment. The wrist consists of a rotary module and bending module, which can be combined with other actuators as part of a complete manipulator system. These mechanisms are part of a suite of soft robotic actuators being developed for deep-sea manipulation via submersibles and remotely operated vehicles, and are designed to be powered hydraulically with seawater. The wrist joint mechanisms can also be activated with pneumatic pressure for terrestrial-based applications, such as automated assembly and robotic locomotion. Here we report the development and characterization of a suite of rotary and bending modules by varying fiber number and silicone hardness. Performance of the complete soft robotic wrist is demonstrated in normal atmospheric conditions using both pneumatic and hydraulic pressures for actuation and under high ambient hydrostatic pressures equivalent to those found at least 2300 m deep in the ocean. This rugged modular wrist holds the potential to be utilized at full ocean depths (>10,000 m) and is a step forward in the development of jointed underwater soft robotic arms.

Path planning and energy management of solar-powered unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Kaplan, Adam

Many of the applications pertinent to unmanned vehicles, such as environmental research and analysis, communications, and information-surveillance and reconnaissance, benefit from prolonged vehicle operation time. Conventional efforts to increase the operational time of electric-powered unmanned vehicles have traditionally focused on the design of energy-efficient components and the identification of energy efficient search patterns, while little attention has been paid to the vehicle's mission-level path plan and power management. This thesis explores the formulation and generation of integrated motion-plans and power-schedules for solar-panel equipped mobile robots operating under strict energy constraints, which cannot be effectively addressed through conventional motion planning algorithms. Transit problems are considered to design time-optimal paths using both Balkcom-Mason and Pseudo-Dubins curves. Additionally, a more complicated problem to generate mission plans for vehicles which must persistently travel between certain locations, similar to the traveling salesperson problem (TSP), is presented. A comparison between one of the common motion-planning algorithms and experimental results of the prescribed algorithms, made possible by use of a test environment and mobile robot designed and developed specifically for this research, are presented and discussed.

Integration of unmanned systems for tactical operations within hostile environments

NASA Astrophysics Data System (ADS)

Maddux, Gary A.; Bosco, Charles D.; Lawrence, James D.

2006-05-01

The University of Alabama in Huntsville (UAH) is currently investigating techniques and technologies for the integration of a small unmanned aerial vehicle (SUAV) with small unmanned ground vehicles (SUGV). Each vehicle has its own set of unique capabilities, but the efficient integration of the two for a specific application requires modifying and integrating both systems. UAH has been flying and testing an autonomously-controlled small helicopter, called the Flying Bassett (Base Airborne Surveillance and Sensing for Emergency Threat Tracking) for over a year. Recently, integrated operations were performed with four SUGVs, the Matilda (Mesa Robotics, Huntsville, AL), the US Navy Vanguard, the UAH Rover, and the Penetrator (Mesa Robotics). The program has progressed from 1) building an air and ground capability for video and infrared surveillance, 2) integration with ground vehicles in realistic scenarios, to 3) deployment and recovery of ground vehicles. The work was done with the cooperation of the US Army at Ft. Benning, GA and Redstone Arsenal, AL, the Federal Bureau of Investigation in Huntsville, AL, the US Naval Reserve in Knoxville, TN, and local emergency organizations. The results so far have shown that when the air and ground systems are employed together, their utility is greatly enhanced.

Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Tyczka, Dale R.; Wright, Robert; Janiszewski, Brian; Chatten, Martha Jane; Bowen, Thomas A.; Skibba, Brian

2012-06-01

Nearly all explosive ordnance disposal robots in use today employ monoscopic standard-definition video cameras to relay live imagery from the robot to the operator. With this approach, operators must rely on shadows and other monoscopic depth cues in order to judge distances and object depths. Alternatively, they can contact an object with the robot's manipulator to determine its position, but that approach carries with it the risk of detonation from unintentionally disturbing the target or nearby objects. We recently completed a study in which high-definition (HD) and stereoscopic video cameras were used in addition to conventional standard-definition (SD) cameras in order to determine if higher resolutions and/or stereoscopic depth cues improve operators' overall performance of various unmanned ground vehicle (UGV) tasks. We also studied the effect that the different vision modes had on operator comfort. A total of six different head-aimed vision modes were used including normal-separation HD stereo, SD stereo, "micro" (reduced separation) SD stereo, HD mono, and SD mono (two types). In general, the study results support the expectation that higher resolution and stereoscopic vision aid UGV teleoperation, but the degree of improvement was found to depend on the specific task being performed; certain tasks derived notably more benefit from improved depth perception than others. This effort was sponsored by the Joint Ground Robotics Enterprise under Robotics Technology Consortium Agreement #69-200902 T01. Technical management was provided by the U.S. Air Force Research Laboratory's Robotics Research and Development Group at Tyndall AFB, Florida.

Challenges for Deployment Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It uses the underlying MDARS MRHA message format...and a similar approach to function-oriented operation4. From JAUGS it borrows the concept of functional agents or components that are responsible for

DCF(Registered)-A JAUS and TENA Compliant Agent-Based Framework for Test and Evaluation of Unmanned Vehicles

DTIC Science & Technology

2011-03-01

functions of the vignette editor include visualizing the state of the UAS team, creating T&E scenarios, monitoring the UAS team performance, and...These behaviors are then executed by the robot sequentially (Figure 2). A state machine mission editor allows mission builders to use behaviors from the...include control, robotics, distributed applications, multimedia applications, databases, design patterns, and software engineering. Mr. Lenzi is the

Mobility Performance Algorithms for Small Unmanned Ground Vehicles

DTIC Science & Technology

2009-05-01

obstacles need to be developed; specifically, models and data for wheeled vehicle skid steering, interior building floor and roof surfaces, and stair ...an 80-lb SUGV; PackBot® at 50 lb, and GatorTM at 2500 lb. Additionally, the FCS projects that 40% of the military fleet may eventually be robotic ...sensor input analysis and decision-making time. Fields (2002a) discusses representing interaction of humans and robots in the OneSAF Testbed Baseline

The Strategic Plan: Is There Such a Thing for the Remotely Piloted Aircraft?

DTIC Science & Technology

2013-12-10

use this corporate definition, it provides useful insight. It accounts for the human element, or a thinking competitor, who exerts known and...in a while, everything about the world changes at once. This is one of those times. ―Chuck Klosterman quoted in Singer, Wired for War: The Robotics ...replacement to conventional forces on the battlefield. In the commercial sector, unmanned and robot technology is also increasing at unprecedented rates

Design and Experimental Validation of a Simple Controller for a Multi-Segment Magnetic Crawler Robot

DTIC Science & Technology

2015-04-01

Ave, Cambridge, MA USA 02139; bSpace and Naval Warfare (SPAWAR) Systems Center Pacific, San Diego, CA USA 92152 ABSTRACT A novel, multi-segmented...high-level, autonomous control computer. A low-level, embedded microcomputer handles the commands to the driving motors. This paper presents the...to be demonstrated.14 The Unmanned Systems Group at SPAWAR Systems Center Pacific has developed a multi-segment magnetic crawler robot (MSMR

Unmanned Systems: A Lab-Based Robotic Arm for Grasping

DTIC Science & Technology

2015-06-01

Reduction Project (0704-0188) Washington, DC 20503. 1. AGENCY USE ONLY (Leave blank) 2. REPORT DATE June 2015 3. REPORT TYPE AND DATES COVERED...experiments. The focus of this project is to understand and apply the kinematics and dynamics for a 6 degree of freedom (DOF) Kinova JACO robotic arm...Implementation, (3) and Operational Demonstrations This research project centered on Phase 1, while focusing on three subareas: • JACO Manipulator Set Up And

Multi-sensor electrometer

NASA Technical Reports Server (NTRS)

Gompf, Raymond (Inventor); Buehler, Martin C. (Inventor)

2003-01-01

An array of triboelectric sensors is used for testing the electrostatic properties of a remote environment. The sensors may be mounted in the heel of a robot arm scoop. To determine the triboelectric properties of a planet surface, the robot arm scoop may be rubbed on the soil of the planet and the triboelectrically developed charge measured. By having an array of sensors, different insulating materials may be measured simultaneously. The insulating materials may be selected so their triboelectric properties cover a desired range. By mounting the sensor on a robot arm scoop, the measurements can be obtained during an unmanned mission.

An Unmanned Spacecraft Subsystem Cost Model for Advanced Mission Planning

NASA Technical Reports Server (NTRS)

Madrid, G.

1998-01-01

As a NASA center, the Jet Propulsion Laboratory (JPL) is committed to the concept of developing and launching a continuously improving series of smaller robotic space exploration missions in shorter intervals of time (faster, better, cheaper).

High Altitude Venus Operations Concept Trajectory Design, Modeling and Simulation

NASA Technical Reports Server (NTRS)

Lugo, Rafael A.; Ozoroski, Thomas A.; Van Norman, John W.; Arney, Dale C.; Dec, John A.; Jones, Christopher A.; Zumwalt, Carlie H.

2015-01-01

A trajectory design and analysis that describes aerocapture, entry, descent, and inflation of manned and unmanned High Altitude Venus Operation Concept (HAVOC) lighter-than-air missions is presented. Mission motivation, concept of operations, and notional entry vehicle designs are presented. The initial trajectory design space is analyzed and discussed before investigating specific trajectories that are deemed representative of a feasible Venus mission. Under the project assumptions, while the high-mass crewed mission will require further research into aerodynamic decelerator technology, it was determined that the unmanned robotic mission is feasible using current technology.

Applying Unmanned Ground Vehicle Technologies To Unmanned Surface Vehicles

DTIC Science & Technology

2005-01-01

PCI or ISA bus interface • 7 UARTs • 3 USB ports • CAN bus • I2C Bus • 1 RS232 Serial Port • Two 12-bit D-A output • Two 8-bit D-A...two of the seven UARTs and the CAN bus interface. It is also used to preprocess some sensor data before sending it to the FPGA. The daughterboard...modification of the Kalman Filter and PID parameters for use in a marine environment. 2.2.1 Architecture The Small Robot Technology ( SMART ) software

Robot Wars: Legal and Ethical Dilemmas of Using Unmanned Robotics Systems in 21st Century Warfare and Beyond

DTIC Science & Technology

2008-06-12

becoming a reality (Edwards 2005, 30). In theory , the new sensory systems would acquire electrical signatures emitting from distant communication...rationalization regarding the increased use of technology that may be employed during war. According to Hinman, The Ethics of Duty Theory and The...Utilitarianism Theory provide the theoretical framework that best describes how the current Law of War and philosophy of ethics define the virtue of

UGV acceptance testing

NASA Astrophysics Data System (ADS)

Kramer, Jeffrey A.; Murphy, Robin R.

2006-05-01

With over 100 models of unmanned vehicles now available for military and civilian safety, security or rescue applications, it is important to for agencies to establish acceptance testing. However, there appears to be no general guidelines for what constitutes a reasonable acceptance test. This paper describes i) a preliminary method for acceptance testing by a customer of the mechanical and electrical components of an unmanned ground vehicle system, ii) how it has been applied to a man-packable micro-robot, and iii) discusses the value of testing both to ensure that the customer has a workable system and to improve design. The test method automated the operation of the robot to repeatedly exercise all aspects and combinations of components on the robot for 6 hours. The acceptance testing process uncovered many failures consistent with those shown to occur in the field, showing that testing by the user does predict failures. The process also demonstrated that the testing by the manufacturer can provide important design data that can be used to identify, diagnose, and prevent long-term problems. Also, the structured testing environment showed that sensor systems can be used to predict errors and changes in performance, as well as uncovering unmodeled behavior in subsystems.

TARDEC's Intelligent Ground Systems overview

NASA Astrophysics Data System (ADS)

Jaster, Jeffrey F.

2009-05-01

The mission of the Intelligent Ground Systems (IGS) Area at the Tank Automotive Research, Development and Engineering Center (TARDEC) is to conduct technology maturation and integration to increase Soldier robot control/interface intuitiveness and robotic ground system robustness, functionality and overall system effectiveness for the Future Combat System Brigade Combat Team, Robotics Systems Joint Project Office and game changing capabilities to be fielded beyond the current force. This is accomplished through technology component development focused on increasing unmanned ground vehicle autonomy, optimizing crew interfaces and mission planners that capture commanders' intent, integrating payloads that provide 360 degree local situational awareness and expanding current UGV tactical behavior, learning and adaptation capabilities. The integration of these technology components into ground vehicle demonstrators permits engineering evaluation, User assessment and performance characterization in increasingly complex, dynamic and relevant environments to include high speed on road or cross country operations, all weather/visibility conditions and military operations in urban terrain (MOUT). Focused testing and experimentation is directed at reducing PM risk areas (safe operations, autonomous maneuver, manned-unmanned collaboration) and transitioning technology in the form of hardware, software algorithms, test and performance data, as well as User feedback and lessons learned.

Physics and Robotic Sensing -- the good, the bad, and approaches to making it work

NASA Astrophysics Data System (ADS)

Huff, Brian

2011-03-01

All of the technological advances that have benefited consumer electronics have direct application to robotics. Technological advances have resulted in the dramatic reduction in size, cost, and weight of computing systems, while simultaneously doubling computational speed every eighteen months. The same manufacturing advancements that have enabled this rapid increase in computational power are now being leveraged to produce small, powerful and cost-effective sensing technologies applicable for use in mobile robotics applications. Despite the increase in computing and sensing resources available to today's robotic systems developers, there are sensing problems typically found in unstructured environments that continue to frustrate the widespread use of robotics and unmanned systems. This talk presents how physics has contributed to the creation of the technologies that are making modern robotics possible. The talk discusses theoretical approaches to robotic sensing that appear to suffer when they are deployed in the real world. Finally the author presents methods being used to make robotic sensing more robust.

Mapping of unknown industrial plant using ROS-based navigation mobile robot

NASA Astrophysics Data System (ADS)

Priyandoko, G.; Ming, T. Y.; Achmad, M. S. H.

2017-10-01

This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

A Survey on Robotic Coconut Tree Climbers - Existing Methods and Techniques

NASA Astrophysics Data System (ADS)

Kannan Megalingam, Rajesh; Sakthiprasad, K. M.; Sreekanth, M. M.; Vamsy Vivek, Gedela

2017-08-01

As the coconut palm growers are struggling with the acute shortage of human coconut tree climbers to climb and harvest the coconuts, many are working towards possible alternatives to help them handle this situation. In this study paper we analyse the problems associated with the shortage of human coconut tree climbers in -depth. We also present details of various existing mechanical models available in the market and have not yet solved this issue. Along with this we discuss how robotics and automation could be a possible solution for this entire problem. In this context we discuss about the features of such robotic system and also give suggestions on various unmanned robotic models that can be designed and implemented.

Lunar Polar Coring Lander

NASA Technical Reports Server (NTRS)

Angell, David; Bealmear, David; Benarroche, Patrice; Henry, Alan; Hudson, Raymond; Rivellini, Tommaso; Tolmachoff, Alex

1990-01-01

Plans to build a lunar base are presently being studied with a number of considerations. One of the most important considerations is qualifying the presence of water on the Moon. The existence of water on the Moon implies that future lunar settlements may be able to use this resource to produce things such as drinking water and rocket fuel. Due to the very high cost of transporting these materials to the Moon, in situ production could save billions of dollars in operating costs of the lunar base. Scientists have suggested that the polar regions of the Moon may contain some amounts of water ice in the regolith. Six possible mission scenarios are suggested which would allow lunar polar soil samples to be collected for analysis. The options presented are: remote sensing satellite, two unmanned robotic lunar coring missions (one is a sample return and one is a data return only), two combined manned and robotic polar coring missions, and one fully manned core retrieval mission. One of the combined manned and robotic missions has been singled out for detailed analysis. This mission proposes sending at least three unmanned robotic landers to the lunar pole to take core samples as deep as 15 meters. Upon successful completion of the coring operations, a manned mission would be sent to retrieve the samples and perform extensive experiments of the polar region. Man's first step in returning to the Moon is recommended to investigate the issue of lunar polar water. The potential benefits of lunar water more than warrant sending either astronauts, robots or both to the Moon before any permanent facility is constructed.

Advanced computer graphic techniques for laser range finder (LRF) simulation

NASA Astrophysics Data System (ADS)

Bedkowski, Janusz; Jankowski, Stanislaw

2008-11-01

This paper show an advanced computer graphic techniques for laser range finder (LRF) simulation. The LRF is the common sensor for unmanned ground vehicle, autonomous mobile robot and security applications. The cost of the measurement system is extremely high, therefore the simulation tool is designed. The simulation gives an opportunity to execute algorithm such as the obstacle avoidance[1], slam for robot localization[2], detection of vegetation and water obstacles in surroundings of the robot chassis[3], LRF measurement in crowd of people[1]. The Axis Aligned Bounding Box (AABB) and alternative technique based on CUDA (NVIDIA Compute Unified Device Architecture) is presented.

Real Time Trajectory Planning for Groups of Unmanned Vehicles

DTIC Science & Technology

2005-08-22

positions of the robots, and a third set determines the local relations of the neighboring robots. They have used a nonholonomic kinematic model for the...Note that the vehicles are not physically coupled in any way. A feedback control law for control inputs F.2 and T2 miust be determined to control... Vb12 71 = 01 + 01 2 - 02 The goal is finding a control law for the two inputs [F2 , T2] to stabilize the outputs. Therefore, the input-output equations

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.

Intelligent unmanned vehicle systems suitable for individual or cooperative missions

NASA Astrophysics Data System (ADS)

Anderson, Matthew O.; McKay, Mark D.; Wadsworth, Derek C.

2007-04-01

The Department of Energy's Idaho National Laboratory (INL) has been researching autonomous unmanned vehicle systems for over fifteen years. Areas of research have included unmanned ground and aerial vehicles used for hazardous and remote operations as well as teamed together for advanced payloads and mission execution. Areas of application include aerial particulate sampling, cooperative remote radiological sampling, and persistent surveillance including real-time mosaic and geo-referenced imagery in addition to high-resolution still imagery. Both fixed-wing and rotary airframes are used possessing capabilities spanning remote control to fully autonomous operation. Patented INL-developed auto steering technology is taken advantage of to provide autonomous parallel path swathing with either manned or unmanned ground vehicles. Aerial look-ahead imagery is utilized to provide a common operating picture for the ground and air vehicles during cooperative missions. This paper will discuss the various robotic vehicles, including sensor integration, used to achieve these missions and anticipated cost and labor savings.

Unmanned Mine of the 21st Centuries

NASA Astrophysics Data System (ADS)

Semykina, Irina; Grigoryev, Aleksandr; Gargayev, Andrey; Zavyalov, Valeriy

2017-11-01

The article is analytical. It considers the construction principles of the automation system structure which realize the concept of «unmanned mine». All of these principles intend to deal with problems caused by a continuous complication of mining-and-geological conditions at coalmine such as the labor safety and health protection, the weak integration of different mining automation subsystems and the deficiency of optimal balance between a quantity of resource and energy consumed by mining machines and their throughput. The authors describe the main problems and neck stage of mining machines autonomation and automation subsystem. The article makes a general survey of the applied «unmanned technology» in the field of mining such as the remotely operated autonomous complexes, the underground positioning systems of mining machines using infrared radiation in mine workings etc. The concept of «unmanned mine» is considered with an example of the robotic road heading machine. In the final, the authors analyze the techniques and methods that could solve the task of underground mining without human labor.

Robots remove explosive waste from flooded site

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

Not Available

1993-10-01

Explosive industrial waste can remain hazardous for years, making remediation extremely dangerous, particularly when using traditional methods involving people and manually operated equipment. The work is even more complex if the waste is submerged. Authorities in 1988 faced an unusual challenge when they decided to clean up a flooded area that had been used for more than 30 years as a dump for explosive materials. They devised an innovative but highly effective solution. Instead of using divers, two robots perform the cleanup while site personnel remain 600 feet away from the restricted area. The robots were developed by Sonsub Environmentalmore » Services Inc. (Houston), which is responsible for their operation. The robots initially located and cleared a small area underwater to set up a metal-processing system, which also was designed by Sonsub. The system is similar to a metal-recycling shredder. The robots then assembled the 25-foot-tall, 20-ton system 60 feet below the surface on the pit floor. A large, surface robot carried sections of the shredder to the cleared area and lowered them, while a smaller, submersible robot guided them into position. This required extreme precision by the smaller robot, which had to ensure that sections mated properly. Both robots now retrieve waste from the pit bottom and feed it into the shredder. The larger robot has a 40-foot jointed arm for lifting up to 1,000 pounds of debris, a manipulator hand for sorting through rock piles and removing small containers, and a grapple for picking up items from the pit floor.« less

Modeling Synergies in Large Human-Machine Networked Systems

DTIC Science & Technology

2013-09-25

Help Through Adaptive Autonomy”, CMU http://www.cs.cmu.edu/~softagents/theses/Kane_MS_thesis_2010.pdf Lingzhi Luo, MS in Robotics May 2012 Thesis...Affecting Situation Awareness in Unmanned Aerial Vehicles”, In Proceedings of AIAA, 2009. 165. Lingzhi Luo, Nilanjan Chakraborty, and Katia Sycara

Spectrally queued feature selection for robotic visual odometery

NASA Astrophysics Data System (ADS)

Pirozzo, David M.; Frederick, Philip A.; Hunt, Shawn; Theisen, Bernard; Del Rose, Mike

2011-01-01

Over the last two decades, research in Unmanned Vehicles (UV) has rapidly progressed and become more influenced by the field of biological sciences. Researchers have been investigating mechanical aspects of varying species to improve UV air and ground intrinsic mobility, they have been exploring the computational aspects of the brain for the development of pattern recognition and decision algorithms and they have been exploring perception capabilities of numerous animals and insects. This paper describes a 3 month exploratory applied research effort performed at the US ARMY Research, Development and Engineering Command's (RDECOM) Tank Automotive Research, Development and Engineering Center (TARDEC) in the area of biologically inspired spectrally augmented feature selection for robotic visual odometry. The motivation for this applied research was to develop a feasibility analysis on multi-spectrally queued feature selection, with improved temporal stability, for the purposes of visual odometry. The intended application is future semi-autonomous Unmanned Ground Vehicle (UGV) control as the richness of data sets required to enable human like behavior in these systems has yet to be defined.

Capturing Requirements for Autonomous Spacecraft with Autonomy Requirements Engineering

NASA Astrophysics Data System (ADS)

Vassev, Emil; Hinchey, Mike

2014-08-01

The Autonomy Requirements Engineering (ARE) approach has been developed by Lero - the Irish Software Engineering Research Center within the mandate of a joint project with ESA, the European Space Agency. The approach is intended to help engineers develop missions for unmanned exploration, often with limited or no human control. Such robotics space missions rely on the most recent advances in automation and robotic technologies where autonomy and autonomic computing principles drive the design and implementation of unmanned spacecraft [1]. To tackle the integration and promotion of autonomy in software-intensive systems, ARE combines generic autonomy requirements (GAR) with goal-oriented requirements engineering (GORE). Using this approach, software engineers can determine what autonomic features to develop for a particular system (e.g., a space mission) as well as what artifacts that process might generate (e.g., goals models, requirements specification, etc.). The inputs required by this approach are the mission goals and the domain-specific GAR reflecting specifics of the mission class (e.g., interplanetary missions).

M and S supporting unmanned autonomous systems (UAxS) concept development and experimentation

NASA Astrophysics Data System (ADS)

Biagini, Marco; Scaccianoce, Alfio; Corona, Fabio; Forconi, Sonia; Byrum, Frank; Fowler, Olivia; Sidoran, James L.

2017-05-01

The development of the next generation of multi-domain unmanned semi and fully autonomous C4ISR systems involves a multitude of security concerns and interoperability challenges. Conceptual solutions to capability shortfalls and gaps can be identified through Concept Development and Experimentation (CD and E) cycles. Modelling and Simulation (M and S) is a key tool in supporting unmanned autonomous systems (UAxS) CD and E activities and addressing associated security challenges. This paper serves to illustrate the application of M and S to UAxS development and highlight initiatives made by the North Atlantic Treaty Organization (NATO) M and S Centre of Excellence (CoE) to facilitate interoperability. The NATO M and S CoE collaborates with other NATO and Nations bodies in order to develop UAxS projects such as the Allied Command for Transformation Counter Unmanned Autonomous Systems (CUAxS) project or the work of Science and Technology Organization (STO) panels. Some initiatives, such as Simulated Interactive Robotics Initiative (SIRI) made the baseline for further developments and to study emerging technologies in M and S and robotics fields. Artificial Intelligence algorithm modelling, Robot Operating Systems (ROS), network operations, cyber security, interoperable languages and related data models are some of the main aspects considered in this paper. In particular, the implementation of interoperable languages like C-BML and NIEM MilOps are discussed in relation to a Command and Control - Simulation Interoperability (C2SIM) paradigm. All these technologies are used to build a conceptual architecture to support UAxS CD and E.In addition, other projects that the NATO M and S CoE is involved in, such as the NATO Urbanization Project could provide credible future operational environments and benefit UAxS project development, as dual application of UAxS technology in large urbanized areas.In conclusion, this paper contains a detailed overview regarding how applying Modelling and Simulation to support CD and E activities is a valid approach to develop and validate future capabilities requirements in general and next generation UAxS.

DROP: Durable Reconnaissance and Observation Platform

NASA Technical Reports Server (NTRS)

Parness, Aaron; McKenzie, Clifford F.

2012-01-01

Robots have been a valuable tool for providing a remote presence in areas that are either inaccessible or too dangerous for humans. Having a robot with a high degree of adaptability becomes crucial during such events. The adaptability that comes from high mobility and high durability greatly increases the potential uses of a robot in these situations, and therefore greatly increases its usefulness to humans. DROP is a lightweight robot that addresses these challenges with the capability to survive large impacts, carry a usable payload, and traverse a variety of surfaces, including climbing vertical surfaces like wood, stone, and concrete. The platform is crash-proof, allowing it to be deployed in ways including being dropped from an unmanned aerial vehicle or thrown from a large MSL-class (Mars Science Laboratory) rover.

Final report for LDRD project 11-0783 : directed robots for increased military manpower effectiveness.

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

Rohrer, Brandon Robinson; Rothganger, Fredrick H.; Wagner, John S.

The purpose of this LDRD is to develop technology allowing warfighters to provide high-level commands to their unmanned assets, freeing them to command a group of them or commit the bulk of their attention elsewhere. To this end, a brain-emulating cognition and control architecture (BECCA) was developed, incorporating novel and uniquely capable feature creation and reinforcement learning algorithms. BECCA was demonstrated on both a mobile manipulator platform and on a seven degree of freedom serial link robot arm. Existing military ground robots are almost universally teleoperated and occupy the complete attention of an operator. They may remove a soldier frommore » harm's way, but they do not necessarily reduce manpower requirements. Current research efforts to solve the problem of autonomous operation in an unstructured, dynamic environment fall short of the desired performance. In order to increase the effectiveness of unmanned vehicle (UV) operators, we proposed to develop robots that can be 'directed' rather than remote-controlled. They are instructed and trained by human operators, rather than driven. The technical approach is modeled closely on psychological and neuroscientific models of human learning. Two Sandia-developed models are utilized in this effort: the Sandia Cognitive Framework (SCF), a cognitive psychology-based model of human processes, and BECCA, a psychophysical-based model of learning, motor control, and conceptualization. Together, these models span the functional space from perceptuo-motor abilities, to high-level motivational and attentional processes.« less

Ground operation of robotics on Space Station Freedom

NASA Technical Reports Server (NTRS)

Wojcik, Z. Alex; Hunter, David G.; Cantin, Marc R.

1993-01-01

This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

Ground operation of robotics on Space Station Freedom

NASA Astrophysics Data System (ADS)

Wojcik, Z. Alex; Hunter, David G.; Cantin, Marc R.

1993-03-01

This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

The Plight of Manufacturing: What Can Be Done?

ERIC Educational Resources Information Center

Cyert, Richard M.

1985-01-01

Proposes that full automation is the best current option for the United States' manufacturing industries. Advocates increased use of electronics, robotics, and computers in the establishment of unmanned factories. Implications of this movement are examined in terms of labor, management, and the structure of the economy. (ML)

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.

Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

NASA Astrophysics Data System (ADS)

Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

2002-07-01

Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

The Extension of Wireless Mesh Networks Via Vertical Takeoff and Landing Unmanned Aerial Vehicles

DTIC Science & Technology

2007-12-01

development. When connected to Crossbow’s Stargate Processor Board (SPB400) (See Figure 19), via the standard 51-pin connector, the MNAV100CA combines with...also be connected and processed by the Stargate to support intelligent robotics applications.22 22 UAV

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

NASA Technical Reports Server (NTRS)

Wehner, Walter S.

2014-01-01

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

Autonomous exploration and mapping of unknown environments

NASA Astrophysics Data System (ADS)

Owens, Jason; Osteen, Phil; Fields, MaryAnne

2012-06-01

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

Collision recognition and direction changes for small scale fish robots by acceleration sensors

NASA Astrophysics Data System (ADS)

Na, Seung Y.; Shin, Daejung; Kim, Jin Y.; Lee, Bae-Ho

2005-05-01

Typical obstacles are walls, rocks, water plants and other nearby robots for a group of small scale fish robots and submersibles that have been constructed in our lab. Sonar sensors are not employed to make the robot structure simple enough. All of circuits, sensors and processor cards are contained in a box of 9 x 7 x 4 cm dimension except motors, fins and external covers. Therefore, image processing results are applied to avoid collisions. However, it is useful only when the obstacles are located far enough to give images processing time for detecting them. Otherwise, acceleration sensors are used to detect collision immediately after it happens. Two of 2-axes acceleration sensors are employed to measure the three components of collision angles, collision magnitudes, and the angles of robot propulsion. These data are integrated to calculate the amount of propulsion direction change. The angle of a collision incident upon an obstacle is the fundamental value to obtain a direction change needed to design a following path. But there is a significant amount of noise due to a caudal fin motor. Because caudal fin provides the main propulsion for a fish robot, there is a periodic swinging noise at the head of a robot. This noise provides a random acceleration effect on the measured acceleration data at the collision. We propose an algorithm which shows that the MEMS-type accelerometers are very effective to provide information for direction changes in spite of the intrinsic noise after the small scale fish robots have made obstacle collision.

The carbon or silicon colonization of the universe?

PubMed

Parkinson, Bob

2005-01-01

At the time of the Apollo Programme, a first human mission to Mars was proposed as early as 1984 with the argument that the higher costs of human exploration would be more than justified by the increased effectiveness of human explorers. This was based on the Apollo experience, where "ground truth" measurements and sampling provided the basis for subsequent unmanned exploration of the Solar System. A human Mars mission is now not seen until 2030, at the end of a series of increasingly sophisticated unmanned probes. Each robot mission not only teaches us something about Mars, but also through experience increases our capabilities for the unmanned exploration of that planet. As a consequence, what a human mission would have to do becomes progressively more demanding. Any extended plan for the human exploration of Space will tend to be overtaken by advances in technology, and if this is not factored into the scenario the proposals will become progressively unrealistic.

Collaborative engagement experiment

NASA Astrophysics Data System (ADS)

Mullens, Katherine; Troyer, Bradley; Wade, Robert; Skibba, Brian; Dunn, Michael

2006-05-01

Unmanned ground and air systems operating in collaboration have the potential to provide future Joint Forces a significant capability for operations in complex terrain. Collaborative Engagement Experiment (CEE) is a consolidation of separate Air Force, Army and Navy collaborative efforts within the Joint Robotics Program (JRP) to provide a picture of the future of unmanned warfare. The Air Force Research Laboratory (AFRL), Material and Manufacturing Directorate, Aerospace Expeditionary Force Division, Force Protection Branch (AFRL/MLQF), The Army Aviation and Missile Research, Development and Engineering Center (AMRDEC) Joint Technology Center (JTC)/Systems Integration Laboratory (SIL), and the Space and Naval Warfare Systems Center - San Diego (SSC San Diego) are conducting technical research and proof of principle experiments for an envisioned operational concept for extended range, three dimensional, collaborative operations between unmanned systems, with enhanced situational awareness for lethal operations in complex terrain. This paper describes the work by these organizations to date and outlines some of the plans for future work.

Research on lunar and planet development and utilization

NASA Astrophysics Data System (ADS)

Iwata, Tsutomu; Etou, Takao; Imai, Ryouichi; Oota, Kazuo; Kaneko, Yutaka; Maeda, Toshihide; Takano, Yutaka

1992-08-01

Status of the study on unmanned and manned lunar missions, unmanned Mars missions, lunar resource development and utilization missions, remote sensing exploration missions, survey and review to elucidate the problems of research and development for lunar resource development and utilization, and the techniques and equipment for lunar and planet exploration are presented. Following items were studied respectively: (1) spacecraft systems for unmanned lunar missions, such as lunar observation satellites, lunar landing vehicles, lunar surface rovers, lunar surface hoppers, and lunar sample retrieval; (2) spacecraft systems for manned lunar missions, such as manned lunar bases, lunar surface operation robots, lunar surface experiment systems, manned lunar take-off and landing vehicles, and lunar freight transportation ships; (3) spacecraft systems for Mars missions, such as Mars satellites, Phobos and Deimos sample retrieval vehicles, Mars landing explorers, Mars rovers, Mars sample retrieval; (4) lunar resource development and utilization; and (5) remote sensing exploration technologies.

Towards collaboration between unmanned aerial and ground vehicles for precision agriculture

NASA Astrophysics Data System (ADS)

Bhandari, Subodh; Raheja, Amar; Green, Robert L.; Do, Dat

2017-05-01

This paper presents the work being conducted at Cal Poly Pomona on the collaboration between unmanned aerial and ground vehicles for precision agriculture. The unmanned aerial vehicles (UAVs), equipped with multispectral/hyperspectral cameras and RGB cameras, take images of the crops while flying autonomously. The images are post processed or can be processed onboard. The processed images are used in the detection of unhealthy plants. Aerial data can be used by the UAVs and unmanned ground vehicles (UGVs) for various purposes including care of crops, harvest estimation, etc. The images can also be useful for optimized harvesting by isolating low yielding plants. These vehicles can be operated autonomously with limited or no human intervention, thereby reducing cost and limiting human exposure to agricultural chemicals. The paper discuss the autonomous UAV and UGV platforms used for the research, sensor integration, and experimental testing. Methods for ground truthing the results obtained from the UAVs will be used. The paper will also discuss equipping the UGV with a robotic arm for removing the unhealthy plants and/or weeds.

Unmanned aerial systems for photogrammetry and remote sensing: A review

NASA Astrophysics Data System (ADS)

Colomina, I.; Molina, P.

2014-06-01

We discuss the evolution and state-of-the-art of the use of Unmanned Aerial Systems (UAS) in the field of Photogrammetry and Remote Sensing (PaRS). UAS, Remotely-Piloted Aerial Systems, Unmanned Aerial Vehicles or simply, drones are a hot topic comprising a diverse array of aspects including technology, privacy rights, safety and regulations, and even war and peace. Modern photogrammetry and remote sensing identified the potential of UAS-sourced imagery more than thirty years ago. In the last five years, these two sister disciplines have developed technology and methods that challenge the current aeronautical regulatory framework and their own traditional acquisition and processing methods. Navety and ingenuity have combined off-the-shelf, low-cost equipment with sophisticated computer vision, robotics and geomatic engineering. The results are cm-level resolution and accuracy products that can be generated even with cameras costing a few-hundred euros. In this review article, following a brief historic background and regulatory status analysis, we review the recent unmanned aircraft, sensing, navigation, orientation and general data processing developments for UAS photogrammetry and remote sensing with emphasis on the nano-micro-mini UAS segment.

From the laboratory to the soldier: providing tactical behaviors for Army robots

NASA Astrophysics Data System (ADS)

Knichel, David G.; Bruemmer, David J.

2008-04-01

The Army Future Combat System (FCS) Operational Requirement Document has identified a number of advanced robot tactical behavior requirements to enable the Future Brigade Combat Team (FBCT). The FBCT advanced tactical behaviors include Sentinel Behavior, Obstacle Avoidance Behavior, and Scaled Levels of Human-Machine control Behavior. The U.S. Army Training and Doctrine Command, (TRADOC) Maneuver Support Center (MANSCEN) has also documented a number of robotic behavior requirements for the Army non FCS forces such as the Infantry Brigade Combat Team (IBCT), Stryker Brigade Combat Team (SBCT), and Heavy Brigade Combat Team (HBCT). The general categories of useful robot tactical behaviors include Ground/Air Mobility behaviors, Tactical Mission behaviors, Manned-Unmanned Teaming behaviors, and Soldier-Robot Interface behaviors. Many DoD research and development centers are achieving the necessary components necessary for artificial tactical behaviors for ground and air robots to include the Army Research Laboratory (ARL), U.S. Army Research, Development and Engineering Command (RDECOM), Space and Naval Warfare (SPAWAR) Systems Center, US Army Tank-Automotive Research, Development and Engineering Center (TARDEC) and non DoD labs such as Department of Energy (DOL). With the support of the Joint Ground Robotics Enterprise (JGRE) through DoD and non DoD labs the Army Maneuver Support Center has recently concluded successful field trails of ground and air robots with specialized tactical behaviors and sensors to enable semi autonomous detection, reporting, and marking of explosive hazards to include Improvised Explosive Devices (IED) and landmines. A specific goal of this effort was to assess how collaborative behaviors for multiple unmanned air and ground vehicles can reduce risks to Soldiers and increase efficiency for on and off route explosive hazard detection, reporting, and marking. This paper discusses experimental results achieved with a robotic countermine system that utilizes autonomous behaviors and a mixed-initiative control scheme to address the challenges of detecting and marking buried landmines. Emerging requirements for robotic countermine operations are outlined as are the technologies developed under this effort to address them. A first experiment shows that the resulting system was able to find and mark landmines with a very low level of human involvement. In addition, the data indicates that the robotic system is able to decrease the time to find mines and increase the detection accuracy and reliability. Finally, the paper presents current efforts to incorporate new countermine sensors and port the resulting behaviors to two fielded military systems for rigorous assessing.

Special Weapons Observation Remote recon Direct Action System (SWORDS)

DTIC Science & Technology

2007-11-01

platform, the Talon, is equipped with a lithium - ion battery which provides a four hour operating life. The SWORDS has been used in military experiments...a four inch curb. The unmanned armed robot weights approximately 200 pounds. The robot’s platform, the Talon, is equipped with a lithium - ion battery which

Storing and Predicting Dynamic Attributes in a World Model Knowledge Store

DTIC Science & Technology

2009-05-01

14 CHAPTER 1 INTRODUCTION ... INTRODUCTION The world of mobile, intelligent robotics is expanding rapidly. As the shape, size, function and capabilities of these systems change, so...Ground Vehicles Working Group ( JAUGS WG). JAUGS has since transitioned to encompass the realm of all unmanned systems. It is the goal of the working group

Modified Cooper Harper Scales for Assessing Unmanned Vehicle Displays

DTIC Science & Technology

2008-12-01

Majesty accident in 1995. After about 35 hours in transit from Bermuda to Boston, the ship grounded on the Nantucket shoals (NTSB, 1995). Shortly after...see another robot – Which one is it? 28 18 Male Student 4 It was pretty simple to use but some symbols like the triangles seem unnecessary. It

Autocalibrating vision guided navigation of unmanned air vehicles via tactical monocular cameras in GPS denied environments

NASA Astrophysics Data System (ADS)

Celik, Koray

This thesis presents a novel robotic navigation strategy by using a conventional tactical monocular camera, proving the feasibility of using a monocular camera as the sole proximity sensing, object avoidance, mapping, and path-planning mechanism to fly and navigate small to medium scale unmanned rotary-wing aircraft in an autonomous manner. The range measurement strategy is scalable, self-calibrating, indoor-outdoor capable, and has been biologically inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals (particularly bats), designed to assume operations in previously unknown, GPS-denied environments. It proposes novel electronics, aircraft, aircraft systems, systems, and procedures and algorithms that come together to form airborne systems which measure absolute ranges from a monocular camera via passive photometry, mimicking that of a human-pilot like judgement. The research is intended to bridge the gap between practical GPS coverage and precision localization and mapping problem in a small aircraft. In the context of this study, several robotic platforms, airborne and ground alike, have been developed, some of which have been integrated in real-life field trials, for experimental validation. Albeit the emphasis on miniature robotic aircraft this research has been tested and found compatible with tactical vests and helmets, and it can be used to augment the reliability of many other types of proximity sensors.

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.

Achieving integrated convoys: cargo unmanned ground vehicle development and experimentation

NASA Astrophysics Data System (ADS)

Zych, Noah; Silver, David; Stager, David; Green, Colin; Pilarski, Thomas; Fischer, Jacob

2013-05-01

The Cargo UGV project was initiated in 2010 with the aim of developing and experimenting with advanced autonomous vehicles capable of being integrated unobtrusively into manned logistics convoys. The intent was to validate two hypotheses in complex, operationally representative environments: first, that unmanned tactical wheeled vehicles provide a force protection advantage by creating standoff distance to warfighters during ambushes or improvised explosive device attacks; and second, that these UGVs serve as force multipliers by enabling a single operator to control multiple unmanned assets. To assess whether current state-of-the-art autonomous vehicle technology was sufficiently capable to permit resupply missions to be executed with decreased risk and reduced manpower, and to assess the effect of UGVs on customary convoy tactics, the Marine Corps Warfighting Laboratory and the Joint Ground Robotics Enterprise sponsored Oshkosh Defense and the National Robotics Engineering Center to equip two standard Marine Corps cargo trucks for autonomous operation. This paper details the system architecture, hardware implementation, and software modules developed to meet the vehicle control, perception, and planner requirements compelled by this application. Additionally, the design of a custom human machine interface and an accompanying training program are described, as is the creation of a realistic convoy simulation environment for rapid system development. Finally, results are conveyed from a warfighter experiment in which the effectiveness of the training program for novice operators was assessed, and the impact of the UGVs on convoy operations was observed in a variety of scenarios via direct comparison to a fully manned convoy.

Intelligent mobility for robotic vehicles in the army after next

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Goetz, Richard C.; Gorsich, David J.

1999-07-01

The TARDEC Intelligent Mobility program addresses several essential technologies necessary to support the army after next (AAN) concept. Ground forces in the AAN time frame will deploy robotic unmanned ground vehicles (UGVs) in high-risk missions to avoid exposing soldiers to both friendly and unfriendly fire. Prospective robotic systems will include RSTA/scout vehicles, combat engineering/mine clearing vehicles, indirect fire artillery and missile launch platforms. The AAN concept requires high on-road and off-road mobility, survivability, transportability/deployability and low logistics burden. TARDEC is developing a robotic vehicle systems integration laboratory (SIL) to evaluate technologies and their integration into future UGV systems. Example technologies include the following: in-hub electric drive, omni-directional wheel and steering configurations, off-road tires, adaptive tire inflation, articulated vehicles, active suspension, mine blast protection, detection avoidance and evasive maneuver. This paper will describe current developments in these areas relative to the TARDEC intelligent mobility program.

An arm wearable haptic interface for impact sensing on unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Choi, Yunshil; Hong, Seung-Chan; Lee, Jung-Ryul

2017-04-01

In this paper, an impact monitoring system using fiber Bragg grating (FBG) sensors and vibro-haptic actuators has been introduced. The system is suggested for structural health monitoring (SHM) for unmanned aerial vehicles (UAVs), by making a decision with human-robot interaction. The system is composed with two major subsystems; an on-board system equipped on UAV and an arm-wearable interface for ground pilot. The on-board system acquires impact-induced wavelength changes and performs localization process, which was developed based on arrival time calculation. The arm-wearable interface helps ground pilots to make decision about impact location themselves by stimulating their tactile-sense with motor vibration.

Assessment of an Automated Touchdown Detection Algorithm for the Orion Crew Module

NASA Technical Reports Server (NTRS)

Gay, Robert S.

2011-01-01

Orion Crew Module (CM) touchdown detection is critical to activating the post-landing sequence that safe?s the Reaction Control Jets (RCS), ensures that the vehicle remains upright, and establishes communication with recovery forces. In order to accommodate safe landing of an unmanned vehicle or incapacitated crew, an onboard automated detection system is required. An Orion-specific touchdown detection algorithm was developed and evaluated to differentiate landing events from in-flight events. The proposed method will be used to initiate post-landing cutting of the parachute riser lines, to prevent CM rollover, and to terminate RCS jet firing prior to submersion. The RCS jets continue to fire until touchdown to maintain proper CM orientation with respect to the flight path and to limit impact loads, but have potentially hazardous consequences if submerged while firing. The time available after impact to cut risers and initiate the CM Up-righting System (CMUS) is measured in minutes, whereas the time from touchdown to RCS jet submersion is a function of descent velocity, sea state conditions, and is often less than one second. Evaluation of the detection algorithms was performed for in-flight events (e.g. descent under chutes) using hi-fidelity rigid body analyses in the Decelerator Systems Simulation (DSS), whereas water impacts were simulated using a rigid finite element model of the Orion CM in LS-DYNA. Two touchdown detection algorithms were evaluated with various thresholds: Acceleration magnitude spike detection, and Accumulated velocity changed (over a given time window) spike detection. Data for both detection methods is acquired from an onboard Inertial Measurement Unit (IMU) sensor. The detection algorithms were tested with analytically generated in-flight and landing IMU data simulations. The acceleration spike detection proved to be faster while maintaining desired safety margin. Time to RCS jet submersion was predicted analytically across a series of simulated Orion landing conditions. This paper details the touchdown detection method chosen and the analysis used to support the decision.

Towards Commanding Unmanned Ground Vehicle Movement in Unfamiliar Environments Using Unconstrained English: Initial Research Results

DTIC Science & Technology

2007-06-01

constrained list of command words could be valuable in many systems, as would the ability of driverless vehicles to navigate through a route...Sensemaking in UGVs • Future Combat Systems UGV roles – Driverless trucks – Robotic mules (soldier, squad aid) – Intelligent munitions – And more! • Some

Unmanned Tactical Autonomous Control and Collaboration Situation Awareness

DTIC Science & Technology

2017-06-01

methodology framework using interdependence analysis (IA) tables for informing design requirements based on SA requirements. Future research should seek...requirements of UTACC. The authors then apply SA principles to Coactive Design in order to inform robotic design. The result is a methodology framework using...28  2.  Non -intrusive Methods ................................................................29  3.  Post-Mission Reviews

A Video Game-Based Framework for Analyzing Human-Robot Interaction: Characterizing Interface Design in Real-Time Interactive Multimedia Applications

DTIC Science & Technology

2006-01-01

segments video game interaction into domain-independent components which together form a framework that can be used to characterize real-time interactive...multimedia applications in general and HRI in particular. We provide examples of using the components in both the video game and the Unmanned Aerial

A Pictorial History of the Code 717 Unmanned Systems Group: Air, Land, and Sea. Volume 1: 1970-1999

DTIC Science & Technology

2016-04-28

requirements. 54 a) b) Figure 67. a) Site preparation for Building 585 began with demolition of the foundation for the oil -well derrick...Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO). 28–31 July, Rome, Italy. Pransky, J. 1997

HERRO Mission to Mars Using Telerobotic Surface Exploration from Orbit

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; Landis, Geoffrey A.; McGuire, Melissa L.; Schmidt, George R.

2013-01-01

This paper presents a concept for a human mission to Mars orbit that features direct robotic exploration of the planet s surface via teleoperation from orbit. This mission is a good example of Human Exploration using Real-time Robotic Operations (HERRO), an exploration strategy that refrains from sending humans to the surfaces of planets with large gravity wells. HERRO avoids the need for complex and expensive man-rated lander/ascent vehicles and surface systems. Additionally, the humans are close enough to the surface to effectively eliminate the two-way communication latency that constrains typical robotic space missions, thus allowing real-time command and control of surface operations and experiments by the crew. Through use of state-of-the-art telecommunications and robotics, HERRO provides the cognitive and decision-making advantages of having humans at the site of study for only a fraction of the cost of conventional human surface missions. It is very similar to how oceanographers and oil companies use telerobotic submersibles to work in inaccessible areas of the ocean, and represents a more expedient, near-term step prior to landing humans on Mars and other large planetary bodies. Results suggest that a single HERRO mission with six crew members could achieve the same exploratory and scientific return as three conventional crewed missions to the Mars surface.

A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents

PubMed Central

Conesa-Muñoz, Jesús; Valente, João; del Cerro, Jaime; Barrientos, Antonio; Ribeiro, Angela

2016-01-01

Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons. PMID:27517934

An embedded vision system for an unmanned four-rotor helicopter

NASA Astrophysics Data System (ADS)

Lillywhite, Kirt; Lee, Dah-Jye; Tippetts, Beau; Fowers, Spencer; Dennis, Aaron; Nelson, Brent; Archibald, James

2006-10-01

In this paper an embedded vision system and control module is introduced that is capable of controlling an unmanned four-rotor helicopter and processing live video for various law enforcement, security, military, and civilian applications. The vision system is implemented on a newly designed compact FPGA board (Helios). The Helios board contains a Xilinx Virtex-4 FPGA chip and memory making it capable of implementing real time vision algorithms. A Smooth Automated Intelligent Leveling daughter board (SAIL), attached to the Helios board, collects attitude and heading information to be processed in order to control the unmanned helicopter. The SAIL board uses an electrolytic tilt sensor, compass, voltage level converters, and analog to digital converters to perform its operations. While level flight can be maintained, problems stemming from the characteristics of the tilt sensor limits maneuverability of the helicopter. The embedded vision system has proven to give very good results in its performance of a number of real-time robotic vision algorithms.

Toward cognitive robotics

NASA Astrophysics Data System (ADS)

Laird, John E.

2009-05-01

Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

CAT/RF Simulation Lessons Learned

DTIC Science & Technology

2003-06-11

IVSS-2003-MAS-7 CAT /RF Simulation Lessons Learned Christopher Mocnik Vetronics Technology Area, RDECOM TARDEC Tim Lee DCS Corporation...developed a re- configurable Unmanned Ground Vehicle (UGV) simulation for the Crew integration and Automation Test bed ( CAT ) and Robotics Follower (RF...Advanced Technology Demonstration (ATD) experiments. This simulation was developed as a component of the Embedded Simulation System (ESS) of the CAT

Sensors and Algorithms for an Unmanned Surf-Zone Robot

DTIC Science & Technology

2015-12-01

71 3. Data Fusion and Filtering................................................ 74 C. VIRTUAL POTENTIAL FIELD (VPF) PATH PLANNING ...iron effects are clearly seen: Soft iron de - calibration (sphere distortion) was caused by proximity of circuit boards. Offset of the center of the...information to perform global tasks such as path- planning , sensors and actuators commands, external communications, etc. Python3 is used as the primary

Online Aerial Terrain Mapping for Ground Robot Navigation

PubMed Central

Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

2018-01-01

This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle’s overhead view to inform the ground vehicle’s path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles. PMID:29461496

Online Aerial Terrain Mapping for Ground Robot Navigation.

PubMed

Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

2018-02-20

This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle's overhead view to inform the ground vehicle's path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.

A soft flying robot driven by a dielectric elastomer actuator (Conference Presentation)

NASA Astrophysics Data System (ADS)

Wang, Yingxi; Zhang, Hui; Godaba, Hareesh; Khoo, Boo Cheong; Zhu, Jian

2017-04-01

Modern unmanned aerial vehicles are gaining promising success because of their versatility, flexibility, and minimized risk of operations. Most of them are normally designed and constructed based on hard components. For example, the body of the vehicle is generally made of aluminum or carbon fibers, and electric motors are adopted as the main actuators. These hard materials are able to offer reasonable balance of structural strength and weight. However, they exhibit apparent limitations. For instance, such robots are fragile in even small clash with surrounding objects. In addition, their noise is quite high due to spinning of rotors or propellers. Here we aim to develop a soft flying robot using soft actuators. Due to its soft body, the robot can work effectively in unstructured environment. The robot may also exhibit interesting attributes, including low weight, low noise, and low power consumption. This robot mainly consists of a dielectric elastomer balloon made of two layers of elastomers. One is VHB (3M), and the other is natural rubber. The balloon is filled with helium, which can make the robot nearly neutral. When voltage is applied to either of the two dielectric elastomers, the balloon expands. So that the buoyance can be larger than the robot's weight, and the robot can move up. In this seminar, we will show how to harness the dielectric breakdown of natural rubber to achieve giant deformation of this soft robot. Based on this method, the robot can move up effectively in air.

Development and evaluation of the Stingray, an amphibious maritime interdiction operations unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Castelli, Robin

2014-06-01

The U.S. Navy and Marine Corps conduct thousands of Maritime Interdiction Operations (MIOs) every year around the globe. Navy Visit, Board, Search, and Seizure (VBSS) teams regularly board suspect ships and perform search operations, often in hostile environments. There is a need for a small tactical robot that can be deployed ahead of the team to provide enhanced situational awareness in these boarding, breaching, and clearing operations. In 2011, the Space and Naval Warfare Systems Center Pacific conducted user evaluations on a number of small throwable robots and sensors, verified the requirements, and developed the key performance parameters (KPPs) for an MIO robot. Macro USA Corporation was then tasked to design and develop two prototype systems, each consisting of one control/display unit and two small amphibious Stingray robots. Technical challenges included the combination paddle wheel/shock-absorbing wheel, the tradeoff between impact resistance, size, and buoyancy, and achieving adequate traction on wet surfaces. This paper describes the technical design of these robots and the results of subsequent user evaluations by VBSS teams.

UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

PubMed

Chen, Jessie Y C

2010-08-01

A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

Robotic complex for the development of thick steeply-inclined coal seams and ore deposits

NASA Astrophysics Data System (ADS)

Nikitenko, M. S.; Malakhov, Yu V.; Neogi, Biswarup; Chakraborty, Pritam; Banerjee, Dipesu

2017-09-01

Proposal for the formulation of robotic complexes for steeply inclined coal seams as a basis of the supportive-enclosing walking module and power support with a controlled outlet for mining industry has been represented in this literature. In mining industry, the available resource base reserves and mineral deposits are concentrated deep down the earth crust leading towards a complicated geological condition i.e. abrupt ore bedding and steeply inclined strata with the high gas content and fire hazard of thick coal stratum, heading against an unfavorable and sometimes human labor life risk during subversive mining. Prevailing towards the development of effective robotic complexes based on the means of “unmanned technologies” for extraction of minerals from hard-to-reach deposits and make sure the safety of underground staff during sublevel mining technology.

LABRADOR: a learning autonomous behavior-based robot for adaptive detection and object retrieval

NASA Astrophysics Data System (ADS)

Yamauchi, Brian; Moseley, Mark; Brookshire, Jonathan

2013-01-01

As part of the TARDEC-funded CANINE (Cooperative Autonomous Navigation in a Networked Environment) Program, iRobot developed LABRADOR (Learning Autonomous Behavior-based Robot for Adaptive Detection and Object Retrieval). LABRADOR was based on the rugged, man-portable, iRobot PackBot unmanned ground vehicle (UGV) equipped with an explosives ordnance disposal (EOD) manipulator arm and a custom gripper. For LABRADOR, we developed a vision-based object learning and recognition system that combined a TLD (track-learn-detect) filter based on object shape features with a color-histogram-based object detector. Our vision system was able to learn in real-time to recognize objects presented to the robot. We also implemented a waypoint navigation system based on fused GPS, IMU (inertial measurement unit), and odometry data. We used this navigation capability to implement autonomous behaviors capable of searching a specified area using a variety of robust coverage strategies - including outward spiral, random bounce, random waypoint, and perimeter following behaviors. While the full system was not integrated in time to compete in the CANINE competition event, we developed useful perception, navigation, and behavior capabilities that may be applied to future autonomous robot systems.

Additive Manufacturing of Parts and Tooling in Robotic Systems

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

Love, Lonnie J.; Hassen, Ahmed A.; Chesser, Phillip C.

ORNL worked with Transcend Robotics, LLC to explore additive manufacturing of the two-piece compression body for their ARTI mobile robot platform. Extrusion compression molding was identified as an effective means of manufacturing these parts. ORNL consulted on modifications to the housing design to accommodate the selected manufacturing process. Parts were printed using ORNL's FDM machines for testing and evaluation of the design as a precursor to molding the parts. The assembly and evaluation of the parts proved favorable and minor design changes to improve assembly and performance were identified.The goal is to develop a light weight and rugged two-part roboticmore » enclosure for an unmanned ground vehicle UGV) that will be used in search and rescue applications. The FDM parts fabricated by ORNL allowed Transcend Robotics to assemble a prototype robot and verify that the new parts will meet the performance requirements. ORNL fabricated enclosure parts out of ABS and Nylon 12 materials such that the design could be tested prior to fabricating tooling for compression molding of Nylon 6 with carbon fiber fill. The robot was performance tested and compared with the previous manufacturing techniques and found to have superior performance.« less

Undersea research vehicle for 20,000-ft depths

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

Not Available

1985-05-01

This article describes the design and operation of a remotely operated underwater vehicle called RUM III. The vehicle is capable of working to depths of 20,000 feet and is designed to do more work at greater depths than any other unmanned research vehicle. RUM III is about the size of a compact car and its design provides deep ocean research capabilities now only available with manned submersibles, and does so without the limitations of manned devices. It is suitable for a variety of geological, geophysical and ecological studies, and can also be used by scientists to conduct detailed investigations inmore » regions of the ocean floor that are relatively easy to see with cameras and sonar, but difficult to sample directly because of hostile deep-sea environments. RUM III is light enough to sit and maneuver on soft ocean-bottom sediments.« less

Consortium for Robotics & Unmanned Systems Education & Research (CRUSER)

DTIC Science & Technology

2012-09-30

as facilities at Camp Roberts, Calif. and frequent experimentation events, the Many vs. Many ( MvM ) Autonomous Systems Testbed provides the...and expediently translate theory to practice. The MvM Testbed is designed to integrate technological advances in hardware (inexpensive, expendable...designed to leverage the MvM Autonomous Systems Testbed to explore practical and operationally relevant avenues to counter these “swarm” opponents, and

Operator Objective Function Guidance for a Real-Time Unmanned Vehicle Scheduling Algorithm

DTIC Science & Technology

2012-12-01

Consensus - Based Decentralized Auctions for Robust Task Allocation ,” IEEE Transactions on Robotics and Automation, Vol. 25, No. 4, No. 4, 2009, pp. 912...planning for the fleet. The decentralized task planner used in OPS-USERS is the consensus - based bundle algorithm (CBBA), a decentralized , polynomial...and surveillance (OPS-USERS), which leverages decentralized algorithms for vehicle routing and task allocation . This

Supporting the joint warfighter by development, training, and fielding of man-portable UGVs

NASA Astrophysics Data System (ADS)

Ebert, Kenneth A.; Stratton, Benjamin V.

2005-05-01

The Robotic Systems Pool (RSP), sponsored by the Joint Robotics Program (JRP), is an inventory of small robotic systems, payloads, and components intended to expedite the development and integration of technology into effective, supportable, fielded robotic assets. The RSP loans systems to multiple users including the military, first-responders, research organizations, and academia. These users provide feedback in their specific domain, accelerating research and development improvements of robotic systems, which in turn allow the joint warfighter to benefit from such changes more quickly than from traditional acquisition cycles. Over the past year, RSP assets have been used extensively for pre-deployment operator and field training of joint Explosive Ordnance Disposal (EOD) teams, and for the training of Navy Reservist repair technicians. These Reservists are part of the Robotic Systems Combat Support Platoon (RSCSP), attached to Space and Naval Warfare Systems Center, San Diego. The RSCSP maintains and repairs RSP assets and provides deployable technical support for users of robotic systems. Currently, a small team from the RSCSP is deployed at Camp Victory repairing and maintaining man-portable unmanned ground vehicles (UGVs) used by joint EOD teams in Operation Iraqi Freedom. The focus of this paper is to elaborate on the RSP and RSCSP and their role as invaluable resources for spiral development in the robotics community by gaining first-hand technical feedback from the warfighter and other users.

Infrared stereo calibration for unmanned ground vehicle navigation

NASA Astrophysics Data System (ADS)

Harguess, Josh; Strange, Shawn

2014-06-01

The problem of calibrating two color cameras as a stereo pair has been heavily researched and many off-the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared (IR) cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board (material, design, etc.) and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally, we present our results both visually and analytically with computed reprojection errors.

STARR: shortwave-targeted agile Raman robot for the detection and identification of emplaced explosives

NASA Astrophysics Data System (ADS)

Gomer, Nathaniel R.; Gardner, Charles W.

2014-05-01

In order to combat the threat of emplaced explosives (land mines, etc.), ChemImage Sensor Systems (CISS) has developed a multi-sensor, robot mounted sensor capable of identification and confirmation of potential threats. The system, known as STARR (Shortwave-infrared Targeted Agile Raman Robot), utilizes shortwave infrared spectroscopy for the identification of potential threats, combined with a visible short-range standoff Raman hyperspectral imaging (HSI) system for material confirmation. The entire system is mounted onto a Talon UGV (Unmanned Ground Vehicle), giving the sensor an increased area search rate and reducing the risk of injury to the operator. The Raman HSI system utilizes a fiber array spectral translator (FAST) for the acquisition of high quality Raman chemical images, allowing for increased sensitivity and improved specificity. An overview of the design and operation of the system will be presented, along with initial detection results of the fusion sensor.

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.

A Segway RMP-based robotic transport system

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Kogut, Greg; Barua, Ripan; Burmeister, Aaron; Pezeshkian, Narek; Powell, Darren; Farrington, Nathan; Wimmer, Matt; Cicchetto, Brett; Heng, Chana; Ramirez, Velia

2004-12-01

In the area of logistics, there currently is a capability gap between the one-ton Army robotic Multifunction Utility/Logistics and Equipment (MULE) vehicle and a soldier"s backpack. The Unmanned Systems Branch at Space and Naval Warfare Systems Center (SPAWAR Systems Center, or SSC), San Diego, with the assistance of a group of interns from nearby High Tech High School, has demonstrated enabling technologies for a solution that fills this gap. A small robotic transport system has been developed based on the Segway Robotic Mobility Platform (RMP). We have demonstrated teleoperated control of this robotic transport system, and conducted two demonstrations of autonomous behaviors. Both demonstrations involved a robotic transporter following a human leader. In the first demonstration, the transporter used a vision system running a continuously adaptive mean-shift filter to track and follow a human. In the second demonstration, the separation between leader and follower was significantly increased using Global Positioning System (GPS) information. The track of the human leader, with a GPS unit in his backpack, was sent wirelessly to the transporter, also equipped with a GPS unit. The robotic transporter traced the path of the human leader by following these GPS breadcrumbs. We have additionally demonstrated a robotic medical patient transport capability by using the Segway RMP to power a mock-up of the Life Support for Trauma and Transport (LSTAT) patient care platform, on a standard NATO litter carrier. This paper describes the development of our demonstration robotic transport system and the various experiments conducted.

An overview of the 2009 Fort Hood Robotics Rodeo

NASA Astrophysics Data System (ADS)

Norberg, Seth

2010-04-01

The Robotics Rodeo held from 31 August to 3 September 2009 at Fort Hood, Texas, had three stated goals: educate key decision makers and align the robotics industry; educate Soldiers and developers; and perform a live market survey of the current state of technologies to encourage the development of robotic systems to support operational needs. Both events that comprised the Robotics Rodeo, the Extravaganza and the robotic technology observation, demonstration and discussion (RTOD2) addressed these stated goals. The Extravaganza was designed to foster interaction between the vendors and the visitors who included the media, Soldiers, others in the robotics industry and key decision makers. The RTOD2 allowed the vendors a more private and focused interaction with the subject matter experts teams, this was the forum for the vendors to demonstrate their robotic systems that supported the III Corps operational needs statements that are focused on route clearance, convoy operations, persistent stare, and robotic wingman. While the goals of the Rodeo were achieved, the underlying success from the event is the development of a new business model that is focused on collapsing the current model to get technologies into the hands of our warfighters quicker. This new model takes the real time data collection from the Rodeo, the Warfighter Needs from TRADOC, the emerging requirements from our current engagements, and assistance from industry partners to develop a future Army strategy for the rapid fielding of unmanned systems technologies.

Project Icarus: The First Unmanned Interstellar Mission - Robotic Expansion and Technological Growth

NASA Astrophysics Data System (ADS)

Long, K. F.

This paper discusses the important role of `disruptive technology' in altering the assessment on when the first unmanned interstellar probe mission is possible. Historical estimates suggest that such a mission is likely possible in the 23rd or 24th century. This paper argues that if such assessments also consider the role of high-growth exponential technology trends then in fact the first unmanned mission may be possible much earlier. The case study of a 100 year flyby space probe mission to Alpha Centauri 4.3 light years distance is examined, with an ideal cruise speed of 2,700 AU/year. Starting from an assumed mission capacity of 5 AU/year in 2020 a simple assessment shows that assuming a greater than ~8% technology growth annually in mission capacity (as measured by the attainment of cruise speed) it may be possible to launch an interstellar probe by around the year 2100. This depends upon significant and sustained science and technology research investment being made, particularly into space propulsion engineering in the near-term. This paper is a submission of the Project Icarus Study Group.

Scalar curvature of Lagrangian Riemannian submersions and their harmonicity

NASA Astrophysics Data System (ADS)

Eken Meri˙ç, Şemsi; Kiliç, Erol; Sağiroğlu, Yasemi˙n

In this paper, we consider a Lagrangian Riemannian submersion from a Hermitian manifold to a Riemannian manifold and establish some basic inequalities to obtain relationships between the intrinsic and extrinsic invariants for such a submersion. Indeed, using these inequalities, we provide necessary and sufficient conditions for which a Lagrangian Riemannian submersion π has totally geodesic or totally umbilical fibers. Moreover, we study the harmonicity of Lagrangian Riemannian submersions and obtain a characterization for such submersions to be harmonic.

Towards Human-Friendly Efficient Control of Multi-Robot Teams

NASA Technical Reports Server (NTRS)

Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

2013-01-01

This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

The Ethics of Robotic, Autonomous, and Unmanned Systems Technologies in Life Saving Roles

DTIC Science & Technology

2017-06-12

every day. The healthcare community is governed by esteemed practices such as moral self -governance, and other philosophical principles that define...1 movement of a casualty. These assets are under the purview of ground commanders, not the medical evacuation community .4 Thus, having... communications with ground personnel and will operate under supervisory control of any operator, requiring no specialized training.18 Also, ONR is investigating

Magic 2010 RASR Team

DTIC Science & Technology

2010-12-15

MAGIC 2010 – FINAL REPORT RASR TEAM - CONTRACT NO: FA2386-10-1-4021 December 15, 2010 Final Report for AOARD Grant FA23861014021 – MAGIC ... MAGIC 2010 Competition - Robotic Research Team (RASR) Abstract: The RASR team developed a system for the coordination of groups of unmanned...accomplish those missions. Our team goal was to develop a system that can provide long term value to the war-fighter, utilizing MAGIC 2010 as a stepping

NASA-STD-6016 Standard Materials and Processes Requirements for Spacecraft

NASA Technical Reports Server (NTRS)

Hirsch, David B.

2009-01-01

The standards for materials and processes surrounding spacecraft are discussed. Presentation focused on minimum requirements for Materials and Processes (M&P) used in design, fabrication, and testing of flight components for NASA manned, unmanned, robotic, launch vehicle, lander, in-space and surface systems, and spacecraft program/project hardware elements.Included is information on flammability, offgassing, compatibility requirements, and processes; both metallic and non-metallic materials are mentioned.

Towards Unmanned Systems for Dismounted Operations in the Canadian Forces

DTIC Science & Technology

2011-01-01

LIDAR , and RADAR) and lower power/mass, passive imaging techniques such as structure from motion and simultaneous localisation and mapping ( SLAM ...sensors and learning algorithms. 5.1.2 Simultaneous localisation and mapping SLAM algorithms concurrently estimate a robot pose and a map of unique...locations and vehicle pose are part of the SLAM state vector and are estimated in each update step. AISS developed a monocular camera-based SLAM

Assisted Perception, Planning and Control for Remote Mobility and Dexterous Manipulation

DTIC Science & Technology

2017-04-01

on unmanned aerial vehicles (UAVs). The underlying algorithm is based on an Extended Kalman Filter (EKF) that simultaneously estimates robot state...and sensor biases. The filter developed provided a probabilistic fusion of sensor data from many modalities to produce a single consistent position...estimation for a walking humanoid. Given a prior map using a Gaussian particle filter , the LIDAR based system is able to provide a drift-free

U.S. Unmanned Aerial Systems

DTIC Science & Technology

2012-01-03

that time, they have been called drones, robot planes, pilotless aircraft, RPVs (remotely piloted vehicles), RPAs (remotely piloted aircraft) and...Paul Jackson, p. 728. OSD. UAS Roadmap 2005-2030. August, 2005, Section 2, p.10. 82 National Journal’s Congress Daily. “ Pilotless Aircraft Makers Seek...Eye Proposed by the Boeing Phantom Works, Phantom Eye would use hydrogen-fueled automobile engines to carry a 3,000-pound payload for ten days.195 A

Proceedings for the Advance Planning Briefing for Industry

DTIC Science & Technology

1990-01-24

Liaison Office TOD - Technical Objective Documents TSR - Tactical Source Region UAV - Unmanned Aerial Vehicle UGT - UnderGround nuclear Test A G.EN D635I...tests in AURORA and underground nuclear tests ( UGT ) and will help develop tactical source region hardening requirements and lead to approaches for TSR...X-Ray theory , lasers, electronic controllers, computers, robotics, etc. Contracting for scientific studies and one-of-a-kind machines will emphasize

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.

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.

Visual and tactile interfaces for bi-directional human robot communication

NASA Astrophysics Data System (ADS)

Barber, Daniel; Lackey, Stephanie; Reinerman-Jones, Lauren; Hudson, Irwin

2013-05-01

Seamless integration of unmanned and systems and Soldiers in the operational environment requires robust communication capabilities. Multi-Modal Communication (MMC) facilitates achieving this goal due to redundancy and levels of communication superior to single mode interaction using auditory, visual, and tactile modalities. Visual signaling using arm and hand gestures is a natural method of communication between people. Visual signals standardized within the U.S. Army Field Manual and in use by Soldiers provide a foundation for developing gestures for human to robot communication. Emerging technologies using Inertial Measurement Units (IMU) enable classification of arm and hand gestures for communication with a robot without the requirement of line-of-sight needed by computer vision techniques. These devices improve the robustness of interpreting gestures in noisy environments and are capable of classifying signals relevant to operational tasks. Closing the communication loop between Soldiers and robots necessitates them having the ability to return equivalent messages. Existing visual signals from robots to humans typically require highly anthropomorphic features not present on military vehicles. Tactile displays tap into an unused modality for robot to human communication. Typically used for hands-free navigation and cueing, existing tactile display technologies are used to deliver equivalent visual signals from the U.S. Army Field Manual. This paper describes ongoing research to collaboratively develop tactile communication methods with Soldiers, measure classification accuracy of visual signal interfaces, and provides an integration example including two robotic platforms.

Effects of automation and task load on task switching during human supervision of multiple semi-autonomous robots in a dynamic environment.

PubMed

Squire, P N; Parasuraman, R

2010-08-01

The present study assessed the impact of task load and level of automation (LOA) on task switching in participants supervising a team of four or eight semi-autonomous robots in a simulated 'capture the flag' game. Participants were faster to perform the same task than when they chose to switch between different task actions. They also took longer to switch between different tasks when supervising the robots at a high compared to a low LOA. Task load, as manipulated by the number of robots to be supervised, did not influence switch costs. The results suggest that the design of future unmanned vehicle (UV) systems should take into account not simply how many UVs an operator can supervise, but also the impact of LOA and task operations on task switching during supervision of multiple UVs. The findings of this study are relevant for the ergonomics practice of UV systems. This research extends the cognitive theory of task switching to inform the design of UV systems and results show that switching between UVs is an important factor to consider.

Mobility of lightweight robots over snow

NASA Astrophysics Data System (ADS)

Lever, James H.; Shoop, Sally A.

2006-05-01

Snowfields are challenging terrain for lightweight (<50 kg) unmanned ground vehicles. Deep sinkage, high snowcompaction resistance, traction loss while turning and ingestion of snow into the drive train can cause immobility within a few meters of travel. However, for suitably designed vehicles, deep snow offers a smooth, uniform surface that can obliterate obstacles. Key requirements for good over-snow mobility are low ground pressure, large clearance relative to vehicle size and a drive system that tolerates cohesive snow. A small robot will invariably encounter deep snow relative to its ground clearance. Because a single snowstorm can easily deposit 30 cm of fresh snow, robots with ground clearance less than about 10 cm must travel over the snow rather than gain support from the underlying ground. This can be accomplished using low-pressure tracks (< 1.5 kPa). Even still, snow-compaction resistance can exceed 20% of vehicle weight. Also, despite relatively high traction coefficients for low track pressures, differential or skid steering is difficult because the outboard track can easily break traction as the vehicle attempts to turn against the snow. Short track lengths (relative to track separation) or coupled articulated robots offer steering solutions for deep snow. This paper presents preliminary guidance to design lightweight robots for good mobility over snow based on mobility theory and tests of PackBot, Talon and SnoBot, a custom-designed research robot. Because many other considerations constrain robot designs, this guidance can help with development of winterization kits to improve the over-snow performance of existing robots.

Dynamics of anchor last deployment of submersible buoy system

NASA Astrophysics Data System (ADS)

Zheng, Zhongqiang; Xu, Jianpeng; Huang, Peng; Wang, Lei; Yang, Xiaoguang; Chang, Zongyu

2016-02-01

Submersible buoy systems are widely used for oceanographic research, ocean engineering and coastal defense. Severe sea environment has obvious effects on the dynamics of submersible buoy systems. Huge tension can occur and may cause the snap of cables, especially during the deployment period. This paper studies the deployment dynamics of submersible buoy systems with numerical and experimental methods. By applying the lumped mass approach, a three-dimensional multi-body model of submersible buoy system is developed considering the hydrodynamic force, tension force and impact force between components of submersible buoy system and seabed. Numerical integration method is used to solve the differential equations. The simulation output includes tension force, trajectory, profile and dropping location and impact force of submersible buoys. In addition, the deployment experiment of a simplified submersible buoy model was carried out. The profile and different nodes' velocities of the submersible buoy are obtained. By comparing the results of the two methods, it is found that the numerical model well simulates the actual process and conditions of the experiment. The simulation results agree well with the results of the experiment such as gravity anchor's location and velocities of different nodes of the submersible buoy. The study results will help to understand the conditions of submersible buoy's deployment, operation and recovery, and can be used to guide the design and optimization of the system.

Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Plice, Laura; Pisanich, Greg

2003-01-01

The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

Joint Operating Environment: Trends and Challenges for the Future Joint Force Through 2030

DTIC Science & Technology

2007-12-01

unmanned underwater vehicles loom on the horizon that can be swarmed against our ports and cities. Self - healing , networked minefields will... robots in an effort to provide the basic physical labor needed by the society. Russia has seen a major withdrawal of it population from the Far...of criminal elements. International organized crime, motivated by greed and self -interest, may increase as potential security threats to the

Continued Development of the AF/SGR Tricorder Program for Homeland Security, Military, Public Health, and Medical Operations

DTIC Science & Technology

2012-05-15

Method for Ubiquitous Robots Based on Wireless Sensor Networks , in 1st European Conference on Smart Sensing and Context2006, Springer: Enschede, The...SUBJECT TERMS Directed Energy, Lasers, Networking , Wireless , Threat, Remote, Sensors , Database, Targets, Security, Transmit, Mobile, Unmanned...the researchers explore the potential for a network that could transport any type of sensor data now or in the future. 29 3. Methods , Assumptions

Aircraft Pilot Situational Awareness Interface for Airborne Operation of Network Controlled Unmanned Systems (US)

DTIC Science & Technology

2008-03-01

operator, can be operated autonomously or remotely, can be expendable or recoverable, and can carry a lethal or nonlethal payload. Ballistic or semi ...states that vehicles should be recoverable, and that ballistic or semi - ballistic vehicles, cruise missiles, and artillery projectiles are not considered...2007-2032. 32 Nicola Tesla and his telautomatons (robots); Tesla further demonstrated remote control of objects by wireless in an exhibition in 1898

Levels of Autonomy and Autonomous System Performance Assessment for Intelligent Unmanned Systems

DTIC Science & Technology

2014-04-01

LIDAR and camera sensors that is driven entirely by teleoperation would be AL 0. If that same robot used its LIDAR and camera data to generate a...obstacle detection, mapping, path planning 3 CMMAD semi- autonomous counter- mine system (Few 2010) Talon UGV, camera, LIDAR , metal detector...NCAP framework are performed on individual UMS components and do not require mission level evaluations. For example, bench testing of camera, LIDAR

Integration of Multiple Unmanned Systems in an Urban Search and Rescue Environment

DTIC Science & Technology

2013-03-01

first created due to the destruction of the Fukushima Daiichi Nuclear Power Plant (Mitsubushi Heavy Industries 2012). The Japanese robotic industry...security trends over the past decade, the threats of disaster to the populace inhabiting urbanized areas are real and there is a need for increased ...inhabiting urbanized areas are real and there is a need for increased vigilance. There can be multiple causes for urban disaster : natural disasters

The Test and Evaluation of Unmanned and Autonomous Systems

DTIC Science & Technology

2008-12-01

robotic/ intelli - gent machines for the U.S. Department of Defense (DoD). Although the technology is still nascent and advancing, we are faced with the...evolutionary nature of UAS acquisition must be met with evolutionary test capabilities yet to be discovered and developed. Test capabilities must be deployed...at a faster pace than UAS deployment to satisfy the demand for warfighter improvements. The DoD is stimulating this new area of innovation with

33 CFR 147.843 - Thunder Horse Semi-Submersible safety zone.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 2 2011-07-01 2011-07-01 false Thunder Horse Semi-Submersible... SECURITY (CONTINUED) OUTER CONTINENTAL SHELF ACTIVITIES SAFETY ZONES § 147.843 Thunder Horse Semi-Submersible safety zone. (a) Description. Thunder Horse Semi-Submersible, Mississippi Canyon 778 (MC 778...

33 CFR 147.843 - Thunder Horse Semi-Submersible safety zone.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 2 2013-07-01 2013-07-01 false Thunder Horse Semi-Submersible... SECURITY (CONTINUED) OUTER CONTINENTAL SHELF ACTIVITIES SAFETY ZONES § 147.843 Thunder Horse Semi-Submersible safety zone. (a) Description. Thunder Horse Semi-Submersible, Mississippi Canyon 778 (MC 778...

33 CFR 147.843 - Thunder Horse Semi-Submersible safety zone.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 2 2012-07-01 2012-07-01 false Thunder Horse Semi-Submersible... SECURITY (CONTINUED) OUTER CONTINENTAL SHELF ACTIVITIES SAFETY ZONES § 147.843 Thunder Horse Semi-Submersible safety zone. (a) Description. Thunder Horse Semi-Submersible, Mississippi Canyon 778 (MC 778...

33 CFR 147.843 - Thunder Horse Semi-Submersible safety zone.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Thunder Horse Semi-Submersible... SECURITY (CONTINUED) OUTER CONTINENTAL SHELF ACTIVITIES SAFETY ZONES § 147.843 Thunder Horse Semi-Submersible safety zone. (a) Description. Thunder Horse Semi-Submersible, Mississippi Canyon 778 (MC 778...

33 CFR 147.843 - Thunder Horse Semi-Submersible safety zone.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 2 2014-07-01 2014-07-01 false Thunder Horse Semi-Submersible... SECURITY (CONTINUED) OUTER CONTINENTAL SHELF ACTIVITIES SAFETY ZONES § 147.843 Thunder Horse Semi-Submersible safety zone. (a) Description. Thunder Horse Semi-Submersible, Mississippi Canyon 778 (MC 778...

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision.

PubMed

Maravall, Darío; de Lope, Javier; Fuentes, Juan P

2017-01-01

We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps. In visual topological maps the visual landmarks are considered as leave points for guiding the robot to reach a target point (robot homing) in indoor environments. These visual landmarks are defined from images of relevant objects or characteristic scenes in the environment. The entropy of an image is directly related to the presence of a unique object or the presence of several different objects inside it: the lower the entropy the higher the probability of containing a single object inside it and, conversely, the higher the entropy the higher the probability of containing several objects inside it. Consequently, we propose the use of the entropy of images captured by the robot not only for the landmark searching and detection but also for obstacle avoidance. If the detected object corresponds to a landmark, the robot uses the suggestions stored in the visual topological map to reach the next landmark or to finish the mission. Otherwise, the robot considers the object as an obstacle and starts a collision avoidance maneuver. In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks.

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision

PubMed Central

Maravall, Darío; de Lope, Javier; Fuentes, Juan P.

2017-01-01

We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps. In visual topological maps the visual landmarks are considered as leave points for guiding the robot to reach a target point (robot homing) in indoor environments. These visual landmarks are defined from images of relevant objects or characteristic scenes in the environment. The entropy of an image is directly related to the presence of a unique object or the presence of several different objects inside it: the lower the entropy the higher the probability of containing a single object inside it and, conversely, the higher the entropy the higher the probability of containing several objects inside it. Consequently, we propose the use of the entropy of images captured by the robot not only for the landmark searching and detection but also for obstacle avoidance. If the detected object corresponds to a landmark, the robot uses the suggestions stored in the visual topological map to reach the next landmark or to finish the mission. Otherwise, the robot considers the object as an obstacle and starts a collision avoidance maneuver. In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks. PMID:28900394

Remote imagery for unmanned ground vehicles: the future of path planning for ground robotics

NASA Astrophysics Data System (ADS)

Frederick, Philip A.; Theisen, Bernard L.; Ward, Derek

2006-10-01

Remote Imagery for Unmanned Ground Vehicles (RIUGV) uses a combination of high-resolution multi-spectral satellite imagery and advanced commercial off-the-self (COTS) object-oriented image processing software to provide automated terrain feature extraction and classification. This information, along with elevation data, infrared imagery, a vehicle mobility model and various meta-data (local weather reports, Zobler Soil map, etc...), is fed into automated path planning software to provide a stand-alone ability to generate rapidly updateable dynamic mobility maps for Manned or Unmanned Ground Vehicles (MGVs or UGVs). These polygon based mobility maps can reside on an individual platform or a tactical network. When new information is available, change files are generated and ingested into existing mobility maps based on user selected criteria. Bandwidth concerns are mitigated by the use of shape files for the representation of the data (e.g. each object in the scene is represented by a shape file and thus can be transmitted individually). User input (desired level of stealth, required time of arrival, etc...) determines the priority in which objects are tagged for updates. This paper will also discuss the planned July 2006 field experiment.

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

NASA Technical Reports Server (NTRS)

SunSpiral, Vytas; Wheeler, D. W.; Chavez-Clementa, Daniel; Mittman, David

2011-01-01

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation

PubMed Central

Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

2017-01-01

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods. PMID:28425946

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

PubMed

Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

2017-04-20

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods.

77 FR 72433 - Buy America Waiver Notification

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-05

... Submersible pumps (3 @ 3,000 gallons/minute), (1 Low Flow Submersible pump @ 1,000 gallons/minute), (1 Low Flow Sump Pump @ 20 gallons/minute) for rehabilitation of a pump station in the State of Illinois... appropriate to use non-domestic Main Submersible pumps (3 @ 3,000 gallons/minute), (1 Low Flow Submersible...

Reconnaissance and Autonomy for Small Robots (RASR) team: MAGIC 2010 challenge

NASA Astrophysics Data System (ADS)

Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark; Corley, Katrina

2012-06-01

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs) that can execute a variety of military relevant missions in dynamic urban environments. Historically, UGV operations have been primarily performed via tele-operation, requiring at least one dedicated operator per robot, and requiring substantial real-time bandwidth to accomplish those missions. Our team goal was to develop a system that can provide long-term value to the war-fighter, utilizing MAGIC-2010 as a stepping stone. To that end, we self-imposed a set of constraints that would force us to develop technology that could readily be used by the military in the near term: • Use a relevant (deployed) platform • Use low-cost, reliable sensors • Develop an expandable and modular control system with innovative software algorithms to minimize the computing footprint required • Minimize required communications bandwidth and handle communication losses • Minimize additional power requirements to maximize battery life and mission duration

Comparative analysis of ROS-based monocular SLAM methods for indoor navigation

NASA Astrophysics Data System (ADS)

Buyval, Alexander; Afanasyev, Ilya; Magid, Evgeni

2017-03-01

This paper presents a comparison of four most recent ROS-based monocular SLAM-related methods: ORB-SLAM, REMODE, LSD-SLAM, and DPPTAM, and analyzes their feasibility for a mobile robot application in indoor environment. We tested these methods using video data that was recorded from a conventional wide-angle full HD webcam with a rolling shutter. The camera was mounted on a human-operated prototype of an unmanned ground vehicle, which followed a closed-loop trajectory. Both feature-based methods (ORB-SLAM, REMODE) and direct SLAMrelated algorithms (LSD-SLAM, DPPTAM) demonstrated reasonably good results in detection of volumetric objects, corners, obstacles and other local features. However, we met difficulties with recovering typical for offices homogeneously colored walls, since all of these methods created empty spaces in a reconstructed sparse 3D scene. This may cause collisions of an autonomously guided robot with unfeatured walls and thus limits applicability of maps, which are obtained by the considered monocular SLAM-related methods for indoor robot navigation.

Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir

2006-05-01

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

The NASA Robotic Conjunction Assessment Process: Overview and Operational Experiences

NASA Technical Reports Server (NTRS)

Newman, Lauri Kraft

2008-01-01

Orbital debris poses a significant threat to spacecraft health and safety. Recent events such as China's anti-satellite test and the Breeze-M rocket explosion have led to an even greater awareness and concern in the satellite community. Therefore, the National Aeronautics and Space Administration (NASA) has established requirements that routine conjunction assessment screening shall be performed for all maneuverable spacecraft having perigees less than 2000 km or within 200 km of geosynchronous altitude. NASA s Goddard Space Flight Center (GSFC) has developed an operational collision risk assessment process to protect NASA s high-value unmanned (robotic) assets that has been in use since January 2005. This paper provides an overview of the NASA robotic conjunction assessment process, including descriptions of the new tools developed to analyze close approach data and of the risk mitigation strategies employed. In addition, statistical data describing the number of conjunctions experienced are presented. A debris avoidance maneuver performed by Aura in June of 2008 is described in detail to illustrate the process.

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.

Automation, robotics, and inflight training for manned Mars missions

NASA Technical Reports Server (NTRS)

Holt, Alan C.

1986-01-01

The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.

Collaborative engagement experiment (CEE)

NASA Astrophysics Data System (ADS)

Wade, Robert L.; Reames, Joseph M.

2005-05-01

Unmanned ground and air systems operating in collaboration have the potential to provide future Joint Forces a significant capability for operations in complex terrain. Ground and air collaborative engagements potentially offer force conservation, perform timely acquisition and dissemination of essential combat information, and can eliminate high value and time critical targets. These engagements can also add considerably to force survivability by reducing soldier and equipment exposure during critical operations. The Office of the Secretary of Defense, Joint Robotics Program (JRP) sponsored Collaborative Engagement Experiment (CEE) is a consolidation of separate Air Force, Army and Navy collaborative efforts to provide a Joint capability. The Air Force Research Laboratory (AFRL), Material and Manufacturing Directorate, Aerospace Expeditionary Force Division, Force Protection Branch (AFRLMLQF), The Army Aviation and Missile Research, Development and Engineering Center (AMRDEC) Joint Technology Center (JTC)/Systems Integration Laboratory (SIL), and the Space and Naval Warfare Systems Center-San Diego (SSC San Diego) are conducting technical research and proof of principle for an envisioned operational concept for extended range, three dimensional, collaborative operations between unmanned systems, with enhanced situational awareness for lethal operations in complex terrain. This program will assess information requirements and conduct experiments to identify and resolve technical risks for collaborative engagements using Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). It will research, develop and physically integrate multiple unmanned systems and conduct live collaborative experiments. Modeling and Simulation systems will be upgraded to reflect engineering fidelity levels to greater understand technical challenges to operate as a team. This paper will provide an update of a multi-year program and will concentrate primarily on the JTC/SIL efforts. Other papers will outline in detail the Air Force and Navy portions of this effort.

Design, Construction and Testing of a Prototype Holonomic Autonomous Vehicle

DTIC Science & Technology

2007-12-01

Circuit A simple 100 kHz crystal oscillator tank circuit using an LM741 opamp was fed to a LM393N comparator . The circuit’s schematic is provided...research in areas that support development of unmanned ground and air battlefield vehicles. Little attention has been paid to applying robotics to...motion control using a single board computer, a pulse width modulation (PWM) and optical isolation circuit, and a low-cost inertial measurement unit

Characteristics of a Maritime Interdiction Operations Unmanned Ground Vehicle

DTIC Science & Technology

2012-04-01

obstacles taller than its height. It comes with a suite of software that provides behaviors such as automatic self-righting and stair climbing (although the...unit we tested was a prototype and the stair climbing behavior had not been perfected). It also has a small wrist-mounted OCU with a touch screen...operations, often in hostile environments. There is a need for a small tactical robot that can be deployed ahead of the team to provide enhanced

Vision guided landing of an an autonomous helicopter in hazardous terrain

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Montgomery, Jim

2005-01-01

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

Development of a non-contextual model for determining the autonomy level of intelligent unmanned systems

NASA Astrophysics Data System (ADS)

Durst, Phillip J.; Gray, Wendell; Trentini, Michael

2013-05-01

A simple, quantitative measure for encapsulating the autonomous capabilities of unmanned systems (UMS) has yet to be established. Current models for measuring a UMS's autonomy level require extensive, operational level testing, and provide a means for assessing the autonomy level for a specific mission/task and operational environment. A more elegant technique for quantifying autonomy using component level testing of the robot platform alone, outside of mission and environment contexts, is desirable. Using a high level framework for UMS architectures, such a model for determining a level of autonomy has been developed. The model uses a combination of developmental and component level testing for each aspect of the UMS architecture to define a non-contextual autonomous potential (NCAP). The NCAP provides an autonomy level, ranging from fully non- autonomous to fully autonomous, in the form of a single numeric parameter describing the UMS's performance capabilities when operating at that level of autonomy.

Spatial analysis of paediatric swimming pool submersions by housing type.

PubMed

Shenoi, Rohit P; Levine, Ned; Jones, Jennifer L; Frost, Mary H; Koerner, Christine E; Fraser, John J

2015-08-01

Drowning is a major cause of unintentional childhood death. The relationship between childhood swimming pool submersions, neighbourhood sociodemographics, housing type and swimming pool location was examined in Harris County, Texas. Childhood pool submersion incidents were examined for spatial clustering using the Nearest Neighbor Hierarchical Cluster (Nnh) algorithm. To relate submersions to predictive factors, an Markov Chain Monte Carlo (MCMC) Poisson-Lognormal-Conditional Autoregressive (CAR) spatial regression model was tested at the census tract level. There were 260 submersions; 49 were fatal. Forty-two per cent occurred at single-family residences and 36% at multifamily residential buildings. The risk of a submersion was 2.7 times higher for a child at a multifamily than a single-family residence and 28 times more likely in a multifamily swimming pool than a single family pool. However, multifamily submersions were clustered because of the concentration of such buildings with pools. Spatial clustering did not occur in single-family residences. At the tract level, submersions in single-family and multifamily residences were best predicted by the number of pools by housing type and the number of children aged 0-17 by housing type. Paediatric swimming pool submersions in multifamily buildings are spatially clustered. The likelihood of submersions is higher for children who live in multifamily buildings with pools than those who live in single-family homes with pools. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

NASA Conjunction Assessment Organizational Approach and the Associated Determination of Screening Volume Sizes

NASA Technical Reports Server (NTRS)

Newman, Lauri K.; Hejduk, Matthew D.

2015-01-01

NASA is committed to safety of flight for all of its operational assets Performed by CARA at NASA GSFC for robotic satellites Focus of this briefing Performed by TOPO at NASA JSC for human spaceflight he Conjunction Assessment Risk Analysis (CARA) was stood up to offer this service to all NASA robotic satellites Currently provides service to 70 operational satellites NASA unmanned operational assets Other USG assets (USGS, USAF, NOAA) International partner assets Conjunction Assessment (CA) is the process of identifying close approaches between two orbiting objects; sometimes called conjunction screening The Joint Space Operations Center (JSpOC) a USAF unit at Vandenberg AFB, maintains the high accuracy catalog of space objects, screens CARA-supported assets against the catalog, performs OD tasking, and generates close approach data.

Lunar crane hook

NASA Technical Reports Server (NTRS)

Cash, John Wilson, III; Cone, Alan E.; Garolera, Frank J.; German, David; Lindabury, David Peter; Luckado, Marshall Cleveland; Murphey, Craig; Rowell, John Bryan; Wilkinson, Brad

1988-01-01

The base and ball hook system is an attachment that is designed to be used on the lunar surface as an improved alternative to the common crane hook and eye system. The design proposed uses an omni-directional ball hook and base to overcome the design problems associated with a conventional crane hook. The base and ball hook is not sensitive to cable twist which would render a robotic lunar crane useless since there is little atmospheric resistance to dampen the motion of an oscillating member. The symmetric characteristics of the ball hook and base eliminates manual placement of the ball hook into the base; commonly associated with the typical hook and eye stem. The major advantage of the base and ball hook system is it's ease of couple and uncouple modes that are advantages during unmanned robotic lunar missions.

Haptics-based immersive telerobotic system for improvised explosive device disposal: Are two hands better than one?

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Lambert, Jason Michel; Mantegh, Iraj; Crymble, Derry; Daly, John; Zhao, Yan

2012-06-01

State-of-the-art robotic explosive ordnance disposal robotics have not, in general, adopted recent advances in control technology and man-machine interfaces and lag many years behind academia. This paper describes the Haptics-based Immersive Telerobotic System project investigating an immersive telepresence envrionment incorporating advanced vehicle control systems, Augmented immersive sensory feedback, dynamic 3D visual information, and haptic feedback for explosive ordnance disposal operators. The project aim is to provide operatiors a more sophisticated interface and expand sensory input to perform complex tasks to defeat improvised explosive devices successfully. The introduction of haptics and immersive teleprescence has the potential to shift the way teleprescence systems work for explosive ordnance disposal tasks or more widely for first responders scenarios involving remote unmanned ground vehicles.

Artificial Intelligence for Controlling Robotic Aircraft

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje

2005-01-01

A document consisting mostly of lecture slides presents overviews of artificial-intelligence-based control methods now under development for application to robotic aircraft [called Unmanned Aerial Vehicles (UAVs) in the paper] and spacecraft and to the next generation of flight controllers for piloted aircraft. Following brief introductory remarks, the paper presents background information on intelligent control, including basic characteristics defining intelligent systems and intelligent control and the concept of levels of intelligent control. Next, the paper addresses several concepts in intelligent flight control. The document ends with some concluding remarks, including statements to the effect that (1) intelligent control architectures can guarantee stability of inner control loops and (2) for UAVs, intelligent control provides a robust way to accommodate an outer-loop control architecture for planning and/or related purposes.

Space station as a vital focus for advancing the technologies of automation and robotics

NASA Technical Reports Server (NTRS)

Varsi, Giulio; Herman, Daniel H.

1988-01-01

A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

Leader-follower function for autonomous military convoys

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Lecointe, Olivier; Dento, Jerome; Cherfaoui, Nourrdine; Marion, Vincent; Morillon, Joel G.

2004-09-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales Airborne Systems as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational added value." The paper details the "robotic convoy" theme (named TEL1), which main purpose is to develop a robotic leader-follower function so that several unmanned vehicles can autonomously follow teleoperated, autonomous or on-board driven leader. Two modes have been implemented: Perceptive follower: each autonomous follower anticipates the trajectory of the vehicle in front of it, thanks to a dedicated perception equipment. This mode is mainly based on the use of perceptive data, without any communication link between leader and follower (to lower the cost of future mass development and extend the operational capabilities). Delayed follower: the leader records its path and transmits it to the follower; the follower is able to follow the recorded trajectory again at any delayed time. This mode uses localization data got from inertial measurements. The paper presents both modes with detailed algorithms and the results got from the military acceptance tests performed on wheeled 4x4 vehicles (DARDS French ATD).

Situational awareness for unmanned ground vehicles in semi-structured environments

NASA Astrophysics Data System (ADS)

Goodsell, Thomas G.; Snorrason, Magnus; Stevens, Mark R.

2002-07-01

Situational Awareness (SA) is a critical component of effective autonomous vehicles, reducing operator workload and allowing an operator to command multiple vehicles or simultaneously perform other tasks. Our Scene Estimation & Situational Awareness Mapping Engine (SESAME) provides SA for mobile robots in semi-structured scenes, such as parking lots and city streets. SESAME autonomously builds volumetric models for scene analysis. For example, a SES-AME equipped robot can build a low-resolution 3-D model of a row of cars, then approach a specific car and build a high-resolution model from a few stereo snapshots. The model can be used onboard to determine the type of car and locate its license plate, or the model can be segmented out and sent back to an operator who can view it from different viewpoints. As new views of the scene are obtained, the model is updated and changes are tracked (such as cars arriving or departing). Since the robot's position must be accurately known, SESAME also has automated techniques for deter-mining the position and orientation of the camera (and hence, robot) with respect to existing maps. This paper presents an overview of the SESAME architecture and algorithms, including our model generation algorithm.

Improving the Future of the Army’s Future Combat Systems Program

DTIC Science & Technology

2009-06-01

that the Army will not be able to afford to focus on both its needs in Iraq and Afghanistan and its long-term vision of the future as if they were...and conventional fights. ‘After receiving situational awareness reports from the FCS network, the NLOS-C will be able to put precision fires on...defuse mines. 17 • Small Unmanned Ground Vehicle (SUGV), which is a lightweight robot designed to be man-portable and to be able to scout ahead of

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

Improving Situational Awareness in the Counter-IED Fight with the Utilization of Unmanned Sensor Systems

DTIC Science & Technology

2009-06-01

Resistant Ambush Protected (MRAP) vehicles, which were designed to withstand an antitank mine (Eisler, 2007). An EFP can penetrate a thickness of armored...These robots weigh less than 100 pounds, are man-portable, and move on small treads with seven speed settings. The TALON is controlled with a...is powered by a two-stroke piston engine and has a steerable nose and main gear, with tires suitable for rough terrain. The Tern utilizes a GPS

Small Business Innovations

NASA Technical Reports Server (NTRS)

1995-01-01

The PER-Force Handcontroller was originally developed for the International Space Station under a Johnson Space Center Small Business Innovation Research (SBIR) contract. Produced by Cybernet Systems Corporation, the unit is a force-reflecting system that manipulates robots or objects by "feel." The Handcontroller moves in six degrees of freedom, with real and virtual reality forces simulated by a 3-D molecular modeling software package. It is used in molecular modeling in metallurgy applications, satellite docking research, and in research on military unmanned ground vehicles.

Counter tunnel exploration, mapping, and localization with an unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Larson, Jacoby; Okorn, Brian; Pastore, Tracy; Hooper, David; Edwards, Jim

2014-06-01

Covert, cross-border tunnels are a security vulnerability that enables people and contraband to illegally enter the United States. All of these tunnels to-date have been constructed for the purpose of drug smuggling, but they may also be used to support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally suited to the cross-border tunnel environment. The Counter Tunnel project was sponsored by the Office of Secretary of Defense (OSD) Joint Ground Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of tunnels. The purpose of this system is to provide a safe and effective solution for three-dimensional (3D) localization, mapping, and characterization of a tunnel environment. The system is composed of the robotic mobility platform, the mapping sensor payload, and the delivery apparatus. The system is able to deploy and retrieve the robotic mobility platform through a 20-cm-diameter borehole into the tunnel. This requirement posed many challenges in order to design and package the sensor and robotic system to fit through this narrow opening and be able to perform the mission. This paper provides a short description of a few aspects of the Counter Tunnel system such as mobility, perception, and localization, which were developed to meet the unique challenges required to access, explore, and map tunnel environments.

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, James; Houdou, Bérengère; Fisackerly, Richard; De Rosa, Diego; Patti, Bernardo; Schiemann, Jens; Hufenbach, Bernhard; Foing, Bernard

2015-04-01

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the Russian led science payload, focusing on developing an characterising the resource opportunities offered at the lunar surface. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. In the frame of a broader future international programme under discussion through the International Space Exploration Coordination Group (ISECG) future missions are under investigation that would provide access to the lunar surface through international cooperation and human-robotic partnerships.

Survey on the novel hybrid aquatic-aerial amphibious aircraft: Aquatic unmanned aerial vehicle (AquaUAV)

NASA Astrophysics Data System (ADS)

Yang, Xingbang; Wang, Tianmiao; Liang, Jianhong; Yao, Guocai; Liu, Miao

2015-04-01

The aquatic unmanned aerial vehicle (AquaUAV), a kind of vehicle that can operate both in the air and the water, has been regarded as a new breakthrough to broaden the application scenario of UAV. Wide application prospects in military and civil field are more than bright, therefore many institutions have focused on the development of such a vehicle. However, due to the significant difference of the physical properties between the air and the water, it is rather difficult to design a fully-featured AquaUAV. Until now, majority of partially-featured AquaUAVs have been developed and used to verify the feasibility of an aquatic-aerial vehicle. In the present work, we classify the current partially-featured AquaUAV into three categories from the scope of the whole UAV field, i.e., the seaplane UAV, the submarine-launched UAV, and the submersible UAV. Then the recent advancements and common characteristics of the three kinds of AquaUAVs are reviewed in detail respectively. Then the applications of bionics in the design of AquaUAV, the transition mode between the air and the water, the morphing wing structure for air-water adaptation, and the power source and the propulsion type are summarized and discussed. The tradeoff analyses for different transition methods between the air and the water are presented. Furthermore, it indicates that applying the bionics into the design and development of the AquaUAV will be essential and significant. Finally, the significant technical challenges for the AquaUAV to change from a conception to a practical prototype are indicated.

Passenger carrying submersibles : system safety analysis

DOT National Transportation Integrated Search

1989-08-01

During the past few years, several private companies have been using passenger carrying submersibles to conduct underwater sightseeing tours for tourists. For submersible operations under U.S. jurisdiction, the Coast Guard is required by law to estab...

Mobile Robotics Activities in DOE Laboratories

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

Ron Lujan; Jerry Harbour; John T. Feddema

This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV’s) as well as Unmanned Air Vehicles (UAV’s). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM)1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion andmore » advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV’s and UAV’s. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.« less

Neural Network Based Sensory Fusion for Landmark Detection

NASA Technical Reports Server (NTRS)

Kumbla, Kishan -K.; Akbarzadeh, Mohammad R.

1997-01-01

NASA is planning to send numerous unmanned planetary missions to explore the space. This requires autonomous robotic vehicles which can navigate in an unstructured, unknown, and uncertain environment. Landmark based navigation is a new area of research which differs from the traditional goal-oriented navigation, where a mobile robot starts from an initial point and reaches a destination in accordance with a pre-planned path. The landmark based navigation has the advantage of allowing the robot to find its way without communication with the mission control station and without exact knowledge of its coordinates. Current algorithms based on landmark navigation however pose several constraints. First, they require large memories to store the images. Second, the task of comparing the images using traditional methods is computationally intensive and consequently real-time implementation is difficult. The method proposed here consists of three stages, First stage utilizes a heuristic-based algorithm to identify significant objects. The second stage utilizes a neural network (NN) to efficiently classify images of the identified objects. The third stage combines distance information with the classification results of neural networks for efficient and intelligent navigation.

Intelligent vehicle control: Opportunities for terrestrial-space system integration

NASA Technical Reports Server (NTRS)

Shoemaker, Charles

1994-01-01

For 11 years the Department of Defense has cooperated with a diverse array of other Federal agencies including the National Institute of Standards and Technology, the Jet Propulsion Laboratory, and the Department of Energy, to develop robotics technology for unmanned ground systems. These activities have addressed control system architectures supporting sharing of tasks between the system operator and various automated subsystems, man-machine interfaces to intelligent vehicles systems, video compression supporting vehicle driving in low data rate digital communication environments, multiple simultaneous vehicle control by a single operator, path planning and retrace, and automated obstacle detection and avoidance subsystem. Performance metrics and test facilities for robotic vehicles were developed permitting objective performance assessment of a variety of operator-automated vehicle control regimes. Progress in these areas will be described in the context of robotic vehicle testbeds specifically developed for automated vehicle research. These initiatives, particularly as regards the data compression, task sharing, and automated mobility topics, also have relevance in the space environment. The intersection of technology development interests between these two communities will be discussed in this paper.

SAFER vehicle inspection: a multimodal robotic sensing platform

NASA Astrophysics Data System (ADS)

Page, David L.; Fougerolle, Yohan; Koschan, Andreas F.; Gribok, Andrei; Abidi, Mongi A.; Gorsich, David J.; Gerhart, Grant R.

2004-09-01

The current threats to U.S. security both military and civilian have led to an increased interest in the development of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and national laboratories. As a result, the Imaging, Robotics, and Intelligent Systems (IRIS) Laboratory at The University of Tennessee (UT) has established a research consortium, known as SAFER (Security Automation and Future Electromotive Robotics), to develop, test, and deploy sensing and imaging systems for unmanned ground vehicles (UGV). The targeted missions for these UGV systems include -- but are not limited to --under vehicle threat assessment, stand-off check-point inspections, scout surveillance, intruder detection, obstacle-breach situations, and render-safe scenarios. This paper presents a general overview of the SAFER project. Beyond this general overview, we further focus on a specific problem where we collect 3D range scans of under vehicle carriages. These scans require appropriate segmentation and representation algorithms to facilitate the vehicle inspection process. We discuss the theory for these algorithms and present results from applying them to actual vehicle scans.

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.

ODIS the under-vehicle inspection robot: development status update

NASA Astrophysics Data System (ADS)

Freiburger, Lonnie A.; Smuda, William; Karlsen, Robert E.; Lakshmanan, Sridhar; Ma, Bing

2003-09-01

Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. Robots can be employed for a host of terrorism deterrence and detection applications. As reported in last year's Aerosense conference, the U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) and Utah State University (USU) have developed a tele-operated robot called ODIS (Omnidirectional Inspection System) that is particularly effective in performing under-vehicle inspections at security checkpoints. ODIS' continuing development for this task is heavily influenced by feedback received from soldiers and civilian law enforcement personnel using ODIS-prototypes in an operational environment. Our goal is to convince civilian law enforcement and military police to replace the traditional "mirror on a stick" system of looking under cars for bombs and contraband with ODIS. This paper reports our efforts in the past one year in terms of optimizing ODIS for the visual inspection task. Of particular concern is the design of the vision system. This paper documents details on the various issues relating to ODIS' vision system - sensor, lighting, image processing, and display.

Common world model for unmanned systems

NASA Astrophysics Data System (ADS)

Dean, Robert Michael S.

2013-05-01

The Robotic Collaborative Technology Alliance (RCTA) seeks to provide adaptive robot capabilities which move beyond traditional metric algorithms to include cognitive capabilities. Key to this effort is the Common World Model, which moves beyond the state-of-the-art by representing the world using metric, semantic, and symbolic information. It joins these layers of information to define objects in the world. These objects may be reasoned upon jointly using traditional geometric, symbolic cognitive algorithms and new computational nodes formed by the combination of these disciplines. The Common World Model must understand how these objects relate to each other. Our world model includes the concept of Self-Information about the robot. By encoding current capability, component status, task execution state, and histories we track information which enables the robot to reason and adapt its performance using Meta-Cognition and Machine Learning principles. The world model includes models of how aspects of the environment behave, which enable prediction of future world states. To manage complexity, we adopted a phased implementation approach to the world model. We discuss the design of "Phase 1" of this world model, and interfaces by tracing perception data through the system from the source to the meta-cognitive layers provided by ACT-R and SS-RICS. We close with lessons learned from implementation and how the design relates to Open Architecture.

Validation of Underwater Sensor Package Using Feature Based SLAM

PubMed Central

Cain, Christopher; Leonessa, Alexander

2016-01-01

Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

Geostationary platform study: Advanced ESGP/evolutionary SSF accommodation study

NASA Technical Reports Server (NTRS)

1990-01-01

The implications on the evolutionary space station of accommodating geosynchronous Earth Orbit (GEO) facilities including unmanned satellites and platforms, manned elements, and transportation and servicing vehicles/elements. The latest existing definitions of typical unmanned GEO facilities and transportation and servicing vehicles/elements are utilized. The physical design, functional design, and operations implications at the space station are determined. Various concepts of the space station from past studies are utilized ranging from the IOC Multifunction Space Station to a branched transportation node space station, and the implications of the accommodation the GEO infrastructure of each type are assessed. Where possible, parametric data are provided to show the implications of variations in sizes and quantities of elements, launch rates, crew sizes, etc. The use of advanced automation, robotics equipment, and an efficient mix of manned/automated support for accomplishing necessary activities at the space station are identified and assessed. The products of this study are configuration sketches, resource requirements, trade studies, and parametric data.

InPRO: Automated Indoor Construction Progress Monitoring Using Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Hamledari, Hesam

In this research, an envisioned automated intelligent robotic solution for automated indoor data collection and inspection that employs a series of unmanned aerial vehicles (UAV), entitled "InPRO", is presented. InPRO consists of four stages, namely: 1) automated path planning; 2) autonomous UAV-based indoor inspection; 3) automated computer vision-based assessment of progress; and, 4) automated updating of 4D building information models (BIM). The works presented in this thesis address the third stage of InPRO. A series of computer vision-based methods that automate the assessment of construction progress using images captured at indoor sites are introduced. The proposed methods employ computer vision and machine learning techniques to detect the components of under-construction indoor partitions. In particular, framing (studs), insulation, electrical outlets, and different states of drywall sheets (installing, plastering, and painting) are automatically detected using digital images. High accuracy rates, real-time performance, and operation without a priori information are indicators of the methods' promising performance.

Future of robotic space exploration: visions and prospects

NASA Astrophysics Data System (ADS)

Haidegger, Tamas

Autonomous and remote controlled mobile robots and manipulators have already proved their utility throughout several successful national and international space missions. NASA and ESA both sent robots and probes to Mars and beyond in the past years, and the Space Shuttle and Space Station Remote Manipulator Systems brought recognition to CSA. These achievements gained public attention and acknowledgement; however, all are based on technologies developed decades ago. Even the Canadian Dexter robotic arm-to be delivered to the International Space Station this year-had been completed many years ago. In the past decade robotics has become ubiquitous, and the speed of development has increased significantly, opening space for grandiose future plans of autonomous exploration missions. In the mean time, space agencies throughout the world insist on running their own costly human space flight programs. A recent workshop at NASA dealing with the issue stated that the primary reason behind US human space exploration is not science; rather the USA wants to maintain its international leadership in this field. A second space-race may fall upon us, fueled by the desire of the developing space powers to prove their capabilities, mainly driven by national pride. The aim of the paper is to introduce the upcoming unmanned space exploration scenarios that are already feasible with present day robotic technology and to show their humandriven alternatives. Astronauts are to conquer Mars in the foreseeable future, in but robots could go a lot further already. Serious engineering constraints and possibilities are to be discussed, along with issues beyond research and development. Future mission design planning must deal with both the technological and political aspects of space. Compromising on the scientific outcome may pay well by taking advantage of public awareness and nation and international interests.

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.

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.

Exploring Ackermann and LQR stability control of stochastic state-space model of hexacopter equipped with robotic arm

NASA Astrophysics Data System (ADS)

Ibrahim, I. N.; Akkad, M. A. Al; Abramov, I. V.

2018-05-01

This paper discusses the control of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects. The manipulator motion with an unknown payload was analysed concerning force and moment disturbances, which influence the mass distribution, and the centre of gravity (CG). Therefore, a general dynamics mathematical model of a hexacopter was formulated where a stochastic state-space model was extracted in order to build anti-disturbance controllers. Based on the compound pendulum method, the disturbances model that simulates the robotic arm with a payload was inserted into the stochastic model. This study investigates two types of controllers in order to study the stability of a hexacopter. A controller based on Ackermann’s method and the other - on the linear quadratic regulator (LQR) approach - were presented. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.

Human-like characteristics for high degree of freedom robotic door-opening end-effector

NASA Astrophysics Data System (ADS)

Gray, Jeremy P.; Campagna, Frank

2011-05-01

In the field of military Unmanned Ground Vehicles (UGV's), military units are forced to sweep largely populated cities and towns in search of hostile enemies. These urban types of operations are referred to as MOUT (Military Operations on Urban Terrain). During urban operations, these UGV's encounter difficulties when opening doors. Current manipulator end effectors have these difficulties, because they are not designed to mimic human hand operations. This paper explains the mechanical nature of the Modular Universal Door Opening End-effector (MUDOE). MUDOE is a result of our development research to improve robotic manipulators ability to negotiate closed doors. The presented solution has the ability to mimic human hand characteristics when opening doors. The end-effector possesses an ability to maintain a high Degree of Freedom (DoF), and grasp the doorknob by applying equally distributed forces to all points of contact.

Speech and gesture interfaces for squad-level human-robot teaming

NASA Astrophysics Data System (ADS)

Harris, Jonathan; Barber, Daniel

2014-06-01

As the military increasingly adopts semi-autonomous unmanned systems for military operations, utilizing redundant and intuitive interfaces for communication between Soldiers and robots is vital to mission success. Currently, Soldiers use a common lexicon to verbally and visually communicate maneuvers between teammates. In order for robots to be seamlessly integrated within mixed-initiative teams, they must be able to understand this lexicon. Recent innovations in gaming platforms have led to advancements in speech and gesture recognition technologies, but the reliability of these technologies for enabling communication in human robot teaming is unclear. The purpose for the present study is to investigate the performance of Commercial-Off-The-Shelf (COTS) speech and gesture recognition tools in classifying a Squad Level Vocabulary (SLV) for a spatial navigation reconnaissance and surveillance task. The SLV for this study was based on findings from a survey conducted with Soldiers at Fort Benning, GA. The items of the survey focused on the communication between the Soldier and the robot, specifically in regards to verbally instructing them to execute reconnaissance and surveillance tasks. Resulting commands, identified from the survey, were then converted to equivalent arm and hand gestures, leveraging existing visual signals (e.g. U.S. Army Field Manual for Visual Signaling). A study was then run to test the ability of commercially available automated speech recognition technologies and a gesture recognition glove to classify these commands in a simulated intelligence, surveillance, and reconnaissance task. This paper presents classification accuracy of these devices for both speech and gesture modalities independently.

Activation patterns of cells in selected brain stem nuclei of more and less stress responsive rats in two animal models of PTSD - predator exposure and submersion stress.

PubMed

Adamec, Robert; Toth, Mate; Haller, Jozsef; Halasz, Jozsef; Blundell, Jacqueline

2012-02-01

This study had two purposes. First: compare predator and water submersion stress cFos activation patterns in dorsal raphe (DR), locus coeruleus (LC) and periaqueductal gray (PAG). Second: identify markers of vulnerability to stressors within these areas. Rats were either predator or submersion stressed and tested 1.75 h later for anxiety-like behavior. Immediately thereafter, rats were sacrificed and cFos expression examined. In DR, serotonergic cells expressing or not expressing cFos were also counted. Predator and submersion stress increased anxiety-like behavior (in the elevated plus maze- EPM) equally over controls. Moreover, stressed rats spent equally less time in the center of the hole board than handled controls, another indication of increased anxiety-like behavior. To examine vulnerability, rats which were less anxious (LA) and more (highly) anxious (MA) in the EPM were selected from among handled control and stressed animals. LA rats in the stressed groups were considered stress non-responsive and MA stressed rats were considered stress responsive. LA and MA rats did not differ in cFos expression in any brain area, though stressors did increase cFos cell counts in all areas over controls. Intriguingly, the number of serotonergic DR neurons not activated by stress predicted degree of anxiety response to submersion stress only. LA submersion stressed rats had more serotonergic cells than all other groups, and MA submersion stressed rats had fewer serotonergic cells than all other groups, which did not differ. Moreover, these cell counts correlated with EPM anxiety. We conclude that a surplus of such cells protects against anxiogenic effects of submersion, while a paucity of such cells enhances vulnerability to submersion stress. Other data suggest serotonergic cells may exert their effects via inhibition of dorsolateral PAG cells during submersion stress. Findings are discussed with respect to serotonergic transmission in vulnerability to predator stress and relevance of findings for post traumatic stress disorder (PTSD). This article is part of a Special Issue entitled 'Post-Traumatic Stress Disorder'. Copyright © 2010 Elsevier Ltd. All rights reserved.

Submersion criticality safety of tungsten-rhenium urania cermet fuel for space propulsion and power applications

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

A.E. Craft; R. C. O'Brien; S. D. Howe

Nuclear thermal rockets are the preferred propulsion technology for a manned mission to Mars, and tungsten–uranium oxide cermet fuels could provide significant performance and cost advantages for nuclear thermal rockets. A nuclear reactor intended for use in space must remain subcritical before and during launch, and must remain subcritical in launch abort scenarios where the reactor falls back to Earth and becomes submerged in terrestrial materials (including seawater, wet sand, or dry sand). Submersion increases reflection of neutrons and also thermalizes the neutron spectrum, which typically increases the reactivity of the core. This effect is typically very significant for compact,more » fast-spectrum reactors. This paper provides a submersion criticality safety analysis for a representative tungsten/uranium oxide fueled reactor with a range of fuel compositions. Each submersion case considers both the rhenium content in the matrix alloy and the uranium oxide volume fraction in the cermet. The inclusion of rhenium significantly improves the submersion criticality safety of the reactor. While increased uranium oxide content increases the reactivity of the core, it does not significantly affect the submersion behavior of the reactor. There is no significant difference in submersion behavior between reactors with rhenium distributed within the cermet matrix and reactors with a rhenium clad in the coolant channels. The combination of the flooding of the coolant channels in submersion scenarios and the presence of a significant amount of spectral shift absorbers (i.e. high rhenium concentration) further decreases reactivity for short reactor cores compared to longer cores.« less

Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

NASA Astrophysics Data System (ADS)

Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

2003-09-01

As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.

Semantic Likelihood Models for Bayesian Inference in Human-Robot Interaction

NASA Astrophysics Data System (ADS)

Sweet, Nicholas

Autonomous systems, particularly unmanned aerial systems (UAS), remain limited in au- tonomous capabilities largely due to a poor understanding of their environment. Current sensors simply do not match human perceptive capabilities, impeding progress towards full autonomy. Recent work has shown the value of humans as sources of information within a human-robot team; in target applications, communicating human-generated 'soft data' to autonomous systems enables higher levels of autonomy through large, efficient information gains. This requires development of a 'human sensor model' that allows soft data fusion through Bayesian inference to update the probabilistic belief representations maintained by autonomous systems. Current human sensor models that capture linguistic inputs as semantic information are limited in their ability to generalize likelihood functions for semantic statements: they may be learned from dense data; they do not exploit the contextual information embedded within groundings; and they often limit human input to restrictive and simplistic interfaces. This work provides mechanisms to synthesize human sensor models from constraints based on easily attainable a priori knowledge, develops compression techniques to capture information-dense semantics, and investigates the problem of capturing and fusing semantic information contained within unstructured natural language. A robotic experimental testbed is also developed to validate the above contributions.

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.

PubMed

Son, Hyoung Il; Franchi, Antonio; Chuang, Lewis L; Kim, Junsuk; Bulthoff, Heinrich H; Giordano, Paolo Robuffo

2013-04-01

In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.

Parametric study on the vortex-induced motions of semi-submersibles: Effect of rounded ratios of the column and pontoon

NASA Astrophysics Data System (ADS)

Liu, Mingyue; Xiao, Longfei; Yang, Jianmin; Tian, Xinliang

2017-05-01

The vortex-induced motions (VIMs) of semi-submersibles have emerged as an important issue in offshore engineering, as they pose a threat to safe and reliable operations and severely affect the fatigue lives of risers and mooring systems. The VIM response depends on the shape of the submerged structure and thus is significantly influenced by the design parameters related to the columns and pontoons. Numerical simulations by the detached Eddy simulation method are validated by experimental data and then used for parametric analysis of the VIM performance of various semi-submersibles with different column rounded ratios (Rc/L ) and pontoon rounded ratios (Rp/Lp ). The results show that the transverse amplitudes of a semi-submersible with circular columns at a 0° current heading are twice as large as those at a 45° current heading. However, the semi-submersible with rounded square columns shows more significant transverse motions at a 45° current heading than at a 0° current heading. Furthermore, at the 45° current heading, the transverse amplitudes of the semi-submersibles show a rapid increase as the column radius increases in the range of Rc/L <0.1 . The peak values remain roughly the same for 0.1 ≤Rc/L ≤0.2 and then decrease as the column radius increases (Rc/L ≥0.3 ). In addition, the effect of the pontoon shape on the transverse response is negligible for semi-submersibles with sharp square columns, while for semi-submersibles with rounded square columns or circular columns, the sharp rectangular pontoons greatly mitigate the VIM response.

Collaborative autonomous sensing with Bayesians in the loop

NASA Astrophysics Data System (ADS)

Ahmed, Nisar

2016-10-01

There is a strong push to develop intelligent unmanned autonomy that complements human reasoning for applications as diverse as wilderness search and rescue, military surveillance, and robotic space exploration. More than just replacing humans for `dull, dirty and dangerous' work, autonomous agents are expected to cope with a whole host of uncertainties while working closely together with humans in new situations. The robotics revolution firmly established the primacy of Bayesian algorithms for tackling challenging perception, learning and decision-making problems. Since the next frontier of autonomy demands the ability to gather information across stretches of time and space that are beyond the reach of a single autonomous agent, the next generation of Bayesian algorithms must capitalize on opportunities to draw upon the sensing and perception abilities of humans-in/on-the-loop. This work summarizes our recent research toward harnessing `human sensors' for information gathering tasks. The basic idea behind is to allow human end users (i.e. non-experts in robotics, statistics, machine learning, etc.) to directly `talk to' the information fusion engine and perceptual processes aboard any autonomous agent. Our approach is grounded in rigorous Bayesian modeling and fusion of flexible semantic information derived from user-friendly interfaces, such as natural language chat and locative hand-drawn sketches. This naturally enables `plug and play' human sensing with existing probabilistic algorithms for planning and perception, and has been successfully demonstrated with human-robot teams in target localization applications.

Cooling devices and methods for use with electric submersible pumps

DOEpatents

Jankowski, Todd A; Hill, Dallas D

2014-12-02

Cooling devices for use with electric submersible pump motors include a refrigerator attached to the end of the electric submersible pump motor with the evaporator heat exchanger accepting all or a portion of the heat load from the motor. The cooling device can be a self-contained bolt-on unit, so that minimal design changes to existing motors are required.

Cooling devices and methods for use with electric submersible pumps

DOEpatents

Jankowski, Todd A.; Hill, Dallas D.

2016-07-19

Cooling devices for use with electric submersible pump motors include a refrigerator attached to the end of the electric submersible pump motor with the evaporator heat exchanger accepting all or a portion of the heat load from the motor. The cooling device can be a self-contained bolt-on unit, so that minimal design changes to existing motors are required.

Fuel-Cell Propulsion for Small Manned Submersibles.

DTIC Science & Technology

1979-05-12

6 Table of Figu--.. . .. . ..... ................... 7 Introduction ........... ...................... 8 Chapter I. Submersibles and...wooden hull, and although the vessel’s dimensions are not known, she was capable of carrying twelve people surviving on the "quint- essence of air...capacility with the submersibles Sea Cliff, Turtle, Trieste, and the nuclear-powered NR-l presently operational. ( 7 In the seventies, the U.S. Navy also

Submersible Aircraft Concept Design Study

DTIC Science & Technology

2010-08-01

capable of submerging at the expense of in-air efficiency; 2. creating a low density submersible requiring dynamic lift to stay submerged at the...density solution would require some additional submergence force. Whilst dynamic lift underwater could be easily achieved by the already present...turbo-prop characteristics for the submersible aircraft concept. Turbo-props are typically specified in terms of shaft horse power ( shp ) rather than

Use of submersible pressure transducers in water-resources investigations

USGS Publications Warehouse

Freeman, Lawrence A.; Carpenter, Michael C.; Rosenberry, Donald O.; Rousseau, Joseph P.; Unger, Randy; McLean, John S.

2004-01-01

Submersible pressure transducers, developed in the early 1960s, have made the collection of water-level and pressure data much more convenient than former methods. Submersible pressure transducers, when combined with electronic data recorders have made it possible to collect continuous or nearly continuous water-level or pressure data from wells, piezometers, soil-moisture tensiometers, and surface water gages. These more frequent measurements have led to an improved understanding of the hydraulic processes in streams, soils, and aquifers. This manual describes the operational theory behind submersible pressure transducers and provides information about their use in hydrologic investigations conducted by the U.S. Geological Survey.

Comparison of passive diffusion bag samplers and submersible pump sampling methods for monitoring volatile organic compounds in ground water at Area 6, Naval Air Station, Whidbey Island, Washington

USGS Publications Warehouse

Huffman, Raegan L.

2002-01-01

Ground-water samples were collected in April 1999 at Naval Air Station Whidbey Island, Washington, with passive diffusion samplers and a submersible pump to compare concentrations of volatile organic compounds (VOCs) in water samples collected using the two sampling methods. Single diffusion samplers were installed in wells with 10-foot screened intervals, and multiple diffusion samplers were installed in wells with 20- to 40-foot screened intervals. The diffusion samplers were recovered after 20 days and the wells were then sampled using a submersible pump. VOC concentrations in the 10-foot screened wells in water samples collected with diffusion samplers closely matched concentrations in samples collected with the submersible pump. Analysis of VOC concentrations in samples collected from the 20- to 40-foot screened wells with multiple diffusion samplers indicated vertical concentration variation within the screened interval, whereas the analysis of VOC concentrations in samples collected with the submersible pump indicated mixing during pumping. The results obtained using the two sampling methods indicate that the samples collected with the diffusion samplers were comparable with and can be considerably less expensive than samples collected using a submersible pump.

U.S. draws blueprints for first lunar base

NASA Astrophysics Data System (ADS)

Asker, James R.

1992-08-01

NASA's space exploration office has charted a detailed program to return astronauts to the moon to establish a permanent base that would allow humans and machines to perform a wide range of science activities. The base would serve as a test site for the hardware and techniques that would be used by the first explorers on Mars. The primary mission, named the First Lunar Outpost, starts with unmanned precursor missions of small, lunar orbiting spacecraft, followed by robotic and teleoperating missions on the lunar surface, with astronauts then returning to the moon before the end of the decade.

NASA-STD-(I)-6016, Standard Materials and Processes Requirements for Spacecraft

NASA Technical Reports Server (NTRS)

Pedley, Michael; Griffin, Dennis

2006-01-01

This document is directed toward Materials and Processes (M&P) used in the design, fabrication, and testing of flight components for all NASA manned, unmanned, robotic, launch vehicle, lander, in-space and surface systems, and spacecraft program/project hardware elements. All flight hardware is covered by the M&P requirements of this document, including vendor designed, off-the-shelf, and vendor furnished items. Materials and processes used in interfacing ground support equipment (GSE); test equipment; hardware processing equipment; hardware packaging; and hardware shipment shall be controlled to prevent damage to or contamination of flight hardware.

Vision systems for manned and robotic ground vehicles

NASA Astrophysics Data System (ADS)

Sanders-Reed, John N.; Koon, Phillip L.

2010-04-01

A Distributed Aperture Vision System for ground vehicles is described. An overview of the hardware including sensor pod, processor, video compression, and displays is provided. This includes a discussion of the choice between an integrated sensor pod and individually mounted sensors, open architecture design, and latency issues as well as flat panel versus head mounted displays. This technology is applied to various ground vehicle scenarios, including closed-hatch operations (operator in the vehicle), remote operator tele-operation, and supervised autonomy for multi-vehicle unmanned convoys. In addition, remote vision for automatic perimeter surveillance using autonomous vehicles and automatic detection algorithms is demonstrated.

Landmark-based robust navigation for tactical UGV control in GPS-denied communication-degraded environments

NASA Astrophysics Data System (ADS)

Endo, Yoichiro; Balloch, Jonathan C.; Grushin, Alexander; Lee, Mun Wai; Handelman, David

2016-05-01

Control of current tactical unmanned ground vehicles (UGVs) is typically accomplished through two alternative modes of operation, namely, low-level manual control using joysticks and high-level planning-based autonomous control. Each mode has its own merits as well as inherent mission-critical disadvantages. Low-level joystick control is vulnerable to communication delay and degradation, and high-level navigation often depends on uninterrupted GPS signals and/or energy-emissive (non-stealth) range sensors such as LIDAR for localization and mapping. To address these problems, we have developed a mid-level control technique where the operator semi-autonomously drives the robot relative to visible landmarks that are commonly recognizable by both humans and machines such as closed contours and structured lines. Our novel solution relies solely on optical and non-optical passive sensors and can be operated under GPS-denied, communication-degraded environments. To control the robot using these landmarks, we developed an interactive graphical user interface (GUI) that allows the operator to select landmarks in the robot's view and direct the robot relative to one or more of the landmarks. The integrated UGV control system was evaluated based on its ability to robustly navigate through indoor environments. The system was successfully field tested with QinetiQ North America's TALON UGV and Tactical Robot Controller (TRC), a ruggedized operator control unit (OCU). We found that the proposed system is indeed robust against communication delay and degradation, and provides the operator with steady and reliable control of the UGV in realistic tactical scenarios.

Swarm formation control utilizing elliptical surfaces and limiting functions.

PubMed

Barnes, Laura E; Fields, Mary Anne; Valavanis, Kimon P

2009-12-01

In this paper, we present a strategy for organizing swarms of unmanned vehicles into a formation by utilizing artificial potential fields that were generated from normal and sigmoid functions. These functions construct the surface on which swarm members travel, controlling the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm control by modifying and adjusting a set of control variables that force the swarm to behave according to set constraints, formation, and member spacing. The artificial potential functions and limiting functions are combined to control swarm formation, orientation, and swarm movement as a whole. Parameters are chosen based on desired formation and user-defined constraints. This approach is computationally efficient and scales well to different swarm sizes, to heterogeneous systems, and to both centralized and decentralized swarm models. Simulation results are presented for a swarm of 10 and 40 robots that follow circle, ellipse, and wedge formations. Experimental results are included to demonstrate the applicability of the approach on a swarm of four custom-built unmanned ground vehicles (UGVs).

Atmospheric Sampling of Microorganisms with UAS

NASA Astrophysics Data System (ADS)

Schmale, D. G., III

2017-12-01

Many microorganisms relevant to crops, domestic animals, and humans are transported over long distances through the atmosphere. Some of these atmospheric microbes catalyze the freezing of water at higher temperatures and facilitate the onset of precipitation. A few have crossed continents. New technologies are needed to study the movement of microorganisms in the atmosphere. We have used unmanned aircraft systems (UAS) to study the transport of microorganisms tens to hundreds of meters above the ground. These UAS are equipped with unique devices for collecting microbes in the atmosphere during flight. Autonomous systems enable teams of UAS to perform complex atmospheric sampling tasks, and coordinate flight missions with one another. Data collected with UAS can be used to validate and improve disease forecasting models along highways in the sky, connecting transport scales across farms, states, and continents. Though terrestrial environments are often considered a major contributor to atmospheric microbial aerosols, little is known about aquatic sources of microbial aerosols. Droplets containing microorganisms can aerosolize from the water surface, liberating them into the atmosphere. We are using teams of unmanned surface vehicles (USVs) and UAS to study the aerosolization of microbes from aquatic environments. Controlled flume studies using highspeed video have allowed us to observe unique aerosolization phenomena that can launch microbes out of the water and into the air. Unmanned systems may be used to excite the next generation of biologists and engineers, and raise important ethical considerations about the future of human-robot interactions.

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

The dynamic improvement methods of energy efficiency and reliability of oil production submersible electric motors

NASA Astrophysics Data System (ADS)

Romanov, V. S.; Goldstein, V. G.

2018-01-01

In the organization of production and operation of submersible electric motors (ESP), as the most essential element of electric submersible plants (ESP) in the oil industry, it is necessary to consider specific operating conditions. The submersible electric motors (SEM) as most essential element of electrosubmersible installations (EI) in oil branch accounting of operation specific conditions is necessary in the process production and operation. They are determined by the conditions under which the EPU is operated. They are defined by the EPU operation conditions. For a complete picture the current state of the SED fleet in oil production, the results of its statistical analysis are given. For a comprehensive idea of the SEM park current state the results of statistical analysis are given in oil production. Currently, assessed the performance of submersible equipment produced by major manufacturers. Currently the operational characteristics assessment of the submersible equipment released by the main producers is given. It is stated that standard equipment cannot fully ensure efficient operation with the help of serial EIs, therefore new technologies and corresponding equipment are required to be developed. It is noted that the standard equipment could not provide fully effective operation by means of serial ESP therefore new technologies development and the corresponding equipment are required.

Target deployment and retrieval using JIAOLONG manned submersible in the depth of 6600 m in Mariana Trench

NASA Astrophysics Data System (ADS)

Gao, Xiang; Ding, Kang; Ren, Yu-gang; Fu, Wen-tao; Ding, Zhong-jun; Zhao, Sheng-ya; Liu, Bao-hua

2017-10-01

China's 7000 m manned submersible JIAOLONG carried out an exploration cruise at the Mariana Trench from June to July 2016. The submersible completed nine manned dives on the north and south area of the Mariana Trench from the depth of 5500 to 6700 m, to investigate the geological, biological and chemical characteristics in the hadal area. During the cruise, JIAOLONG deployed a gas-tight serial sampler to collect the water near the sea bottom regularly. Five days later, the sub located the sampler in another dive and retrieved it successfully from the same location, which is the first time that scientists and engineers finished the high accuracy in-situ deployment and retrieval using a manned submersible with Ultra-Short Base Line (USBL) positioning system at the depth more than 6600 m. In this task, we used not only the USBL system of the manned submersible but also a compound strategy, including five position marks, the sea floor terrain, the depth contour, and the heading of the sub. This paper introduces the compound strategy of the target deployment and retrieval with the practical diving experience of JIAOLONG, and provides a promising technique for other underwater vehicles such as manned submersible or Remote Operated Vehicle (ROV) under similar conditions.

Drowning and near-drowning: experience of a university hospital in the Black Sea region.

PubMed

Güzel, Ahmet; Duran, Latif; Paksu, Sule; Akdemir, Hızır Ufuk; Paksu, Muhammet Şükrü; Katı, Celal; Başol, Nurşah; Yılman, Metehan; Özsevik, Sevinç Nursev; Murat, Naci

2013-01-01

The aim of the study was to describe the characteristics of patients who applied to the Emergency Department (ED) due to submersion injury; to recognize the risk factors, complications, causes of death, and the educational needs of families and caregivers about unsafe environments for submersion; and to develop preventive strategies. All patients were analyzed retrospectively according to demographic features, clinical and laboratory findings, association between clinical variables and submersion injuries, and patient outcomes. Fifty-five patients with submersion injury were analyzed. The mean age of patients was 10.9 ± 4.7 years. The most common Szpilman clinical scores were Grade 1 (24 patients, 43.8%), Grade 2 (15 patients, 27.3%), and Grade 5 (10 patients, 18.2%). The common location of the submersion injuries included the sea (74.5%), pool (18.4%), bathtub (7.3%), river (3.6%), and lake (3.6%). A limited swimming ability or exhaustion and suffocation (49.1%) due to unknown reasons were the most common causes of submersion injury among all patients. Most complications were due to aspiration pneumonia and hypoxic ischemic encephalopathy (HIE). Thirty-nine patients (70.9%) were followed in the ED, while 16 patients (29.1%) were admitted to the pediatric intensive care unit (PICU); 11 patients (20.0%) died. All of the risk factors of drowning should be taken into account when designing preventive measures and family education. In addition, all pediatricians should be trained periodically about the complications of submersion and the treatment strategies, particularly in coastal cities and areas where drownings occur frequently.

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.

Case study of rotating sonar sensor application in unmanned automated guided vehicle

NASA Astrophysics Data System (ADS)

Chandak, Pravin; Cao, Ming; Hall, Ernest L.

2001-10-01

A single rotating sonar element is used with a restricted angle of sweep to obtain readings to develop a range map for the unobstructed path of an autonomous guided vehicle (AGV). A Polaroid ultrasound transducer element is mounted on a micromotor with an encoder feedback. The motion of this motor is controlled using a Galil DMC 1000 motion control board. The encoder is interfaced with the DMC 1000 board using an intermediate IMC 1100 break-out board. By adjusting the parameters of the Polaroid element, it is possible to obtain range readings at known angles with respect to the center of the robot. The readings are mapped to obtain a range map of the unobstructed path in front of the robot. The idea can be extended to a 360 degree mapping by changing the assembly level programming on the Galil Motion control board. Such a system would be compact and reliable over a range of environments and AGV applications.

Robotics and telepresence for moon missions

NASA Technical Reports Server (NTRS)

Sallaberger, Christian

1994-01-01

An integrated moon program has often been proposed as a logical next step for today's space efforts. In the context of preparing for the possibility of launching a moon program, the European Space Agency is currently conducting an internal study effort which is focusing on the assessment of key technologies. Current thinking has this moon program organized into four phases. Phase 1 will deal with lunar resource exploration. The goal would be to produce a complete chemical inventory of the moon, including oxygen, water, other volatiles, carbon, silicon, and other resources. Phase 2 will establish a permanent robotic presence on the moon via a number of landers and surface rovers. Phase 3 will extend the second phase and concentrate on the use and exploitation of local lunar resources. Phase 4 will be the establishment of a first human outpost. Some preliminary work such as the building of the outpost and the installation of scientific equipment will be done by unmanned systems before a human crew is sent to the moon.

Common world model for unmanned systems: Phase 2

NASA Astrophysics Data System (ADS)

Dean, Robert M. S.; Oh, Jean; Vinokurov, Jerry

2014-06-01

The Robotics Collaborative Technology Alliance (RCTA) seeks to provide adaptive robot capabilities which move beyond traditional metric algorithms to include cognitive capabilities. Key to this effort is the Common World Model, which moves beyond the state-of-the-art by representing the world using semantic and symbolic as well as metric information. It joins these layers of information to define objects in the world. These objects may be reasoned upon jointly using traditional geometric, symbolic cognitive algorithms and new computational nodes formed by the combination of these disciplines to address Symbol Grounding and Uncertainty. The Common World Model must understand how these objects relate to each other. It includes the concept of Self-Information about the robot. By encoding current capability, component status, task execution state, and their histories we track information which enables the robot to reason and adapt its performance using Meta-Cognition and Machine Learning principles. The world model also includes models of how entities in the environment behave which enable prediction of future world states. To manage complexity, we have adopted a phased implementation approach. Phase 1, published in these proceedings in 2013 [1], presented the approach for linking metric with symbolic information and interfaces for traditional planners and cognitive reasoning. Here we discuss the design of "Phase 2" of this world model, which extends the Phase 1 design API, data structures, and reviews the use of the Common World Model as part of a semantic navigation use case.

Safety Ellipse Motion with Coarse Sun Angle Optimization

NASA Technical Reports Server (NTRS)

Naasz, Bo

2005-01-01

The Hubble Space Telescope Robotic Servicing and De-orbit Mission (HRSDM) was t o be performed by the unmanned Hubble Robotic Vehicle (HRV) consisting of a Deorbit Module (DM), responsible for the ultimate disposal of Hubble Space Telescope (HST) at the end of science operations, and an Ejection Module (EM), responsible for robotically servicing the HST to extend its useful operational lifetime. HRSDM consisted of eight distinct phases, including: launch, pursuit, proximity operations, capture, servicing, EM jettison and disposal, science operations, and deorbit. The scope of this paper is limited to the Proximity Operations phase of HRSDM. It introduces a relative motion strategy useful for Autonomous Rendezvous and Docking (AR&D) or Formation Flying missions where safe circumnavigation trajectories, or close proximity operations (tens or hundreds of meters) are required for extended periods of time. Parameters and algorithms used to model the relative motion of HRV with respect to HST during the Proximity Operations phase of the HRSDM are described. Specifically, the Safety Ellipse (SE) concept, convenient parameters for describing SE motion, and a concept for initializing SE motion around a target vehicle to coarsely optimize sun and relative navigation sensor angles are presented. The effects of solar incidence angle variations on sun angle optimization, and the effects of orbital perturbations and navigation uncertainty on long term SE motion are discussed.

Space suit glove design with advanced metacarpal phalangeal joints and robotic hand evaluation.

PubMed

Southern, Theodore; Roberts, Dustyn P; Moiseev, Nikolay; Ross, Amy; Kim, Joo H

2013-06-01

One area of space suits that is ripe for innovation is the glove. Existing models allow for some fine motor control, but the power grip--the act of grasping a bar--is cumbersome due to high torque requirements at the knuckle or metacarpal phalangeal joint (MCP). This area in particular is also a major source of complaints of pain and injury as reported by astronauts. This paper explores a novel fabrication and patterning technique that allows for more freedom of movement and less pain at this crucial joint in the manned space suit glove. The improvements are evaluated through unmanned testing, manned testing while depressurized in a vacuum glove box, and pressurized testing with a robotic hand. MCP joint flex score improved from 6 to 6.75 (out of 10) in the final glove relative to the baseline glove, and torque required for flexion decreased an average of 17% across all fingers. Qualitative assessments during unpressurized and depressurized manned testing also indicated the final glove was more comfortable than the baseline glove. The quantitative results from both human subject questionnaires and robotic torque evaluation suggest that the final iteration of the glove design enables flexion at the MCP joint with less torque and more comfort than the baseline glove.

Autonomous Aerial Refueling Ground Test Demonstration—A Sensor-in-the-Loop, Non-Tracking Method

PubMed Central

Chen, Chao-I; Koseluk, Robert; Buchanan, Chase; Duerner, Andrew; Jeppesen, Brian; Laux, Hunter

2015-01-01

An essential capability for an unmanned aerial vehicle (UAV) to extend its airborne duration without increasing the size of the aircraft is called the autonomous aerial refueling (AAR). This paper proposes a sensor-in-the-loop, non-tracking method for probe-and-drogue style autonomous aerial refueling tasks by combining sensitivity adjustments of a 3D Flash LIDAR camera with computer vision based image-processing techniques. The method overcomes the inherit ambiguity issues when reconstructing 3D information from traditional 2D images by taking advantage of ready to use 3D point cloud data from the camera, followed by well-established computer vision techniques. These techniques include curve fitting algorithms and outlier removal with the random sample consensus (RANSAC) algorithm to reliably estimate the drogue center in 3D space, as well as to establish the relative position between the probe and the drogue. To demonstrate the feasibility of the proposed method on a real system, a ground navigation robot was designed and fabricated. Results presented in the paper show that using images acquired from a 3D Flash LIDAR camera as real time visual feedback, the ground robot is able to track a moving simulated drogue and continuously narrow the gap between the robot and the target autonomously. PMID:25970254

Constrained navigation for unmanned systems

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Gosset, Philippe; Carpentier, Luc; Marion, Vincent; Morillon, Joel G.; Ropars, Patrice

2005-05-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "constrained navigation" study (named TEL2), which main goal is to identify and test a well-balanced task sharing between man and machine to accomplish a robotic task that cannot be performed autonomously at the moment because of technological limitations. The chosen function is "obstacle avoidance" on rough ground and quite high speed (40 km/h). State of the art algorithms have been implemented to perform autonomous obstacle avoidance and following of forest borders, using scanner laser sensor and standard localization functions. Such an "obstacle avoidance" function works well most of the time, BUT fails sometimes. The study analyzed how the remote operator can manage such failures so that the system remains fully operationally reliable; he can act according to two ways: a) finely adjust the vehicle current heading; b) take the control of the vehicle "on the fly" (without stopping) and bring it back to autonomous behavior when motion is secured again. The paper also presents the results got from the military acceptance tests performed on French 4x4 DARDS ATD.

The effects of respiratory muscle training on respiratory mechanics and energy cost.

PubMed

Held, Heather E; Pendergast, David R

2014-08-15

Resistance respiratory muscle training (RRMT) increases respiratory muscle strength and can increase swimming endurance time by as much as 85%. The purpose of this study was to examine potential mechanisms by which RRMT improves exercise endurance. Eight healthy adult male scuba divers underwent experiments in a hyperbaric chamber at sea level (1 atmosphere absolute (ATA)), 2.7 ATA and 4.6 ATA, both dry and fully submersed. Subjects rested, exercised, and rested while mimicking their own exercise breathing (ISEV). Airway resistance (R(aw)), exhaled nitric oxide output (V˙(NO)), and respiratory duty cycle (T(I)/T(Tot)) were determined before and after four weeks of RRMT. RRMT decreased T(I)/T(Tot) (-10% at rest at 1 ATA), V˙(O2) (-17% at 2.7 ATA during submersed exercise), V˙(E) (-6% at 2.7 ATA during submersed exercise), and R(aw) (-34% inspiratory at 4.6 ATA submersed, -38% expiratory at 2.7 ATA dry), independent of changes in V˙(NO). Most importantly, respiratory muscle efficiency increased (+83% at 2.7 ATA submersed). Copyright © 2014 Elsevier B.V. All rights reserved.

Lunar Limb Observatory: An Incremental Plan for the Utilization, Exploration, and Settlement of the Moon

NASA Technical Reports Server (NTRS)

Lowman, Paul. D., Jr.

1996-01-01

This paper proposes a comprehensive incremental program, Lunar Limb Observatory (LLO), for a return to the Moon, beginning with robotic missions and ending with a permanent lunar settlement. Several recent technological developments make such a program both affordable and scientifically valuable: robotic telescopes, the Internet, light-weight telescopes, shared- autonomy/predictive graphics telerobotic devices, and optical interferometry systems. Reasons for focussing new NASA programs on the Moon include public interest, Moon-based astronomy, renewed lunar exploration, lunar resources (especially helium-3), technological stimulus, accessibility of the Moon (compared to any planet), and dispersal of the human species to counter predictable natural catastrophes, asteroidal or cometary impacts in particular. The proposed Lunar Limb Observatory would be located in the crater Riccioli, with auxiliary robotic telescopes in M. Smythii and at the North and South Poles. The first phase of the program, after site certification, would be a series of 5 Delta-launched telerobotic missions to Riccioli (or Grimaldi if Riccioli proves unsuitable), emplacing robotic telescopes and carrying out surface exploration. The next phase would be 7 Delta-launched telerobotic missions to M. Smythii (2 missions), the South Pole (3 missions), and the North Pole (2 missions), emplacing robotic telescopes to provide continuous all-sky coverage. Lunar base establishment would begin with two unmanned Shuttle/Fitan-Centaur missions to Riccioli, for shelter emplacement, followed by the first manned return, also using the Shuttle/Fitan-Centaur mode. The main LLO at Riccioli would then be permanently or periodically inhabited, for surface exploration, telerobotic rover and telescope operation and maintenance, and support of Earth-based student projects. The LLO would evolve into a permanent human settlement, serving, among other functions, as a test area and staging base for the exploration, settlement, and terraforming of Mars.

Lunar Limb Observatory: an Incremental Plan for the Utilization, Exploration, and Settlement of the Moon

NASA Astrophysics Data System (ADS)

Lowman, Paul. D., Jr.

1996-10-01

This paper proposes a comprehensive incremental program, Lunar Limb Observatory (LLO), for a return to the Moon, beginning with robotic missions and ending with a permanent lunar settlement. Several recent technological developments make such a program both affordable and scientifically valuable: robotic telescopes, the Internet, light-weight telescopes, shared- autonomy/predictive graphics telerobotic devices, and optical interferometry systems. Reasons for focussing new NASA programs on the Moon include public interest, Moon-based astronomy, renewed lunar exploration, lunar resources (especially helium-3), technological stimulus, accessibility of the Moon (compared to any planet), and dispersal of the human species to counter predictable natural catastrophes, asteroidal or cometary impacts in particular. The proposed Lunar Limb Observatory would be located in the crater Riccioli, with auxiliary robotic telescopes in M. Smythii and at the North and South Poles. The first phase of the program, after site certification, would be a series of 5 Delta-launched telerobotic missions to Riccioli (or Grimaldi if Riccioli proves unsuitable), emplacing robotic telescopes and carrying out surface exploration. The next phase would be 7 Delta-launched telerobotic missions to M. Smythii (2 missions), the South Pole (3 missions), and the North Pole (2 missions), emplacing robotic telescopes to provide continuous all-sky coverage. Lunar base establishment would begin with two unmanned Shuttle/Fitan-Centaur missions to Riccioli, for shelter emplacement, followed by the first manned return, also using the Shuttle/Fitan-Centaur mode. The main LLO at Riccioli would then be permanently or periodically inhabited, for surface exploration, telerobotic rover and telescope operation and maintenance, and support of Earth-based student projects. The LLO would evolve into a permanent human settlement, serving, among other functions, as a test area and staging base for the exploration, settlement, and terraforming of Mars.

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, James; Houdou, Bérengère; Fisackerly, Richard; De Rosa, Diego; Patti, Bernardo; Schiemann, Jens; Hufenbach, Bernhard; Foing, Bernard

2014-05-01

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the already selected Russian led payload, focusing on the composition and isotopic abundances of lunar volatiles in polar regions. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. This partnership will provide access for European investigators to the opportunities offered by the Russian led instruments on the missions, as well as providing Europe with a unique opportunity to characterize and utilize polar volatile populations. Ultimately samples of high scientific value, from as of yet unexplored and unsampled locations shall be made available to the scientific community. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. All of these activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensable partner in the exploration missions of the future.

Comparison between two methods of hydrostatic weighing without head submersion in morbidly obese females.

PubMed

Israel, R G; Evans, P; Pories, W J; O'Brien, K F; Donnelly, J E

1990-01-01

This study compared two methods of hydrostatic weighing without head submersion to conventional hydrostatic weighting in morbidly obese females. We concluded that hydrostatic weighing without head submersion is a valid alternative to conventional hydrostatic weighing especially when subjects are apprehensive in the water. The use of anthropometric head measures (HWNS-A) did not significantly improve the accuracy of the body composition assessment; therefore, elimination of these time consuming measurements in favor of the direct correction of head above Db is recommended.

ECG during helicopter underwater escape training.

PubMed

Tipton, Michael J; Gibbs, Peter; Brooks, Chris; Roiz de Sa, Dan; Reilly, Tara J

2010-04-01

Coincidental stimulation of the sympathetic and parasympathetic nervous system can cause "autonomic conflict" and consequent cardiac arrhythmias. The present study tested the hypotheses that: 1) cardiac arrhythmias would be seen in those undertaking helicopter underwater escape training (HUET); 2) the occurrence of arrhythmias in individuals could be predicted; and 3) the heart rate response to HUET would habituate with repeated runs. There were 26 male volunteers who each undertook 5 HUET submersions into water at 29.5 degrees C, with each run separated by 10 min. Each submersion included a 3-min, 40-s pre-submersion period, a 10-s submersion, and 40-s post-submersion period. Participants wore a three-lead telemetric ECG system beneath an immersion suit and underclothing. Skin temperature was measured in one participant. Each participant undertook tests to establish their autonomic function, including heart rate variability, face immersion, cold pressor test, and aerobic capacity assessment. The heart rate response to HUET was reduced by the fourth run when compared to the first run. Across all runs, 32 cardiac arrhythmias were identified (25%) in 22 different participants; all but 6 of the arrhythmias occurred just after submersion. Only aerobic fitness appeared inversely associated with the occurrence of arrhythmias. The heart rate response to HUET habituates. HUET produces cardiac arrhythmias; these are asymptomatic and probably of little clinical significance in young, fit individuals. It remains to be seen if this is the case with either an older, less fit cohort of people or in those undertaking longer breath holds in colder water.

Real-time yield estimation based on deep learning

NASA Astrophysics Data System (ADS)

Rahnemoonfar, Maryam; Sheppard, Clay

2017-05-01

Crop yield estimation is an important task in product management and marketing. Accurate yield prediction helps farmers to make better decision on cultivation practices, plant disease prevention, and the size of harvest labor force. The current practice of yield estimation based on the manual counting of fruits is very time consuming and expensive process and it is not practical for big fields. Robotic systems including Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV), provide an efficient, cost-effective, flexible, and scalable solution for product management and yield prediction. Recently huge data has been gathered from agricultural field, however efficient analysis of those data is still a challenging task. Computer vision approaches currently face diffident challenges in automatic counting of fruits or flowers including occlusion caused by leaves, branches or other fruits, variance in natural illumination, and scale. In this paper a novel deep convolutional network algorithm was developed to facilitate the accurate yield prediction and automatic counting of fruits and vegetables on the images. Our method is robust to occlusion, shadow, uneven illumination and scale. Experimental results in comparison to the state-of-the art show the effectiveness of our algorithm.

Navigation of military and space unmanned ground vehicles in unstructured terrains

NASA Technical Reports Server (NTRS)

Lescoe, Paul; Lavery, David; Bedard, Roger

1991-01-01

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

LightDenseYOLO: A Fast and Accurate Marker Tracker for Autonomous UAV Landing by Visible Light Camera Sensor on Drone.

PubMed

Nguyen, Phong Ha; Arsalan, Muhammad; Koo, Ja Hyung; Naqvi, Rizwan Ali; Truong, Noi Quang; Park, Kang Ryoung

2018-05-24

Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS) receivers, inertial measurement unit, and multiple camera systems. Although these approaches successfully estimate an unmanned aerial vehicle location during landing, many calibration processes are required to achieve good detection accuracy. In addition, cases where drones operate in heterogeneous areas with no GPS signal should be considered. To overcome these problems, we determined how to safely land a drone in a GPS-denied environment using our remote-marker-based tracking algorithm based on a single visible-light-camera sensor. Instead of using hand-crafted features, our algorithm includes a convolutional neural network named lightDenseYOLO to extract trained features from an input image to predict a marker's location by visible light camera sensor on drone. Experimental results show that our method significantly outperforms state-of-the-art object trackers both using and not using convolutional neural network in terms of both accuracy and processing time.

Visible effects of rapamycin (sirolimus) on human skin explants in vitro.

PubMed

Peramo, Antonio; Marcelo, Cynthia L

2013-03-01

In this manuscript, we report observations of the effects of rapamycin in an organotypic culture of human skin explants. The tissues were cultured for 5 days at the air-liquid interface or in submersed conditions with media with and without rapamycin at 2 nM concentration. Histological analysis of tissue sections indicated that rapamycin-treated samples maintained a better epidermal structure in the upper layers of the tissue than untreated samples, mostly evident when skin was cultured in submersed conditions. A significant decrease in the number of positive proliferative cells using the Ki67 antigen was observed when specimens were treated with rapamycin, in both air-liquid and submersed conditions but apoptosis differences between treated and untreated specimens, as seen by cleaved caspase-3 positive cells, were only observed in submersed specimens. Finally, a decrease and variability in the location in the expression of the differentiation marker involucrin and in E-cadherin were also evident in submersed samples. These results suggest that the development of topical applications containing rapamycin, instead of systemic delivery, may be a useful tool in the treatment of skin diseases that require reduction of proliferation and modulation or control of keratinocyte differentiation.

107. DAM EARTH DIKE SUBMERSIBLE DAMS PLANS ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

107. DAM - EARTH DIKE - SUBMERSIBLE DAMS - PLANS & SECTIONS (ML-8-52/3-FS) March 1940 - Upper Mississippi River 9-Foot Channel, Lock & Dam No. 8, On Mississippi River near Houston County, MN, Genoa, Vernon County, WI

Design issues for stereo vision systems used on tele-operated robotic platforms

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, Jim; Pezzaniti, J. Larry; Chenault, David B.; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Pettijohn, Brad

2010-02-01

The use of tele-operated Unmanned Ground Vehicles (UGVs) for military uses has grown significantly in recent years with operations in both Iraq and Afghanistan. In both cases the safety of the Soldier or technician performing the mission is improved by the large standoff distances afforded by the use of the UGV, but the full performance capability of the robotic system is not utilized due to insufficient depth perception provided by the standard two dimensional video system, causing the operator to slow the mission to ensure the safety of the UGV given the uncertainty of the perceived scene using 2D. To address this Polaris Sensor Technologies has developed, in a series of developments funded by the Leonard Wood Institute at Ft. Leonard Wood, MO, a prototype Stereo Vision Upgrade (SVU) Kit for the Foster-Miller TALON IV robot which provides the operator with improved depth perception and situational awareness, allowing for shorter mission times and higher success rates. Because there are multiple 2D cameras being replaced by stereo camera systems in the SVU Kit, and because the needs of the camera systems for each phase of a mission vary, there are a number of tradeoffs and design choices that must be made in developing such a system for robotic tele-operation. Additionally, human factors design criteria drive optical parameters of the camera systems which must be matched to the display system being used. The problem space for such an upgrade kit will be defined, and the choices made in the development of this particular SVU Kit will be discussed.

Research and application of key technology of electric submersible plunger pump

NASA Astrophysics Data System (ADS)

Qian, K.; Sun, Y. N.; Zheng, S.; Du, W. S.; Li, J. N.; Pei, G. Z.; Gao, Y.; Wu, N.

2018-06-01

Electric submersible plunger pump is a new generation of rodless oil production equipment, whose improvements and upgrades of key technologies are conducive to its large-scale application and reduce the cost and improve the efficiency. In this paper, the operating mechanism of the unit in-depth study, aimed at the problems existing in oilfield production, to propose an optimization method creatively, including the optimal design of a linear motor for submersible oil, development of new double-acting load-relief pump, embedded flexible closed-loop control technology, research and development of low-cost power cables. 90 oil wells were used on field application, the average pump inspection cycle is 608 days, the longest pump check cycle has exceeded 1037 days, the average power saving rate is 45.6%. Application results show that the new technology of optimization and upgrading can further improve the reliability and adaptability of electric submersible plunger pump, reduce the cost of investment.

Tip-over prevention through heuristic reactive behaviors for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Talke, Kurt; Kelley, Leah; Longhini, Patrick; Catron, Garret

2014-06-01

Skid-steer teleoperated robots are commonly used by military and civilian crews to perform high-risk, dangerous and critical tasks such as bomb disposal. Their missions are often performed in unstructured environments with irregular terrain, such as inside collapsed buildings or on rough terrain covered with a variety of media, such as sand, brush, mud, rocks and debris. During such missions, it is often impractical if not impossible to send another robot or a human operator to right a toppled robot. As a consequence, a robot tip-over event usually results in mission failure. To make matters more complicated, such robots are often equipped with heavy payloads that raise their centers of mass and hence increase their instability. Should the robot be equipped with a manipulator arm or flippers, it may have a way to self-right. The majority of manipulator arms are not designed for and are likely to be damaged during self-righting procedures, however, which typically have a low success rate. Furthermore, those robots not equipped with manipulator arms or flippers have no self-righting capabilities. Additionally, due to the on-board camera frame of reference, the video feed may cause the robot to appear to be on at level ground, when it actually may be on a slope nearing tip-over. Finally, robot operators are often so focused on the mission at hand they are oblivious to their surroundings, similar to a kid playing a video game. While this may not be an issue in the living room, it is not a good scenario to experience on the battlefield. Our research seeks to remove tip-over monitoring from the already large list of tasks an operator must perform. An autonomous tip-over prevention behavior for a mobile robot with a static payload has been developed, implemented and experimentally validated on two different teleoperated robotic platforms. Suitable for use with both teleoperated and autonomous robots, the prevention behavior uses the force-angle stability measure, previously experimentally validated, to predict the likelihood of robot tip-over and trigger prevention behaviors. A unique heuristic approach to tip-over avoidance was investigated, wherein a set of evasive maneuvers that an expert teleoperator might take are activated when the tip-over-likelihood estimate passes a critical threshold. This control approach was validated on an iRobot Packbot as well as on a Segway RMP 440. The heuristic laws demonstrated the advantage of alerting operators to a tip-over scenario and gave them more time to correct the situation, as well as the ability to automatically initiate recovery on the y". This research shows promise in preventing dangerous scenarios that could damage a robot and/or compromise its mission, thus saving lives. It further provides a good foundation for follow-on development involving the expansion and integration of the prevention-control algorithms, to include movable payloads, environment manipulation, 2D or 3D look-ahead laser sensing and mapping, and adaptive path planning.

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.

Ten-kilogram vehicle autonomous operations

NASA Astrophysics Data System (ADS)

Rogers, John R.; Korpela, Christopher; Quigley, Kevin

2009-05-01

A low-cost unmanned ground vehicle designed to benchmark high-speed performance is presented. The E-Maxx four-wheel-drive radio-controlled vehicle equipped with a Robostix controller is proposed as a low-cost, high-speed robotic platform useful for military operations. The vehicle weighs less than ten kilograms making it easily portable by one person. Keeping cost low is a major consideration in the design with the aim of providing a disposable military robot. The suitability of the platform was evaluated and results are presented. Commercial-Off-The-Shelf (COTS) upgrades to the basic vehicle are recommended for durability. A procedure was established for bird's-eye-view video recording to document vehicle dynamics. Driver/vehicle performance is quantified by entry velocity, exit velocity and total time through a 90° turn on low-friction terrain. A setup for measuring these values is presented. Expert drivers use controlled skidding to minimize time through turns and the long term goal of the project is to automate such expert behaviors. Results of vehicle performance under human control are presented and stand as a reference for future autonomy.

3D vision upgrade kit for the TALON robot system

NASA Astrophysics Data System (ADS)

Bodenhamer, Andrew; Pettijohn, Bradley; Pezzaniti, J. Larry; Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, James; Chenault, David; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Kingston, David; Newell, Scott

2010-02-01

In September 2009 the Fort Leonard Wood Field Element of the US Army Research Laboratory - Human Research and Engineering Directorate, in conjunction with Polaris Sensor Technologies and Concurrent Technologies Corporation, evaluated the objective performance benefits of Polaris' 3D vision upgrade kit for the TALON small unmanned ground vehicle (SUGV). This upgrade kit is a field-upgradable set of two stereo-cameras and a flat panel display, using only standard hardware, data and electrical connections existing on the TALON robot. Using both the 3D vision system and a standard 2D camera and display, ten active-duty Army Soldiers completed seven scenarios designed to be representative of missions performed by military SUGV operators. Mission time savings (6.5% to 32%) were found for six of the seven scenarios when using the 3D vision system. Operators were not only able to complete tasks quicker but, for six of seven scenarios, made fewer mistakes in their task execution. Subjective Soldier feedback was overwhelmingly in support of pursuing 3D vision systems, such as the one evaluated, for fielding to combat units.

Donor cornea tissue in cases of drowning or water submersion: eye banks practice patterns and tissue outcomes.

PubMed

Vijayakumar, Nithya P; Parikh, Purak; Mian, Shahzad I; Tennant, Brad; Grossman, Gregory H; Albrecht, Bob; Niziol, Leslie M; Woodward, Maria A

2018-03-01

Surgical use of donor corneal tissue from victims of water submersion (drowning or submersion secondary to death) remains controversial due to limited evidence about the quality of these tissues. To assess the safety of donor corneal tissue from victims of water submersion, an investigation of eye banks' practice patterns and tissue outcomes was conducted. All 79 Eye Bank Association of America accredited eye banks were contacted for a phone interview of practices regarding tissue from victims of water submersion. A retrospective review of corneal tissues from 2014 to 2016 from a large eye bank network was performed to identify all donors submerged in water. Corneal epithelial integrity, endothelial cell density (ECD), rim cultures, and adverse events were analyzed for associations with water submersion characteristics. 49 eye banks (62% response) participated in the survey. 55% of these eye banks had specific, written protocol for tissue eligibility from donors submerged in water. With or without specific protocol, eye banks reported considering water type (84%) and length of time submerged (92%) to determine eligibility. 22% of eye banks reported medical director involvement when eligibility determination was unclear. 79 tissues from 40 donors who were submerged were identified in 2014-2016 eye bank data. No donor tissues had pre-processing corneal infiltrates, positive rim cultures, or adverse events post-keratoplasty. Corneal epithelial integrity and ECD were not associated with water type or length of time submerged. In conclusion, data from a large eye bank network showed no adverse events or outcomes, indicating these tissues may be safe.

Photosynthetic characteristics of an amphibious plant, Eleocharis vivipara: Expression of C4 and C3 modes in contrasting environments

PubMed Central

Ueno, Osamu; Samejima, Muneaki; Muto, Shoshi; Miyachi, Shigetoh

1988-01-01

Eleocharis vivipara Link, a freshwater amphibious leafless plant belonging to the Cyperaceae can grow in both terrestrial and submersed aquatic conditions. Two forms of E. vivipara obtained from these contrasting environments were examined for the characteristics associated with C4 and C3 photosynthesis. In the terrestrial form (δ 13C values = -13.5 to -15.4‰, where ‰ is parts per thousand), the culms, which are photosynthetic organs, possess a Kranz-type anatomy typical of C4 plants, and well-developed bundle-sheath cells contain numerous large chloroplasts. In the submersed form (δ 13C value = -25.9‰), the culms possess anatomical features characteristic of submersed aquatic plants, and the reduced bundle-sheath cells contain only a few small chloroplasts. 14C pulse-12C chase experiments showed that the terrestrial form and the submersed form fix carbon by way of the C4 pathway, with aspartate (40%) and malate (35%) as the main primary products, and by way of the C3 pathway, with 3-phosphoglyceric acid (53%) and sugar phosphates (14%) as the main primary products, respectively. The terrestrial form showed photosynthetic enzyme activities typical of the NAD-malic enzyme-C4 subtype, whereas the submersed form showed decreased activities of key C4 enzymes and an increased ribulose 1,5-bisphosphate carboxylase (EC 4.1.1.39) activity. These data suggest that this species can differentiate into the C4 mode under terrestrial conditions and into the C3 mode under submersed conditions. Images PMID:16593980

A Low Cost Matching Motion Estimation Sensor Based on the NIOS II Microprocessor

PubMed Central

González, Diego; Botella, Guillermo; Meyer-Baese, Uwe; García, Carlos; Sanz, Concepción; Prieto-Matías, Manuel; Tirado, Francisco

2012-01-01

This work presents the implementation of a matching-based motion estimation sensor on a Field Programmable Gate Array (FPGA) and NIOS II microprocessor applying a C to Hardware (C2H) acceleration paradigm. The design, which involves several matching algorithms, is mapped using Very Large Scale Integration (VLSI) technology. These algorithms, as well as the hardware implementation, are presented here together with an extensive analysis of the resources needed and the throughput obtained. The developed low-cost system is practical for real-time throughput and reduced power consumption and is useful in robotic applications, such as tracking, navigation using an unmanned vehicle, or as part of a more complex system. PMID:23201989

106. DAM EARTH DIKE SUBMERSIBLE DAMS & DIKE ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

106. DAM - EARTH DIKE - SUBMERSIBLE DAMS & DIKE CONN. AT MOVABLE DAM (ML-8-52/2-FS) March 1940 - Upper Mississippi River 9-Foot Channel, Lock & Dam No. 8, On Mississippi River near Houston County, MN, Genoa, Vernon County, WI

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Multimodal interaction for human-robot teams

NASA Astrophysics Data System (ADS)

Burke, Dustin; Schurr, Nathan; Ayers, Jeanine; Rousseau, Jeff; Fertitta, John; Carlin, Alan; Dumond, Danielle

2013-05-01

Unmanned ground vehicles have the potential for supporting small dismounted teams in mapping facilities, maintaining security in cleared buildings, and extending the team's reconnaissance and persistent surveillance capability. In order for such autonomous systems to integrate with the team, we must move beyond current interaction methods using heads-down teleoperation which require intensive human attention and affect the human operator's ability to maintain local situational awareness and ensure their own safety. This paper focuses on the design, development and demonstration of a multimodal interaction system that incorporates naturalistic human gestures, voice commands, and a tablet interface. By providing multiple, partially redundant interaction modes, our system degrades gracefully in complex environments and enables the human operator to robustly select the most suitable interaction method given the situational demands. For instance, the human can silently use arm and hand gestures for commanding a team of robots when it is important to maintain stealth. The tablet interface provides an overhead situational map allowing waypoint-based navigation for multiple ground robots in beyond-line-of-sight conditions. Using lightweight, wearable motion sensing hardware either worn comfortably beneath the operator's clothing or integrated within their uniform, our non-vision-based approach enables an accurate, continuous gesture recognition capability without line-of-sight constraints. To reduce the training necessary to operate the system, we designed the interactions around familiar arm and hand gestures.

New applications for phosphoric acid fuel cells

NASA Astrophysics Data System (ADS)

Stickles, R. P.; Breuer, C. T.

1983-11-01

New applications for phosphoric acid fuel cells were identified and evaluated. Candidates considered included all possibilities except grid connected electric utility applications, on site total energy systems, industrial cogeneration, opportunistic use of waste hydrogen, space and military applications, and applications smaller than 10 kW. Applications identified were screened, with the most promising subjected to technical and economic evaluation using a fuel cell and conventional power system data base developed in the study. The most promising applications appear to be the underground mine locomotive and the railroad locomotive. Also interesting are power for robotic submersibles and Arctic villages. The mine locomotive is particularly attractive since it is expected that the fuel cell could command a very high price and still be competitive with the conventionally used battery system. The railroad locomotive's attractiveness results from the (smaller) premium price which the fuel cell could command over the conventional diesel electric system based on its superior fuel efficiency, and on the large size of this market and the accompanying opportunities for manufacturing economy.

Optical sedimentation recorder

DOEpatents

Bishop, James K.B.

2014-05-06

A robotic optical sedimentation recorder is described for the recordation of carbon flux in the oceans wherein both POC and PIC particles are captured at the open end of a submersible sampling platform, the captured particles allowed to drift down onto a collection plate where they can be imaged over time. The particles are imaged using three separate light sources, activated in sequence, one source being a back light, a second source being a side light to provide dark field illumination, and a third source comprising a cross polarized light source to illuminate birefringent particles. The recorder in one embodiment is attached to a buoyancy unit which is capable upon command for bringing the sedimentation recorder to a programmed depth below the ocean surface during recordation mode, and on command returning the unit to the ocean surface for transmission of recorded data and receipt of new instructions. The combined unit is provided with its own power source and is designed to operate autonomously in the ocean for extended periods of time.

New applications for phosphoric acid fuel cells

NASA Technical Reports Server (NTRS)

Stickles, R. P.; Breuer, C. T.

1983-01-01

New applications for phosphoric acid fuel cells were identified and evaluated. Candidates considered included all possibilities except grid connected electric utility applications, on site total energy systems, industrial cogeneration, opportunistic use of waste hydrogen, space and military applications, and applications smaller than 10 kW. Applications identified were screened, with the most promising subjected to technical and economic evaluation using a fuel cell and conventional power system data base developed in the study. The most promising applications appear to be the underground mine locomotive and the railroad locomotive. Also interesting are power for robotic submersibles and Arctic villages. The mine locomotive is particularly attractive since it is expected that the fuel cell could command a very high price and still be competitive with the conventionally used battery system. The railroad locomotive's attractiveness results from the (smaller) premium price which the fuel cell could command over the conventional diesel electric system based on its superior fuel efficiency, and on the large size of this market and the accompanying opportunities for manufacturing economy.

22 CFR 121.14 - Submersible vessels.

Code of Federal Regulations, 2014 CFR

2014-04-01

..., launching rockets, firing missiles, deploying mines, deploying countermeasures) or deploy military payloads... subchapter) that are defense articles that perform specific military functions such as by providing military...; or (6) Are developmental vessels funded or contracted by the Department of Defense. (b) Submersible...

Data on the distribution and abundance of submersed aquatic vegetation in the tidal Potomac River, Maryland, Virginia, and the District of Columbia, 1985

USGS Publications Warehouse

Rybicki, N.B.; Anderson, R.T.; Shapiro, J.M.; Jones, C.L.; Carter, Virginia

1986-01-01

This report summarizes data on the distribution and abundance of submersed aquatic vegetation collected in the tidal Potomac River during 1985. Plant species were identified and dry weight determined for selected sites. Information on competition between Hydrilla verticillata and other species was measured. Water-quality characteristics measured include temperature, specific conductance, dissolved oxygen, pH, and transparency as indicated by Secchi depth. A map was made of the distribution of submersed aquatic vegetation based on transect samples and a complete shoreline survey. (USGS)

SUBMERSED AQUATIC VEGETATION MAPPING USING HYPERSPECTRAL IMAGERY

EPA Science Inventory

Submersed aquatic vegetation (SAV) beds are an important resources for aquatic life and
wildfowl in the Potomac River and Chesapeake Bay region. SAV habitat is threatened in part by nitrogen loadings from human activities. Monitoring and assessing this resource using field bas...

Test/QA Plan for Verification of Nitrate Sensors for Groundwater Remediation Monitoring

EPA Science Inventory

A submersible nitrate sensor is capable of collecting in-situ measurements of dissolved nitrate concentrations in groundwater. Although several types of nitrate sensors currently exist, this verification test will focus on submersible sensors equipped with a nitrate-specific ion...

Shivering heat production and core cooling during head-in and head-out immersion in 17 degrees C water.

PubMed

Pretorius, Thea; Cahill, Farrell; Kocay, Sheila; Giesbrecht, Gordon G

2008-05-01

Many cold-water scenarios cause the head to be partially or fully immersed (e.g., ship wreck survival, scuba diving, cold-water adventure swim racing, cold-water drowning, etc.). However, the specific effects of head cold exposure are minimally understood. This study isolated the effect of whole-head submersion in cold water on surface heat loss and body core cooling when the protective shivering mechanism was intact. Eight healthy men were studied in 17 degrees C water under four conditions: the body was either insulated or exposed, with the head either out of the water or completely submersed under the water within each insulated/exposed subcondition. Submersion of the head (7% of the body surface area) in the body-exposed condition increased total heat loss by 11% (P < 0.05). After 45 min, head-submersion increased core cooling by 343% in the body-insulated subcondition (head-out: 0.13 +/- 0.2 degree C, head-in: 0.47 +/- 0.3 degree C; P < 0.05) and by 56% in the body-exposed subcondition (head-out: 0.40 +/- 0.3 degree C and head-in: 0.73 +/- 0.6 degree C; P < 0.05). In both body-exposed and body-insulated subconditions, head submersion increased the rate of core cooling disproportionally more than the relative increase in total heat loss. This exaggerated core-cooling effect is consistent with a head cooling induced reduction of the thermal core, which could be stimulated by cooling of thermosensitive and/or trigeminal receptors in the scalp, neck, and face. These cooling effects of head submersion are not prevented by shivering heat production.

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

NASA Astrophysics Data System (ADS)

Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.

2018-03-01

Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.

IMPACT OF SUBMERSIBLE PUMPS ON PB CONSTITUENTS IN RESIDENTIAL WELLS

EPA Science Inventory

Dissolved lead in 51 domestic wells screened from 18 m to 48 m in glacial tills and outwash deposits were examined, from archived samples collected during 2001-2004, in conjunction with respective submersible pump characteristics. Pb concentrations of these residential water supp...

Can biophysical properties of submersed macrophytes be determined by remote sensing?

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

Malthus, T.J.; Ciraolo, G.; La Loggia, G.

1997-06-01

This paper details the development of a computationally efficient Monte Carlo simulation program to model photon transport through submersed plant canopies, with emphasis on Seagrass communities. The model incorporates three components: the transmission of photons through a water column of varying depth and turbidity; the interaction of photons within a submersed plant canopy of varying biomass; and interactions with the bottom substrate. The three components of the model are discussed. Simulations were performed based on measured parameters for Posidonia oceanica and compared to measured subsurface reflectance spectra made over comparable seagrass communities in Sicilian coastal waters. It is shown thatmore » the output is realistic. Further simulations are undertaken to investigate the effect of depth and turbidity of the overlying water column. Both sets of results indicate the rapid loss of canopy signal as depth increases and water column phytoplankton concentrations increase. The implications for the development of algorithms for the estimation of submersed canopy biophysical parameters are briefly discussed.« less

Numerical and Experimental Study on Hydrodynamic Performance of A Novel Semi-Submersible Concept

NASA Astrophysics Data System (ADS)

Gao, Song; Tao, Long-bin; Kou, Yu-feng; Lu, Chao; Sun, Jiang-long

2018-04-01

Multiple Column Platform (MCP) semi-submersible is a newly proposed concept, which differs from the conventional semi-submersibles, featuring centre column and middle pontoon. It is paramount to ensure its structural reliability and safe operation at sea, and a rigorous investigation is conducted to examine the hydrodynamic and structural performance for the novel structure concept. In this paper, the numerical and experimental studies on the hydrodynamic performance of MCP are performed. Numerical simulations are conducted in both the frequency and time domains based on 3D potential theory. The numerical models are validated by experimental measurements obtained from extensive sets of model tests under both regular wave and irregular wave conditions. Moreover, a comparative study on MCP and two conventional semi-submersibles are carried out using numerical simulation. Specifically, the hydrodynamic characteristics, including hydrodynamic coefficients, natural periods and motion response amplitude operators (RAOs), mooring line tension are fully examined. The present study proves the feasibility of the novel MCP and demonstrates the potential possibility of optimization in the future study.

Advanced Undersea Warfare Systems

DTIC Science & Technology

2011-06-01

122 hours188 187 Rowinski, Lech . “Submersible propulsion and energy.” 18 Mar. 2002. underwater.pg.gda.pl. 23 Apr. 2011. <http...Rowinski, Lech . “Submersible propulsion and energy.” 18 Mar. 2002. underwater.pg.gda.pl. 23 Apr. 2011. <http://www.underwater.pg.gda.pl/publikacje

ISSUES IN DIGITAL IMAGE PROCESSING OF AERIAL PHOTOGRAPHY FOR MAPPING SUBMERSED AQUATIC VEGETATION

EPA Science Inventory

The paper discusses the numerous issues that needed to be addressed when developing a methodology for mapping Submersed Aquatic Vegetation (SAV) from digital aerial photography. Specifically, we discuss 1) choice of film; 2) consideration of tide and weather constraints; 3) in-s...

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, James; Foing, Bernard H.; Fisackerly, Richard; Houdou, Berengere; De Rosa, Diego; Patti, Bernado; Schiemann, Jens

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the already selected Russian led payload, focusing on the abundance, composition and isotopes of lunar volatiles in polar regions, and their associated chemistry. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. This partnership will provide access for European investigators to the opportunities offered by the Russian led instruments on the missions, as well as providing Europe with a unique opportunity to characterise and utilise polar volatile populations. Ultimately samples of high scientific value, from as of yet unexplored and unsampled locations shall be made available to the scientific community. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. All of these activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensable partner in the exploration missions of the future.

The space station tethered elevator system

NASA Technical Reports Server (NTRS)

Anderson, Loren A.

1989-01-01

The optimized conceptual engineering design of a space station tethered elevator is presented. The elevator is an unmanned mobile structure which operates on a ten kilometer tether spanning the distance between the Space Station and a tethered platform. Elevator capabilities include providing access to residual gravity levels, remote servicing, and transportation to any point along a tether. The potential uses, parameters, and evolution of the spacecraft design are discussed. Engineering development of the tethered elevator is the result of work conducted in the following areas: structural configurations; robotics, drive mechanisms; and power generation and transmission systems. The structural configuration of the elevator is presented. The structure supports, houses, and protects all systems on board the elevator. The implementation of robotics on board the elevator is discussed. Elevator robotics allow for the deployment, retrieval, and manipulation of tethered objects. Robotic manipulators also aid in hooking the elevator on a tether. Critical to the operation of the tethered elevator is the design of its drive mechanisms, which are discussed. Two drivers, located internal to the elevator, propel the vehicle along a tether. These modular components consist of endless toothed belts, shunt-wound motors, regenerative power braking, and computer controlled linear actuators. The designs of self-sufficient power generation and transmission systems are reviewed. Thorough research indicates all components of the elevator will operate under power provided by fuel cells. The fuel cell systems will power the vehicle at seven kilowatts continuously and twelve kilowatts maximally. A set of secondary fuel cells provides redundancy in the unlikely event of a primary system failure. Power storage exists in the form of Nickel-Hydrogen batteries capable of powering the elevator under maximum loads.

Control of submersible vortex flows

NASA Technical Reports Server (NTRS)

Bushnell, D. M.; Donaldson, C. D.

1990-01-01

Vortex flows produced by submersibles typically unfavorably influence key figures of merit such as acoustic and nonacoustic stealth, control effectiveness/maneuverability, and propulsor efficiency/body drag. Sources of such organized, primarily longitudinal, vorticity include the basic body (nose and sides) and appendages (both base/intersection and tip regions) such as the fairwater, dive planes, rear control surfaces, and propulsor stators/tips. Two fundamentally different vortex control approaches are available: (1) deintensification of the amplitude and/or organization of the vortex during its initiation process; and (2) downstream vortex disablement. Vortex control techniques applicable to the initiation region (deintensification approach) include transverse pressure gradient minimization via altered body cross section, appendage dillets, fillets, and sweep, and various appendage tip and spanload treatment along with the use of active controls to minimize control surface size and motions. Vortex disablement can be accomplished either via use of control vortices (which can also be used to steer the vortices off-board), direct unwinding, inducement of vortex bursting, or segmentation/tailoring for enhanced dissipation. Submersible-applicable vortex control technology is also included derived from various aeronautical applications such as mitigation of the wing wake vortex hazard and flight aircraft maneuverability at high angle of attack as well as the status of vortex effects upon, and mitigation of, nonlinear control forces on submersibles. Specific suggestions for submersible-applicable vortex control techniques are presented.

Reconnaissance Strategy for Seep Chemosynthetic Communities in the Gulf of Mexico

NASA Astrophysics Data System (ADS)

MacDonald, I. R.; Roberts, H. H.; Fisher, C. R.; Bernard, B. B.; Joye, S.; Carney, R.; Hunt, J.; Shedd, W.

2007-05-01

The Continental Slope of the Gulf of Mexico hosts diverse chemosynthetic communities at oil and gas seeps. Exploration is needed to extend knowledge of the Gulf of Mexico chemosynthetic ecosystem in the zones anticipated to receive energy exploration and production activities over the coming decades. A nested survey approach can be used to identify representative sampling sites within this vast offshore area. Potential sites where chemosynthetic community could occur are selected on the basis geophysical, geochemical, and satellite remote-sensing indicators. Photo-reconnaissance using cost-effective camera systems is then used to confirm the presences or absence of chemosynthetic communities at high-probability sites. Follow-up sampling can then proceed with submersibles or ROVs to acquire tissue and or geochemical samples. However, because access is limited, submersible dives may not be possible at all sites. Two examples of this approach have recently been applied in the northern and southern Gulf of Mexico, respectively. We compared community characterizations obtained from the initial reconnaissance with more detailed characterizations forthcoming from submersible sampling. Our results show that major differences in community type and geochemical substrata are evident from preliminary reconnaissance, while details of animal densities and species compositions require targeted sampling with submersibles. However, given the limited access to submersibles, cost-effective surveys with deep-sea camera systems would greatly expand understanding of the zoogeography of chemosynthetic fauna in the Gulf of Mexico and Caribbean Sea.

An unmanned ground vehicle for landmine remediation

NASA Astrophysics Data System (ADS)

Wasson, Steven R.; Guilberto, Jose; Ogg, Wade; Wedeward, Kevin; Bruder, Stephen; El-Osery, Aly

2004-09-01

Anti-tank (AT) landmines slow down and endanger military advances and present sizeable humanitarian problems. The remediation of these mines by direct human intervention is both dangerous and costly. The Intelligent Systems & Robotics Group (ISRG) at New Mexico Tech has provided a partial solution to this problem by developing an Unmanned Ground Vehicle (UGV) to remediate these mines without endangering human lives. This paper presents an overview of the design and operation of this UGV. Current results and future work are also described herein. To initiate the remediation process the UGV is given the GPS coordinates of previously detected landmines. Once the UGV autonomously navigates to an acceptable proximity of the landmine, a remote operator acquires control over a wireless network link using a joystick on a base station. Utilizing two cameras mounted on the UGV, the operator is able to accurately position the UGV directly over the landmine. The UGV houses a self-contained drill system equipped with its own processing resources, sensors, and actuators. The drill system deploys a neutralizing device over the landmine to neutralize it. One such device, developed by Science Applications International Corporation (SAIC), employs incendiary materials to melt through the container of the landmine and slowly burn the explosive material, thereby safely and remotely disabling the landmine.

Characterization of a Quadrotor Unmanned Aircraft System for Aerosol-Particle-Concentration Measurements.

PubMed

Brady, James M; Stokes, M Dale; Bonnardel, Jim; Bertram, Timothy H

2016-02-02

High-spatial-resolution, near-surface vertical profiling of atmospheric chemical composition is currently limited by the availability of experimental platforms that can sample in constrained environments. As a result, measurements of near-surface gradients in trace gas and aerosol particle concentrations have been limited to studies conducted from fixed location towers or tethered balloons. Here, we explore the utility of a quadrotor unmanned aircraft system (UAS) as a sampling platform to measure vertical and horizontal concentration gradients of trace gases and aerosol particles at high spatial resolution (1 m) within the mixed layer (0-100 m). A 3D Robotics Iris+ autonomous quadrotor UAS was outfitted with a sensor package consisting of a two-channel aerosol optical particle counter and a CO2 sensor. The UAS demonstrated high precision in both vertical (±0.5 m) and horizontal positions (±1 m), highlighting the potential utility of quadrotor UAS drones for aerosol- and trace-gas measurements within complex terrain, such as the urban environment, forest canopies, and above difficult-to-access areas such as breaking surf. Vertical profiles of aerosol particle number concentrations, acquired from flights conducted along the California coastline, were used to constrain sea-spray aerosol-emission rates from coastal wave breaking.

The Submersible Threat to Maritime Homeland Security

DTIC Science & Technology

2013-09-01

government . IRB Protocol number ____N/A____. 12a. DISTRIBUTION / AVAILABILITY STATEMENT Approved for public release; distribution is unlimited 12b...20 Figure 8. Privately Owned Tourist Submersible (From Atlantis Submarine off Maui...Armed Forces of Colombia (Spanish) FLIR Forward Looking Infrared Radar GAO Government Accountability Office GPS Global Positioning System

Application of Human-Autonomy Teaming (HAT) Patterns to Reduce Crew Operations (RCO)

NASA Technical Reports Server (NTRS)

Shively, R. Jay; Brandt, Summer L.; Lachter, Joel; Matessa, Mike; Sadler, Garrett; Battiste, Henri

2016-01-01

Unmanned aerial systems, robotics, advanced cockpits, and air traffic management are all examples of domains that are seeing dramatic increases in automation. While automation may take on some tasks previously performed by humans, humans will still be required, for the foreseeable future, to remain in the system. The collaboration with humans and these increasingly autonomous systems will begin to resemble cooperation between teammates, rather than simple task allocation. It is critical to understand this human-autonomy teaming (HAT) to optimize these systems in the future. One methodology to understand HAT is by identifying recurring patterns of HAT that have similar characteristics and solutions. This paper applies a methodology for identifying HAT patterns to an advanced cockpit project.

ROS-based ground stereo vision detection: implementation and experiments.

PubMed

Hu, Tianjiang; Zhao, Boxin; Tang, Dengqing; Zhang, Daibing; Kong, Weiwei; Shen, Lincheng

This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground stereo vision guidance system is presented with details on system architecture and workflow. The Chan-Vese detection algorithm is further considered and implemented in the robot operating systems (ROS) environment. A data-driven interactive scheme is developed to collect datasets for parameter tuning and performance evaluating. The flying vehicle outdoor experiments capture the stereo sequential images dataset and record the simultaneous data from pan-and-tilt unit, onboard sensors and differential GPS. Experimental results by using the collected dataset validate the effectiveness of the published ROS-based detection algorithm.

Space Station tethered elevator system

NASA Technical Reports Server (NTRS)

Haddock, Michael H.; Anderson, Loren A.; Hosterman, K.; Decresie, E.; Miranda, P.; Hamilton, R.

1989-01-01

The optimized conceptual engineering design of a space station tethered elevator is presented. The tethered elevator is an unmanned, mobile structure which operates on a ten-kilometer tether spanning the distance between Space Station Freedom and a platform. Its capabilities include providing access to residual gravity levels, remote servicing, and transportation to any point along a tether. The report discusses the potential uses, parameters, and evolution of the spacecraft design. Emphasis is placed on the elevator's structural configuration and three major subsystem designs. First, the design of elevator robotics used to aid in elevator operations and tethered experimentation is presented. Second, the design of drive mechanisms used to propel the vehicle is discussed. Third, the design of an onboard self-sufficient power generation and transmission system is addressed.

UNEXMIN H2020 Project: an underwater explorer for flooded mines

NASA Astrophysics Data System (ADS)

Lopes, Luís; Zajzon, Norbert; Bodo, Balázs; Henley, Stephen; Žibret, Gorazd; Almeida, José; Vörös, Csaba; Horvath, Janos; Dizdarevič, Tatjana; Rossi, Claudio; McLoughlin, Mike

2017-04-01

UNEXMIN (Underwater Explorer for Flooded Mines, Grant Agreement No. 690008, www.unexmin.eu) is a project funded by the European Commission's HORIZON2020 Framework Programme. The project is developing a multi-platform robotic system for the autonomous exploration and mapping of Europe's flooded mines. The robotic system - UX-1 - will use non-invasive methods for the 3D mapping of abandoned flooded mines, bringing new important geological and mineralogical data that cannot be currently obtained by any other means. This technology will allow the development or update of geological models at local and regional levels. The data collected will then be used to consider new exploration scenarios for the possible re-opening of some of Europe's abandoned mines which may still contain valuable resources of strategic minerals. The deployment of a multi-robotic system in such a confined environment poses challenges that must be overcome so that the robots can work autonomously, without damaging the equipment and the mine itself. Key challenges are related to the i) structural design for robustness and resilience, ii) localization, navigation and 3D mapping, iii) guidance, propulsion and control, iv) autonomous operation and supervision, v) data processing, interpretation and evaluation. The scientific instrument array is currently being tested, built and tailored for the submersible: pH, electrical conductivity, pressure and temperature analyzers and a water sampler (water sampling methods), a magnetic field analyzer, a gamma-ray counter and a sub-bottom profiler (geophysical methods) and a multispectral and UV fluorescence imaging units (optical observation methods). The instruments have been selected to generate data of maximum geoscientific interest, considering the limiting factors of the submerged underground environment, the necessary robotic functions, the size for the robot and other constraints. Other crucial components for the robot's functionality (such as movement, control, autonomy, mapping, interpretation and evaluation) include cameras, SONARs, thrusters, DVL, inertial navigation system, laser scanner, computer, batteries and the integrated pressure hull. The UNEXMIN project is currently ongoing with the development of the first mechanical model as well as the scientific instruments. The robot prototype is being developed with a spherical shape with a diameter such that will allow it to fit into the sometimes narrow underground mine openings and to freely move around them, to a depth of 500m. Component/instrument validations and simulations are being worked out to understand the behavior of the technology in the flooded mine environment. At the same time post-processing and data analysis tools are also being developed and prepared. After the groundwork and setup phases, the first robot prototype is going to be tested in four sites under real life conditions corresponding to increasingly difficult mission objectives in terms of mine layout, geometry and topology. The test sites include the Kaatiala pegmatite mine in Finland, the Urgeiriça uranium mine in Portugal and the Idrija mercury mine in Slovenia. The final, most ambitious demonstration will occur in the UK with the resurveying of the entire flooded section of the Ecton underground copper mine that nobody has seen for over 150 years.

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, J.; Houdou, B.; Fisackerly, R.; De Rosa, D.; Espinasse, S.; Hufenbach, B.

2013-09-01

Lunar exploration continues to be a priority for the European Space Agency (ESA) and is recognized as the next step for human exploration beyond low Earth orbit. The Moon is also recognized as an important scientific target providing vital information on the history of the inner solar system; Earth and the emergence of life, and fundamental information on the formation and evolution of terrestrial planets. The Moon also provides a platform that can be utilized for fundamental science and to prepare the way for exploration deeper into space and towards a human Mars mission, the ultimate exploration goal. Lunar missions can also provide a means of preparing for a Mars sample return mission, which is an important long term robotic milestone. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. These include activities on the ISS and participation with US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017. Future activities planned activities also include participation in international robotic missions. These activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensible partner in the exploration missions of the future. We present ESA's plans for Lunar exploration and the current status of activities. In particular we will show that this programme gives rise to unique scientific opportunities and prepares scientifically and technologically for future exploratory steps.

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

Jankowski, Todd Andrew; Gamboa, Jose A

Cooling devices for use with electric submersible pump motors include a refrigerator attached to the end of the electric submersible pump motor with the evaporator heat exchanger accepting all or a portion of the heat load from the motor. The cooling device can be a self-contained bolt-on unit, so that minimal design changes to existing motors are required.

A proposed decision-making guide for the search, rescue and resuscitation of submersion (head under) victims based on expert opinion.

PubMed

Tipton, Michael J; Golden, Frank St C

2011-07-01

There is some confusion, and consequent variation in policy, between the agencies responsible for the search, rescue and resuscitation of submersion victims regarding the likelihood of survival following a period of submersion. The aim of this work was to recommend a decision-making guide for such victims. This guidance was arrived at by a review of the relevant literature and specific case studies, and a "consensus" meeting on the topic. The factors found to be important for determining the possibility of prolonged survival underwater were: water temperature; salinity of water; duration of submersion; and age of the victim. Of these, only water temperature and duration are sufficiently clear to form the basis of guidance in this area. It is concluded that if water temperature is warmer than 6°C, survival/resuscitation is extremely unlikely if submerged longer than 30 min. If water temperature is 6°C or below, survival/resuscitation is extremely unlikely if submerged longer than 90 min. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Energy consumption behavior of submersible pumps using in the Barind area of Bangladesh

NASA Astrophysics Data System (ADS)

Haque, M. E.; Islam, M. R.; Masud, M. H.; Ferdous, J.; Haniu, H.

2017-06-01

In this work the ground water level and water pumping for irrigation and drinking purposes in Barind area of Bangladesh have been studied. The depth of ground water level remains under 30ft throughout the year that enforcing the use of submersible pumps in most parts of Barind zone. The Barind Multipurpose Development Authority (BMDA) and Rajshahi WASA are the major water supplying authority in the Northern Part of Bangladesh by using 14386 and 87 nos of submersible pumps, respectively. An investigation for the values of life cycle cost elements of submersible pumps has also been carried out. The performance of the pumps running in different sites in Barind area were investigated and compared with the lab test results of new pumps. Energy consumption cost is dominating the life cycle cost of the pumps using in Barind region and improper matching of pump standard running conditions and operation/system requirements are the main causes of lower efficiency. It is found that the efficiency of the running pumps is reduced by 20 - 40% than that of lab test results.

WTEC panel report on research submersibles and undersea technologies

NASA Technical Reports Server (NTRS)

Seymore, Richard J.; Blidberg, D. Richard; Brancart, Claude P.; Gentry, Larry L.; Kalvaitis, Algis N.; Lee, Michael J.; Mooney, Brad; Walsh, Don

1994-01-01

This report covers research submersibles and related subsea technologies in Finland, France, Russia, Ukraine and the United Kingdom. Manned, teleoperated, and autonomous submersibles were of interest. The panel found that, in contrast to the United States, Europe is making substantial progress in cooperative and coordinated research in subsea technology, including the development of standards. France is a leader in autonomous vehicle technology. Because much less was known a priori about the technologies in Russia and Ukraine, there were more new findings in those countries than in those Western European nations visited. However, Russia and Ukraine have a sizeable (and currently underutilized) infrastructure in this field, including a highly educated and experienced manpower pool, impressive (in some cases unique) facilities for physical testing, extensive fleets of seagoing research vessels capable of long voyages, and state-of-the-art facilities for conducting oceanographic investigations. The panel visited newly-formed commercial companies associated with long-standing submersible R&D and production centers in Russia and Ukraine. So far, these new efforts are undercapitalized, and as such represent opportunities at very low cost for Western nations, as detailed in the site reports.

WTEC panel report on research submersibles and undersea technologies

NASA Astrophysics Data System (ADS)

Seymore, Richard J.; Blidberg, D. Richard; Brancart, Claude P.; Gentry, Larry L.; Kalvaitis, Algis N.; Lee, Michael J.; Mooney, Brad; Walsh, Don

1994-06-01

This report covers research submersibles and related subsea technologies in Finland, France, Russia, Ukraine and the United Kingdom. Manned, teleoperated, and autonomous submersibles were of interest. The panel found that, in contrast to the United States, Europe is making substantial progress in cooperative and coordinated research in subsea technology, including the development of standards. France is a leader in autonomous vehicle technology. Because much less was known a priori about the technologies in Russia and Ukraine, there were more new findings in those countries than in those Western European nations visited. However, Russia and Ukraine have a sizeable (and currently underutilized) infrastructure in this field, including a highly educated and experienced manpower pool, impressive (in some cases unique) facilities for physical testing, extensive fleets of seagoing research vessels capable of long voyages, and state-of-the-art facilities for conducting oceanographic investigations. The panel visited newly-formed commercial companies associated with long-standing submersible R&D and production centers in Russia and Ukraine. So far, these new efforts are undercapitalized, and as such represent opportunities at very low cost for Western nations, as detailed in the site reports.

DLR HABLEG- High Altitude Balloon Launched Experimental Glider

NASA Astrophysics Data System (ADS)

Wlach, S.; Schwarzbauch, M.; Laiacker, M.

2015-09-01

The group Flying Robots at the DLR Institute of Robotics and Mechatronics in Oberpfaffenhofen conducts research on solar powered high altitude aircrafts. Due to the high altitude and the almost infinite mission duration, these platforms are also denoted as High Altitude Pseudo-Satellites (HAPS). This paper highlights some aspects of the design, building, integration and testing of a flying experimental platform for high altitudes. This unmanned aircraft, with a wingspan of 3 m and a mass of less than 10 kg, is meant to be launched as a glider from a high altitude balloon in 20 km altitude and shall investigate technologies for future large HAPS platforms. The aerodynamic requirements for high altitude flight included the development of a launch method allowing for a safe transition to horizontal flight from free-fall with low control authority. Due to the harsh environmental conditions in the stratosphere, the integration of electronic components in the airframe is a major effort. For regulatory reasons a reliable and situation dependent flight termination system had to be implemented. In May 2015 a flight campaign was conducted. The mission was a full success demonstrating that stratospheric research flights are feasible with rather small aircrafts.

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments.

PubMed

Ramon Soria, Pablo; Arrue, Begoña C; Ollero, Anibal

2017-01-07

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

Stability control for high speed tracked unmanned vehicles

NASA Astrophysics Data System (ADS)

Pape, Olivier; Morillon, Joel G.; Houbloup, Philippe; Leveque, Stephane; Fialaire, Cecile; Gauthier, Thierry; Ropars, Patrice

2005-05-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

Low Temperature Life-Cycle Testing of a Lithium-Ion Battery for Low-Earth-Orbiting Spacecraft

NASA Technical Reports Server (NTRS)

Reid, Concha

2006-01-01

A flight-qualified, lithium-ion (Li-ion) battery developed for the Mars Surveyor Program 2001 Landeris undergoing life-testing at low temperature under a low-Earth-orbit (LEO) profile to assess its capability to provide long term energy storage for aerospace missions. NASA has embarked upon an ambitious course to return humans to the moon by 2015-2020 in preparation for robotic and human exploration of Mars and robotic exploration of the moons of outer planets. Li-ion batteries are excellent candidates to provide power and energy storage for multiple aspects of these missions due to their high specific energy, high energy density, and excellent low temperature performance. Laboratory testing of Li-ion technology is necessary in order to assess lifetime, characterize multi-cell battery-level performance under aerospace conditions, and to gauge safety aspects of the technology. Life-cycle testing provides an opportunity to examine battery-level performance and the dynamics of individual cells in the stack over the entire life of the battery. Data generated through this testing will be critical to establish confidence in the technology for its widespread use in manned and unmanned missions.

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Woodward, Gail

2011-01-01

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

Testing Momentum Enhancement of Ribbon Fin Based Propulsion Using a Robotic Model With an Adjustable Body

NASA Astrophysics Data System (ADS)

English, Ian; Curet, Oscar

2016-11-01

Lighthill and Blake's 1990 momentum enhancement theory suggests there is a multiplicative propulsive effect linked to the ratio of body and fin heights in Gymnotiform and Balistiform swimmers, which propel themselves using multi-rayed undulating fins while keeping their bodies mostly rigid. Proof of such a momentum enhancement could have a profound effect on unmanned underwater vehicle design and shed light on the evolutionary advantage to body-fin ratios found in nature, shown as optimal for momentum enhancement in Lighthill and Blake's theory. A robotic ribbon fin with twelve independent fin rays, elastic fin membrane, and a body of adjustable height was developed specifically to experimentally test momentum enhancement. Thrust tests for various body heights were conducted in a recirculating flow tank at different flow speeds and fin flapping frequencies. When comparing thrust at different body heights, flow speeds, and frequencies to a 'no-body' thrust test case at each frequency and flow speed, data indicate there is no momentum enhancement factor due to the presence of a body on top of an undulating fin. This suggests that if there is a benefit to a specific ratio between body and fin height, it is not due to momentum enhancement.

Effects of triploid grass carp on aquatic plants, water quality, and public satisfaction in Washington State

USGS Publications Warehouse

Bonar, Scott A.; Bolding, B.; Divens, M.

2002-01-01

We investigated effects of triploid grass carp Ctenopharyngodon idella on aquatic macrophyte communities, water quality, and public satisfaction for 98 lakes and ponds in Washington State stocked with grass carp between 1990 and 1995. Grass carp had few noticeable effects on macrophyte communities until 19 months following stocking. After 19 months, submersed macrophytes were either completely eradicated (39% of the lakes) or not controlled (42% of the lakes) in most lakes. Intermediate control of submersed macrophytes occurred in 18% of lakes at a median stocking rate of 24 fish per vegetated surface acre. Most of the landowners interviewed (83%) were satisfied with the results of introducing grass carp. For sites where all submersed macrophytes were eradicated, average turbidity was higher (11 nephelometric turbidity units, NTU) than at sites where macrophytes were controlled to intermediate levels (4 NTU) or unaffected by grass carp grazing (5 NTU). Chlorophyll a was not significantly different between levels of macrophyte control; therefore, we concluded that most of this turbidity was abiotic and not algal. Triploid grass carp were a popular control option and effectively grazed most submersed macrophytes in Washington State. However, calculating stocking rates based on landowner estimates of aquatic plant coverage rarely resulted in intermediate levels of aquatic plant control. Additionally, the effects of particular stocking rates varied considerably. We recommend against using grass carp in Washington lakes where eradication of submersed vegetation cannot be tolerated.

A comparison of activation patterns of cells in selected prefrontal cortical and amygdala areas of rats which are more or less anxious in response to predator exposure or submersion stress.

PubMed

Adamec, Robert; Toth, Mate; Haller, Jozsef; Halasz, Jozsef; Blundell, Jacqueline

2012-02-01

This study had two purposes. First: to compare predator and water submersion stress cFos activation in medial prefrontal cortices (mPFC) and the medial amygdala (MeA). Second: to identify markers of vulnerability to stressors within these areas. Rats were either predator or submersion stressed and tested 1.75 h later for anxiety. Immediately thereafter, rats were sacrificed and cFos expression was examined. Predator and submersion stress equally increased anxiety-like behavior in the elevated plus maze (EPM) and hole board. To examine vulnerability, rats which were less anxious (LA) and more (highly) anxious (MA) in the EPM were selected from among handled control and stressed animals. LA stressed rats were considered stress non-responsive while MA stressed rats were considered stress responsive. Predator stress, but not submersion stress, activated MeA cFos. CFos expression of mPFC cells was elevated in LA rats and reduced in MA rats in predator stressed animals only, correlating negatively with anxiety. These findings are consistent with data implicating greater mPFC excitability in protection against the effects on affect of traumatic stress. The findings also suggest that this conclusion is stressor specific, applying to predator stress but not submersion stress. Both stressors have been suggested to model hyperarousal and comorbid anxiety aspects of PTSD in humans. Hence the use of these paradigms to identify brain bases of vulnerability and resilience to traumatic stress in PTSD has translation potential. On the other hand, our evidence of stressor specificity of vulnerability/resilience markers raises a caution. The data suggest that preclinical markers of vulnerability/resilience in a given stress paradigm are at best suggestive, and translational value must ultimately be confirmed in humans. Copyright © 2011 Elsevier Inc. All rights reserved.

Evaluation of radar rainfall estimates and nowcasts to prevent flash flood in real time by using a road submersion warning tool

NASA Astrophysics Data System (ADS)

Versini, Pierre-Antoine; Sempere-Torres, Daniel

2010-05-01

Important damages occur in small headwater catchments when they are hit by severe storms with complex spatio-temporal structure, sometimes resulting in flash floods. As these catchments are mostly not covered by sensor networks, it is difficult to forecast these floods. This is particularly true for road submersions. These are major concerns for flood event managers. The use of Quantitative Precipitation Estimates and Forecasts (QPE/QPF) especially based on radar measurements could particularly be adequate to evaluate rainfall-induced risks. Although their characteristic time and space scales would make them suitable for flash flood modelling, the impact of their uncertainties remain uncertain and have to be evaluated. The Gard region (France) has been chosen as case study. This area is frequently affected by severe flash floods and different kinds of rainfall observations are available in real time: radar rainfall estimates and nowcasts from METEO FRANCE and the CALAMAR system from SPC (state authority in charge of flood forecasting). An application devoted to the road network, has also been recently developed for this region. It combines distributed hydro-meteorological very short range forecasts and vulnerability analysis to provide warnings of road submersions. The first results demonstrate that it is technically possible to provide distributed short-term forecasts for a large number of sites. The study also demonstrates that a reliable estimation of the spatial distribution of rainfall is essential. For this reason, the road submersion warning system can be used to evaluate the quality of rainfall estimates and nowcasts. The warning system has been tested on the specific storm of the 29-30 September 2007. During this event, more than 300mm dropped on the South part of the Gard and many roads were submerged. Each of the mentioned rainfall datasets (i.e. estimates and nowcasts) was available in real time. They have been used to forecast the exact location of road submersions and the results have been compared to the effective road submersions actually occurred during the event as listed by the emergency services. The results confirm that the road submersion warning system represents a promising tool for anticipating and quantifying the consequences of storm events at ground. It rates the submersion risk with an acceptable level of accuracy and a reasonable false alarm ratio. It demonstrates also the quality of high spatial and temporal resolution radar rainfall data in real time, and the possibility to use them despite their uncertainties. However because of the quality of rainfall nowcasts falls drastically with time, it is not often sufficient to provide valuable information for lead times exceeding one hour.

Mobile detection assessment and response systems (MDARS): a force protection physical security operational success

NASA Astrophysics Data System (ADS)

Shoop, Brian; Johnston, Michael; Goehring, Richard; Moneyhun, Jon; Skibba, Brian

2006-05-01

MDARS is a Semi-autonomous unmanned ground vehicle with intrusion detection & assessment, product & barrier assessment payloads. Its functions include surveillance, security, early warning, incident first response and product and barrier status primarily focused on a depot/munitions security mission at structured/semi-structured facilities. MDARS is in Systems Development and Demonstration (SDD) under the Product Manager for Force Protection Systems (PM-FPS). MDARS capabilities include semi-autonomous navigation, obstacle avoidance, motion detection, day and night imagers, radio frequency tag inventory/barrier assessment and audio challenge and response. Four SDD MDARS Patrol Vehicles have been undergoing operational evaluation at Hawthorne Army Depot, NV (HWAD) since October 2004. Hawthorne personnel were trained to administer, operate and maintain the system in accordance with the US Army Military Police School (USAMPS) Concept of Employment and the PM-FPS MDARS Integrated Logistic Support Plan. The system was subjected to intensive periods of evaluation under the guidance and control of the Army Test and Evaluation Center (ATEC) and PM-FPS. Significantly, in terms of User acceptance, the system has been under the "operational control" of the installation performing security and force protection missions in support of daily operations. This evaluation is intended to assess MDARS operational effectiveness in an operational environment. Initial observations show that MDARS provides enhanced force protection, can potentially reduce manpower requirements by conducting routine tasks within its design capabilities and reduces Soldier exposure in the initial response to emerging incidents and situations. Success of the MDARS program has been instrumental in the design and development of two additional robotic force protection programs. The first was the USAF Force Protection Battle Lab sponsored Remote Detection Challenge & Response (REDCAR) concept demonstration executed by the Air Force Robotics Lab (AFRL). The REDCAR used an MDARS PUV as the central robotic technology and expanded the concept to incorporate a smaller high speed platform (SCOUT) equipped with lethal, non-lethal and challenge components as an engagement platform and, in a marsupial configuration on the MDARS, a small UGV that can be deployed to investigate close quarters areas. The Family of Integrated Rapid Response Equipment (FIRRE) program further expands these concepts by incorporating and adapting other mobile/tactical force protection equipment with a more robust Unmanned Ground Vehicle into an "Expeditionary" configuration to provide the current force with a rapidly deployable force protection system that can operate in austere less structured and protected environments. A USAMPS/ MANCEN sponsored "FIRRE System Demonstration" in Iraq is scheduled to begin in FY '07.

76 FR 80291 - Revisions to the Export Administration Regulations (EAR): Control of Submersible Vessels...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-23

..., unilateral control on submersibles ``specially designed'' for cargo transport that are not currently subject to USML or CCL controls. This rule is one of a planned series of proposed rules that are part of the... controlled on the CCL--the military vehicles proposal was the first in a series of such proposed rules to be...

ENVIRONMENTAL TECHNOLOGY VERIFICATION JOINT (NSF-EPA) VERIFICATION STATEMENT AND REPORT PERFORMANCE OF INDUCTION MIXERS FOR DISINFECTION OF WET WEATHER FLOWS, GAS MASTRRR SERIES 32 SUBMERSIBLE CHEMICAL INDUCTION MIXERS

EPA Science Inventory

The Wet-Weather Flow Technologies Pilot of the EPA's Environmental Technology Verification (ETV) Program under a partnership with NSF International has verified the performance of the GAS MASTRRR Series 32 Submersible Chemical Induction Mixers used for disinfection of wet-weather...

75 FR 9207 - Notice of a Project Waiver of Section 1605 (Buy American Requirement) of the American Recovery...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-01

... the purchase of a GrundFos SQ Flex 6 SQF- 2 solar powered submersible pump system with control and solar panels (pump system) manufactured in Denmark by GrundFos. This is a project specific waiver and... powered submersible pump system with control and solar panels (pump system) manufactured in Denmark by...

33 CFR 147.841 - Atlantis Semi-Submersible safety zone.

Code of Federal Regulations, 2010 CFR

2010-07-01

... safety zone. (a) Description. Atlantis Semi-Submersible, Green Canyon 787 (GC 787), located at position 27°11′44″ N, 90°01′37″ W. The area within 500 meters (1640.4 feet) from each point on the structure's outer edge is a safety zone. These coordinates are based upon [NAD 83]. (b) Regulation. No vessel may...

Neurobiomimetic constructs for intelligent unmanned systems and robotics

NASA Astrophysics Data System (ADS)

Braun, Jerome J.; Shah, Danelle C.; DeAngelus, Marianne A.

2014-06-01

This paper discusses a paradigm we refer to as neurobiomimetic, which involves emulations of brain neuroanatomy and neurobiology aspects and processes. Neurobiomimetic constructs include rudimentary and down-scaled computational representations of brain regions, sub-regions, and synaptic connectivity. Many different instances of neurobiomimetic constructs are possible, depending on various aspects such as the initial conditions of synaptic connectivity, number of neuron elements in regions, connectivity specifics, and more, and we refer to these instances as `animats'. While downscaled for computational feasibility, the animats are very large constructs; the animats implemented in this work contain over 47,000 neuron elements and over 720,000 synaptic connections. The paper outlines aspects of the animats implemented, spatial memory and learning cognitive task, the virtual-reality environment constructed to study the animat performing that task, and discussion of results. In a broad sense, we argue that the neurobiomimetic paradigm pursued in this work constitutes a particularly promising path to artificial cognition and intelligent unmanned systems. Biological brains readily cope with challenges of real-life tasks that consistently prove beyond even the most sophisticated algorithmic approaches known. At the cross-over point of neuroscience, cognitive science and computer science, paradigms such as the one pursued in this work aim to mimic the mechanisms of biological brains and as such, we argue, may lead to machines with abilities closer to those of biological species.

Proposal for a remotely manned space station

NASA Technical Reports Server (NTRS)

Minsky, Marvin

1990-01-01

The United States is in trouble in space. The costs of the proposed Space Station Freedom have grown beyond reach, and the present design is obsolete. The trouble has come from imagining that there are only two alternatives: manned vs. unmanned. Both choices have led us into designs that do not appear to be practical. On one side, the United States simply does not possess the robotic technology needed to operate or assemble a sophisticated unmanned space station. On the other side, the manned designs that are now under way seem far too costly and dangerous, with all of its thousands of extravehicular activity (EVA) hours. More would be accomplished at far less cost by proceeding in a different way. The design of a space station made of modular, Erector Set-like parts is proposed which is to be assembled using earth-based remotely-controlled binary-tree telerobots. Earth-based workers could be trained to build the station in space using simulators. A small preassembled spacecraft would be launched with a few telerobots, and then, telerobots could be ferried into orbit along with stocks of additional parts. Trained terrestrial workers would remotely assemble a larger station, and materials for additional power and life support systems could be launched. Finally, human scientists and explorers could be sent to the space station. Other aspects of such a space station program are discussed.

Gas-rich submarine exhalations during the 1989 eruption of Macdonald Seamount

NASA Astrophysics Data System (ADS)

C´e, J.-L.; Stoffers, P.; McMurtry, G.; Richnow, H.; Puteanus, D.; Sedwick, P.

1991-11-01

In January 1989 we observed submarine eruptions on the summit of Macdonald volcano during a French-German diving programme with the IFREMER submersible Cyana. Gas-streaming of large amounts of CH 4, CO 2 and SO 2 from summit vents, inferred from water column anomalies and observed by submersible, was accompanied on the sea surface by steam bursts, turbulence, red-glowing gases, and black bubbles comprising volcanic ash, sulphur and sulphides. Chloride depletion of water sampled on the floor of an actively degassing summit crater suggests either boiling and phase separation or additions of magmatic water vapour. Submersible observations, in-situ sampling and shipboard geophysical and hydrographic measurements show that the hydrothermal system of this hotspot volcano is distinguished by the influence of magmatic gases released from its shallow summit.

Impacts de l`élévation du niveau de la mer sur l'évolution future d'une côte basse à lagune de la péninsule du Cap Bon (Nord-Est de la Tunisie): approche cartographique

NASA Astrophysics Data System (ADS)

Brahmi, Noura; Dhieb, Mohsen; Chedly Rabia, Mohamed

2018-05-01

La submersion marine est l'une des principales menaces qui pèsent sur les zones humides littorales de la péninsule du Cap Bon. Or, cette menace est amenée à se renforcer en raison du réchauffement climatique qui entraînera une élévation du niveau marin et vraisemblablement un renforcement de l'intensité des tempêtes et des cyclones tropicaux d'ici à l'horizon 2100. L'objectif a donc été d'évaluer la vulnérabilité de la lagune face à la submersion. Dans cette optique, après avoir identifié les enjeux liés à l'élévation du niveau de la mer pour la lagune, nous avons dressé une cartographie prévisionnelle des risques de submersion par l'intermédiaire d'une application cartographique basée sur une modélisation numérique de terrain et analysé les impacts potentiels de ce phénomène. La cartographie est donc amenée à devenir centrale pour l'étude de l'impact du risque de la submersion marine sur les lagunes côtières et la gestion de ces espaces dans les décennies à venir. La cartographie de l'aléa submersion marine a montré que l'ouverture épisodique de brèches lors des tempêtes pourrait entraîner la submersion de l'ensemble du domaine lagunaire et aurait un impact morphogénique essentiel. En effet, le phénomène d'une accélération de l'élévation du niveau marin et d'un renforcement des tempêtes génère le morcellement du cordon littoral qui sépare la lagune de la mer. Par ailleurs, les pertes de matériel sédimentaire pour la plage augmenteront, dans la mesure où, lors d'une tempête, une grande partie des matériaux déplacés par les vagues dans les étangs par submersion ou par ouverture d'une brèche, ne peut être récupérée par la suite. Tout ceci constitue un facteur d'accélération du recul ou de disparition de la plage déjà très érodée. Les impacts de cette submersion pourraient être importants en absence de mesures préventives. Elle aurait ainsi des répercussions profondes sur les systèmes naturels et environnementaux et sur la qualité de vie de la population locale.

Scalable autonomous operations of unmanned assets

NASA Astrophysics Data System (ADS)

Jung, Sunghun

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

Robotic sampling system for an unmanned Mars mission

NASA Technical Reports Server (NTRS)

Chun, Wendell

1989-01-01

A major robotics opportunity for NASA will be the Mars Rover/Sample Return Mission which could be launched as early as the 1990s. The exploratory portion of this mission will include two autonomous subsystems: the rover vehicle and a sample handling system. The sample handling system is the key to the process of collecting Martian soils. This system could include a core drill, a general-purpose manipulator, tools, containers, a return canister, certification hardware and a labeling system. Integrated into a functional package, the sample handling system is analogous to a complex robotic workcell. Discussed here are the different components of the system, their interfaces, forseeable problem areas and many options based on the scientific goals of the mission. The various interfaces in the sample handling process (component to component and handling system to rover) will be a major engineering effort. Two critical evaluation criteria that will be imposed on the system are flexibility and reliability. It needs to be flexible enough to adapt to different scenarios and environments and acquire the most desirable specimens for return to Earth. Scientists may decide to change the distribution and ratio of core samples to rock samples in the canister. The long distance and duration of this planetary mission places a reliability burden on the hardware. The communication time delay between Earth and Mars minimizes operator interaction (teleoperation, supervisory modes) with the sample handler. An intelligent system will be required to plan the actions, make sample choices, interpret sensor inputs, and query unknown surroundings. A combination of autonomous functions and supervised movements will be integrated into the sample handling system.

Calculation of conversion coefficients using Chinese adult reference phantoms for air submersion and ground contamination.

PubMed

Lu, Wei; Qiu, Rui; Wu, Zhen; Li, Chunyan; Yang, Bo; Liu, Huan; Ren, Li; Li, Junli

2017-03-21

The effective and organ equivalent dose coefficients have been widely used to provide assessment of doses received by adult members of the public and by workers exposed to environmental radiation from nuclear facilities under normal or accidental situations. Advancements in phantom types, weighting factors, decay data, etc, have led to the publication of newer results in this regard. This paper presents a new set of conversion coefficients for air submersion and ground contamination (with the use of Geant4) for photons from 15 keV to 10 MeV using the Chinese and International Commission on Radiological Protection (ICRP) adult reference male and female phantoms. The radiation fields, except for energy spectrum at low energies, were validated by the data obtained from the Monte Carlo code YURI. The effective dose coefficients of monoenergetic photons, obtained for the ICRP adult reference phantoms, agree well with recently published data for air submersion and ground contamination with a plane source at a depth of 0.5 g cm -2 in soil, but an average difference of 36.5% is observed for ground surface contamination with the abovementioned radiation field. The average differences in organ equivalent dose coefficients between the Chinese and the ICRP adult reference phantoms are within 6% for most organs, but noticeable differences of up to 70% or even higher are found at photon energies below 30 keV under air submersion. The effective dose coefficients obtained with the Chinese adult reference phantoms are greater than those of the ICRP adult reference phantoms above 30 keV and 0.5 MeV for ground contamination and air submersion, respectively; the average differences from the Chinese adult reference phantoms are about 3.6% and 0.4% in the whole energy range with maximum differences of 31.8% and 27.6% at 15 keV for air submersion and ground contamination respectively. These differences are attributed to anatomical discrepancies in overlying tissue mass of an individual organ and the body mass between the Chinese and the ICRP adult reference phantoms. These monoenergetic photon conversion coefficients are subsequently used to evaluate radionuclides with decay data from ICRP publication 107.

Bioelectric impedance and hydrostatic weighing with and without head submersion in persons who are morbidly obese.

PubMed

Heath, E M; Adams, T D; Daines, M M; Hunt, S C

1998-08-01

To compare hydrostatic weighing with and without head submersion and bioelectric impedance analysis (BIA) for measurement of body composition of persons who are morbidly obese. Body composition was determined using 3 methods: hydrostatic weighing with and without head submersion and BIA. Residual volume for the hydrostatic weighing calculation was determined by body plethysmography. Subjects were 16 morbidly obese men (142.5 kg mean body weight) and 30 morbidly obese women (125.9 kg mean body weight) living in the Salt Lake County, Utah, area. Morbid obesity was defined as 40 kg or more over ideal weight. One-way, repeated-measures analysis of variance was followed by Scheffé post hoc tests; body-fat measurement method served as the repeated variable and percentage of body fat as the dependent variable. Men and women were analyzed separately. In addition, degree of agreement between the 3 methods of determining body composition was determined. A regression equation was used to calculate body density for hydrostatic weighing without head submersion. Two new BIA regression equations were developed from the data of the 16 men and 30 women. Values for percentage body fat from hydrostatic weighing with and without head submersion (41.8% vs 41.7%, respectively) were the same for men but differed for women (52.2% vs 49.4%, respectively, P < .0001). Values for body fat percentage measured by BIA were significantly lower for men (36.1%) and women (43.1%) (for both, P < .0001) compared with values from hydrostatic weighing methods. BIA underpredicted percentage body fat by a mean of 5.7% in men and 9.1% in women compared with the traditional hydrostatic weighing method. BIA tended to underpredict the measurement of percentage body fat in male and female subjects who were morbidly obese. Hydrostatic weighing without head submersion provides an accurate, acceptable, and convenient alternative method for body composition assessment of the morbidly obese population in comparison with the traditional hydrostatic weighing method. In population screening or other settings where underwater weighing is impractical, population-specific BIA regression equations should be used because general BIA equations lead to consistent underprediction of percentage body fat compared with hydrostatic weighing.

Calculation of conversion coefficients using Chinese adult reference phantoms for air submersion and ground contamination

NASA Astrophysics Data System (ADS)

Lu, Wei; Qiu, Rui; Wu, Zhen; Li, Chunyan; Yang, Bo; Liu, Huan; Ren, Li; Li, Junli

2017-03-01

The effective and organ equivalent dose coefficients have been widely used to provide assessment of doses received by adult members of the public and by workers exposed to environmental radiation from nuclear facilities under normal or accidental situations. Advancements in phantom types, weighting factors, decay data, etc, have led to the publication of newer results in this regard. This paper presents a new set of conversion coefficients for air submersion and ground contamination (with the use of Geant4) for photons from 15 keV to 10 MeV using the Chinese and International Commission on Radiological Protection (ICRP) adult reference male and female phantoms. The radiation fields, except for energy spectrum at low energies, were validated by the data obtained from the Monte Carlo code YURI. The effective dose coefficients of monoenergetic photons, obtained for the ICRP adult reference phantoms, agree well with recently published data for air submersion and ground contamination with a plane source at a depth of 0.5 g cm-2 in soil, but an average difference of 36.5% is observed for ground surface contamination with the abovementioned radiation field. The average differences in organ equivalent dose coefficients between the Chinese and the ICRP adult reference phantoms are within 6% for most organs, but noticeable differences of up to 70% or even higher are found at photon energies below 30 keV under air submersion. The effective dose coefficients obtained with the Chinese adult reference phantoms are greater than those of the ICRP adult reference phantoms above 30 keV and 0.5 MeV for ground contamination and air submersion, respectively; the average differences from the Chinese adult reference phantoms are about 3.6% and 0.4% in the whole energy range with maximum differences of 31.8% and 27.6% at 15 keV for air submersion and ground contamination respectively. These differences are attributed to anatomical discrepancies in overlying tissue mass of an individual organ and the body mass between the Chinese and the ICRP adult reference phantoms. These monoenergetic photon conversion coefficients are subsequently used to evaluate radionuclides with decay data from ICRP publication 107.

Designing Unmanned Systems with Greater Autonomy: Using a Federated, Partially Open Systems Architecture Approach

DTIC Science & Technology

2014-01-01

system UAV unmanned aircraft vehicle UCI User -Computer Interface UCS UAS control segment Abbreviations xxix UGS unmanned ground system UGV unmanned ...made substantial progress in the deployment of more capable sensors, unmanned aircraft systems (UAS), and other unmanned systems (UxS). Innovative...progress in fielding more, and more capable unmanned aircraft systems (UAS) to meet the needs of warfighters

Exact positioning of the robotic arm end effector

NASA Astrophysics Data System (ADS)

Korepanov, Valery; Dudkin, Fedir

2016-07-01

Orbital service becomes a new challenge of space exploration. The necessity to introduce it is connected first of all with an attractive opportunity to prolong the exploitation terms of expensive commercial satellites by, e.g., refilling of fuel or changing batteries. Other application area is a fight with permanently increasing amount of space litter - defunct satellites, burnt-out rocket stages, discarded trash and other debris. Now more than few tens of thousands orbiting objects larger than 5-10 cm (or about 1 million junks larger than 1 cm) are a huge problem for crucial and costly satellites and manned vehicles. For example, in 2014 the International Space Station had to change three times its orbit to avoid collision with space debris. So the development of the concepts and actions related to removal of space debris or non-operational satellites with use of robotic arm of a servicing satellite is very actual. Such a technology is also applicable for unmanned exploratory missions in solar system, for example for collecting a variety of samples from a celestial body surface. Naturally, the robotic arm movements should be controlled with great accuracy at influence of its non-rigidity, thermal and other factors. In these circumstances often the position of the arm end effector has to be controlled with high accuracy. The possibility of coordinate determination for the robotic arm end effector with use of a low frequency active electromagnetic system has been considered in the presented report. The proposed design of such a system consists of a small magnetic dipole source, which is mounted inside of the arm end effector and two or three 3-component magnetic field sensors mounted on a servicing satellite body. The data from this set of 3-component magnetic field sensors, which are fixed relatively to the satellite body, allows use of the mathematical approach for determination of position and orientation of the magnetic dipole source. The theoretical substantiation of the possibility of exact positioning of the robotic arm end effector and algorithm of its operation are reported.

Lunar Exploration and Science in ESA

NASA Astrophysics Data System (ADS)

Carpenter, J.; Houdou, B.; Fisackerly, R.; De Rosa, D.; Patti, B.; Schiemann, J.; Hufenbach, B.; Foing, B.

2014-04-01

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavor. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the already selected Russian led payload, focusing on the composition and isotopic abundances of lunar volatiles in polar regions. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. This partnership will provide access for European investigators to the opportunities offered by the Russian led instruments on the missions, as well as providing Europe with a unique opportunity to characterize and utilize polar volatile populations. Ultimately samples of high scientific value, from as of yet unexplored and unsampled locations shall be made available to the scientific community. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. All of these activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensible partner in the exploration missions of the future. We report on the current status of the European elements in this cooperative scenario, with an emphasis on the investigations to be performed at the lunar surface. These investigations should generate knowledge that can be enabling for exploration in the future, and should also have a significant fundamental scientific return.

Lunar Exploration and Science Opportunities in ESA

NASA Astrophysics Data System (ADS)

Carpenter, J.; Houdou, B.; Fisackerly, R.; De Rosa, D.; Schiemann, J.; Patti, B.; Foing, B.

2014-04-01

ESA seeks to provide Europe with access to the lunar surface, and allow Europeans to benefit from the opening up of this new frontier, as part of a global endeavour. This will be best achieved through an exploration programme which combines the strengths and capabilities of both robotic and human explorers. ESA is preparing for future participation in lunar exploration through a combination of human and robotic activities, in cooperation with international partners. Future planned activities include the contribution of key technological capabilities to the Russian led robotic missions, Luna-Glob, Luna-Resurs orbiter and Luna-Resurs lander. For the Luna-Resurs lander ESA will provide analytical capabilities to compliment the already selected Russian led payload, focusing on the composition and isotopic abundances of lunar volatiles in polar regions. This should be followed by the contributions at the level of mission elements to a Lunar Polar Sample Return mission. This partnership will provide access for European investigators to the opportunities offered by the Russian led instruments on the missions, as well as providing Europe with a unique opportunity to characterize and utilize polar volatile populations. Ultimately samples of high scientific value, from as of yet unexplored and unsampled locations shall be made available to the scientific community. These robotic activities are being performed with a view to enabling a future more comprehensive programme in which robotic and human activities are integrated to provide the maximum benefits from lunar surface access. Activities on the ISS and ESA participation to the US led Multi-Purpose Crew Vehicle, which is planned for a first unmanned lunar flight in 2017, are also important steps towards achieving this. All of these activities are performed with a view to generating the technologies, capabilities, knowledge and heritage that will make Europe an indispensible partner in the exploration missions of the future. We report on the current status of the European elements in this cooperative scenario, with an emphasis on the investigations to be performed at the lunar surface. These investigations should generate knowledge that can be enabling for exploration in the future, and should also have a significant fundamental scientific return.

Use of low-altitude aerial photography to identify submersed aquatic macrophytes

USGS Publications Warehouse

Schloesser, Donald W.; Manny, Bruce A.; Brown, Charles L.; Jaworski, Eugene

1987-01-01

The feasibility of using low-altitude aerial photography to identify beds of submersed macrophytes is demonstrated. True color aerial photos and collateral ground survey information for submersed aquatic macrophyte beds at 10 sites in the St.Clair-Detroit River system were obtained in September 1978. Using the photos and collateral ground survey information, a dichotomous key was developed for the identification of six classes - beds of five genera of macrophytes and one substrate type. A test was prepared to determine how accurately photo interpreters could identify the six classes. The test required an interpreter to examine an unlabeled, outlined area on photographs and identify it using the key. Six interpreters were tested. One pair of interpreters was trained in the interpretation of a variety of aerial photos, a second pair had field experience in the collection and identification of submersed macrophytes in the river system, and a third pair had neither training in the interpretation of aerial photos nor field experience. The criteria that we developed were applied equally well by the interpretors, regardless of their training or experience. Overall accuracy (i.e., omission errors) of all six classes combined was 68% correct, whereas, overall accuracy of individual classes ranged from 50 to 100% correct. Mapping accuracy (i.e. omission and commission errors) of individual classes ranged from 36 to 75%. Although the key developed for this study has only limited application outside the context of the data and sites examined in this study, it is concluded that low-altitude aerial photography, together with limited amounts of collateral ground survey information, can be used to economically identify beds of submersed macrophytes in the St. Clair-Detroit River system and other similar water bodies.

Thermal effects of whole head submersion in cold water on nonshivering humans.

PubMed

Pretorius, Thea; Bristow, Gerald K; Steinman, Alan M; Giesbrecht, Gordon G

2006-08-01

This study isolated the effect of whole head submersion in cold water, on surface heat loss and body core cooling, when the confounding effect of shivering heat production was pharmacologically eliminated. Eight healthy male subjects were studied in 17 degrees C water under four conditions: the body was either insulated or uninsulated, with the head either above the water or completely submersed in each body-insulation subcondition. Shivering was abolished with buspirone (30 mg) and meperidine (2.5 mg/kg), and subjects breathed compressed air throughout all trials. Over the first 30 min of immersion, exposure of the head increased core cooling both in the body-insulated conditions (head out: 0.47 +/- 0.2 degrees C, head in: 0.77 +/- 0.2 degrees C; P < 0.05) and the body-exposed conditions (head out: 0.84 +/- 0.2 degrees C and head in: 1.17 +/- 0.5 degrees C; P < 0.02). Submersion of the head (7% of the body surface area) in the body-exposed conditions increased total heat loss by only 10%. In both body-exposed and body-insulated conditions, head submersion increased core cooling rate much more (average of 42%) than it increased total heat loss. This may be explained by a redistribution of blood flow in response to stimulation of thermosensitive and/or trigeminal receptors in the scalp, neck and face, where a given amount of heat loss would have a greater cooling effect on a smaller perfused body mass. In 17 degrees C water, the head does not contribute relatively more than the rest of the body to surface heat loss; however, a cold-induced reduction of perfused body mass may allow this small increase in heat loss to cause a relatively larger cooling of the body core.

Development of a Semi-submersible Barge for the installation of a TLP floating substructure. TLPWIND® case study

NASA Astrophysics Data System (ADS)

Amate, Juan; Sánchez, Gustavo D.; González, Gonzalo

2016-09-01

One of the biggest challenges to introduce Tension Leg Platform (TLP) technology into the Offshore Wind market are the Transport & Installation (T&I) stages, since most of TLPs are not self-stable as semisubmersible or SPAR platforms, and consequently requires additional means to perform these operations. This paper addresses this problem that has been overcome through the development of a Semi-submersible “Transport & Installation” Barge (SSB) for Iberdrola's TLPWIND® floating support structure. The Semi-submersible Barge has been designed both through the use of numerical models and an extensive basin testing campaign carried out at the University of Strathclyde facilities. This paper also includes an estimation of the duration in time to carry out the installation process of a Floating Offshore Wind Farm, comprising 100x5MW TLPWIND® units in different scenarios.

Seeing Chemistry through Sound: A Submersible Audible Light Sensor for Observing Chemical Reactions for Students Who Are Blind or Visually Impaired

ERIC Educational Resources Information Center

Supalo, Cary A.; Kreuter, Rodney A.; Musser, Aaron; Han, Josh; Briody, Erika; McArtor, Chip; Gregory, Kyle; Mallouk, Thomas E.

2006-01-01

In order to enable students who are blind and visually impaired to observe chemical changes in solutions, a hand-held device was designed to output light intensity as an audible tone. The submersible audible light sensor (SALS) creates an audio signal by which one can observe reactions in a solution in real time, using standard laboratory…

Controlled Tests of Eductors and Submersible Pumps

DTIC Science & Technology

1994-09-01

5 1. " 20 25 3 0 510 15 20 25 30 Time (min) Plate B63 Slurry Specific Gravity H & H Submersible Pump Clean Sand Test 1 2 I S-SG Densit MeterI SG...22 Using Differential Pressure to Measure Specific Gravity ...... .32 4-Conclusions and Recommendations ..................... 34 References...33 Figure 21. Comparison of specific gravity of the slurry as measured by the nuclear density meter and differential pressure

Navy Irregular Warfare and Counterterrorism Operations: Background and Issues for Congress

DTIC Science & Technology

2017-03-21

appropriation account. Regarding this funding request, DOD states that The Underwater Systems line item procures dry and wet combat submersibles...modifications, and field changes to the Dry Deck Shelter (DDS), and various systems and components for Special Operations Forces (SOF) Combat Diving...environments. The Dry Combat Submersibles (DCS) will provide the capability to insert and extract SOF and/or payloads into denied areas from strategic

Use of aerial photography to inventory aquatic vegetation

USGS Publications Warehouse

Schloesser, Donald W.; Brown, Charles L.; Manny, Bruce A.

1988-01-01

This study demonstrates the feasibility of using low-altitude aerial photography to inventory submersed macrophytes in the connecting channels of the Great Lakes. For this purpose, we obtained aerial color transparencies and collateral ground truth information about submersed vegetation at 160 stations within four study sites in the St. Clair and Detroit rivers, September 17 to October 4, 1984. Photographs were interpreted by five test subjects to determine with what accuracy they could detect beds of submersed macrophytes, and the precision of delineating the extent of such vegetation beds. The interpreters correctly determined the presence or absence of vegetation 80% of the time (range 73-86%). Differences between individuals were statistically significant. Determination of the presence or absence of macrophytes depended partly on their relative abundance and water clarity. Analysis of one photograph from each of the four study sites revealed that photointerpreters delineated between 35 and 75 ha of river bottom covered by vegetation. This wide range indicates that individuals should be tested to assess their relative capability and be trained before they are employed to delineate plant beds in large-scale inventories. Within limits, low-altitude aerial photography, combined with collateral ground truth information, can be used to determine the presence or absence and delineate the extent of submersed macrophytes in connecting channels of the Great Lakes.

A simple approach to a vision-guided unmanned vehicle

NASA Astrophysics Data System (ADS)

Archibald, Christopher; Millar, Evan; Anderson, Jon D.; Archibald, James K.; Lee, Dah-Jye

2005-10-01

This paper describes the design and implementation of a vision-guided autonomous vehicle that represented BYU in the 2005 Intelligent Ground Vehicle Competition (IGVC), in which autonomous vehicles navigate a course marked with white lines while avoiding obstacles consisting of orange construction barrels, white buckets and potholes. Our project began in the context of a senior capstone course in which multi-disciplinary teams of five students were responsible for the design, construction, and programming of their own robots. Each team received a computer motherboard, a camera, and a small budget for the purchase of additional hardware, including a chassis and motors. The resource constraints resulted in a simple vision-based design that processes the sequence of images from the single camera to determine motor controls. Color segmentation separates white and orange from each image, and then the segmented image is examined using a 10x10 grid system, effectively creating a low resolution picture for each of the two colors. Depending on its position, each filled grid square influences the selection of an appropriate turn magnitude. Motor commands determined from the white and orange images are then combined to yield the final motion command for video frame. We describe the complete algorithm and the robot hardware and we present results that show the overall effectiveness of our control approach.

FPGA Implementation of Stereo Disparity with High Throughput for Mobility Applications

NASA Technical Reports Server (NTRS)

Villalpando, Carlos Y.; Morfopolous, Arin; Matthies, Larry; Goldberg, Steven

2011-01-01

High speed stereo vision can allow unmanned robotic systems to navigate safely in unstructured terrain, but the computational cost can exceed the capacity of typical embedded CPUs. In this paper, we describe an end-to-end stereo computation co-processing system optimized for fast throughput that has been implemented on a single Virtex 4 LX160 FPGA. This system is capable of operating on images from a 1024 x 768 3CCD (true RGB) camera pair at 15 Hz. Data enters the FPGA directly from the cameras via Camera Link and is rectified, pre-filtered and converted into a disparity image all within the FPGA, incurring no CPU load. Once complete, a rectified image and the final disparity image are read out over the PCI bus, for a bandwidth cost of 68 MB/sec. Within the FPGA there are 4 distinct algorithms: Camera Link capture, Bilinear rectification, Bilateral subtraction pre-filtering and the Sum of Absolute Difference (SAD) disparity. Each module will be described in brief along with the data flow and control logic for the system. The system has been successfully fielded upon the Carnegie Mellon University's National Robotics Engineering Center (NREC) Crusher system during extensive field trials in 2007 and 2008 and is being implemented for other surface mobility systems at JPL.

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

PubMed Central

Ramon Soria, Pablo; Arrue, Begoña C.; Ollero, Anibal

2017-01-01

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors. PMID:28067851

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.

Human-robot interaction modeling and simulation of supervisory control and situational awareness during field experimentation with military manned and unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Johnson, Tony; Metcalfe, Jason; Brewster, Benjamin; Manteuffel, Christopher; Jaswa, Matthew; Tierney, Terrance

2010-04-01

The proliferation of intelligent systems in today's military demands increased focus on the optimization of human-robot interactions. Traditional studies in this domain involve large-scale field tests that require humans to operate semiautomated systems under varying conditions within military-relevant scenarios. However, provided that adequate constraints are employed, modeling and simulation can be a cost-effective alternative and supplement. The current presentation discusses a simulation effort that was executed in parallel with a field test with Soldiers operating military vehicles in an environment that represented key elements of the true operational context. In this study, "constructive" human operators were designed to represent average Soldiers executing supervisory control over an intelligent ground system. The constructive Soldiers were simulated performing the same tasks as those performed by real Soldiers during a directly analogous field test. Exercising the models in a high-fidelity virtual environment provided predictive results that represented actual performance in certain aspects, such as situational awareness, but diverged in others. These findings largely reflected the quality of modeling assumptions used to design behaviors and the quality of information available on which to articulate principles of operation. Ultimately, predictive analyses partially supported expectations, with deficiencies explicable via Soldier surveys, experimenter observations, and previously-identified knowledge gaps.

Application of Human-Autonomy Teaming (HAT) Patterns to Reduced Crew Operations (RCO)

NASA Technical Reports Server (NTRS)

Shively, R. Jay; Brandt, Summer L.; Lachter, Joel; Matessa, Mike; Sadler, Garrett; Battiste, Henri

2016-01-01

As part of the Air Force - NASA Bi-Annual Research Council Meeting, slides will be presented on recent Reduced Crew Operations (RCO) work. Unmanned aerial systems, robotics, advanced cockpits, and air traffic management are all examples of domains that are seeing dramatic increases in automation. While automation may take on some tasks previously performed by humans, humans will still be required, for the foreseeable future, to remain in the system. The collaboration with humans and these increasingly autonomous systems will begin to resemble cooperation between teammates, rather than simple task allocation. It is critical to understand this human-autonomy teaming (HAT) to optimize these systems in the future. One methodology to understand HAT is by identifying recurring patterns of HAT that have similar characteristics and solutions. A methodology for identifying HAT patterns to an advanced cockpit project is discussed.

Uav Photogrammetry: a Practical Solution for Challenging Mapping Projects

NASA Astrophysics Data System (ADS)

Saadatseresht, M.; Hashempour, A. H.; Hasanlou, M.

2015-12-01

We have observed huge attentions to application of unmanned aerial vehicle (UAV) in aerial mapping since a decade ago. Though, it has several advantages for handling time/cost/quality issues, there are a dozen of challenges in working with UAVs. In this paper, we; as the Robotic Photogrammetry Research Group (RPRG), will firstly review these challenges then show its advantages in three special practical projects. For each project, we will share our experiences through description of the UAV specifications, flight settings and processing steps. At the end, we will illustrate final result of each project and show how this technology could make unbelievable benefits to clients including 3D city realistic model in decimetre level, ultra high quality map production in several centimetre level, and accessing to a high risk and rough relief area for mapping aims.

Low cost infrared and near infrared sensors for UAVs

NASA Astrophysics Data System (ADS)

Aden, S. T.; Bialas, J. P.; Champion, Z.; Levin, E.; McCarty, J. L.

2014-11-01

Thermal remote sensing has a wide range of applications, though the extent of its use is inhibited by cost. Robotic and computer components are now widely available to consumers on a scale that makes thermal data a readily accessible resource. In this project, thermal imagery collected via a lightweight remote sensing Unmanned Aerial Vehicle (UAV) was used to create a surface temperature map for the purpose of providing wildland firefighting crews with a cost-effective and time-saving resource. The UAV system proved to be flexible, allowing for customized sensor packages to be designed that could include visible or infrared cameras, GPS, temperature sensors, and rangefinders, in addition to many data management options. Altogether, such a UAV system could be used to rapidly collect thermal and aerial data, with a geographic accuracy of less than one meter.

TOPLEX: Teleoperated Lunar Explorer. Instruments and Operational Concepts for an Unmanned Lunar Rover

NASA Technical Reports Server (NTRS)

Blacic, James D.

1992-01-01

A Teleoperated Lunar Explorer, or TOPLEX, consisting of a lunar lander payload in which a small, instrument-carrying lunar surface rover is robotically landed and teleoperated from Earth to perform extended lunar geoscience and resource evaluation traverses is proposed. The rover vehicle would mass about 100 kg and carry approximately 100 kg of analytic instruments. Four instruments are envisioned: (1) a Laser-Induced Breakdown Spectrometer (LIBS) for geochemical analysis at ranges up to 100 m, capable of operating in three different modes; (2) a combined x-ray fluorescence and x-ray diffraction (XRF/XRD) instrument for elemental and mineralogic analysis of acquired samples; (3) a mass spectrometer system for stepwise heating analysis of gases released from acquired samples; and (4) a geophysical instrument package for subsurface mapping of structures such as lava tubes.

Self-anchoring mast for deploying a high-speed submersible mixer in a tank

DOEpatents

Cato, Jr., Joseph E.; Shearer, Paul M [Aiken, SC; Rodwell, Philip O [Evans, GA

2004-10-12

A self-anchoring mast for deploying a high-speed submersible mixer in a tank includes operably connected first and second mast members (20, 22) and a foot member 46 operably connected to the second mast member for supporting the mast in a tank. The second mast member includes a track (36, 38) for slidably receiving a bearing of the mixer to change the orientation of the mixer in the tank.

Carbon-Flow-Based Modeling of Ecophysiological Processes and Biomass Dynamics of Submersed Aquatic Plants

DTIC Science & Technology

2007-09-01

simulation modeling approach to describing carbon- flow-based, ecophysiological processes and biomass dynamics of fresh- water submersed aquatic plant...the distribution and abundance of SAV. In aquatic systems a small part of the irradiance can be reflected by the water surface, and further...to the fact that water temperatures in the lake were relatively low compared to air tem- peratures because of the large inflow of groundwater (Titus

A Submersible Holographic Camera for the Undisturbed Characterization of Optically Relevant Particles in Water (HOLOCAM)

DTIC Science & Technology

2012-09-01

how to improve both reconstruction and analytical software during testing of the submersible system. IMPACT AND APPLICATIONS Quality of Life...project (see related projects below). It could also be used for sediment load monitoring and assesment . The HOLOCAM could provide critical data to any...Science Education and Communication Currently the link between the suspended particle field and the bulk scattering properties of natural waters is

Study on installation of the submersible mixer

NASA Astrophysics Data System (ADS)

Tian, F.; Shi, W. D.; He, X. H.; Jiang, H.; Xu, Y. H.

2013-12-01

Study on installation of the submersible mixer for sewage treatment has been limited. In this article, large-scale computational fluid dynamics software FLUENT6.3 was adopted. ICEM software was used to build an unstructured grid of sewage treatment pool. After that, the sewage treatment pool was numerically simulated by dynamic coordinate system technology and RNG k-ε turbulent model and PIOS algorithm. Agitation pools on four different installation location cases were simulated respectively, and the external characteristic of the submersible mixer and the velocity cloud of the axial section were respectively comparatively analyzed. The best stirring effect can be reached by the installation location of case C, which is near the bottom of the pool 600 mm and blade distance the bottom at least for 200 mm wide and wide edge and narrow edge distance by 4:3. The conclusion can guide the engineering practice.

Pediatric Drowning: A Standard Operating Procedure to Aid the Prehospital Management of Pediatric Cardiac Arrest Resulting From Submersion.

PubMed

Best, Rebecca R; Harris, Benjamin H L; Walsh, Jason L; Manfield, Timothy

2017-05-08

Drowning is one of the leading causes of death in children. Resuscitating a child following submersion is a high-pressure situation, and standard operating procedures can reduce error. Currently, the Resuscitation Council UK guidance does not include a standard operating procedure on pediatric drowning. The objective of this project was to design a standard operating procedure to improve outcomes of drowned children. A literature review on the management of pediatric drowning was conducted. Relevant publications were used to develop a standard operating procedure for management of pediatric drowning. A concise standard operating procedure was developed for resuscitation following pediatric submersion. Specific recommendations include the following: the Heimlich maneuver should not be used in this context; however, prolonged resuscitation and therapeutic hypothermia are recommended. This standard operating procedure is a potentially useful adjunct to the Resuscitation Council UK guidance and should be considered for incorporation into its next iteration.

Hypoxic coma as a strategy to survive inundation in a salt-marsh inhabiting spider

PubMed Central

Pétillon, Julien; Montaigne, William; Renault, David

2009-01-01

Spiders constitute a major arthropod group in regularly inundated habitats. Some species survive a flooding period under water. We compared survival during both submersion and a recovery period after submersion, in three stenotopic lycosids: two salt-marsh species Arctosa fulvolineata and Pardosa purbeckensis, and a forest spider Pardosa lugubris. Both activity and survival rates were determined under controlled laboratory conditions by individually surveying 120 females kept submerged in sea water. We found significant differences between the three species, with the two salt-marsh spiders exhibiting higher survival abilities. To our knowledge, this study reports for the first time the existence of a hypoxic coma caused by submersion, which is most pronounced in A. fulvolineata, the salt-marsh spider known to overcome tidal inundation under water. Its ability to fall into that coma can therefore be considered a physiological adaptation to its regularly inundated habitat. PMID:19411268

Correlations among seasonal water quality, discharge, weather, and coverage by submersed aquatic vegetation in the tidal Potomac River and Potomac Estuary, 1983-96

USGS Publications Warehouse

Carter, Virginia; Rybicki, N.B.; Landwehr, J.M.; Reel, J.T.; Ruhl, H.

1998-01-01

The U.S. Geological Survey has been cooperating with other scientists under the auspices of the Interstate Commission on the Potomac River Basin to utilize existing data from the tidal Potomac River and Estuary for investigating linkages among living resources (primary producers, consumers) and abiotic components of the environment. Because the distribution and abundance of submersed aquatic vegetation in the tidal Potomac River and Estuary are controlled largely by light availability, the first step in investigating linkages with submersed aquatic vegetation is to examine the correlations that exist among vegetative cover, discharge, water quality and weather, all of which can affect light availability directly or indirectly. Growing season (April-October), spring (April-June), and summer (July-August) correlations are presented along with figures demonstrating the significant relationships among variables.

Correlations of Life Form, Pollination Mode and Sexual System in Aquatic Angiosperms

PubMed Central

Du, Zhi-Yuan; Wang, Qing-Feng

2014-01-01

Aquatic plants are phylogenetically well dispersed across the angiosperms. Reproductive and other life-history traits of aquatic angiosperms are closely associated with specific growth forms. Hydrophilous pollination exhibits notable examples of convergent evolution in angiosperm reproductive structures, and hydrophiles exhibit great diversity in sexual system. In this study, we reconstructed ancestral characters of aquatic lineages based on the phylogeny of aquatic angiosperms. Our aim is to find the correlations of life form, pollination mode and sexual system in aquatic angiosperms. Hydrophily is the adaptive evolution of completely submersed angiosperms to aquatic habitats. Hydroautogamy and maleflower-ephydrophily are the transitional stages from anemophily and entomophily to hydrophily. True hydrophily occurs in 18 submersed angiosperm genera, which is associated with an unusually high incidence of unisexual flowers. All marine angiosperms are submersed, hydrophilous species. This study would help us understand the evolution of hydrophilous pollination and its correlations with life form and sexual system. PMID:25525810

Accelerating the Kill Chain via Future Unmanned Aircraft

DTIC Science & Technology

2007-04-01

Controller JTRS Joint Tactical Radio System Lasercom Laser communications LDHD Low Density High Demand LEO Low Earth Orbit LGB Laser Guided Bomb...published the Unmanned Aircraft Systems Roadmap 2005 that included the terms Unmanned Aircraft System (UAS) and Unmanned Aircraft (UA). This...comprehensive publication used the term Unmanned Aircraft Systems when referring to the entire system and the term Unmanned Aircraft when referring only to the

Educational Projects in Unmanned Aerial Systems at the NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Dahlgren, Robert P.

2017-01-01

Unmanned aerial systems (UAS), autonomy and robotics technology have been fertile ground for developing a wide variety of interdisciplinary student learning opportunities. In this talk, several projects will be described that leverage small fixed-wing UAS that have been modified to carry science payloads. These aircraft provide a unique hands-on experience for a wide range of students from college juniors to graduate students pursuing degrees in electrical engineering, aeronautical engineering, mechanical engineering, applied mathematics, physics, structural engineering and other majors. By combining rapid prototyping, design reuse and open-source philosophies, a sustainable educational program has been organized structured as full-time internships during the summer, part-time internships during the school year, short details for military cadets, and paid positions. As part of this program, every summer one or more UAS is developed from concept through design, build and test phases using the tools and facilities at the NASA Ames Research Center, ultimately obtaining statements of airworthiness and flight release from the Agency before test flights are performed. In 2016 and 2017 student projects focused on the theme of 3D printed modular airframes that may be optimized for a given mission and payload. Now in its fifth year this program has served over 35 students, and has provided a rich learning experience as they learn to rapidly develop new aircraft concepts in a highly regulated environment, on systems that will support principal investigators at university, NASA, and other US federal agencies.

Manned-Unmanned Teaming of Aircraft - Literature Search

DTIC Science & Technology

2013-12-01

unmanned aircraft reconnaissance system MQ 8B Fire Scout vertical takeoff and landing unmanned system MQ 5B Hunter medium altitude unmanned aerial...201140, and allows their crew to view sensor data from unmanned aircraft systems (UAS) and send data from the helicopter’s sensors to the ground.35 No...Helicopter, AAI unmanned Aircraft Systems , and Textron Inc. It opened in December 2012 in Huntsville Alabama. It will enable “a software and

Unmanned Aerial Vehicle Systems for Disaster Relief: Tornado Alley

NASA Technical Reports Server (NTRS)

DeBusk, Wesley M.

2009-01-01

Unmanned aerial vehicle systems are currently in limited use for public service missions worldwide. Development of civil unmanned technology in the United States currently lags behind military unmanned technology development in part because of unresolved regulatory and technological issues. Civil unmanned aerial vehicle systems have potential to augment disaster relief and emergency response efforts. Optimal design of aerial systems for such applications will lead to unmanned vehicles which provide maximum potentiality for relief and emergency response while accounting for public safety concerns and regulatory requirements. A case study is presented that demonstrates application of a civil unmanned system to a disaster relief mission with the intent on saving lives. The concept utilizes unmanned aircraft to obtain advanced warning and damage assessments for tornados and severe thunderstorms. Overview of a tornado watch mission architecture as well as commentary on risk, cost, need for, and design tradeoffs for unmanned aerial systems are provided.

Issues in offshore platform research - Part 1: Semi-submersibles

NASA Astrophysics Data System (ADS)

Sharma, R.; Kim, Tae-Wan; Sha, O. P.; Misra, S. C.

2010-09-01

Availability of economic and efficient energy resources is crucial to a nation's development. Because of their low cost and advancement in drilling and exploration technologies, oil and gas based energy systems are the most widely used energy source throughout the world. The inexpensive oil and gas based energy systems are used for everything, i.e., from transportation of goods and people to the harvesting of crops for food. As the energy demand continues to rise, there is strong need for inexpensive energy solutions. An offshore platform is a large structure that is used to house workers and machinery needed to drill wells in the ocean bed, extract oil and/or natural gas, process the produced fluids, and ship or pipe them to shore. Depending on the circumstances, the offshore platform can be fixed (to the ocean floor) or can consist of an artificial island or can float. Semi-submersibles are used for various purposes in offshore and marine engineering, e.g. crane vessels, drilling vessels, tourist vessels, production platforms and accommodation facilities, etc. The challenges of deepwater drilling have further motivated the researchers to design optimum choices for semi-submersibles for a chosen operating depth. In our series of eight papers, we discuss the design and production aspects of all the types of offshore platforms. In the present part I, we present an introduction and critical analysis of semi-submersibles.

Improved OTEC System for a Submarine Robot

NASA Technical Reports Server (NTRS)

Chao, Yi; Jones, Jack; Valdez, Thomas

2010-01-01

An ocean thermal energy conversion (OTEC), now undergoing development, is a less-massive, more-efficient means of exploiting the same basic principle as that of the proposed system described in "Alternative OTEC Scheme for a Submarine Robot" (NPO-43500), NASA Tech Briefs, Vol. 33, No. 1 (January 2009), page 50. The proposed system as described previously would be based on the thawing-expansion/freezing-contraction behavior of a wax or perhaps another suitable phase-change material (PCM). The power generated by the system would be used to recharge the batteries in a battery- powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. At one phase of its operational cycle, the previously proposed system would utilize the surface ocean temperature (which lies between 15 and 30 C over most of the Earth) to melt a PCM that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the PCM. The melting or freezing would cause the PCM to expand or contract, respectively, by about 9 volume percent. The PCM would be contained in tubes that would be capable of expanding and contracting with the PCM. The PCM-containing tubes would be immersed in a hydraulic fluid. The expansion and contraction would drive a flow of the hydraulic fluid against a piston that, in turn, would push a rack-and-pinion gear system to spin a generator to charge a battery.

Alternative OTEC Scheme for a Submarine Robot

NASA Technical Reports Server (NTRS)

Jones, Jack; Chao, Yi

2009-01-01

A proposed system for exploiting the ocean thermal gradient to generate power would be based on the thawing-expansion/ freezing-contraction behavior of a wax or perhaps another suitable phase-change material. The power generated by this system would be used to recharge the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and various depths, measuring temperature and salinity. This proposed system would be an alternative to another proposed ocean thermal energy conversion (OTEC) system that would serve the same purpose but would utilize a thermodynamic cycle in which CO2 would be the working fluid. That system is described in Utilizing Ocean Thermal Energy in a Submarine Robot (NPO-43304), immediately following this brief. The main advantage of this proposed system over the one using CO2 is that it could derive a useful amount of energy from a significantly smaller temperature difference. At one phase of its operational cycle, the system now proposed would utilize the surface ocean temperature (which lies between 15 and 20 C over most of the Earth) to melt a wax (e.g., pentadecane) that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the wax. The melting or freezing causes the wax to expand or contract, respectively, by about 8 volume percent.

From land to water: bringing dielectric elastomer sensing to the underwater realm

NASA Astrophysics Data System (ADS)

Walker, Christopher; Anderson, Iain

2016-04-01

Since the late 1990's dielectric elastomers (DEs) have been investigated for their use as sensors. To date, there have been some impressive developments: finger displacement controls for video games and integration with medical rehabilitation devices to aid patient recovery. It is clear DE sensing is well established for dry applications, the next frontier, however, is to adapt this technology for the other 71% of the Earth's surface. With proven and perhaps improved water resistance, many new applications could be developed in areas such as diver communication and control of underwater robotics; even wearable devices on land must withstand sweat, washing, and the rain. This study investigated the influence of fresh and salt water on DE sensing. In particular, sensors have been manufactured with waterproof connections and submersed in fresh and salt water baths. Temperature and resting capacitance were recorded. Issues with the basic DE sensor have been identified and compensated for with modifications to the sensor. The electrostatic field, prior and post modification, has been modeled with ANSYS Maxwell. The aim of this investigation was to identify issues, perform modifications and propose a new sensor design suited to wet and underwater applications.

Underwater research methods for study of nuclear bomb craters, Enewetak, Marshall Islands

USGS Publications Warehouse

Shinn, E.A.; Halley, R.B.; Kindinger, J.L.; Hudson, J.H.; Slate, R.A.

1990-01-01

Three craters, created by the explosion of nuclear fusion devices, were mapped, sampled, core drilled and excavated with airlifts at Enewetak Atoll in the Marshall Islands by using scuba and a research submersible. The craters studied were Mike, Oak, and Koa. Tests took place near sea level at the transition between lithified reef flat and unlithified lagoonal sediments, where water depth ranged from 1 to 4 m. Craters produced by the blasts ranged from 30 to 60 m in depth. The purpose of our study was to determine crater diameter and depth immediately after detonation. Observations of submerged roadways and testing structures and upturned crater rims similar to those characteristic of meteor impacts indicate that the initial, or transient, craters were smaller than their present size. At some later time, while the area was too radioactive for direct examination, the sides of the craters slumped owing to dewatering of under lying pulverized rock. Core drilling of crater margins with a diver-operated hydraulic coring device provided additional data. On the seaward margin of the atoll, opposite Mike, a large portion of the atoll rim approximately the size of a city block had slumped into the deep ocean, leaving a clean vertical rock section more than 400m high. An abundance of aggressive grey reef sharks displaying classic territorial behavior prevented use of scuba at the Mike slump site. The two-person submersible R.V. Delta provided protection and allowed observations down to 300 m. During the 6-week period of study, we made more than 300 scuba and 275 submersible dives. Mapping was with side scan sonar and continuous video sweeps supplemented by tape-recorded verbal descriptions made from within the submersible. A mini-ranger navigation system linked to the submersible allowed plotting of bottom features, depth and sediment type with spatial accuracy to within 2 m.

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

Remotely operated submersible underwater suction apparatus

DOEpatents

Kristan, Louis L.

1990-01-01

A completely submersible, remotely operated underwater suction device for collection of irradiated materials in a nuclear pool is disclosed. The device includes a pump means for pumping water through the device, a filter means for capturing irradiated debris, remotely operated releasable connector means, a collection means and a means for remotely maneuvering the collection means. The components of the suction device may be changed and replaced underwater to take advantage of the excellent radiation shielding ability of water to thereby minimize exposure of personnel to radiation.

High-resolution multibeam mapping and submersible surveys of topographic features in the northwestern Gulf of Mexico

USGS Publications Warehouse

Hickerson, E.L.; Schmahl, G.P.; Weaver, D.C.; Gardner, J.V.

2003-01-01

The Flower Garden Banks National Marine Sanctuary (FGBNMS) and the USGS Pacific Seafloor Mapping Project mapped about 2000 km2 of the northwestern Gulf of Mexico continental shelf during June 2002, using a Kongsberg Simrad EM1000 multibeam echosounder. Mapping focused on select topographic highs thave hae been idetnnfied as biological features warranting protection from oil and gas activities by the Minerals Management Service (MMS). The base maps will be used for all future ROV and submersible missions.

USSR Report Earth Sciences Tables of Contents JPRS-UES-86-001, 10 January 1986-JPRS-UES-86-008, 4 December 1986.

DTIC Science & Technology

1987-03-27

Research Ship ’Shuleykin’ in Studies of Arctic Seas (B. Moiseyev; VODNYY TRANSPORT, 7 Sep 85) l6 Scanning Submersible Craft Tested From Research...Data Bank can Process Satellite Signals (NTR: PROBLEMY I RESHENIYA, No 9, 17 Sep-7 Oct 1985) 13 Trials of Manned Submersible Craft ’Osmotr’ (I...Specifics of Electromagnetic Field of Multiple- Spaced Arrays of Frequency Sounding and Resistivity Detectors Over Horst (A.N. Kuznetsov; IZVESTIYA

Aurelia aurita bio-inspired tilt sensor

NASA Astrophysics Data System (ADS)

Smith, Colin; Villanueva, Alex; Priya, Shashank

2012-10-01

The quickly expanding field of mobile robots, unmanned underwater vehicles, and micro-air vehicles urgently needs a cheap and effective means for measuring vehicle inclination. Commonly, tilt or inclination has been mathematically derived from accelerometers; however, there is inherent error in any indirect measurement. This paper reports a bio-inspired tilt sensor that mimics the natural balance organ of jellyfish, called the ‘statocyst’. Biological statocysts from the species Aurelia aurita were characterized by scanning electron microscopy to investigate the morphology and size of the natural sensor. An artificial tilt sensor was then developed by using printed electronics that incorporates a novel voltage divider concept in conjunction with small surface mount devices. This sensor was found to have minimum sensitivity of 4.21° with a standard deviation of 1.77°. These results open the possibility of developing elegant tilt sensor architecture for both air and water based platforms.

The Pixhawk Open-Source Computer Vision Framework for Mavs

NASA Astrophysics Data System (ADS)

Meier, L.; Tanskanen, P.; Fraundorfer, F.; Pollefeys, M.

2011-09-01

Unmanned aerial vehicles (UAV) and micro air vehicles (MAV) are already intensively used in geodetic applications. State of the art autonomous systems are however geared towards the application area in safe and obstacle-free altitudes greater than 30 meters. Applications at lower altitudes still require a human pilot. A new application field will be the reconstruction of structures and buildings, including the facades and roofs, with semi-autonomous MAVs. Ongoing research in the MAV robotics field is focusing on enabling this system class to operate at lower altitudes in proximity to nearby obstacles and humans. PIXHAWK is an open source and open hardware toolkit for this purpose. The quadrotor design is optimized for onboard computer vision and can connect up to four cameras to its onboard computer. The validity of the system design is shown with a fully autonomous capture flight along a building.

Early Synthetic Prototyping: Exploring Designs and Concepts Within Games

DTIC Science & Technology

2014-12-01

UAS unmanned aircraft system UGV unmanned ground vehicle USD(AT&L) Under Secretary of Defense for Acquisition, Technology, and Logistics... unmanned aircraft system (UAS) realm for the wingman concept? The players were familiar with the Marine Corps’ unmanned tactical autonomous control and...UTACCS Unmanned Tactical Autonomous Control and Collaboration System VBIED vehicle borne improvised explosive device VBS2/3 Virtual Battlespace

Autogenous healing of sea-water exposed mortar: Quantification through a simple and rapid permeability test

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

Palin, D., E-mail: d.palin@tudelft.nl; Jonkers, H. M.; Wiktor, V.

Concrete has an autogenous ability to heal cracks potentially contributing to its functional water tightness and durability. Here, we quantify the crack-healing capacity of sea-water submerged mortar specimens through a simple and rapid permeability test. Defined crack width geometries were created in blast furnace slag cement specimens allowing healed specimens to be quantified against unhealed specimens. Specimens with 0.2 mm wide cracks were not permeable after 28 days submersion. Specimens with 0.4 mm cracks had decreases in permeability of 66% after 28 days submersion, and 50–53% after 56 days submersion. Precipitation of aragonite and brucite in the cracks was themore » main cause of crack healing. Healing potential was dependent on the initial crack width, thermodynamic considerations and the amount of ions available in the crack. To our knowledge, this is the first study to quantify the functional autogenous healing capacity of cracked sea-water exposed cementitious specimens.« less

Comparison of protocols for measuring and calculating postmortem submersion intervals for human analogs in fresh water.

PubMed

Humphreys, Michael K; Panacek, Edward; Green, William; Albers, Elizabeth

2013-03-01

Protocols for determining postmortem submersion interval (PMSI) have long been problematic for forensic investigators due to the wide variety of factors affecting the rate of decomposition of submerged carrion. Likewise, it has been equally problematic for researchers to develop standardized experimental protocols to monitor underwater decomposition without artificially affecting the decomposition rate. This study compares two experimental protocols: (i) underwater in situ evaluation with photographic documentation utilizing the Heaton et al. total aquatic decomposition (TAD) score and (ii) weighing the carrion before and after submersion. Complete forensic necropsies were performed as a control. Perinatal piglets were used as human analogs. The results of this study indicate that in order to objectively measure decomposition over time, the human analog should be examined at depth using the TAD scoring system rather than utilizing a carrion weight evaluation. The acquired TAD score can be used to calculate an approximate PMSI. © 2012 American Academy of Forensic Sciences.

An Aquatic Decomposition Scoring Method to Potentially Predict the Postmortem Submersion Interval of Bodies Recovered from the North Sea.

PubMed

van Daalen, Marjolijn A; de Kat, Dorothée S; Oude Grotebevelsborg, Bernice F L; de Leeuwe, Roosje; Warnaar, Jeroen; Oostra, Roelof Jan; M Duijst-Heesters, Wilma L J

2017-03-01

This study aimed to develop an aquatic decomposition scoring (ADS) method and investigated the predictive value of this method in estimating the postmortem submersion interval (PMSI) of bodies recovered from the North Sea. This method, consisting of an ADS item list and a pictorial reference atlas, showed a high interobserver agreement (Krippendorff's alpha ≥ 0.93) and hence proved to be valid. This scoring method was applied to data, collected from closed cases-cases in which the postmortal submersion interval (PMSI) was known-concerning bodies recovered from the North Sea from 1990 to 2013. Thirty-eight cases met the inclusion criteria and were scored by quantifying the observed total aquatic decomposition score (TADS). Statistical analysis demonstrated that TADS accurately predicts the PMSI (p < 0.001), confirming that the decomposition process in the North Sea is strongly correlated to time. © 2017 American Academy of Forensic Sciences.

Unmanned aircraft systems

USDA-ARS?s Scientific Manuscript database

Unmanned platforms have become increasingly more common in recent years for acquiring remotely sensed data. These aircraft are referred to as Unmanned Airborne Vehicles (UAV), Remotely Piloted Aircraft (RPA), Remotely Piloted Vehicles (RPV), or Unmanned Aircraft Systems (UAS), the official term used...

Unmanned Underwater Vehicle (UUV) Information Study

DTIC Science & Technology

2014-11-28

Maritime Unmanned System NATO North Atlantic Treaty Organization xi The use or disclosure of the information on this sheet is subject to the... Unmanned Aerial System UDA Underwater Domain Awareness UNISIPS Unified Sonar Image Processing System USV Unmanned Surface Vehicle UUV Unmanned Underwater...data distribution to ashore systems , such as the delay, its impact and the benefits to the overall MDA and required metadata for efficient search and

Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

NASA Astrophysics Data System (ADS)

Kadouf, Hani Hunud A.; Mohd Mustafah, Yasir

2013-12-01

With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects.

Arrhythmia Secondary to Cold Water Submersion during Helicopter Underwater Escape Training.

PubMed

Kaur, Paven P; Drummond, Sarah E; Furyk, Jeremy

2016-02-01

A 32-year-old, fit and healthy, Caucasian male presented with a less than 24-hour history of palpitations with the onset following participation in helicopter underwater escape training (HUET). He reported no chest pain, shortness of breath, syncope, or pre-syncope symptoms. On examination, an irregularly irregular pulse was noted at a rate of 120 beats per minute with a blood pressure of 132/84. There was no evidence of congestive cardiac failure. The electrocardiogram (ECG) demonstrated atrial fibrillation at 97 beats per minute with a normal axis, normal QRS complexes, and a QTc of 399 ms. Bloods were all within normal limits and a chest x-ray showed no abnormality. The patient was loaded with amiodarone and reverted to sinus rhythm with a normal post-reversion ECG. Five years on, following further HUET, the patient presented with an identical presentation. His ECG showed fast atrial fibrillation at a rate of 115 beats per minute. On this occasion, he was sedated and Direct Current cardioverted with reversal to sinus rhythm after one shock. It was felt that the precipitating factor for this patient's atrial fibrillation, in both cases, was HUET. The case discussed describes a previously fit and well subject who developed a sustained arrhythmia secondary to cold water submersion. Evidence suggests water submersion can provoke cardiac arrhythmias via the suggested theory of "autonomic conflict." It has been proposed that a number of unexplained deaths related to water submersion may be secondary to arrhythmogenic syncope.

Evaluation of the diving reflex in response to nonterminal submersion of White Pekin ducks in water-based foam.

PubMed

Caputo, M P; Alphin, R L; Pritchett, E; Hougentogler, D P; Johnson, A L; Benson, E R; Patil, C

2013-02-01

The mass depopulation of production birds remains an effective means of controlling fast-moving, highly infectious diseases such as avian influenza and virulent Newcastle disease. Water-based fire-fighting foam is a conditionally approved method of depopulating floor-reared gallinaceous poultry such as chickens and turkeys; however, ducks have physiological mechanisms that may make them more resistant to this method of depopulation. The following experiment was designed to assess the physiological responses of White Pekin ducks to nonterminal submersion in water-based foam compared with water. The hypothesis of this experiment was that submersion of ducks in water or water-based foam would trigger the diving reflex and lead to bradycardia. All treatments led to pronounced bradycardia. Heart rate was not significantly different between treatments during the final 30 s of the 60-s treatment period. Heart rate dropped significantly faster for the water dip and foam dip treatments and rose significantly faster than the foam pour treatment after the termination of the 60-s treatment period. Duration of bradycardia approached significance for the foam pour treatment, leading to a longer duration of bradycardia compared with the water pour, water dip, and foam dip treatments. The results of this experiment demonstrated that apnea and bradycardia as a result of the diving reflex can occur as a result of submersion in foam, which may have an impact on the time it takes White Pekin ducks to reach unconsciousness and death during water-based foam depopulation.

Side-scan sonar and submersible observations: New techniques for gleaning more information from sea-floor outcrops

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

Kendall, J.; Hams, J.E.; Buck, S.P.

1990-05-01

Advances in high resolution side-scan sonar imaging technology are so effective at imaging sea-floor geology that they have greatly improved the efficiency of a bottom sampling program The traditional sea-floor geology methodology of shooting a high-resolution seismic survey and sampling along the seismic grid was considered successful if outcrops were sampled on 20% of the attempts. A submersible was used sparingly because of the inability to consistently locate sea-floor outcrops. Side-scan sonar images have increased the sampling success ratio to 70-95% and allow the cost-effective use of a submersible even in areas of sparse sea-floor outcrops. In offshore basins thismore » new technology has been used in consolidated and semiconsolidated rock terranes. When combined with observations from a two-man submersible, SCUBA traverses, seismic data, and traditional sea-floor bottom sampling techniques, enough data are provided to develop an integrated sea-floor geologic interpretation. On individual prospects, side-scan sonar has aided the establishment of critical dip in poor seismic data areas, located seeps and tar mounds, and determined erosional breaching of a prospect. Over a mature producing field, side-scan sonar has influenced the search for field extension by documenting the orientation and location of critical trapping cross faults. These relatively inexpensive techniques can provide critical data in any marine basin where rocks crop out on the sea floor.« less

Mapping, Monitoring and Modeling Submersed Aquatic Vegetation Species and Communities

NASA Astrophysics Data System (ADS)

Hartis, Brett Michael

Aquatic macrophyte communities are critically important habitat species in aquatic systems worldwide. None are more important than those found beneath the water's surface, commonly referred to as submersed aquatic vegetation (SAV). Although vital to such systems, many native submersed plants have shown near irreversible declines in recent decades as water quality impairment, habitat destruction, and encroachment by invasive species have increased. In the past, aquatic plant science has emphasized the restoration and protection of native species and the management of invasive species. Comparatively little emphasis has been directed toward adequately mapping and monitoring these resources to track their viability over time. Modeling the potential intrusion of certain invasive plant species has also been given little attention, likely because aquatic systems in general can be difficult to assess. In recent years, scientists and resource managers alike have begun paying more attention to mapping SAV communities and to address the spread of invasive species across various regions. This research attempts to provide new, cutting-edge techniques to improve SAV mapping and monitoring efforts in coastal regions, at both community and individual species levels, while also providing insights about the establishment potential of Hydrilla verticillata, a noxious, highly invasive submersed plant. Technological advances in satellite remote sensing, interpolation and spatial analysis in geographic information systems, and state-of-the-art climate envelope modeling techniques were used to further assess the dynamic nature of SAV on various scales. This work contributes to the growing science of mapping, monitoring, and modeling of SAV

Chesapeake Bay Habitat Criteria Scores and the Distribution of Submersed Aquatic Vegetation in the Tidal Potomac River and Potomac Estuary, 1983-1997

DTIC Science & Technology

1999-01-01

AND THE DISTRIBUTION OF SUBMERSED AQUATIC VEGETATION IN THE TIDAL POTOMAC RIVER AND POTOMAC ESTUARY, 1983-1997 By Jurate M. Landwehr, Justin T. Reel...AQUATIC VEGETATION IN THE TIDAL POTOMAC RIVER AND POTOMAC ESTUARY, 1983-1997 by Jurate M. Landwehr, Justin T. Reel, Nancy B. Rybicki, Henry A. Ruhl, and...K.A., Dennison, W.C., Stevenson, J.C., Staver, L. W., Carter, V., Rybicki, N. B., Hickman, R. E., Kollar, S., Bieber , S., and Heasly, P., 1992

Editorial: Rich geo- and bio-diversities exist in the South West Atlantic deep-sea: The first human-occupied submersible Shinkai 6500 dive cruise (Iatá-piúna)

NASA Astrophysics Data System (ADS)

Kitazato, Hiroshi; Fujikura, Katsunori; Sumida, Paulo G. Y.; Pellizari, Vivian H.; Perez, Jose Angel

2017-12-01

The deep sea comprises a series of extreme environments, characterized by low temperatures, high hydraulic pressure, the virtual absence of sunlight, and the scarcity of organic nutrients. High hydraulic pressure prevents human access to these environments without using human-occupied submersibles (HOVs), landers or other instruments. Unlike the extreme outer space environments, visited by hundreds of astronauts, only three humans have accessed to the deepest point of the planet.

Wick-and-pool electrodes for electrochemical cell

DOEpatents

Roche, Michael F.; Faist, Suzan M.; Eberhart, James G.; Ross, Laurids E.

1977-01-01

An electrode system includes a reservoir of liquid-metal reactant, and a wick extending from a submersed location within the reservoir into the molten electrolyte of an electrochemical cell structure. The wick is flooded with the liquid metal and thereby serves as one electrode within the cell. This electrode system has application in high-temperature batteries employing molten alkali metals or their alloys as active material within an electrode submersed within a molten salt electrolyte. It also can be used in electrochemical cells where the purification, separation or electrowinning of liquid metals is accomplished.

Wick-and-pool electrodes for electrochemical cell

DOEpatents

Roche, Michael F.; Faist, Suzan M.; Eberhart, James G.; Ross, Laurids E.

1980-01-01

An electrode system includes a reservoir of liquid-metal reactant, and a wick extending from a submersed location within the reservoir into the molten electrolyte of an electrochemical cell structure. The wick is flooded with the liquid metal and thereby serves as one electrode within the cell. This electrode system has application in high-temperature batteries employing molten alkali metals or their alloys as active material within an electrode submersed within a molten salt electrolyte. It also can be used in electrochemical cells where the purification, separation or electrowinning of liquid metals is accomplished.

Marine geodesy a multipurpose approach to solve oceanic problems. [including submersible navigation under iced seas, demarcation and determination of boundaries in deep ocean, tsunamis, and ecology

NASA Technical Reports Server (NTRS)

Saxena, N.

1974-01-01

Various current and future problem areas of marine geodesy are identified. These oceanic problem areas are highly diversified and include submersible navigation under ice seas, demarcation and determination of boundaries in deep ocean, tsunamis, ecology, etc., etc. Their achieved as well as desired positional accuracy estimates, based upon publications and discussions, are also given. A multipurpose approach to solve these problems is described. An optimum configuration of an ocean-bottom control-net unit is provided.

NASA Tech Briefs, July 2009

NASA Technical Reports Server (NTRS)

2009-01-01

Topics covered include: Dual Cryogenic Capacitive Density Sensor; Hail Monitor Sensor; Miniature Six-Axis Load Sensor for Robotic Fingertip; Improved Blackbody Temperature Sensors for a Vacuum Furnace; Wrap-Around Out-the-Window Sensor Fusion System; Wide-Range Temperature Sensors with High-Level Pulse Train Output; Terminal Descent Sensor Simulation; A Robust Mechanical Sensing System for Unmanned Sea Surface Vehicles; Additive for Low-Temperature Operation of Li-(CF)n Cells; Li/CFx Cells Optimized for Low-Temperature Operation; Number Codes Readable by Magnetic-Field-Response Recorders; Determining Locations by Use of Networks of Passive Beacons; Superconducting Hot-Electron Submillimeter-Wave Detector; Large-Aperture Membrane Active Phased-Array Antennas; Optical Injection Locking of a VCSEL in an OEO; Measuring Multiple Resistances Using Single-Point Excitation; Improved-Bandwidth Transimpedance Amplifier; Inter-Symbol Guard Time for Synchronizing Optical PPM; Novel Materials Containing Single-Wall Carbon Nanotubes Wrapped in Polymer Molecules; Light-Curing Adhesive Repair Tapes; Thin-Film Solid Oxide Fuel Cells; Zinc Alloys for the Fabrication of Semiconductor Devices; Small, Lightweight, Collapsible Glove Box; Radial Halbach Magnetic Bearings; Aerial Deployment and Inflation System for Mars Helium Balloons; Steel Primer Chamber Assemblies for Dual Initiated Pyrovalves; Voice Coil Percussive Mechanism Concept for Hammer Drill; Inherently Ducted Propfans and Bi-Props; Silicon Nanowire Growth at Chosen Positions and Orientations; Detecting Airborne Mercury by Use of Gold Nanowires; Detecting Airborne Mercury by Use of Palladium Chloride; Micro Electron MicroProbe and Sample Analyzer; Nanowire Electron Scattering Spectroscopy; Electron-Spin Filters Would Offer Spin Polarization Greater than 1; Subcritical-Water Extraction of Organics from Solid Matrices; A Model for Predicting Thermoelectric Properties of Bi2Te3; Integrated Miniature Arrays of Optical Biomolecule Detectors; A Software Rejuvenation Framework for Distributed Computing; Kurtosis Approach to Solution of a Nonlinear ICA Problem; Robust Software Architecture for Robots; R4SA for Controlling Robots; Bio-Inspired Neural Model for Learning Dynamic Models; Evolutionary Computing Methods for Spectral Retrieval; Monitoring Disasters by Use of Instrumented Robotic Aircraft; Complexity for Survival of Living Systems; Using Drained Spacecraft Propellant Tanks for Habitation; Connecting Node; and Electrolytes for Low-Temperature Operation of Li-CFx Cells.

Breakaway: A Look at the Integration of Aerial Refueling and Unmanned Aircraft Systems in Future Operations

DTIC Science & Technology

2007-06-15

possibility of air refueling unmanned platforms that will prolong their loiter time. Because of the senior leader pressure to get a persistent presence...future force of 2025 will undoubtedly include many unmanned aircraft and manned aircraft. This thesis investigates how aerial refueling and unmanned...leader pressure to get a persistent presence of unmanned aircraft through air refueling, they might have waived the “sanity check” for this, or

Development of a Geospatial Data-Sharing Method for Unmanned Vehicles Based on the Joint Architecture for Unmanned Systems (JAUS)

DTIC Science & Technology

2005-08-01

the Office of the Secretary of Defense chartered the Joint Architecture for Unmanned Ground Systems ( JAUGS ) Working Group to address these concerns...The JAUGS Working Group was tasked with developing an initial standard for interoperable unmanned ground systems. In 2002, the charter of the... JAUGS Working Group was 1 2 modified such that their efforts would extend to all unmanned systems, not only ground systems. The standard was

Integrated vehicle control and guidance systems in unmanned ground vehicles for commercial applications

NASA Astrophysics Data System (ADS)

Kenyon, Chase H.

1995-01-01

While there is a lot of recent development in the entire IVHS field, very few have had the opportunity to combine the many areas of development into a single integrated `intelligent' unmanned vehicle. One of our systems was developed specifically to serve a major automobile manufacturer's need for an automated vehicle chassis durability test facility. Due to the severity of the road surface human drivers could not be used. A totally automated robotic vehicle driver and guidance system was necessary. In order to deliver fixed price commercial projects now, it was apparent system and component costs were of paramount importance. Cyplex has developed a robust, cost effective single wire guidance system. This system has inherent advantages in system simplicity. Multi-signal (per vehicle lane) systems complicate path planning and layout when multiple lanes and lane changes are required, as on actual highways. The system has demonstrated high enough immunity to rain and light snow cover that normal safety reductions in speed are adequate to stay within the required system performance envelope. This system and it's antenna interface have shown the ability to guide the vehicle at slow speeds (10 MPH) with a tracking repeatability of plus or minus 1/8 of an inch. The basic guide and antenna system has been tested at speeds up to 80 mph. The system has inherently superior abilities for lane changes and precision vehicle placement. The operation of this system will be described and the impact of a system that is commercially viable now for highway and off road use will be discussed.

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

NASA Technical Reports Server (NTRS)

Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellutta, Paolo; Sherwin, Gary W.

2011-01-01

The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

75 FR 2925 - Sixteenth Plenary Meeting: RTCA Special Committee 203: Unmanned Aircraft Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2010-01-19

... Special Committee 203: Unmanned Aircraft Systems AGENCY: Federal Aviation Administration (FAA), DOT. ACTION: Notice of RTCA Special Committee 203: Unmanned Aircraft Systems. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 203: Unmanned Aircraft Systems. DATES...

Small unmanned aircraft and the U.S. Forest Service : benefits, costs, and recommendations for using small unmanned aircraft in Forest Service operations

DOT National Transportation Integrated Search

2016-08-01

This paper provides information to Forest Service leadership about how the agency could use unmanned aircraft across different programs, especially in program areas where aircraft use is currently limited. It draws from published uses of unmanned air...

Submersed Aquatic Vegetation Modeling Output Online

USGS Publications Warehouse

Yin, Yao; Rogala, Jim; Sullivan, John; Rohweder, Jason J.

2005-01-01

Introduction The ability to predict the distribution of submersed aquatic vegetation in the Upper Mississippi River on the basis of physical or chemical variables is useful to resource managers. Wildlife managers have a keen interest in advanced estimates of food quantity such as American wildcelery (Vallisneria americana) population status to give out more informed advisories to hunters before the fall hunting season. Predictions for distribution of submerged aquatic vegetation beds can potentially increase hunter observance of voluntary avoidance zones where foraging birds are left alone to feed undisturbed. In years when submersed aquatic vegetation is predicted to be scarce in important wildlife habitats, managers can get the message out to hunters well before the hunting season (Jim Nissen, Upper Mississippi River National Wildlife and Fish Refuge, La Crosse District Manager, La Crosse, Wisconsin, personal communication). We developed a statistical model to predict the probability of occurrence of submersed aquatic vegetation in Pool 8 of the Upper Mississippi River on the basis of a few hydrological, physical, and geomorphic variables. Our model takes into consideration flow velocity, wind fetch, bathymetry, growing-season daily water level, and light extinction coefficient in the river (fig. 1) and calculates the probability of submersed aquatic vegetation existence in Pool 8 in individual 5- x 5-m grid cells. The model was calibrated using the data collected in 1998 (516 sites), 1999 (595 sites), and 2000 (649 sites) using a stratified random sampling protocol (Yin and others, 2000b). To validate the model, we chose the data from the Long Term Resource Monitoring Program (LTRMP) transect sampling in backwater areas (Rogers and Owens 1995; Yin and others, 2000a) and ran the model for each 5- x 5-m grid cell in every growing season from 1991 to 2001. We tallied all the cells and came up with an annual average percent frequency of submersed aquatic vegetation occurrence and compared the results with actual LTRMP survey data (fig. 2). Both a paired Student's test (P = 0.4620) and a Wilcoxon's two-sample test (P = 0.4738) did not contradict our null hypothesis that the model prediction and the sampling data are statistically the same. We have not found an effective statistical test to compare model-predicted spatial pattern with aerial photography geographic information, but we are satisfied with the model's outcome on the basis of visual inspection (fig. 3). A unique feature about this model is that a prediction can be made by the end of June each year; therefore, providing wildlife managers an assessment of current year vegetation growth condition 3 to 4 months ahead of the arrival of migrating waterfowl that feed on submersed aquatic vegetation. We are working with the LTRMP partnership to create a mechanism so that model predictions (fig. 4) can be updated annually and the results posted on the LTRMP Web site. Our model underestimated the prevalence of vegetation from 2001 to 2004. We speculate that the summer water level reduction conducted in 2001 and 2002 triggered vegetation responses that are outside the model's domain. Future enhancement of the model will incorporate the summer water level drawdown effects as well as the effects of growth conditions in previous years.

Use of radar rainfall estimates and forecasts to prevent flash flood in real time by using a road inundation warning system

NASA Astrophysics Data System (ADS)

Versini, Pierre-Antoine

2012-01-01

SummaryImportant damages occur in small headwater catchments when they are hit by severe storms with complex spatio-temporal structure, sometimes resulting in flash floods. As these catchments are mostly not covered by sensor networks, it is difficult to forecast these floods. This is particularly true for road submersions, representing major concerns for flood event managers. The use of Quantitative Precipitation Estimates and Forecasts (QPE/QPF) especially based on radar measurements could particularly be adequate to evaluate rainfall-induced risks. Although their characteristic time and space scales would make them suitable for flash flood modelling, the impact of their uncertainties remain uncertain and have to be evaluated. The Gard region (France) has been chosen as case study. This area is frequently affected by severe flash floods, and an application devoted to the road network has also been recently developed for the North part of this region. This warning system combines distributed hydro-meteorological modelling and susceptibility analysis to provide warnings of road inundations. The warning system has been tested on the specific storm of the 29-30 September 2007. During this event, around 200 mm dropped on the South part of the Gard and many roads were submerged. Radar-based QPE and QPF have been used to forecast the exact location of road submersions and the results have been compared to the effective road submersions actually occurred during the event as listed by the emergency services. Used on an area it has not been calibrated, the results confirm that the road submersion warning system represents a promising tool for anticipating and quantifying the consequences of storm events at ground. It rates the submersion risk with an acceptable level of accuracy and demonstrates also the quality of high spatial and temporal resolution radar rainfall data in real time, and the possibility to use them despite their uncertainties. However because of the quality of rainfall forecasts falls drastically with time, it is not often sufficient to provide valuable information for lead times exceeding 1 h.

[Estimation of N loss loading by runoff from paddy field during submersed period in Hangjiahu area].

PubMed

Tian, Ping; Chen, Yingxu; Tian, Guangming; Liang, Xinqiang; Zhang, Qiuling; Yu, Qiaogang; Li, Hua

2006-10-01

As the largest bread basket in Zhejiang Province, Hangjiahu area is facing more and more serious water pollution, while the N loss loading by runoff from the paddy field during its submersed period is the main cause of the pollution. Through field experiment and fixed spot observation, the model of precipitation - runoff in Yangtze delta was testified, and the results showed that the precipitation - runoff model from HE Baogen was basically accorded with the fact after considering the impact of field overflow mouth, and the error was between - 19. 9% and + 18. 0%. The model of N concentration with precipitation - runoff in paddy field during submersed period was brought forward, with the R value being 0. 948. These two models consisted of the model of N loss loading by runoff from paddy field during submersed period. Based on this model as well as the past 30 years data of fertilization and precipitation, 1: 250,000 topography map, land use map, and water system map, the N loss loading and its distribution were estimated by using GIS method, and the results showed that the N loss loading was different from place to place, with an average of 35.26 kg N x hm(-2), and accounting for 12. 69% of the applied N. The N loss loading in Anji and Yuhang with obviously more precipitation was higher than that in other places, while Haining also had a serious N loss problem because of the huge amount of applied N.

Study on global performances and mooring-induced damping of a semi-submersible

NASA Astrophysics Data System (ADS)

Xiong, Ling-zhi; Yang, Jian-min; Lv, Hai-ning; Zhao, Wen-hua; Kou, Yu-feng

2016-10-01

The harsh environmental conditions bring strong nonlinearities to the hydrodynamic performances of the offshore floating platforms, which challenge the reliable prediction of the platform coupled with the mooring system. The present study investigates a typical semi-submersible under both the operational and the survival conditions through numerical and experimental methods. The motion responses, the mooring line tensions, and the wave loads on the longitudinal mid-section are investigated by both the fully non-linearly coupled numerical simulation and the physical experiment. Particularly, in the physical model test, the wave loads distributed on the semi-submersible's mid-section were measured by dividing the model into two parts, namely the port and the starboard parts, which were rigidly connected by three six-component force transducers. It is concluded that both the numerical and physical model can have good prediction of the semi-submersible's global responses. In addition, an improved numerical approach is proposed for the estimation of the mooring-induced damping, and is validated by both the experimental and the published results. The characteristics of the mooring-induced damping are further summarized in various sea states, including the operational and the survival environments. In order to obtain the better prediction of the system response in deep water, the mooring-induced damping of the truncated mooring lines applied in the physical experiment are compensated by comparing with those in full length. Furthermore, the upstream taut and the downstream slack mooring lines are classified and investigated to obtain the different mooring line damping performances in the comparative study.

Coexistence Analysis of Civil Unmanned Aircraft Systems at Low Altitudes

NASA Astrophysics Data System (ADS)

Zhou, Yuzhe

2016-11-01

The requirement of unmanned aircraft systems in civil areas is growing. However, provisioning of flight efficiency and safety of unmanned aircraft has critical requirements on wireless communication spectrum resources. Current researches mainly focus on spectrum availability. In this paper, the unmanned aircraft system communication models, including the coverage model and data rate model, and two coexistence analysis procedures, i. e. the interference and noise ratio criterion and frequency-distance-direction criterion, are proposed to analyze spectrum requirements and interference results of the civil unmanned aircraft systems at low altitudes. In addition, explicit explanations are provided. The proposed coexistence analysis criteria are applied to assess unmanned aircraft systems' uplink and downlink interference performances and to support corresponding spectrum planning. Numerical results demonstrate that the proposed assessments and analysis procedures satisfy requirements of flexible spectrum accessing and safe coexistence among multiple unmanned aircraft systems.

A Historical Review of Training Requirements for Unmanned Aircraft Systems, Small Unmanned Aircraft Systems, and Manned Operations (1997-2014)

DOT National Transportation Integrated Search

2017-08-01

There are several mature Unmanned Aircraft System (UAS) and Small Unmanned Aircraft System (sUAS) training programs available for analysis. Many of these programs were developed by the various branches with the U.S. Department of Defense (DoD) in con...

Spatial and temporal relationships between the invasive snail Bithynia tentaculata and submersed aquatic vegetation in Pool 8 of the Upper Mississippi River

USGS Publications Warehouse

Weeks, Alicia M.; DeJager, Nathan R.; Haro, Roger J.; Sandland, Greg J.

2017-01-01

Bithynia tentaculata is an invasive snail that was first reported in Lake Michigan in 1871 and has since spread throughout a number of freshwater systems of the USA. This invasion has been extremely problematic in the Upper Mississippi River as the snails serve as intermediate hosts for several trematode parasites that have been associated with waterfowl mortality in the region. This study was designed to assess the abundance and distribution of B. tentaculata relative to submersed aquatic vegetation as macrophytes provide important nesting and food resources for migrating waterfowl. Temporal changes in both vegetation and snail densities were compared between 2007 and 2015. Between these years, B. tentaculata densities have nearly quadrupled despite minor changes in vegetation abundance, distribution and composition. Understanding the spatial distribution of B. tentaculata in relation to other habitat features, including submersed vegetation, and quantifying any further changes in the abundance and distribution of B. tentaculata over time will be important for better identifying areas of risk for disease transmission to waterfowl.

A Remote-operated System to Map Radiation Dose in the Fukushima Daiichi Primary Containment Vessel

NASA Astrophysics Data System (ADS)

Nancekievill, M.; Jones, A. R.; Joyce, M. J.; Lennox, B.; Watson, S.; Katakura, J.; Okumura, K.; Kamada, S.; Katoh, M.; Nishimura, K.

2018-01-01

This paper describes the development of a submersible system based on a remote-operated vehicle coupled with radiation detectors to map the interior of the reactors at the Fukushima Daiichi nuclear power station. It has the aim oflocating fuel debris. The AVEXIS submersible vehicle used in this study has been designed as a low-cost, potentially disposable, inspection platform that is the smallest of its class and is capable of being deployed through a 150 mm diameter access pipe. To map the gamma-ray environment, a cerium bromide scintillator detector with a small form factor has been incorporated into the AVEXIS to identify radioactive isotopes via gamma-ray spectroscopy. This provides the combined system with the potential to map gamma-ray spectra and particle locations throughout submerged, contaminated facilities, such as Units 1, 2 and 3 of the Fukushima Daiichi nuclear power plant. The hypothesis of this research is to determine the sensitivity of the combined system in a submerged environment that replicates the combination of gamma radiation and water submersion but at lower dose rates.

Persistent near-bottom aggregations of mesopelagic animals along the North Carolina and Virginia continental slopes

USGS Publications Warehouse

Gartner, John V.; Sulak, K.J.; Ross, Steve W.; Necaise, Ann Marie

2008-01-01

Submersible observations during four missions over the North Carolina and Virginia continental slopes (184-900 m) documented the occurrence of large aggregations of mesopelagic fishes and macronektonic invertebrates near or on the bottom. Aggregated mesopelagics formed a layer up to tens of meters deep positioned from a few centimeters to 20 m, usually <10 m, above the substrate. Aggregations were numerically dominated by microvores, notably the myctophid fish Ceratoscopelus maderensis and the penaeid shrimp Sergestes arcticus. Consistently present but in relatively lower numbers, were mesopelagic predators, including the paralepidids Notolepis rissoi and Lestidium atlanticum, the eel Nemichthys scolopaceus, the stomiid fishes Chauliodus sloani and Stomias boa ferox, and squids Illex spp. Near-bottom aggregations do not appear to be an artifact due to attraction to the submersible. Based on submersible observations in three areas in 4 years spanning a decade, near-bottom aggregations of midwater organisms appear to be a geographically widespread and persistent phenomenon along the continental slope of the southeastern US Aggregations may exploit areas of enhanced food resources at the bottom. ?? 2007 Springer-Verlag.

A Hydraulic Motor-Alternator System for Ocean-Submersible Vehicles

NASA Technical Reports Server (NTRS)

Aintablian, Harry O.; Valdez, Thomas I.; Jones, Jack A.

2012-01-01

An ocean-submersible vehicle has been developed at JPL that moves back and forth between sea level and a depth of a few hundred meters. A liquid volumetric change at a pressure of 70 bars is created by means of thermal phase change. During vehicle ascent, the phase-change material (PCM) is melted by the circulation of warm water and thus pressure is increased. During vehicle descent, the PCM is cooled resulting in reduced pressure. This pressure change is used to generate electric power by means of a hydraulic pump that drives a permanent magnet (PM) alternator. The output energy of the alternator is stored in a rechargeable battery that powers an on-board computer, instrumentation and other peripherals.The focus of this paper is the performance evaluation of a specific hydraulic motor-alternator system. Experimental and theoretical efficiency data of the hydraulic motor and the alternator are presented. The results are used to evaluate the optimization of the hydraulic motor-alternator system. The integrated submersible vehicle was successfully operated in the Pacific Ocean near Hawaii. A brief overview of the actual test results is presented.

Airphoto assessment of changes in aquatic vegetation

NASA Technical Reports Server (NTRS)

Markham, B. L.; Philipson, W. R.; Russel, A. E.

1977-01-01

Large scale, multiyear, color and color infrared aerial photographs were used to evaluate changes in aquatic vegetation that have accompanied a reduction in phosphorus inputs to a phosphorus-limited, eutrophic lake in New York State. The study showed that the distribution of emergent, floating and submersed vegetation could be determined with little or no concurrent ground data; that various emergent and floating types could be separated and, with limited field checks, identified; and that different submersed types are generally not separable. Major vegetative types are characterized by spectral and nonspectral features, and a classification is developed for compiling time-sequential vegetation maps.

Maintenance of submersible pumps in the septic tanks: ergonomic and biological risks to the worker.

PubMed

Mariño, Suzi; Figueiredo, Alex

2012-01-01

In this study was observed the maintenance task of submersible pumps septic tanks installed in industrial bathrooms. This maintenance activity operators are exposed to various biological and ergonomic risks. This type of activity requires its great physical performers who are also subject to contact with human waste in the form of liquids, gases and solids. Besides the problems mentioned, are still exposed to high temperatures that can cause diseases such as hyperthermia or heatstroke. These aspects were observed using the ergonomic assessment methodology in order to suggest improvements that are reflected in productivity and employee satisfaction.

Sodium dopants in helium clusters: Structure, equilibrium and submersion kinetics

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

Calvo, F.

Alkali impurities bind to helium nanodroplets very differently depending on their size and charge state, large neutral or charged dopants being wetted by the droplet whereas small neutral impurities prefer to reside aside. Using various computational modeling tools such as quantum Monte Carlo and path-integral molecular dynamics simulations, we have revisited some aspects of the physical chemistry of helium droplets interacting with sodium impurities, including the onset of snowball formation in presence of many-body polarization forces, the transition from non-wetted to wetted behavior in larger sodium clusters, and the kinetics of submersion of small dopants after sudden ionization.

Proceedings of the Undersea Medical Society Workshop (7th) on Medical Aspects of Small Submersible Operations Held at Submarine Development Group 1, San Diego, California on 19-20 November 1974

DTIC Science & Technology

1975-01-01

Recommendations 111-18 Session IV Unique Vehicles A. Diversubs: An Overview IV- I B. Canadian Forces SDL I IV-10 C. J.S. Navy Deep Submergence Rescue Vehicle IV-12...waters of Southern California and Baja California in the mid-1960’s (1964- 1968). The French Navy retired the FNRS-3 in 1959 and began construction of a...remote manipulators, force f,-edback systems, and multi-axis operator control systems has brought the u-manned submersible into real prominence. Many

A Robot for Coastal Marine Studies Under Hostile Conditions

NASA Astrophysics Data System (ADS)

Consi, T. R.

2012-12-01

Robots have long been used for scientific exploration of extremely remote environments such as planetary surfaces and the deep ocean. In addition to these physically remote places, there are many environments that are transiently remote in the sense that they are inaccessible to humans for a period of time. Coastal marine environments fall into this category. While quite accessible (and enjoyable) during good weather, the coast can become as remote as the moon when it is impacted by severe storms or hurricanes. For near shore and shallow water marine science unmanned underwater ground vehicles (UUGVs) are the robots of choice for reliable access under a variety of conditions. Ground vehicles are inherently amphibious being able to operate in complex coastal environments that can range from the completely dry beach, through the transiently wet swash zone, into the surf zone and beyond. During storms, UUGVs provide stable sensor platforms resistant to waves and currents by virtue of being locked to the substrate. In such situations free-swimming robots would be swept away. Mobility during storms enables a UUGV to orient itself to optimally resist forces that would dislodge fixed, moored platforms. Mobility can also enable a UUGV to either avoid burial, or unbury itself after a storm. Finally, the ability to submerge provides a great advantage over buoys and surface vehicles which would be smashed by heavy wave action. We have developed a prototype UUGV to enable new science in the surf zone and other shallow water environments. Named LMAR for Lake Michigan Amphibious Robot, it is designed to be deployed from the dry beach, enter the water to perform a near-shore survey, and return to the deployment point for recovery. The body of the robot is a heavy flattened box (base dimensions: 1.07 m X 1.10 m X .393 m, dry weight: ~127 kg, displacement: ~ 45 kg) with a low center of gravity for stability and robust construction to withstand waves and currents. It is topped by a 1.5 m surface penetrating mast which currently limits the operational depth, although the core vehicle can be deployed to depths in excess of 10 m. Propulsion is accomplished with two DC brushless motors driving six wide heavy tread pneumatic wheels, three on each side. Power is provided by NiMH batteries. An onboard computer controls propulsion, navigation and communications. Guidance and navigation utilize inertial sensors, an electronic compass and a GPS unit mounted on the mast. A scientist onshore can monitor data from the scientific payload as well as command the robot through a mast-mounted radio Ethernet bridge. Standard, off the shelf oceanographic sensors such as sondes and ADCPs can easily be integrated onto the robot making it a versatile sensing platform. We have successfully deployed the vehicle off a sandy beach in Lake Michigan where it has performed lawn-mower surveys in the surf zone. LMAR's design and field test results will be presented along with a discussion of how to further harden the vehicle for deployment in storms.

A Cloud Robotics Based Service for Managing RPAS in Emergency, Rescue and Hazardous Scenarios

NASA Astrophysics Data System (ADS)

Silvagni, Mario; Chiaberge, Marcello; Sanguedolce, Claudio; Dara, Gianluca

2016-04-01

Cloud robotics and cloud services are revolutionizing not only the ICT world but also the robotics industry, giving robots more computing capabilities, storage and connection bandwidth while opening new scenarios that blend the physical to the digital world. In this vision, new IT architectures are required to manage robots, retrieve data from them and create services to interact with users. Among all the robots this work is mainly focused on flying robots, better known as drones, UAV (Unmanned Aerial Vehicle) or RPAS (Remotely Piloted Aircraft Systems). The cloud robotics approach shifts the concept of having a single local "intelligence" for every single UAV, as a unique device that carries out onboard all the computation and storage processes, to a more powerful "centralized brain" located in the cloud. This breakthrough opens new scenarios where UAVs are agents, relying on remote servers for most of their computational load and data storage, creating a network of devices where they can share knowledge and information. Many applications, using UAVs, are growing as interesting and suitable devices for environment monitoring. Many services can be build fetching data from UAVs, such as telemetry, video streaming, pictures or sensors data; once. These services, part of the IT architecture, can be accessed via web by other devices or shared with other UAVs. As test cases of the proposed architecture, two examples are reported. In the first one a search and rescue or emergency management, where UAVs are required for monitoring intervention, is shown. In case of emergency or aggression, the user requests the emergency service from the IT architecture, providing GPS coordinates and an identification number. The IT architecture uses a UAV (choosing among the available one according to distance, service status, etc.) to reach him/her for monitoring and support operations. In the meantime, an officer will use the service to see the current position of the UAV, its telemetry and video streaming from its camera. Data are stored for further use and documentation and can be shared to all the involved personal or services. The second case refer to imaging survey. An investigation area is selected using a map or a set of coordinates by a user that can be on the field on in a management facility. The cloud system elaborate this data and automatically compute a flight plan that consider the survey data requirements (i.e: picture ground resolution, overlapping) but also several environment constraints (i.e: no fly zones, possible hazardous areas, known obstacles, etc). Once the flight plan is loaded in the selected UAV the mission starts. During the mission, if a suitable data network coverage is available, the UAV transmit acquired images (typically low quality image to limit bandwidth) and shooting pose in order to perform a preliminary check during the mission and minimize failing in survey; if not, all data are uploaded asynchronously after the mission. The cloud servers perform all the tasks related to image processing (mosaic, ortho-photo, geo-referencing, 3D models) and data management.

The application demand analysis of advanced photoelectric technology in the future unmanned vehicle loads

NASA Astrophysics Data System (ADS)

Zhang, Lei; Cao, Wei; Li, Shengcai; Lu, Peng

2018-01-01

Introduced some unmanned vehicles development present situation, points out that the main development trend of photoelectric technology, analyzes the basic ability requirement of unmanned vehicles, in the future war system demonstrates the photoelectric information transmission, battlefield situational awareness, photoelectric integrated optoelectronic technology such as against the application of the unmanned vehicles demand in the future.

UGV: security analysis of subsystem control network

NASA Astrophysics Data System (ADS)

Abbott-McCune, Sam; Kobezak, Philip; Tront, Joseph; Marchany, Randy; Wicks, Al

2013-05-01

Unmanned Ground vehicles (UGVs) are becoming prolific in the heterogeneous superset of robotic platforms. The sensors which provide odometry, localization, perception, and vehicle diagnostics are fused to give the robotic platform a sense of the environment it is traversing. The automotive industry CAN bus has dominated the industry due to the fault tolerance and the message structure allowing high priority messages to reach the desired node in a real time environment. UGVs are being researched and produced at an accelerated rate to preform arduous, repetitive, and dangerous missions that are associated with a military action in a protracted conflict. The technology and applications of the research will inevitably be turned into dual-use platforms to aid civil agencies in the performance of their various operations. Our motivation is security of the holistic system; however as subsystems are outsourced in the design, the overall security of the system may be diminished. We will focus on the CAN bus topology and the vulnerabilities introduced in UGVs and recognizable security vulnerabilities that are inherent in the communications architecture. We will show how data can be extracted from an add-on CAN bus that can be customized to monitor subsystems. The information can be altered or spoofed to force the vehicle to exhibit unwanted actions or render the UGV unusable for the designed mission. The military relies heavily on technology to maintain information dominance, and the security of the information introduced onto the network by UGVs must be safeguarded from vulnerabilities that can be exploited.

The Ground Control Room as an Enabling Technology in the Unmanned Aerial System

NASA Technical Reports Server (NTRS)

Gear, Gary; Mace, Thomas

2007-01-01

This viewgraph presentation reviews the development of the ground control room as an required technology for the use of an Unmanned Aerial system. The Unmanned Aerial system is a strategic component of the Global Observing System, which will serve global science needs. The unmanned aerial system will use the same airspace as manned aircraft, therefore there will be unique telemetry needs.

Arterial stress hormones during scuba diving with different breathing gases.

PubMed

Weist, Frank; Strobel, Günther; Hölzl, Mathias; Böning, Dieter

2012-07-01

The purpose of the study was to determine whether the conditions during scuba diving without exercise (e.g., submersion, restricted breathing) stimulate the activities of the sympathoadrenergic system and the hypothalamic-pituitary-adrenal axis. This might facilitate panic reactions in dangerous situations. Fifteen experienced rescue divers participated in three experiments with two submersions each in a diving tower where ambient pressure could be varied. During submersion (duration = 15 min), they were breathing either pure oxygen (ambient pressure = 1.1 bar) or air (1.1 and 5.3 bar) or Heliox21 (21% O(2) and 79% He, 1.1 and 5.3 bar). The subjects stayed upright immediately below the water surface holding one hand with a cannulated radial artery out in the air. Noradrenaline, adrenaline, and dopamine concentrations in arterial blood and heart rate (HR) variability as indicators of sympathoadrenergic activity and cortisol and adrenocorticotropic hormone concentrations as strain indicators were measured. [Noradrenaline] and [adrenaline] (initial values (mean ± SE) = 1616 ± 93 and 426 ± 38 pmol·L(-1)) decreased significantly by up to 30% and 50%, respectively, after 11 min of submersion, independent of pressure and inspired gas. HR variability showed roughly corresponding changes and also indications for parasympathetic stimulation, but artifacts by interference among HR monitors reduced the number of usable measurements. The other hormone concentrations did not change significantly. There was no increase of stress hormone concentrations in experienced subjects. The reduction of [noradrenaline] and [adrenaline] during scuba diving seems to be a reaction to orthostatic relief caused by external hydrostatic pressure on peripheral vasculature. The activity of the vegetative nervous system might be estimated from HR variability if interference among pulse watches can be avoided.

Rebreather Unit to Prolong Underwater Survival Time.

PubMed

House, Carol M; Shaw, Anneliese M; Roiz de Sa, Daniel G

2015-12-01

This study investigated whether the timing of activation affects the utility of an emergency underwater rebreather unit (RBU) when submerged in cold water. On two successive occasions, 16 male UK Royal Marines were submerged in stirred water at 12.2°C for up to 78 s. The subjects were lowered (taking 18 s) into the water in a seated position and were instructed to take a large breath in, activate the unit, breath-hold for as long as possible, exhale into the unit, and breathe normally to and from the unit for the remainder of submersion. On one occasion the subjects were instructed to activate the RBU when the water reached chest height (Condition-1) and, on the other, prior to the feet entering the water (Condition-2). Measurements were made of the duration of breath-hold, rebreathing and submersion, exhaled oxygen and carbon dioxide concentrations, skin temperature, and heart rate. In 16 of the 32 submersions, the breath-hold was released before the subject became fully submerged and in 8 submersions the subject requested early withdrawal from the water. Mean (SD) breath-hold duration was 14.0 (13.8) s and the duration of rebreathing was 45.9 (21.9) s. The duration of breath-hold once completely submerged was longer in Condition-1 (9.1 s) than Condition-2 (4.1 s). The study indicates the RBU should be activated just before the mouth becomes submerged rather than before entering the water, and that the RBU will prolong underwater stay time, thereby increasing survival prospects. House CM, Shaw AM, Roiz de Sa DG. Rebreather unit to prolong underwater stay time, thereby increasing survival prospects.

Design, fabrication, and characterization of multifunctional wings to harvest solar energy in flapping wing air vehicles

NASA Astrophysics Data System (ADS)

Perez-Rosado, Ariel; Gehlhar, Rachel D.; Nolen, Savannah; Gupta, Satyandra K.; Bruck, Hugh A.

2015-06-01

Currently, flapping wing unmanned aerial vehicles (a.k.a., ornithopters or robotic birds) sustain very short duration flight due to limited on-board energy storage capacity. Therefore, energy harvesting elements, such as flexible solar cells, need to be used as materials in critical components, such as wing structures, to increase operational performance. In this paper, we describe a layered fabrication method that was developed for realizing multifunctional composite wings for a unique robotic bird we developed, known as Robo Raven, by creating compliant wing structure from flexible solar cells. The deformed wing shape and aerodynamic lift/thrust loads were characterized throughout the flapping cycle to understand wing mechanics. A multifunctional performance analysis was developed to understand how integration of solar cells into the wings influences flight performance under two different operating conditions: (1) directly powering wings to increase operation time, and (2) recharging batteries to eliminate need for external charging sources. The experimental data is then used in the analysis to identify a performance index for assessing benefits of multifunctional compliant wing structures. The resulting platform, Robo Raven III, was the first demonstration of a robotic bird that flew using energy harvested from solar cells. We developed three different versions of the wing design to validate the multifunctional performance analysis. It was also determined that residual thrust correlated to shear deformation of the wing induced by torsional twist, while biaxial strain related to change in aerodynamic shape correlated to lift. It was also found that shear deformation of the solar cells induced changes in power output directly correlating to thrust generation associated with torsional deformation. Thus, it was determined that multifunctional solar cell wings may be capable of three functions: (1) lightweight and flexible structure to generate aerodynamic forces, (2) energy harvesting to extend operational time and autonomy, and (3) sensing of an aerodynamic force associated with wing deformation.

Human Flight to Lunar and Beyond - Re-Learning Operations Paradigms

NASA Technical Reports Server (NTRS)

Kenny, Edward (Ted); Statman, Joseph

2016-01-01

For the first time since the Apollo era, NASA is planning on sending astronauts on flights beyond LEO. The Human Space Flight (HSF) program started with a successful initial flight in Earth orbit, in December 2014. The program will continue with two Exploration Missions (EM): EM-1 will be unmanned and EM-2, carrying astronauts, will follow. NASA established a multi-center team to address the communications, and related tacking/navigation needs. This paper will focus on the lessons learned by the team designing the architecture and operations for the missions. Many of these Beyond Earth Orbit lessons had to be re-learned, as the HSF program has operated for many years in Earth orbit. Unlike the Apollo missions that were largely tracked by a dedicated ground network, the HSF planned missions will be tracked (at distances beyond GEO) by the DSN, a network that mostly serves robotic missions. There have been surprising challenges to the DSN as unique modern human spaceflight needs stretch the experience base beyond that of tracking robotic missions in deep space. Close interaction between the DSN and the HSF community to understand the unique needs (e.g. 2-way voice) resulted in a Concept of Operations (ConOps) that leverages both the deep space robotic and the Human LEO experiences. Several examples will be used to highlight the unique challenges the team faced in establishing the communications and tracking capabilities for HSF missions beyond Earth Orbit, including: Navigation. At LEO, HSF missions can rely on GPS devices for orbit determination. For Lunar-and-beyond HSF missions, techniques such as precision 2-way and 3-way Doppler and ranging, Delta-Difference-of-range, and eventually possibly on-board navigation will be used. At the same time, HSF presents a challenge to navigators, beyond those presented by robotic missions - navigating a dynamic/"noisy" spacecraft. Impact of latency - the delay associated with Round-Trip-Light-Time (RTLT). Imagine trying to have a 2-way discussion (audio or video) with an astronaut, with a 2-3 sec or more delay inserted (for lunar distances) or 20 minutes delay (for Mars distances). Balanced communications link. For robotic missions, there has been a heavy emphasis on higher downlink data rates, e.g. bringing back science data. Higher uplink data rates were of secondary importance, as uplink was used only to send commands (and occasionally small files) to the spacecraft. The ratio of downlink-to-uplink data rates was often 10:1 or more. For HSF, a continuous forward link is established and rates for uplink and downlink are more similar.

Capabilities Assessment and Employment Recommendations for Full Motion Video Optical Navigation Exploitation (FMV-ONE)

DTIC Science & Technology

2015-06-01

GEOINT geospatial intelligence GFC ground force commander GPS global positioning system GUI graphical user interface HA/DR humanitarian...transport stream UAS unmanned aerial system . See UAV. UAV unmanned aerial vehicle. See UAS. VM virtual machine VMU Marine Unmanned Aerial Vehicle... Unmanned Air Systems (UASs). Current programs promise to dramatically increase the number of FMV feeds in the near future. However, there are too

Damage detection in hazardous waste storage tank bottoms using ultrasonic guided waves

NASA Astrophysics Data System (ADS)

Cobb, Adam C.; Fisher, Jay L.; Bartlett, Jonathan D.; Earnest, Douglas R.

2018-04-01

Detecting damage in storage tanks is performed commercially using a variety of techniques. The most commonly used inspection technologies are magnetic flux leakage (MFL), conventional ultrasonic testing (UT), and leak testing. MFL and UT typically involve manual or robotic scanning of a sensor along the metal surfaces to detect cracks or corrosion wall loss. For inspection of the tank bottom, however, the storage tank is commonly emptied to allow interior access for the inspection system. While there are costs associated with emptying a storage tank for inspection that can be justified in some scenarios, there are situations where emptying the tank is impractical. Robotic, submersible systems have been developed for inspecting these tanks, but there are some storage tanks whose contents are so hazardous that even the use of these systems is untenable. Thus, there is a need to develop an inspection strategy that does not require emptying the tank or insertion of the sensor system into the tank. This paper presents a guided wave system for inspecting the bottom of double-shelled storage tanks (DSTs), with the sensor located on the exterior side-wall of the vessel. The sensor used is an electromagnetic acoustic transducer (EMAT) that generates and receives shear-horizontal guided plate waves using magnetostriction principles. The system operates by scanning the sensor around the circumference of the storage tank and sending guided waves into the tank bottom at regular intervals. The data from multiple locations are combined using the synthetic aperture focusing technique (SAFT) to create a color-mapped image of the vessel thickness changes. The target application of the system described is inspection of DSTs located at the Hanford site, which are million-gallon vessels used to store nuclear waste. Other vessels whose exterior walls are accessible would also be candidates for inspection using the described approach. Experimental results are shown from tests on multiple mockups of the DSTs being used to develop the sensor system.

What's Cooler Than Being Cool? Icefin: Robotic Exploration Beneath Antarctic Ice Shelves

NASA Astrophysics Data System (ADS)

Lawrence, J.; Schmidt, B. E.; Meister, M. R.; Glass, J. B.; Bowman, J. S.; Stockton, A. M.; Dichek, D.; Hurwitz, B.; Ramey, C.; Spears, A.; Walker, C. C.

2017-12-01

The 2017-18 Antarctic field season marks the first of three under the RISEUP project (Ross Ice Shelf & Europa Underwater Probe, NASA PSTAR program grant NNX16AL07G, PI B. E. Schmidt). RISEUP expands our efforts to understand the physical processes governing ice-ocean interactions from beneath the McMurdo Ice Shelf (MIS) to the Ross Ice Shelf (RIS), utilizing the modular autonomous or remotely operable submersible vehicle (AUV/ROV) Icefin. The remote, aphotic regions below Antarctic shelves present a unique opportunity- they are both poorly understood terrestrial environments and analogs for similar systems hypothesized to be present on other bodies in our solar system, such as Europa and Enceladus. By developing new robotic technologies to access and explore ice shelf cavities we are advancing our understanding of how temperature, pressure, and salinity influence the ice-ocean interface, the limits of habitable environments on Earth, and what biological processes and adaptations enable the life discovered by the RISP and WISSARD programs during initial exploration beneath the RIS. These investigations further our understanding of ocean world habitability and support planned and proposed planetary missions (e.g. Europa Clipper, Europa Lander) via improved constraint of marine ice accretion processes, organic entrainment, and interface habitability. Custom built at Georgia Tech and first deployed during the 2014/15 Antarctic season, Icefin is 3.5 m, 125 kg modular vehicle that now carries a full suite of oceanographic sensors (including conductivity, temperature, depth, dissolved O2, dissolved organic matter, turbidity, pH, eH, and sonar) that can be deployed through boreholes as small as 25 cm in diameter. Here we present continued analysis of basal ice and oceanographic observations in the McMurdo Sound region from 2012-2015 with, pending anticipated field work, comparisons to preliminary data from the 2017/18 field season beneath both the McMurdo and Ross Ice Shelves.

Numerical algorithm for rigid body position estimation using the quaternion approach

NASA Astrophysics Data System (ADS)

Zigic, Miodrag; Grahovac, Nenad

2017-11-01

This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.

Use of the RoboFlag synthetic task environment to investigate workload and stress responses in UAV operation.

PubMed

Guznov, Svyatoslav; Matthews, Gerald; Funke, Gregory; Dukes, Allen

2011-09-01

Use of unmanned aerial vehicles (UAVs) is an increasingly important element of military missions. However, controlling UAVs may impose high stress and workload on the operator. This study evaluated the use of the RoboFlag simulated environment as a means for profiling multiple dimensions of stress and workload response to a task requiring control of multiple vehicles (robots). It tested the effects of two workload manipulations, environmental uncertainty (i.e., UAV's visual view area) and maneuverability, in 64 participants. The findings confirmed that the task produced substantial workload and elevated distress. Dissociations between the stress and performance effects of the manipulations confirmed the utility of a multivariate approach to assessment. Contrary to expectations, distress and some aspects of workload were highest in the low-uncertainty condition, suggesting that overload of information may be an issue for UAV interface designers. The strengths and limitations of RoboFlag as a methodology for investigating stress and workload responses are discussed.

Design of small Stirling dynamic isotope power system for robotic space missions

NASA Technical Reports Server (NTRS)

Bents, D. J.; Schreiber, J. G.; Withrow, C. A.; Mckissock, B. I.; Schmitz, P. C.

1992-01-01

Design of a multihundred-watt Dynamic Isotope Power System (DIPS) based on the U.S. Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE) technology is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. Unlike previous DIPS designs which were based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled down to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Preliminary characterization of units in the output power ranges 200-600 We indicate that on an electrical watt basis the GPHS/small Stirling DIPS will be roughly equivalent to an advanced RTG in size and mass but require less than a third of the isotope inventory.

NASA's Internal Space Weather Working Group

NASA Technical Reports Server (NTRS)

St. Cyr, O. C.; Guhathakurta, M.; Bell, H.; Niemeyer, L.; Allen, J.

2011-01-01

Measurements from many of NASA's scientific spacecraft are used routinely by space weather forecasters, both in the U.S. and internationally. ACE, SOHO (an ESA/NASA collaboration), STEREO, and SDO provide images and in situ measurements that are assimilated into models and cited in alerts and warnings. A number of years ago, the Space Weather laboratory was established at NASA-Goddard, along with the Community Coordinated Modeling Center. Within that organization, a space weather service center has begun issuing alerts for NASA's operational users. NASA's operational user community includes flight operations for human and robotic explorers; atmospheric drag concerns for low-Earth orbit; interplanetary navigation and communication; and the fleet of unmanned aerial vehicles, high altitude aircraft, and launch vehicles. Over the past three years we have identified internal stakeholders within NASA and formed a Working Group to better coordinate their expertise and their needs. In this presentation we will describe this activity and some of the challenges in forming a diverse working group.

Ultra strong silicon-coated carbon nanotube nonwoven fabric as a multifunctional lithium-ion battery anode.

PubMed

Evanoff, Kara; Benson, Jim; Schauer, Mark; Kovalenko, Igor; Lashmore, David; Ready, W Jud; Yushin, Gleb

2012-11-27

Materials that can perform simultaneous functions allow for reductions in the total system mass and volume. Developing technologies to produce flexible batteries with good performance in combination with high specific strength is strongly desired for weight- and power-sensitive applications such as unmanned or aerospace vehicles, high-performance ground vehicles, robotics, and smart textiles. State of the art battery electrode fabrication techniques are not conducive to the development of multifunctional materials due to their inherently low strength and conductivities. Here, we present a scalable method utilizing carbon nanotube (CNT) nonwoven fabric-based technology to develop flexible, electrochemically stable (∼494 mAh·g(-1) for 150 cycles) battery anodes that can be produced on an industrial scale and demonstrate specific strength higher than that of titanium, copper, and even a structural steel. Similar methods can be utilized for the formation of various cathode and anode composites with tunable strength and energy and power densities.

Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

NASA Technical Reports Server (NTRS)

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

2016-01-01

Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

Change detection on UGV patrols with respect to a reference tour using VIS imagery

NASA Astrophysics Data System (ADS)

Müller, Thomas

2015-05-01

Autonomous driving robots (UGVs, Unmanned Ground Vehicles) equipped with visual-optical (VIS) cameras offer a high potential to automatically detect suspicious occurrences and dangerous or threatening situations on patrol. In order to explore this potential, the scene of interest is recorded first on a reference tour representing the 'everything okay' situation. On further patrols changes are detected with respect to the reference in a two step processing scheme. In the first step, an image retrieval is done to find the reference images that are closest to the current camera image on patrol. This is done efficiently based on precalculated image-to-image registrations of the reference by optimizing image overlap in a local reference search (after a global search when that is needed). In the second step, a robust spatio-temporal change detection is performed that widely compensates 3-D parallax according to variations of the camera position. Various results document the performance of the presented approach.

Observing Solar Radio Bursts from the Lunar Surface

NASA Technical Reports Server (NTRS)

MacDowall, R. J.; Gopalswamy, N.; Kaiser, M. L.; Lazio, T. J.; Jones, D. L.; Bale, S. D.; Burns, J.; Kasper, J. C.; Weiler, K. W.

2011-01-01

Locating low frequency radio observatories on the lunar surface has a number of advantages, including fixes locations for the antennas and no terrestrial interference on the far side of the moon. Here, we describe the Radio Observatory for Lunar Sortie Science (ROLSS), a concept for a low frequency, radio imaging interferometric array designed to study particle acceleration in the corona and inner heliosphere. ROLSS would be deployed during an early lunar sortie or by a robotic rover as part of an unmanned landing. The prime science mission is to image type II and type III solar radio bursts with the aim of determining the sites at and mechanisms by which the radiating particles are accelerated. Secondary science goals include constraining the density of the lunar ionosphere by searching for a low radio frequency cutoff of the solar radio emissions and constraining the low energy electron population in astrophysical sources. Furthermore, ROLSS serves a pathfinder function for larger lunar radio arrays designed for faint sources.

Process Algebra Approach for Action Recognition in the Maritime Domain

NASA Technical Reports Server (NTRS)

Huntsberger, Terry

2011-01-01

The maritime environment poses a number of challenges for autonomous operation of surface boats. Among these challenges are the highly dynamic nature of the environment, the onboard sensing and reasoning requirements for obeying the navigational rules of the road, and the need for robust day/night hazard detection and avoidance. Development of full mission level autonomy entails addressing these challenges, coupled with inference of the tactical and strategic intent of possibly adversarial vehicles in the surrounding environment. This paper introduces PACIFIC (Process Algebra Capture of Intent From Information Content), an onboard system based on formal process algebras that is capable of extracting actions/activities from sensory inputs and reasoning within a mission context to ensure proper responses. PACIFIC is part of the Behavior Engine in CARACaS (Cognitive Architecture for Robotic Agent Command and Sensing), a system that is currently running on a number of U.S. Navy unmanned surface and underwater vehicles. Results from a series of experimental studies that demonstrate the effectiveness of the system are also presented.

Diagnosis of Electric Submersible Centrifugal Pump

NASA Astrophysics Data System (ADS)

Kovalchuk, M. S.; Poddubniy, D. A.

2018-01-01

The paper deals with the development of system operational diagnostics of electrical submersible pumps (ESP). At the initial stage of studies have explored current methods of the diagnosis of ESP, examined the existing problems of their diagnosis. Resulting identified a number of main standard ESP faults, mechanical faults such as bearing wear, protective sleeves of the shaft and the hubs of guide vanes, misalignment and imbalance of the shafts, which causes the breakdown of the stator bottom or top bases. All this leads to electromagnetic faults: rotor eccentricity, weakening the pressing of steel packs, wire breakage or a short circuit in the stator winding, etc., leading to changes in the consumption current.

Persistent near-bottom aggregations of mesopelagic animals along the North Carolina and Virginia continental slopes

USGS Publications Warehouse

Gartner, John V.; Sulak, Kenneth J.; Ross, Steve W.; Necaise, Ann Marie

2008-01-01

Submersible observations during four missions over the North Carolina and Virginia continental slopes (184–900 m) documented the occurrence of large aggregations of mesopelagic fishes and macronektonic invertebrates near or on the bottom. Aggregated mesopelagics formed a layer up to tens of meters deep positioned from a few centimeters to 20 m, usually <10 m, above the substrate. Aggregations were numerically dominated by microvores, notably the myctophid fishCeratoscopelus maderensis and the penaeid shrimp Sergestes arcticus. Consistently present but in relatively lower numbers, were mesopelagic predators, including the paralepidids Notolepis rissoiand Lestidium atlanticum, the eel Nemichthys scolopaceus, the stomiid fishes Chauliodus sloaniand Stomias boa ferox, and squids Illex spp. Near-bottom aggregations do not appear to be an artifact due to attraction to the submersible. Based on submersible observations in three areas in 4 years spanning a decade, near-bottom aggregations of midwater organisms appear to be a geographically widespread and persistent phenomenon along the continental slope of the southeastern US Aggregations may exploit areas of enhanced food resources at the bottom.

Characterization of Anopheles darlingi (Diptera: Culicidae) larval habitats in Belize, Central America

NASA Technical Reports Server (NTRS)

Manguin, S.; Roberts, D. R.; Andre, R. G.; Rejmankova, E.; Hakre, S.

1996-01-01

Surveys for larvae of Anopheles darlingi Root were conducted in April, May, and August 1994 in riverine habitats of central Belize (Cayo and Belize districts). An. darlingi was present during both the dry and wet seasons. Larvae were encountered most frequently in patches of floating debris along river margins. The floating mats were often formed by bamboo hanging over the banks and dense submersed bamboo roots. Larvae were found less frequently in lake margins, small lagoons, and ground pools with submersed roots and patches of floating leaves or vegetation. In addition to their association with floating debris, larvae of An. darlingi were associated positively with shade and submersed plants in riverine environments. Samples from river habitats showed the larvae of Anopheles albimanus Wiedemann to be strongly associated with sun-exposed sites containing green or blue-green algae. Unlike An. darlingi, An. albimanus was an ubiquitous mosquito, the immatures of which occurred in a wide variety of riverine and nonriverine aquatic habitats. Based on published reports and our experience, the association of An. darlingi with river systems was verified, and its distribution in Central America and Mexico was mapped.

Feasibility study of using the RoboEarth cloud engine for rapid mapping and tracking with small unmanned aerial systems

NASA Astrophysics Data System (ADS)

Li-Chee-Ming, J.; Armenakis, C.

2014-11-01

This paper presents the ongoing development of a small unmanned aerial mapping system (sUAMS) that in the future will track its trajectory and perform 3D mapping in near-real time. As both mapping and tracking algorithms require powerful computational capabilities and large data storage facilities, we propose to use the RoboEarth Cloud Engine (RCE) to offload heavy computation and store data to secure computing environments in the cloud. While the RCE's capabilities have been demonstrated with terrestrial robots in indoor environments, this paper explores the feasibility of using the RCE in mapping and tracking applications in outdoor environments by small UAMS. The experiments presented in this work assess the data processing strategies and evaluate the attainable tracking and mapping accuracies using the data obtained by the sUAMS. Testing was performed with an Aeryon Scout quadcopter. It flew over York University, up to approximately 40 metres above the ground. The quadcopter was equipped with a single-frequency GPS receiver providing positioning to about 3 meter accuracies, an AHRS (Attitude and Heading Reference System) estimating the attitude to about 3 degrees, and an FPV (First Person Viewing) camera. Video images captured from the onboard camera were processed using VisualSFM and SURE, which are being reformed as an Application-as-a-Service via the RCE. The 3D virtual building model of York University was used as a known environment to georeference the point cloud generated from the sUAMS' sensor data. The estimated position and orientation parameters of the video camera show increases in accuracy when compared to the sUAMS' autopilot solution, derived from the onboard GPS and AHRS. The paper presents the proposed approach and the results, along with their accuracies.

LWIR passive perception system for stealthy unmanned ground vehicle night operations

NASA Astrophysics Data System (ADS)

Lee, Daren; Rankin, Arturo; Huertas, Andres; Nash, Jeremy; Ahuja, Gaurav; Matthies, Larry

2016-05-01

Resupplying forward-deployed units in rugged terrain in the presence of hostile forces creates a high threat to manned air and ground vehicles. An autonomous unmanned ground vehicle (UGV) capable of navigating stealthily at night in off-road and on-road terrain could significantly increase the safety and success rate of such resupply missions for warfighters. Passive night-time perception of terrain and obstacle features is a vital requirement for such missions. As part of the ONR 30 Autonomy Team, the Jet Propulsion Laboratory developed a passive, low-cost night-time perception system under the ONR Expeditionary Maneuver Warfare and Combating Terrorism Applied Research program. Using a stereo pair of forward looking LWIR uncooled microbolometer cameras, the perception system generates disparity maps using a local window-based stereo correlator to achieve real-time performance while maintaining low power consumption. To overcome the lower signal-to-noise ratio and spatial resolution of LWIR thermal imaging technologies, a series of pre-filters were applied to the input images to increase the image contrast and stereo correlator enhancements were applied to increase the disparity density. To overcome false positives generated by mixed pixels, noisy disparities from repeated textures, and uncertainty in far range measurements, a series of consistency, multi-resolution, and temporal based post-filters were employed to improve the fidelity of the output range measurements. The stereo processing leverages multi-core processors and runs under the Robot Operating System (ROS). The night-time passive perception system was tested and evaluated on fully autonomous testbed ground vehicles at SPAWAR Systems Center Pacific (SSC Pacific) and Marine Corps Base Camp Pendleton, California. This paper describes the challenges, techniques, and experimental results of developing a passive, low-cost perception system for night-time autonomous navigation.

Unmanned Systems Roadmap 2007-2032

DOT National Transportation Integrated Search

2007-01-01

Today's military has seen an evolution in technology that is creating an entirely new capability to project power through the use of unmanned systems while reducing the risk to human life. The contributions of unmanned systems continue to increase. A...

Model Identification and Control System Design for the Lambda Unmanned Research Vehicle

DTIC Science & Technology

1991-09-01

AD-A241 859 D T IC_ _ _ _ _ __ OCT 21921MODEL IDENTIFICATION AND CONTROL SYSTEM DESIGN FOR THE LAMBDA UNMANNED RESEARCH VEHICLE: THESIS Gerald A...23 191K MODEL IDENTIFICATION AND CONTROL SYSTEM DESIGN FOR THE LAMBDA UNMANNED RESEARCH VEHICLE THESIS Gerald A. Swift, First Lieutenant, USAF AFIT...UNMANNED RESEARCH VEHICLE THESIS Presented to the Faculty of the School of Engineering of the Air Force Institute of Technology Air University in Partial

Systems Engineering Approach to Develop Guidance, Navigation and Control Algorithms for Unmanned Ground Vehicle

DTIC Science & Technology

2016-09-01

identification and tracking algorithm. 14. SUBJECT TERMS unmanned ground vehicles , pure pursuit, vector field histogram, feature recognition 15. NUMBER OF...located within the various theaters of war. The pace for the development and deployment of unmanned ground vehicles (UGV) was, however, not keeping...DEVELOPMENT OF UNMANNED GROUND VEHICLES The development and fielding of UGVs in an operational role are not a new concept in the battlefield. In

A survey of unmanned ground vehicles with applications to agricultural and environmental sensing

NASA Astrophysics Data System (ADS)

Bonadies, Stephanie; Lefcourt, Alan; Gadsden, S. Andrew

2016-05-01

Unmanned ground vehicles have been utilized in the last few decades in an effort to increase the efficiency of agriculture, in particular, by reducing labor needs. Unmanned vehicles have been used for a variety of purposes including: soil sampling, irrigation management, precision spraying, mechanical weeding, and crop harvesting. In this paper, unmanned ground vehicles, implemented by researchers or commercial operations, are characterized through a comparison to other vehicles used in agriculture, namely airplanes and UAVs. An overview of different trade-offs of configurations, control schemes, and data collection technologies is provided. Emphasis is given to the use of unmanned ground vehicles in food crops, and includes a discussion of environmental impacts and economics. Factors considered regarding the future trends and potential issues of unmanned ground vehicles include development, management and performance. Also included is a strategy to demonstrate to farmers the safety and profitability of implementing the technology.

Tactical 3D model generation using structure-from-motion on video from unmanned systems

NASA Astrophysics Data System (ADS)

Harguess, Josh; Bilinski, Mark; Nguyen, Kim B.; Powell, Darren

2015-05-01

Unmanned systems have been cited as one of the future enablers of all the services to assist the warfighter in dominating the battlespace. The potential benefits of unmanned systems are being closely investigated -- from providing increased and potentially stealthy surveillance, removing the warfighter from harms way, to reducing the manpower required to complete a specific job. In many instances, data obtained from an unmanned system is used sparingly, being applied only to the mission at hand. Other potential benefits to be gained from the data are overlooked and, after completion of the mission, the data is often discarded or lost. However, this data can be further exploited to offer tremendous tactical, operational, and strategic value. To show the potential value of this otherwise lost data, we designed a system that persistently stores the data in its original format from the unmanned vehicle and then generates a new, innovative data medium for further analysis. The system streams imagery and video from an unmanned system (original data format) and then constructs a 3D model (new data medium) using structure-from-motion. The 3D generated model provides warfighters additional situational awareness, tactical and strategic advantages that the original video stream lacks. We present our results using simulated unmanned vehicle data with Google Earth™providing the imagery as well as real-world data, including data captured from an unmanned aerial vehicle flight.

Reducing environmental damage through the use of unmanned aerial vehicles as the best available technology

NASA Astrophysics Data System (ADS)

Fedulova, E. A.; Akulov, A. O.; Rada, A. O.; Alabina, T. A.; Savina, Ju Ju

2018-01-01

The article examines the possibilities of using unmanned aerial vehicles as the best available technologies in the field of agriculture and mining. The object of the study is the use of unmanned aerial vehicles as the best available technology. The main areas of application of this technology are identified: agro technical operations, aerial photography of mining operations. The technology of unmanned aerial vehicles is compared with the technologies of ground agricultural machinery. The research methodology includes an expert evaluation of the unmanned aerial vehicle technology belonging to the class of the best available technologies by the criteria: the level of environmental impact, resource saving, the use of low-waste, non-waste processes, the existence of at least two objects, economic efficiency. Expert evaluations were processed using the apparatus of fuzzy sets, which make it possible to construct membership functions. This allowed us to prove that the technology of unmanned aerial vehicles belongs to a fuzzy set of the best available technologies. The results of the research show that the use of unmanned aerial vehicles provides a saving of resources, especially non-renewable combustible minerals, reduces emissions and discharges of pollutants into the atmosphere, and also reduces soil erosion. Unmanned aerial vehicles should be included in the national directories of the best available technologies for the mining industry and agriculture.

U.S. Army unmanned aircraft systems roadmap 2010-2035

DOT National Transportation Integrated Search

2010-01-01

The Unmanned Aircraft System (UAS) Roadmap outlines how the U.S. Army will develop, organize, and employ UAS from 2010 to 2035 across full spectrum operations. The Army UAS Roadmap is nested with the Unmanned Systems (UMS) Initial Capabilities Docume...

Advanced imaging of transportation infrastructure using unmanned aircraft systems : final report.

DOT National Transportation Integrated Search

2017-01-01

The University of Alaska Fairbanks has been conducting research into unmanned : aircraft systems (UAS) since 2000, with more missions and mission diversity than : any other university. With the creation of the Alaska Center for Unmanned Aircraft : Sy...

Unmanned aircraft system bridge inspection demonstration project phase II final report.

DOT National Transportation Integrated Search

2017-06-01

An Unmanned Aircraft System (UAS) is defined by the Federal Aviation Administration (FAA) as an aircraft operated without the possibility of direct human intervention from within the aircraft. Unmanned aircraft are familiarly referred to as drones, a...

The Martian Oasis Detector

NASA Astrophysics Data System (ADS)

Smith, P. H.; tomasko, M. G.; McEwen, A.; Rice, J.

2000-07-01

The next phase of unmanned Mars missions paves the way for astronauts to land on the surface of Mars. There are lessons to be learned from the unmanned precursor missions to the Moon and the Apollo lunar surface expeditions. These unmanned missions (Ranger, Lunar Orbiter, and Surveyor) provided the following valuable information, useful from both a scientific and engineering perspective, which was required to prepare the way for the manned exploration of the lunar surface: (1) high resolution imagery instrumental to Apollo landing site selection also tremendously advanced the state of Nearside and Farside regional geology; (2) demonstrated precision landing (less than two kilometers from target) and soft landing capability; (3) established that the surface had sufficient bearing strength to support a spacecraft; and (4) examination of the chemical composition and mechanical properties of the surface. The search for extinct or extant life on Mars will follow the water. However, geomorphic studies have shown that Mars has had liquid water on its surface throughout its geologic history. A cornucopia of potential landing sites with water histories (lakes, floodplains, oceans, deltas, hydrothermal regions) presently exist. How will we narrow down site selection and increase the likelihood of finding the signs of life? One way to do this is to identify 'Martian oases.' It is known that the Martian surface is often highly fractured and some areas have karst structures that support underground caves. Much of the water that formed the channels and valley networks is thought to be frozen underground. All that is needed to create the potential for liquid water is a near surface source of heat; recent lava flows and Martian meteorites attest to the potential for volcanic activity. If we can locate even one spot where fracturing, ice, and underground heat are co-located then we have the potential for an oasis. Such a discovery could truly excite the imaginations of both the public and Congress providing an attainable goal for both robotic and manned missions. The instrument required to detect an active oasis is a high spatial resolution (few tens of meters) Short Wavelength Infrared (SWIR) spectrometer coupled with a high resolution camera (five m/pixel). This combination creates too large a data volume to possibly return data for the entire Martian Surface; therefore it has been designed as one of the first in a new generation of 'smart' detectors, called the Mars Oasis Detector (MOD).

The Role of Unmanned Aerial Systems/Sensors in Air Quality Research

EPA Science Inventory

The use of unmanned aerial systems (UASs) for a variety of scientific and security purposes has rapidly increased. UASs include aerostats (tethered balloons) and remotely controlled, unmanned aerial vehicles (UAVs) including lighter-than-air vessels, fixed wing airplanes, and he...

The Role of Unmanned Aerial Systems-Sensors in Air Quality Research

EPA Science Inventory

The use of unmanned aerial systems (UASs) and miniaturized sensors for a variety of scientific and security purposes has rapidly increased. UASs include aerostats (tethered balloons) and remotely controlled, unmanned aerial vehicles (UAVs) including lighter-than-air vessels, fix...

Shaping the future of naval warfare with unmanned systems

DOT National Transportation Integrated Search

2001-07-01

This report presents the findings of a study conducted for the purpose of understanding how unmanned systems can enhance the readiness of U.S. Naval forces. The document presents reasons why unmanned systems should be adopted by the Navy, and makes t...

Focused Lens on Unmanned Aerial Systems: An Evaluation of Department of Defense’s Unmanned Aerial Vision 2011

DTIC Science & Technology

2014-06-13

Break Free of Regulations.” 69Barbara Opall -Rome, “ Israel Tackles The Last Frontier Of UAS Technology: Israel Moves Closer Toward Flying UASs In...with the new F-35 Joint Strike Fighter once it comes online, or with helicopters aboard the Littoral Combat Ship. Unmanned mine hunters could operate...Office, 2002. ———. Unmanned Aircraft Systems Roadmap 2005-2030. Washington, DC: Government Publishing Office, 2005. Opall -Rome, Barbra. “Israel

Preliminary Considerations for Classifying Hazards of Unmanned Aircraft Systems

NASA Technical Reports Server (NTRS)

Hayhurst, Kelly J.; Maddalon, Jeffrey M.; Miner, Paul S.; Szatkowski, George N.; Ulrey, Michael L.; DeWalt, Michael P.; Spitzer, Cary R.

2007-01-01

The use of unmanned aircraft in national airspace has been characterized as the next great step forward in the evolution of civil aviation. To make routine and safe operation of these aircraft a reality, a number of technological and regulatory challenges must be overcome. This report discusses some of the regulatory challenges with respect to deriving safety and reliability requirements for unmanned aircraft. In particular, definitions of hazards and their classification are discussed and applied to a preliminary functional hazard assessment of a generic unmanned system.

Citizen Science in the Himalaya: The Sherpa-Scientist Initiative

NASA Astrophysics Data System (ADS)

Horodyskyj, U. N.; Breashears, D.; Rowe, P.

2015-12-01

Since the non-profit educational group, Black Ice Himalaya, launched in 2011 our goal has been to involve local communities in our research expeditions, in the form of a Sherpa-Scientist Initiative (SSI). This goes beyond simply helping with gear carries to research sites. It involves training the local Sherpa in equipment set-up, data collection, and analysis processes, with the goal of turning over this task to local communities and villages in the future. As the terrain continues to change - with the growth and expansion of glacial lakes, along with accumulation of pollutants on snow at higher altitudes - this training program presents an excellent opportunity for long-term data collection in sensitive alpine regions. In association with GlacierWorks and Midwest ROV LLC, skill training has included gigapan high-resolution photography, installing (and downloading) multiple time lapse cameras to track hour-by-hour glacial lake changes; lake bathymetry mapping using side-scan sonar from an unmanned towed platform; installing and managing weather stations; collecting and analyzing data from ASD field spectrometers; and collecting/filtering snow samples to look for contaminants (pollutants) affecting snow melt from 4000 - 6000 meters. A field manual documenting this work and intended to raise awareness of glacial trekking hazards has been disseminated to the International Centre for Integrated Mountain Development (ICIMOD) and Sagarmatha (Everest) National Park. In 2016-17, in collaboration with Vanguard Diving and Exploration, OpenROV, and Midwest ROV LLC, efforts will include SCUBA diving into glacial lakes to collect scientific data, with continued Sherpa training on how to assemble and use portable remotely piloted submersibles to aid in the assessment of glacial lake hazards.

The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-Rotors

NASA Technical Reports Server (NTRS)

Scott, Rollin L.

2014-01-01

During the course of the Kennedy Space Center Summer Internship, two main experiments were performed: The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-copters. The objectives of the Vacuum-Compacted Regolith Gripping Mechanism, often abbreviated as the Granular Gripper, are to exhibit Space Technology, such as a soft robotic hand, lift different apparatuses used to excavate regolith, and conserve energy while executing its intended task. The project is being conducted to test how much weight the Granular Gripper can hold. With the use of an Animatronic Robotic Hand, Arduino Uno, and other components, the system was calibrated before actually conducting the intended weight test. The maximum weight each finger could hold with the servos running, in the order of pinky, ring, middle, and index fingers, are as follows: 1.340N, 1.456 N, 0.9579 N, and 1.358 N. Using the small vacuum pump system, the maximum weight each finger could hold, in the same order, was: 4.076 N, 6.159 N, 5.454 N, and 4.052 N. The maximum torques on each of the fingers when the servos were running, in the same respective order, was: 0.0777 Nm, 0.0533 Nm, 0.0648 Nm, and 0.0532 Nm. The maximum torques on the individual fingers, when the small vacuum pump was in effect, in the same order as above, was: 0.2318 Nm, 0.3032 Nm, 0.2741 Nm, and 0.1618 Nm. In testing all the fingers with the servos running, the total weight was 5.112 N and the maximum torque on the all the fingers was 0.2515 Nm. However, when the small vacuum pump system was used, the total weight was 19.741 N and the maximum torque on the all the fingers was 0.9713 Nm. The conclusion that was drawn stated that using the small vacuum pump system proved nearly 4 times more effective when testing how much weigh the hand could hold. The resistance provided by the compacted sand in the glove allowed more weight to be held by the hand and glove. Also, when the servos turned off and the hand still retaining its position, energy is being saved because the vacuum created the same resistance the running servos did without using power. The Unmanned Flights via Quad-rotors are built because multi-rotor dynamics are an important starting point and fair analog for space craft control systems and they make good terrestrial development platforms for various aspects of control for space crafts. The project is being conducted to see what the thrust response is going to be when a pulse width modulation command is sent to the control system since the quad-rotors are PWM controlled. A simulation environment in constructed so that one can quickly iterate and test different designs such as control systems, PID control vs. LDR control, and state estimation. Using two DIY Quad Kits, APM 2.6, testing apparatus (called a data acquisition system) to test the quad-rotors, and a simulation program such as Simulink, two quad-rotors are built and controlled via a simulation program, which is designed to be as realistic as possible and not idealistic. Due to the quad-rotors not being completely built nor ready for testing, there are no results or conclusions to report.

Army PM UAS Spectrum Update

DTIC Science & Technology

2012-07-01

Small Unmanned Aircraft Systems vs. Air Combat Telemetry Systems SUAS - 2 Watts vs. ACTS 100 Watts... SUAS - 25 km normal radius vs. ACTS 200 km normal radius Primary Concerns: Operational Small Unmanned Aircraft Systems ...Std Z39-18 UNCLASSIFIED UNCLASSIFIED Army Unmanned Aircraft Systems 2 Provides the small unit the

14 CFR 101.21 - Applicability.

Code of Federal Regulations, 2011 CFR

2011-01-01

... AND GENERAL OPERATING RULES MOORED BALLOONS, KITES, AMATEUR ROCKETS AND UNMANNED FREE BALLOONS Amateur Rockets § 101.21 Applicability. (a) This subpart applies to operating unmanned rockets. However, a person operating an unmanned rocket within a restricted area must comply with § 101.25(b)(7)(ii) and with any...

14 CFR 101.21 - Applicability.

Code of Federal Regulations, 2012 CFR

2012-01-01

... AND GENERAL OPERATING RULES MOORED BALLOONS, KITES, AMATEUR ROCKETS AND UNMANNED FREE BALLOONS Amateur Rockets § 101.21 Applicability. (a) This subpart applies to operating unmanned rockets. However, a person operating an unmanned rocket within a restricted area must comply with § 101.25(b)(7)(ii) and with any...

14 CFR 101.21 - Applicability.

Code of Federal Regulations, 2013 CFR

2013-01-01

... AND GENERAL OPERATING RULES MOORED BALLOONS, KITES, AMATEUR ROCKETS AND UNMANNED FREE BALLOONS Amateur Rockets § 101.21 Applicability. (a) This subpart applies to operating unmanned rockets. However, a person operating an unmanned rocket within a restricted area must comply with § 101.25(b)(7)(ii) and with any...

14 CFR 101.21 - Applicability.

Code of Federal Regulations, 2014 CFR

2014-01-01

... AND GENERAL OPERATING RULES MOORED BALLOONS, KITES, AMATEUR ROCKETS AND UNMANNED FREE BALLOONS Amateur Rockets § 101.21 Applicability. (a) This subpart applies to operating unmanned rockets. However, a person operating an unmanned rocket within a restricted area must comply with § 101.25(b)(7)(ii) and with any...

14 CFR 101.21 - Applicability.

Code of Federal Regulations, 2010 CFR

2010-01-01

... AND GENERAL OPERATING RULES MOORED BALLOONS, KITES, AMATEUR ROCKETS AND UNMANNED FREE BALLOONS Amateur Rockets § 101.21 Applicability. (a) This subpart applies to operating unmanned rockets. However, a person operating an unmanned rocket within a restricted area must comply with § 101.25(b)(7)(ii) and with any...

Development and prospect of unmanned aerial vehicles for agricultural production management

USDA-ARS?s Scientific Manuscript database

Unmanned aerial vehicles have been developed and applied to support agricultural production management. Compared to piloted aircrafts, an Unmanned Aerial Vehicle (UAV) can focus on small crop fields in lower flight altitude than regular airplanes to perform site-specific management with high precisi...

Development of Unmanned Aerial Vehicles for Site-Specific Crop Production Management

USDA-ARS?s Scientific Manuscript database

Unmanned Aerial Vehicles (UAV) have been developed and applied to support the practice of precision agriculture. Compared to piloted aircrafts, an Unmanned Aerial Vehicle can focus on much smaller crop fields with much lower flight altitude than regular airplanes to perform site-specific management ...

The development of ground unmanned vehicles, driver assistance systems and components according to patent publications

NASA Astrophysics Data System (ADS)

Saykin, A. M.; Tuktakiev, G. S.; Zhuravlev, A. V.; Zaitseva, E. P.

2018-02-01

The paper contains the analysis of the main trends in the patenting of ground unmanned vehicles, driver assistance systems (ADAS) and unmanned vehicle components abroad during the period from 2010 to 2016. The conclusion was made that the intensity of their patenting abroad increased.

A survey of unmanned ground vehicles with applications to agricultural and environmental sensing

USDA-ARS?s Scientific Manuscript database

Unmanned ground vehicles have been utilized in the last few decades in an effort to increase the efficiency of agriculture, in particular, by reducing labor needs. Unmanned vehicles have been used for a variety of purposes including: soil sampling, irrigation management, precision spraying, mechanic...

78 FR 12259 - Unmanned Aircraft System Test Site Program

Federal Register 2010, 2011, 2012, 2013, 2014

2013-02-22

...-0061] Unmanned Aircraft System Test Site Program AGENCY: Federal Aviation Administration (FAA), DOT... Defense, develop a test site program for the integration of unmanned aircraft systems in to the National Airspace System. The overall purpose of this test site program is to develop a body of data and operational...

78 FR 69928 - First Meeting: RTCA Special Committee 228-Minimum Operational Performance Standards for Unmanned...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-21

... 228--Minimum Operational Performance Standards for Unmanned Aircraft Systems AGENCY: Federal Aviation...--Minimum Operational Performance Standards for Unmanned Aircraft Systems. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 228--Minimum Operational Performance...

78 FR 38093 - First Meeting: RTCA Special Committee 228-Minimum Operational Performance Standards for Unmanned...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-25

... 228--Minimum Operational Performance Standards for Unmanned Aircraft Systems AGENCY: Federal Aviation...--Minimum Operational Performance Standards for Unmanned Aircraft Systems. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 228--Minimum Operational Performance...

The Application of Unmanned Rotary-Wing Aircraft in Tactical Logistics in Support of Joint Operations

DTIC Science & Technology

2013-12-13

Reconnaissance Squadrons with a fixed-wing unmanned aircraft troop or company, and is in the market for an autonomous cargo unmanned rotary-wing...Warwick, Graham. “Sky Patrol.” Aviation Week & Space Technology 174, no. 32 (September 3, 2012): 55. Military & Government Collection, EBSCOhost

Shaping future Naval warfare with unmanned systems, the impact across the fleet, and joint considerations

NASA Astrophysics Data System (ADS)

Hudson, E. C.; Johnson, Gordon; Summey, Delbert C.; Portmann, Helmut H., Jr.

2004-09-01

This paper discusses a comprehensive vision for unmanned systems that will shape the future of Naval Warfare within a larger Joint Force concept, and examines the broad impact that can be anticipated across the Fleet. The vision has been articulated from a Naval perspective in NAVSEA technical report CSS/TR-01/09, Shaping the Future of Naval Warfare with Unmanned Systems, and from a Joint perspective in USJFCOM Rapid Assessment Process (RAP) Report #03-10 (Unmanned Effects (UFX): Taking the Human Out of the Loop). Here, the authors build on this foundation by reviewing the major findings and laying out the roadmap for achieving the vision and truly transforming how we fight wars. The focus is on broad impact across the Fleet - but the implications reach across all Joint forces. The term "Unmanned System" means different things to different people. Most think of vehicles that are remotely teleoperated that perform tasks under remote human control. Actually, unmanned systems are stand-alone systems that can execute missions and tasks without direct physical manned presence under varying levels of human control - from teleoperation to full autonomy. It is important to note that an unmanned system comprises a lot more than just a vehicle - it includes payloads, command and control, and communications and information processing.

Analysis and design of trial well mooring in deepwater of the South China Sea

NASA Astrophysics Data System (ADS)

Guo, Yongfeng; Ji, Shaojun; Tang, Changquan; Li, Jiansong; Zhong, Huiquan; Ian, Ong Chin Yam

2012-06-01

Mooring systems play an important role for semi-submersible rigs that drill in deepwater. A detailed analysis was carried out on the mooring of a semi-submersible rig that conducted a trial well drilling at a deepwater location in the South China Sea in 2009. The rig was 30 years old and had a shallow platform with a designed maximum operating water depth of 457 m. Following the mooring analysis, a mooring design was given that requires upgrading of the rig's original mooring system. The upgrade included several innovations, such as installing eight larger anchors, i.e. replacing the original anchors and inserting an additional 600 m of steel wires with the existing chains. All this was done to enhance the mooring capability of the rig in order for the rig to be held in position to conduct drilling at a water depth of 476 m. The overall duration of the drilling was 50 days and the upgraded mooring system proved to be efficient in achieving the goal of keeping the rig stationary while it was drilling the trial well in the South China Sea. This successful campaign demonstrates that an older semi-submersible rig can take on drilling in deep water after careful design and proper upgrading and modification to the original mooring system.

Estimation of body density based on hydrostatic weighing without head submersion in young Japanese adults.

PubMed

Demura, S; Sato, S; Kitabayashi, T

2006-06-01

This study examined a method of predicting body density based on hydrostatic weighing without head submersion (HWwithoutHS). Donnelly and Sintek (1984) developed a method to predict body density based on hydrostatic weight without head submersion. This method predicts the difference (D) between HWwithoutHS and hydrostatic weight with head submersion (HWwithHS) from anthropometric variables (head length and head width), and then calculates body density using D as a correction factor. We developed several prediction equations to estimate D based on head anthropometry and differences between the sexes, and compared their prediction accuracy with Donnelly and Sintek's equation. Thirty-two males and 32 females aged 17-26 years participated in the study. Multiple linear regression analysis was performed to obtain the prediction equations, and the systematic errors of their predictions were assessed by Bland-Altman plots. The best prediction equations obtained were: Males: D(g) = -164.12X1 - 125.81X2 - 111.03X3 + 100.66X4 + 6488.63, where X1 = head length (cm), X2 = head circumference (cm), X3 = head breadth (cm), X4 = head thickness (cm) (R = 0.858, R2 = 0.737, adjusted R2 = 0.687, standard error of the estimate = 224.1); Females: D(g) = -156.03X1 - 14.03X2 - 38.45X3 - 8.87X4 + 7852.45, where X1 = head circumference (cm), X2 = body mass (g), X3 = head length (cm), X4 = height (cm) (R = 0.913, R2 = 0.833, adjusted R2 = 0.808, standard error of the estimate = 137.7). The effective predictors in these prediction equations differed from those of Donnelly and Sintek's equation, and head circumference and head length were included in both equations. The prediction accuracy was improved by statistically selecting effective predictors. Since we did not assess cross-validity, the equations cannot be used to generalize to other populations, and further investigation is required.

Sense-and-Avoid Equivalent Level of Safety Definition for Unmanned Aircraft Systems. Revision 9

NASA Technical Reports Server (NTRS)

2005-01-01

Since unmanned aircraft do not have a pilot on-board the aircraft, they cannot literally comply with the "see and avoid" requirement beyond a short distance from the location of the unmanned pilot. No performance standards are presently defined for unmanned Sense and Avoid systems, and the FAA has no published approval criteria for a collision avoidance system. Before the FAA can develop the necessary guidance (rules / regulations / policy) regarding the see-and-avoid requirements for Unmanned Aircraft Systems (UAS), a concise understanding of the term "equivalent level of safety" must be attained. Since this term is open to interpretation, the UAS industry and FAA need to come to an agreement on how this term can be defined and applied for a safe and acceptable collision avoidance capability for unmanned aircraft. Defining an equivalent level of safety (ELOS) for sense and avoid is one of the first steps in understanding the requirement and developing a collision avoidance capability. This document provides a functional level definition of see-and-avoid as it applies to unmanned aircraft. The sense and avoid ELOS definition is intended as a bridge between the see and avoid requirement and the system level requirements for unmanned aircraft sense and avoid systems. Sense and avoid ELOS is defined in a rather abstract way, meaning that it is not technology or system specific, and the definition provides key parameters (and a context for those parameters) to focus the development of cooperative and non-cooperative sense and avoid system requirements.

78 FR 18932 - Public Meeting: Unmanned Aircraft Systems Test Site Program; Privacy Approach

Federal Register 2010, 2011, 2012, 2013, 2014

2013-03-28

... operation of the UAS Test Sites. They are not intended to pre-determine the long- term policy and regulatory...-0061] Public Meeting: Unmanned Aircraft Systems Test Site Program; Privacy Approach AGENCY: Federal... the unmanned aircraft systems (UAS) test site program. The FAA is seeking the views from the public...

Comparison of aerial imagery from manned and unmanned aircraft platforms for monitoring cotton growth

USDA-ARS?s Scientific Manuscript database

Unmanned aircraft systems (UAS) have emerged as a low-cost and versatile remote sensing platform in recent years, but little work has been done on comparing imagery from manned and unmanned platforms for crop assessment. The objective of this study was to compare imagery taken from multiple cameras ...

Unmanned airship development and remote sensing applications

NASA Astrophysics Data System (ADS)

Boschma, James H.

2001-10-01

This paper discusses the development of unmanned airships for military use during the past decade, and the current status of the Small Airship Surveillance System, Low Intensity Target Exploitation (SASS LITE) platform. Topics covered will also include various missions planned and conducted, and technological advances expected to be implemented on unmanned airships in the near future.

46 CFR 151.02-5 - Design of unmanned barges.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 5 2010-10-01 2010-10-01 false Design of unmanned barges. 151.02-5 Section 151.02-5... CARRYING BULK LIQUID HAZARDOUS MATERIAL CARGOES Equivalents § 151.02-5 Design of unmanned barges. (a) In order not to inhibit design and application, the Commandant may approve vessels of novel design, both...